CN103777629A - Self-guide carrying platform and navigation control method for carrying platform - Google Patents
Self-guide carrying platform and navigation control method for carrying platform Download PDFInfo
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- CN103777629A CN103777629A CN201310401457.9A CN201310401457A CN103777629A CN 103777629 A CN103777629 A CN 103777629A CN 201310401457 A CN201310401457 A CN 201310401457A CN 103777629 A CN103777629 A CN 103777629A
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Abstract
The invention provides a self-guide carrying platform, comprising a position information acquisition device, a controller, a motor driver, a motor, rollers which are sequentially connected and a battery which provides power for the information acquisition device, the controller, the motor driver and the motor. The carrying platform senses the surrounding environment through the position information acquisition device accurately, and the running path of the platform is controlled through the controller. The invention further provides a navigation control method for the carrying platform, thereby being capable of selecting an optimal path for the carrying platform so as to guide the carrying platform to reach the target point successfully.
Description
Technical field
The present invention relates to robot field, be specifically related to a kind of from guiding carrying platform and this carrying platform navigation control method.
Background technology
Current Robotics has been goed deep into industrial automation, and various robots have played increasing effect in commercial production.As one of gordian technique of mobile robot, navigate to keep away barrier and execute the task to environment sensing and by information around becomes the emphasis that autonomous mobile robot platform is studied.Current robot cannot accomplish well environment around of accurate perception, on the basis of keeping away barrier, plan walking path.
Summary of the invention
The object of the invention is to solve the problem that prior art exists, provide a kind of from guiding carrying platform, by station acquisition device perception surrounding environment exactly, adjust the operating path of platform by the control of controller.The present invention also provides a kind of carrying platform navigation control method, can select optimal path for carrying platform and guide it to arrive smoothly impact point.
In order to reach above-mentioned technical purpose, the present invention by the following technical solutions:
The invention provides a kind ofly from guiding carrying platform, comprise the position information acquisition device, controller, motor driver, motor and the roller that are connected successively and the battery for information collecting device, controller, motor driver and motor power supply.
As such scheme preferably, described position information acquisition device comprises laser radar, odometer and gyroscope.
As such scheme preferably, described motor is DC brushless motor.
As such scheme preferably, described roller is Mecanum omni-directional wheel.
One provided by the invention has the following advantages compared to existing technology from guiding carrying platform:
1, by station acquisition device perception surrounding environment exactly, thereby the motion of roller is adjusted in the rotation by controller control motor, finally reaches the object of selecting optimal path walking.
2, position information acquisition device comprises multiple sensors and measuring equipment, positional information is measured more accurate.
3, motor is selected DC brushless motor, makes the speed governing of pair roller and controls sensitiveer and accurate.
4, roller adopts Mecanum omni-directional wheel, has the ability of zero radius of turn, transverse translation, can free Omni-mobile in narrow space or in rugged surroundings.
The present invention also provides a kind of carrying platform navigation control method, and for controlling the above-mentioned motion from guiding carrying platform, step comprises
Build global map, carrying platform is moved within the scope of global context, position information acquisition device is along with carrying platform moves within the scope of global context, and the positional information within the scope of the global context gathering according to position information acquisition device, obtains the global map in moving range;
Carry out self-align to carrying platform, in the time that carrying platform runs to a certain fixed position, position information acquisition device gathers carrying platform in the positional information of this fixed position, thereby obtains self point at carrying platform in this fixed position place in global map;
Build operating path, planning carrying platform is from self putting the optimum walking path of impact point.
As such scheme preferably, described structure operating path comprises and builds global path and build local path,
Build global path, determine that roughly carrying platform is from self putting the roughly direction of the optimal path of impact point;
Build local path, carrying platform, in the process that moves up of the roughly side of optimal path, is determined next step best walking path of carrying platform according to the residing particular location of carrying platform.
As such scheme preferably, in described this step of structure local path, also comprise and keep away barrier, determining in next step the process of best walking path of carrying platform, add certain expansion coefficient to the environment edge on path, to expand in path environment edge thickness, dwindle carrying platform effectively move width, strikes obstacles or environment edge while avoiding carrying platform to move in path.
As such scheme preferably, in described this step of structure global map, carrying platform moves within the scope of global context, obtain global map by stack carrying platform in the positional information of each position, if carrying platform repeats through a certain position, the positional information of repetition is merged into a place calculates global map automatically.
As such scheme preferably, described carries out in self-align this step carrying platform, position information acquisition device gathers the positional information of carrying platform in a certain fixed position, when the positional information gathering is while being multiple, consider these positional informations, thereby carrying platform is made it and is arranged in the optimal estimation of global map self point.
