CN110286685A - A kind of mobile robot - Google Patents
A kind of mobile robot Download PDFInfo
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- CN110286685A CN110286685A CN201910664258.4A CN201910664258A CN110286685A CN 110286685 A CN110286685 A CN 110286685A CN 201910664258 A CN201910664258 A CN 201910664258A CN 110286685 A CN110286685 A CN 110286685A
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- servo
- mobile robot
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- 230000005611 electricity Effects 0.000 claims abstract description 12
- 239000003638 chemical reducing agent Substances 0.000 claims abstract description 8
- 238000013439 planning Methods 0.000 claims abstract description 5
- 230000003068 static effect Effects 0.000 claims description 9
- 238000004891 communication Methods 0.000 claims description 4
- 238000000034 method Methods 0.000 claims description 3
- 238000010295 mobile communication Methods 0.000 claims description 2
- 238000003825 pressing Methods 0.000 claims description 2
- 101150063504 CAN2 gene Proteins 0.000 claims 1
- 230000004888 barrier function Effects 0.000 claims 1
- 238000012423 maintenance Methods 0.000 abstract description 4
- 238000013461 design Methods 0.000 abstract description 2
- 238000004804 winding Methods 0.000 description 6
- 238000004519 manufacturing process Methods 0.000 description 5
- 238000010586 diagram Methods 0.000 description 4
- WHXSMMKQMYFTQS-UHFFFAOYSA-N Lithium Chemical compound [Li] WHXSMMKQMYFTQS-UHFFFAOYSA-N 0.000 description 2
- 238000011161 development Methods 0.000 description 2
- 229910052744 lithium Inorganic materials 0.000 description 2
- 239000000203 mixture Substances 0.000 description 2
- 101150008604 CAN1 gene Proteins 0.000 description 1
- 238000005299 abrasion Methods 0.000 description 1
- 239000008358 core component Substances 0.000 description 1
- 239000006185 dispersion Substances 0.000 description 1
- 230000005284 excitation Effects 0.000 description 1
- 239000004744 fabric Substances 0.000 description 1
- 230000003993 interaction Effects 0.000 description 1
- 238000003754 machining Methods 0.000 description 1
- 230000005389 magnetism Effects 0.000 description 1
- 238000007726 management method Methods 0.000 description 1
- 238000012545 processing Methods 0.000 description 1
- 239000000126 substance Substances 0.000 description 1
- 238000012384 transportation and delivery Methods 0.000 description 1
Classifications
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0212—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory
- G05D1/0214—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory in accordance with safety or protection criteria, e.g. avoiding hazardous areas
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0212—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory
- G05D1/0219—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory ensuring the processing of the whole working surface
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- Engineering & Computer Science (AREA)
- Aviation & Aerospace Engineering (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Automation & Control Theory (AREA)
- Manipulator (AREA)
Abstract
The invention discloses a kind of mobile robots, belong to Robot Design technical field.The mobile robot, including controller, servo-driver, servomotor, gear reducer, encoder, safe laser scanner, safety relay and depth camera；Servo-driver, servomotor, gear reducer and the encoder forms servo-system；The servo motor is three-phase servo motor, realizes the power-off an of three-phase motor and the function being shorted using a contactor；8 obstacle-avoidance area groups are arranged in the mobile robot, and 8 region groups are mutually indepedent.The present invention utilizes the self attributes of motor, by the way of being shorted braking, reduces band-type brake device, has both eliminated the cost of band-type brake, while also avoiding the maintenance to band-type brake；Using the high electricity piece of some integrated levels, electricity piece is few, and wiring is simple；Can according to locating for mobile robot different zones or different planning paths realize different obstacle-avoidance area ranges.
Description
Technical field
The invention belongs to Robot Design technical field, in particular to a kind of mobile robots.
Background technique
With the development and changing market environment of industrial automation, enterprise is for robot automtion solution
More stringent requirements are proposed, and fixed robotic solutions are gradually difficult to meet application demand.Intelligence manufacture needs more
It is novel, modular, rich and varied, especially mobile production decision.
Mobile robot is due to having the characteristics that intelligent, independence and high flexibility ratio, to realize completely new intelligence production
Scheme opens road.It is by merging (MES-Manufacturing Execution with enterprise MES/MCS system simultaneously
System, MCS-Management Control System), can farthest reduce equipment free time, number of workers and
The human factor of product quality improves production efficiency and product quality, reduces entreprise cost.
With the development of enterprise, the gradually expansion to segment market, mobile robot will gradually be applied to 3C electronics, stored goods
Industries, the prospects such as stream, medical treatment, chemical product and machining are boundless.
