[0035] The technical solutions of the present invention will be clearly and completely described below in conjunction with the accompanying drawings. Obviously, the described embodiments are part of the embodiments of the present invention, rather than all of them. Based on the embodiments of the present invention, all other embodiments obtained by those of ordinary skill in the art without creative work shall fall within the protection scope of the present invention.
[0036] In the description of the present invention, it should be noted that the terms "center", "upper", "lower", "left", "right", "vertical", "horizontal", "inner", "outer", etc. The indicated orientation or positional relationship is based on the orientation or positional relationship shown in the drawings, and is only for the convenience of describing the present invention and simplifying the description, rather than indicating or implying that the pointed device or element must have a specific orientation or a specific orientation. The structure and operation cannot therefore be understood as a limitation of the present invention. In addition, the terms "first", "second", and "third" are only used for descriptive purposes, and cannot be understood as indicating or implying relative importance.
[0037] In the description of the present invention, it should be noted that the terms "installation", "connected" and "connected" should be understood in a broad sense, unless otherwise clearly specified and limited. For example, they can be fixed or detachable. Connected or integrally connected; it can be a mechanical connection or an electrical connection; it can be directly connected or indirectly connected through an intermediate medium, and it can be the internal communication between two components. For those of ordinary skill in the art, the specific meanings of the above-mentioned terms in the present invention can be understood in specific situations.
[0038] See figure 1 As shown, a control system with functions of reducing collision damage and anti-dumping includes:
[0039] Gyroscope, used to recognize the attitude of the mobile platform relative to the horizontal plane;
[0040] Acceleration sensor, used to obtain the three-axis acceleration of the mobile platform;
[0041] The central processing unit is used to process the received attitude information and acceleration information through a filtering mechanism to avoid false alarms in the system; and then generate a motion control signal through a corresponding algorithm and send it to the drive controller, and drive the motion controller to control The mobile platform executes the corresponding action response;
[0042] And a drive controller for controlling the mobile platform to perform corresponding actions;
[0043] The gyroscope, the acceleration sensor and the drive controller are electrically connected to the central processing unit.
[0044] The central processing unit includes:
[0045] An acceleration filtering processing module, configured to perform filtering mechanism processing on the three-axis acceleration obtained by the acceleration sensor;
[0046] The anti-collision control processing module is used to control and process the collision of the mobile platform;
[0047] And a posture filtering processing module for performing filtering mechanism processing on the posture information obtained by the gyroscope.
[0048] The acceleration filter processing module and the posture filter processing module are respectively electrically connected with the anti-collision control processing module, and the anti-collision control processing module is electrically connected with the drive controller.
[0049] The posture filtering processing module includes a level check unit and a zero check unit, and the level check unit and the zero check unit are respectively electrically connected to the gyroscope.
[0050] The gyroscope includes a posture sensor, and the posture sensor is electrically connected to the level check unit and the zero check unit, respectively.
[0051] The acceleration filter processing module includes an acceleration filter processing unit and a threshold detection unit, and the acceleration filter processing unit and the threshold detection unit are respectively electrically connected to the acceleration sensor.
[0052] The central processing unit also includes a DMP calculation module, which is used to accurately calculate the quaternion and Euler angles to reduce the calculation burden of the drive controller, so that it can better complete the control of the attitude; the DMP calculation The modules are respectively electrically connected with the gyroscope and the acceleration sensor.
[0053] See figure 2 As shown, a control method implemented by the control system with functions of reducing collision damage and preventing dumping includes:
[0054] Using the gyroscope to recognize the posture of the mobile platform relative to the horizontal plane;
[0055] Obtaining the three-axis acceleration of the mobile platform by using the acceleration sensor;
[0056] Use the central processor to process the received attitude information and acceleration information through a filtering mechanism to avoid false alarms in the system; then use the corresponding algorithm to generate motion control signals and send them to the drive controller, and drive the motion controller to control The mobile platform executes the corresponding action response;
[0057] The driving controller is used to control the mobile platform to perform corresponding actions.
[0058] The control method further includes:
[0059] Using the acceleration filtering processing module to perform filtering mechanism processing on the three-axis acceleration obtained by the acceleration sensor;
[0060] Use the anti-collision control processing module to control and process the collision of the mobile platform;
[0061] The posture filtering processing module is used to perform filtering mechanism processing on the posture information obtained by the gyroscope.
[0062] The control method further includes: using the DMP solution module to accurately calculate the quaternion and the Euler angle, reducing the calculation burden of the driving controller, so that it can better complete the attitude control.
[0063] The control system and method with functions of reducing collision damage and anti-dumping disclosed in the present invention, by setting acceleration filter processing module, anti-collision control processing module and attitude filter processing module, the anti-collision algorithm and anti-dumping algorithm are reliable and efficient, and effectively reduce The collision damage of the mobile platform after a sudden collision is reduced, and the anti-dumping ability of the mobile platform is improved.
[0064] In this embodiment, the hardware DMP is used to accurately calculate the quaternion and the Euler angle, which reduces the computational burden of the control chip and enables it to better complete the attitude control. Because there is a certain inclination angle between the attitude sensor and the horizontal plane, when the intelligent mobile platform (including but not limited to the robot) is turning, the attitude data will change to a certain extent. At this time, it needs to filter through data filtering, control feedback and other processing methods. Remove these influential data to ensure the accuracy of the control; at the same time, through the analysis of the normal data, ensure that it can pass a certain degree of slope. When there is a dangerous inclination to the mobile platform (including but not limited to the robot), it will Control the intelligent mobile platform (including but not limited to the robot) to brake and shield the control that increases dangerous actions. Since there is a certain inclination angle between the attitude sensor and the horizontal plane, the data can be quickly stabilized by means of horizontal check and zero check, and the effect of quick start is realized. And through the processing of data changes, it can still quickly detect whether it is on a slope when it is turned on to prevent accidents. Based on the force, the intelligent mobile platform (including but not limited to the robot) will generate a certain acceleration. By filtering the acceleration data in the three-axis direction, threshold detection and other operations, it will only generate feedback to the impact of a certain strength, so that the intelligent The mobile platform (including but not limited to robots) generates corresponding control actions.
[0065] The method of reducing collision damage and preventing tilt described in this embodiment can realize that when the intelligent mobile platform (including but not limited to robot) is in motion or stationary, due to unknown circumstances, it makes itself and other objects or people In the event of a collision (being hit), other unnecessary injuries can be avoided by braking and alarming. Based on a certain inclination angle of the installation of the attitude sensor and its own motion state, a method for real-time calculation of its true attitude data and acceleration data.
[0066] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention, but not to limit them; although the present invention has been described in detail with reference to the foregoing embodiments, those of ordinary skill in the art should understand: The technical solutions recorded in the foregoing embodiments can still be modified, or some or all of the technical features can be equivalently replaced; these modifications or replacements do not make the essence of the corresponding technical solutions deviate from the technical solutions of the embodiments of the present invention range.
