A gyroscope attitude detection circuit

Abstract

This utility model discloses a gyroscope attitude detection circuit, including a power supply module, a multi-axis inertial sensor, a main control unit, a filtering circuit, and a communication connection unit. The power supply module supplies power to the entire circuit. The multi-axis inertial sensor collects three-axis angular velocity and acceleration data. The main control unit has a communication interface for receiving attitude data from the multi-axis inertial sensor and generating commands adapted for robot control. The filtering circuit is connected between the power supply terminal of the multi-axis inertial sensor and the power supply module and is equipped with decoupling filtering function. The communication connection unit is connected between the multi-axis inertial sensor and the main control unit, and data transmission is achieved using an IIC bus. This utility model aims to solve the problems of low attitude detection accuracy and weak anti-interference capability in existing systems.

Description

Technical Field

[0001] This utility model relates to the field of robotics technology, and in particular to a gyroscope attitude detection circuit. Background Technology

[0002] The gyroscope attitude detection circuit is the core sensing unit for humanoid robots to achieve dynamic balance control and precise motion execution, playing a crucial role in robot motion control, environmental interaction, and other scenarios. In existing technologies, the attitude detection circuit of humanoid robots typically adopts a single-chip architecture, directly connecting multi-axis inertial sensors to the main control unit.

[0003] It has been found that the voltage output by the power module is easily affected by the switching actions of other circuit modules (such as motor drive and wireless communication), generating high-frequency ripple and low-frequency fluctuations. This noise is directly transmitted to the power supply terminal of the multi-axis inertial sensor, causing drift in the three-axis angular velocity and acceleration data output by the sensor, affecting the attitude detection accuracy. Utility Model Content

[0004] The main purpose of this invention is to provide a gyroscope attitude detection circuit, which aims to solve the problems of low attitude detection accuracy and weak anti-interference ability in existing systems.

[0005] To achieve the above objectives, the gyroscope attitude detection circuit proposed in this utility model includes:

[0006] The power module is used to supply power to the entire circuit;

[0007] Multi-axis inertial sensors are used to acquire triaxial angular velocity and acceleration data;

[0008] The main control unit has a communication interface for receiving attitude data from the multi-axis inertial sensor and generating instructions adapted to robot control.

[0009] A filtering circuit is connected between the power supply terminal of the multi-axis inertial sensor and the power module, and is equipped with decoupling filtering function;

[0010] The communication connection unit is connected between the multi-axis inertial sensor and the main control unit, and uses the IIC bus to realize data transmission.

[0011] In one possible implementation, the multi-axis inertial sensor is an MPU6050 gyroscope module, which is connected to the communication connection unit via the SDA pin and SCL pin respectively, and is used to output raw data of triaxial angular velocity and acceleration.

[0012] In one possible implementation, the main control unit includes an AD152A4 chip and an AC7916AB chip, wherein the PB1 pin of the AD152A4 chip is configured as an IIC_SDA interface and the PB0 pin is configured as an IIC_SCL interface for establishing data transmission with the communication connection unit.

[0013] In one possible implementation, the communication connection unit includes:

[0014] The IIC signal line group includes data signal lines and clock signal lines;

[0015] A current-limiting resistor group, including a first current-limiting resistor and a second current-limiting resistor;

[0016] One end of the data signal line is connected to the SDA pin of the multi-axis inertial sensor, and the other end is connected to the IIC_SDA pin of the main control unit via a first current-limiting resistor; one end of the clock signal line is connected to the SCL pin of the multi-axis inertial sensor, and the other end is connected to the IIC_CLK pin of the main control unit via a second current-limiting resistor.

[0017] In one possible implementation, the filtering circuit includes at least one capacitor element connected in parallel, one end of which is connected to the power supply terminal of the multi-axis inertial sensor, and the other end is grounded.

[0018] In one possible implementation, a buffer circuit is also included, the buffer circuit comprising:

[0019] A buffer chip, wherein pin 1 of the buffer chip is electrically connected to pin 15 of the AC7916AB chip, pin 7 is connected to pin 16 of the AC7916AB chip, pin 5 is connected to pin 21 of the AC7916AB chip, pin 6 is connected to pin 20 of the AC7916AB chip, and pins 2, 3 and 8 are connected to the power module, and pin 4 is grounded;

[0020] An isolation unit is located between the power module and the buffer chip.