A kind of carrying platform navigation control method provided by the invention has the following advantages compared to existing technology:
1, from build global map-carrying platform is carried out self-align-build operating path, thereby complete the path planning of carrying platform.
2, in the step of structure operating path, be divided into and build global path and local path, make the more adding system and careful of structure in path, make path planning more accurately, rationally.
3, in the step that builds local path, add and keep away barrier, make carrying platform avoiding obstacles effectively, and prevent that it from bumping against environment edge.
4, while building global map, positional information is adopted to the mode of stack, not only guarantee the integrality of global map, improved the establishment efficiency of global map simultaneously.
5, carrying platform is carried out when self-align, the multiple positional informations that gather are considered, make carrying platform obtain the optimal estimation of self point, planning optimal path is carried out to place mat, reduce the error in path planning.
Accompanying drawing explanation
In order to be illustrated more clearly in the embodiment of the present invention or technical scheme of the prior art, to the accompanying drawing of required use in embodiment or description of the Prior Art be briefly described below, apparently, accompanying drawing in the following describes is only some embodiments of the present invention, for those of ordinary skills, do not paying under the prerequisite of creative work, can also obtain according to these accompanying drawings other accompanying drawing.
Fig. 1 is the structured flowchart of the embodiment from guiding carrying platform provided by the invention.
Embodiment
Below in conjunction with accompanying drawing of the present invention, technical scheme of the present invention is clearly and completely described, obviously, described embodiment is only the present invention's part embodiment, rather than whole embodiment.Based on the embodiment in the present invention, those of ordinary skills, not making the every other embodiment obtaining under creative work prerequisite, belong to the scope of protection of the invention.
As shown in Figure 1, the invention provides a kind ofly from guiding carrying platform, comprise the position information acquisition device, controller, motor driver, DC brushless motor and the Mecanum omni-directional wheel that are connected successively and the battery for information collecting device, controller, motor driver and DC brushless motor power supply; Described position information acquisition device comprises laser radar, odometer and gyroscope.
One provided by the invention is from guiding carrying platform, and by station acquisition device perception surrounding environment exactly, thereby the motion of roller is adjusted in the rotation by controller control motor, finally reaches the object of selecting optimal path walking; Position information acquisition device comprises multiple sensors and measuring equipment, positional information is measured more accurate; Motor is selected DC brushless motor, makes the speed governing of pair roller and controls sensitiveer and accurate; Roller adopts Mecanum omni-directional wheel, has the ability of zero radius of turn, transverse translation, can free Omni-mobile in narrow space or in rugged surroundings.
The invention provides a kind of principle of work from guiding carrying platform is, in the time that platform runs to a certain position, the present residing position of laser radar acquisition platform and the around relative distance information of object, the range information that odometer acquisition platform is passed by, the angle information that gyroscope acquisition platform is current, laser radar, odometer and gyroscope are sent to the positional information collecting in controller, controller is made indication according to positional information to next step motion of platform, the rotating speed of motor driver control DC brushless motor is instructed in this indication, thereby control turning to and speed of Mecanum omni-directional wheel, battery is laser radar, odometer, gyroscope, controller, motor driver and DC brushless motor power supply, guarantee the normal power supply demand of whole platform.
The present invention also provides a kind of carrying platform navigation control method, for controlling the above-mentioned motion from guiding carrying platform, step comprises: build global map, carrying platform is moved within the scope of global context, position information acquisition device is along with carrying platform moves within the scope of global context, positional information within the scope of the global context gathering according to position information acquisition device, obtain global map by stack carrying platform in the positional information of each position, if carrying platform repeats through a certain position, automatically the positional information of repetition is merged into a place, thereby the global map in acquisition moving range, carry out self-align to carrying platform, in the time that carrying platform runs to a certain fixed position, position information acquisition device gathers the positional information of carrying platform in this fixed position, when the positional information gathering is while being multiple, consider these positional informations, thereby obtain the optimal estimation of self putting at the carrying platform place in global map in this fixed position, build operating path, planning carrying platform is from self putting the optimum walking path of impact point.
A kind of carrying platform navigation control method provided by the invention, from build global map-carrying platform is carried out self-align-build operating path, thereby complete the path planning of carrying platform.While building global map, positional information is adopted to the mode of stack, not only guarantee the integrality of global map, improved the establishment efficiency of global map simultaneously; Carrying platform is carried out when self-align, the multiple positional informations that gather are considered, make carrying platform obtain the optimal estimation of self point, planning optimal path is carried out to place mat, reduce the error in path planning.
