CN106312997A - Laser radar type outdoor autonomously mobile robot provided with automatic stabilization device - Google Patents
Laser radar type outdoor autonomously mobile robot provided with automatic stabilization device Download PDFInfo
- Publication number
- CN106312997A CN106312997A CN201610955906.8A CN201610955906A CN106312997A CN 106312997 A CN106312997 A CN 106312997A CN 201610955906 A CN201610955906 A CN 201610955906A CN 106312997 A CN106312997 A CN 106312997A
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- mechanical arm
- joint
- mobile robot
- robot
- laser radar
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Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J5/00—Manipulators mounted on wheels or on carriages
- B25J5/005—Manipulators mounted on wheels or on carriages mounted on endless tracks or belts
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1656—Programme controls characterised by programming, planning systems for manipulators
- B25J9/1664—Programme controls characterised by programming, planning systems for manipulators characterised by motion, path, trajectory planning
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- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Manipulator (AREA)
- Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
Abstract
The invention discloses a laser radar type outdoor autonomously mobile robot provided with an automatic stabilization device. The laser radar type outdoor autonomously mobile robot is characterized by comprising a crawler type mobile robot chassis without a damping device, a four-DOF (degree of freedom) mechanical arm arranged on the chassis as well as an inertial measurement unit and laser radar which are fixed at the tail end of the four-DOF mechanical arm. The outdoor autonomous mobile robot adopting the structure can keep the posture of the laser radar stable when the posture of the robot changes, so that real-time positioning and map establishing are performed when the robot moves outdoors, and autonomous movement of the robot in an outdoor environment is realized.
Description
Technical field
The present invention relates to outdoor autonomous mobile robot technology, a kind of laser thunder with band built-in stabilizers
The outdoor autonomous mobile robot reached.
Background technology
Real-time positioning and map structuring are the keys that mobile robot realizes autonomous, and existing technology solves substantially
Robot is at indoor smooth ground real-time positioning and map structuring, and owing to flooring is smooth, laser radar is carrying out reality
Disturbing little when Shi Dingwei and map structuring, map structuring success rate is high, it is achieved that mobile robot is at indoor autonomous operation.
But in an outdoor environment, owing to ground environment is complicated, mobile robot can produce bigger top when outdoor operation
Winnow with a dustpan and shake, when using laser radar to carry out real-time positioning with map structuring, meeting during laser radar attitude generation large change
Causing map structuring failure, robot cannot be carried out autonomous.Make existing outdoor autonomous mobile robot can only run in nothing
Winnow with a dustpan and carry out real-time positioning and map structuring under environment, and map structuring can not be carried out under complicated terrain environment.
Summary of the invention
In order to solve existing mobile robot low success rate of problem of map structuring under vibrations and the environment that jolts, this
The bright outdoor autonomous mobile robot proposing a kind of laser radar with band built-in stabilizers, can be in robot pose
The attitude making laser radar when changing keeps stable.So that robot carry out when outdoor operation real-time positioning with
Map structuring, it is achieved robot autonomous in an outdoor environment.
The technical scheme realizing the object of the invention is:
The outdoor autonomous mobile robot of a kind of laser radar with band built-in stabilizers, including the crawler belt without damping device
Formula moves robot chassis, be arranged on this chassis four-degree-of-freedom mechanical arm and be fixed on the used of four-degree-of-freedom mechanical arm tail end
Property measuring unit and laser radar.
The described caterpillar mobile robot chassis without damping device includes mobile machine human organism and is arranged on this body
On robot chassis controller, radio-frequency antenna and track unit, be provided with in body driving motor, motor driver and lithium electricity
Pond, is connected with track unit, controls crawler belt proper motion.
Described four-degree-of-freedom mechanical arm includes mechanical arm base, mechanical arm the first joint, mechanical arm first connecting rod, mechanical arm
Second joint, mechanical arm second connecting rod, mechanical arm the 3rd joint, mechanical arm third connecting rod, mechanical arm the 4th joint and mechanical arm
End support, mechanical arm base one end is fixedly installed on mobile machine human organism, and the other end is connected with mechanical arm the first joint；
Mechanical arm the first joint is connected with mechanical arm second joint by mechanical arm first connecting rod；
Mechanical arm second joint is connected with mechanical arm the 3rd joint by mechanical arm second connecting rod；
Mechanical arm the 3rd joint is connected with mechanical arm the 4th joint by mechanical arm third connecting rod；
Mechanical arm the 4th joint is connected with mechanical arm tail end support.
