CN117168443A

CN117168443A - Correction method and device for gesture detection component, storage medium and electronic device

Info

Publication number: CN117168443A
Application number: CN202210583227.8A
Authority: CN
Inventors: 包裕隆; 霍江浩; 徐博; 喻超
Original assignee: Dreame Innovation Technology Suzhou Co Ltd
Current assignee: Pursuit Technology Suzhou Co Ltd
Priority date: 2022-05-26
Filing date: 2022-05-26
Publication date: 2023-12-05

Abstract

The application provides a correction method and device of a gesture detection component, a storage medium and an electronic device, wherein the method comprises the following steps: determining a first zero offset value according to a set of angular velocity values output by a gesture detection component on the robot in a first period of time when the robot is in a stationary state; when the first zero offset value is greater than or equal to a zero offset value threshold value, adjusting the first zero offset value according to a reference zero offset value to obtain a second zero offset value, wherein the reference zero offset value is a zero offset value determined according to a group of angular velocity values output by the gesture detection component in the last time period of the first time period; and performing a correction operation on the angular velocity of the posture detecting section using the second zero offset value, in a case where the second zero offset value is smaller than the zero offset value threshold, wherein the corrected angular velocity value of the posture detecting section at the end time of the first period is the second zero offset value.

Description

Correction method and device for gesture detection component, storage medium and electronic device

[ field of technology ]

The present application relates to the field of robots, and more particularly, to a method and apparatus for correcting an attitude detecting member, a storage medium, and an electronic apparatus.

[ background Art ]

Currently, in order to improve the stability of the intelligent robot, the posture of the intelligent robot can be calibrated in time through an algorithm. However, the stability of intelligent robots (e.g., quadruped robots) walking depends on the IMU (Inertial Measurement Unit ), which can affect the stability of the whole machine with high frequency output when the accuracy of the IMU is low.

As can be seen from this, the correction method of the posture detecting section in the related art has a problem of low stability of the robot due to an excessively low accuracy of the IMU.

[ application ]

The application aims to provide a correction method and device of an attitude detection component, a storage medium and an electronic device, which at least solve the problem of low stability of a robot caused by low precision of an IMU (inertial measurement unit) in the correction method of the attitude detection component in the related art.

The application aims at realizing the following technical scheme:

according to an aspect of an embodiment of the present application, there is provided a correction method of an attitude detection means, including: determining a first zero offset value according to a set of angular velocity values output by a gesture detection component on the robot in a first period of time when the robot is in a stationary state; when the first zero offset value is greater than or equal to a zero offset value threshold value, adjusting the first zero offset value according to a reference zero offset value to obtain a second zero offset value, wherein the reference zero offset value is a zero offset value determined according to a group of angular velocity values output by the gesture detection component in the last time period of the first time period; and performing a correction operation on the angular velocity of the posture detecting section using the second zero offset value, in a case where the second zero offset value is smaller than the zero offset value threshold, wherein the corrected angular velocity value of the posture detecting section at the end time of the first period is the second zero offset value.

In an exemplary embodiment, the method further comprises: the method comprises the steps of determining a first zero offset value according to a group of angular velocity values output by a gesture detection component on the robot in a first period, wherein the first zero offset value comprises at least one of the following steps: determining an average value of a set of angular velocity values output by the attitude detection means during the first period as the first zero offset value; a variance of a set of angular velocity values output by the attitude detection means in the first period is determined as the first zero offset value.

In an exemplary embodiment, the adjusting the first zero offset value according to the reference zero offset value to obtain a second zero offset value includes: and determining the product of the difference value of the first zero offset value and the reference zero offset value and a preset coefficient as the second zero offset value, wherein the preset coefficient is a value which is larger than 0 and smaller than or equal to 1.

In an exemplary embodiment, the performing a correction operation on the angular velocity of the attitude detection means using the second zero offset value includes: and sending a calibration request to a motion control board of the robot, wherein the calibration request is used for requesting the calibration of the angular speed of the gesture detection component according to the second zero offset value.

In an exemplary embodiment, the method further comprises: determining a third zero offset value according to a set of angular velocity values output by a gesture detection component on the robot in a second period of time under the condition that the second zero offset value is greater than or equal to the zero offset value threshold; when the third zero offset value is larger than or equal to the zero offset value threshold value, adjusting the third zero offset value according to the second zero offset value to obtain a fourth zero offset value; and performing a correction operation on the angular velocity of the posture detecting section using the fourth zero offset value, in a case where the fourth zero offset value is smaller than the zero offset value threshold, wherein the corrected angular velocity value of the posture detecting section at the end time of the second period is the fourth zero offset value.

In one exemplary embodiment, before the determining the first zero offset value from the set of angular velocity values output by the gesture detection component on the robot over the first period of time, the method further comprises: determining a motion state of the robot according to inertial measurement data of the robot in a third period, wherein the third period is positioned before the first period, and the motion state comprises one of the following: a moving state, a stationary state.

In an exemplary embodiment, the determining the motion state of the robot according to the inertial measurement data of the robot in the third period of time includes: determining a speed variation parameter of the robot according to the inertial measurement data of the robot in the third period, wherein the speed variation parameter is used for representing the variation of the moving speed of the robot in the second period with time; determining that the robot is in a moving state under the condition that the parameter value of the speed variation parameter is greater than or equal to a target parameter threshold value; and under the condition that the parameter value of the speed change parameter is smaller than a target parameter threshold value, determining that the robot is in a static state.

According to another aspect of the embodiment of the present application, there is also provided a correction device of an attitude detection means, including: a first determining unit configured to determine a first zero offset value according to a set of angular velocity values output by a posture detecting section on a robot in a first period of time, in a case where the robot is in a stationary state; the first adjusting unit is used for adjusting the first zero offset value according to a reference zero offset value to obtain a second zero offset value under the condition that the first zero offset value is larger than or equal to a zero offset value threshold, wherein the reference zero offset value is a zero offset value determined according to a group of angular velocity values output by the gesture detecting component in the last time period of the first time period; a first correction unit configured to perform a correction operation on an angular velocity of the posture detection member using the second zero offset value, in a case where the second zero offset value is smaller than the zero offset value threshold, wherein the corrected angular velocity value of the posture detection member at an end time of the first period is the second zero offset value.

