KR101901922B1 - Operational parameter setting method for power states estimation of battery in single wheel robot and power states estimation method of battery in single wheel robot and controlling method of single wheel robot - Google Patents

Abstract

The present invention is characterized in that the operation parameters of the unicycle robot are set by analyzing a flip motion which causes the flywheel to be tilted in the unicycle robot and the operation of the unicycle robot is controlled by the hardware system mounted on the unicycle robot The present invention relates to an operation parameter setting method for estimating a power state of a battery in a unicycle robot capable of stabilizing the attitude maintenance of a unicycle robot, a method of estimating a power state of a battery in a unicycle robot, and a control method of a unicycle robot.
For this purpose, an operation parameter setting method for estimating the power state of the battery in the unicycle robot includes a driving matching step of matching the operation characteristics of the flip motor driver with the operation region of the battery, a duty ratio of the current output from the flip motor driver, And a duty ratio setting step of setting a duty ratio for a current that generates flip motion based on the relationship between the number of tilt times of the flip motions by the duty ratio setting step.

Description

TECHNICAL FIELD [0001] The present invention relates to an operation parameter setting method for estimating a power state of a battery of a unicycle robot, a method of estimating a power state of a battery in a unicycle robot, and a control method of a unicycle robot. ESTIMATION METHOD OF BATTERY IN SINGLE WHEEL ROBOT AND CONTROLLING METHOD OF SINGLE WHEEL ROBOT}

The present invention relates to a method of setting an operation parameter for estimating a power state of a battery in a unicycle robot, a method of estimating a power state of a battery in a unicycle robot, and a control method of a unicycle robot. More particularly, And the power state of the battery is estimated by the hardware system mounted on the unicycle robot and the state of the unicycle robot is maintained even if a separate electronic device is not added to the unicycle robot by analyzing the flip motion of the unicycle robot The present invention relates to a method of setting an operation parameter for estimating a power state of a battery in a unicycle robot which can be stabilized, a method of estimating a power state of a battery in a unicycle robot, and a control method of a unicycle robot.

Generally, a battery is used in many devices including a portable device, and therefore, a battery management system for managing charge and discharge is essential. In particular, it is necessary to know the operating time of the battery more precisely at the time of operating the apparatus, and therefore, a battery residual amount predicting device is used.

For example, as the flywheel tilts, the unicycle robot changes its direction while tilting. When the power state of the battery is lowered in the unicycle robot, the number of tilts of the flip motion for tilting the flywheel decreases. Estimation is a very important factor in battery-driven dynamic systems.

Conventionally, a digital multimeter, a measurement resistor, and the like are used to estimate the power state of a battery, so that a separate electronic device is additionally required for the unicycle robot.

However, when a separate electronic device is added to the unicycle robot, the volume of the unicycle robot becomes large and the balance control of the unicycle robot becomes difficult. In addition, when a separate electronic device attached to the unicycle robot fails, it is difficult to check the power state of the battery in the unicycle robot, and the user must directly measure the power state of the battery.

Korean Patent Laid-Open Publication No. 2016-0097680 (entitled POWER MONITORING SYSTEM AND APPARATUS, published on Aug. 18, 2016)

SUMMARY OF THE INVENTION It is an object of the present invention to solve the conventional problems by analyzing a flip motion in which a flywheel is tilted in a unicycle robot to set operation parameters of a unicycle robot and, A method of estimating the power state of a battery in a unicycle robot by a hardware system and an operation parameter setting method for estimating a power state of the battery in a unicycle robot that can stabilize the attitude maintenance of a unicycle robot and a method of estimating a power state of the battery in a unicycle robot , And a control method of a unicycle robot.

In accordance with a preferred embodiment of the present invention, an operation parameter setting method for estimating a power state of a battery in a unicycle robot according to the present invention includes: a driving operation for matching a driving characteristic of a flip- Matching step; And a duty ratio setting step of setting a duty ratio of a current for generating the flip motion based on a relation between a duty ratio of a current output from the flip motor driver and a tilt count of a flip motor by the flip motor driver; .

