CN106394715A - Omnidirectional moving wheel type robot platform and control method - Google Patents
Omnidirectional moving wheel type robot platform and control method Download PDFInfo
- Publication number
- CN106394715A CN106394715A CN201611094443.7A CN201611094443A CN106394715A CN 106394715 A CN106394715 A CN 106394715A CN 201611094443 A CN201611094443 A CN 201611094443A CN 106394715 A CN106394715 A CN 106394715A
- Authority
- CN
- China
- Prior art keywords
- alpha
- sin
- theta
- wheel
- mecanum
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Pending
Links
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D57/00—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track
- B62D57/02—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track with ground-engaging propulsion means, e.g. walking members
Abstract
The invention discloses an omnidirectional moving wheel type robot platform and a control method. The omnidirectional moving wheel type robot platform comprises a chassis platform provided with mounting holes. The omnidirectional moving wheel type robot platform is characterized in that the omnidirectional moving wheel type robot platform further comprises three uniformly arranged mecanum wheels, wherein the included angle between every two adjacent mecanum wheels is 120 degrees; and each mecanum wheel is driven by a motor, all the motors are connected with a controller, and the controller receives control instruction parameters, obtains the control speeds of the three motors through a system kinematical equation and outputs signals to motor drivers to separately control the rotating speeds of the three motors. The three mecanum wheels are controlled by the three motors to serve as driving wheels, no driven wheel is needed, omnidirectional motion can be flexibly completed, the omnidirectional moving wheel type robot platform has the advantages of high adaptivity, high sensitivity, good stability, flexible rotation and the like, and the requirements of system motion for a complicated environment are met.
Description
Technical field
The present invention relates to a kind of Omni-mobile wheeled robot platform and control method.
Background technology
The concept of Mecanum wheel is to be proposed by Mecanum company of Sweden, and it is mainly made up of two parts, a part
For the wheel hub of motor control, another part is according to the equally distributed multiple passive rollers of certain angle along wheel hub outer rim.Wheat
Ke Namu wheel construction is compact, and motion flexibly, is a kind of very successful directional wheel, but in prior art, in order to realize full side
Position locomotive function, need to be at least combined using 4 Mecanum wheels, such as, patent No. 201010145736.X discloses one
Plant multifunctional intellectual assisting stand and walk robot, using four Mecanum wheels, the patent No. 201610725467.1 discloses one kind
Electric-controlled type skid helicopter moves storehouse device automatically, and four angles of described concave plateau bottom are mounted on described Mecanum wheel.
It is combined using 4 Mecanum wheels, wheel distribution area is excessive and the size that cannot reduce mobile platform, and
And the distribution of wheel also results in system lacks flexibility, be not suitable for the Platform Designing of small size robot, not only high cost, knot
Structure is complicated, and control accuracy is low.
Content of the invention
For the problems referred to above, the present invention provides a kind of Omni-mobile wheeled robot platform and control method, using three
Three Mecanum wheels of motor control, as drivewheel, no driven pulley, flexibly can complete omnidirectional moving, have adaptability
By force, the advantages of sensitivity height, good stability, rotation are flexible, meets the requirement to complex environment for the system motion.
For realizing above-mentioned technical purpose, reach above-mentioned technique effect, the present invention is achieved through the following technical solutions：
A kind of Omni-mobile wheeled robot platform, including being provided with the chassis platform of installing hole it is characterised in that also wrapping
Include three evenly distributed Mecanum wheels and between any two angle be 120 °, each Mecanum wheel pass through Motor drive, often
Individual motor is connected with controller by driver, and controller output signal controls turning of three motors respectively to motor driver
Speed.
Preferably, if the center of three evenly distributed Mecanum wheels is O point, the center of rotation of i-th Mecanum wheel
For Oi', i=1,2,3, xoy is the rectangular coordinate system that center is O, x ' oi' y ' is the center of circle is hub centre Oi' rectangular coordinate
System, r is the radius of Mecanum wheel, αiIt is the deviation angle of the roller of i-th Mecanum wheel, βiIt isWith the angle of x-axis,
(lix,liy,θi) it is x ' oiPose description in the xoy for ' y ' coordinate system, lix=licosβi,liy=lisinβi, θiIt is i-th
The wheel axis of Mecanum wheel and x-axis angular separation, then the speed of the velocity of the motion of Omni-mobile platform as O point
Vector, is set to [vx,vy,ω]T, vxIt is x-axis speed, vyY-axis speed, ω is turning velocity, then the rotating speed vector of three motors
[ω1,ω2,ω3]T：
Controller exports the rotating speed that pwm pulse signal controls three motors respectively to motor driver.
