CN107053215B - Robot control system - Google Patents
Robot control system Download PDFInfo
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- CN107053215B CN107053215B CN201710114869.2A CN201710114869A CN107053215B CN 107053215 B CN107053215 B CN 107053215B CN 201710114869 A CN201710114869 A CN 201710114869A CN 107053215 B CN107053215 B CN 107053215B
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J13/00—Controls for manipulators
- B25J13/08—Controls for manipulators by means of sensing devices, e.g. viewing or touching devices
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J5/00—Manipulators mounted on wheels or on carriages
- B25J5/007—Manipulators mounted on wheels or on carriages mounted on wheels
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/0009—Constructional details, e.g. manipulator supports, bases
Abstract
The invention provides a robot control system, the robot control system has fuselage, the fuselage contains head, neck, main body part, chassis part and tire part, the head is pin-jointed with neck, neck is pin-jointed with main body part, the main body part is set up on the chassis part and the tire part is set up below the chassis part and is used for rotating and letting the machine move, include: the neck operating device is used for controlling the head of the robot to rotate on the neck; the first lifting adjusting device is controlled by the neck operating device to adjust the height of the head of the robot and the gravity center position of the front and back extension of the robot; and the second lifting adjusting position is used for controlling the second lifting adjusting device to adjust the height of the main body part of the robot by utilizing the neck operating device, and can synchronously or asynchronously adjust the height of the body of the robot by matching with the first lifting adjusting device. The stabilizing device is controlled by the neck operating device to stabilize the horizontal state of the robot body during movement of the robot; and an active suspension device controlled by the neck operating device so that the height of each wheel suspended from the chassis portion can be adapted to the ground variation.
Description
Technical Field
The invention provides a robot control system, in particular to a robot control system which has a stable machine body when running under various conditions and has angular stability of a head part of the robot control system when rotating in three axial directions.
Background
The robot control system for security monitoring has very wide application in various fields of industry, agriculture, anti-terrorism, explosion prevention, space detection and the like. The traditional hardware holder of the robot control system for security monitoring comprises a three-wheel chassis and a four-wheel chassis. The three-wheel chassis and the four-wheel chassis comprise different transmission systems, and a two-driving-wheel driving system, a three-driving-wheel driving system or a four-driving-wheel driving system can be used. The chassis part can be matched with an Omni wheel (Omni wheel) or a Mecanum wheel (Mecanum wheel) to realize the function of universal movement.
The Mecanum wheel is a wheel which can realize the movement modes of advancing, diagonal, transverse movement and rotation or combination thereof and can move in all directions, and is characterized in that a plurality of small rollers which can rotate freely are arranged on a wheel rim along the direction of 45 degrees with an axis on the basis of the traditional wheel, and when the wheel rolls, the small rollers can generate direction-finding movement to form combined forces in different directions. The force is combined and controlled through the Mecanum wheels, and the vehicle body can move and rotate in any direction. However, the wheel is only suitable for trucks or large vehicles, and the wheel has a slow moving speed, so that the wheel has a problem of difficulty in moving when being used in a robot control system.
Chinese patent No. CN 104714550a discloses a robot control system for prevention and control. The robot control system is composed of a four-wheel chassis consisting of Mecanum wheels, a movable neck device and a top camera, and can be used for inspecting various physical quantities of electric equipment within a fixed-point range. However, when the device moves, it needs to cooperate with the magnetic track to move only in one direction, and the top camera can only move in a small angle, so that it is more difficult to shoot, and the number of operating holders of the robot control system for prevention and control needs to be increased, which is relatively inconvenient.
In addition, U.S. publication No. US 8644991B2 discloses a robot control system for military security. The device can move without installing a magnetic track machine body, has the function of climbing stairs (climbing), is matched with a camera at the top and the folding and stretching function of a neck, can adjust the mass center of the whole machine body and adjust the height and the position of a camera during the advancing of the machine body, and ensures that the machine body can keep stable and not overturn during moving. And six-wheel transmission is used to enhance mobility and terrain adaptability. However, this invention has the following disadvantages: 1. the climbing ability is lower than 40 degrees, and the climbing ability is poor. 2. Although six wheels are provided, the movement of the wheels is limited by the control of the crawler and the chassis, so the rotating capability is poorer than that of a general six-wheel transmission vehicle without the limitation of the crawler. 3. The foldable telescopic camera can only be folded, but the foldable telescopic device occupies volume when in use, is difficult to extend when meeting obstacles, is heavy and is difficult to store.
In summary, the platform of the existing robot control system mainly has mobility problems in design, such as poor climbing capability, poor obstacle crossing capability, and inability to walk at high speed. In addition to the chassis factor, the fact that the center of mass is too high to operate in a tilted state is also a cause of slow movement of the robot control system. If the body of the robot control system cannot be kept stable, the robot control system needs to be ensured to work smoothly. For example, capturing images is one of the main tasks of most of the existing robot control systems, and the existing robot control systems cannot continuously and stably acquire images due to the shock absorption and trafficability and the defect of unstable body caused by structures.