Here, the operation matching step may include: a frequency setting step of setting a PWM switching frequency of a voltage input to the flip motor driver to a constant value; A first calculation step of calculating a relationship between a voltage input to the flip motor driver and the current; A second calculation step of calculating a voltage use range in which the voltage and the current have a linear relationship; And a voltage matching step of matching the operation range of the battery with the voltage use range.

The operation parameter setting method for estimating the power state of the battery in the unicycle robot according to the present invention further includes a relational expression calculating step of calculating a battery estimation relational expression related to the power state of the battery according to the number of times of tilting of the flip motion.

At this time, the battery estimation relation is determined by the relational expression V = K * T based on the linearity of the output current and the number of times of tilt of the flip motion. Where V is the power state of the battery, K is a motion constant according to the linearity, T is the number of tilt times of the flip motion, and * indicates multiplication.

The driving parameter setting method for estimating the power state of the battery in the unicycle robot according to the present invention comprises: calculating a delay time according to the flip motion based on the operation characteristics of the flip motor driver; And a tilt count compensation step of compensating a tilt count of the tilt counter.

A method for estimating a power state of a battery in a unicycle robot according to the present invention is a method for estimating a power state of a battery in a unicycle robot using the battery estimation relation, and the method for implementing the flip motion based on operation characteristics of the flip motor driver Motion implementation phase; A tilt count calculating step of calculating a tilt count of the flip motion through analysis of a motor encoder according to the flip motion; And a power state calculating step of calculating a power state of the battery using the battery estimation relation.

A method for estimating a power state of a battery in a unicycle robot according to the present invention includes repeating the tilt count calculation step and the power state calculation step for the flip motion for a preset number of repetitions to calculate an average value And a calculating step.

The control method of the unicycle robot according to the present invention is a method of controlling the unicycle robot through a method of estimating the power state of the battery in the unicycle robot, and controlling the speed of the flywheel and the number of times of the tilting of the flip motion based on the power state of the battery do.

The control method of the unicycle robot according to the present invention may further include: comparing a power state of the battery with a predetermined reference power state; And a motion control step of decreasing the speed of the flywheel and increasing the number of times of tilting of the flip motion when the power state of the battery is smaller than a predetermined reference power state as a result of the comparison of the power state comparison step.

According to an operation parameter setting method for estimating the power state of a battery in a unicycle robot according to the present invention, a method for estimating a power state of a battery in a unicycle robot, and a control method for a unicycle robot, a flip motion for tilting a flywheel in a unicycle robot By analyzing the operation parameters of the unicycle robot, it is possible to estimate the power state of the battery in the unicycle robot by the hardware system mounted on the unicycle robot and to stabilize the attitude maintenance of the unicycle robot, without setting additional operation parameters of the unicycle robot .

Further, the present invention can easily estimate the power state of the battery due to the linearity formed between the number of tilt times of the mechanical flip motion and the power state of the battery based on the operation characteristics of the flip motor driver.

Further, the present invention can improve the accuracy of the battery power state estimated based on the delay time generated between the mechanical flip motion and the voltage application of the battery and the average value of the repeated flip motion.

In addition, since a separate electronic device is not required for the unicycle robot, it is possible to prevent the unicycle robot from becoming bulky, stabilize the balance control of the unicycle robot, and easily check the power state of the battery according to the operation of the unicycle robot .

Also, the present invention can mechanically check the power state of the battery, such as measuring the number of times of tilting of the flip motion, and then adjust the speed of the flywheel and the number of tilts of the flip motion according to the power state of the battery.

1 is a view illustrating a unicycle robot according to an embodiment of the present invention.
2 is a diagram illustrating a method of setting an operation parameter according to an embodiment of the present invention.
3 is a graph illustrating a linear relationship between voltage and current calculated according to the operation matching step in the operation parameter setting method according to an embodiment of the present invention.
4 is a graph showing the relationship between the duty ratio and the number of tilt times of the flip motion in the operation parameter setting method according to the embodiment of the present invention.
5 is a graph showing response characteristics of flip motions in an operation parameter setting method according to an embodiment of the present invention.
6 is a diagram illustrating a method of estimating a power state of a battery in a unicycle robot according to an embodiment of the present invention.
FIG. 7 is a diagram illustrating a control method of a unicycle robot according to an embodiment of the present invention. Referring to FIG.