Described Inertial Measurement Unit and laser radar are separately positioned on mechanical arm tail end support upper and lower end, and respectively with machine
Device people's chassis controller connects, and controls Inertial Measurement Unit robot measurement body attitude by robot chassis controller.
Present invention have the advantage that
1. laser radar can be used to complete real-time positioning and the ground of autonomous mobile robot under outdoor uneven road environment
Figure builds；
2. operate steadily: obtain attitude information by the Inertial Measurement Unit of robot self He mechanical arm tail end, control machinery
Arm keeps laser radar attitude stabilization；
3. strong adaptability: general outdoor mobile robot platform can be only done the real-time positioning under flat road surface and map structuring,
The present invention is so that robot completes map structuring under complex road surface environment.
Accompanying drawing explanation
Fig. 1 is the structural representation of the embodiment of the present invention；
Fig. 2 is the embodiment of the present invention: outdoor autonomous mobile robot is in flat road surface view；
Fig. 3 is the embodiment of the present invention: outdoor autonomous mobile robot is in pitching view；
Fig. 4 is the embodiment of the present invention: outdoor autonomous mobile robot is in lateral direction jounce view.
Detailed description of the invention
As described in Figure 1, the present invention has the outdoor autonomous mobile robot of the laser radar of band built-in stabilizers, by nothing
The caterpillar mobile robot chassis of damping device, four-degree-of-freedom mechanical arm, it is fixed on the Inertial Measurement Unit of mechanical arm tail end
Form with laser radar.Wherein:
Without the caterpillar mobile robot chassis of damping device by robot chassis controller 12, radio-frequency antenna 13, mobile machine
Human organism 14, right side track unit 15, and left track unit 16 forms.Wherein robot chassis controller 12 comprises robot
Controller and the Inertial Measurement Unit of robot measurement body attitude；Mobile machine human organism 14 includes typically moving robot
Parts, comprise structural metal parts, drive motor, motor driver, lithium battery etc., crawler belt proper motion can be made.Right side
Track unit 15 and left track unit 16 include a slat gum crawler belt respectively, a crawler driving whell, and a directive wheel is some
Support the Conventional rubber tracks unit such as wheel and connection member.
Four-degree-of-freedom mechanical arm structure includes that mechanical arm first is even by mechanical arm base 11, mechanical arm the first joint 10
Bar 1, mechanical arm second joint 2, mechanical arm second connecting rod 3, mechanical arm the 3rd joint 4, mechanical arm third connecting rod 5, mechanical arm
Four joints 6, mechanical arm tail end support 8.Four-degree-of-freedom mechanical arm is fixed in mobile robot chassis by mechanical arm base 11
Mobile machine human organism 14 on.Mechanical arm base 11 other end is connected with mechanical arm the first joint；
Mechanical arm the first joint 10 is connected with mechanical arm second joint 2 by mechanical arm first connecting rod 1；
Mechanical arm second joint 2 is connected with mechanical arm the 3rd joint 4 by mechanical arm second connecting rod 3；
Mechanical arm the 3rd joint 4 is connected with mechanical arm the 4th joint 6 by mechanical arm third connecting rod 5；
Mechanical arm the 4th joint 6 is connected with mechanical arm tail end support 8.
The Inertial Measurement Unit being fixed on mechanical arm tail end is that Inertial Measurement Unit 7 is arranged in four-degree-of-freedom mechanical arm
On mechanical arm tail end support 8.
Below the mechanical arm tail end support 8 that laser radar 9 is arranged in four-degree-of-freedom mechanical arm.
When robot is before runtime firstly the need of the attitude of initialization robot, robot is positioned over level ground,
The initial position of mechanical arm is arranged on Relative vertical direction, mechanical arm the first joint 10 rotation when robot chassis is in level
Gyration A so that mechanical arm first connecting rod 1 and the angled A of vertical direction；Mechanical arm second joint 2 is relative to mechanical arm first
Connecting rod 1 direction anglec of rotation B, mechanical arm second connecting rod 3 and the mechanical arm first connecting rod 1 angled B of direction；Mechanical arm
3rd joint 4 is relative to mechanical arm second connecting rod 3 direction anglec of rotation C so that mechanical arm third connecting rod 5 and mechanical arm the
The two connecting rod 3 angled C of direction；Mechanical arm the 4th joint 6 is relative to mechanical arm third connecting rod 5 anglec of rotation D, original state
D is 0；Now obtaining mechanical arm tail end support 8 relative to the fore-and-aft distance of mobile robot chassis center of rotation is h, with ground
Distance is d, as shown in Figure 2.
