CN105751220A - Walking human-shaped robot and fusion method for multiple sensors thereof - Google Patents
Walking human-shaped robot and fusion method for multiple sensors thereof Download PDFInfo
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- CN105751220A CN105751220A CN201610314627.3A CN201610314627A CN105751220A CN 105751220 A CN105751220 A CN 105751220A CN 201610314627 A CN201610314627 A CN 201610314627A CN 105751220 A CN105751220 A CN 105751220A
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- robot
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- anthropomorphic robot
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1694—Programme controls characterised by use of sensors other than normal servo-feedback from position, speed or acceleration sensors, perception control, multi-sensor controlled systems, sensor fusion
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- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
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Abstract
The invention provides a human-shaped robot. Joint connection is mainly realized through a stepping motor assisted by multiple sensors for careful detection of surroundings, the position of the robot and joint activities, and therefore the robot can well grasp the surroundings and execute a task given by a user in a complicated environment. Through control over the steps of the robot, the robot can be helped to move more stably, and the purposes of harmonious union of a machine body and balance maintenance of the body are achieved.
Description
Technical field
The present invention relates to a kind of humanoid can the fusion method of walking robot and multiple sensors thereof, the sensor being specifically beneficial to robot perception environment and motion exactly organically combines, and innovate algorithm make each sensor strengthen internal relation co-ordination, belong to artificial intelligence field.
Background technology
Anthropomorphic robot is a kind of emerging technology, dexterousr for allowing the robot to, complete more multitask, need to use multiple sensors environment to external world to carry out constantly detection and feedback, the reasonable employment of sensor can make robot obtain the more three-dimensional comprehensive feedback of surrounding, better complete being manually set of task, but anthropomorphic robot field sensor fusion at present is not as perfect, mostly the information of each sensor acquisition is carried out individually, isolated process, therefore the increase of information processing work amount is not only resulted in, and, cut off the internal relation between each sensor information, the information that lost is likely to the relevant environmental characteristic contained after organic assembling, cause the waste of information resources.The information fusion technology of multiple sensors can solve problems.
Summary of the invention
For above-mentioned deficiency, the invention provides one and used motor, GPS navigation device, ultrasonic sensor, vision sensor, laser range finder, acceleration transducer, motor Hall element, temperature sensor etc. to constitute simulation anthropomorphic robot.
The present invention is achieved by the following technical solutions: one can the novel anthropomorphic robot of walking, use and humanoid load onto multiple sensors for framework, reasonable fusion algorithmically strengthens internal relation, it is to avoid information resources wastes.It is characterized in that: first, motor has formed all joints of anthropomorphic robot, frequency and the umber of pulse of pulse signal is depended in the rotating speed of motor and position, so the absolute position of motor can be directly obtained, it can better calculate joint velocity with the fusion use of motor Hall element and be conducive to completing of joint of robot action.Each motor is equipped with three linear hall sensors, it is mutually 120 degree, when motor rotates, three linear hall sensor output analogue signals, simulation hall signal is transferred to the FPGA(Field-ProgrammableGateArray in joint after AD788 gathers) it is used for calculating motor position and speed, thus realizing the control to motor.
The stride motion of robot is jointly to be completed by multiple joints, in robot, step installs acceleration transducer additional, striding speed and grasp robot leg position in order to measuring robots, feedback information can coordinate each joint motions of leg, reaches to act in agreement, ruly effect.
Ultrasound wave and vision sensor are used for producing the 3D region lattice that a figure split by stratification coordinate, vision and laser range sensor are used in perception environment, and propose unrelated feature by retraining.The uncertainty setting every sensor is identical as the standard deviation of Gauss distribution and all the sensors measured value, adopts the algorithm that weighted mean method merges as system information.
In the process of the task of execution, robot generally requires and determines self-position, and therefore for robot, we add that GPS navigation device is for determining state and the position of robot.
Temperature sensor, for detecting ambient temperature under special circumstances, protects robot self.This anthropomorphic robot is chip used for Freescale MK60DX255VLQ104N22DQCTAC1304TK single-chip microcomputer.
Data acquisition of the present invention be driven to all analog sensor signals of digitization system will in proximal most position collection and be converted into digital signal, with LVDS(Low-VoltageDifferentialSignaling) form of differential signal is transferred to FPGA, signal is carried out combing again and produces the control signal therebetween such as AD7888 simultaneously by FPGA, these sensor signals and motor control signal are sent to DSP(DigitalSignalProcessing with the form of LVDS differential signal by last total FPGA) on, it is achieved the digitized of anthropomorphic robot entirety, intellectuality.
Various sensor has reasonably been selected in having the beneficial effect that of this invention, makes joint of robot motion be under controllable state, and joint motion is more accurate, improves robot precision.Leg installs accelerometer thing leg exercise additional and avoids the occurrence of entanglement; avoid its danger that falls down to the ground; multiple sensors are used to gather with the use of by surrounding stratification compartmentalization in visual aspects; GPS sensor precisely determines robot location; also contribute to its self activity, the present invention also can perception ambient condition information, have high temperature protection device; for, under extreme case, improving its sense of self-protection.The present invention uses sensing system digitizing technique for improving the performance of transducer further, and the analog digital conversion resource saving controller is very favorable.