In an exemplary embodiment, the first determining unit includes at least one of: a first determining module configured to determine an average value of a set of angular velocity values output by the attitude detecting means in the first period as the first zero offset value; a second determination module for determining a variance of a set of angular velocity values output by the attitude detection means in the first period as the first zero offset value.

In one exemplary embodiment, the first adjusting unit includes: and a third determining module, configured to determine, as the second zero offset value, a product of a difference value between the first zero offset value and the reference zero offset value and a preset coefficient, where the preset coefficient is a value greater than 0 and less than or equal to 1. .

In one exemplary embodiment, the first correction unit includes: and the transmitting module is used for transmitting a calibration request to the motion control board of the robot, wherein the calibration request is used for requesting the calibration of the angular speed of the gesture detection component according to the second zero offset value.

In an exemplary embodiment, the apparatus further comprises: a second determining unit configured to determine a third zero offset value according to a set of angular velocity values output by the attitude detecting unit on the robot in a second period of time, in a case where the second zero offset value is greater than or equal to the zero offset value threshold; the second adjusting unit is used for adjusting the third zero offset value according to the second zero offset value to obtain a fourth zero offset value under the condition that the third zero offset value is larger than or equal to the zero offset value threshold; and a second correction unit configured to perform a correction operation on an angular velocity of the posture detection section using the fourth zero offset value, in a case where the fourth zero offset value is smaller than the zero offset value threshold, wherein the corrected angular velocity value of the posture detection section at the end time of the second period is the fourth zero offset value.

In an exemplary embodiment, the apparatus further comprises: a third determining unit, configured to determine, before determining a first zero offset value according to the set of angular velocity values output by the gesture detecting component on the robot in a first period, a motion state of the robot according to inertial measurement data of the robot in a third period, where the third period is located before the first period, where the motion state includes one of: a moving state, a stationary state.

In an exemplary embodiment, the third determining unit includes: a fourth determining module, configured to determine a speed variation parameter of the robot according to inertial measurement data of the robot in the third period, where the speed variation parameter is used to represent a change of a movement speed of the robot in the second period over time; a fifth determining module, configured to determine that the robot is in a moving state when the parameter value of the speed variation parameter is greater than or equal to a target parameter threshold; and the sixth determining module is used for determining that the robot is in a static state under the condition that the parameter value of the speed change parameter is smaller than a target parameter threshold value.

According to still another aspect of the embodiments of the present application, there is also provided a computer-readable storage medium having stored therein a computer program, wherein the computer program is configured to execute the correction method of the above-described posture detection section when running.

According to still another aspect of the embodiments of the present application, there is also provided an electronic device including a memory, a processor, and a computer program stored on the memory and executable on the processor, wherein the processor executes the correction method of the gesture detection unit by the computer program.

In the embodiment of the application, a mode of performing zero calibration operation on the robot when the robot is stationary is adopted, and a first zero offset value is determined according to a group of angular velocity values output by a gesture detection component on the robot in a first period under the condition that the robot is in a stationary state; under the condition that the first zero offset value is larger than or equal to a zero offset value threshold value, the first zero offset value is adjusted according to a reference zero offset value to obtain a second zero offset value, wherein the reference zero offset value is determined according to a group of angular velocity values output by the gesture detection component in the last time period of the first time period; and when the second zero offset value is smaller than the zero offset value threshold value, performing correction operation on the angular velocity of the gesture detection component by using the second zero offset value, wherein the corrected angular velocity value of the gesture detection component at the end time of the first period is the second zero offset value.

[ description of the drawings ]

The accompanying drawings, which are incorporated in and constitute a part of this specification, illustrate embodiments consistent with the application and together with the description, serve to explain the principles of the application.

In order to more clearly illustrate the embodiments of the application or the technical solutions of the prior art, the drawings which are used in the description of the embodiments or the prior art will be briefly described, and it will be obvious to a person skilled in the art that other drawings can be obtained from these drawings without inventive effort.

FIG. 1 is a schematic diagram of a hardware environment of an alternative method of correction of a gesture detection component in accordance with an embodiment of the present application;

FIG. 2 is a flow chart of an alternative method of calibrating an attitude sensing assembly according to an embodiment of the present application;

FIG. 3 is a flow chart of another alternative method of calibrating an attitude sensing assembly according to an embodiment of the present application;

FIG. 4 is a schematic diagram of an alternative method of calibrating an attitude sensing assembly according to an embodiment of the present application;

FIG. 5 is a block diagram of a correction device of an alternative attitude sensing assembly according to an embodiment of the present application;

Fig. 6 is a block diagram of an alternative electronic device according to an embodiment of the application.

[ detailed description ] of the application

The application will be described in detail hereinafter with reference to the drawings in conjunction with embodiments. It should be noted that, without conflict, the embodiments of the present application and features of the embodiments may be combined with each other.

It should be noted that the terms "first," "second," and the like in the description and the claims of the present application and the above figures are used for distinguishing between similar objects and not necessarily for describing a particular sequential or chronological order.

According to an aspect of an embodiment of the present application, there is provided a correction method of an attitude detection means. Alternatively, in the present embodiment, the correction method of the above-described posture detection section may be applied to a hardware environment constituted by the robot 102 and the server 104 as shown in fig. 1. As shown in fig. 1, the robot 102 may be connected to a server 104 (e.g., an internet of things platform or cloud server) through a network to control the robot 102.

The network may include, but is not limited to, at least one of: wired network, wireless network. The wired network may include, but is not limited to, at least one of: a wide area network, a metropolitan area network, a local area network, and the wireless network may include, but is not limited to, at least one of: WIFI (Wireless Fidelity ), bluetooth, infrared.

The method for correcting the posture detecting section according to the embodiment of the present application may be executed by the robot 102 or the server 104 alone, or may be executed by both the robot 102 and the server 104. In this case, the robot 102 may execute the correction method of the posture detecting section according to the embodiment of the present application by the client mounted thereon.

Taking the example of the correction method of the posture detecting section in the present embodiment performed by the robot 102, fig. 2 is a flowchart of an alternative correction method of the posture detecting section according to an embodiment of the present application, and as shown in fig. 2, the flowchart of the method may include the steps of:

step S202, in a case where the robot is in a stationary state, determining a first zero offset value according to a set of angular velocity values output by the gesture detection part on the robot in a first period.