Preferably, described chassis platform is rounded.
Preferably, described sensor unit includes Hall current sensor, gyro sensor, angular transducer and ultrasound wave
Sensor.
Corresponding, a kind of control method of Omni-mobile wheeled robot platform is it is characterised in that include following walking
Suddenly：
Step 1, the velocity [v of the motion of input Omni-mobile platformx,vy,ω]T, vxIt is x-axis speed, vyIt is y-axis speed
Degree, ω is turning velocity；
Step 2, the rotating speed vector [ω of three motors of calculating1,ω2,ω3]T：
In formula, if the center of three evenly distributed Mecanum wheels is O point, the center of rotation of i-th Mecanum wheel
For Oi', i=1,2,3, xoy is the rectangular coordinate system that center is O, x ' oi' y ' is the center of circle is hub centre Oi' rectangular coordinate
System, r is the radius of Mecanum wheel, αiIt is the deviation angle of the roller of i-th Mecanum wheel, βiIt isWith the angle of x-axis,
(lix,liy,θi) it is x ' oiPose description in the xoy for ' y ' coordinate system, lix=licosβi,liy=lisinβi, θiIt is i-th wheat
The wheel axis of Ke Namu wheel and x-axis angular separation；
Step 3, controller are according to the rotating speed vector [ω of three motors1,ω2,ω3]T, the pwm pulse of output respective frequencies
Signal is to motor driver；
Step 4, Motor drive convert thereof into the two-phase four-wire type output of pulse signal of controlled motor rotating speed to motor.
The invention has the beneficial effects as follows：
Firstth, in structure：Breach the traditional four-wheel-type of mobile platform (Dual Drive+bis- universal) and Three-wheel type (double drives
Dynamic+mono- universal) structure, driven using the full symmetric formula of three-wheel.Under comparing, traditional four-wheel-type structure has wheel to be distributed
The defect that area is excessive and cannot reduce platform size, and the distribution of wheel also results in system lacks flexibility, is not suitable for
The Platform Designing of small size robot；Traditional Three-wheel type structure is a kind of widely used knot of current robot platform
Structure, but in complex environment, because the restriction of structure also results in poverty of movement motility, for some emergency episodes, no
Method accomplishes fully effective to avoid or solve；And the Three-wheel type structure based on Mecanum wheel of the application, three drive modules adopt
With symmetrically formula distribution completely, its platform area occupied can be substantially reduced, and can open as small scale robot Platform Designing
The outstanding selection scheme sent out, and the unique motion structure of Mecanum wheel, also ensure that the motility on system motion.
Secondth, in motion：By the system kinematics equation analysis to the design, system can just not change
In the state of the direction of face, complete the motion of any direction, and do not need steering behavior, avoiding problems conventional motion structure and run into
Obstacle or other emergencies need to take time to turn to the problem to hide obstacle it is achieved that the sweetly disposition of accident.The opposing party
Face, the design is different from traditional structure and certain displacement can occur when turning to, and takies the long period, in steering procedure,
Based on the driving structure being uniformly and symmetrically distributed, system can complete the rotation around its center, and this just greatly shortens steering
Time, eliminate the problem running into obstacle in steering procedure, improve the motility of system.
3rd, on controlling：Due to the restriction of system structure, the design is more much more complex than traditional structure on controlling,
But control accuracy is also much higher simultaneously.By the analysis to system kinematics equation, as long as the target speed of given system
Degree vector or steering angular velocity, system just can be according to the speed setting and direction motion, in conjunction with angular transducer and controller
Intervalometer rotate specified angle it is possible to allow system realize any direction advance distance to a declared goal or any direction, add and be
System uses step motor drive, and control accuracy also will greatly improve, and this allows for system and is provided with complete controllability, after allowing
The Expansion development of phase platform is convenient flexibly.