Accompanying drawing explanation
Accompanying drawing 1 is anthropomorphic robot sensor population structure schematic diagram:
In figure: 1 control core CPU；2 ultrasonic sensors；3 vision sensors；4 laser range finders；5 motors；6 motor Hall elements；7 acceierometer sensor；8 GPS navigation devices；9 temperature sensors.
Embodiment
The visual component of the present invention is made up of ultrasonic sensor, vision sensor, laser range finder etc., and surrounding enviroment can be converted into the steric environment of stratification gridding；Detection and control for robot movable are to be realized by acceleration transducer, motor Hall element；GPS navigation device, for the perception of robot integral position, additionally can also detect temperature in particular circumstances and realize effective environment early warning.
Claims (6)
1. the key point of the present invention be in that to utilize motor, GPS navigation device, ultrasonic sensor, vision sensor, laser range finder, acceleration transducer, motor Hall element, temperature sensor etc. to constitute can walking multifunctional intellectual anthropomorphic robot each sensor of robot has been carried out good fusion method.
2. novel anthropomorphic robot according to claim 1, it is characterised in that utilize ultrasonic sensor, vision sensor and distance measuring sensor that surrounding enviroment carry out compartmentalization and stratification processes, be beneficial to the robot identification to environment.
3. novel anthropomorphic robot according to claim 1, it is characterised in that utilize motor, motor Hall element to realize the execution to joint of robot action and feedback, make master control system can better control this robot.
4. novel anthropomorphic robot according to claim 1, it is characterised in that utilize the considerable measuring robots leg position of acceleration transducer and stride speed and size, it is prevented that robot falls.
5. novel anthropomorphic robot according to claim 1, it is characterised in that utilize Gauss distribution and average weighted method to realize the fusion of multi-sensor information.
6. novel anthropomorphic robot according to claim 1, it is characterized in that adopting total digitalization system sensor analogue signal be converted into digital signal nearby and be sent to FPGA with differential signalling form, feedback signal is passed DSP back with differential signalling form again and is realized digital intelligent.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610314627.3A CN105751220A (en) | 2016-05-13 | 2016-05-13 | Walking human-shaped robot and fusion method for multiple sensors thereof |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610314627.3A CN105751220A (en) | 2016-05-13 | 2016-05-13 | Walking human-shaped robot and fusion method for multiple sensors thereof |
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| Publication Number | Publication Date |
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| CN105751220A true CN105751220A (en) | 2016-07-13 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN201610314627.3A Pending CN105751220A (en) | 2016-05-13 | 2016-05-13 | Walking human-shaped robot and fusion method for multiple sensors thereof |
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Cited By (8)
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| CN106346455A (en) * | 2016-11-18 | 2017-01-25 | 广东石油化工学院 | Simulation robot |
| CN108582077A (en) * | 2018-05-10 | 2018-09-28 | 吉林省允升科技有限公司 | A kind of intellect service robot control method |
| CN108608443A (en) * | 2018-05-10 | 2018-10-02 | 吉林省允升科技有限公司 | A kind of intellect service robot control system |
| CN109048916A (en) * | 2018-09-12 | 2018-12-21 | 遂昌睿丰科技有限公司 | Portable industrial robot based on multidimensional sensor real time data feedback fusion |
| CN110573978A (en) * | 2017-03-23 | 2019-12-13 | 优步技术公司 | Dynamic sensor selection for self-driving vehicles |
| CN110815215A (en) * | 2019-10-24 | 2020-02-21 | 上海航天控制技术研究所 | Multi-mode fused rotating target approaching and stopping capture ground test system and method |
| CN117944055A (en) * | 2024-03-26 | 2024-04-30 | 中科璀璨机器人(成都)有限公司 | Humanoid robot limb cooperative balance control method and device |
| CN117944055B (en) * | 2024-03-26 | 2024-06-11 | 中科璀璨机器人(成都)有限公司 | Humanoid robot limb cooperative balance control method and device |
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106346455A (en) * | 2016-11-18 | 2017-01-25 | 广东石油化工学院 | Simulation robot |
| CN110573978A (en) * | 2017-03-23 | 2019-12-13 | 优步技术公司 | Dynamic sensor selection for self-driving vehicles |
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| CN108608443A (en) * | 2018-05-10 | 2018-10-02 | 吉林省允升科技有限公司 | A kind of intellect service robot control system |
| CN109048916A (en) * | 2018-09-12 | 2018-12-21 | 遂昌睿丰科技有限公司 | Portable industrial robot based on multidimensional sensor real time data feedback fusion |
| CN110815215A (en) * | 2019-10-24 | 2020-02-21 | 上海航天控制技术研究所 | Multi-mode fused rotating target approaching and stopping capture ground test system and method |
| CN117944055A (en) * | 2024-03-26 | 2024-04-30 | 中科璀璨机器人(成都)有限公司 | Humanoid robot limb cooperative balance control method and device |
| CN117944055B (en) * | 2024-03-26 | 2024-06-11 | 中科璀璨机器人(成都)有限公司 | Humanoid robot limb cooperative balance control method and device |
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Application publication date: 20160713 |