CN103323151B - Force-sensing small robot system based on current intensity detection and teleoperation method thereof - Google Patents
Force-sensing small robot system based on current intensity detection and teleoperation method thereof Download PDFInfo
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- CN103323151B CN103323151B CN201310259921.5A CN201310259921A CN103323151B CN 103323151 B CN103323151 B CN 103323151B CN 201310259921 A CN201310259921 A CN 201310259921A CN 103323151 B CN103323151 B CN 103323151B
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Abstract
The invention discloses a force-sensing small robot system based on current intensity detection and a teleoperation method of the force-sensing small robot system. The force-sensing small robot system based on the current intensity detection comprises a mobile robot body (1). The mobile robot body (1) comprises two driving wheels, two driven wheels and two drive motors (5), wherein the two drive motors (5) are connected with the two driving wheels respectively. The force-sensing small robot system based on current intensity detection further comprises a sensing operator (8) and two hall current sensors (6), wherein the two hall current sensors (6) are connected with the current input ends of drive motor (5) respectively and used for measuring the amplitude of driving current in real time, the force sensing operator (8) is wirelessly communicated with the mobile robot body (1) and used for receiving and processing current information transmitted by the mobile robot body (1), and feedback information is made to directly act on the hands of operating personnel in a vibration mode. The force sensing operator (8) feeds back the vibration intensity respectively. Due to the fact that an isolated current detection method is provided, the landform where a robot is located in the process of advancing can be effectively sensed, and the operating personnel can conveniently select a road surface.
Description
Technical field
The present invention relates to a kind of power perception small machines robot system and remote operating control method thereof, be specifically related to a kind of power perception small machines robot system based on strength of current detection and remote operating control method thereof, belong to human-computer interaction technology and the power perception teleoperation field of mobile robot.
Background technology
International terrorists attack is in recent years obvious ascendant trend, has quite a few terroristic organization to possess the ability implementing the attack of core bioterrorism, causes significant damage and baneful influence to human society.China is a nuclear industry big country and chemical industry big country, and be faced with the severe challenge of the biochemical secondary harm of nuclear risk, chemical hazard and all kinds of disaster accident core, the environment Detecting Robot researching and developing a kind of flexible operation is very important.
Minienvironment investigation teleoperation robot works under the biochemical complex environment of the core of the unknown, is inevitable choice with the method control of remote operating.But, the control that the realization that traditional teleoperation method can only be simple is advanced to robot and turned to, but perception machine People's Bank of China can not enter landform residing in process, make operating personnel effectively can not select road surface, control efficiency is low, runs into complex road surface, even causes robot not advance smoothly.
Summary of the invention
Goal of the invention: the object of the invention is to for the deficiencies in the prior art, provides a kind of perception machine People's Bank of China to enter residing landform in process, makes operating personnel effectively select the power perception small machines robot system detected based on strength of current on road surface.
Meanwhile, present invention also offers a kind of power perception small scale robot teleoperation method detected based on strength of current.
Technical scheme: the power perception small machines robot system detected based on strength of current of the present invention, comprise mobile robot's car body, described mobile robot's car body comprises two driving wheels, two supporting rollers and two drive motor be connected with described driving wheel respectively, also comprise power sense operation device and two Hall current sensors, two Hall current sensors are connected to the current input terminal of described drive motor, for measuring drive current size in real time; Described power sense operation device and described mobile robot's car body radio communication, receive the current information that described mobile robot's car body transmits and to go forward side by side row relax, with the form shaken, feedback information is directly acted on operating personnel's hand.Two driving wheels can be front or rear wheel, two supporting rollers are then trailing wheel or front-wheel.
In order to the direction making operating personnel's perception more clearly robot be obstructed, described power sense operation device arranges three and switches knob, is respectively left driving wheel stressed perception select button, right driving wheel stressed perception select button and left and right sidesing driving wheel stressed superposition perception select button.
Meanwhile, another technical scheme provided by the invention is: the power perception small scale robot teleoperation method detected based on strength of current, carries out as follows:
I, Hall current sensor measures the size of the drive current of two drive motor in left and right in real time, and described drive current is converted into voltage output, and when robot advances, voltage exports and is: U=PI-U
0, wherein, P is the scale-up factor of drive current and output voltage; I is the electric current of Hall current sensor; U
0for the voltage of robot Hall current sensor when smooth ground is suspended exports;
II, the output voltage of two Hall current sensors about power sense operation device wireless receiving, and be shockproofness by photovoltaic conversion, shockproofness is F=KU, and wherein, K is for regulating scale-up factor, and U is the voltage exported in step I;
III, direction and intensity information is directly acted on the hand of operating personnel by power sense operation device with the form of vibrations, and operating personnel judge direction and the size of the damping force be subject in robot traveling process, moves in control front, rear, left and right.