Brief description
Fig. 1 is the structural representation of Mecanum wheel；
Fig. 2 is a kind of structural representation of present invention Omni-mobile wheeled robot platform；
Fig. 3 is the movement relation schematic diagram of i-th Mecanum wheel of the present invention and system motion center；
Fig. 4 is the partial parameters relation schematic diagram of i-th Mecanum wheel of the present invention；
Fig. 5 is a kind of concrete structure schematic diagram of Omni-mobile wheeled robot platform in the embodiment of the present invention.
Specific embodiment
With specific embodiment, technical solution of the present invention is described in further detail below in conjunction with the accompanying drawings, so that ability
The technical staff in domain can be better understood from the present invention and can be practiced, but illustrated embodiment is not as the limit to the present invention
Fixed.
A kind of Omni-mobile wheeled robot platform, including the chassis platform being provided with installing hole it is preferable that chassis platform is in
Circle, chassis platform installs other accessories by installing hole.Also include three evenly distributed Mecanum wheels and between any two
Angle is 120 °, and as illustrated in fig. 1 and 2, Mecanum wheel mainly includes two parts, and a part is the wheel hub of motor control, another
Part is according to the equally distributed multiple passive rollers of certain angle along wheel hub outer rim.
Each Mecanum wheel passes through Motor drive, and system adopts three Mecanum wheels of three motor controls as actively
Wheel, no driven pulley, three Mecanum wheels are evenly distributed according to circumferencial direction, and when three motors are installed, axle center meets in chassis
The heart, and angle is 120 ° between any two., in motor process, strong adaptability, sensitivity height, good stability, rotation are clever for this structure
The advantages of live, on this basis, this structure in the case of not changing front viewing angle, can also realize the motion of any direction,
There is great motility, meet the requirement to complex environment for the system motion.Specific control is realized by controller, that is, each
Motor is connected with controller by driver, and controller output signal controls the rotating speed of three motors respectively to motor driver.
Carry out specific kinematics analyses below：
In the design, in order to obtain three wheel all-directional system kinematics equations generally, if three Mikes receive
The distribution form of nurse wheel is arbitrary, each wheel existing position with respect to system centre in systems, also has respective appearance
State angle.As shown in Figures 3 and 4, each parameter of in figure and system components kinematic parameter are defined as follows：
If the center of three evenly distributed Mecanum wheels (namely system motion center) is O point, i-th Mecanum
The center of rotation of wheel is Oi', i=1,2,3, xoy is the rectangular coordinate system that center is O, x ' oi' y ' is the center of circle is hub centre Oi′
Rectangular coordinate system, r be Mecanum wheel radius, αiIt is the deviation angle of the roller of i-th Mecanum wheel, βiIt isWith x
The angle of axle, (lix,liy,θi) it is x ' oiPose description in the xoy for ' y ' coordinate system, lix=licosβi,liy=lisinβi, θi
It is wheel axis and the x-axis angular separation of i-th Mecanum wheel, virIt is the central speed of the roller of i-th Mecanum wheel
Vector, [vx,vy,ω]TIt is the movement velocity that O point is with respect to ground, [vi′x,vi′y,ωi′]TIt is Oi' in x ' oi' y ' coordinate system
In movement velocity, [vix,viy,ωi]TIt is Oi' movement velocity in xoy coordinate system, ωiIt is the rotating speed of motor, by Fig. 4
Understand：
The central speed of wheel hub is transformed in xoy coordinate system, can obtain：
Because system is doing plane motion, can obtain：
System inverse kinematics equation can be obtained by formula (2), (3)：
∵det(Ki1)≠0,det(Ki2)≠0
Make Ki=[Ki2]-1[Ki1]-1*Ki3,lix=licosβi,liy=lisinβi
Obtain the inverse kinematics equation of i-th wheel：
Wheel rotor speed to system centre inverse kinetics solution be：
The Jacobian matrix of system inverse kinematics equation is：
Wherein, formula (6) is the kinematical equation of system, however, to omnibearing movable structure, if the inverse fortune of system
Dynamic equation Jacobian matrix row of learning are in not full rank state, and system wheel layout will have Singularity, thus the fortune of system
Dynamic degree of freedom will reduce, and that is, system cannot realize omnibearing movable.It can thus be appreciated that three-wheel omnibearing movable system realizes side entirely
Position motion essential condition be such as：Jacobian matrix R sequency spectrum, i.e. rank (R)=3, now system motion degree of freedom is high, can
Realize omnibearing movable.
