CN109099898A - A kind of mobile service system based on self-stabilization platform - Google Patents
A kind of mobile service system based on self-stabilization platform Download PDFInfo
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- CN109099898A CN109099898A CN201810943036.1A CN201810943036A CN109099898A CN 109099898 A CN109099898 A CN 109099898A CN 201810943036 A CN201810943036 A CN 201810943036A CN 109099898 A CN109099898 A CN 109099898A
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- mobile service
- table top
- loading table
- self
- service robot
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C19/00—Gyroscopes; Turn-sensitive devices using vibrating masses; Turn-sensitive devices without moving masses; Measuring angular rate using gyroscopic effects
- G01C19/02—Rotary gyroscopes
- G01C19/04—Details
- G01C19/30—Erection devices, i.e. devices for restoring rotor axis to a desired position
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- Engineering & Computer Science (AREA)
- General Physics & Mathematics (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
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- Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
Abstract
The invention discloses a kind of mobile service systems based on self-stabilization platform, belong to Information Mobile Service robotic technology field, comprising: Information Mobile Service robot and self-stabilization platform；The self-stabilization platform includes: loading table top, pedestal, attitude transducer, accelerometer, horizontal stable unit and inertia buffer cell；Loading table top is mounted on the base by horizontal stable unit, and attitude transducer is mounted on Information Mobile Service robot or loading table top；Horizontal stable unit is used to adjust the angle between the loading table top and horizontal plane, and loading table top is made to be in horizontality always；Pedestal is mounted in Information Mobile Service robot by inertia buffer cell, and accelerometer is mounted on Information Mobile Service robot or self-stabilization platform；Inertia buffer cell is moved for controlling pedestal and loading table top along the original direction of motion of Information Mobile Service robot；The present invention is applicable in the scenes such as the loading transport of complex environment, the application value all with higher in terms of production and living.
Description
Technical field
The invention belongs to Information Mobile Service robotic technology fields, and in particular to a kind of Information Mobile Service based on self-stabilization platform
System.
Background technique
Information Mobile Service robot in daily life using field more and more extensive, that people work for this kind of robot
It closes and requires also higher and higher.The transport of Information Mobile Service robot application to article is transmitted into aspect, manpower can be greatlyd save
Resource, convenience and high-efficiency.But it when Information Mobile Service robot works in some environment scene complicated and changeable, can be potentially encountered
Situations such as Uneven road, climb and fall, emergency stop, how in such environment flexibly, smoothly complete task, become one be worth
The direction of research.
Summary of the invention
In view of this, the present invention provides a kind of mobile service system based on self-stabilization platform, by commonly moving
Increase self-stabilization platform on service robot, no matter which is able to maintain level always under which type of road environment, no
There can be slope angle due to ground or the article that is uneven and carry that jolts is fallen, and start or emergency stop in Information Mobile Service robot
In the case of can overcome contradiction between object inertia and Information Mobile Service robot acceleration, avoid article from toppling over or trickle down, protect
The stabilization transportation function for demonstrate,proving Information Mobile Service robot, greatly improves its service ability, expands its application.
The present invention is achieved through the following technical solutions:
A kind of mobile service system based on self-stabilization platform, comprising: Information Mobile Service robot and be detachably arranged in
Self-stabilization platform in Information Mobile Service robot；
The Information Mobile Service robot for realizing the system movement；
The self-stabilization platform includes: loading table top, pedestal, attitude transducer, accelerometer, horizontal stable unit and is used to
Property buffer cell；
The loading table top is mounted on the base by horizontal stable unit, and the attitude transducer is mounted on movement
On service robot or loading table top, for the folder between real-time monitoring Information Mobile Service robot or loading table top and horizontal plane
Angle, and it is sent to the horizontal stable unit；The angle adjustment that the horizontal stable unit is monitored according to the attitude transducer
Angle between the loading table top and horizontal plane makes the loading table top be in horizontality always；
The pedestal is mounted in Information Mobile Service robot by inertia buffer cell, and the accelerometer is mounted on movement
On service robot or self-stabilization platform, for measuring size and the side of the acceleration of Information Mobile Service robot or self-stabilization platform
To, and it is sent to the inertia buffer cell；The inertia buffer cell is for controlling the pedestal and being mounted on the pedestal
On loading table top clothes are moved along described with acceleration identical as Information Mobile Service robot acceleration magnitude, contrary
The original direction of motion of robot of being engaged in is mobile.