The correction method of the gesture detection component in this embodiment may be applied to a scenario of calibrating the gesture of a robot (may be a foot-type or wheel-type robot, for example, a four-foot robot), and is equally applicable to a device in which the stability of gesture adjustment during walking depends on an IMU in each mobile platform (such as an automobile, aviation, etc.). Taking a four-legged robot (e.g., a robot dog, i.e., a dog-shaped robot) as an example, the stability of walking of the four-legged robot depends on the IMU, and the higher the IMU accuracy, the higher the stability of walking of the four-legged robot. Because IMUs are more accurate and more costly, quadruped robots typically employ low cost IMUs.

For a quadruped robot adopting a low-cost IMU, the gesture calibration cannot be performed in time due to insufficient accuracy of the IMU. Considering that the IMU has the problem of low stability of the zero bias of the power-on, the stability of the whole machine can be influenced under the condition of high-frequency output, and the timeliness of the posture calibration of the quadruped robot can be improved by improving the precision of the IMU device in the quadruped robot, however, the mode can not only improve the cost of the quadruped robot, but also can not be compatible with the existing quadruped robot adopting the low-cost IMU.

The IMU arranged in the quadruped robot can comprise a gesture detection component and an accelerometer, the angular speed and the acceleration of the object in the three-dimensional space can be measured through the gesture detection component and the accelerometer, so that the gesture of the object can be calculated, the gesture of the quadruped robot is calibrated, and the gesture detection component can be a gyroscope. For IMU devices with low cost, the zero bias stability is low due to the device itself, and the primary zero bias exists after power-on.

To reduce errors due to low cost devices and to address yaw (yaw) angle drift of the quadruped robot, zero offset of the IMU may be corrected. In consideration of good dynamic performance and poor static performance of the gesture detection component in the IMU, the gesture detection component of the quadruped robot can be calibrated in a static state (for example, a state of standing on the ground) so as to improve the accuracy of subsequent gesture calibration of the quadruped robot and reduce deviation.

In the present embodiment, in order to determine the zero offset in the first period in the case where the robot is in the stationary state, the robot may determine the zero offset of the posture detecting member in the first period from inertial measurement data (i.e., IMU data) of the posture detecting member in the first period. The inertial measurement data are obtained by detecting the IMU device, for example, data measured by an inertial measurement unit, where the inertial measurement unit is a device for measuring the three-axis attitude angle (or angular rate) and acceleration of the object. The inertial measurement data may include: acceleration signal, angular velocity signal. From the measured angular velocity signal, a zero offset of the attitude detection means in the first period can be determined.

In general, an IMU may include three single axis accelerometers that may detect acceleration signals of the object on separate axes of the carrier coordinate system and three single axis gyroscopes (i.e., attitude sensing elements) that may detect angular velocity signals of the carrier relative to the navigational coordinate system. The measured angular velocity and acceleration of the object in three-dimensional space can be used to calculate the attitude of the object.

Alternatively, the robot may acquire a first zero offset value of the gesture detection component over a first period of time, which may be an angular offset of the gesture detection component with respect to a target reference axis (e.g., z-axis). For example, a first zero offset value may be determined from a set of angular velocity values (i.e., Ω values) output by the attitude detection means during the first period, and the first zero offset value may be a zero offset value at the end time of the first period. The angular velocity values may be acquired at preset time intervals, and may be angular velocity values corresponding to the attitude angles of the attitude detecting means, for example, yaw angles, and other attitude angles, for example, pitch angles, roll angles, etc., which are not limited in this embodiment.

One or more manners of determining the first zero offset value according to the set of angular velocity values may be adopted, for example, an average value of the set of angular velocity values may be determined as the first zero offset value, a variance of the set of angular velocity values may be determined as the first zero offset value (zero offset of angular velocity), or an integration process may be performed based on the set of angular velocity values to obtain a set of angle values, and an average value, a variance, etc. of the set of angle values may be determined as the first zero offset value (zero offset of angle), which is not limited in this embodiment.

It should be noted that, the target reference axis may be a coordinate axis of a preset coordinate system, for example, the z axis, and the preset coordinate system may be a world coordinate system, a local coordinate system using a preset point of the quadruped robot as a coordinate origin, or other types of coordinate systems, which is not limited in this embodiment. The first period may be a period after determining a moment when the robot is in a stationary state, and the duration of the period may be a preset duration, and may include, but is not limited to, at least one of the following: 5s,10s,15s, etc., which are not limited in this embodiment.

Step S204, under the condition that the first zero offset value is larger than or equal to the zero offset value threshold, the first zero offset value is adjusted according to the reference zero offset value to obtain a second zero offset value, wherein the reference zero offset value is determined according to a group of angular velocity values output by the gesture detection component in the last period of the first period.

In this embodiment, if the first zero offset value is greater than or equal to the zero offset threshold, which indicates that the current zero offset is greater, the first zero offset value may be adjusted according to the reference zero offset value to obtain the second zero offset value. Here, the reference zero offset value is a zero offset value determined from a set of angular velocity values output by the attitude detection means in a period immediately preceding the first period, which may be a zero offset value at the end time of the period immediately preceding the first period, and may be a zero offset value at the start time of the first period.

The zero offset threshold may be a preset zero offset threshold, or may be a zero offset value of a gesture detection component that is detected through experiments in advance and that makes a gesture angle of a subsequent robot meet a reasonable limit, and when the zero offset value of the gesture detection component is less than or equal to the zero offset threshold, the correction process for the zero offset may be stopped, and the correction for the gesture detection component may be started.

One or more ways of adjusting the first zero offset according to the reference zero offset may be used in this embodiment, so long as the first zero offset can be reduced, for example, a difference between the first zero offset and the reference zero offset may be determined as a second zero offset, a weighted difference between the first zero offset and the reference zero offset (both of which are multiplied by corresponding coefficients respectively) may be determined as a second zero offset, or other ways of adjusting the first zero offset may be used, which is not limited in this embodiment.

In step S206, in the case where the second zero offset value is smaller than the zero offset value threshold value, a correction operation is performed on the angular velocity of the posture detecting section using the second zero offset value, wherein the corrected angular velocity value of the posture detecting section at the end time of the first period is the second zero offset value.

If the second zero offset value is smaller than the zero offset value threshold, the robot may perform a correction operation on the angular velocity of the posture detecting section using the second zero offset value to correct the angular velocity of the posture detecting section, the corrected angular velocity value of the posture detecting section at the end time of the first period being the second zero offset value.