In order to the direction making operating personnel's perception more clearly robot be obstructed, adjust control strategy in time, in step III, operating personnel select the perceptual model of power sense operation device by selection key, and described perceptual model is divided into three kinds,
The first is the stressed perceptual model of left driving wheel, and the shockproofness that namely power sense operation device transmits represents that left driving wheel is subject to the situation of damping force, and shockproofness is F
l=KU
l, wherein K is for regulating scale-up factor, U
lfor the voltage of left Hall current sensor exports;
The second is the stressed perceptual model of right driving wheel, and the shockproofness that namely power sense operation device transmits represents the situation of right driving wheel by damping force, and shockproofness is F
r=KU
r, wherein K is for regulating scale-up factor, and UR is that the voltage of right Hall current sensor exports;
The third is the stressed perceptual model of left and right sidesing driving wheel, and the shockproofness that namely power sense operation device transmits represents the situation of left and right driving wheel by damping force, and shockproofness is F
j=K (U
l+ U
r), wherein K is for regulating scale-up factor, U
lfor the voltage of left Hall current sensor exports, U
rfor the voltage of right Hall current sensor exports.
The principle of technical solution of the present invention foundation is: the size of drive current and the complexity of landform have direct relation, namely landform more complex machines people advance more difficult, thus the voltage of larger, the Hall current sensing of drive current exports larger.
In technique scheme, the technical scheme moved in the front, rear, left and right that the technical scheme of the data transmission between mobile robot's car body and power sense operation device, power sense operation device sending controling instruction control mobile robot's car body is prior art, in these application documents, repeat no more.
Beneficial effect of the present invention: the power perception small machines robot system based on strength of current detection of the present invention and teleoperation method thereof, Hall current sensor is adopted to detect drive current, testing circuit and motor-drive circuit electrical isolation, avoid the destruction to former driving circuit electric attribute, also the interference of motor-drive circuit can not be introduced testing circuit; The damping force be subject in robot moving process is directly acted on the hand of operating personnel by power sense operation device of the present invention with the form of vibrations, operating personnel are made to produce the telepresenc effect of " on the spot in person " to landform residing for robot, thus improving remote operating control efficiency, effective control advances smoothly on the ground of complexity; Power sense operation device of the present invention can with the size of the damping force be subject in the form of shockproofness feedback robot traveling process, in operation, operating personnel's spirit high concentration, the moment is needed to watch various feedback information on remote-controlled operation platform attentively, adopting the form of different shockproofnesses to react, the size of damping force can alleviate operating personnel uses eye burden, embody environment topographic features residing for robot with human body sense of touch intuitively, enable operator go to pay close attention to other even more important feedback informations with more energy; The present invention has three kinds of perceptual models, can judge that robot advances residing landform fast by switching perceptual model, timely adjustment control strategy, control is advanced towards robot by the direction that damping force is less, make robot fast and effectively by complicated landform, reducing the energy that machine people consumes for overcoming unnecessary complicated landform, improving robot work efficiency.
Accompanying drawing explanation
Fig. 1 is the structural representation of the power perception small machines robot system based on strength of current detection of the present invention;
Fig. 2 is the damping force schematic diagram of the power perception small machines robot system based on strength of current detection of the present invention;
Fig. 3 is small scale robot smooth-ride stage schematic diagram of the present invention;
Fig. 4 is the schematic diagram that small scale robot of the present invention meets with when hindering;
Fig. 5 is that small scale robot of the present invention meets with the schematic diagram hindering rear adjustment control strategy;
Fig. 6 is that small scale robot of the present invention meets with the schematic diagram hindering the whole control strategy of a laggard step;
Fig. 7 is that small scale robot of the present invention is smoothly by the schematic diagram of complicated landform.
Embodiment
Below technical solution of the present invention is described in detail, but protection scope of the present invention is not limited to described embodiment.
Embodiment:
The present embodiment provides a kind of power perception small machines robot system detected based on strength of current, and its structural representation as shown in Figure 1, comprises mobile robot's car body 1, power sense operation device 8 and two Hall current sensors 6.
