CN113075929A - Rolling brush type omnidirectional walking robot and walking control method thereof - Google Patents
Rolling brush type omnidirectional walking robot and walking control method thereof Download PDFInfo
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- CN113075929A CN113075929A CN202110320471.0A CN202110320471A CN113075929A CN 113075929 A CN113075929 A CN 113075929A CN 202110320471 A CN202110320471 A CN 202110320471A CN 113075929 A CN113075929 A CN 113075929A
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- 238000005096 rolling process Methods 0.000 title claims description 81
- 238000000034 method Methods 0.000 title claims description 15
- 238000005516 engineering process Methods 0.000 claims abstract description 7
- 238000010408 sweeping Methods 0.000 abstract description 16
- 238000004364 calculation method Methods 0.000 description 2
- 238000004458 analytical method Methods 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 239000004744 fabric Substances 0.000 description 1
- 238000004519 manufacturing process Methods 0.000 description 1
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot
- 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
- G05D1/0223—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory involving speed control of the vehicle
Abstract
The application provides a robot of roller brush formula qxcomm technology walking, which comprises a base, be equipped with the at least three rotation round brush that doubles the walking wheel on the chassis, it rotates around its axis to rotate the round brush, be equipped with some B on the chassis, at least three rotation round brush winds point B circumference evenly distributed, and the projection of the axis of each rotation round brush on the chassis passes point B. In this application, through adjusting each rotational speed that rotates the round brush, can realize sweeping the floor the robot and carry out the walking of qxcomm technology, simultaneously because rotate the round brush and do the walking wheel concurrently, consequently sweep the floor the robot can clean the route of walking when the walking, very convenient.
Description
[ technical field ] A method for producing a semiconductor device
The application relates to the technical field of walking robots, in particular to a rolling brush type robot walking in an omnidirectional manner and a walking control method thereof.
[ background of the invention ]
At present, a two-wheel differential model used by most sweeping robots is limited during movement, only can move forwards and backwards, and the center of a circle turns, so that the robot is not flexible enough.
[ summary of the invention ]
In order to improve the walking flexibility of the robot of sweeping the floor, the application provides a robot of rolling brush formula qxcomm technology walking.
The application is realized by the following technical scheme:
the robot of round brush formula qxcomm technology walking, including the chassis, be equipped with the at least three rotation round brush that doubles the walking wheel on the chassis, it rotates around its axis to rotate the round brush, be equipped with point B on the chassis, at least three rotation round brush winds point B circumference evenly distributed, and the projection of the axis of each rotation round brush on the chassis passes point B.
The rolling brush type robot walking in all directions is characterized in that the chassis is provided with a driving motor corresponding to each rotating rolling brush and used for driving the rotating rolling brush to rotate.
The rolling brush type robot walking in all directions is provided with a mop on the outer periphery side of the rotating rolling brush.
The rolling brush type omnidirectional walking robot is characterized in that the point B is positioned at the geometric center of the chassis.
The rolling brush type robot walking in all directions is characterized in that the chassis is provided with three or four rotating rolling brushes.
The rolling brush type robot walking control method for omnidirectional walking comprises the following steps:
s1, calculating and obtaining the robot motion parameters in the moving process according to the moving path, wherein the robot motion parameters comprise the rotation angular speed w of the robotbzThe size and direction of the robot moving speed V;
s2, the central control unit receives the robot motion parameters and rotates the angular speed w according to the robotbzCalculating the rotating speed u of each rotating rolling brush according to the size and the direction of the rotating rolling brush and the moving speed V of the robot;
and S3, controlling the rotating rolling brushes to rotate correspondingly according to the calculated rotating speed u of the rotating rolling brushes.
In the method for controlling the robot walking in the rolling brush type omnidirectional walking described above, in step S2, the central control unit establishes a world coordinate system { S } in the environment where the robot is located and a machine coordinate system { E } that is fixed relative to the robot with a point B on the chassis as an origin, and the deflection angle between the machine coordinate system { E } and the world coordinate system { S } is θ, and when calculating a single rolling brush, the linear velocity V of the rolling brush is calculated1Has an angle phi with the X-axis of the machine coordinate system { E }, and the linear velocity V of the rotary rolling brush1The included angle alpha between the direction of the robot moving speed V and the X axis of the world coordinate system { S } is theta + psi, the included angle beta between the direction of the robot moving speed V and the X axis of the world coordinate system { S }, and the speed V of the robot moving speed V on the X axis of the world coordinate system { S }, whereinbxComprises the following steps:
vbx＝V*cos(β)；
the speed V of the moving speed V of the robot on the y axis of a world coordinate system { S }byComprises the following steps:
vby＝V*sin(β)；
linear velocity V of the rotary rolling brush1Comprises the following steps:
V1＝-wbz*d+vbx*cos(α)+vby*sin(α)；
wherein d is the projection distance of the center of the rotary rolling brush to the point B on the horizontal plane, wbzIs the angular speed of rotation of the robot, and alpha is the linear speed V of the rotary rolling brush1The angle between the direction of (a) and the X axis of the world coordinate system { S };
by the formula:
and obtaining the rotating speed u of the rotating rolling brush, wherein r is the radius of the rotating rolling brush, and pi is the circumferential ratio.