The manner of performing the correction operation on the angular velocity of the attitude detection means using the second zero offset value may be: the robot sends a calibration request to the motion control board (i.e., the electronic device containing the motion control program, which may be a controller), requesting correction of the angular velocity of the gesture detection means according to the second zero offset value, to correct the angular velocity value of the gesture detection means to a suitable range.

For example, the machine dog may continuously correct zero bias of gyro (i.e., gyroscope), correct it to a sufficiently small range, and make a judgment by programming the calibration result, which is the expected value of the whole program calibration on-line (i.e., target zero bias threshold), hopefully small enough for zero drift value of gyro, and if small enough send a request to the controller to correct zero bias and record.

Through the above steps S202 to S206, by determining a first zero offset value from a set of angular velocity values output by the posture detecting section on the robot in a first period of time with the robot in a stationary state; under the condition that the first zero offset value is larger than or equal to a zero offset value threshold value, the first zero offset value is adjusted according to a reference zero offset value to obtain a second zero offset value, wherein the reference zero offset value is determined according to a group of angular velocity values output by the gesture detection component in the last time period of the first time period; and under the condition that the second zero offset value is smaller than the zero offset value threshold value, performing correction operation on the angular speed of the gesture detection component by using the second zero offset value, wherein the corrected angular speed value of the gesture detection component at the end time of the first period is the second zero offset value, so that the problem that the stability of the robot is low due to the fact that the accuracy of the IMU is too low in the correction method of the gesture detection component in the related art is solved, and the accuracy of the gesture calibration of the robot is improved.

In one exemplary embodiment, determining a first zero offset value from a set of angular velocity values output by a gesture detection component on the robot over a first period of time includes at least one of: :

S11, determining an average value of a group of angular velocity values output by the gesture detection component in a first period as a first zero offset value;

s12, determining the variance of a group of angular velocity values output by the gesture detection component in a first period as a first zero offset value.

The first zero offset value may be determined from a set of angular velocity values in a variety of ways, including but not limited to at least one of the following:

mode one: an average value of a set of angular velocity values output by the attitude detection means in a first period is determined as a first zero offset value.

The robot may determine an average of a set of angular velocity values as a first zero offset value. For example, the earth may have a time period of 20s, and may collect angular velocity values once every 1 millisecond (may also be 0.1s, 1 second, etc. or may be other time intervals), collect 20000 angular velocity values, and determine an average value of 20000 angular velocity values as the first zero offset value.

Mode two: a variance of a set of angular velocity values output by the attitude detection means in a first period is determined as a first zero offset value.

The robot may determine the variance of a set of angular velocity values as a first zero offset value. For example, the earth may have a time period of 20s, and may collect angular velocity values once every 1 millisecond (may also be 0.1s, 1 second, etc. or may be other time intervals), collect 20000 angular velocity values, and determine the variance of 20000 angular velocity values as the first zero offset value.

For example, while the machine dog is in a stationary state, since zero offset will always exist, the zero offset of the gyro for the previous period can be continuously subtracted every 1 millisecond from the IMU data for 10-15 seconds in the past of each segment, and thus the zero offset of the gyro is continuously corrected to a sufficiently small range. And stopping correction when the zero offset meets a reasonable range.

By the embodiment, the zero offset is determined based on the average value or the variance of the angular velocity, so that the convenience of zero offset determination can be improved.

In one exemplary embodiment, adjusting the first zero offset value based on the reference zero offset value to obtain the second zero offset value includes:

s21, determining the product of the difference value of the first zero offset value and the reference zero offset value and a preset coefficient as a second zero offset value, wherein the preset coefficient is a value which is larger than 0 and smaller than or equal to 1.

When the first zero offset value is adjusted according to the reference zero offset value, a difference between the first zero offset value and the reference zero offset value may be determined first, for example, the reference zero offset value is G1, the first zero offset value G0, and a difference between the first zero offset value and the reference zero offset value may be determined to be (G2-G1).

Then, a value obtained by multiplying a difference between the first zero offset value and the reference zero offset value by a known coefficient is determined as a second zero offset value, for example, the known coefficient is k (0 < k.ltoreq.1), and k is determined as a second zero offset value (G2-G1).

By the embodiment, the product of the zero offset value of the adjacent time period and the known coefficient is determined as the adjusted zero offset value, so that the rationality and convenience of zero offset adjustment can be improved.

In one exemplary embodiment, performing a correction operation on the angular velocity of the attitude detection means using the second zero offset value includes:

s31, a calibration request is sent to a motion control board of the robot, wherein the calibration request is used for requesting calibration of the angular speed of the gesture detection component according to the second zero offset value.

In the present embodiment, the manner of performing the correction operation on the angular velocity of the attitude detection means using the second zero offset value may be: and sending a calibration request to a motion control board of the robot, wherein the calibration request is used for requesting the calibration of the angular speed of the gesture detection component according to the second zero offset value.

After receiving the calibration request, the motion control board can respond to the request and correct the angular speed of the gesture detection component according to the second zero offset value, so as to perform angle compensation on the target reference axis, and after performing correction operation, the motion control board can perform zero calibration operation on the robot.

For example, the calibration request may carry a second zero offset value, and after receiving the calibration request, the motion controller may correct the angular velocity of the yaw angle of the gyroscope according to the zero offset value, that is, the angular velocity of the yaw angle is corrected to the zero offset value. After the angular velocity is corrected, the zero point of each joint motion of the four-legged robot can be calibrated, and the corresponding joint can be selected for calibration.

According to the embodiment, the calibration request is sent to the motion control board to request the correction of the angular speed of the gesture detection component, and zero calibration is carried out on the gesture of the robot, so that the accuracy and reliability of the gesture determination of the robot are improved.

In an exemplary embodiment, the above method further comprises:

s41, determining a third zero offset value according to a group of angular velocity values output by the gesture detection component on the robot in a second period under the condition that the second zero offset value is larger than or equal to a zero offset value threshold value;

s42, under the condition that the third zero offset value is larger than or equal to the zero offset value threshold value, adjusting the third zero offset value according to the second zero offset value to obtain a fourth zero offset value;

s43 of performing a correction operation on the angular velocity of the posture detecting section using the fourth zero offset value, in a case where the fourth zero offset value is smaller than the zero offset value threshold, wherein the corrected angular velocity value of the posture detecting section at the end time of the second period is the fourth zero offset value.