Mobile robot's car body 1 comprises left driving wheel 2, right driving wheel 3, left supporting roller, right supporting roller, two drive motor 5 and two guide arms 4, both sides front and rear wheel is coated by two crawler belts respectively, front-wheel drives rear wheel, during straightaway, two side drive wheel rotation directions are consistent, and when turning to, left and right sidesing driving wheel turns on the contrary.Two drive motor 5 are electrically connected with left driving wheel 2, right driving wheel 3 respectively, and driving left driving wheel 2, right driving wheel 3 rotate.Two guide arms 4 are arranged at the front of mobile robot's car body 1 respectively.In addition, wide angle cameras is installed, for taking the picture in robot front the front portion of robot is embedded; In robot, wireless station is housed, for communication between robotic end and remote operating end with remote operating end.
Two Hall current sensors 6 are connected to the current input terminal of drive motor 5, for measuring drive current size in real time.Power sense operation device 8 and mobile robot's car body 1 radio communication, receive current information that mobile robot's car body 1 transmits and to go forward side by side row relax, with the form of shockproofness, feedback information is directly acted on operating personnel's hand.The top of power sense operation device 8 arranges remote operating parametric controller 7, remote operating parametric controller 7 arranges three and switches knob, is respectively left driving wheel stressed perception select button 10, right driving wheel stressed perception select button 11 and left and right sidesing driving wheel stressed superposition perception select button 12.Can be subject to damping force in robot traveling process, it is subject to the schematic diagram of damping force as shown in Figure 2, and the damping force that left and right wheels is subject to is respectively f
land f
r, f
land f
rto be reflected in Hall current intensity detection circuit.The left and right sidesing driving wheel of robot, by DC motor Driver, is introduced Hall current sensor at the current input terminal of motor, is measured the drive current size flowing through direct current generator.The size of drive current and the complexity of landform have direct relation, namely landform more complex machines people advance more difficult, thus the voltage of larger, the Hall current sensing of drive current exports larger.
The scale-up factor P of drive current and output voltage determines according to the design parameter of Hall current sensor (6).Regulate Proportional coefficient K according to ergonomics requirement, OK range can be adjusted to.The voltage of robot Hall current sensor (6) when smooth ground is suspended exports U
0can determine according to the design parameter of drive motor.
The teleoperation method of the power perception small machines robot system based on strength of current detection of the present embodiment, carry out as follows:
I, Hall current sensor 6 measures the size of the drive current of two drive motor 5 in left and right in real time, and described drive current is converted into voltage output, and when robot advances, voltage exports and is: U=PI-U
0, wherein, P is the scale-up factor of drive current and output voltage; I is the electric current of Hall current sensor 6; U
0for the voltage of robot Hall current sensor 6 when smooth ground is suspended exports.
When robot advances, consider two Hall current sensors in left and right and drive motor: U
l=PI
l-U
0and U
r=PI
r-U
0, wherein U
land U
rhall element 6 voltage produced for the robot behavior of advancing exports, and P is the scale-up factor of drive current and output voltage, I
land I
rbe respectively the size of current flowing through left and right drive motor when robot advances, U
0the voltage of robot sensor when smooth ground is suspended exports.
II, the output voltage of two Hall current sensors 6 about power sense operation device 8 wireless receiving, and be shockproofness by photovoltaic conversion, shockproofness is F=KU, and wherein, K is for regulating scale-up factor, and U is the voltage exported in step I.
III, feedback information is directly acted on the hand of operating personnel by power sense operation device 8 with the form of shockproofness, and operating personnel judge direction and the size of the damping force be subject in robot traveling process, moves in control front, rear, left and right.
Operating personnel select the perceptual model of power sense operation device 8 by selection key, and described perceptual model is divided into three kinds:
The first is the stressed perceptual model of left driving wheel, and the shockproofness that namely power sense operation device 8 transmits represents that left driving wheel is subject to the situation of damping force, and shockproofness is F
l=KU
l, wherein K is for regulating scale-up factor, U
lfor the voltage of left Hall current sensor 6 exports.
The second is the stressed perceptual model of right driving wheel, and the shockproofness that namely power sense operation device 8 transmits represents the situation of right driving wheel by damping force, and shockproofness is F
r=KU
r, wherein K is for regulating scale-up factor, U
rfor the voltage of right Hall current sensor 6 exports.