Disclosure of Invention
The invention provides a robot control system, the robot control system has fuselage, the fuselage contains head, neck, main body part, chassis part and tire part, the head is pin-jointed with neck, neck is pin-jointed with main body part, the main body part is set up on the chassis part and the tire part is set up below the chassis part and is used for rotating and letting the robot move, include: the neck operating device is used for receiving the messages, processing the received messages and sending instructions to control the movement of each part of the robot. The head can be controlled to rotate on the neck by using the neck operating device; the first lifting adjusting device is controlled by the neck operating device to adjust the height of the head of the robot and the gravity center position of the front and back extension of the robot; and the second lifting adjusting position is used for controlling the second lifting adjusting device to adjust the height of the main body part of the robot by utilizing the neck operating device, and can synchronously or asynchronously adjust the height of the body of the robot by matching with the first lifting adjusting device. The stabilizing device is controlled by the neck operating device to stabilize the horizontal state of the robot body during movement of the robot; and an active suspension device controlled by the neck operating device so that the height of each wheel suspended on the chassis part can adapt to the ground change.
Preferably, the robot control system further comprises a vision device, and the vision device is arranged on the head in order to enable the vision device to obtain stable working conditions. When the vision device is arranged on the head, the vision device can sense the posture angle and the posture angular speed of the robot head and transmit the sensed information to the neck operation device, and the neck operation device generates a neck control signal according to the received information to control the movement direction of the neck. To further enhance the smoothness of the head.
Preferably, the chassis portion of the robot control system further includes a sensing device for detecting an obstacle encountered by the chassis portion when the robot is in operation.
Preferably, the chassis part is used for plane movement and up-and-down movement of the stairs.
Preferably, the chassis part performs the climbing operation by adjusting the relative position of each tire part and the active suspension device by the neck part operating device and adjusting the height of the neck part synchronously or asynchronously.
Preferably, when the robot control system further comprises a chassis part, the robot control system can be divided into a 360-degree straight-going mode and a turning mode.
Preferably, in the turning mode, the turning angle of each tire unit is calculated based on the width of the body, the traveling speed of the tire unit, and the distance between two tire units.
Preferably, the number of tire portions is 6.
The invention has the beneficial effects that: the robot control system ensures the stability of the robot body, can obtain the most flexible movement performance, not only can run like a common vehicle, but also can rotate in situ and walk in all directions, has the smallest turning radius when turning in a walking space, and does not occupy space; the robot has excellent climbing, obstacle crossing and stair climbing capabilities and can cross a steep slope of nearly 45 degrees; transform the fuselage height of robot at any time, the telescopic neck can change the height that the barycenter height can guarantee working capability again, and nimble neck guarantees the neck like the cloud platform in three ascending angular stability of axial and slow down the vibrations that ground is not steady to cause the fuselage in going, guarantees to be climbing, hinder and climb building in-process robot head and remain stable, can provide more stable operating mode condition for setting up functional parts such as the visual device of head.
Drawings
FIG. 1 is an architectural diagram illustrating components of a robotic control system in accordance with the disclosed technique;
FIG. 2 is a simplified flow diagram illustrating a head operation flow of a robot control system in accordance with the disclosed technique;
FIG. 3 is an architecture diagram illustrating a chassis portion of a robot control system in accordance with the disclosed technique;
FIG. 4 is a schematic diagram illustrating a neck collapse and lift of a robotic control system in accordance with the disclosed technique;
FIG. 5 is a schematic diagram illustrating a chassis portion of a robot control system according to the disclosed technique;
FIG. 6 is a schematic diagram illustrating the operation of the chassis portion of the robot control system in accordance with the disclosed technique;
FIG. 7 is a schematic diagram illustrating a chassis portion of a robotic control system climbing a hill or climbing a staircase in accordance with the disclosed technique;
FIG. 8 is a reference diagram illustrating a robot control system adjusting overall fuselage height in accordance with the disclosed technique;
FIG. 9 is a top view of the movement of the robotic control system illustrating different conditions of travel of the robotic control system in accordance with the disclosed technique;
FIG. 10 is a schematic diagram illustrating an overall robotic control system during a turn, in accordance with the disclosed technique;
FIG. 11 is a flow chart illustrating operation of a robot control system according to the disclosed technique;
fig. 12 is a schematic diagram illustrating the connection relationship between various components of a robot control system during movement of a robot according to the disclosed technique.
Detailed Description
So that the manner in which the above recited features and advantages of the present invention can be understood and attained by a person skilled in the art, a more particular description of the invention, briefly summarized above, may be had by reference to the appended drawings, in which like reference characters refer to the same parts throughout the several views. The drawings referred to below are schematic representations relating to the features of the invention and are not necessarily drawn to scale. The description of the embodiments related to the present invention will not be repeated, except for those skilled in the art.
Referring to fig. 1, fig. 1 is an architecture diagram of each component of the robot control system. Comprises a head part 1, a neck part 2, a main body part 3 and a chassis part 4. The head 1 includes a vision device 11 (not shown) and a neck operating device 12 (not shown), wherein the vision device 11 can receive visible light or invisible light and convert the visible light into an electrical signal, the vision device 11 can be a photosensitive array formed by a photosensitive coupling device (CCD) or a photodiode, and the vision device 11 includes 2 or more photosensitive arrays because the visual function of the living being is simulated. The photosensitive array has the functions similar to pupils of human eyes, such as automatically zooming according to the distance of an object and automatically adjusting the size of an aperture according to the size of ambient light. Optionally, sound wave auxiliary devices, such as sonar and radar, may be added to receive the sound signals to assist the signal processing of the vision device 11. The number of the photosensitive arrays and the function of the acoustic wave auxiliary device may be more, and are not limited to the above. After the photosensitive array receives the stimulation of external electromagnetic wave (such as light, sound, image or external vibration signal), the signal is transmitted to the processor connected to the vision device 11 for image processing. The processor is similar to a human brain, and can output an operation instruction after receiving a series of pictures output by the photosensitive arrays and through self-learning, machine learning or bystander teaching, and transmit the operation instruction to other parts of the robot control system to complete the control of each part of the robot control system. The processor hardware may be a single chip processor, e.g.