In the present embodiment, if the second zero offset value is greater than or equal to the zero offset value threshold, the second zero offset value may be taken as the zero offset value at the end time of the first period, and a set of angular velocity values output by the attitude detection means in the next period (i.e., the second period) of the first period may be acquired in a similar manner to that in the foregoing embodiment, to determine the third zero offset value. The manner of obtaining a set of angular velocity values output by the gesture detection unit in the second period and determining the third zero offset value is similar to that in the foregoing embodiment, and will not be described herein.

After the third zero offset value is obtained, the robot can adjust the third zero offset value by using the second zero offset value under the condition that the third zero offset value is larger than or equal to the zero offset value threshold value to obtain a fourth zero offset value, and the fourth zero offset value can be used as the zero offset value at the end time of the second period. The manner of adjusting the third zero offset value by using the second zero offset value is similar to the manner of adjusting the first zero offset value by using the reference zero offset value, and will not be described herein.

After obtaining the fourth zero offset value, in the case where the fourth zero offset value is smaller than the zero offset value threshold value, the robot performs a correction operation on the angular velocity of the posture detecting section using the fourth zero offset value, where the corrected angular velocity value of the posture detecting section at the end time of the second period is the fourth zero offset value. The manner of performing the correction operation on the angular velocity of the attitude detecting means using the fourth zero offset value is similar to the manner of correcting the angular velocity of the attitude detecting means using the second zero offset value, and will not be described here.

For example, whether to continue correcting the zero offset can be judged through a calibration result set by a program in the machine dog, when the acquired zero offset is smaller than an expected value of online calibration, the current zero offset can be recorded as the zero offset of the gyroscope, and when the acquired zero offset is larger than or equal to the expected value of online calibration, the zero offset can be continuously corrected.

According to the embodiment, the zero offset value is continuously corrected according to the angle values output in different time periods, so that the accuracy of the determination of the robot gesture can be improved.

In one exemplary embodiment, before determining the first zero offset value from a set of angular velocity values output by the gesture detection component on the robot over the first period of time, the method further comprises:

s51, determining a motion state of the robot according to inertial measurement data of the robot in a third period, wherein the third period is positioned before the first period, and the motion state comprises one of the following: a moving state, a stationary state.

In this embodiment, the motion state of the robot may be determined based on the inertial measurement data. The robot may acquire inertial measurement data during a third period, where the third period is a period preceding the first period; and determining the motion state of the robot according to the inertial measurement data of the robot in the third period.

Here, the motion state may include one of: and in the moving state and the static state, if the moving state of the robot is the moving state, the inertial measurement data in the next period can be continuously acquired, the moving state of the robot is determined according to the inertial measurement data in the next period, and the like until the moving state of the robot is determined to be the static state.

For example, to solve the gyro zero drift problem, online calibration of the robot dog may be designed, i.e., a pattern is set for the state of the robot dog, and if the robot enters the pattern, real-time calibration logic is entered. Whether to enter the pattern, i.e., whether to enter a mode that allows zero offset correction, is determined by detecting the motion state of the machine dog. Here, the pattern mode is set corresponding to a state in which the robot is lying down on the ground.

According to the method and the device for determining the motion state of the robot, the motion state of the robot is determined based on the inertial measurement data, and accuracy and convenience of motion state determination can be improved.

In one exemplary embodiment, determining a motion state of the robot based on inertial measurement data of the robot during a third period of time includes:

s61, determining a speed change parameter of the robot according to inertial measurement data of the robot in a third period, wherein the speed change parameter is used for representing the change of the moving speed of the robot in the second period along with time;

s62, determining that the robot is in a moving state under the condition that the parameter value of the speed change parameter is greater than or equal to the target parameter threshold value;

and S63, determining that the robot is in a static state when the parameter value of the speed change parameter is smaller than the target parameter threshold value.

In this embodiment, when determining the motion state of the robot, the speed change parameter of the robot, that is, the change of the moving speed of the robot with time in the third period may be determined first according to the inertial measurement data of the robot in the third period. When the parameter value of the speed change parameter is greater than or equal to the target parameter threshold value, the robot can be determined to be in a moving state, otherwise, the robot can be determined to be in a static state.

For example, the detection result may be determined by data transmitted from the motor, and the motion state of the robot may be determined by detecting whether IMU data is stationary or not within a predetermined time period in the past, for example, 20s (set by a program) by an ACC (Adaptive Cruise Control) detection device, and the ACC data informs a calibration program whether the robot is stationary or not to lie down.

By the method, the movement state of the robot is determined based on the speed change parameters of the robot, and accuracy of determining the operation state can be improved.

A correction method of the posture detecting section in the embodiment of the present application is explained below in conjunction with an alternative example. In this alternative example, the target robot is a robot dog.

The machine dog is static under the condition of lying prone, and when the machine dog is electrified, the gyroscope is provided with zero drift, and meanwhile, the detection result of the gyroscope in a static state also drifts (zero drift). In order to solve the problems, in the alternative example, a scheme for online calibration of a four-legged robot dog is provided, so that the detection result of a gyroscope is as accurate as possible.

As shown in fig. 3 and 4, the flow of the correction method of the gyroscope in this alternative example may include the steps of:

step S302, powering up.

And S304, correcting zero offset of the primary IMU.

After the machine dog is powered up, detecting and obtaining the initial zero offset after the power up, thereby starting the initial correction of the IMU zero offset in the machine dog.

Step S306, detecting pattern, judging whether the robot is in a mode allowing zero offset correction, if yes, executing step S308, otherwise, executing step S306.

The set pattern corresponds to a state that the machine dog lies prone on the ground, the detection result can be judged through data transmitted by the motor, and if the machine dog is in the pattern, the machine dog is judged to be in a mode allowing zero offset correction.

In step S308, IMU data is sampled.

The IMU data for the machine dog is collected while the machine dog is stationary (i.e., lying down, i.e., in a mode that allows zero offset correction).

Step S310, judging whether the IMU data in the past 20S is static, if so, executing step S312, otherwise, executing step S306.

After determining that the robot is stationary (lying on the ground), the angular values of the gyroscopes (i.e. a set of angular velocity values) may be acquired over a fixed period of time (e.g. the past 20 s), and based on the angular values over the predetermined period of time, it is determined whether the IMU values are stationary, i.e. if a large zero drift has occurred, e.g. it may be detected by ACC detection elements whether the IMU data are stationary over a past specified time, such as 20s (programmed). If yes, step S312 is performed, otherwise step S306 is performed.