Hereinafter, an operation parameter setting method for estimating the power state of the battery in the unicycle robot according to the present invention, a method of estimating the power state of the battery in the unicycle robot, and a control method of the unicycle robot will be described with reference to the accompanying drawings do. Here, the present invention is not limited or limited by the examples. Further, in describing the present invention, a detailed description of well-known functions or constructions may be omitted for clarity of the present invention.

First, a unicycle robot according to an embodiment of the present invention will be described. 1 is a view illustrating a unicycle robot according to an embodiment of the present invention.

1, the unicycle robot according to an embodiment of the present invention includes a robot body 1, an outer ring 2 rotatably coupled to the robot body 1 while surrounding an outer circumferential surface of the robot body 1, A driving motor for rotating the outer ring 2 with respect to the robot body 1, a gimbal 3 rotatably coupled to the robot body 1, and a gyro effect for maintaining balance between the outer robot 2 and the robot body 1 A flywheel 4 rotatably coupled to the gimbal 3 in order to rotate the flywheel 4 to rotate the flywheel 4; A flip motor 6 for realizing a flip motion in which the flywheel is tilted by tilting the flywheel 4 to generate a gyro effect, and a drive motor 6 for driving the drive motor, the spin motor 5 and the flip motor 6 A controller (7) for controlling the operation of the motor, the drive motor and the spin motor (5) Group flip motor 6 and may include a battery to supply power to the controller 7.

Here, the controller 7 may include a flip motor driver for controlling the operation of the flip motor 6. The flip motor driver exhibits predetermined operation characteristics.

Hereinafter, an operation parameter setting method for estimating the power state of the battery in the unicycle robot according to an embodiment of the present invention will be described.

FIG. 2 is a diagram illustrating a method of setting an operation parameter according to an embodiment of the present invention. FIG. 3 is a flowchart illustrating a method of setting an operation parameter according to an exemplary embodiment of the present invention. FIG. 4 is a graph showing the relationship between the duty ratio and the number of tilt times of the flip motion in the operation parameter setting method according to the embodiment of the present invention. FIG. 5 is a graph showing the relationship It is a graph showing the response characteristics of the flip motion in the parameter setting method.

Referring to FIGS. 1 and 2 to 5, an operation parameter setting method for estimating a power state of a battery in a unicycle robot according to an embodiment of the present invention includes an operation matching step S1, a duty ratio setting step S2, , And further includes a relational expression calculating step (S3), and may further include a tilt collecting compensation step (S4).

The operation matching step (S1) matches the operation characteristics of the flip motor driver with the operation region of the battery.

In more detail, the operation matching step (S1) includes a frequency setting step (S1-1) of setting a PWM switching frequency of a voltage input to the flip motor driver to a constant value, A first calculation step (S1-2) of calculating a relationship of a current outputted from the motor driver, a second calculation step (S1-3) of calculating a voltage use range in which the voltage and the current have a linear relationship, And a voltage matching step (S1-4) for matching the operation range of the battery with the voltage use range.

The power state of the battery can be divided into a cut-off state, an operation state, and a saturation state. The battery can not be charged in the cutoff state. The alarm information before the cutoff state should be considered in an application using the battery system. The operation state is a range between the cutoff state and the saturation state in the driving state of the unicycle robot. The battery is fully charged in the saturation state.

In one embodiment of the present invention, the battery is exemplified as a 5-cell battery packaged in a reperfusion-polymer system. Then, in one embodiment of the present invention, the operation region of the battery is determined at + 15V to + 18.5V since the cutoff state is +15 V, the operation state is +18.5 V, and the saturation state is +20.5 V .