The third is the stressed perceptual model of left and right sidesing driving wheel, and the shockproofness that namely power sense operation device 8 transmits represents the situation of left and right driving wheel by damping force, and shockproofness is F
j=K (U
l+ U
r), wherein K is for regulating scale-up factor, U
lfor the voltage of left Hall current sensor 6 exports, U
rfor the voltage of right Hall current sensor 6 exports.
Move in the front, rear, left and right of control walking mechanism by the information of operating personnel's operating physical force sense operation device 8 front, rear, left and right motion, and now U
land U
rnon-vanishing, U
land U
rpower sense operation device 8 is fed back to as feedback quantity.Feedback information is directly acted on the hand of operating personnel by power sense operation device 8 with the form of shockproofness.
The power perception small machines robot system detected based on power strength described in the present embodiment and teleoperation method thereof are applied to minienvironment Detecting Robot, minienvironment Detecting Robot traveling process is described in detail in detail below, meets with and hinder the adjustment control strategy stage and effectively by complicated landform.
First stage: smooth-ride stage
Operating personnel utilize the control lever of power perception remote operating device 8 to control minienvironment Detecting Robot and advance on the ground and turn to, as shown in Figure 3.
Press left and right sidesing driving wheel stressed superposition perception select button 12, when robot suspends on level ground, damping force f suffered by robot left and right sidesing driving wheel is zero, and the vibrations of power sense operation device feedback are zero.
When robot steadily exercises on the ground with straight line, suffered by robot left and right wheels, damping force is less, damping force f
land f
rsize is close, and the shockproofness of power perception executor feedback is less, changes power perceptual model, successively presses left driving wheel stressed perception select button 10, shockproofness that the stressed perception select button of right driving wheel 11, two kinds of modes exert oneself sense operation device is suitable.
Subordinate phase: meet with and hinder the adjustment control strategy stage
Minienvironment Detecting Robot meets with obstruction on the ground, and operating personnel utilize power perception remote operating device 8 control, adjust control strategy in time.
Operating personnel press left and right sidesing driving wheel stressed superposition perception select button 12 and select left and right sidesing driving wheel stressed superposition perceptual model control to advance, robot be hampered hinder time, as shown in Figure 4, obviously perceive manipulater shockproofness grow.Now operating personnel switch perceptual model, select the stressed perceptual model of left driving wheel and the stressed perceptual model of right driving respectively, judge to show that right wheel is subject to larger resistance.Adjust control strategy thus, as shown in Figure 5, make robot return a section to move, and then control is turned left to certain angle as shown in Figure 6, change perceptual model is the stressed superposition perceptual model of left and right sidesing driving wheel, move on, if still perceive larger resistance, above step can be repeated until robot advance is no longer obstructed.
(3) effectively by the complicated landform stage
Operating personnel utilize power perception remote operating device 8 to control minienvironment Detecting Robot effectively by complicated landform, as shown in Figure 7.
In this stage, robot effectively by hindering, after this also can meet with other similar obstructions again, and according to meeting with the step hindering the adjustment control strategy stage to implement, control is by hindering, final effectively by complicated landform.
As mentioned above, although represented with reference to specific preferred embodiment and described the present invention, it shall not be construed as the restriction to the present invention self.Under the spirit and scope of the present invention prerequisite not departing from claims definition, various change can be made in the form and details to it.
Claims (4)
1. based on the power perception small machines robot system that strength of current detects, comprise mobile apparatus human body (1), described mobile apparatus human body (1) comprises two driving wheels, two supporting rollers and two drive motor (5) be connected with described driving wheel respectively, also comprise power sense operation device (8) and two Hall current sensors (6), two Hall current sensors (6) are connected to the current input terminal of described drive motor (5), for measuring drive current size in real time; It is characterized in that: described power sense operation device (8) and described mobile apparatus human body (1) radio communication, receive current information that described mobile apparatus human body (1) transmits to go forward side by side row relax, with the form shaken, feedback information is directly acted on operating personnel's hand; Power sense operation device (8) feeds back respectively with the form of shockproofness:
Left driving wheel is by the situation of damping force, and shockproofness is F
l=KU
l, wherein K is for regulating scale-up factor, U
lfor the voltage of left Hall current sensor (6) exports;
Right driving wheel is by the situation of damping force, and shockproofness is F
r=KU
r, wherein K is for regulating scale-up factor, U
rfor the voltage of right Hall current sensor (6) exports;
The superposition of left and right driving wheel is by the situation of damping force, and shockproofness is F
j=K (U
l+ U
r), wherein K is for regulating scale-up factor, U
lfor the voltage of left Hall current sensor (6) exports, U
rfor the voltage of right Hall current sensor (6) exports; Regulate Proportional coefficient K according to ergonomics requirement, adjust to OK range.