Due to outdoor ground circumstance complication, robot can run into during advancing and jolt, if barrier makes machine
When people occurs fore-and-aft tilt, as shown in Figure 3.Robot needs to cross longitudinal barrier O during advancing, and causes at the bottom of robot
Dish is Q relative to the longitudinal inclination on ground.It is arranged in 12 robot chassis controllers on mobile robot chassis
Inertial Measurement Unit and the Inertial Measurement Unit being fixed on mechanical arm tail end are that Inertial Measurement Unit 7 can detect robot respectively
In chassis and four-degree-of-freedom mechanical arm, the attitudes vibration of mechanical arm tail end support 8, is calculated control instruction by correcting algorithm,
Robot chassis controller 12 controls to adjust the anglec of rotation in each joint in mechanical arm so that the appearance of mechanical arm tail end support 8
State keeps stable, so that laser radar 9 is relative to original ground distance d and the longitudinal direction of mobile robot chassis center of rotation
Distance h keeps constant.
As shown in Figure 4, if barrier makes robot generation lateral inclination, robot is carried out side during advancing
Band needs to cross longitudinal barrier O1 and opposite side crawler belt need not throwing over barrier, causes robot chassis relative to ground
Lateral inclination angle is Q1.The Inertial Measurement Unit being arranged in 12 robot chassis controllers on mobile robot chassis and
The Inertial Measurement Unit being fixed on mechanical arm tail end is that Inertial Measurement Unit 7 can detect robot chassis and four-degree-of-freedom respectively
The attitudes vibration of mechanical arm tail end support 8 in mechanical arm, is calculated control instruction, robot chassis control by correcting algorithm
Device 12 controls to adjust the anglec of rotation in each joint in mechanical arm so that the attitude of mechanical arm tail end support 8 keeps stable, thus
Laser radar 9 is made to keep constant relative to the fore-and-aft distance h of original ground distance d and mobile robot chassis center of rotation.
The earth bulging that robot runs into when outdoor operation is usually compound irregular slalom thing, the robot caused
Chassis tilts to be split as fore-and-aft tilt and lateral inclination, and being combined by above two example, robot is in outdoor fortune
Ensure that during row that laser radar 9 is protected relative to the fore-and-aft distance h of original ground distance d and mobile robot chassis center of rotation
Hold constant.So that robot can be stable real-time positioning and map structuring.
Claims (4)
1. there is an outdoor autonomous mobile robot for the laser radar of band built-in stabilizers, it is characterized in that: include without subtracting
Shake the caterpillar mobile robot chassis of device, the four-degree-of-freedom mechanical arm being arranged on this chassis and be fixed on four-degree-of-freedom machine
The Inertial Measurement Unit of mechanical arm end and laser radar.
Outdoor autonomous mobile robot the most according to claim 1, is characterized in that: the described crawler type without damping device is moved
Mobile robot chassis includes mobile machine human organism and the robot chassis controller, radio-frequency antenna and the shoe that are arranged on this body
Tape cell, is provided with driving motor, motor driver and lithium battery, is connected with track unit, control crawler belt proper motion in body.
Outdoor autonomous mobile robot the most according to claim 1, is characterized in that: described four-degree-of-freedom mechanical arm includes machine
Mechanical arm base, mechanical arm the first joint, mechanical arm first connecting rod, mechanical arm second joint, mechanical arm second connecting rod, mechanical arm
Three joints, mechanical arm third connecting rod, mechanical arm the 4th joint and mechanical arm tail end support, mechanical arm base one end is fixedly installed on
On mobile machine human organism, the other end is connected with mechanical arm the first joint；
Mechanical arm the first joint is connected with mechanical arm second joint by mechanical arm first connecting rod；
Mechanical arm second joint is connected with mechanical arm the 3rd joint by mechanical arm second connecting rod；
Mechanical arm the 3rd joint is connected with mechanical arm the 4th joint by mechanical arm third connecting rod；
Mechanical arm the 4th joint is connected with mechanical arm tail end support.