[0021] This invention utilizes a multi-axis inertial sensor to collect attitude data, which is then filtered and powered stably by a circuit before being transmitted in real-time to the main control unit via an IIC bus. The main control unit processes the data and generates control commands, enabling precise detection and dynamic balance control of the robot's posture. This significantly improves the accuracy and real-time performance of gyroscope attitude detection, effectively solving the problems of insufficient detection accuracy and high data latency caused by power supply noise and signal crosstalk in traditional circuits. It ensures that the humanoid robot can accurately perceive its own posture and adjust it promptly during dynamic movement, providing core support for its balance control and flexible movements. Furthermore, the overall circuit structure is simple, has strong anti-interference capabilities, and is suitable for posture perception scenarios of humanoid robots. Attached Figure Description

[0022] To more clearly illustrate the technical solutions in the embodiments of this utility model or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of this utility model. For those skilled in the art, other drawings can be obtained based on the structures shown in these drawings without creative effort.

[0023] Figure 1 This is a circuit diagram of the AC7916AB chip according to an embodiment of the present invention;

[0024] Figure 2 This is a circuit diagram of the AD152A4 chip according to an embodiment of the present invention;

[0025] Figure 3 This is a circuit diagram of a buffer circuit according to an embodiment of the present invention;

[0026] Figure 4 This is a circuit diagram of a multi-axis inertial sensor according to an embodiment of the present invention.

[0027] Explanation of icon numbers:

[0028] 1. Main control unit; 11. AD152A4 chip; 12. AC7916AB chip; 2. Filtering circuit; 21. Capacitor element; 3. Multi-axis inertial sensor; 4. Communication connection unit; 41. Data signal line; 42. Clock signal line; 43. First current limiting resistor; 44. Second current limiting resistor; 51. Buffer chip; 52. Isolation unit.

[0029] The realization of the purpose, functional features and advantages of this utility model will be further explained in conjunction with the embodiments and with reference to the accompanying drawings. Detailed Implementation

[0030] To make the objectives, technical solutions, and advantages of this application clearer, the following detailed description is provided in conjunction with the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative and not intended to limit the scope of this application.

[0031] To address the problems in the background technology, this utility model proposes a gyroscope attitude detection circuit, comprising:

[0032] The power module is used to supply power to the entire circuit;

[0033] Multi-axis inertial sensor 3 is used to collect triaxial angular velocity and acceleration data;

[0034] The main control unit 1 has a communication interface for receiving attitude data from the multi-axis inertial sensor 3 and generating instructions adapted to robot control.

[0035] The filter circuit 2 is connected between the power supply terminal of the multi-axis inertial sensor 3 and the power supply module, and is equipped with decoupling filtering function;

[0036] The communication connection unit 4 is connected between the multi-axis inertial sensor 3 and the main control unit 1, and uses the IIC bus to realize data transmission.

[0037] Combined with reference Figures 1 to 4 As shown, in this embodiment, the gyroscope attitude detection circuit includes a power supply module, a multi-axis inertial sensor 3, a main control unit 1, a filter circuit 2, and a communication connection unit 4. These components work together through circuit connections to achieve real-time detection and data processing of the humanoid robot's attitude. The power supply module provides a stable 3.3V DC power supply (VCC_3V3) to the entire circuit. Its input is compatible with the 7.4V lithium battery commonly used in robots, and the voltage is converted to 3.3V through a linear voltage regulator circuit to ensure stable operation of each module.