Or an expansion board containing a single chip arithmetic unit, the external can input control program codes or scripts into processor hardware, so that the hardware has artificial intelligence similar to human brain learning such as self-learning, machine learning and the like, and outputs a series of artificial intelligence with control functionThe program code is used to control other components of the robot control system. The processor connected to the vision device 11 may further include a virtual reality processor (VR) or be connected to a remote control processing center through a wireless network, and the control processing center may synchronously receive signals transmitted by the robot control systems and control one or more robot control systems to perform the same motion.
The motion of the neck 2 is controlled by a neck operating device 12, which receives a series of first operating commands output by a processor and converts the commands into position coordinates to control the motion of the neck 2, the neck operating device 12 further comprises a neck power device disposed on the head or neck, the neck power device can be a servo motor or a stepping motor, and the servo motor can be a brushless motor or a brush motor. The neck power device can be a single three-way motor capable of being controlled in three directions or three one-way motors only capable of controlling a single shaft, so that the head 1 or the neck 2 can move in three directions, and the movement is similar to human joints. The neck operating device 12 may further include a neck sensor, typically an Inertial Measurement Unit (IMU), to measure the attitude change of the head 1 in an inertial space, and to achieve the attitude stabilization of the head 1 in the horizontal and straight directions by controlling a motor that is movable in three directions. In addition, the head part 1 can realize the stability of the horizontal posture when the head part is raised upwards, lowered downwards and turned left and right, and the stability of the vertical direction when the head part is turned left and right. The head 1 of the robot control system can execute a work to be performed in a steady state or in a command tracking state. The power supply of the robot control system is typically electric power, and may be a generator or a battery, with a rechargeable battery (not shown in fig. 1) being preferred in view of energy saving and carbon reduction.
The head 1 may operate as follows: the vision device 11 has the function of synchronously receiving the image signals, can automatically recognize human command actions, such as waving hands or jumping, etc., and output operation instructions to the neck operating device 12, and then the neck operating device 12 controls the neck 2 to move to meet the needs of the operator. For example, when the operator wants to tilt the robot control system head 1 upward, i.e., swing the handle upward, the vision device 11 receives the swing picture and then the robot control system controls the robot to lift the head 1 upward. In another operation embodiment, the operator brings virtual glasses when commanding the robot control system, the image seen by the virtual glasses is synchronous with the robot vision device 11, when the operator sees that the image in the virtual glasses is a stair, an instruction of moving upwards to climb the stair can be sent to the robot control system, and the robot control system receives the instruction of moving upwards to climb the stair and then controls each part of the robot to coordinate to finish the action of climbing the stair upwards.
And a neck part 2 connected to the head part 1 and the body part 3, wherein the neck part 2 collects control signals from the head part 1 and the neck part 2 in the main body to adjust the posture of the neck part. The neck 2 comprises a first lifting adjustment device 21 and a second lifting adjustment device 22, wherein the first lifting adjustment device 21 is used for changing the coordinate of the neck 2 and has the function of integral tilting motion, and comprises 3 pivoting shafts and two connecting rods, the pivoting shafts are similar to joints of a human body, and the connecting rods are similar to bones of the human body. The first pivot shaft is connected with the head 1 and the first connecting rod. In the dynamic schematic diagram of the robot control system head 1 shown in fig. 2, the first pivot axis can be located in three coordinate directions (which can be the x, y, z, cylindrical coordinates of the cassette coordinates)
Or coordinates of a sphere
) And (4) moving, namely three-dimensional moving. Because the first pivot axis is connected with the head part 1, the first pivot axis can move in any coordinate value on the three-dimensional coordinate and can rotate and move freely according to different linear speeds or angular speeds, and compared with the human neck part 2 which can only move in a limited direction, the neck part 2 of the robot control system disclosed by the invention can move more flexibly. For example, the neck 2 of a person can generally only be at a planar angle
0 to 80 degrees (based on a set of planes parallel to the ground as a reference plane and the neck 2 as a reference planeA boresight), and generally can move only between a solid angle (theta) of 20 degrees to 80 degrees (with a plane set parallel to the ground as a reference plane and the neck 2 as a reference axis), the neck 2 of the robot control system of the present invention can move in an arbitrary angle range. Preferably, the neck 2 of the robot control system mainly has the advantage that the head 1 does not contact the neck 2 when moving, so that the head 1 can move in three axial directions and the movement stability of the head 1 in the three axial directions is ensured. And the second pin joint shaft is connected with the first connecting rod and the second connecting rod, can move in two coordinate directions and is connected with the second connecting rod and the main body part 3. And a third pivot shaft connected to the second connecting rod and the second lifting adjustment device 22, wherein the third pivot shaft is movable in two axes, and in order to prevent the head 1 from contacting other parts of the robot control system body to cause instability of the robot control system, the second pivot shaft and the third pivot shaft may be limited to be performed between any two coordinates on three-dimensional coordinates, such as planar rotation and three-dimensional rotation, or movement in the Y direction and the Z direction of the card-type coordinates.