Current existing mobile human is primarily present following problems:
It (1) is all to be braked using electromagnetic brake for mobile robot currently on the market, there are band-type brake bodies for electromagnetic brake
Product is larger, and brake wear is serious, and when fast braking can generate vibration, and troublesome maintenance.
(2) existing mobile robot electrical architecture is complicated, and electricity piece is more, does not account for the electricity high using some integrated levels
Gas part, thus lead to that electricity piece is at high cost, device is more and dispersion, be routed it is cumbersome.
(3) existing Mobile Robot Obstacle Avoidance flexibility is inadequate, causes there are risk, cannot make for different environment
Different Robot dodge strategies.
Summary of the invention
Aiming at the problems existing in the prior art, that the purpose of the present invention is to provide a kind of structures is simple, highly-safe, warp
The good mobile robot of Ji type.
The mobile robot provided by the invention, including controller, servo-driver, servomotor, gear reducer, volume
Code device, safe laser scanner, safety relay and depth camera；Servo-driver, servomotor, gear reducer and the volume
Code device forms servo-system.
The servo motor is three-phase servo motor, using contactor realize the power-off of a three-phase motor with it is short
The function of connecing, three-phase servo motor M are connect by contactor normally-closed contact with the U/V/W interface of servo-driver MCI, servo electricity
Before machine powers on, DO1 mouthfuls of output high level of controller, KM relay coil obtains electric, and three normally-closed contacts of KM relay disconnect, and watch
The U/V/W three-phase for taking driver is connected respectively to the U/V/W three-phase of servo motor, and then servo-driver controls servo motor work
Make, when power-off, servo-driver is first powered off, and DO1 mouthful of controller also stops exporting, KM relay coil power loss, KM relay
Three normally-closed contact closures, servo motor U/V/W three-phase form short circuit, using the self attributes of servo motor, form the system of short circuit
It is dynamic.
8 obstacle-avoidance area groups are arranged in the mobile robot, and 8 region groups are mutually indepedent, each obstacle-avoidance area group packet
Include two warning areas and a protection zone, the shapes and sizes of protection zone and warning area are arbitrarily arranged；Pass through safe laser scanning
Static input port information on instrument switches different obstacle-avoidance area groups, and the input information of static input port is by different zones in map
Or different planning paths determines, such mobile robot during the motion, for different regions and the road of walking
Diameter switches different obstacle-avoidance area groups, and then realizes and realize flexible Robot dodge strategy according to different environment.
The present invention has the advantages that
(1) utilize the self attributes of motor reduces band-type brake device, both eliminates band-type brake by the way of being shorted braking
Cost, while also avoiding the maintenance to band-type brake；
(2) the high electricity piece of some integrated levels is used, electricity piece is few, and wiring is simple；
(3) can according to locating for mobile robot different zones or different planning paths realize different obstacle-avoidance areas
Range.
Detailed description of the invention
Fig. 1 is the electrical equipment control structural schematic diagram of mobile robot of the invention.
Fig. 2 is the motor braking schematic diagram of mobile robot of the invention.
Fig. 3 is the composition schematic diagram of a region group in Mobile Robot Obstacle Avoidance region group of the invention.
Specific embodiment
Below in conjunction with drawings and examples, the present invention is described in further detail.
The electrical equipment control structure of mobile robot provided by the invention is as shown in Figure 1, the mobile robot includes control
Device, servo-driver, servomotor, gear reducer, encoder, safe laser scanner, safety relay and depth camera processed.Institute
Servo-driver, servomotor, gear reducer and encoder composition servo-system, servo-system and the controller stated use CAN2
(controller local area network) communication, is communicated between safe laser scanner and controller using RS422, and the safe laser is swept
Instrument is retouched using the 300Stangard series of SICK company.Anti- bump sensor is integrated on safe laser scanner, with depth camera
In conjunction with realizing avoidance.Wherein depth camera detects the object of liftoff 10cm or more, and depth camera passes through USB3.0 and controller
Communication.The power supply of entire mobile robot reads the state of lithium battery by CAN1 bus by lithium battery power supply, controller in real time
Information.Mobile robot further includes button switch and scram button simultaneously, and the scram button passes through safety relay and control
Device connection processed.
The button switch includes pause button, start button and reset button, mobile robot in the process of running,
Pause button is pressed, mobile robot can decelerate to 0 stopping after receiving signal, and after pressing start button, mobile robot can be by
It is continued to run according to the state before pause, reset button is matching used with safety relay.
The input of the safety relay is some safety signals of connection, such as the scram button signal and peace in the present invention
The safe I/O signal of full laser scanner output, major function are as follows:
When mobile robot breaks down or emergency stop safety signal inputs, is not eliminated in failure or failure is unconfirmed
Before, equipment can not operate normally.Prevent operation suddenly after equipment fault next dangerous to the person or equipment belt with this.
