CN105148496A - Posture control-based roller skating type mobility robot - Google Patents

Abstract

The invention discloses a posture control-based roller skating type mobility robot, which comprises a left roller skate body, a right roller skate body, a portable power supply, a communication controller and a posture detection system. The two roller skate bodies are of four-roller structures, and the left part and the right part are respectively provided with a driving roller, and the front part and the rear part are respectively provided with a small swivel castor, and the driving rollers are driven by a motor to rotate, so that the roller skate bodies can move in all directions. The 24V direct-current portable power supply provides electric drive for the roller skate bodies. The posture detection system obtains the upper body posture of an operator according to the relative spatial relation by six wireless motion capture sensors (WSSS (Wireless Standalone Sensing System)) so as to recognize the motion intention of the operator, and implements the motion intention by adjusting the rotational speed of the driving rollers of the roller skate bodies. The communication controller receives WSSS sensor information, generates a speed command with the assistance of a posture algorithm and transmits the speed command to a roller skate body controller, so that the driving rollers are controlled to rotate. The roller skating type mobility robot provides a tool integrated with mobility and entertainment functions for daily outings, and a novel set of control method is also provided for mobility vehicles.

Description

A kind of skidding type based on gesture stability is ridden instead of walk robot

Technical field

The invention belongs to electric walk instead device technique field, more specifically, relate to a kind of skidding type based on gesture stability and to ride instead of walk robot.

Background technology

The modern means of communication are very flourishing, can pass through automobile, aircraft realizes, then have bicycle/electric vehicle for broad masses for short distance traffic for remote traffic.Now traffic trip advocate Green Travel, therefore electric vehicle because of its low-carbon environment-friendly, impersonal force drive thus be rapidly developed, now on the market emerging various electric bicycle be exactly this kind of vehicles development achievement.

Electric roller blades is a kind of cross products gathering electric bicycle and roller skating, its as a kind of ride instead of walk trip the vehicles while also for user provides the recreation experience of roller skating.

In Chinese invention patent application prospectus CN103263767A, disclose one to ride instead of walk electric roller blades, battery is loaded into shoe bottom.Footwear body is tricycle structure, and front end two-wheeled is driving wheel, and rear end is wheel of throwing oneself on the ground, and by pin to the power effect adjustment forward-reverse speed on pedal, by the imparting that swings wheel radial power of throwing oneself on the ground, the roller skate direction of motion is rotated simultaneously.

Above-mentioned roller skate represents general design and control mode, but the mode being controlled roller skate motion by force snesor induction foot active force still has weak point, avoid sensor accuracy not talk, first people move in skidding in foot to the active force of footwear can with motion change, so just can not ensure the stable motion of roller skate; Next is that such electric roller skating needs provide trailing wheel radial load by foot's effect thus change roller skating direction, and this steering mode is difficult to accurate control.Therefore, this kind of electric roller skating control mode based on power control does not reach function of riding instead of walk completely, needs user to have certain common skidding operating experience simultaneously yet.

A kind of electric roller skating device is disclosed in Chinese utility model patent description CN202219076U, some improvements of this wheel skidding device are the driving power of electric roller skating, control unit to be separated with skidding car body, thus provide a kind of system architecture to realize the control mode except power control, simplify the structure of roller skate simultaneously.But in patent, the connection of each unit adopts wired mode, therefore motion can be caused to be fettered because of the complexity of line in actual use.

Therefore design that a structure is simple, the electric roller blades of safe and convenient will be the development trend of this series products, it certainly will provide larger facility and recreational for excursion.

Summary of the invention

The complicated operation sex chromosome mosaicism that the present invention brings mainly for the control mode solving foot's active force control electric roller blades motion, propose a kind of skidding type based on gesture stability to ride instead of walk robot, thus can electric roller blades be replaced and make it more Portable safety, easy to operate, structure is more simple, simultaneously also for the development of electric roller blades provides a kind of novel strategy.

The skidding type robot of riding instead of walk that the present invention proposes comprises:

Roller skate body, have two roller skate bodies to do for user left and right foot operation, its essence is four-wheel mobile platform, a diameter is each side had to be the encapsulate driving wheel of 96mm, a bound feet universal wheel is respectively installed in front and rear part, footwear body inside is control circuit board and drive circuit board, is rotated, can realize moving of mobile platform all around according to different velocity composition by two electrographite brush DC motor Driver left and right sides driving wheels of control circui with digital encoder.Roller skate is made up of steel, and total quality is 5.8kg, footwear body also can be made more firm, be convenient to detachable maintaining while reaching load-carrying requirement.

Portable power supplies, for rechargable power supplies, 24V voltage driven can be provided for two, left and right roller skate body, its profile is cuboid container made of iron, be connected with roller skate body power line by two collapsible spring power lines, with switch and the charactron that can show current voltage registration on container, can user be reminded to charge in time.

Control unit, control unit is made up of ARM development board, can send startup/closedown and the driving wheel rotation that order controls roller skate body to the internal control circuit plate of roller skate body.

Further, by radio motion capture sensor (WirelessStandaloneSensingSystem, WSSS) can realize riding instead of walk the gesture stability of skidding robot, this sensor integration 3-axis acceleration sensor, gyroscope and magnetic field strength transducer, can record in real time sensor local Coordinate System relative to earth coordinates rotate Eulerian angles.WSSS sensor is positioned over operator just can judge that operator reaches forward/swings back with it, turn round distance between attitude and two legs, thus corresponding change skidding type is ridden instead of walk, the motion state of robot is to realize gesture stability.