Further, the horizontal stable unit includes: pillar, universal shaft, connecting rod, executing agency and the first controller；
The pillar is connected between the bottom center and pedestal of loading table top, is used to support loading table top；Two connecting rods
Bottom surface of the one end respectively with two adjacent sides of loading table top be correspondingly connected with, other end two-phase corresponding with pedestal is mounted on respectively
The output end of the Liang Ge executing agency of adjacent side connects；And pillar, connecting rod and loading table top junction are mounted on universal shaft；
First controller is mounted in pedestal, and the input terminal of the first controller electrically connects with the attitude transducer
It connects, output end and executing agency are electrically connected, for receiving the tilt angle information of attitude transducer transmission, and according to the inclination
Angle information calculates the rotational angle of Liang Ge executing agency, is sent respectively to Liang Ge executing agency, Liang Ge executing agency is according to institute
The rotation of rotational angle two connecting rods of corresponding control is stated, and then adjusts the tilt angle of loading table top, reaches horizontality.
Further, the inertia buffer cell includes linear guide slide unit and second controller；
The linear guide slide unit includes sliding rail, the sliding block being slidably matched with sliding rail and the sliding for driving sliding block mobile
Motor, and the both ends of sliding rail are equipped with the limited block that anti-limited slip block slides；Linear guide slide unit is mounted in Information Mobile Service robot,
Pedestal is mounted on sliding block；
The second controller is mounted in pedestal；The input terminal and accelerometer of second controller are electrically connected, output
End is electrically connected with the sliding motor on linear guide slide unit, for receiving acceleration magnitude and the direction of accelerometer transmission,
And revolving speed and direction according to the acceleration magnitude and direction calculating sliding motor, be sent to sliding motor, sliding motor according to
The revolving speed control sliding block is moved along the sliding rail of linear guide slide unit, the acceleration for keeping sliding block mobile and Information Mobile Service robot
Acceleration magnitude is identical, contrary, so that loading is moved playing surface.
Further, the attitude transducer uses any one of gyroscope, accelerometer, angel measuring instrument.
Further, the executing agency uses any one of steering engine, stepper motor+screw rod, push-rod electric machine.
Further, first controller uses microcontroller.
Further, the second controller uses microcontroller.
The utility model has the advantages that (1) is of the invention by the way that self-stabilization platform to be carried in Information Mobile Service robot, in Information Mobile Service machine
Device people through jolting uneven or inclined road surface when, the effect of loading table top above in executing agency, connecting rod and universal shaft
Under, it is able to carry out automatic adjustment, keeps loading table top horizontal stable；When Information Mobile Service robot due to avoidance etc. emergency stop or
When person is again started up, self-stabilization platform moves loading table top under the drive of sliding block along sliding rail, can be to a certain extent
The influence for offsetting the acceleration of Information Mobile Service robot, avoids toppling over, falling for article, and transportational process stablizes smooth, guarantee
The safety of conveying articles, improves the performance of Information Mobile Service robot.
(2) self-stabilization platform of the invention is detachably installed with Information Mobile Service robot, can be according to application demand not
Function is realized with being mounted in different Information Mobile Service robots.
(3) present invention is applicable in the scenes such as the loading transport of complex environment, is such as applied to the short distance of precision equipment
In the scenes such as transport, unmanned express transportation, dining room room service, the application value all with higher in terms of production and living.
Detailed description of the invention
Fig. 1 is structure composition figure of the invention；
Fig. 2 is the working principle of the invention figure；
Fig. 3 is the present invention state diagram mobile on inclination angle road surface；
Wherein, 1- loading table top, 2- pillar, 3- universal shaft, 4- connecting rod, 5- executing agency, 6- pedestal, 7- linear guide are sliding
Platform, 8- Information Mobile Service robot.
Specific embodiment
The present invention will now be described in detail with reference to the accompanying drawings and examples.