Step S312, the gyro correction zero offset is calculated according to past IMU data of 5-10S.

Based on the angle value in the predetermined time period, the gyroscope data can be corrected, and zero offset (i.e. calibration result) after the correction of the gyroscope is obtained, and the correction process can be as follows:

the first correction scheme is as follows:

the average value of the angle values in the predetermined time period is taken, and as shown in fig. 4, the average value in the time period of t0-t1, t1-t2, t2-t3, t4-t5, etc. can be taken. For example, an average value (G1) of the angle values in the period of t2-t3 may be taken, an average value (G2) of the angle values in the period of t3-t4 may be taken, and a zero offset value G0 at the time t4 may be calculated based on G1, G2, where g0=k (G2-G1), where k is a known coefficient, and may be 1, 1/2, etc. In this way, the zero offset corresponding to the next time can be calculated sequentially.

And a correction scheme II:

the average and variance of the angle values in the predetermined time period (only the difference may be obtained) may be taken as shown in fig. 4, and the average and variance in the time periods t0-t1, t1-t2, t2-t3, t4-t5, etc. may be taken. For example, taking an average value (G1) and a variance (G11) of angle values in a time period of t2-t3, taking an average value (G2) and a variance (G22) of angle values in a time period of t3-t4, judging the calculated average value and variance according to a specified threshold value in each time period, if the threshold value condition is met, directly transmitting the calculated average value and variance to a motion control board (namely, a motion control board) to update data in time, calibrating and transmitting the calculated average value and variance (G2) of the angle values in the time period of t3-t4 in sequence, and calibrating the calculated average value and variance (G22) in sequence.

Step S314, judging whether the online calibration result is smaller (smaller than the set expected value), if yes, executing step S316, otherwise, executing step S306.

It is determined whether the calibration result, i.e., the zero offset value G0, is within a predetermined range (whether the calibration result is sufficiently small, smaller than the set expected value), if yes, step S316 is performed, otherwise, step S306 is performed.

Step S316, a request for correcting zero offset is sent to the motion control program and recorded (log ).

For correction scheme one, a zero offset value G0 may be sent to the motion control program and the completion of the correction (log) may be notified and the print result returned. For the second correction scheme, G11 in each time may be determined according to a threshold, and the results of bias at the time of G1 and power-up may be determined according to a threshold, and if the results are met, the results may be directly sent to the operation control program (i.e., motion control program) to update data.

Through the data acquisition of the IMU and the combination of reasonable threshold judgment, the calculation of the data of the past time period is started in time and corrected in time, the cost for improving the posture calibration of the robot can be reduced, the convergence is reduced, and the corresponding corrected zero deflection curve tends to be gentle.

It should be noted that, for simplicity of description, the foregoing method embodiments are all described as a series of acts, but it should be understood by those skilled in the art that the present application is not limited by the order of acts described, as some steps may be performed in other orders or concurrently in accordance with the present application. Further, those skilled in the art will also appreciate that the embodiments described in the specification are all preferred embodiments, and that the acts and modules referred to are not necessarily required for the present application.

From the description of the above embodiments, it will be clear to a person skilled in the art that the method according to the above embodiments may be implemented by means of software plus the necessary general hardware platform, but of course also by means of hardware, but in many cases the former is a preferred embodiment. Based on such understanding, the technical solution of the present application may be embodied essentially or in a part contributing to the prior art in the form of a software product stored in a storage medium (e.g. ROM (Read-Only Memory)/RAM (Random Access Memory), magnetic disk, optical disk), comprising instructions for causing a terminal device (which may be a mobile phone, a computer, a server, or a network device, etc.) to perform the method of the embodiments of the present application.

According to another aspect of the embodiments of the present application, there is also provided a correction device for an attitude detecting means for implementing the above-described correction method for an attitude detecting means. Fig. 5 is a block diagram of a correction device of an alternative posture detecting section according to an embodiment of the present application, and as shown in fig. 5, the device may include:

a first determining unit 502 for determining a first zero offset value according to a set of angular velocity values output by a gesture detecting part on the robot in a first period of time in a case where the robot is in a stationary state;

a first adjusting unit 504, connected to the first determining unit 502, configured to adjust the first zero offset according to a reference zero offset to obtain a second zero offset when the first zero offset is greater than or equal to a zero offset threshold, where the reference zero offset is a zero offset determined according to a set of angular velocity values output by the gesture detecting component in a period previous to the first period;

a first correction unit 506, connected to the first adjustment unit 504, configured to perform a correction operation on the angular velocity of the gesture detection unit using the second zero offset value when the second zero offset value is smaller than the zero offset value threshold, where the corrected angular velocity value of the gesture detection unit at the end time of the first period is the second zero offset value.

It should be noted that, the first determining unit 502 in this embodiment may be used to perform the above-mentioned step S202, the first adjusting unit 504 in this embodiment may be used to perform the above-mentioned step S204, and the first correcting unit 506 in this embodiment may be used to perform the above-mentioned step S206.

By the above module, determining a first zero offset value by a set of angular velocity values output by a gesture detection component on the robot in a first period of time with the robot in a stationary state; under the condition that the first zero offset value is larger than or equal to a zero offset value threshold value, the first zero offset value is adjusted according to a reference zero offset value to obtain a second zero offset value, wherein the reference zero offset value is determined according to a group of angular velocity values output by the gesture detection component in the last time period of the first time period; and under the condition that the second zero offset value is smaller than the zero offset value threshold value, performing correction operation on the angular speed of the gesture detection component by using the second zero offset value, wherein the corrected angular speed value of the gesture detection component at the end time of the first period is the second zero offset value, so that the problem that the stability of the robot is low due to the fact that the accuracy of the IMU is too low in the correction method of the gesture detection component in the related art is solved, and the accuracy of the gesture calibration of the robot is improved.

In an exemplary embodiment, the first determining unit comprises at least one of:

a first determining module for determining an average value of a set of angular velocity values output by the attitude detecting means in a first period as a first zero offset value;

and a second determination module for determining the variance of the set of angular velocity values output by the attitude detection means in the first period as a first zero offset value.

