基于微型惯性测量单元的家用机器人碰撞检测方法

A Collision Detecting Method with a Miniature Inertial Measurement Unit for Household Robots

碰撞检测是家用机器人的重要技术之一,但是现有的机械碰撞检测板不能覆盖机器人所有部位,碰撞检测存在盲区.因此,本文结合家用机器人的实际应用,提出了基于微型惯性测量单元的碰撞检测方法;补偿了测量数据中俯仰横滚、杆臂效应、启停引起的干扰加速度,采用Mahony互补滤波器估计俯仰横滚决定的重力加速度分量;采用滑动窗积分处理加速度信号,采用幅度阈值和时间阈值作为碰撞判断标准.结果表明,本文方法准确补偿了干扰加速度,可有效检测家用机器人前后部位的轻微碰撞.本文方法提高了家用机器人的轻微碰撞检测能力.

Collision detection is one of the important technologies for household robots, while the existing collision detection board can hardly cover all parts of the robot, leaving blind zones in collision detection.Considering the practical application of household robots, a method for collision detection with a miniature inertial measurement unit(MIMU) is proposed. The interference accelerations caused by pitch/roll, the lever arm effect and start-stops are compensated. Mahony complementary filter is used to estimate the gravity acceleration component determined by pitch or roll. Acceleration signals are processed by sliding window integral, and the amplitude threshold and time threshold are chosen to judge the collision.Experiment results show that interference accelerations are accurately compensated by the method, and the collision at both the front and the rear of a household robot can be detected effectively. The proposed method improves the detection capability of slight collisions of household robots.