Present embodiments provide a kind of mobile service system based on self-stabilization platform, comprising: self-stabilization platform and movement
Service robot 8；
The Information Mobile Service robot 8 is used to carry self-stabilization platform and realize the movement of the system；
Referring to attached drawing 1, the self-stabilization platform is detachably arranged in Information Mobile Service robot 8, comprising: linear guide
Slide unit 7, pillar 2, pedestal 6, universal shaft 3, connecting rod 4, attitude transducer, the first controller, executing agency 5, adds loading table top 1
Speedometer and second controller；The self-stabilization platform can automatically adjust horizontal stable and the front and back traveling side of loading table top 1
Upward stationarity.
The linear guide slide unit 7 includes sliding rail, the sliding block being slidably matched with sliding rail and the cunning for driving sliding block mobile
Dynamic motor, and the both ends of sliding rail are equipped with the limited block that anti-limited slip block slides；Linear guide slide unit 7 is mounted on Information Mobile Service robot
On 8, pedestal 6 is fixed on the sliding block of linear guide slide unit 7；The bottom center of the loading table top 1 is mounted on bottom by pillar 2
On seat 6, the one end of the bottom surface of two adjacent sides of loading table top 1 respectively with two connecting rods 4 is correspondingly connected with, two connecting rods 4 it is another
One end respectively the Liang Ge executing agency 5 of two adjacent sides corresponding with pedestal 6 is mounted on output end connection；And pillar 2, connecting rod 4
Universal shaft 3 is mounted on 1 junction of loading table top；Wherein, executing agency 5 is used for the rotation of controls connecting rod 4, and then adjusts and carry
The tilt angle of object table top 1；When initial, the table top of loading table top 1 is parallel with the upper surface of Information Mobile Service robot 8；
The attitude transducer is mounted on Information Mobile Service robot 8 or loading table top 1, for measuring Information Mobile Service machine
People 8 or it is initial when loading table top 1 tilt angle；
The accelerometer is mounted on the sliding block of Information Mobile Service robot 8 or linear guide slide unit 7, and accelerometer
It is consistent with the length direction of the sliding rail of linear guide slide unit 7 to measure axis, for measuring the acceleration or cunning of Information Mobile Service robot 8
The size and Orientation of the acceleration of block；
Referring to attached drawing 2, first controller and second controller are installed in pedestal 6, the input of the first controller
End is electrically connected with attitude transducer, and output end and executing agency 5 are electrically connected, for receiving the inclination of attitude transducer transmission
Angle information, and the rotational angle according to tilt angle information calculating Liang Ge executing agency 5, are sent respectively to two execution machines
Structure 5, Liang Ge executing agency 5 adjust loading table top 1 according to the corresponding rotation for controlling two connecting rods 4 of the rotational angle
Tilt angle reaches horizontality；The input terminal and accelerometer of second controller are electrically connected, and output end is led with straight line
Sliding motor on rail slide unit 7 is electrically connected, the size and Orientation of the acceleration for receiving accelerometer transmission, and according to this
The size and Orientation of acceleration calculates revolving speed and the steering of sliding motor, is sent to sliding motor, and sliding motor turns according to described
Speed and course changing control sliding block are moved along the sliding rail of linear guide slide unit 7, the acceleration and Information Mobile Service robot 8 for keeping sliding block mobile
Acceleration magnitude it is identical, it is contrary so that loading table top 1 is mobile, offset Information Mobile Service machine to a certain extent
The influence of the acceleration of people 8 maintains the stabilization of loading table top 1 in the direction of travel；
The attitude transducer uses any one of gyroscope, accelerometer, angel measuring instrument, adopts in the present embodiment
Use gyroscope；
The executing agency 5 uses any one of steering engine, stepper motor+screw rod, push-rod electric machine, adopts in the present embodiment
Use steering engine；
First controller and second controller are all made of microcontroller.