In one exemplary embodiment, the first adjusting unit includes:

and the third determining module is used for determining the product of the difference value of the first zero offset value and the reference zero offset value and a preset coefficient as a second zero offset value, wherein the preset coefficient is a value which is larger than 0 and smaller than or equal to 1.

In one exemplary embodiment, the first correction unit includes:

and the transmitting module is used for transmitting a calibration request to the motion control board of the robot, wherein the calibration request is used for requesting the calibration of the angular speed of the gesture detection component according to the second zero offset value.

In an exemplary embodiment, the above apparatus further includes:

a second determining unit configured to determine a third zero offset value according to a set of angular velocity values output by the attitude detecting unit on the robot in a second period of time, in a case where the second zero offset value is greater than or equal to a zero offset value threshold;

The second adjusting unit is used for adjusting the third zero offset value according to the second zero offset value to obtain a fourth zero offset value under the condition that the third zero offset value is larger than or equal to the zero offset value threshold value;

and a second correction unit configured to perform a correction operation on the angular velocity of the posture detection section using the fourth zero offset value in a case where the fourth zero offset value is smaller than the zero offset value threshold, wherein the corrected angular velocity value of the posture detection section at the end time of the second period is the fourth zero offset value.

In an exemplary embodiment, the above apparatus further includes:

a third determining unit, configured to determine, before determining the first zero offset value according to a set of angular velocity values output by the gesture detecting unit on the robot in the first period, a motion state of the robot according to inertial measurement data of the robot in a third period, where the third period is located before the first period, where the motion state includes one of: a moving state, a stationary state.

In one exemplary embodiment, the third determining unit includes:

a fourth determining module, configured to determine a speed variation parameter of the robot according to inertial measurement data of the robot in a third period, where the speed variation parameter is used to represent a variation of a moving speed of the robot over time in the second period;

A fifth determining module, configured to determine that the robot is in a moving state when the parameter value of the speed variation parameter is greater than or equal to the target parameter threshold;

and the sixth determining module is used for determining that the robot is in a static state under the condition that the parameter value of the speed change parameter is smaller than the target parameter threshold value.

It should be noted that the above modules are the same as examples and application scenarios implemented by the corresponding steps, but are not limited to what is disclosed in the above embodiments. It should be noted that the above modules may be implemented in software or in hardware as part of the apparatus shown in fig. 1, where the hardware environment includes a network environment.

According to yet another aspect of an embodiment of the present application, there is also provided a storage medium. Alternatively, in the present embodiment, the above-described storage medium may be used for executing the program code of the correction method of any of the above-described posture detecting sections in the embodiment of the present application.

Alternatively, in this embodiment, the storage medium may be located on at least one network device of the plurality of network devices in the network shown in the above embodiment.

Alternatively, in the present embodiment, the storage medium is configured to store program code for performing the steps of:

s1, under the condition that a robot is in a static state, determining a first zero offset value according to a group of angular velocity values output by a gesture detection part on the robot in a first period;

s2, under the condition that the first zero offset value is larger than or equal to a zero offset value threshold value, adjusting the first zero offset value according to a reference zero offset value to obtain a second zero offset value, wherein the reference zero offset value is a zero offset value determined according to a group of angular velocity values output by the gesture detection component in the last time period of the first time period;

and S3, performing a correction operation on the angular speed of the gesture detection component by using the second zero offset value when the second zero offset value is smaller than the zero offset value threshold, wherein the corrected angular speed value of the gesture detection component at the end time of the first period is the second zero offset value.

Alternatively, specific examples in the present embodiment may refer to examples described in the above embodiments, which are not described in detail in the present embodiment.

Alternatively, in the present embodiment, the storage medium may include, but is not limited to: various media capable of storing program codes, such as a U disk, ROM, RAM, a mobile hard disk, a magnetic disk or an optical disk.

According to still another aspect of the embodiments of the present application, there is also provided an electronic device for implementing the correction method of the above-described posture detecting section, which may be a server, a terminal, or a combination thereof.

Fig. 6 is a block diagram of an alternative electronic device, according to an embodiment of the application, as shown in fig. 6, including a processor 602, a communication interface 604, a memory 606, and a communication bus 608, wherein the processor 602, the communication interface 604, and the memory 606 communicate with each other via the communication bus 608, wherein,

a memory 606 for storing a computer program;

the processor 602, when executing the computer program stored on the memory 606, performs the following steps:

Alternatively, in the present embodiment, the communication bus may be a PCI (Peripheral Component Interconnect, peripheral component interconnect standard) bus, or an EISA (Extended Industry Standard Architecture ) bus, or the like. The communication bus may be classified as an address bus, a data bus, a control bus, or the like. For ease of illustration, only one thick line is shown in fig. 6, but not only one bus or one type of bus. The communication interface is used for communication between the electronic device and other equipment.

The memory may include RAM or nonvolatile memory (non-volatile memory), such as at least one disk memory. Optionally, the memory may also be at least one memory device located remotely from the aforementioned processor.

As an example, the memory 606 may include, but is not limited to, the first determining unit 502, the first adjusting unit 504, and the first correcting unit 506 in the control device including the apparatus. In addition, other module units in the control device of the above apparatus may be included, but are not limited to, and are not described in detail in this example.

The processor may be a general purpose processor and may include, but is not limited to: CPU (Central Processing Unit ), NP (Network Processor, network processor), etc.; but also DSP (Digital Signal Processing, digital signal processor), ASIC (Application Specific Integrated Circuit ), FPGA (Field-Programmable Gate Array, field programmable gate array) or other programmable logic device, discrete gate or transistor logic device, discrete hardware components.

Alternatively, specific examples in this embodiment may refer to examples described in the foregoing embodiments, and this embodiment is not described herein.

It will be understood by those skilled in the art that the configuration shown in fig. 6 is only illustrative, and the device implementing the method for correcting the gesture detecting unit may be a terminal device, and the terminal device may be a smart phone (such as an Android mobile phone, an iOS mobile phone, etc.), a tablet computer, a palm computer, a mobile internet device (Mobile Internet Devices, MID), a PAD, etc. Fig. 6 is not limited to the structure of the electronic device. For example, the electronic device may also include more or fewer components (e.g., network interfaces, display devices, etc.) than shown in FIG. 6, or have a different configuration than shown in FIG. 6.