Then velocity (velocity of as O the point) [v of the motion according to Omni-mobile platformx,vy,ω]T, vxIt is x
Axle speed, vyY-axis speed, ω is turning velocity, then the rotating speed vector [ω of three motors1,ω2,ω3]T：
Controller exports the rotating speed that pwm pulse signal controls three motors respectively to motor driver accordingly.
General, in order to realize preferably moving effect, Omni-mobile platform also needs to arrange sensor unit for examining
Partial parameters in examining system moving process, such as, Hall current sensor, gyro sensor, angular transducer and ultrasonic
Wave sensor etc., such as, can adopt ACS712TELC Hall-type current sensor, MPU6050 gyro sensor and US-
100 ultrasonic sensors.Wherein current sensor is used to the total operating current of monitoring system, in circuit for current protection control
Processing procedure sequence provides valid data；Gyroscope is used as vibration data and the steering angle of acquisition system；Ultrasonic sensor is mainly used
To realize the avoidance defencive function of system.The collaborative work in system operation of these three sensors, aid system is realized each
Item basic function.
Corresponding, a kind of control method of Omni-mobile wheeled robot platform, comprise the steps：
Step 1, the velocity [v of the motion of input Omni-mobile platformx,vy,ω]T, vxIt is x-axis speed, vyIt is y-axis speed
Degree, ω is turning velocity；
Step 2, the rotating speed vector [ω of three motors of calculating1,ω2,ω3]T：
In formula, if the center of three evenly distributed Mecanum wheels is O point, the center of rotation of i-th Mecanum wheel
For Oi', i=1,2,3, xoy is the rectangular coordinate system that center is O, x ' oi' y ' is the center of circle is hub centre Oi' rectangular coordinate
System, r is the radius of Mecanum wheel, αiIt is the deviation angle of the roller of i-th Mecanum wheel, βiIt isWith the angle of x-axis,
(lix,liy,θi) it is x ' oiPose description in the xoy for ' y ' coordinate system, lix=licosβi,liy=lisinβi, θiIt is i-th
The wheel axis of Mecanum wheel and x-axis angular separation；
Step 3, controller are according to the rotating speed vector [ω of three motors1,ω2,ω3]T, the pwm pulse of output respective frequencies
Signal is to motor driver；
Step 4, Motor drive convert thereof into the two-phase four-wire type output of pulse signal of controlled motor rotating speed to motor.
As shown in figure 5, its Mecanum wheel adopting is, it is the CL being released by Chengdu Hangfa Hydraulic Construction Co., Ltd.
Serial 90 ° of omni-directional wheel CL-10 of underloading.As shown in figure 1, wheel external diameter 101.6mm, have 16 driven side wheels (roller), each
The rotation direction of roller is vertical with the rotation direction of wheel hub, and the envelope being formed outside these rollers just constitutes a circle
Cylinder is so that wheel is continuous before and after being capable of rotates it is ensured that the stability of system motion.In each roller inner equipped with two
Individual nylon sliding bearing is so that wheel tool has good wearability and motility.Can withstand up to 50kg's for single wheel
Load, therefore, this model Mecanum wheel is a good selection scheme for underloading Omni-mobile platform.By Fig. 5
Understand, the structural parameters of each wheel in the design motion structure, as shown in table 1.
The each wheel construction parameter list of table 1
Formula (6) is had, r=50.8mm, l1=l2=l3=163.52mm, parameter in table 1 is substituted into (6) abbreviation and obtains：
Its Jacobian matrix abbreviation obtains：
There is rank (R)=3, therefore this system is capable of omnibearing movable.
During system speed and direction controlling, the velocity [v that moved by given systemx,vy,ω]T, substitute into
To in formula (8), thus obtaining the rotating speed vector [ω of three motors1,ω1,ω2]T, then pass through the PWM output work of controller
Can, export the PWM speed control signal of corresponding frequencies to respectively three motors, you can to realize the control in system speed and direction.