2. the power perception small machines robot system detected based on strength of current according to claim 1, it is characterized in that, described power sense operation device (8) arranges three and switches knob, is respectively left driving wheel stressed perception select button (10), right driving wheel stressed perception select button (11) and left and right sidesing driving wheel stressed superposition perception select button (12).
3., based on the power perception small scale robot teleoperation method that strength of current detects, it is characterized in that, carry out as follows:
I, two real-time sizes measuring the drive current of two drive motor (5) in left and right of Hall current sensors (6), and described drive current is converted into voltage output, when robot advances, voltage exports and is: U=PI-U
0, wherein, P is the scale-up factor of drive current and output voltage; I is the electric current of Hall current sensor (6); U
0for the voltage of robot Hall current sensor (6) when smooth ground is suspended exports;
II, the output voltage of two Hall current sensors (6) about power sense operation device (8) wireless receiving, and be shockproofness by photovoltaic conversion, shockproofness is F=KU, wherein, K is for regulating scale-up factor, and U is the voltage exported in step I;
III, left and right driving wheel is directly acted on the hand of operating personnel by power sense operation device (8) by the situation information of damping force with the form of shockproofness, operating personnel judge the size of the damping force be subject in robot traveling process, move in control front, rear, left and right.
4. the power perception small scale robot teleoperation method detected based on strength of current according to claim 3, it is characterized in that, in step III, operating personnel select the perceptual model of power sense operation device (8) by selection key, described perceptual model is divided into three kinds
The first is the stressed perceptual model of left driving wheel, and the shockproofness that namely power sense operation device (8) transmits represents that left driving wheel is subject to the situation of damping force, and shockproofness is F
l=KU
l, wherein K is for regulating scale-up factor, U
lfor the voltage of left Hall current sensor (6) exports;
The second is the stressed perceptual model of right driving wheel, and the shockproofness that namely power sense operation device (8) transmits represents the situation of right driving wheel by damping force, and shockproofness is F
r=KU
r, wherein K is for regulating scale-up factor, U
rfor the voltage of right Hall current sensor (6) exports;
The third is the stressed superposition perceptual model of left and right sidesing driving wheel, and the shockproofness that namely power sense operation device (8) transmits represents the situation of left and right driving wheel by damping force, and shockproofness is F
j=K (U
l+ U
r), wherein K is for regulating scale-up factor, U
lfor the voltage of left Hall current sensor (6) exports, U
rfor the voltage of right Hall current sensor (6) exports.
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|---|---|---|---|
| CN201310259921.5A CN103323151B (en) | 2013-06-26 | 2013-06-26 | Force-sensing small robot system based on current intensity detection and teleoperation method thereof |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201310259921.5A CN103323151B (en) | 2013-06-26 | 2013-06-26 | Force-sensing small robot system based on current intensity detection and teleoperation method thereof |
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| CN103323151B true CN103323151B (en) | 2015-06-03 |
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| CN108015742B (en) * | 2018-01-04 | 2023-03-24 | 福州大学 | Remote interaction mechanical arm system based on 3D Hall remote sensing and implementation method |
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US5179329A (en) * | 1989-04-25 | 1993-01-12 | Shinko Electric Co., Ltd. | Travel control method, travel control device, and mobile robot for mobile robot systems |
| JP3301089B2 (en) * | 1991-09-03 | 2002-07-15 | 松下電器産業株式会社 | Mobile work robot |
| CN2822902Y (en) * | 2005-09-09 | 2006-10-04 | 东南大学 | Force sensing feedback data gloves |
| CN203310547U (en) * | 2013-06-26 | 2013-11-27 | 东南大学 | Force-perception miniature robot system based on current intensity detection |
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Application publication date: 20130925 Assignee: YIJIAHE TECHNOLOGY CO., LTD. Assignor: SOUTHEAST University Contract record no.: X2020980000277 Denomination of invention: Force-sensing small robot system based on current intensity detection and teleoperation method thereof Granted publication date: 20150603 License type: Exclusive License Record date: 20200219 |