[0038] The multi-axis inertial sensor 3 is a six-axis module integrating a three-axis gyroscope and a three-axis accelerometer. Its operating voltage is 3.3V, connected to the power supply processed by the filter circuit 2 via the VCC pin, and grounded via the GND pin. This sensor can acquire the robot's three-axis angular velocity and three-axis acceleration data in real time. The angular velocity data reflects the robot's rotational motion state (such as pitch and roll angle changes), while the acceleration data reflects linear motion and the direction of gravity. The combination of these two data comprehensively characterizes the robot's spatial attitude. The main control unit 1 uses a microcontroller chip equipped with an IIC communication interface, an SPI interface, and a USB interface. Its core function is to receive and process the attitude data transmitted from the multi-axis inertial sensor 3. Specifically, the main control unit 1 establishes communication with the multi-axis inertial sensor 3 through the IIC interface. After receiving the raw data, it performs fusion processing using internal algorithms (such as Kalman filtering) to eliminate measurement errors from individual sensors (such as gyroscope drift errors and accelerometer dynamic interference), ultimately generating attitude commands (such as servo motor adjustment signals) adapted to the robot's gait balance control. Meanwhile, the SPI interface of the main control unit 1 can be expanded with an external storage module (such as an SD card) to store historical attitude data, and the USB interface can be used for circuit debugging and data interaction with the robot's main control system.

[0039] Furthermore, the filter circuit 2 is connected between the power supply terminal of the multi-axis inertial sensor 3 and the power module. This filter circuit 2 is directly connected to the VCC terminal of the multi-axis inertial sensor 3 via a pin, avoiding measurement data drift caused by power supply noise and improving attitude detection accuracy. The communication connection unit 4 adopts an IIC bus structure, which includes two signal lines: a data signal line 41 (SDA) and a clock signal line 42 (SCL). One end of the data signal line 41 is connected to the SDA pin of the multi-axis inertial sensor 3, and the other end is connected to the IIC data interface of the main control unit 1; one end of the clock signal line 42 is connected to the SCL pin of the multi-axis inertial sensor 3, and the other end is connected to the IIC clock interface of the main control unit 1.

[0040] With the above structure, the attitude data collected by the multi-axis inertial sensor 3 is stably powered by the filter circuit 2 and then transmitted to the main control unit 1 in real time via the IIC bus. The main control unit 1 processes the data and generates control commands to achieve accurate detection and dynamic balance control of the robot's attitude. The overall circuit structure is simple and has strong anti-interference ability, making it suitable for attitude perception scenarios of humanoid robots.

[0041] In one possible implementation, the multi-axis inertial sensor 3 is an MPU6050 gyroscope module, which is connected to the communication connection unit 4 via the SDA pin and the SCL pin respectively, and is used to output raw data of triaxial angular velocity and acceleration.

[0042] Combined with reference Figure 4As shown, in this embodiment, the multi-axis inertial sensor 3 uses an MPU6050 gyroscope module. This module integrates a three-axis gyroscope and a three-axis accelerometer, enabling real-time acquisition of raw three-axis angular velocity and three-axis acceleration data during the humanoid robot's movement, providing basic data support for robot attitude detection. The power supply terminal of the MPU6050 gyroscope module is connected to the VCC_3V3 voltage output from the power module, and its ground terminal is directly connected to the circuit ground. The SDA pin (data pin) and SCL pin (clock pin) of this module are respectively connected to the communication connection unit 4, forming a complete IIC data transmission path, ensuring that the raw attitude data can be stably transmitted to the main control unit 1.

[0043] In one possible implementation, the main control unit 1 includes an AD152A4 chip 11 and an AC7916AB chip 12, wherein the PB1 pin of the AD152A4 chip 11 is configured as an IIC_SDA interface and the PB0 pin is configured as an IIC_SCL interface for establishing data transmission with the communication connection unit 4.

[0044] Combined with reference Figures 1 to 2 As shown, in this embodiment, the main control unit 1 includes an AD152A4 chip 11 and an AC7916AB chip 12, which work together to realize attitude data processing and peripheral control functions. The AD152A4 chip 11's power supply terminal is connected to the VCC_3V3 output of the power module. Its PB1 pin is configured as an IIC_SDA interface, and its PB0 pin is configured as an IIC_CLK interface. Data transmission is established with the multi-axis inertial sensor 3 through the communication connection unit 4: the PB1 pin is connected to the sensor's SDA pin via a 33R current-limiting resistor, and the PB0 pin is connected to the sensor's SCL pin via another 33R current-limiting resistor. This is used to receive the raw triaxial angular velocity and acceleration data output by the sensor, and to filter and fuse the data to generate instructions adapted for robot gait balance control. Furthermore, the AC7916AB chip 12 interacts with the AD152A4 chip 11 through specific pins, receiving the processed control instructions and working together to complete peripheral drive.