Further, Eulerian angles information is passed to control unit by 2.4G wireless technology by WSSS, by control unit roller skate body motion control commands is calculated to relevant information, use wireless blue tooth serial ports control command to be sent to roller skate body internal control circuit.

Further, under roller skate body pedal corner place four line pressure sensors can pressure distribution change on Real-Time Monitoring pedal, pressure simulation signal condition is inputed to control circuit board and is converted into data signal by roller skate body inside placement respective signal modulate circuit plate, by obtaining pressure distribution information to the process of correlated digital information, thus user's both feet erect-position can be judged and the system that realizes starts/closes and the function of brake hard.

This skidding type machine instead of walk device people advantage is to realize being separated of power supply and roller skate body, and be different from the power supply be attached on driven shoes, this measure can simplify roller skate body structure.Adding of wireless technology, further simplify the structure of skidding system.Use the method for gesture stability to replace conventional step active force to control simultaneously, thus realize riding instead of walk completely function, make ride instead of walk the control of robot of skidding type more accurate, operate more simple, be applicable to the amusement of generally masses and short distance and go on a journey and use.

Accompanying drawing explanation

Fig. 1 is that skidding type of the present invention is ridden instead of walk machine human body front schematic view (removing top layer installing plate);

Fig. 2 is that skidding type of the present invention is ridden instead of walk machine human body side schematic view;

Fig. 3 is that skidding type of the present invention is ridden instead of walk robot roller skate body schematic rear view (removing bottom mounting plate);

Fig. 4 is that skidding type of the present invention is ridden instead of walk robot roller skate body top layer installing plate and bottom mounting plate schematic diagram;

Fig. 5 is that skidding type of the present invention is ridden instead of walk robot portable power supplies schematic diagram;

Fig. 6 is that skidding type of the present invention is ridden instead of walk robot communication control unit schematic diagram, wherein (a) for internal circuit configuration (b) be shell mechanism;

Fig. 7 to ride instead of walk the WSSS sensor schematic diagram that robot uses for skidding type of the present invention;

Fig. 8 is that skidding type of the present invention is ridden instead of walk the Control system architecture figure of robot;

Fig. 9 to ride instead of walk the WSSS attitude detection system schematic that robot uses for skidding type of the present invention;

Figure 10 is that skidding type of the present invention robot (a) operator schematic diagram (b) operator that leans forward/swing back that rides instead of walk turns round schematic diagram (c) roller skate body turning mathematics model schematic;

Figure 11 is that skidding type of the present invention is ridden instead of walk forward/backward motion schematic diagram (a) normal condition (b) pathosis of robot roller skate body;

Figure 12 is that skidding type of the present invention is ridden instead of walk robot communication control center plate program flow diagram;

Figure 13 is that skidding type of the present invention is ridden instead of walk robot roller skate body control panel program flow diagram.

Detailed description of the invention

In order to make object of the present invention, technical scheme and advantage clearly understand, below in conjunction with drawings and Examples, the present invention is further elaborated.Should be appreciated that specific embodiment described herein only in order to explain the present invention, be not intended to limit the present invention.In addition, if below in described each embodiment of the present invention involved technical characteristic do not form conflict each other and just can mutually combine.

As shown in Figure 1, Figure 2, Figure 3, Figure 4, the main body framework of roller skate is made up of top layer installing plate 1, intermediate die plate 2 and bottom mounting plate 3 this skidding type machine instead of walk device people roller skate body structure.Corner place, intermediate die plate 2 front is provided with four travellers 4, top layer installing plate 1 can be fixed on traveller 4 by hex(agonal)screw.Four sensor installation seats 5 have also been installed at corner place, intermediate die plate 2 front, Ke Jiang No. tetra-pressure sensor is fixed on sensor installation seat 5, make the height of traveller 4 be arranged on the height on sensor installation seat 5 a little less than pressure sensor 6 in the design, operator so can be made to be distributed in completely on No. four pressure sensors 6 active force of top layer installing plate.

Rear and front end, intermediate die plate 2 back side is provided with bearing block 7, is installed on bearing block 7 Caster 8 as bearing cardan wheel.DC brushless motor 9 is installed near bearing cardan wheel, forms a set of motor driven systems with reduction box, gear-box.Digital encoder 10 is installed in motor one end, and the other end is provided with motor coupler 11 on motor shaft, and motor coupler 11 is gear type structure.DC brushless motor 9 is fixed on the intermediate die plate back side by motor mount 12.The left and right sides, intermediate die plate 2 back side is installed with driving wheel 16, and is fixed on installing plate respectively by two driving wheel mount pads 13.Live axle be provided with driving wheel shaft coupling 14 and be fixed between two driving wheel mount pads 13, this driving shaft coupling 14 is also gear type structure.Therefore by gear type crawler belt 15 being enclosed within the interlock that can realize motor 9 and driving wheel 16 on motor coupler 11 and driving wheel shaft coupling 14, the velocity of rotation of driving wheel 16 can just be controlled by controlling motor rotation speed.Driving wheel 16 is surrounded by rubber blanket and can increases coefficient of friction raising earth-grasping force.By at the bottom of the wheel of driving wheel 16 and at the bottom of the wheel of bound feet BOGEY WHEEL 8, design is in same level in the design, so this skidding type machine instead of walk device people roller skate body can steadily be positioned on level land.