The invention has the beneficial effects as follows：
Firstth, in structure：Breach the traditional four-wheel-type of mobile platform (Dual Drive+bis- universal) and Three-wheel type (double drives
Dynamic+mono- universal) structure, driven using the full symmetric formula of three-wheel.Under comparing, traditional four-wheel-type structure has wheel to be distributed
The defect that area is excessive and cannot reduce platform size, and the distribution of wheel also results in system lacks flexibility, is not suitable for
The Platform Designing of small size robot；Traditional Three-wheel type structure is a kind of widely used knot of current robot platform
Structure, but in complex environment, because the restriction of structure also results in poverty of movement motility, for some emergency episodes, no
Method accomplishes fully effective to avoid or solve；And the Three-wheel type structure based on Mecanum wheel of the application, three drive modules adopt
With symmetrically formula distribution completely, its platform area occupied can be substantially reduced, and can open as small scale robot Platform Designing
The outstanding selection scheme sent out, and the unique motion structure of Mecanum wheel, also ensure that the motility on system motion.
Secondth, in motion：By the system kinematics equation analysis to the design, system can just not change
In the state of the direction of face, complete the motion of any direction, and do not need steering behavior, avoiding problems conventional motion structure and run into
Obstacle or other emergencies need to take time to turn to the problem to hide obstacle it is achieved that the sweetly disposition of accident.The opposing party
Face, the design is different from traditional structure and certain displacement can occur when turning to, and takies the long period, in steering procedure,
Based on the driving structure being uniformly and symmetrically distributed, system can complete the rotation around its center, and this just greatly shortens steering
Time, eliminate the problem running into obstacle in steering procedure, improve the motility of system.
3rd, on controlling：Due to the restriction of system structure, the design is more much more complex than traditional structure on controlling,
But control accuracy is also much higher simultaneously.By the analysis to system kinematics equation, as long as the target speed of given system
Degree vector or steering angular velocity, system just can be according to the speed setting and direction motion, in conjunction with angular transducer and controller
Intervalometer rotate specified angle it is possible to allow system realize any direction advance distance to a declared goal or any direction, add and be
System uses step motor drive, and control accuracy also will greatly improve, and this allows for system and is provided with complete controllability, after allowing
The Expansion development of phase platform is convenient flexibly.
These are only the preferred embodiments of the present invention, not thereby limit the present invention the scope of the claims, every using this
Equivalent structure or equivalent flow conversion that bright description and accompanying drawing content are made, or it is related to be directly or indirectly used in other
Technical field, be included within the scope of the present invention.
Claims (6)
1. a kind of Omni-mobile wheeled robot platform, including being provided with the chassis platform of installing hole it is characterised in that also including
Three evenly distributed Mecanum wheels and between any two angle are 120 °, and each Mecanum wheel passes through Motor drive, each
Motor is connected with controller by driver, and controller output signal controls the rotating speed of three motors respectively to motor driver.
2. a kind of Omni-mobile wheeled robot platform according to claim 1 it is characterised in that set three evenly distributed
The center of Mecanum wheel be O point, the center of rotation of i-th Mecanum wheel is O 'i, i=1,2,3, xoy be center be O
Rectangular coordinate system, x ' o 'iY ' is the center of circle is hub centre O 'iRectangular coordinate system, r be Mecanum wheel radius, αiIt is
The deviation angle of the roller of i Mecanum wheel, βiIt isWith the angle of x-axis, (lix,liy,θi) it is x ' o 'iY ' coordinate system is in xoy
In pose description, lix=licosβi,liy=lisinβi, θiIt is wheel axis and the x-axis direction folder of i-th Mecanum wheel
Angle, then the velocity of the velocity of the motion of Omni-mobile platform as O point, is set to [vx,vy,ω]T, vxIt is x-axis speed
Degree, vyY-axis speed, ω is turning velocity, then the rotating speed vector [ω of three motors1,ω2,ω3]T：
Controller exports the rotating speed that pwm pulse signal controls three motors respectively to motor driver.
3. a kind of Omni-mobile wheeled robot platform according to claim 1 is it is characterised in that described chassis platform is in
Circular.
4. a kind of Omni-mobile wheeled robot platform according to claim 1 is it is characterised in that also include sensor list
Unit.
5. a kind of Omni-mobile wheeled robot platform according to claim 4 is it is characterised in that described sensor unit
Including Hall current sensor, gyro sensor, angular transducer and ultrasonic sensor.
