CN106313080A - 3d (three-dimensional) visual movable composite robot - Google Patents
3d (three-dimensional) visual movable composite robot Download PDFInfo
- Publication number
- CN106313080A CN106313080A CN201611010141.7A CN201611010141A CN106313080A CN 106313080 A CN106313080 A CN 106313080A CN 201611010141 A CN201611010141 A CN 201611010141A CN 106313080 A CN106313080 A CN 106313080A
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- China
- Prior art keywords
- robot
- mobile robot
- wheels
- control module
- control
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Pending
Links
- 239000002131 composite material Substances 0.000 title claims abstract description 11
- 230000000007 visual effect Effects 0.000 title abstract 3
- 230000004888 barrier function Effects 0.000 claims abstract description 14
- 230000036544 posture Effects 0.000 abstract 1
- 230000001276 controlling effect Effects 0.000 description 4
- 230000008901 benefit Effects 0.000 description 2
- 238000001514 detection method Methods 0.000 description 2
- 238000000034 method Methods 0.000 description 2
- 238000010586 diagram Methods 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 230000007257 malfunction Effects 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 230000008569 process Effects 0.000 description 1
- APTZNLHMIGJTEW-UHFFFAOYSA-N pyraflufen-ethyl Chemical compound C1=C(Cl)C(OCC(=O)OCC)=CC(C=2C(=C(OC(F)F)N(C)N=2)Cl)=C1F APTZNLHMIGJTEW-UHFFFAOYSA-N 0.000 description 1
- 230000011514 reflex Effects 0.000 description 1
- 230000001105 regulatory effect Effects 0.000 description 1
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J11/00—Manipulators not otherwise provided for
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J13/00—Controls for manipulators
Landscapes
- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
- Motorcycle And Bicycle Frame (AREA)
Abstract
The invention provides a 3d (three-dimensional) visual movable composite robot. Four wheels of the movable robot are respectively connected to a body of the movable robot through a telescopic rod, a motor drives the four wheels to rotate, a radar detector is used for detecting barriers with a certain distances away from the front and the rear of the movable robot and acquiring distance data among the movable robot and the barriers, a gyroscope is used for acquiring inclination angles of the movable robot, a GPS (global positioning system) positioning module is used for acquiring position data of the movable robot, a control module is used for controlling the telescopic rods of the four wheels to expand and contract, a stepping motor controls the telescopic rods to expand and contract, a hand-held control terminal is used for transmitting instructions to the control module, and the control module controls the telescopic rods of the four wheels of the movable robot and the motor. The 3d visual movable composite robot can effectively control postures and directions of the robot, and dynamic stability of the robot is ensured.
Description
Technical field
The present invention relates to robotics, particularly a kind of 3d vision movable type composite machine people.
Background technology
In the master-plan of mobile-robot system, the design of control system is particularly important, is the core of mobile robot
Part, its performance directly determines the height of whole robot system intelligent level, the reality of the various functions of mobile robot
It is the most all to complete under being uniformly coordinated of control system, also determines the functional characteristics of whole robot system simultaneously and can expand
Malleability.The research of control structure, is a current study hotspot, launches mainly for behavior consciously and reflex behavior
, how both are unified mutually, at present, the structure that Behavior-based control controls is also in the theoretic discussion stage, and a lot of work need
Deeply, and for mobile robot an extremely complex task is completed, in addition it is also necessary to use more advanced, more perfect structure.
The internal circuit of Mobile Robot Control System is more complicated, the most only imput output circuit, also interface circuit,
Regulated power supply, sensor etc., and be analogue and digital circuit and deposit, hardware combines with software.This will make robot
Control system, in actual work process, is easily subject to various interference outwardly and inwardly, makes robot control system produce
Mistake or fault.Therefore must take into the integrity problem of robot control system, and take appropriate measures, improve robot
Reliability during control system work.Reliability typically refers to, under conditions of regulation, complete regulation merit within the time of regulation
The ability of energy.The height of control system quality is mainly manifested in its technical performance, reliability, adaptability and four sides of economy
Face, the most technical and reliability is most important aspect.Prior art being emphasized, its technical performance index is neglected the most especially
Depending on its reliability, and careful due to reliability design, under the effect of accidentalia or thunder bolt, make machine
People's control system cisco unity malfunction.