There is core component of the controller as Mobile Robot Control System control algolithm operation, data to adopt
The function of collection and Communication processing, in addition the also built-in inertial navigation IMU of the controller and radio station (wireless aps) function, are supported
5.8G, 2.4G and 4G mobile communication function.The integrated level of the mobile robot is higher, simplifies electrical structure and wiring, drop
Low electrical cost.In addition integrated navigation and the integrated safe laser scanner of anti-collision are used in the present invention, with current city
Mobile robot on field compared with the anti-bump sensor of laser separates, equally simplifies system electrical structure and cloth using navigation
Line, and cost is more preferential.
There is no band-type brake in servo-system of the invention, servo motor braking of the invention is itself belonging to using three-phase motor
Property realize braking, its working principle is that: while stator winding power supply disconnects, stator winding is shorted, due to
Remanent magnetism existing for rotor forms rotor rotating excitation field, this magnetic field intercepts stator winding induces electromotive force in the stator windings,
Along with stator winding has been shorted, so there is induced current generation in stator winding loops, the induced current and rotor revolve
Turn magnetic field interaction, generates braking moment, rotor is forced to stall.It is using two contactors that common motor, which is shorted braking all,
It realizes, a contactor realizes motor power-off, and a contactor realizes that motor is shorted, and the present invention can using contactor
To realize the power-off of three-phase motor and the function being shorted, electrical schematic diagram as shown in Fig. 2, three-phase servo motor M by connecing
Tentaculum normally-closed contact is connect with the U/V/W interface of servo-driver MCI, before servo motor powers on, the high electricity of DO1 mouthfuls of outputs of controller
Flat, KM relay coil obtains electric, and three normally-closed contacts of KM relay disconnect, and the U/V/W three-phase of servo-driver is separately connected
To the U/V/W three-phase of servo motor, then servo-driver can control servo motor work, and when power-off, servo-driver is first
Power-off, DO1 mouthfuls of controller also stop output, KM relay coil power loss, three normally-closed contacts closure of KM relay, servo electricity
Machine U/V/W three-phase forms short circuit, using the self attributes of servo motor, is formed and is shorted braking.It, can be with using this mode of braking
Band-type brake is saved, is dropping the reduction of this while because of the maintenance work of band-type brake abrasion generation.
Existing Mobile Robot Obstacle Avoidance flexibility is inadequate, and mobile robot of the invention is detected using collection navigation with avoidance
The safe laser scanner of one, at most can be set 8 obstacle-avoidance area groups, 8 region groups are mutually indepedent, each obstacle-avoidance area
Group includes two warning areas and a protection zone, as shown in figure 3, (1) is protection zone, (2) are two warning areas, in configuration software
In can configure the shapes and sizes of protection zone and warning area, shapes and sizes can be arbitrarily arranged., then pass through safe laser
Static input port information on scanner switches different obstacle-avoidance area groups, and the input information of static input port can be by map
Different zones or different planning paths determine, such mobile robot during the motion, for different region and
The path of walking switches different obstacle-avoidance area groups, and then realizes and realize flexible Robot dodge strategy according to different environment.
Each safe laser scanner includes 3 static state DI (numeral input) input ports, respectively DI1, DI2 and DI3, with
The corresponding relationship of region group is as shown in table 1 below:
13 static state input ports DI of table and eight region group corresponding relationships
The connection of the DO delivery outlet of 3 static state input ports DI and controller compares upper table 1 certainly according to the output signal of controller
Zone switched group is moved, controller exports different DO signals according to the path of mobile robot position or walking, is building figure
Corresponding output I/O state when the different location or different walking paths where mobile robot can be set in software in advance,
Mobile robot reaches different position or path in this way will export different DO states by controller, and safe laser is swept
The different DO states that instrument receives controller output are retouched, corresponding obstacle-avoidance area group is automatically switched to, that is, has switched corresponding avoidance
Range.To realize flexible avoidance.