Preferably, described structure operating path comprises structure global path and builds local path, builds global path, determines that roughly carrying platform is from self putting the roughly direction of the optimal path of impact point; Build local path, carrying platform is in the process that roughly side moves up of optimal path, determine next step best walking path of carrying platform according to the residing particular location of carrying platform, determining in next step the process of best walking path of carrying platform, also comprise and keep away barrier, add certain expansion coefficient to the environment edge on path, to expand in path environment edge thickness, dwindle carrying platform effectively move width, strikes obstacles or environment edge while avoiding carrying platform to move in path.
A kind of carrying platform navigation control method provided by the invention, is divided into and builds global path and local path in the step of structure operating path, makes the more adding system and careful of structure in path, makes path planning more accurately, rationally.In the step that builds local path, add and keep away barrier, make carrying platform avoiding obstacles effectively, and prevent that it from bumping against environment edge.
A kind of carrying platform navigation control method provided by the invention, can be completed by the controller certainly leading in carrying platform, receive the positional information from position information acquisition device by controller, make Navigation Control according to this positional information, cook up optimal path, thereby the rotating speed of control motor driver drive motor is adjusted direction of motion and the speed of roller.
The above; be only the specific embodiment of the present invention, but protection scope of the present invention is not limited to this, any be familiar with those skilled in the art the present invention disclose technical scope in; can expect easily changing or replacing, within all should being encompassed in protection scope of the present invention.Therefore, protection scope of the present invention should be as the criterion with the protection domain of described claim.
Claims (9)
1. from a guiding carrying platform, it is characterized in that, comprise the position information acquisition device, controller, motor driver, motor and the roller that are connected successively and the battery for information collecting device, controller, motor driver and motor power supply.
2. the carrying platform of guiding certainly according to claim 1, is characterized in that, described position information acquisition device comprises laser radar, odometer and gyroscope.
3. the carrying platform of guiding certainly according to claim 1, is characterized in that, described motor is DC brushless motor.
4. the carrying platform of guiding certainly according to claim 1, is characterized in that, described roller is Mecanum omni-directional wheel.
5. a carrying platform navigation control method, is characterized in that, for controlling the arbitrary motion from guiding carrying platform of claim 1-4, step comprises
Build global map, carrying platform is moved within the scope of global context, position information acquisition device is along with carrying platform moves within the scope of global context, and the positional information within the scope of the global context gathering according to position information acquisition device, obtains the global map in moving range;
Carry out self-align to carrying platform, in the time that carrying platform runs to a certain fixed position, position information acquisition device gathers carrying platform in the positional information of this fixed position, thereby obtains self point at carrying platform in this fixed position place in global map;
Build operating path, planning carrying platform is from self putting the optimum walking path of impact point.
6. carrying platform navigation control method according to claim 5, is characterized in that, described structure operating path comprises structure global path and structure local path,
Build global path, determine that roughly carrying platform is from self putting the roughly direction of the optimal path of impact point; Build local path, carrying platform, in the process that moves up of the roughly side of optimal path, is determined next step best walking path of carrying platform according to the residing particular location of carrying platform.
7. carrying platform navigation control method according to claim 6, it is characterized in that, in described this step of structure local path, also comprise and keep away barrier, determining in next step the process of best walking path of carrying platform, add certain expansion coefficient to the environment edge on path, to expand in path environment edge thickness, dwindle carrying platform effectively move width, strikes obstacles or environment edge while avoiding carrying platform to move in path.
8. carrying platform navigation control method according to claim 7, it is characterized in that, in described this step of structure global map, carrying platform moves within the scope of global context, obtain global map by stack carrying platform in the positional information of each position, if carrying platform repeats through a certain position, the positional information of repetition is merged into a place calculates global map automatically.
9. carrying platform navigation control method according to claim 1, it is characterized in that, described carries out in self-align this step carrying platform, position information acquisition device gathers the positional information of carrying platform in a certain fixed position, when the positional information gathering is while being multiple, consider these positional informations, thereby carrying platform is made it and is arranged in the optimal estimation of global map self point.