Working principle: when mobile service system at the uniform velocity moves in the horizontal plane, loading table top 1 keeps original state, carries
The table top of object table top 1 is parallel with the upper surface of Information Mobile Service robot 8, and the table top of loading table top 1 is able to maintain abswolute level；
Referring to attached drawing 3, when mobile service system mobile execution task on the road surface with inclination angle, attitude transducer is first
The differential seat angle between loading table top 1 or Information Mobile Service robot 8 and absolute horizon is first measured, and tilt angle information is transmitted
To the first controller, the first controller calculates the rotational angle of two steering engines according to the tilt angle information, is sent respectively to two
A steering engine, two steering engines adjust inclining for loading table top 1 according to the corresponding rotation for controlling two connecting rods 4 of the rotational angle
Rake angle, the angle for rotating loading table top 1 can just compensate the inclination angle as caused by Uneven road, to make loading table top 1
Reach horizontality；In the attitude transducer of suitable accuracy and under the action of possessing the first controller of higher position reason efficiency, from
The response speed of stabilized platform can satisfy actual demand, keep its adjusting quick, coherent, loading table top 1 remains water steadying
It is fixed.
When mobile service system unexpected emergency stop due to avoidance etc., accelerometer can measure Information Mobile Service robot
8 acceleration magnitude and direction, and the size and Orientation of acceleration is passed into second controller, second controller foundation should add
The size and Orientation of speed calculates revolving speed and the steering of sliding motor, is sent to sliding motor, sliding motor is according to the revolving speed
Sliding rail with course changing control sliding block along linear guide slide unit 7 moves, the acceleration for keeping sliding block mobile and Information Mobile Service robot 8
Acceleration magnitude is identical, contrary, and then self-stabilization platform is driven to continue a distance of advancing along the original direction of motion, avoids
Article on loading table top 1 causes to trickle down, falls, damages since inertia leans forward, and improves the smoothness of self-stabilization platform movement
Property, it is ensured that the stability on 8 direction of travel of Information Mobile Service robot.
In conclusion the above is merely preferred embodiments of the present invention, being not intended to limit the scope of the present invention.
All within the spirits and principles of the present invention, any modification, equivalent replacement, improvement and so on should be included in of the invention
Within protection scope.
Claims (7)
1. a kind of mobile service system based on self-stabilization platform characterized by comprising Information Mobile Service robot (8) and can
The self-stabilization platform of disassembly being mounted on Information Mobile Service robot (8)；
The Information Mobile Service robot (8) for realizing the system movement；
The self-stabilization platform include: loading table top (1), pedestal (6), attitude transducer, accelerometer, horizontal stable unit and
Inertia buffer cell；
The loading table top (1) is mounted on the pedestal (6) by horizontal stable unit, and the attitude transducer is mounted on shifting
On dynamic service robot (8) or loading table top (1), for real-time monitoring Information Mobile Service robot (8) or loading table top (1) and water
Angle between plane, and it is sent to the horizontal stable unit；The horizontal stable unit is supervised according to the attitude transducer
The angle of survey adjusts the angle between the loading table top (1) and horizontal plane, makes the loading table top (1) always in horizontal
State；
The pedestal (6) is mounted on Information Mobile Service robot (8) by inertia buffer cell, and the accelerometer is mounted on shifting
On dynamic service robot (8) or self-stabilization platform, for measuring the acceleration of Information Mobile Service robot (8) or self-stabilization platform
Size and Orientation, and it is sent to the inertia buffer cell；The inertia buffer cell is for controlling the pedestal (6) and installation
Loading table top (1) on the pedestal (6) is contrary with identical as Information Mobile Service robot (8) acceleration magnitude
Acceleration it is mobile along the original direction of motion of the Information Mobile Service robot (8).
2. a kind of mobile service system based on self-stabilization platform as described in claim 1, which is characterized in that the water steadying
Order member includes: pillar (2), universal shaft (3), connecting rod (4), executing agency (5) and the first controller；
The pillar (2) is connected between the bottom center of loading table top (1) and pedestal (6), is used to support loading table top (1)；
Bottom surface of the one end of two connecting rods (4) respectively with two adjacent sides of loading table top (1) is correspondingly connected with, the other end respectively with installation
In the output end connection of the Liang Ge executing agency (5) of pedestal (6) corresponding two adjacent sides；And pillar (2), connecting rod (4) and loading
Table top (1) junction is mounted on universal shaft (3)；
First controller is mounted in pedestal (6), and the input terminal of the first controller and the attitude transducer are electrically connected,
Output end and executing agency (5) are electrically connected, for receiving the tilt angle information of attitude transducer transmission, and according to the inclination
Angle information calculates the rotational angle of Liang Ge executing agency (5), is sent respectively to Liang Ge executing agency (5), Liang Ge executing agency
(5) according to the rotation of the rotational angle two connecting rods (4) of corresponding control, and then the tilt angle of loading table top (1) is adjusted, made
It reaches horizontality.