Bottom mounting plate 3 is fixed on motor mount 12 and driving wheel mount pad 13 by hex(agonal)screw.One square empty 17 is reserved for placing the Circuits System of this skidding type machine instead of walk device people in the middle part of intermediate die plate 2.Circuits System is made up of four pieces of circuit boards, be followed successively by Power supply plate, peripheral hardware drive plate, master board and pressure signal conditioning plate from top to bottom, from Fig. 1 and Fig. 4, find out that No. four pressure sensors are connected on signal condition plate interface 18 by holding wire, motor encoder 10 is connected on peripheral hardware drive circuit plate interface 19, and Power supply plate accesses two root system system power lines 20 and is that electric system, Circuits System and pressure sensor are powered by photovoltaic conversion circuit.Master board plate carries ST series A RM microcontroller can write embedded program control driven shoes peripheral hardware.Be fixed together by connector between circuit board, and be fixed on bottom mounting plate 3 with screw by the copper post 21 on signal regulating panel.Bottom mounting plate 3 leaves a hole 22, and its effect one draws bluetooth serial ports line to be connected on the bluetooth serial ports 23 that is attached on base plate, and two is that the jtag interface 24 exposing master board can supply download program and debugging.

Foregoing description is left roller skate body structure, rightly takes turns gliding mass frame for movement and left roller skate body is symmetrical, and internal structure is completely the same.

The power supply of this skidding type machine instead of walk device people as shown in Figure 5, is rectangular structure aluminium shell power supply.Power supply front panel has two interfaces 25 can provide two-way 24V driving DC voltage, and power switch 26 is placed at front panel center and charactron 27 shows current voltage registration, if undertension is power source charges by charge port 28.This power supply rear board there are two handles 29 conveniently guide and support, are positioned in knapsack and can portably use.Power supply is connected to roller skate with the Power supply line 20 of two roller skate bodies respectively by two spring power lines 30 and provides driven by power, adopt spring power line 30 can carry the length of position adjustments power line according to the height of operator and power supply, reach the object of many applicabilities.

As shown in Figure 6, its profile is cuboid plastics box 31 to the communication control unit of this skidding type machine instead of walk device people, and after taking box apart, inside is installed with a set of communication system.Communication control center plate 32 obtains WSSS transducer receivers 33 by Serial Port Line and receives attitude information frame, through processing the speed control commands frame of two roller skate about formation control after judgement and being sent to respectively on the bluetooth serial ports 23 on the roller skate body of left and right by two bluetooth serial ports 34.WSSS transducer receivers 33 uses 2.4G wireless communication technology receive the signal of outside WSSS sensor 38 and be converted into Serial Port Information output.The portable power source 35 that a whole set of communication system is exported by a 5V supplies electric drive, again charges if electricity deficiency is detachably got off.The shell box of this communication control unit leaves several hole and can expose the antenna 36 of WSSS receiver and bluetooth serial ports 34 to improve signal strength signal intensity, the jtag interface 37 simultaneously reserving communication control center plate can be downloaded and debugging for signal procedure.This communication control unit is tied to operator's belly or is placed in power supply knapsack place when using.

The Attitute detecting device of this skidding type machine instead of walk device people as shown in Figure 7, is single WSSS sensors A 1 shown in figure, and a whole set of attitude detection system has the consistent WSSS sensor (A1 of six structures, B1, C1, D1, E1, F1), just mark difference is to show difference.WSSS sensor profile is cuboid plastics shells, inside comprises and integrates 3-axis acceleration sensor, gyroscope, the gesture module chip of magnetic field strength transducer, wireless transmission chip and power supply, with WSSS starting switch 39 and communication/charging inlet 40 on shell, this interface has four joints, two+5V/GND interfaces as power supply are sensor charging when sensor internal power supply indicator display electricity is not enough by special charger; Another two is TX/RX serial ports joint, and this sensor can be enable like this to work in wired and wireless mode.WSSS sensor outer housing is decorated with coordinate system X-axis and Y-axis, this coordinate system represents the coordinate system of this sensor self, and its Z-direction can be obtained by right-hand rule.This sensor is in the rotation Eulerian angles (Roll, Pitch, Yaw) that any attitude can record coordinate system relative to the earth in space, can obtain the spatial attitude of current sensor coordinate system when rotating corresponding Eulerian angles around three reference axis of sensor coordinate system after namely being overlapped with earth coordinates by sensor coordinate system.The information of Eulerian angles is stored on Frame and also constantly sends information frame by WSSS sensor, and WSSS receiver just constantly receives this kind of information frame and spreads out of Eulerian angles information on control centre's plate by serial ports.

Relation between overall structure of the present invention and each device as shown in Figure 8, being tied up by six WSSS sensors by motion bandage specifies on body part operator, each sensor free of discontinuities wirelessly sends the Frame comprising its attitude information, utilize the WSSS receiver being arranged on communication control unit inside can receive these information frames, and be passed in communication control center plate by serial ports and process.Attitude information obtains the speed command of left and right roller skate body after treatment and by bluetooth serial ports wireless transmission, just can receive speed command and be passed to roller skate control panel with fill order after the bluetooth serial ports in the bluetooth serial ports being installed on skidding shoe bottom and communication control unit matches.Be positioned over portable power supplies in knapsack by power line for left and right roller skate body provides driven by power.