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| CN104535061A (en) * | 2015-01-06 | 2015-04-22 | 常州先进制造技术研究所 | Navigation system based on multi-sensor data fusion |
| CN104679004A (en) * | 2015-02-09 | 2015-06-03 | 上海交通大学 | Flexible path and fixed path combined automated guided vehicle and guide method thereof |
| CN104777835A (en) * | 2015-03-11 | 2015-07-15 | 武汉汉迪机器人科技有限公司 | Omni-directional automatic forklift and 3D stereoscopic vision navigating and positioning method |
| CN105259897A (en) * | 2014-06-26 | 2016-01-20 | 联想(北京)有限公司 | Control method and electronic equipment |
| CN105607635A (en) * | 2016-01-05 | 2016-05-25 | 东莞市松迪智能机器人科技有限公司 | Panoramic optic visual navigation control system of automatic guided vehicle and omnidirectional automatic guided vehicle |
| CN106325275A (en) * | 2016-09-14 | 2017-01-11 | 广州今甲智能科技有限公司 | Robot navigation system, robot navigation method and robot navigation device |
| CN106406320A (en) * | 2016-11-29 | 2017-02-15 | 重庆重智机器人研究院有限公司 | Robot path planning method and robot planning route |
| CN104360685B (en) * | 2014-10-31 | 2017-02-22 | 北京特种机械研究所 | Omni-directional mobile platform autonomous navigation system based on iGPS |
| CN106681330A (en) * | 2017-01-25 | 2017-05-17 | 北京航空航天大学 | Robot navigation method and device based on multi-sensor data fusion |
| CN106708053A (en) * | 2017-01-26 | 2017-05-24 | 湖南人工智能科技有限公司 | Autonomous navigation robot and autonomous navigation method thereof |
| CN107943015A (en) * | 2016-10-12 | 2018-04-20 | 福特环球技术公司 | Autonomous individual's mobile system |
| CN108762270A (en) * | 2018-06-01 | 2018-11-06 | 上海理工大学 | The two-way rapidly-exploring random tree modified two-step method planning algorithm of changeable probability |
| CN108919801A (en) * | 2018-06-29 | 2018-11-30 | 大连大学 | A kind of Mecanum wheel omnidirectional bobbin movement direction correction control device |
| CN108994834A (en) * | 2018-08-13 | 2018-12-14 | 上海理工大学 | Unmanned fortune object system based on machine vision |
| CN110201408A (en) * | 2019-06-28 | 2019-09-06 | 汕头市益尔乐玩具有限公司 | A kind of omnidirectional's special-shaped wheel toy car |
| CN112455246A (en) * | 2020-12-09 | 2021-03-09 | 河北工业大学 | Remove CT omnidirectional movement platform |
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| WO2021063247A1 (en) * | 2019-09-30 | 2021-04-08 | 北京猎户星空科技有限公司 | Obstacle avoidance method and apparatus, electronic device and storage medium |
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| CN105259897A (en) * | 2014-06-26 | 2016-01-20 | 联想(北京)有限公司 | Control method and electronic equipment |
| CN105259897B (en) * | 2014-06-26 | 2019-02-05 | 联想(北京)有限公司 | A kind of control method and electronic equipment |
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| CN104679004A (en) * | 2015-02-09 | 2015-06-03 | 上海交通大学 | Flexible path and fixed path combined automated guided vehicle and guide method thereof |
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| CN104777835A (en) * | 2015-03-11 | 2015-07-15 | 武汉汉迪机器人科技有限公司 | Omni-directional automatic forklift and 3D stereoscopic vision navigating and positioning method |
| CN105607635B (en) * | 2016-01-05 | 2018-12-14 | 东莞市松迪智能机器人科技有限公司 | Automatic guided vehicle panoramic optical vision navigation control system and omnidirectional's automatic guided vehicle |
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| CN106325275A (en) * | 2016-09-14 | 2017-01-11 | 广州今甲智能科技有限公司 | Robot navigation system, robot navigation method and robot navigation device |
| CN106325275B (en) * | 2016-09-14 | 2019-08-20 | 广州今甲智能科技有限公司 | A kind of system of robot navigation, method and device |
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| CN106406320B (en) * | 2016-11-29 | 2019-08-20 | 重庆重智机器人研究院有限公司 | The robot of robot path planning method and programme path |
| CN106406320A (en) * | 2016-11-29 | 2017-02-15 | 重庆重智机器人研究院有限公司 | Robot path planning method and robot planning route |
| CN106681330A (en) * | 2017-01-25 | 2017-05-17 | 北京航空航天大学 | Robot navigation method and device based on multi-sensor data fusion |
| CN106708053A (en) * | 2017-01-26 | 2017-05-24 | 湖南人工智能科技有限公司 | Autonomous navigation robot and autonomous navigation method thereof |
| CN108762270A (en) * | 2018-06-01 | 2018-11-06 | 上海理工大学 | The two-way rapidly-exploring random tree modified two-step method planning algorithm of changeable probability |
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| CN108919801A (en) * | 2018-06-29 | 2018-11-30 | 大连大学 | A kind of Mecanum wheel omnidirectional bobbin movement direction correction control device |
| CN108994834A (en) * | 2018-08-13 | 2018-12-14 | 上海理工大学 | Unmanned fortune object system based on machine vision |
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