Compared with the prior art, the method has the following advantages:
in this application, through adjusting each rotational speed that rotates the round brush, can realize sweeping the floor the robot and carry out the walking of qxcomm technology, simultaneously because rotate the round brush and do the walking wheel concurrently, consequently sweep the floor the robot can clean the route of walking when the walking, very convenient.
[ description of the drawings ]
In order to more clearly illustrate the technical solutions in the embodiments of the present application, the drawings used in the description of the embodiments will be briefly introduced below.
Fig. 1 is a schematic view of a sweeping robot with a chassis provided with three rotary rolling brushes;
fig. 2 is a schematic view of a sweeping robot with four rotary rolling brushes on a chassis;
fig. 3 is a schematic diagram of the analysis of the speed direction of a single rotating drum brush in the world coordinate system and the machine coordinate system.
[ detailed description ] embodiments
In order to make the technical problems, technical solutions and advantageous effects solved by the present application more clear and obvious, the present application is further described in detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative of the present application and are not intended to limit the present application.
When the embodiments of the present application refer to ordinal numbers such as "first", "second", etc., it should be understood that the terms are used for distinguishing only when the context clearly indicates that the order is changed.
In the description of the present application, it is to be noted that, unless otherwise explicitly specified or limited, the terms "mounted," "connected," and "connected" are to be construed broadly, e.g., as meaning either a fixed connection, a removable connection, or an integral connection; can be mechanically or electrically connected; they may be connected directly or indirectly through intervening media, or they may be interconnected between two elements. The specific meaning of the above terms in the present application can be understood in a specific case by those of ordinary skill in the art.
The rolling brush type omnidirectional walking robot as shown in fig. 1 and 2 comprises a chassis 1, wherein at least three rotating rolling brushes 2 which are also used as walking wheels are arranged on the chassis 1, the rotating rolling brushes 2 rotate around the axes of the rotating rolling brushes, and a point B is arranged on the chassis 1, and specifically, the point B is located at the geometric center of the chassis 1. The at least three rotating rolling brushes 2 are uniformly distributed around the circumferential direction of the point B, and the projection of the axis of each rotating rolling brush 2 on the chassis 1 passes through the point B. In the embodiment, the rotation speed of each rotating rolling brush is adjusted, so that the sweeping robot can walk in all directions, and meanwhile, the rotating rolling brushes are also used as the walking wheels, so that the sweeping robot can clean the walking path in the walking process, and the sweeping robot is very convenient. In order to adjust the rotating speed of the rotary rolling brushes conveniently, a driving motor which is opposite to each rotary rolling brush 2 and used for driving the rotary rolling brushes 2 to rotate is arranged on the chassis 1.
Further, in order to conveniently and efficiently clean the floor, a mop cloth is arranged on the outer peripheral side of the rotary rolling brush 2.
Further, in order to effectively realize omnidirectional movement of the sweeping robot, three rotating rolling brushes 2 or four rotating rolling brushes 2 are arranged on the chassis 1. Simple structure and convenient control.
The embodiment also discloses a walking control method of the rolling brush type omnidirectional walking robot, which comprises the following steps:
s1, calculating and obtaining the robot motion parameters in the moving process according to the moving path, wherein the robot motion parameters comprise the rotation angular speed w of the robotbzAnd the magnitude and direction of the robot movement speed V.
S2, the central control unit receives the robot motion parameters and rotates the angular speed w according to the robotbzThe rotating speed u of each rotating rolling brush 2 is calculated according to the size and the direction of the robot moving speed V and the size and the direction of the robot moving speed V.
S3, the central control unit controls the respective rotary rolling brushes 2 to rotate correspondingly according to the calculated rotation speed u of the respective rotary rolling brushes 2. In this step, the central control unit controls the rotation of each rotary rolling brush by controlling the operation of the driving motor.