[0045] In one possible implementation, the communication connection unit 4 includes:

[0046] The IIC signal line group includes data signal line 41 and clock signal line 42;

[0047] The current-limiting resistor group includes a first current-limiting resistor 43 and a second current-limiting resistor 44;

[0048] One end of the data signal line 41 is connected to the SDA pin of the multi-axis inertial sensor 3, and the other end is connected to the IIC_SDA pin of the main control unit 1 via the first current-limiting resistor 43; one end of the clock signal line 42 is connected to the SCL pin of the multi-axis inertial sensor 3, and the other end is connected to the IIC_CLK pin of the main control unit 1 via the second current-limiting resistor 44.

[0049] Combined with reference Figures 1 to 4 As shown, in this embodiment, the communication connection unit 4 is used to establish a stable data transmission channel between the multi-axis inertial sensor 3 and the main control unit 1. It includes an IIC signal line group and a current-limiting resistor group. The IIC signal line group consists of a data signal line 41 and a clock signal line 42. The data signal line 41 serves as the carrier for attitude data transmission, and the clock signal line 42 is used to synchronize the data transmission timing. The current-limiting resistor group includes a first current-limiting resistor 43 and a second current-limiting resistor 44, both of which are 33R resistors. Figure 2 R1 and R8 in the diagram. The specific connection relationship is as follows: one end of the data signal line 41 is directly connected to the SDA pin of the multi-axis inertial sensor 3, and the other end is connected to the IIC_SDA pin of the AD152A4 chip 11 after passing through the first current-limiting resistor 43; one end of the clock signal line 42 is directly connected to the SCL pin of the multi-axis inertial sensor 3, and the other end is connected to the IIC_CLK pin of the AD152A4 chip 11 after passing through the second current-limiting resistor 44. This solves the problems in existing communication circuits where instantaneous high current can damage the pins of the sensor or main control unit 1, and where data packet loss and errors occur during signal transmission due to reflection and crosstalk. The 33R current-limiting resistor limits the transmission current to a safe range, preventing overcurrent damage to components; simultaneously, the current-limiting resistor suppresses high-frequency signal reflection, reduces bus interference, and ensures that the three-axis angular velocity and acceleration data collected by the multi-axis inertial sensor 3 can be transmitted to the main control unit 1 in real time and accurately, providing reliable data support for robot posture control and meeting the requirements of humanoid robot dynamic balance adjustment for data transmission stability.

[0050] In one possible implementation, the filter circuit 2 includes at least one capacitor element 21 connected in parallel. One end of the capacitor element 21 is connected to the power supply terminal of the multi-axis inertial sensor 3, and the other end is grounded. Specifically, in this embodiment, two capacitor elements 21 are used: a first capacitor and a second capacitor. The two capacitor elements 21 are connected in parallel, with one end connected to the power supply terminal of the multi-axis inertial sensor 3 (connected to the output terminal of the power module VCC_3V3), and the other end grounded, forming a complete filtering path. This significantly reduces the impact of power supply interference on sensor measurements, ensuring stable output attitude data.

[0051] In one possible implementation, a buffer circuit is also included, the buffer circuit comprising:

[0052] The buffer chip 51 has pin 1 electrically connected to pin 15 of the AC7916AB chip 12, pin 7 connected to pin 16 of the AC7916AB chip 12, pin 5 connected to pin 21 of the AC7916AB chip 12, pin 6 connected to pin 20 of the AC7916AB chip 12, and pins 2, 3 and 8 connected to the power module, with pin 4 grounded.

[0053] An isolation unit 52 is disposed between the power module and the buffer chip 51.