3. a kind of mobile service system based on self-stabilization platform as described in claim 1, which is characterized in that the inertia is slow
Rushing unit includes linear guide slide unit (7) and second controller；
The linear guide slide unit (7) includes sliding rail, the sliding block being slidably matched with sliding rail and the sliding for driving sliding block mobile
Motor, and the both ends of sliding rail are equipped with the limited block that anti-limited slip block slides；Linear guide slide unit (7) is mounted on Information Mobile Service robot
(8) on, pedestal (6) is mounted on sliding block；
The second controller is mounted in pedestal (6)；The input terminal and accelerometer of second controller are electrically connected, output end
It is electrically connected with the sliding motor on linear guide slide unit (7), for receiving acceleration magnitude and the direction of accelerometer transmission,
And revolving speed and direction according to the acceleration magnitude and direction calculating sliding motor, be sent to sliding motor, sliding motor according to
The revolving speed control sliding block is mobile along the sliding rail of linear guide slide unit (7), the acceleration and Information Mobile Service machine for keeping sliding block mobile
The acceleration magnitude of people (8) is identical, contrary, so that loading table top (1) is mobile.
4. a kind of mobile service system based on self-stabilization platform as described in claim 1, which is characterized in that the posture passes
Sensor uses any one of gyroscope, accelerometer, angel measuring instrument.
5. a kind of mobile service system based on self-stabilization platform as claimed in claim 2, which is characterized in that the execution machine
Structure (5) uses any one of steering engine, stepper motor+screw rod, push-rod electric machine.
6. a kind of mobile service system based on self-stabilization platform as claimed in claim 2, which is characterized in that first control
Device processed uses microcontroller.
7. a kind of mobile service system based on self-stabilization platform as claimed in claim 3, which is characterized in that second control
Device processed uses microcontroller.
Priority Applications (1)
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| CN201810943036.1A CN109099898A (en) | 2018-08-17 | 2018-08-17 | A kind of mobile service system based on self-stabilization platform |
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| CN201810943036.1A CN109099898A (en) | 2018-08-17 | 2018-08-17 | A kind of mobile service system based on self-stabilization platform |
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Cited By (7)
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| CN109738943A (en) * | 2019-03-20 | 2019-05-10 | 中国地震局地壳应力研究所 | A kind of fast and stable system of the pendulum sensor for seismic monitoring instrument |
| CN112486167A (en) * | 2020-11-09 | 2021-03-12 | 北京爱笔科技有限公司 | Autonomous obstacle avoidance robot, anti-toppling mobile platform and anti-toppling control method |
| CN113146619A (en) * | 2021-03-16 | 2021-07-23 | 行星算力(深圳)科技有限公司 | Self-stabilization objective table control method, objective table and mobile device |
| CN113157009A (en) * | 2021-04-13 | 2021-07-23 | 普华鹰眼科技发展有限公司 | Intelligent robot chassis motor rotating speed control method |
| CN113352108A (en) * | 2021-06-16 | 2021-09-07 | 海门市创豪工业设计有限公司 | Automatic change cross slip table for machine tool |
| WO2023130824A1 (en) * | 2022-01-07 | 2023-07-13 | 腾讯科技（深圳）有限公司 | Motion control method for under-actuated system robot, and under-actuated system robot |
| CN112486167B (en) * | 2020-11-09 | 2024-05-31 | 北京爱笔科技有限公司 | Autonomous obstacle avoidance robot, anti-toppling mobile platform and anti-toppling control method |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN113157009A (en) * | 2021-04-13 | 2021-07-23 | 普华鹰眼科技发展有限公司 | Intelligent robot chassis motor rotating speed control method |
| CN113352108A (en) * | 2021-06-16 | 2021-09-07 | 海门市创豪工业设计有限公司 | Automatic change cross slip table for machine tool |
| WO2023130824A1 (en) * | 2022-01-07 | 2023-07-13 | 腾讯科技（深圳）有限公司 | Motion control method for under-actuated system robot, and under-actuated system robot |
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