As one embodiment of the present of invention, we analyze the situation that this skidding type machine instead of walk device people carries out simple forward/backward motion.As shown in Figure 9, in attitude sensing system, six WSSS sensors are fixed on it operator according to mode in figure by Sport bandage, and the action intention of operator is determined by the relativeness between WSSS sensor F1 and D1 coordinate system.In forward/backward judgement, the invention is intended to the forward/backward motion being controlled roller skate by operator's attitude that leans forward/swing back above the waist respectively, and lean forward/the larger speed of layback degree is faster, and when operator erects upright in roller skate, then speed is zero.As shown in Figure 10 (a), when supposing that operator leans forward above the waist, between the WSSSF1 sensor Z-axis direction amount being positioned over chest and the WSSSD1 sensor Z-axis direction amount being positioned over belly, in the plane that both are formed, there is an angle be set on the occasion of, when operator erects upright, this angle value is zero, when operator swings back, this angle is negative value, therefore can be judged swing attitude and the degree of operator by the positive and negative and size of this angle, and then can determine the forward-reverse motion state of roller skate body.Using the WSSS sensor coordinate system of waist as the frame of reference, then being rotated by a series of Eulerian angles to make the direction of the frame of reference consistent with the WSSS sensor coordinate system of chest, and the mentioned angle Roll angle that rotates around its X-axis of the frame of reference just above.

The Eulerian angles information exported by WSSS sensor can obtain the rotational transformation matrix being tied to this WSSS sensor local Coordinate System from geodetic coordinates, if the angle of pitch Roll rotated around X-axis is φ, the roll angle Pitch that rich Y-axis rotates is θ, the course angle Yaw rotated around Z axis is ψ, adopt Z-Y-X Eulerian angles representation space coordinate system, then establish reference coordinate to be B, changing coordinates is P, spin matrix

$\begin{array}{c}R_P^B=Rot(z,\mathrm{\ψ})Rot(y,\mathrm{\θ})Rot(x,\mathrm{\φ})\\ =\left[\begin{array}{ccc}\cos \mathrm{\ψ}& -\sin \mathrm{\ψ}& 0\\ \sin \mathrm{\ψ}& \cos \mathrm{\ψ}& 0\\ 0& 0& 1\end{array}\right]\·\left[\begin{array}{ccc}\cos \mathrm{\θ}& 0& \sin \mathrm{\θ}\\ 0& 1& 0\\ -\sin \mathrm{\θ}& 0& \cos \mathrm{\θ}\end{array}\right]\·\left[\begin{array}{ccc}1& 0& 0\\ 0& \cos \mathrm{\φ}& -\sin \mathrm{\φ}\\ 0& \sin \mathrm{\φ}& \cos \mathrm{\φ}\end{array}\right]\\ =\left[\begin{array}{ccc}\cos \mathrm{\ψ}\cos \mathrm{\θ}& \cos \mathrm{\ψ}\sin \mathrm{\θ}\sin \mathrm{\φ}-\sin \mathrm{\ψ}\cos \mathrm{\φ}& \cos \mathrm{\ψ}\sin \mathrm{\θ}\cos \mathrm{\φ}+\sin \mathrm{\ψ}\sin \mathrm{\φ}\\ \sin \mathrm{\ψ}\cos \mathrm{\θ}& \sin \mathrm{\ψ}\sin \mathrm{\θ}\sin +\cos \mathrm{\ψ}\cos & \sin \mathrm{\ψ}\sin \mathrm{\θ}\cos \mathrm{\φ}-\cos \mathrm{\ψ}\sin \mathrm{\φ}\\ -\sin \mathrm{\θ}& \cos \mathrm{\θ}\sin \mathrm{\φ}& \cos \mathrm{\θ}\cos \mathrm{\φ}\end{array}\right]\end{array},$

Then calculate above described Roll angle time, need by earth coordinates as transmission medium, that is: then matrix form is the same, then the numerical value of simultaneous matrix 3 row 1 row and 3 row 2 row can try to achieve value that is the angle of φ value.

In order to simplify forward/backward model, about when the present invention sets forward/backward, roller skate body four driving wheels have identical speed, and velocity magnitude and the proportional relation of inclination angle size, specific embodiments is: setting pace maximum is the maximal rate retreated is the effective range of setting angle is and according to actual conditions setting angle threshold value be then forward/backward speed determines that expression formula is:

This formula and corresponding parameter are enrolled in director demon namely by obtaining the size at angle directly asks for the speed of driving wheel under forward/backward motion state.

As one embodiment of the present of invention, we analyze the situation that this skidding type machine instead of walk device people carries out turning motion.The invention is intended to turn to intention by the relative position relation identifying operation person between the coordinate system of WSSS sensor F1 and D1 coordinate system.As shown in Figure 10 (b), when the upper part of the body of operator reverses, the Z axis of chest WSSS sensor F1 can produce an angle η in the horizontal plane with the Z axis of waist WSSS sensor D1, can the turning to and degree of the learning operation person upper part of the body according to the positive and negative of this angle and stool and urine.The invention is intended to the course changing control of roller skate body to be designed to turn to consistent above the waist with operator, when namely operator turns left above the waist, roller skate body turns left, and then roller skate body of turning right above the waist is turned right, when above the waist turn to degree less time, then keep craspedodrome constant.Can find that η angle is WSSSD1 sensor and rotates the Yaw angle size arriving WSSSF1 direction around self Y-axis by observing, according to analyzing, be the θ angle in coordinate system spin matrix above, therefore lean forward with measuring/method of reclined by angle is similar, be medium with geodetic coordinates, pass through spin matrix 3 row 1 train values directly can try to achieve the size at θ angle.