The flip motor 6 is connected to the flip motor driver by two ports with respect to the operation characteristics of the flip motor driver. One port represents the higher H bridge and the other port represents the lower H bridge. At this time, the two ports have the load current of the flip motor and the H bridge operating current. Since these two types of currents share the same hardware H bridge, the operating characteristics of the flip motor driver are predefined by analysis of the H bridge operating current.

Here, the H bridge operating current depends on the power state of the battery, the PWM switching frequency, and the junction temperature. At this time, since the PWM sweep frequency is set to a constant value and the effect of the junction temperature can be ignored, the current flow of the flip motor driver depends only on the power state of the battery as shown in FIG. Particularly, an interesting region in the flip motor driver is a linear relationship, and the operating range of the battery is included in the voltage use range (+ 15V to + 24V) according to the operation characteristics of the flip motor driver. The operating range of the battery and the voltage use range can be matched.

The duty ratio setting step S2 sets the duty ratio of the current for generating the flip motion on the basis of the relation between the duty ratio for the current and the number of tilt times of the flip motions by the flip motor driver.

The flip motor 6 can be controlled by the current duty ratio. Then, as shown in FIG. 4, the relationship between the duty ratio for the current and the number of times of flip motion tilt by the flip motor driver is shown. At this time, the power state of the battery is fixed to a predetermined voltage. The duty ratio is displayed in an interval of 0 to 90% at 10%, and is changed in nine steps by a tachometer sensor included in the controller 7. [ Then, the relationship between the duty ratio and the number of tilt times of the flip motion exhibits a linear characteristic within a duty ratio of 10% to 70%. When the duty ratio is 70% or more, non-linearity is assured. Therefore, the duty ratio setting step S2 sets one at a duty ratio of 10% to 70%. In an embodiment of the present invention, the power state of the battery is fixed to + 20V, and the duty ratio is set to 50%.

The power state of the battery and the number of times of tilting of the flip motion in the unicycle robot to which the flip motor driver is applied are shown in Table 1 below.

Battery power state (V) Number of tilt of flip motor (times / minute) 16 40 18 45 20 50 22 55 24 60

Then, the relational expression calculating step S3 calculates a battery estimation relation formula relating to the power state of the battery according to the number of tilt times of the flip motion using the above-mentioned Table 1. [Table 1]

Accordingly, the battery estimation relation is determined as a relational expression V = K * T on the basis of the output current and the linearity of the number of times of tilt of the flip motion. Where V is the power state of the battery, K is a motion constant according to linearity, T is the number of tilt times of the flip motion, and * indicates multiplication. In one embodiment of the present invention, the motion constant K is 0.4.

The tilt count compensation step S4 derives a delay time according to the flip motion based on the operation characteristics of the flip motor driver and compensates the tilt count of the flip motion based on the delay time.

Since the flip motion has a mechanical delay characteristic, there may be a problem in the detection timing determination. Here, the response characteristic of the flip motion is analyzed to determine an appropriate time of sampling.

In the embodiment of the present invention, when a pulse having a duty ratio of 50% with a period of 10 milliseconds is inputted to the flip motor 6, the response characteristic of the flip motion as shown in Fig. 5 appears. First, the delay time has a delay property of 20 milliseconds, proceeds to a steady state, and represents a steady state value at 2.5 seconds.

Therefore, T = K1 * T1. Here, K1 is a compensation coefficient according to the delay time, T1 is the number of tilt times of the flip motion according to the delay time, and * indicates multiplication. In one embodiment of the present invention, the compensation coefficient K1 is 1.0275.

Therefore, if the battery estimation relation is compensated based on the delay time, V = K * K1 * T1.

Now, a method for estimating the power state of a battery in a unicycle robot according to an embodiment of the present invention will be described. 6 is a diagram illustrating a method of estimating a power state of a battery in a unicycle robot according to an embodiment of the present invention.

Referring to FIGS. 1, 2, 5, and 6, a method for estimating a power state of a battery in a unicycle robot according to an embodiment of the present invention includes estimating a power state of a battery in the unicycle robot using the battery- And may further include a motion implementation step S10, a tilt number calculation step S20, and a power state calculation step S30, and an average value calculation step S40. The battery estimation relation is included in the controller 7 together with the flip motor driver.