Further, in step S2, as shown in fig. 3, in order to facilitate the robot to determine its own position at the time of calculation, the central control unit establishes a world coordinate system { S } and a machine coordinate system { E }. Specifically, the central control unit sets the X axis and the Y axis with the horizontal plane of the environment where the robot is located, and sets the world coordinate system { S } with the movement origin of the robot as the origin of coordinates, and of course, the origin of coordinates of the world coordinate system { S } may be set at other positions of the environment where the robot is located. The central control unit establishes a machine coordinate system { E } which is fixed relative to the robot by setting a point B on the chassis 1 as a coordinate origin and setting an X axis and a Y axis on a radial plane of the chassis, and a deflection angle between the machine coordinate system { E } and a world coordinate system { S } is set as theta.
When calculating a single rotating rolling brush, the linear velocity V of the rotating rolling brush 21Has an angle phi with the X-axis of the machine coordinate system { E }, the linear velocity V of the rotating roller brush 21The included angle α between the direction of (a) and the X-axis of the world coordinate system { S }, θ + Ψ, and α changes with the rotation of the sweeping robot when the sweeping robot itself rotates. When three rotary rolling brushes are arranged on the chassis, the linear velocity V of one of the rotary rolling brushes1The included angle psi between the direction of the rotary brush and the X axis of the machine coordinate system { E } is set to be 60 degrees, and the included angles between the directions of the linear speeds of the other two rotary brushes and the X axis of the machine coordinate system { E } are respectively-60 degrees and 180 degrees; when four rotary rolling brushes are arranged on the chassis, the linear velocity V of one rotary rolling brush1Is angled with respect to the X-axis of the machine coordinate system { E }
Where C is the horizontal distance from the center position of the rotating brush to the origin of the machine coordinate system { E }, and D is the vertical distance from the center position of the rotating brush to the origin of the machine coordinate system { E }. The included angle between the direction of the moving speed V of the robot and the X axis of the world coordinate system { S } is beta, and the speed V of the moving speed V of the robot on the X axis of the world coordinate system { S } isbxComprises the following steps:
vbx＝V*cos(β)；
the speed V of the moving speed V of the robot on the y axis of a world coordinate system { S }byComprises the following steps:
vby＝V*sin(β)；
because the single rotating rolling brush is a rigid body, the rotating speed of the whole rotating rolling brush is uniform when the rotating rolling brush rotates, and when the sweeping robot rotates around the point B, under the condition of the same angular speedAnd the linear speed of one end of the rotating rolling brush close to the point B is smaller than the linear speed of one end of the rotating rolling brush far away from the point B, and the linear speed of one end of the rotating rolling brush close to the point B is gradually increased to the linear speed of one end of the rotating rolling brush far away from the point B, so that the linear speed of the central position of the rotating rolling brush is taken as the linear speed of the whole rotating rolling brush. So that the linear velocity V of the rotating roller brush 21Comprises the following steps:
V1＝-wbz*d+vbx*cos(α)+vby*sin(α)；
wherein d is the projection distance of the point B from the center of the rotary rolling brush 2 on the horizontal plane, and wbzIs the angular speed of rotation of the robot, and alpha is the linear speed V of the rotary rolling brush 21Is angled with respect to the X-axis of the world coordinate system S.
And finally, according to the formula:
and obtaining the rotating speed u of the rotating rolling brush, wherein r is the radius of the rotating rolling brush 2, and pi is the circumferential ratio.
Each rotating rolling brush 2 on the sweeping robot is calculated through the calculation process, and the central control unit controls each rotating rolling brush 2 to rotate correspondingly according to the calculated rotating speed u of each rotating rolling brush 2 so as to adjust the rotating speed of each rotating rolling brush, so that the sweeping robot can walk in all directions.
The working principle of the embodiment is as follows:
the rotational speed of each rotation round brush is adjusted through this embodiment, can realize sweeping the floor the robot and carry out the walking of qxcomm technology, simultaneously because rotate the round brush and also act as the walking wheel, consequently sweep the floor the robot and can clean the route of walking when the walking, very convenient.
The foregoing is illustrative of the various embodiments provided in connection with the detailed description and the specific implementations of the application are not intended to be limited to the illustrations. Similar or identical methods, structures, etc. as used herein, or several technical deductions or substitutions made on the premise of the idea of the present application, should be considered as the protection scope of the present application.
Claims (7)
1. Robot of brush roller formula qxcomm technology walking, its characterized in that, including chassis (1), be equipped with on chassis (1) and act as at least three rotation round brush (2) of walking wheel concurrently, rotation round brush (2) rotate around its axis, be equipped with some B on chassis (1), at least three rotation round brush (2) wind point B circumference evenly distributed, and the projection of the axis of each rotation round brush (2) on chassis (1) passes point B.