The first lifting adjusting device 21 can enable the head 1 to appear at any point of a three-dimensional coordinate on the whole, and the first lifting adjusting device 21 is in a shape like a Chinese character 'ji' or a Chinese character 'ji' when being seen from the side surface when in operation, when the power supply of the robot control system is closed, the two connecting rods can be automatically and horizontally overlapped or abutted, so that the placing space can be reduced, the gravity center of the robot device can be lowered, and accidental damage can be prevented; in addition, the connection mode between the two connecting rods can be screw thread, hinge joint, bearing connection with ball type, meshing or magnetic connection, and the design can be carried out by selecting the combination mode which is consistent with the environment. The material of the connecting rod is not limited to plastic or metal. The second lifting adjustment device 22 has a lifting function, and is movable in a direction perpendicular to the ground to change the height of the neck 2, and can offset the jolt from the ground by lifting, thereby having a shock-absorbing effect. The second lifting adjustment device 22 is pivoted to the second connecting rod at its top and is jointed to the main body 3 at its bottom. When the power supply of the robot control system is turned off, the second lifting adjusting device 22 can automatically lift the lifting rod back to the cavity (not shown in the figure) in the main body 3, so as to reduce the overall height of the robot control system during storage, facilitate the storage of an operator, lower the center of gravity of the robot device and prevent accidental damage.
Fig. 3 is a schematic view of the robot control system neck 2 during folding and lifting, wherein the view shows the robot control system neck 2 raised to its highest height. The activated state of the neck 2 can be as shown in fig. 3.
Fig. 4 is a simplified flow chart of the operation flow of the robot control system head 1, taking pitch (raising head up and lowering head down) as an example, and the specific control method is shown in fig. 4. When the head 1 is subjected to an external stimulus (e.g., an electromagnetic wave signal from the external environment or a collision shock dynamics signal transmitted from the body), the vision device 11 generates an operation command including a pitch angle θ and a pitch angle θ with respect to the horizontal plane. Wherein the pitch angle speed theta is detected by the IMU sensor to obtain a pitch angle speed error delta theta; the pitch angle is calculated by the encoder and the command angle thetaCComparing the error quantity delta theta of the pitch angle with each other, outputting a signal through an angle arithmetic unit, and outputting a control signal of the neck 2 after the signal and the error quantity delta theta of the pitch angle are calculated by a stable loop arithmetic unit so as to realize the control of the angle of the neck 2 and prevent the neck 2 from being interfered by the outside when moving.
The body 3 is connected to the neck 2 and includes a control device 31 and a stabilizer 32. In the present invention, the main body 3 includes a function of a body support computing center. The control device 31 includes a processor (processor) for receiving the operation command signal generated by the vision device 11 and the operation command generated by the chassis portion 4, generating a control signal for the neck portion 2 to the neck portion 2 after calculation, and transmitting a driving signal to the stabilizing device 32. In a preferred embodiment, after the control device 31 receives the processed frame file generated by the vision device 11, such as the frame bitmap, and the detected height of the robot control system, in combination with the electromagnetic wave signals in the environment, such as light, sound or vibration, and the current position of the robot control system fed back by the tire portion 42 or the rotation speed of the tire portion 42 during operation, the control device 31 outputs signals including the height of the neck portion 2 and the position of the center of mass of the robot control system to the neck portion 2 and the stabilizing device 32, and the neck portion 2 and the chassis portion 4 move according to these signals. In addition, the main body part 3 has an automatic stable balance structure, and the inclination angle of the machine body can be automatically adjusted to change the mass center of the machine body, so that the stability of the whole machine body is improved. The main body 3 is made of metal or plastic shell, and is made in an integrated manner, the upper end of the main body is provided with a hollow accommodating space or cavity for storing the second lifting adjusting device 22 when not lifted, and the lower end of the main body 3 covers the hanger 412 and the calculator 411 of the active suspension device 41 in the body of the robot control system, so that the robot control system has good anti-falling, anti-vibration, waterproof and dustproof effects and high protection performance (with IP67 grade). The suspension 412 shown in fig. 1 schematically includes a trapezoid and a rectangle adjacent to the trapezoid, wherein the trapezoid is formed by a fixing device for fixing the tire unit 42, and the rectangle is formed by a spring and a fixing device for damping the impact force of the tire unit to the body. The body has good anti-falling, anti-vibration, waterproof and dustproof effects.