As shown in Figure 10 (c), set up the Turn Models of roller skate body, to turn left, left and right roller skate body uses two " work " shape geometirc graphical presentations respectively, if roller skate body wide be 2d, left roller skate body left driving wheel speed is v _2L, right driving wheel speed is v _2R, right roller skate body left driving wheel speed is v _3L, right driving wheel speed is v _3R, v ₂for left footwear central point speed, v ₃for right footwear central point speed, when left and right roller skate body keeps current relative position constant, i.e. two roller skate body centre distance a and Δ β=β in figure _r-β _lvalue when keeping constant, then the speed that can obtain four driving wheels according to geometrical property is respectively: $\left.\begin{array}{c}{v}_{2L}=v_2(1-\frac{d\sin ({\mathrm{\β}}_r-{\mathrm{\β}}_l)}{\left|a\right|{\mathrm{sin\θ}}_r})\\ v_{2R}=v_2(1+\frac{d\sin ({\mathrm{\β}}_r-{\mathrm{\β}}_l)}{\left|a\right|{\mathrm{sin\θ}}_r})\\ v_{3L}=v_3(1-\frac{d\sin ({\mathrm{\β}}_r-{\mathrm{\β}}_l)}{\left|a\right|{\mathrm{sin\θ}}_l})\\ v_{3R}=v_3(1+\frac{d\sin ({\mathrm{\β}}_r-{\mathrm{\β}}_l)}{\left|a\right|{\mathrm{sin\θ}}_l})\end{array}\right\}\→V_{turn},$ Wherein $\begin{array}{c}{\mathrm{\θ}}_l=-\∠a+{\mathrm{\β}}_l+\frac{\mathrm{\π}}{2}\\ {\mathrm{\θ}}_r=\∠a-{\mathrm{\β}}_r+\frac{\mathrm{\π}}{2}\end{array},$ In order to the speed obtaining four driving wheels just needs all parameters of recording in above-mentioned formula.

For parameter a, this parameter is the distance between two roller skate bodies, the both legs distance of operator can be used to replace when operator stand on roller skate body according to assigned address, all the other four WSSS sensors of attitude detection system are placed in operator's left thigh respectively as shown in Figure 9, left leg, on right thigh and right leg, to record the distance between two legs, just can set waist WSSS sensor D1 coordinate is the frame of reference, just A1 can be calculated in the X-Z plane of D1 coordinate system after trying to achieve the coordinate of A1 and E1 sensor initial point under D1 coordinate system, distance between E1 sensor, that is both legs distance.

The translation of space coordinate transformation certain reference axis be changed to along current coordinate system moves a certain distance and obtains new co-ordinate system location, and corresponding translation matrix is $D(x,y,z)=\left[\begin{array}{cccc}1& 0& 0& x\\ 0& 1& 0& y\\ 0& 0& 1& z\\ 0& 0& 0& 1\end{array}\right],$ Therefore for right leg, the Y direction of E1 sensor coordinate system is consistent with shank direction as can be seen from Figure 9, and C1 sensor coordinate system Y-axis is consistent with thigh direction, then the transformation matrices being transformed into D1 coordinate system from E1 coordinate system is

Then the coordinate of the initial point of E1 under D1 coordinate system is in like manner try to achieve distance then between two legs

For parameter beta _land parameter beta _rthis parameter is the angle between roller skate direction, left and right and frame of reference X-axis, when the coordinate system Z-direction of WSSS sensors A 1 and E1 being considered as roller skate body direction respectively and the coordinate system of WSSS sensor D1 being considered as the frame of reference, then can try to achieve A1 and E1 Z axis unit point coordinate value under the D1 coordinate system overlapped with A1 and E1 initial point under respective coordinate system by the method for coordinate transform, and then try to achieve the corresponding angle to D1 coordinate system X-axis.For parameter ∠ a, this parameter is the angle of two roller skate body line of centres vectors and the frame of reference, and this line vector can obtain when calculating both legs distance, just can try to achieve this angle parameter after therefore D1 coordinate system being considered as the frame of reference.

As one embodiment of the present of invention, its turning motion can be improved in conjunction with the forward/backward motion of roller skate body.In conjunction with Figure 10 (c) to turn left, can make when operator turns to above the waist between the Z axis of WSSS sensor F1 and D1 and produce a η angle, give one, this angle threshold range [η _minη _max], be less than this scope and be then judged to, be greater than this scope and be then judged to turn right, be within this scope and be then judged to be without turning to intention.Driving wheel speed determines that the roller skate body central speed in formula is determined by the last motion state of roller skate body, that is when attitude detection system judges whether have forward/backward speed under operator first need judge roller skate body previous state when having and turn to intention, namely whether speed is zero simultaneously.If not zero, then give left roller skate body left driving wheel by this speed when turning left, and then its excess-three driving wheel speed can be calculated; Then this speed given right roller skate body right driving wheel during right-hand rotation.If previous state speed is zero, then operator is intended to pivot stud, when therefore turning left, left roller skate body left driving wheel is set to zero, the degree departing from threshold range according to η angle determines the speed of the right driving wheel of left roller skate body, the larger then speed of departure degree is faster, and two driving wheel speed of right roller skate body are still tried to achieve by driving wheel speed formula; Then make the right driving wheel of right roller skate body be zero during right-hand rotation, determine right roller skate body left driving wheel speed according to η angle, and then try to achieve all the other driving wheel speed.As an example, assuming that roller skate is turned left, then left footwear revolver speed v _2Lfirst determined, concrete formula is:

$when\mathrm{\&eta;}\&NotElement;\left[\begin{array}{cc}{\mathrm{\&eta;}}_{\min }& {\mathrm{\&eta;}}_{\max }\end{array}\right],v_{2L}=\left\{\begin{array}{cc}0,& V_{straight}=0\\ K_t\left(\right|\mathrm{\&eta;}|-|{\mathrm{\&eta;}}_{\min }\left|or\right|{\mathrm{\&eta;}}_{\max }\left|\right)+V_{straight},& V_{straight}>0\\ -K_t\left(\right|\mathrm{\&eta;}|-|{\mathrm{\&eta;}}_{\min }\left|or\right|{\mathrm{\&eta;}}_{\max }\left|\right)+V_{straight},& V_{straight}<0\end{array}\right.$

Wherein K _tfor rotary proportional coefficient, determined by experiment.If roller skate is turned right, then the right wheel speed v of right footwear _3Rfirst determined, determined that formula is similar to above-mentioned formula.

The Motion Control Strategies of above-mentioned three embodiments can meet the present invention's comprehensive action under normal circumstances, in order to control effects can be made more accurate, needs to ask operator that the sensor of attitude detection system can be accurately positioned over health appointed part.Simultaneously because sensors with auxiliary electrode is subject to magnetic interference, therefore the present invention is not suitable in strong magnetic field circumstance.

As one embodiment of the present of invention, the way to solve the problem that the roller skate body direction, left and right that we also need consideration left and right roller skate body to occur in forward/backward motion is inconsistent.If roller skate body enters forward/backward state, four driving wheels are all endowed identical speed, the inconsistent left and right roller skate body posture in that direction must bump against, therefore need in the process of roller skate motion, constantly to change its direction of advance, by compensating can realize left and right sidesing driving wheel speed.Situation as shown in Figure 11 (b), only needs the speed of the right footwear left driving wheel of corresponding increase can make the unification again of roller skate body direction, left and right, as shown in Figure 11 (a).This velocity compensation is not a definite value, its size and the distance dependent between roller skate body angular separation, left and right and two footwear, and it determines that formula is: in formula, parameter is originated visible Figure 10 (c), and two footwear angular separations are equal to β _r-β _l, and two footwear distances are a, as K ₁, K ₂, K ₃numerical value is determined by testing, and can adjust if needed.

As one embodiment of the present of invention, be positioned over roller skate body top layer installing plate Xia No. tetra-pressure sensor effect and have 2 points: one is robot start detection, when power supply, need after the switch of sensor and controller is closed to rely on pressure sensor to detect whether someone stand on top layer installing plate, as shown in figure 11 simultaneously, when during the pin of operator is according to figure, mode steps down on top layer installing plate, No. four pressure sensors can be subject to the active force of different size, if pin is stepped on position to change, but the total stressed constant active force ratio be distributed in different sensors of pressure sensor changes to some extent, therefore can judge whether operator stand on roller skate body according to the regular position of trampling shown in Figure 11 by the stressed proportion of detection No. four pressure sensor, if proportion is not in normal range (NR) then can not start this skidding type machine instead of walk device people, until could normally start behind operator's Correctly adjust standing place, it two is braking performance test, when operator driving process because of wish shut-down operation or in case of emergency pin leave upper strata installing plate or move to depart from standard erect-position very large position time, this roller skate cognition quits work automatically, is zero by driving wheel Speed Setting.No matter be left roller skate body or right roller skate body, if No. four pressure sensors detect by active force be zero or force distribution reach unnatural proportions time can judge that system is in on-position, automatically will stop the work of whole robot.Signal regulating panel Neng Jiang tetra-road sensor signal conditioning in the Circuits System of intermediate die plate inside be the control panel voltage signal that can identify and the digital value being converted to pressure signal by A/D for program process.

As shown in figure 12, the program circuit of the plate of communication control center reflects the workflow of this skidding type machine instead of walk device people, and the final target realized is to be the foundation controlling roller skate motion by the convert information of WSSS attitude transducer, that is realizes gesture stability.Further illustrate, the final speed of each driving wheel of this skidding type machine instead of walk device people roller skate body determines that formula is: V=V _turnor (V _straight+ V _compensate), when obtaining according to workflow management in figure the final speed that corresponding speed component can obtain driving wheel.Further illustrate, the attitude information frame format that WSSS spreads out of is as follows:

Can judge this frame from which WSSS sensor transmits according to label in frame in program.Further illustrate, the speed control commands frame format that message center control panel sends is as follows:

In program, decimal be there will be to the calculating of driving wheel speed, therefore in order to improve accuracy, needing fractional value to retain and being transmitted on roller skate body control panel.

As shown in figure 13, the program flow diagram in the master board of roller skate body describes speed control commands and how to perform and the pressure sensor mechanism of action in roller skate inside.Further illustrate, rotate because roller skate body adopts digital encoder to control direct current generator, therefore the velocity variations process that the control method stabilized driving of digital PID is taken turns can be used, using the speed in speed command frame as desired value, current speed value is obtained by digital encoder, both differences input to the FEEDBACK CONTROL just constituting speed in incremental timestamp device, can reach command speed in 6.4ms.

Those skilled in the art will readily understand; the foregoing is only preferred embodiment of the present invention; not in order to limit the present invention, all any amendments done within the spirit and principles in the present invention, equivalent replacement and improvement etc., all should be included within protection scope of the present invention.