2. A roller-brush omnidirectional walking robot according to claim 1, wherein the chassis (1) is provided with a driving motor opposite to each of the rotating rollers (2) for driving the rotating rollers (2) to rotate.
3. A roller-brush omnidirectional walking robot according to claim 1, wherein a mop is provided on an outer circumferential side of the rotating roller brush (2).
4. A roller-brush omnidirectional walking robot according to claim 1, characterized in that said point B is located at the geometric center of said chassis (1).
5. A roller-brush omnidirectional walking robot according to claim 1, characterized in that three rotary rolling brushes (2) or four rotary rolling brushes (2) are provided on the chassis (1).
6. A rolling brush type omni-directional traveling robot traveling control method according to any one of claims 1 to 5, comprising the steps of:
s1, calculating and obtaining the robot motion parameters in the moving process according to the moving path, wherein the robot motion parameters comprise the rotation angular speed w of the robotbzThe size and direction of the robot moving speed V;
s2, the central control unit receives the robot motion parameters and rotates the angular speed w according to the robotbzIs calculated according to the size and the direction of the robot and the size and the direction of the moving speed V of the robotThe rotating speed u of each rotating rolling brush (2);
and S3, controlling the rotating rolling brushes (2) to rotate correspondingly according to the calculated rotating speed u of the rotating rolling brushes (2).
7. The method for controlling the omnidirectional movement of a robot with a roller brush according to claim 6, wherein in step S2, the central control unit establishes a world coordinate system { S } of the environment where the robot is located and a machine coordinate system { E } of the robot which is fixed relative to the robot with a point B on the chassis (1) as an origin, and the yaw angle between the machine coordinate system { E } and the world coordinate system { S } is θ, and when calculating the single rotating roller brush (2), the linear velocity V of the rotating roller brush (2) is calculated1Has an angle phi with the X-axis of the machine coordinate system { E }, the linear velocity V of the rotating roller brush (2)1The included angle alpha between the direction of the robot moving speed V and the X axis of the world coordinate system { S } is theta + psi, the included angle beta between the direction of the robot moving speed V and the X axis of the world coordinate system { S }, and the speed V of the robot moving speed V on the X axis of the world coordinate system { S }, whereinbxComprises the following steps:
vbx＝Ｖ*cos(β)；
the speed V of the moving speed V of the robot on the y axis of a world coordinate system { S }byComprises the following steps:
vby＝Ｖ*sin(β)；
the linear velocity V of the rotary rolling brush (2)1Comprises the following steps:
V1＝-wbz*d+vbx*cos(α)+vby*sin(α)；
wherein d is the projection distance of the center of the rotary rolling brush (2) to the point B on the horizontal plane, and wbzIs the angular speed of rotation of the robot, and alpha is the linear speed V of the rotary rolling brush1The angle between the direction of (a) and the X axis of the world coordinate system { S };
by the formula:
and obtaining the rotating speed u of the rotating rolling brush (2), wherein r is the radius of the rotating rolling brush (2), and pi is the circumferential ratio.
Priority Applications (2)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202110320471.0A CN113075929A (en) | 2021-03-25 | 2021-03-25 | Rolling brush type omnidirectional walking robot and walking control method thereof |
| PCT/CN2021/084072 WO2022198695A1 (en) | 2021-03-25 | 2021-03-30 | Rolling brush type omnidirectional walking robot and walking control method therefor |
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| Application Number | Priority Date | Filing Date | Title |
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| CN202110320471.0A CN113075929A (en) | 2021-03-25 | 2021-03-25 | Rolling brush type omnidirectional walking robot and walking control method thereof |
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| CN113075929A true CN113075929A (en) | 2021-07-06 |
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| CN202110320471.0A Pending CN113075929A (en) | 2021-03-25 | 2021-03-25 | Rolling brush type omnidirectional walking robot and walking control method thereof |
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| WO (1) | WO2022198695A1 (en) |
Cited By (2)
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| CN114403755A (en) * | 2022-03-01 | 2022-04-29 | 深圳市倍思科技有限公司 | Cleaning robot motion control method and device, cleaning robot and storage medium |
| CN114468860A (en) * | 2022-03-01 | 2022-05-13 | 深圳市倍思科技有限公司 | Cleaning robot control method, cleaning robot control device, cleaning robot and storage medium |
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| WO2022198695A1 (en) | 2022-09-29 |
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Application publication date: 20210706 |