Summary of the invention
For solving above-mentioned technical problem, the invention provides a kind of 3d vision movable type composite machine people, it includes gyro
The hand-held control terminal of instrument, GPS locating module, control module, radar detedtor and one, described mobile robot includes a body
With four wheels, four wheels of described mobile robot are connected to the body of mobile robot respectively by an expansion link, described
Four wheels are rotated by motor control；
Described radar detedtor quantity is two, is respectively arranged on the most before putting and dead astern of described mobile robot, is used for
Detection mobile robot dead ahead and the barrier of dead astern certain distance, and obtain the range data with barrier；
Described gyroscope is for obtaining the angle of inclination of mobile robot, and described GPS locating module is used for obtaining moving machine
Device people position data, described control module is for controlling the flexible of the expansion link of described four wheels, and described each expansion link leads to
Cross step motor control to stretch；
Described hand-held control terminal is for sending instruction to described control module, and described control module controls mobile robot
The expansion links of four wheels, and to described motor control；
When described gyroscope detects that mobile robot is in non-standard state, the inclination that described gyroscope will detect
Angle sends to described control module, and described control module, by controlling the flexible of the expansion link of four wheels, makes mobile robot
It is in level；
When described radar detedtor detects barrier, control module obtains the position of described barrier, and controls described
The machine that turns to that the front side two-wheeled of mobile robot is corresponding turns to；
Described hand-held control terminal is for obtaining the position data that GPS locating module obtains, and sends control instruction to institute
State motor and complete the closedown to motor and startup.
The method have the advantages that
The 3d vision movable type composite machine people that the present invention provides can effectively attitude and direction to robot enter
Row controls, it is ensured that the dynamic stability of robot.
Certainly, the arbitrary product implementing the present invention it is not absolutely required to reach all the above advantage simultaneously.
Accompanying drawing explanation
In order to be illustrated more clearly that the technical scheme of the embodiment of the present invention, embodiment will be described required use below
Accompanying drawing is briefly described, it should be apparent that, the accompanying drawing in describing below is only some embodiments of the present invention, for ability
From the point of view of the those of ordinary skill of territory, on the premise of not paying creative work, it is also possible to obtain the attached of other according to these accompanying drawings
Figure.
3d vision movable type composite machine people's schematic diagram that Fig. 1 provides for the embodiment of the present invention.
Detailed description of the invention
Below in conjunction with the accompanying drawing in the embodiment of the present invention, the technical scheme in the embodiment of the present invention is carried out clear, complete
Describe, it is clear that described embodiment is only a part of embodiment of the present invention rather than whole embodiments wholely.Based on
Embodiment in the present invention, those of ordinary skill in the art obtained under not making creative work premise all other
Embodiment, broadly falls into the scope of protection of the invention.
As it is shown in figure 1, embodiments provide a kind of 3d vision movable type composite machine people, it include gyroscope 2,
GPS locating module 3, control module 1, radar detedtor 4 and a hand-held control terminal 5, described mobile robot includes one
Body and four wheels, four wheels of described mobile robot are connected to the body of mobile robot, institute respectively by an expansion link
State four wheels to be rotated by motor control；
Described radar detedtor quantity is two, is respectively arranged on the most before putting and dead astern of described mobile robot, is used for
Detection mobile robot dead ahead and the barrier of dead astern certain distance, and obtain the range data with barrier；
Described gyroscope 2 is for obtaining the angle of inclination of mobile robot, and described GPS locating module 3 is used for obtaining movement
Robot position data, described control module 1 is for controlling the flexible of the expansion link of described four wheels, described each expansion link
Controlled flexible by motor 6；
Described hand-held control terminal is for sending instruction to described control module, and described control module controls mobile robot
The expansion links of four wheels, and to described motor control.
In the present embodiment, when described gyroscope 2 detects that mobile robot is in non-standard state, described gyroscope 2
Sending the angle of inclination detected to described control module 1, described control module 1 is by controlling stretching of the expansion link of four wheels
Contracting, makes mobile robot be in level.
When described radar detedtor 4 detects barrier, control module obtains the position of described barrier, and controls described
The machine that turns to that the front side two-wheeled of mobile robot is corresponding turns to.
Described hand-held control terminal 5 is for obtaining the position data that GPS locating module 3 obtains, and sends control instruction extremely
Described motor completes the cut out to motor and startup.
The 3d vision movable type composite machine people that the present invention provides can effectively attitude and direction to robot enter
Row controls, it is ensured that the dynamic stability of robot.
Present invention disclosed above preferred embodiment is only intended to help to illustrate the present invention.Preferred embodiment is the most detailed
Describe all of details, be also not intended to the detailed description of the invention that this invention is only described.Obviously, according to the content of this specification,
Can make many modifications and variations.These embodiments are chosen and specifically described to this specification, is to preferably explain the present invention
Principle and actual application so that skilled artisan can be best understood by and utilize the present invention.The present invention is only
Limited by claims and four corner thereof and equivalent.