Figure 5 shows an architectural diagram of the chassis section 4. The chassis part 4 is arranged below the main body part 3, and the stabilizing device 32 sends out signals to control the chassis part 4. The chassis portion 4 includes an active suspension device 41 and a tire portion 42, and the active suspension device 41 and the tire portion 42 are connected to each other. The active suspension device 41 is a chassis assembly, and includes a suspension 412 and an arithmetic unit 411 therein, which constitute a so-called frame in a general automobile device. The tire portion 42 includes a tire. The number of active suspension devices 41 and the number of tire units 42 are the same, and the active suspension devices 41 and the number of tire units 42 are controlled in a one-to-one manner, i.e., the active suspension devices are sure to control only the tire a and not the tire B. In the present invention, the tire portion 42 preferably includes six tires, which is more stable and obstacle-surmounting than four tires of the prior art. The suspension 412 connects the body and the wheels, and is composed of a spring, a damper (or called a damper), and a connecting rod. The suspension 412 is made of different materials or different compositions, and the suspension 412 has different equivalent elastic coefficients, so that when the robot control system encounters uneven road surface during traveling, the body generates equivalent elastic force to the suspension 412 due to vibration. According to Hooke's law, the suspension device 412 will generate displacement relative to the fuselage due to the elastic force, and the displacement is absorbed or slowed by the extra shock absorber in the suspension device 412, so that the displacement can be reduced or eliminated when being transmitted to the fuselage, thereby effectively isolating the vibration of the fuselage with uneven road surface when the robot control system runs, and keeping the stability of the fuselage. The active suspension device 41 is additionally provided with an arithmetic unit 411, which is used for recording signals of vehicle speed, displacement, acceleration and the like when the tire part 42 acts, outputting signals through the operation of a microprocessor in the arithmetic unit 411, and adjusting the rigidity of a spring in a suspension device 412 and the damping coefficient of a system (equivalent to the elastic coefficient (K) in Hooke's law) in real time, thereby reducing the vibration of the body and adjusting the relative height of the body and the chassis part 4 for convenient operation and control. The active suspension device 41 formed by the suspension 412 and the chassis unit 4, and the six tires of the tire unit 42 together constitute the six-wheel independent active suspension system described in the mechanical engineering. The tire portion 42 in the chassis portion 4 can be used with tires having different treads due to different terrains, and the thickness and radius of the tire are not limited. The tire portion 42 used in the present invention can rotate within 90 degrees (the rotation axis is a normal vector of the ground) by matching with a special structure, the ground is suitable, the rotation axis is close to the center of the hub, the rotation radius is small, the space is not occupied during rotation, and the steering angle of each tire can be different or part of tires can be the same because the tires are controlled by the active suspension device 41 one by one. It is noted that the hub is a wheel center rim, radial steel bars and axle assembly, which is a prior art in the vehicle industry and is a technology easily known to those skilled in the art, and therefore not described herein.
The configuration, the operation and the effect of each part of the robot control system are described in detail above, and the flexible head 1 can stably move in three axial directions; the telescopic neck 2 can change the height at any time and change the height of the mass center; the high protective shell and the excellent centroid computing capability of the main body part 3 ensure the stable centroid of the whole robot control system, and the chassis part 4 has a six-wheel independent active suspension design, so that the balance of the machine body is ensured to the maximum extent, and six tires can be independently controlled by the computing device 411, so that the tire part 42 obtains the most flexible motion performance and runs like a common vehicle.
Fig. 6 is a schematic view showing the operation of the chassis part 4 of the robot control system. This figure is merely for explaining the operation of the wheel body portion, and the structure of the wheel body portion is not limited to that shown in the figure. When the robotic control system is operating, if an obstacle or uneven ground is encountered on the road, the tire portion 42 and the suspension 412 automatically take an adjustment to adapt to the environment. For example, when a protrusion is encountered, the tire portion 42 is displaced relative to the suspension 412 (i.e., the second physical quantity) at a certain time and is transmitted back to the arithmetic unit 411. The calculator 411 calculates the positions (i.e., the first physical quantity and the second physical quantity) again based on the second physical quantity generated at different times, and then the hanger 412 and the tire unit 42 are adjusted. This process is repeated until the robot control system successfully passes the obstacle. Besides, the calculator 411 outputs the first physical quantity and the second physical quantity to regulate the positions of the tire part 42 and the hanger 412, the calculator 411 generates the second operation command and the control device 31, and the control device 31 sends out a second neck part 2 control signal at another time, so that the height of the neck part 2 is adjusted, and the center of mass of the whole body is stabilized. In addition, since the active suspension device 41 of the robot control system of the present invention drives the tire units 42 one-to-one, when different tire units 42 travel different obstacles, each tire unit 42 can individually adjust the relative position or speed of the active suspension device 41. The arithmetic unit 411 has a memory function, and can calculate a second operation command by collecting second physical quantities of different tires at different times, so that the control device 31 can perform integral control of the center of mass of the robot control system, or record and process the collected speed and time according to the previous tire 42 encountering an obstacle, so as to avoid the next time or the next tire 42 encountering an obstacle. To avoid the blind spot, another embodiment of the present invention can optionally add a sensing device 43 in the housing of the active suspension device 41 to enhance the obstacle detection, and enhance the deficiency of the head 1 vision device 11 in detecting obstacles at the bottom of the body. The sensing device 43 is configured like the vision device 11 of the head 1, and may be a CCD or a detection radar, but not limited thereto. The vision devices 11 can be placed above the suspension device 412 or in front of the active suspension device 41, but the number is not limited, but the preferred embodiment is six.
Fig. 7 is a schematic view of the robot control system chassis unit 4 when climbing a slope or a staircase. When the robot control system climbs a slope, the stabilizing device 32 tilts the neck portion 2 and the main body portion 3 forward to keep the stability of the robot body, and at the same time, the center of mass of the robot control system also moves forward to ensure that the robot control system does not tip over. When the vehicle runs on a slope, the vision device 11 will observe that the slope appears ahead before climbing, the first operation command including a slope angle signal is output after the operation of the vision device 11, and the control device 31 outputs a second neck 2 control signal and a driving signal including an initial inclination angle to the neck 2 and the stabilizing device 32 to adjust the angle after processing according to the operation command. The vision device 11 observes the front slope of eyes in real time when the robot control system moves, and adjusts the forward inclination angles of the neck part 2 and the main body part 3 immediately once the slope changes; the same is true when going downhill. When climbing a slope, the hanger 412 in the chassis portion 4 also automatically adjusts the relative distance between the tire portion 42 and the hanger 412 according to the difference of the slope. After the stabilizer 32 outputs the actuating signal including the angle value, the computing unit 411 processes the actuating signal to control the relative positions of the suspension 412 and the tire 42. Similar to the action in the plane of the robot control system, the calculator 411 also outputs an operation command including an angle signal to the feedback control device 31 to correct the angle between the body 3 of the neck 2 and the normal vector of the slope and the angle between the tire and the housing of the active suspension device 41 in real time or dynamically.