6. a kind of control method of Omni-mobile wheeled robot platform is it is characterised in that comprise the steps：
Step 1, the velocity [v of the motion of input Omni-mobile platformx,vy,ω]T, vxIt is x-axis speed, vyIt is y-axis speed,
ω is turning velocity；
Step 2, the rotating speed vector [ω of three motors of calculating1,ω2,ω3]T：
In formula, if the center of three evenly distributed Mecanum wheels is O point, the center of rotation of i-th Mecanum wheel is O 'i,
I=1,2,3, xoy is the rectangular coordinate system that center is O, x ' o 'iY ' is the center of circle is hub centre O 'iRectangular coordinate system, r be wheat
The radius of Ke Namu wheel, αiIt is the deviation angle of the roller of i-th Mecanum wheel, βiIt isWith the angle of x-axis, (lix,liy,
θi) it is x ' o 'iPose description in xoy for the y ' coordinate system, lix=licosβi,liy=lisinβi, θiIt is i-th Mecanum wheel
Wheel axis and x-axis angular separation；
Step 3, controller are according to the rotating speed vector [ω of three motors1,ω2,ω3]T, the pwm pulse signal of output respective frequencies
To motor driver；
Step 4, Motor drive convert thereof into the two-phase four-wire type output of pulse signal of controlled motor rotating speed to motor.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201611094443.7A CN106394715A (en) | 2016-12-02 | 2016-12-02 | Omnidirectional moving wheel type robot platform and control method |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201611094443.7A CN106394715A (en) | 2016-12-02 | 2016-12-02 | Omnidirectional moving wheel type robot platform and control method |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN106394715A true CN106394715A (en) | 2017-02-15 |
Family
ID=58083524
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201611094443.7A Pending CN106394715A (en) | 2016-12-02 | 2016-12-02 | Omnidirectional moving wheel type robot platform and control method |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN106394715A (en) |
Cited By (15)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107140058A (en) * | 2017-05-06 | 2017-09-08 | 深圳市智能机器人研究院 | A kind of Omni-mobile seat robot |
| CN108394267A (en) * | 2018-03-23 | 2018-08-14 | 上海制驰智能科技有限公司 | Omnidirectional running mobile platform steering driving mechanism and driving and steering system |
| CN108639702A (en) * | 2018-06-27 | 2018-10-12 | 深圳华制智能制造技术有限公司 | A kind of transmission unit |
| CN109334811A (en) * | 2018-11-30 | 2019-02-15 | 黑龙江工业学院 | A kind of vehicle vehicle bottom checks vehicle |
| CN109531595A (en) * | 2018-12-28 | 2019-03-29 | 石家庄铁道大学 | A kind of Omni-mobile meal delivery robot and air navigation aid based on double magnetic navigations correction |
| CN109624607A (en) * | 2018-11-09 | 2019-04-16 | 华中科技大学 | The wheeled Omni-mobile platform of one bulb |
| CN109911060A (en) * | 2019-04-19 | 2019-06-21 | 青岛钢铁侠科技有限公司 | A kind of universal chassis of mobile robot |
| CN110466634A (en) * | 2019-08-29 | 2019-11-19 | 华南理工大学 | A kind of omni-directional wheel and three wheel robot chassis of rubber tire combined type |
| CN110709316A (en) * | 2017-05-26 | 2020-01-17 | 学校法人东京理科大学 | Omnidirectional mobile device and attitude control method thereof |
| CN111084976A (en) * | 2019-12-26 | 2020-05-01 | 哈尔滨工业大学（深圳） | Movement device of omnidirectional sliding plate chassis and control method thereof |
| CN112498352A (en) * | 2020-10-10 | 2021-03-16 | 北京特种机械研究所 | Control method for omnidirectional traction of air floatation platform |
| CN113075931A (en) * | 2021-03-30 | 2021-07-06 | 西南科技大学 | Three-wheel omnidirectional mobile robot and motion control method thereof |
| CN113075929A (en) * | 2021-03-25 | 2021-07-06 | 深圳市伽利略机器人有限公司 | Rolling brush type omnidirectional walking robot and walking control method thereof |
| CN114089668A (en) * | 2021-11-22 | 2022-02-25 | 大连理工大学 | Distributed control method for integrated mobile robot |