The motion implementation step S10 implements the flip motion based on the operation characteristics of the flip motor driver. The motion implementation step S10 may be implemented by applying the power of the battery to the flip motor 6 in the unicycle robot.

The tilt count calculation step S20 calculates the tilt count of the flip motion through the analysis of the motor encoder provided in the flip motor 6 according to the flip motion. The tilt count calculation step S20 may be performed under the control of the controller 7.

The power state calculation step S30 calculates the power state of the battery using the battery estimation relation. The power state calculating step S30 may be performed under the control of the controller 7.

The average value calculation step S40 calculates an average value of the power state of the battery by repeating the tilt number calculation step S20 and the power state calculation step S30 for the flip motion for a preset number of repetitions. The accuracy of the power state of the battery can be improved through the average value calculation step S40.

Hereinafter, a method for controlling a unicycle robot according to an embodiment of the present invention will be described. FIG. 7 is a diagram illustrating a control method of a unicycle robot according to an embodiment of the present invention. Referring to FIG.

Referring to FIGS. 1, 2, 5, 6, and 7, a method for controlling a unicycle robot according to an embodiment of the present invention includes a method for estimating a power state of a battery in a unicycle robot according to an embodiment of the present invention. The speed of the flywheel 4 and the number of tilts of the flip motions are controlled based on the power state of the battery. Thus, even if the power state of the battery is lowered, the same gyro effect as in the operation state can be generated and the balance of the unicycle robot can be stabilized.

More specifically, the control method of the unicycle robot according to an embodiment of the present invention includes a power state comparison step (S100) and a motion control step (S200), and further includes a motion control step (S300) (S400).

The power state comparison step S100 compares the power state of the battery with a predetermined reference power state. Here, the predetermined reference power state can indicate the range of the voltage, and has a minimum value and a maximum value. The power state comparison step S100 may include a minimum value comparison step S110 for comparing the power state of the battery with the minimum value, and a maximum value comparison step S120 for comparing the power state of the battery and the maximum value .

If the power state of the battery is smaller than a preset reference power state as a result of the comparison of the power state comparison step S100, the motion control step S200 may reduce the speed of the flywheel 4, The number of times can be increased. The motion control step S200 may be performed when the power state of the battery is smaller than the minimum value as a result of the comparison of the minimum value comparison step S110. The motion control step S200 may reduce the waste of the battery and notify the charging of the battery when it is close to the cutoff state.

If the power state of the battery is greater than a preset reference power state as a result of the comparison of the power state comparing step S100, the motion adjusting step S300 may increase the speed of the flywheel 4, The number of times can be reduced. The motion adjusting step S300 may be performed when the power state of the battery is greater than the maximum value as a result of the comparison in the maximum value comparing step S120. The motion adjusting step S300 may reduce the waste of the battery in the state of the saturation.

If the power state of the battery is included in the predetermined reference power state as a result of the comparison of the power state comparison step S100, the motion retention step S400 may include a step of comparing the speed of the flywheel 4 with the tilt number of the flip motion Can be maintained. The motion holding step (S400) can stably maintain the operation state.

According to the operation parameter setting method for estimating the power state of the battery in the unicycle robot, the power state estimation method of the battery in the unicycle robot, and the control method of the unicycle robot, the flywheel 4 is tilted in the unicycle robot The operation parameters of the unicycle robot are set by analyzing the flip motion and the power state of the battery is estimated by the unicycle robot by the hardware system mounted on the unicycle robot even if a separate electronic device is not added, It is possible to stabilize the posture of the robot. In addition, the power state estimation of the battery can be simplified due to the linearity formed between the mechanical tilt count of the flip motion and the power state of the battery based on the operation characteristics of the flip motor driver.

In addition, it is possible to improve the accuracy of the power state of the battery, which is estimated on the basis of the delay time generated between the mechanical flip motion and the power supply of the battery and the average value of the repeated flip motions.