Fig. 7 further discloses the behavior of the robot control system when climbing stairs. The biggest difference between the climbing of the ladder and the climbing of the ladder is that the ladder has a fixed gradient on the whole, but the gradient of each small section changes periodically along with the position in detail. To cope with this terrain limitation, the robot control system must take into account, in addition to the angle, the change of the center of mass of the robot control system over time when climbing stairs. When climbing a slope, the calculator 411 outputs a first physical quantity including an angle according to the slope difference of the small section, so that the suspension 412 has a swing angle when operating, and each tire alternately moves forward along with the swing of the suspension 412. In addition, the calculator 411 outputs the operation commands at different time and different angles along with the time, and outputs the mass center signal at different time to the control device 31 when climbing a ladder, similar to the above-mentioned mass center signal when encountering an obstacle, and the control device 31 outputs the second neck 2 control signal after calculating with the signal, so as to adjust the height of the neck 2 and adjust the mass center.
The adjustment of the actual overall height of the robot control system can be referred to fig. 8 and the following description, fig. 8 is a simplified structural diagram of each component of the robot control system when climbing a slope, and the diagram indicates the length, radius and mass code of each component, assuming that the intersection point of the principal part 3 mass axis and the principal part 4 mass axis of the chassis part is the point P, if the point P is taken as the standard, the robot control system is adjusted to adjust the mass center, so that when the robot control system does not topple on the slope, if it is known that the rotation angle α of the chassis part 4 compared with the upper half (the head 1, the neck 2 and the principal part 3 are commonly called), it is known that the robot control system deducts the height Y of the chassis part 4 first, it is assumed that the mass of the head part 1 is m1, the radius of the head part 1 is r, the lengths of the two connecting rods are both m2, the lengths of the two connecting rods are both L, and the slope angle is β, the neck operation device 12 in the head part 1 first sends out a control signal including the angle of the first neck part 2, so that the included angle between the two connecting rods is θ, the:
Y＝m3*b2+2m2(L*sin2θ+b)+m1(r+2(sin2θ + b))/(m1+2 × m2+ m3) (formula 1)
In the chassis unit 4, a gyroscope may be attached to the arithmetic unit 411 of the active suspension device 41, and the current pitch angle (pitch angle and slope angle) of the chassis unit 4 is set to β, assuming that the upper body of the robot control system has an included angle of α with respect to the direction of gravity, the center of mass of the upper body can be on the middle wheel and the robot control system does not tilt on the slope, equation 2 is used to determine this included angle α:
when the calculator 411 of the main body 3 calculates α, it outputs α a control signal for the neck 2 to adjust the angle of the neck 2.
Fig. 9 is a top view of the motion states of the robot control system during the travel of the robot control system, and fig. 9 discloses at least six motion states of the robot control system, including at least: the six operation modes comprise six motion states of forward and backward movement, left and right translation, alternate crawling, in-situ rotation, oblique movement and small-radius steering, the motion states are similar to the motion states of insects during crawling, and the six operation modes can provide the base part 4 with the maximum flexibility during movement. We roughly divide the above six motion states into two types of motions: a 360 degree straight travel mode and a turn mode.
When the tire receives a second physical quantity containing the moving direction and the moving speed sent by the calculator 411, the tire moving direction turns to +/-90 degrees relative to the y direction, and the tire portion 42 rotates forward and backward, so that the straight-line movement of the body in each direction can be realized, the following details are described, how the calculator 411 calculates and drives the tire portion 42 to rotate, the angle to be rotated by the body is set to theta assuming that the body moves forward and is 0 degrees, the current angle of the tire portion 42 is set to α, the body moves forward and is set to 0 degrees (the angle is set to 0 degrees), the wheel direction is positive, the r is the "rotating direction", the moving direction of each wheel is the same as the current direction of the body, the rotating direction of each wheel is set to 0 degrees, the rotating direction of the body is set to 0 degrees, the current angle of the tire portion 42 is set to 0 degrees, the wheel direction is set to 90 degrees, the rotating direction is set to 270 degrees, the wheel moving direction is set to 270 degrees, the rotating direction is set to 270 degrees, the wheel direction is set to 90 degrees, and the wheel direction is set to 90 degrees, when the wheel direction is equal to 270 degrees:
θ is α + (90r +90) (formula 3).
That is, the angle of rotation of the body is adjusted according to the current advancing direction of the tire unit 42.
