Two-wheeled robot motion control system and method based on complementary filtering

A technology of robot movement and complementary filtering, which is applied in general control systems, control/regulation systems, non-electric variable control, etc., to achieve fast and convenient manual intervention capabilities and increase manual intervention capabilities

Active Publication Date: 2019-01-18
广州大学华软软件学院
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  • Abstract
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Problems solved by technology

[0003] In summary, the problems in the prior art are: At present, two-wheeled self-cruising robots are working on motion control ...

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  • Two-wheeled robot motion control system and method based on complementary filtering
  • Two-wheeled robot motion control system and method based on complementary filtering
  • Two-wheeled robot motion control system and method based on complementary filtering

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Embodiment Construction

[0060] In order to make the object, technical solution and advantages of the present invention more clear, the present invention will be further described in detail below in conjunction with the examples. It should be understood that the specific embodiments described here are only used to explain the present invention, not to limit the present invention.

[0061] The present invention is based on the microcontroller MK60FX512VLQ15 to realize the monorail walking two-wheeled robot motion control system; firstly, the MPU6050 sensor is used to detect the attitude angle of the robot to realize the balance control, and at the same time, the speed of the robot is obtained through the incremental encoder to realize the speed control; secondly, through The camera collects track images to realize direction control. The first-order complementary filtering algorithm is used to fuse the data of the gyroscope and the accelerometer, and the motor is controlled through the PID closed-loop c...

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Abstract

The invention belongs to the technical field of robot data processing and discloses a two-wheeled robot motion control system and method based on complementary filtering. The method comprises the steps of carrying out data fusion on an attitude sensor MPU6050 on-chip gyroscope and an accelerometer through utilization a first-order complementary filtering method and obtaining an attitude dip angle;obtaining robot two-wheel speed through utilization of an incremental encoder, and moreover, obtaining track path information through utilization of a camera; and controlling a motor PWM control signal through adoption of a PID closed-loop control algorithm, and realizing dynamic balance control. Through adoption of a fusion technology of various control theoretical methods, robot adaptive balance capability is realized. Fuzzy plus proportion control technologies are employed for an automatic cruise system, so a robot can pass a curve rapidly and smoothly. Through adoption of wireless networktransmission technologies such as 4G and Wi-Fi, manual intervention capability of the robot is rapidly and conveniently improved. The robot can be operated in a complex environment.

Description

technical field [0001] The invention belongs to the technical field of robot data processing, and in particular relates to a motion control system and method for a two-wheel robot based on complementary filtering. Background technique [0002] At present, the existing technologies commonly used in the industry are as follows: With the continuous development of society, the application of robots needs more in-depth research. Among them, service robot technology has quickly become one of the research hotspots in the field of robots. Service robots also cover a wide range of industries. In daily life, this type of robot can be used in many occasions such as restaurant delivery, company delivery of documents, and warehouse handling. Work arrangements are made through program settings. Among them, companies and The application of robots in warehouses can reduce the waste of human resources and improve work efficiency, while robots in restaurants can increase the freshness of cus...

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Application Information

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IPC IPC(8): G05D1/02G05B13/04G08C17/02
CPCG05B13/042G05D1/021G05D1/0246G05D1/0268G08C17/02
Inventor 夏国清陈华珍甄文劲
Owner 广州大学华软软件学院
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