Those of ordinary skill in the art will appreciate that all or part of the steps in the various methods of the above embodiments may be implemented by a program for instructing a terminal device to execute in association with hardware, the program may be stored in a computer readable storage medium, and the storage medium may include: flash disk, ROM, RAM, magnetic or optical disk, etc.

The foregoing embodiment numbers of the present application are merely for the purpose of description, and do not represent the advantages or disadvantages of the embodiments.

The integrated units in the above embodiments may be stored in the above-described computer-readable storage medium if implemented in the form of software functional units and sold or used as separate products. Based on such understanding, the technical solution of the present application may be embodied in essence or a part contributing to the prior art or all or part of the technical solution in the form of a software product stored in a storage medium, comprising several instructions for causing one or more computer devices (which may be personal computers, servers or network devices, etc.) to perform all or part of the steps of the method described in the embodiments of the present application.

In the foregoing embodiments of the present application, the descriptions of the embodiments are emphasized, and for a portion of this disclosure that is not described in detail in this embodiment, reference is made to the related descriptions of other embodiments.

In several embodiments provided by the present application, it should be understood that the disclosed client may be implemented in other manners. The above-described embodiments of the apparatus are merely exemplary, and the division of the units, such as the division of the units, is merely a logical function division, and may be implemented in another manner, for example, multiple units or components may be combined or may be integrated into another system, or some features may be omitted, or not performed. Alternatively, the coupling or direct coupling or communication connection shown or discussed with each other may be through some interfaces, units or modules, or may be in electrical or other forms.

The units described as separate units may or may not be physically separate, and units shown as units may or may not be physical units, may be located in one place, or may be distributed on a plurality of network units. Some or all of the units may be selected according to actual needs to achieve the purpose of the solution provided in the present embodiment.

In addition, each functional unit in the embodiments of the present application may be integrated in one processing unit, or each unit may exist alone physically, or two or more units may be integrated in one unit. The integrated units may be implemented in hardware or in software functional units.

The foregoing is merely a preferred embodiment of the present application and it should be noted that modifications and adaptations to those skilled in the art may be made without departing from the principles of the present application, which are intended to be comprehended within the scope of the present application.

Claims

1. A method of correcting an attitude detecting means, comprising:

determining a first zero offset value according to a set of angular velocity values output by a gesture detection component on the robot in a first period of time when the robot is in a stationary state;

when the first zero offset value is greater than or equal to a zero offset value threshold value, adjusting the first zero offset value according to a reference zero offset value to obtain a second zero offset value, wherein the reference zero offset value is a zero offset value determined according to a group of angular velocity values output by the gesture detection component in the last time period of the first time period;

and performing a correction operation on the angular velocity of the posture detecting section using the second zero offset value, in a case where the second zero offset value is smaller than the zero offset value threshold, wherein the corrected angular velocity value of the posture detecting section at the end time of the first period is the second zero offset value.

2. The method of claim 1, wherein the determining a first zero offset value from a set of angular velocity values output by a gesture detection component on the robot over a first period of time comprises at least one of:

determining an average value of a set of angular velocity values output by the attitude detection means during the first period as the first zero offset value;

a variance of a set of angular velocity values output by the attitude detection means in the first period is determined as the first zero offset value.

3. The method of claim 1, wherein adjusting the first zero offset value based on the reference zero offset value results in a second zero offset value, comprising:

and determining the product of the difference value of the first zero offset value and the reference zero offset value and a preset coefficient as the second zero offset value, wherein the preset coefficient is a value which is larger than 0 and smaller than or equal to 1.

4. The method according to claim 1, wherein the performing a correction operation on the angular velocity of the attitude detection means using the second zero offset value includes:

and sending a calibration request to a motion control board of the robot, wherein the calibration request is used for requesting the calibration of the angular speed of the gesture detection component according to the second zero offset value.

5. The method according to claim 1, wherein the method further comprises:

determining a third zero offset value according to a set of angular velocity values output by a gesture detection component on the robot in a second period of time under the condition that the second zero offset value is greater than or equal to the zero offset value threshold;

when the third zero offset value is larger than or equal to the zero offset value threshold value, adjusting the third zero offset value according to the second zero offset value to obtain a fourth zero offset value;

and performing a correction operation on the angular velocity of the posture detecting section using the fourth zero offset value, in a case where the fourth zero offset value is smaller than the zero offset value threshold, wherein the corrected angular velocity value of the posture detecting section at the end time of the second period is the fourth zero offset value.

6. The method according to any one of claims 1 to 5, wherein before the determining a first zero offset value from a set of angular velocity values output by a gesture detection component on the robot over a first period of time, the method further comprises:

determining a motion state of the robot according to inertial measurement data of the robot in a third period, wherein the third period is positioned before the first period, and the motion state comprises one of the following: a moving state, a stationary state.

7. The method of claim 6, wherein determining the state of motion of the robot based on inertial measurement data of the robot during a third period of time comprises:

determining a speed variation parameter of the robot according to the inertial measurement data of the robot in the third period, wherein the speed variation parameter is used for representing the variation of the moving speed of the robot in the second period with time;

determining that the robot is in a moving state under the condition that the parameter value of the speed variation parameter is greater than or equal to a target parameter threshold value;

and under the condition that the parameter value of the speed change parameter is smaller than a target parameter threshold value, determining that the robot is in a static state.

8. A correction device for an attitude detection means, comprising:

a first determining unit configured to determine a first zero offset value according to a set of angular velocity values output by a posture detecting section on a robot in a first period of time, in a case where the robot is in a stationary state;

the first adjusting unit is used for adjusting the first zero offset value according to a reference zero offset value to obtain a second zero offset value under the condition that the first zero offset value is larger than or equal to a zero offset value threshold, wherein the reference zero offset value is a zero offset value determined according to a group of angular velocity values output by the gesture detecting component in the last time period of the first time period;

A first correction unit configured to perform a correction operation on an angular velocity of the posture detection member using the second zero offset value, in a case where the second zero offset value is smaller than the zero offset value threshold, wherein the corrected angular velocity value of the posture detection member at an end time of the first period is the second zero offset value.

9. A computer-readable storage medium, characterized in that the computer-readable storage medium comprises a stored program, wherein the program when run performs the method of any one of claims 1 to 7.

10. An electronic device comprising a memory and a processor, characterized in that the memory has stored therein a computer program, the processor being arranged to execute the method according to any of claims 1 to 7 by means of the computer program.