Secondly, in the turning mode, the computing unit 411 calculates the direction of each tire and the rotation speed of each tire to realize the turning of the body around a specific center, and the following describes how the computing unit 411 computes and drives the wheels to rotate. Referring to fig. 10, fig. 10 is a schematic diagram illustrating the movement of the entire robot control system when the robot body turns. As can be seen from fig. 10, the rotation center C set at present is on the extension line of the straight line connecting the axle centers of the two center tires (and the tire portion 422 and the tire portion 425) of the robot control system, so that the directions of the two center tires of the robot control system with respect to the machine body are not changed during the turning process and are always kept parallel to the machine body, and the turning process of the whole robot control system can be regarded as a width d from the top view1The rectangular shape (body) of (a) rotates around the rotation center. Since the centers of rotation of the respective wheels are the same during cornering (the robot control system is considered as a mass point), the cornering angular velocity ω of each tire section 42 is the same. Suppose that the distance between the axle centers of the tire 422 and the tire 424 is d1(i.e., width of fuselage) and a traveling speed of the tire section 422 during cornering is V1The traveling speed of the tire portion 425 is V2Then, the turning angular velocity can be obtained by equation 4:
the traveling speed of the tire 422 at this time can be derived from equation 4, which is expressed in equation 5:
the traveling speed of the tire portion 425 can be derived from equation 4, which is expressed in equation 6:
based on this rotation radius, the rotation radius of the tire 422 and the tire 425 when they rotate with respect to the rotation center C can be obtained. Since the wheelbase of the left tire sections 421, 2, 3 in the front-rear direction is the same as the wheelbase of the right tire sections 424, 5, 6 in the front-rear direction, the radius of rotation of the left tire sections 421, 2, 3 is the same, which is ROuter end ofThe radius of rotation of the right tire portions 424, 5, 6 is the same, which is RInner end. The wheelbase of the tire 421 and the tire 422 is set to d2According to the Pythagorean theorem, the turning radius of the tire portion 422 can be derived, as shown in equation 7:
likewise, the turning radius of the tire portion 425 is disclosed in equation 8:
since the angular velocities are the same, the traveling velocity of the corresponding tire portion 422 can be derived from equations 5 and 7, which are shown in equation 9:
similarly, the traveling speed of the tire portion 425 can be derived from equations 6 and 8, and is shown in equation 10:
according to this, the turning angle of the tire portion 422 can be obtained
The turning angle of the tire portion 425 is
In actual operation, the computing unit 411 will first output a 360 degree straight-driving mode and turning mode signal to six wheels. Assuming that the tire unit 42 receives the 360 ° straight-ahead mode signal, the six wheels will all deflect the same angle and output the rotation angle and the movement speed to the computing unit 411, and the computing unit 411 further uses the formula 3 to calculate the desired rotation angle θ of the body according to the current situation, and the desired rotation angle θ is included in the second operation command and transmitted to the main body unit 3 to achieve the target angle of the operator. And different rotating angles of the machine body are also available at different times. In addition, when the tire portion 42 receives the turning mode signal, the tire portions 421, 3, 4 and 6 will deflect a specific angle first, the tire portions 422 and 5 will not change the current position, and the second physical quantity including the traveling speed of the tire portions 422 and 5, the distance between the tire portions 42 and the turning angle speed of the robot control system is returned to the computing unit 411, and the computing unit 411 will return the second physical quantity after estimating the turning angle, the traveling speed and a turning center C of the tire portions 422 and 5 according to the formulas 4 to 10, so as to rotate the body of the robot control system to achieve the requirement of the operator, and there are different rotation angles at different times.
Fig. 11 is a flowchart of an operation manner of the robot control system, fig. 12 is a schematic diagram of connection relationships among components for operating the components of the robot control system when the robot control system is operating, please refer to fig. 11 and fig. 12, and the following detailed operation steps are described below:
step S1: after receiving the electromagnetic wave signal, the vision device 11 and the main body 3 of the head 1 send a first operation command to the neck operating device 12 and the control device 31, wherein the received electromagnetic wave signal can be a single light ray image signal or a continuous image signal, and the first operation command can be a coordinate position signal, and then, step S2 and step S3 are performed simultaneously;
step S2: after the neck operating device 12 processes the first operating command, it sends out a first neck 2 control signal and transmits it to the neck 2, where the first neck 2 control signal is also a coordinate position signal, which can be a three-dimensional coordinate position of each end point or three-pivot-axis and two-telescopic-rod in the first lifting adjusting device 21, i.e. the second lifting adjusting device 22, but is not limited thereto, and then step S4 is performed at the same time;
step S4: the neck 2 rotates the head 1, extends and retracts the second elevation adjustment device 22 and moves the neck 2 according to the received control signal of the neck 2, and then the step S4 is ended.
Step S3: after the control device 31 processes the operation command, it generates the first driving signal to the control device 31 and the second neck 2 control signal to the neck 2. The first driving signal includes a coordinate position signal, a robot control system center-of-mass position signal, a velocity signal, an acceleration signal, or an equation including a velocity signal, a stiffness coefficient, and a damping coefficient, and the second neck 2 control signal includes a position coordinate, and then the step S5 is performed;
step S5: the first actuating signal is converted into a signal readable by the chassis part 4 through the brake device, and the first actuating signal is generated. The conversion method can be conversion between units, or solving the form of general, differential or partial differential equation, and obtaining the physical quantities such as velocity, displacement, stiffness coefficient and damping coefficient as the first actuating signal, and then proceeding to step S6;
step S6: the first actuating signal is converted into a first physical quantity through the computing unit 411 to operate the suspension 412, and converted into a second physical quantity to control the tire part 42, wherein the first physical quantity includes physical quantities such as the relative position of the suspension 412 and the tire part 42, or the computing unit 411, and the elastic coefficient or damping coefficient of the suspension 412, or the turning radius; the second physical quantity includes a physical quantity related to a speed, such as a moving speed or an acceleration of the tire unit 42, or a physical quantity related to a position, and the second physical quantity may include a time for the tire unit 42 to follow a numerical value of the physical quantity, and then the step S7 is performed;
step S7: when the tire unit 42 is activated, the computing unit 411 detects the second physical quantity of the actual activation, and then regenerates the first physical quantity and the second physical quantity at the second time to dynamically adjust and correct the relative position of the current suspension 412 and the activation speed of the tire unit 42, and further generates a second operation command to be transmitted back to the control device 31 to dynamically adjust the center of mass position and the position of the neck 2 of the robot control system, and then performs steps S3 and S6.