Claims (4)
1. a kind of mobile robot, it is characterised in that: the mobile robot includes controller, servo-driver, servo electricity
Machine, speed reducer, encoder, safe laser scanner, safety relay and depth camera；The servo-driver, servo electricity
Machine, speed reducer and encoder are formed servo-system, servo-system and controller and are communicated using CAN2, safe laser scanner and control
It is communicated between device processed using RS422, is integrated with anti-bump sensor on safe laser scanner, is kept away in conjunction with depth camera to realize
Barrier；Depth camera passes through USB3.0 and controller communication；The servo motor is three-phase servo motor, using a contactor
The power-off and the function being shorted, three-phase servo motor M for realizing a three-phase motor pass through contactor normally-closed contact and servo-drive
The U/V/W interface of device MCI connects, and before servo motor powers on, DO1 mouthfuls of output high level of controller, KM relay coil obtains electric, KM
Three normally-closed contacts of relay disconnect, and the U/V/W three-phase of servo-driver is connected respectively to the U/V/W three-phase of servo motor,
Then servo-driver control servo motor work, when power-off, servo-driver is first powered off, and DO1 mouthful of controller also stops exporting,
KM relay coil power loss, three normally-closed contacts closure of KM relay, servo motor U/V/W three-phase forms short circuit, using watching
The self attributes of motor are taken, is formed and is shorted braking.
2. a kind of mobile robot according to claim 1, it is characterised in that: mobile robot further include button switch and
Scram button, the scram button are connect by safety relay with controller；The button switch include pause button,
Start button and reset button, mobile robot in the process of running, press pause button, and mobile robot receives meeting after signal
Decelerate to 0 stopping, after pressing start button, mobile robot can be continued to run according to the state before pause, reset button be with
Safety relay is matching used.
3. a kind of mobile robot according to claim 1, it is characterised in that: inertial navigation IMU and nothing built in the controller
Line radio station function supports 5.8G, 2.4G and 4G mobile communication function.
4. a kind of mobile robot according to claim 1, it is characterised in that: the mobile robot is arranged 8 and keeps away
Hinder region group, 8 region groups are mutually indepedent, and each obstacle-avoidance area group includes two warning areas and a protection zone, protection zone and
The shapes and sizes of warning area are arbitrarily arranged；Switch different avoidances by the static input port information on safe laser scanner
The input information of region group, static input port is determined by different zones in map or different planning paths, mobile in this way
Robot during the motion, switches different obstacle-avoidance area groups for different regions and the path of walking, and then realize
Flexible Robot dodge strategy is realized according to different environment.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910664258.4A CN110286685A (en) | 2019-07-23 | 2019-07-23 | A kind of mobile robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910664258.4A CN110286685A (en) | 2019-07-23 | 2019-07-23 | A kind of mobile robot |
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| Publication Number | Publication Date |
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| CN110286685A true CN110286685A (en) | 2019-09-27 |
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| CN201910664258.4A Pending CN110286685A (en) | 2019-07-23 | 2019-07-23 | A kind of mobile robot |
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Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN201956948U (en) * | 2011-02-18 | 2011-08-31 | 珠海运控电机有限公司 | AC permanent magnet servo system with emergency brake protection function |
| EP2571660A2 (en) * | 2010-05-20 | 2013-03-27 | iRobot Corporation | Mobile human interface robot |
| CN205540215U (en) * | 2016-01-26 | 2016-08-31 | 河南科技学院 | Machine people motion control system is plucked to fruit vegetables |
| CN108544912A (en) * | 2018-03-16 | 2018-09-18 | 芜湖安普机器人产业技术研究院有限公司 | Four-wheel differentia all-terrain mobile robot control system and its control method |
| CN108710376A (en) * | 2018-06-15 | 2018-10-26 | 哈尔滨工业大学 | The mobile chassis of SLAM and avoidance based on Multi-sensor Fusion |
| CN109164812A (en) * | 2018-10-23 | 2019-01-08 | 西南交通大学 | Mobile robot multirow is fusion enzyme numerical value film control method under a kind of circumstances not known |
-
2019
- 2019-07-23 CN CN201910664258.4A patent/CN110286685A/en active Pending
Patent Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| EP2571660A2 (en) * | 2010-05-20 | 2013-03-27 | iRobot Corporation | Mobile human interface robot |
| CN201956948U (en) * | 2011-02-18 | 2011-08-31 | 珠海运控电机有限公司 | AC permanent magnet servo system with emergency brake protection function |
| CN205540215U (en) * | 2016-01-26 | 2016-08-31 | 河南科技学院 | Machine people motion control system is plucked to fruit vegetables |
| CN108544912A (en) * | 2018-03-16 | 2018-09-18 | 芜湖安普机器人产业技术研究院有限公司 | Four-wheel differentia all-terrain mobile robot control system and its control method |
| CN108710376A (en) * | 2018-06-15 | 2018-10-26 | 哈尔滨工业大学 | The mobile chassis of SLAM and avoidance based on Multi-sensor Fusion |
| CN109164812A (en) * | 2018-10-23 | 2019-01-08 | 西南交通大学 | Mobile robot multirow is fusion enzyme numerical value film control method under a kind of circumstances not known |
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Application publication date: 20190927 |