Claims (1)
1. a 3d vision movable type composite machine people, it is characterised in that include gyroscope, GPS locating module, control module,
Radar detedtor and a hand-held control terminal, described mobile robot includes a body and four wheels, described mobile machine
Four wheels of people are connected to the body of mobile robot respectively by an expansion link, and described four wheels are turned by motor control
Dynamic；
Described radar detedtor quantity is two, is respectively arranged on the most before putting and dead astern of described mobile robot, is used for detecting
Mobile robot dead ahead and the barrier of dead astern certain distance, and obtain the range data with barrier；
Described gyroscope is for obtaining the angle of inclination of mobile robot, and described GPS locating module is used for obtaining mobile robot
Position data, described control module is for controlling the flexible of the expansion link of described four wheels, and described each expansion link is by step
Enter motor and control flexible；
Described hand-held control terminal is for sending instruction to described control module, and described control module controls the four of mobile robot
The expansion link of individual wheel, and to described motor control；
When described gyroscope detects that mobile robot is in non-standard state, the angle of inclination that described gyroscope will detect
Sending to described control module, described control module, by controlling the flexible of the expansion link of four wheels, makes mobile robot be in
Level；
When described radar detedtor detects barrier, control module obtains the position of described barrier, and controls described movement
The machine that turns to that the front side two-wheeled of robot is corresponding turns to；
Described hand-held control terminal is for obtaining the position data that GPS locating module obtains, and sends control instruction to described horse
The closedown to motor and startup are reached.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201611010141.7A CN106313080A (en) | 2016-11-16 | 2016-11-16 | 3d (three-dimensional) visual movable composite robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201611010141.7A CN106313080A (en) | 2016-11-16 | 2016-11-16 | 3d (three-dimensional) visual movable composite robot |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN106313080A true CN106313080A (en) | 2017-01-11 |
Family
ID=57816158
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201611010141.7A Pending CN106313080A (en) | 2016-11-16 | 2016-11-16 | 3d (three-dimensional) visual movable composite robot |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN106313080A (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108838988A (en) * | 2018-07-27 | 2018-11-20 | 深圳市优必选科技有限公司 | A kind of robot of anti-rollover |
Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US6671582B1 (en) * | 2002-08-26 | 2003-12-30 | Brian P. Hanley | Flexible agricultural automation |
| CN204661240U (en) * | 2015-05-21 | 2015-09-23 | 广西机电职业技术学院 | Remote controlled moving books charging-erasing magnetic device |
| CN105300378A (en) * | 2015-09-17 | 2016-02-03 | 哈尔滨工程大学 | Navigation and positioning method for indoor mobile robot |
| CN105479433A (en) * | 2016-01-04 | 2016-04-13 | 江苏科技大学 | Omnidirectional moving transfer robot with Mecanum wheels |
| CN106002927A (en) * | 2016-07-14 | 2016-10-12 | 安庆里外里工业产品设计有限公司 | Building construction carrying industrial robot based on redundant four freedom degrees |
| CN106054896A (en) * | 2016-07-13 | 2016-10-26 | 武汉大学 | Intelligent navigation robot dolly system |
-
2016
- 2016-11-16 CN CN201611010141.7A patent/CN106313080A/en active Pending
Patent Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US6671582B1 (en) * | 2002-08-26 | 2003-12-30 | Brian P. Hanley | Flexible agricultural automation |
| CN204661240U (en) * | 2015-05-21 | 2015-09-23 | 广西机电职业技术学院 | Remote controlled moving books charging-erasing magnetic device |
| CN105300378A (en) * | 2015-09-17 | 2016-02-03 | 哈尔滨工程大学 | Navigation and positioning method for indoor mobile robot |
| CN105479433A (en) * | 2016-01-04 | 2016-04-13 | 江苏科技大学 | Omnidirectional moving transfer robot with Mecanum wheels |
| CN106054896A (en) * | 2016-07-13 | 2016-10-26 | 武汉大学 | Intelligent navigation robot dolly system |
| CN106002927A (en) * | 2016-07-14 | 2016-10-12 | 安庆里外里工业产品设计有限公司 | Building construction carrying industrial robot based on redundant four freedom degrees |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108838988A (en) * | 2018-07-27 | 2018-11-20 | 深圳市优必选科技有限公司 | A kind of robot of anti-rollover |
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| PB01 | Publication | ||
| PB01 | Publication | ||
| C10 | Entry into substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| TA01 | Transfer of patent application right | ||
| TA01 | Transfer of patent application right |
Effective date of registration: 20170425 Address after: 243000 Anhui, Ma'anshan to undertake industrial transfer Demonstration Park International Science and Technology Park, No. 21 Applicant after: MA'ANSHAN TIANZHENG INTELLIGENT EQUIPMENT CO., LTD. Address before: 430000 Hubei City, Wuchang Province, No. iron road, building No. 10, building 2, room 604, room 6, room 5 Applicant before: Chu Duanfeng |
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| RJ01 | Rejection of invention patent application after publication | ||
| RJ01 | Rejection of invention patent application after publication |
Application publication date: 20170111 |