| CN115933647A (en) * | 2022-11-24 | 2023-04-07 | 汕头大学 | OMR track tracking control method based on composite control algorithm and storage medium |
Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN200974567Y (en) * | 2006-11-24 | 2007-11-14 | 华中科技大学 | Cleaning robot running gear |
| US20130292918A1 (en) * | 2012-05-03 | 2013-11-07 | Helical Robotics, Llc | Mecanum wheel |
| CN203380880U (en) * | 2013-06-17 | 2014-01-08 | 安科智慧城市技术（中国）有限公司 | Omni-directional chassis structure and robot |
| CN203581168U (en) * | 2013-12-07 | 2014-05-07 | 黄成辉 | Robot device capable of detecting leakage of oil and gas and giving alarm |
| CN203616779U (en) * | 2013-08-21 | 2014-05-28 | 杭州电子科技大学 | Dish-order robot system |
| US20150217958A1 (en) * | 2014-01-31 | 2015-08-06 | Xerox Corporation | Systems and methods for implementing unique offsetting stacker registration using omni-directional wheels for set compiling in image forming devices |
| CN104843103A (en) * | 2015-05-26 | 2015-08-19 | 西南科技大学 | Novel operation robot in building environments |
-
2016
- 2016-12-02 CN CN201611094443.7A patent/CN106394715A/en active Pending
Patent Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN200974567Y (en) * | 2006-11-24 | 2007-11-14 | 华中科技大学 | Cleaning robot running gear |
| US20130292918A1 (en) * | 2012-05-03 | 2013-11-07 | Helical Robotics, Llc | Mecanum wheel |
| CN203380880U (en) * | 2013-06-17 | 2014-01-08 | 安科智慧城市技术（中国）有限公司 | Omni-directional chassis structure and robot |
| CN203616779U (en) * | 2013-08-21 | 2014-05-28 | 杭州电子科技大学 | Dish-order robot system |
| CN203581168U (en) * | 2013-12-07 | 2014-05-07 | 黄成辉 | Robot device capable of detecting leakage of oil and gas and giving alarm |
| US20150217958A1 (en) * | 2014-01-31 | 2015-08-06 | Xerox Corporation | Systems and methods for implementing unique offsetting stacker registration using omni-directional wheels for set compiling in image forming devices |
| CN104843103A (en) * | 2015-05-26 | 2015-08-19 | 西南科技大学 | Novel operation robot in building environments |
Non-Patent Citations (2)
| Title |
|---|
| 周卫华: "连续切换全向轮及其移动机器人的各向异性分析及优化控制", 《中国博士学位论文全文数据库 信息科技辑》 * |
| 阿牛河南: "全方位轮移动小车的设计", 《百度文库》 * |
Cited By (21)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107140058A (en) * | 2017-05-06 | 2017-09-08 | 深圳市智能机器人研究院 | A kind of Omni-mobile seat robot |
| CN110709316A (en) * | 2017-05-26 | 2020-01-17 | 学校法人东京理科大学 | Omnidirectional mobile device and attitude control method thereof |
| US11157020B2 (en) | 2017-05-26 | 2021-10-26 | Public University Corporation Suwa University Of Science Foundation | Omnidirectional moving device and attitude control method for the same |
| CN110709316B (en) * | 2017-05-26 | 2021-09-07 | 学校法人东京理科大学 | Omnidirectional mobile device and attitude control method thereof |
| CN108394267A (en) * | 2018-03-23 | 2018-08-14 | 上海制驰智能科技有限公司 | Omnidirectional running mobile platform steering driving mechanism and driving and steering system |
| CN108639702A (en) * | 2018-06-27 | 2018-10-12 | 深圳华制智能制造技术有限公司 | A kind of transmission unit |
| CN109624607A (en) * | 2018-11-09 | 2019-04-16 | 华中科技大学 | The wheeled Omni-mobile platform of one bulb |
| CN109334811A (en) * | 2018-11-30 | 2019-02-15 | 黑龙江工业学院 | A kind of vehicle vehicle bottom checks vehicle |
| CN109531595A (en) * | 2018-12-28 | 2019-03-29 | 石家庄铁道大学 | A kind of Omni-mobile meal delivery robot and air navigation aid based on double magnetic navigations correction |
| CN109911060A (en) * | 2019-04-19 | 2019-06-21 | 青岛钢铁侠科技有限公司 | A kind of universal chassis of mobile robot |
| CN110466634A (en) * | 2019-08-29 | 2019-11-19 | 华南理工大学 | A kind of omni-directional wheel and three wheel robot chassis of rubber tire combined type |
| CN111084976A (en) * | 2019-12-26 | 2020-05-01 | 哈尔滨工业大学（深圳） | Movement device of omnidirectional sliding plate chassis and control method thereof |