Outdoor autonomous mobile robot the most according to claim 1, is characterized in that: described Inertial Measurement Unit and laser thunder
Reach and be separately positioned on mechanical arm tail end support upper and lower end, and be connected, by robot chassis with robot chassis controller respectively
Controller controls Inertial Measurement Unit robot measurement body attitude.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610955906.8A CN106312997A (en) | 2016-10-27 | 2016-10-27 | Laser radar type outdoor autonomously mobile robot provided with automatic stabilization device |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610955906.8A CN106312997A (en) | 2016-10-27 | 2016-10-27 | Laser radar type outdoor autonomously mobile robot provided with automatic stabilization device |
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| CN201610955906.8A Pending CN106312997A (en) | 2016-10-27 | 2016-10-27 | Laser radar type outdoor autonomously mobile robot provided with automatic stabilization device |
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Cited By (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108356829A (en) * | 2017-12-14 | 2018-08-03 | 河北汇金机电股份有限公司 | Double-wheel self-balancing guided robot |
| CN108381563A (en) * | 2018-04-23 | 2018-08-10 | 姚佳锋 | A kind of intelligent security guard and explosive-removal robot |
| CN109955215A (en) * | 2017-12-14 | 2019-07-02 | 河北汇金机电股份有限公司 | Double-wheel self-balancing robot laser radar self-adapting adjusting apparatus and method of adjustment |
| CN110562901A (en) * | 2018-06-05 | 2019-12-13 | 克朗斯公司 | Device for transporting containers |
| CN111369625A (en) * | 2020-03-02 | 2020-07-03 | 广东利元亨智能装备股份有限公司 | Positioning method, positioning device and storage medium |
| CN112415535A (en) * | 2020-10-22 | 2021-02-26 | 武汉万集信息技术有限公司 | Navigation system and navigation method |
| WO2021185239A1 (en) * | 2020-03-19 | 2021-09-23 | 清华大学 | Back-scatter scanning system |
| CN115091429A (en) * | 2022-08-25 | 2022-09-23 | 中冶节能环保有限责任公司 | Overhauling robot of bag type dust collector and control method thereof |
| US11879958B2 (en) * | 2018-06-06 | 2024-01-23 | Honeywell International Inc. | System and method for using an industrial manipulator for atmospheric characterization lidar optics positioning |
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Cited By (12)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108356829A (en) * | 2017-12-14 | 2018-08-03 | 河北汇金机电股份有限公司 | Double-wheel self-balancing guided robot |
| CN109955215A (en) * | 2017-12-14 | 2019-07-02 | 河北汇金机电股份有限公司 | Double-wheel self-balancing robot laser radar self-adapting adjusting apparatus and method of adjustment |
| CN109955215B (en) * | 2017-12-14 | 2021-04-20 | 河北汇金集团股份有限公司 | Laser radar self-adaptive adjusting device and method for two-wheeled self-balancing robot |
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| CN108381563A (en) * | 2018-04-23 | 2018-08-10 | 姚佳锋 | A kind of intelligent security guard and explosive-removal robot |
| CN110562901A (en) * | 2018-06-05 | 2019-12-13 | 克朗斯公司 | Device for transporting containers |
| US11879958B2 (en) * | 2018-06-06 | 2024-01-23 | Honeywell International Inc. | System and method for using an industrial manipulator for atmospheric characterization lidar optics positioning |
| CN111369625A (en) * | 2020-03-02 | 2020-07-03 | 广东利元亨智能装备股份有限公司 | Positioning method, positioning device and storage medium |
| WO2021185239A1 (en) * | 2020-03-19 | 2021-09-23 | 清华大学 | Back-scatter scanning system |
| CN112415535A (en) * | 2020-10-22 | 2021-02-26 | 武汉万集信息技术有限公司 | Navigation system and navigation method |
| CN112415535B (en) * | 2020-10-22 | 2024-05-28 | 武汉万集信息技术有限公司 | Navigation system and navigation method |
| CN115091429A (en) * | 2022-08-25 | 2022-09-23 | 中冶节能环保有限责任公司 | Overhauling robot of bag type dust collector and control method thereof |
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Application publication date: 20170111 |