Further, since no separate electronic device is required for the unicycle robot, it is possible to prevent the volume of the unicycle robot from becoming large, to stabilize the balance control of the unicycle robot, and to easily check the power state of the battery according to the operation of the unicycle robot . In addition, the power state of the battery may be mechanically checked such as to measure the number of times of tilting of the flip motion, and then the speed of the flywheel 4 and the number of tilts of the flip motion may be adjusted according to the power state of the battery .

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, Modify or modify the Software.

1: Robot body 2: Paddle 3: Gimbal
4: flywheel 5: spin motor 6: flip motor
7: Controller S1: Operation matching step S1-1: Frequency setting step
S1-2: first calculation step S1-3: second calculation step S1-4: voltage matching step
S2: Duty ratio setting step S3: Relational expression calculating step S4: Tilt count compensation step
S10: Motion implementation step S20: Tilt number calculation step S30: Power state calculation step
S40: average value calculation step S100: power state comparison step S110: minimum value comparison step
S120: maximum value comparison step S200: motion control step S300: motion adjustment step
S400: Motion retention phase

Claims (8)

1. A robot arm comprising: a robot body; an outer ring surrounding the outer periphery of the robot body and rotatably coupled to the robot body; a driving motor for rotating the outer ring with respect to the robot body; A flywheel provided on said gimbal and for rotating said flywheel; and a tilting mechanism for tilting said flywheel provided on said gimbal to produce a gyro effect A controller for controlling operations of the driving motor and the spin motor, and a controller for controlling the operation of the driving motor and the spin motor, A spin motor, the flip motor, and a battery for applying power to the controller An operation parameter setting method for estimating the power state of the battery in oebakwi robot,
A driving matching step of matching an operation characteristic of the flip motor driver with an operation region of the battery; And
A duty ratio of the current for generating the flip motion is set based on the relationship between the duty ratio of the current output from the flip motor driver and the number of tilts of the flip motion to be tilted by the flip motor driver And a duty ratio setting step,
Wherein the operation matching step comprises:
A frequency setting step of setting a PWM switching frequency of a voltage input to the flip motor driver to a constant value;
A first calculation step of calculating a relationship between a voltage input to the flip motor driver and the current;
A second calculation step of calculating a voltage use range in which the voltage and the current have a linear relationship; And
And a voltage matching step of matching the operating range of the battery with the voltage range of use of the battery. The method according to claim 1,
Further comprising a relational expression calculating step of calculating a battery estimation relation relating to a power state of the battery according to the number of tilts of the flip motion. 3. The method of claim 2,
Wherein the battery estimating relation is determined by a relation of V = K * T based on the output current and the linearity of the number of times of tilt of the flip motion.
Where V is the power state of the battery, K is a motion constant according to the linearity, T is the number of tilt times of the flip motion, and * indicates multiplication. The method of claim 3,
Further comprising a tilt count compensating step of deriving a delay time according to the flip motion based on an operation characteristic of the flip motor driver and compensating the tilt count of the flip motion based on the delay time, A method for setting operation parameters for estimating the power state of a battery in a robot. A method for estimating a power state of a battery in a unicycle robot using the battery estimation relation formula according to any one of claims 2 to 4,
A motion implementation step of implementing the flip motion based on operation characteristics of the flip motor driver;
A tilt count calculating step of calculating a tilt count of the flip motion through analysis of a motor encoder according to the flip motion; And
And calculating a power state of the battery using the battery estimation relation. The method of claim 1, further comprising: 6. The method of claim 5,
And calculating an average value of the power state of the battery by repeating the tilt count calculation step and the power state calculation step for the flip motion for a predetermined repetition number of times A method for estimating a power state of a battery. A method for controlling a mobile robot according to claim 5,
And controlling the speed of the flywheel and the number of tilts of the flip motion based on the power state of the battery. 8. The method of claim 7,
Comparing a power state of the battery with a predetermined reference power state; And
And a motion control step of decreasing the speed of the flywheel and increasing the number of tilts of the flip motion when the power state of the battery is smaller than a predetermined reference power state as a result of the comparison of the power state comparison step Control method of a unicycle robot.

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