| CN111084976B (en) * | 2019-12-26 | 2021-09-28 | 哈尔滨工业大学（深圳） | Movement device of omnidirectional sliding plate chassis and control method thereof |
| CN112498352A (en) * | 2020-10-10 | 2021-03-16 | 北京特种机械研究所 | Control method for omnidirectional traction of air floatation platform |
| CN113075929A (en) * | 2021-03-25 | 2021-07-06 | 深圳市伽利略机器人有限公司 | Rolling brush type omnidirectional walking robot and walking control method thereof |
| CN113075931A (en) * | 2021-03-30 | 2021-07-06 | 西南科技大学 | Three-wheel omnidirectional mobile robot and motion control method thereof |
| CN113075931B (en) * | 2021-03-30 | 2022-04-08 | 西南科技大学 | Three-wheel omnidirectional mobile robot and motion control method thereof |
| CN114089668A (en) * | 2021-11-22 | 2022-02-25 | 大连理工大学 | Distributed control method for integrated mobile robot |
| CN114089668B (en) * | 2021-11-22 | 2023-11-07 | 大连理工大学 | Distributed control method for integrated mobile robot |
| CN115933647A (en) * | 2022-11-24 | 2023-04-07 | 汕头大学 | OMR track tracking control method based on composite control algorithm and storage medium |
| CN115933647B (en) * | 2022-11-24 | 2023-09-01 | 汕头大学 | OMR track tracking control method based on composite control algorithm and storage medium |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN106394715A (en) | Omnidirectional moving wheel type robot platform and control method | |
| Huang et al. | Design and implementation of fuzzy control on a two-wheel inverted pendulum | |
| CN109176461A (en) | Wheel leg type barrier-surpassing robot | |
| US5374879A (en) | Omni-directional and holonomic rolling platform with decoupled rotational and translational degrees of freedom | |
| CN105416428A (en) | Spherical robot with in-situ rotation function carried with control moment gyro | |
| Bin et al. | The kinematics model of a two-wheeled self-balancing autonomous mobile robot and its simulation | |
| CN102135766A (en) | Autonomous operation forestry robot platform | |
| CN109866936B (en) | Unmanned aerial vehicle landing and recovery integrated mobile platform based on six-degree-of-freedom series-parallel mechanism | |
| CN107804114A (en) | A kind of pleiotaxy full ground anthropomorphic robot of variable wheel diameter special-shaped wheel | |
| CN103661669A (en) | Wheel-legged robot chassis suspension device | |
| CN107053215A (en) | A kind of robot control system | |
| CN201525026U (en) | Modular disaster relief robot | |
| Kang et al. | ROBHAZ-DT2: Design and integration of passive double tracked mobile manipulator system for explosive ordnance disposal | |
| Yu et al. | Development of an omnidirectional automated guided vehicle with MY3 wheels | |
| Ghariblu et al. | Structure and dynamic modelling of a spherical robot | |
| CN101537613A (en) | Open-architecture mobile robot system | |
| CN211032070U (en) | Air-ground inspection robot | |
| CN101723001A (en) | Caterpillar mobile robot platform | |
| Ye et al. | Development of a 3D snake-like robot: Perambulator-II | |
| Liu et al. | Stabilization and path following of a spherical robot | |
| Ghariblu | A new mobile ball robot-dynamic modeling and simulation | |
| CN107215398A (en) | The full free degree obstacle detouring crawler body of plane | |
| CN205272038U (en) | Robot is exploded to visual row | |
| Ali | A semi-autonomous mobile robot for education and research | |
| CN114633827A (en) | Novel robot for multi-dimensional space operation and control method thereof |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C06 | Publication | ||
| PB01 | Publication | ||
| C10 | Entry into substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| RJ01 | Rejection of invention patent application after publication | ||
| RJ01 | Rejection of invention patent application after publication |
Application publication date: 20170215 |