Claims (10)

1. to ride instead of walk a robot based on the skidding type of gesture stability, it is characterized in that, comprise two roller skate, power supply and communication control units, wherein:

The main body framework of described roller skate is made up of top layer installing plate (1), intermediate die plate (2) and bottom mounting plate (3); Top layer installing plate (1) is fixed on intermediate die plate (2); Four sensor installation seats (5) have been installed at intermediate die plate (2) corner, front place, and Ke Jiang No. tetra-pressure sensor (6) is fixed on four sensor installation seats (5); Intermediate die plate (2) rear and front end, the back side is provided with bearing block (7), is installed on bearing block (7) Caster (8) as bearing cardan wheel; Near bearing cardan wheel, be provided with DC brushless motor (9), DC brushless motor (9) and reduction box, gear-box form a set of motor driven systems; Digital encoder (10) is installed in DC brushless motor (9) one end, and the other end is provided with motor coupler (11) on the axle of DC brushless motor (9); DC brushless motor (9) is fixed on the back side of intermediate die plate (2) by motor mount (12); Intermediate die plate (2) left and right sides, the back side is installed with driving wheel (16), and is fixed on installing plate (3) respectively by two driving wheel mount pads (13); Driving wheel (16) axle be provided with driving wheel shaft coupling (14) and be fixed between two driving wheel mount pads (13); Bottom mounting plate (3) is fixed on motor mount (12) and driving wheel mount pad (13); Intermediate die plate (2) middle part reserves a square cavity (17) for placing the Circuits System of this skidding type machine instead of walk device people; Circuits System is made up of four pieces of circuit boards, be followed successively by Power supply plate, peripheral hardware drive plate, master board and pressure signal conditioning plate from top to bottom, No. four pressure sensors are connected on signal condition plate interface (18) by holding wire, motor encoder (10) is connected on peripheral hardware drive circuit plate interface (19), and Power supply plate accesses two root systems system power line (20) and is that motor driven systems, Circuits System and pressure sensor are powered by photovoltaic conversion circuit; Master board plate carries ST series A RM microcontroller can write embedded program control driven shoes peripheral hardware; Be fixed together by connector between circuit board, and be fixed on bottom mounting plate (3); Bottom mounting plate (3) leaves a hole (22), its effect one draws bluetooth serial ports line to be connected on the bluetooth serial ports (23) that is attached on base plate, and two is that the jtag interface (24) exposing master board can supply download program and debugging;

The front panel of described power supply has two interfaces (25) can provide two-way 24V driving DC voltage, power switch (26) and charactron (27) display current voltage registration are placed in front panel center, if undertension is power source charges by charge port (28); This power supply rear board there are two handles (29) conveniently guide and support, are positioned in knapsack and can portably use; Power supply is connected to roller skate with the Power supply line (20) of two roller skate bodies respectively by two spring power lines (30) and provides driven by power;

The attitude information frame that control centre's plate (32) in described communication control unit is received by Serial Port Line acquisition WSSS transducer receivers (33), after process judges, about formation control, the speed control commands frame of two roller skate is also sent on the bluetooth serial ports (23) on the roller skate body of left and right by two bluetooth serial ports (34) respectively; WSSS transducer receivers (33) uses 2.4G wireless communication technology receive the signal of outside WSSS sensor (38) and be converted into Serial Port Information output.

2. to ride instead of walk robot based on the skidding type of gesture stability as claimed in claim 1, it is characterized in that, described WSSS sensor internal comprises and integrates 3-axis acceleration sensor, gyroscope, the gesture module chip of magnetic field strength transducer, wireless transmission chip and power supply, with WSSS starting switch (39) and communication/charging inlet (40) on shell, this interface has four joints, two+5V/GND interfaces as power supply are sensor charging when sensor internal power supply indicator display electricity is not enough by special charger; Another two is TX/RX serial ports joint, and this sensor can be enable to work in wired and wireless mode; WSSS sensor outer housing is decorated with coordinate system X-axis and Y-axis, this coordinate system represents the coordinate system of this sensor self, and its Z-direction can be obtained by right-hand rule; This sensor is in the rotation Eulerian angles that any attitude can record coordinate system relative to the earth in space, can obtain the spatial attitude of current sensor coordinate system when rotating corresponding Eulerian angles around three reference axis of sensor coordinate system after namely being overlapped with earth coordinates by sensor coordinate system; The information of Eulerian angles is stored on Frame and also constantly sends information frame by WSSS sensor, and WSSS receiver just constantly receives this kind of information frame and spreads out of Eulerian angles information on control centre's plate by serial ports.

3. to ride instead of walk robot based on the skidding type of gesture stability as claimed in claim 1 or 2, it is characterized in that, intermediate die plate (2) corner, front place is provided with four travellers (4), top layer installing plate (1) can be fixed on traveller (4) by hex(agonal)screw.

4. to ride instead of walk robot based on the skidding type of gesture stability as claimed in claim 1 or 2, it is characterized in that, the height of traveller (4) is arranged on the height on sensor installation seat (5) a little less than pressure sensor (6), operator can be made to be distributed in completely on No. four pressure sensors (6) the active force of top layer installing plate.

5. to ride instead of walk robot based on the skidding type of gesture stability as claimed in claim 1 or 2, it is characterized in that, the shell box of communication control unit leaves several hole, can expose the antenna (36) of WSSS receiver and bluetooth serial ports (34) to improve signal strength signal intensity, the jtag interface (37) simultaneously reserving communication control center plate can be downloaded and debugging for signal procedure.