The method is used for operating each part of the robot control system, the moving speed and the position of the robot control system and the mass center of the robot control system can be dynamically changed, in addition, the height of the neck 2 required to move can be dynamically obtained, and the adjustment is adaptive according to the environment condition, so that the robot control system can be better suitable for each occasion, has better stability during moving, is not easy to topple, and can really achieve the task required by an operator.
The robot control system and the operation method of the invention are matched with the independent active suspension type device of the active suspension device 41, thereby ensuring the stability of the robot body, obtaining the most flexible movement performance, not only being capable of driving like a common vehicle, but also being capable of rotating in situ and walking in all directions, having the smallest turning radius when steering in the walking space and occupying no space; excellent climbing, building climbing and obstacle crossing capabilities, and can cross steep slopes of over 40 degrees; can be at any time and the transform fuselage height of adaptability, robot control system's telescopic neck 2 can change the barycenter position, can adjust the field of vision that increases head 1 again, and guarantees robot control system's head 1 in three ascending angular stability of axial and slow down the vibrations that ground is unstable and causes the fuselage in going, makes the fuselage of robot control system stable can not topple over in advancing.
The above description is only for the preferred embodiment of the present invention, and is not intended to limit the scope of the present invention; while the foregoing is directed to embodiments of the present invention, other and further embodiments of the invention may be devised without departing from the basic scope thereof, and the scope thereof is determined by the claims that follow.
Claims (8)
1. The utility model provides a robot control system, has the fuselage, the fuselage contains head, neck, main part, chassis portion and tire portion, the head with the neck pin joint, the neck with the main part pin joint, the main part set up in on the chassis portion, the tire portion set up in chassis portion below is used for letting the fuselage removes its characterized in that:
the head part is provided with a visual device and a neck part operating device, wherein the visual device is used for sending a first operating instruction to the main body part, and the neck part operating device is used for sending a first neck part control signal to the neck part;
the main body part comprises a control device and a stabilizing device, wherein the control device comprises a processor and is used for sending a second neck control signal to the neck part, and the stabilizing device is used for sending a first actuating signal to the chassis part;
the neck is provided with a first lifting adjusting device and a second lifting adjusting device connected with the first lifting adjusting device; and
the chassis portion having an active suspension device, and the tire portion connected to the active suspension device; the active suspension device sends a second operation instruction to the main body part;
wherein the neck moves the first and second elevation adjusting devices according to the first and second neck control signals and the second operation command, the body moves according to the first and second operation commands, and the chassis moves the active suspension device according to the first and second operation commands, thereby adjusting the height of the head, the position of the center of gravity of the front and rear extension of the robot, and the relative distance between the tire and the active suspension device in real time.
2. The robot control system of claim 1, wherein the attitude angle and attitude angular velocity generated by the vision device generate neck control signals that are transmitted to the neck manipulating device for controlling the direction of movement of the neck.
3. The robot control system of claim 1, wherein the chassis portion further comprises a sensing device for detecting obstacles encountered by the chassis portion during operation of the robot.
4. A robot control system according to claim 3, wherein the chassis part is used for plane movement and up-and-down movement of steps.
5. The robotic control system according to claim 3, wherein said chassis portion performing said climbing action includes adjusting a relative position of each of said tire portions and said active suspension device using said neck operating device, and adjusting a height of said neck either synchronously or asynchronously.
6. The robotic control system according to claim 1, wherein when the chassis portion is in motion, a 360 degree straight mode and a turning mode are separable.
7. The robot control system according to claim 6, wherein in the turning mode, a turning angle of each of the tire units is calculated based on a width of the body, a traveling speed of the tire unit, and a distance between two of the tire units.
8. The robot control system according to claim 1, wherein the number of the tire portions is 6.
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| CN108015786A (en) * | 2018-01-02 | 2018-05-11 | 苏州晨本智能科技有限公司 | A kind of automatic inspection robot based on automatic obstacle-avoiding technology and VR technologies |
| CN108608434A (en) * | 2018-04-18 | 2018-10-02 | 芜湖星途机器人科技有限公司 | Folding robert |
| CN108481338A (en) * | 2018-04-18 | 2018-09-04 | 芜湖星途机器人科技有限公司 | Folding robert |
| CN109795553A (en) * | 2019-01-10 | 2019-05-24 | 徐工集团工程机械有限公司 | A kind of rotating direction control method and system on narrow region four-wheel independent steering rescue chassis |
| CN110568842A (en) * | 2019-08-14 | 2019-12-13 | 深圳市优必选科技股份有限公司 | wheeled robot and control method thereof |
| CN111714210B (en) * | 2020-06-30 | 2024-02-13 | 深圳市精锋医疗科技股份有限公司 | Surgical robot, control device and control method thereof |
| CN112757313B (en) * | 2020-12-28 | 2022-02-08 | 南京工业大学 | Multifunctional inspection robot |
| CN112947464A (en) * | 2021-03-05 | 2021-06-11 | 上海有个机器人有限公司 | Method, device, terminal and storage medium for robot to pass through narrow space |
| CN114434422B (en) * | 2022-01-12 | 2023-08-15 | 桂林航天工业学院 | Intelligent industrial mechanical arm for auxiliary production of production line |
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