[0054] Combined with reference Figure 3 As shown, in this embodiment, the buffer chip 51 uses an SN74LVC2G125 tri-state bus chip. Its pin connections are as follows: pin 1 is electrically connected to pin 15 of the AC7916AB chip 12; pin 7 is connected to pin 16 of the AC7916AB chip 12; pin 5 is connected to pin 21 of the AC7916AB chip 12; and pin 6 is connected to pin 20 of the AC7916AB chip 12. Simultaneously, pins 2, 3, and 8 of the buffer chip 51 are connected to the VCC_3V3 output of the power module, receiving the operating voltage from the power module. Pin 4 is directly grounded, forming a complete power supply and signal loop. An isolation unit 52 is positioned between the power module and the buffer chip 51, specifically using a 10kΩ resistor (R52). One end of the resistor is connected to the VCC_3V3 output of the power module, and the other end is connected to pins 2, 3, and 8 of the buffer chip 51. This is used to block the conduction of high-frequency noise in the power supply loop, further stabilizing the operating voltage of the buffer chip 51.

[0055] In the accompanying drawings of this embodiment, the same or similar reference numerals correspond to the same or similar components. In the description of this application, it should be understood that if terms such as "upper," "lower," "left," and "right" indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings, they are only for the convenience of describing this application and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, the terms used to describe positional relationships in the accompanying drawings are only for illustrative purposes and should not be construed as limiting this patent. For those skilled in the art, the specific meaning of the above terms can be understood according to the specific circumstances.

[0056] The above are merely preferred embodiments of this application and are not intended to limit this application. Any modifications, equivalent substitutions, and improvements made within the spirit and principles of this application should be included within the protection scope of this application.

Claims

1. A gyroscope attitude detection circuit, characterized in that, include: The power module is used to supply power to the entire circuit; Multi-axis inertial sensors are used to acquire triaxial angular velocity and acceleration data; The main control unit has a communication interface for receiving attitude data from the multi-axis inertial sensor and generating instructions adapted to robot control. A filtering circuit is connected between the power supply terminal of the multi-axis inertial sensor and the power module, and is equipped with decoupling filtering function; The communication connection unit is connected between the multi-axis inertial sensor and the main control unit, and uses the IIC bus to realize data transmission.

2. The gyroscope attitude detection circuit according to claim 1, characterized in that, The multi-axis inertial sensor is an MPU6050 gyroscope module, which is connected to the communication connection unit through the SDA and SCL pins respectively, and is used to output raw data of triaxial angular velocity and acceleration.

3. The gyroscope attitude detection circuit according to claim 2, characterized in that, The main control unit includes an AD152A4 chip and an AC7916AB chip. The PB1 pin of the AD152A4 chip is configured as an IIC_SDA interface, and the PB0 pin is configured as an IIC_SCL interface, which are used to establish data transmission with the communication connection unit.

4. The gyroscope attitude detection circuit according to claim 3, characterized in that, The communication connection unit includes: The IIC signal line group includes data signal lines and clock signal lines; A current-limiting resistor group, including a first current-limiting resistor and a second current-limiting resistor; One end of the data signal line is connected to the SDA pin of the multi-axis inertial sensor, and the other end is connected to the IIC_SDA pin of the main control unit via a first current-limiting resistor; one end of the clock signal line is connected to the SCL pin of the multi-axis inertial sensor, and the other end is connected to the IIC_CLK pin of the main control unit via a second current-limiting resistor.

5. The gyroscope attitude detection circuit according to claim 1, characterized in that, The filtering circuit includes at least one capacitor element connected in parallel, one end of which is connected to the power supply terminal of the multi-axis inertial sensor, and the other end is grounded.

6. The gyroscope attitude detection circuit according to claim 3, characterized in that, It also includes a buffer circuit, the buffer circuit comprising: A buffer chip, wherein pin 1 of the buffer chip is electrically connected to pin 15 of the AC7916AB chip, pin 7 is connected to pin 16 of the AC7916AB chip, pin 5 is connected to pin 21 of the AC7916AB chip, pin 6 is connected to pin 20 of the AC7916AB chip, and pins 2, 3 and 8 are connected to the power module, and pin 4 is grounded; An isolation unit is located between the power module and the buffer chip.

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