6. to ride instead of walk robot based on the skidding type of gesture stability as claimed in claim 1 or 2, it is characterized in that, being tied up by six WSSS sensors by motion bandage specifies on body part operator, each sensor free of discontinuities wirelessly sends the Frame comprising its attitude information, utilize the WSSS receiver being arranged on communication control unit inside to receive these information frames, and be passed in communication control center plate by serial ports and process; Attitude information obtains the speed command of left and right roller skate body after treatment and by bluetooth serial ports wireless transmission, just can receive speed command and be passed to roller skate control panel with fill order after the bluetooth serial ports in the bluetooth serial ports being installed on skidding shoe bottom and communication control unit matches; Be positioned over portable power supplies in knapsack by power line for left and right roller skate body provides driven by power.

7. to ride instead of walk robot based on the skidding type of gesture stability as claimed in claim 1 or 2, it is characterized in that, described pressure sensor also for: one is robot start detection, when power supply, need after the switch of sensor and controller is closed to rely on pressure sensor to detect whether someone stand on top layer installing plate, when the pin of operator steps down on top layer installing plate according to setting means, No. four pressure sensors can be subject to the active force of different size, if pin is stepped on position to change, but the total stressed constant active force ratio be distributed in different sensors of pressure sensor changes to some extent, therefore can judge whether operator stand on roller skate body according to the regular position of trampling of setting by the stressed proportion of detection No. four pressure sensor, if proportion is not in normal range (NR) then can not start this skidding type machine instead of walk device people, until could normally start behind operator's Correctly adjust standing place, it two is braking performance test, when operator driving process because of wish shut-down operation or in case of emergency pin leave upper strata installing plate or move to depart from standard erect-position very large position time, this roller skate cognition quits work automatically, is zero by driving wheel Speed Setting, no matter be left roller skate body or right roller skate body, if No. four pressure sensors detect by active force be zero or force distribution reach unnatural proportions time can judge that system is in on-position, automatically will stop the work of whole robot, signal regulating panel Neng Jiang tetra-road sensor signal conditioning in the Circuits System of intermediate die plate inside be the control panel voltage signal that can identify and the digital value being converted to pressure signal by A/D for program process.

8. to ride instead of walk robot based on the skidding type of gesture stability as claimed in claim 1 or 2, it is characterized in that, in craspedodrome situation, described communication control unit calculates forward/backward speed V _straightexpression formula be:

This formula and corresponding parameter are enrolled in director demon namely by obtaining the angle of pitch rotated around X-axis the size at angle directly asks for the speed of driving wheel under forward/backward motion state, wherein sets for pace maximum, for the maximal rate retreated, for the effective range of angle, for the angle threshold value set according to actual conditions;

When left and right roller skate body occurs that in forward/backward motion roller skate body direction, left and right is inconsistent, the speed that described communication control unit correspondence increases right footwear left driving wheel makes the unification again of roller skate body direction, left and right, and its computing formula is: $V_{compensate}=K_1\&CenterDot;|{\mathrm{\&beta;}}_r-{\mathrm{\&beta;}}_l|\&CenterDot;(\frac{K_2}{a}-K_3),$ In formula, K1, K2, K3 numerical value is determined by testing, β _r-β _lbe two footwear angular separations, a is two footwear distances;

The final speed formula of each driving wheel is: V=V _straight+ V _compensate.

9. to ride instead of walk robot based on the skidding type of gesture stability as claimed in claim 1 or 2, it is characterized in that, in turning situation, the speed that described communication control unit calculates four driving wheels is respectively:

$v_{2L}=v_2(1-\frac{dsin({\mathrm{\&beta;}}_r-{\mathrm{\&beta;}}_l)}{\left|a\right|{\mathrm{sin\&theta;}}_r})$

$v_{2R}=v_2(1+\frac{dsin({\mathrm{\&beta;}}_r-{\mathrm{\&beta;}}_l)}{\left|a\right|{\mathrm{sin\&theta;}}_r})$

$v_{3L}=v_3(1-\frac{dsin({\mathrm{\&beta;}}_r-{\mathrm{\&beta;}}_l)}{\left|a\right|{\mathrm{sin\&theta;}}_l})$

$v_{3R}=v_3(1+\frac{dsin({\mathrm{\&beta;}}_r-{\mathrm{\&beta;}}_l)}{\left|a\right|{\mathrm{sin\&theta;}}_l})$

Wherein, $\begin{array}{c}{\mathrm{\&theta;}}_l=-\&angle;a+{\mathrm{\&beta;}}_l+\frac{\mathrm{\&pi;}}{2}\\ {\mathrm{\&theta;}}_r=\&angle;a-{\mathrm{\&beta;}}_r+\frac{\mathrm{\&pi;}}{2}\end{array},$ If roller skate body is wide is 2d, v _2Lfor left roller skate body left driving wheel speed, v _2Rfor right driving wheel speed, v _3Lfor right roller skate body left driving wheel speed, v _3Rfor right driving wheel speed, v ₂for left footwear central point speed, v ₃for right footwear central point speed, a is two roller skate body centre distances, β _r-β _lbe two footwear angular separations.

10. to ride instead of walk robot based on the skidding type of gesture stability as claimed in claim 1 or 2, it is characterized in that, the profile of described communication control unit is cuboid plastics box.