CN106444754A - Wheel-type detection mobile robot control system and method - Google Patents
Wheel-type detection mobile robot control system and method Download PDFInfo
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- CN106444754A CN106444754A CN201610835692.0A CN201610835692A CN106444754A CN 106444754 A CN106444754 A CN 106444754A CN 201610835692 A CN201610835692 A CN 201610835692A CN 106444754 A CN106444754 A CN 106444754A
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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
- G05D1/0231—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means
- G05D1/0246—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means using a video camera in combination with image processing means
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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
- G05D1/0255—Control of position or course in two dimensions specially adapted to land vehicles using acoustic signals, e.g. ultra-sonic singals
Abstract
The invention provides a wheel-type detection mobile robot control system and method and relates to the field of robot control technologies and safety. The invention overcomes the problem that the conventional wheel-type detection mobile robot can be damaged when operating in a complex environment as topographic relief is large. A wireless signal input or output end of a remote control operation unit is connected with the output or input end of an external communication unit, the external communication unit is connected with a master control unit, two paths of communication signal input or output ends of the master control unit are connected with two paths of communication signal output or input ends of a sensor unit respectively, the input or output end of the master control unit is connected with the output or input end of a movement control unit, the output end of the movement control unit is connected with the input end of a drive control unit, and the input end of the movement control unit is connected with the output end of the drive control unit. The robot can be used in an operation environment where the topographic relief is large, and selects the operation mode according to change in real-time parameters of vehicle body operation collected by a vehicle-mounted sensor, so that the safety operation of a vehicle body is ensured.
Description
Technical field
The invention belongs to Control System Design technology and reliability and security technique field are and in particular to one kind is wheeled
Detect Mobile Robot Control System and control method.
Background technology
The mankind have been constantly filled with curiosity to unknown field, and exploration is the first step that the mankind open outfield gate.Ground
Numerous circumstances not knowns are had on ball, mobile sniffing robot is then important prospecting tools, because circumstances not known and detection are appointed
The complexity of business is it is desirable to sniffing robot will have higher safety and reliability.Wheel type mobile sniffing robot has preferably
What reliability of mobility, its safety in operation is all one of focus of research all the time.
Content of the invention
The present invention be in order to solve existing wheel type mobile sniffing robot run under complex environment generation rollover or
Face upward the problem turned over.A kind of wheeled detection Mobile Robot Control System and control method are now provided.
A kind of wheeled detection Mobile Robot Control System and control method, it includes car body agent structure and four drivings
Wheel and in front and back steering mechanism, described car body agent structure and four driving wheels and in front and back steering mechanism's composition wheel type mobile machine
Device people, it also includes wireless remote control operating unit, external communications units, main logic unit, photographic head, GPS module, position
Appearance sensor and ultrasonic sensor, drive control unit, front steering control unit, rear steering control unit, UMAC motion
Control unit.
Each driving wheel is driven with 1 servomotor, and each steering mechanism is driven with 1 servomotor, described main control
Unit processed, Position and attitude sensor and GPS module and UMAC motion control unit are respectively positioned on the inside of car body, described ultrasound wave
Sensor and photographic head are located at car body leading portion centre position, and steering mechanism is located at the front and rear part of car body respectively in front and back.
Between wireless remote control operating unit and external communications units, data transfer, PERCOM peripheral communication list are realized by Ethernet
Unit is connected by Ethernet with main control unit, and main logic unit is passed through RS485 bus mode and realized being connected with photographic head, main
Want control unit to cross RS232 bus mode to realize being connected with GPS module, main logic unit is crossed USB interface and passed with pose
Sensor is realized connecting, and main logic unit is connected with UMAC motion control unit by Ethernet, UMAC motor control list
The control signal outfan of unit connects the control signal input of drive control unit, the feedback letter of UMAC motion control unit
Number input connects the feedback signal output of drive control unit.
According to a kind of wheel type mobile sniffing robot control system and control method, the content that the method includes is：
Wireless remote control operating unit passes through wireless communication module and wirelessly sends operational order simultaneously to main logic unit
The running status of monitor in real time robot, sensor unit is used for gathering sensor information and robot during robot ambulation
Environmental information around running, main control unit sends Manipulation of the machine people walking to UMAC motion controller in the way of Ethernet
Order, controls the operating of 6 servomotors, by the operation with motor car wheel operating and steering mechanism for the motion of motor, thus
Realize safe operation in complex environment for the robot.
The rotation that UMAC motion controller passes through to drive 6 servo-drivers to drive 6 servomotors drives four respectively
Driving wheel and in front and back steering mechanism run flow process be：
Step one, UMAC motion controller electrifying startup, receive the motor rotation instruction of 6 servomotors, execution step
Two,
Step 2, judge Position and attitude sensor, the operational factor of the car body being gathered whether all in safety range, if it is,
Then execution step four, if it is not, then execution step three,
Step 3, UMAC motion controller control servomotor out of service, execution step four,
The number in real time of step 4, acquisition camera, Position and attitude sensor and ultrasonic sensor feeds back to after carrying out fusion treatment
UMAC motion controller, execution step five,
Step 5, judge whether the current running environment of wheel type mobile sniffing robot has barrier, if there are barrier, then
Execution step six, if it is not, execution step ten,
Step 6, the obstacle information according to photographic head and ultrasonic sensor collection, the steering mechanism of steer motor control in front and back
Operation makes car body complete turning function, and cut-through thing continues to run with, execution step ten
Step 7, judge whether the current running environment of wheeled mobile robot has slope, if there are slope, then execution step
Eight, if all do not had, execution step ten,
Step 8, robot carry out climbing and run, and implement collection car body attitude parameter by Position and attitude sensor and judge that robot is
No tool can occur to turn on one's side or face upward to turn over, if it is, execution step nine, if all do not had, execution step ten,
Step 9, robot press retrogressings of former road climb original position, execution step six,
Step 10, robot continue to run with, execution step ten,
Step 11, determine whether robot ambulation END instruction, if it is, execution step ten, if it is not, then weight
Multiple execution step four, step 5, step 6 and step 7,
Step 12, robot stop walking.
Beneficial effects of the present invention are：The wireless remote control operating unit of the present invention, in the form of PC machine, is placed on
The position that the outer easily operated member of machine human organism controls, is connected with wireless communication module ether net mode, by PERCOM peripheral communication
Unit sends, to main logic unit, the data instructing and receiving from main logic unit feedback；External communications units are realized distant
Control operating unit and the data exchange of major control；Main logic unit adopt ether net mode connect wireless communication module and
UMAC motion controller, thus realize with the information exchange of wireless remote control operating unit, sensor unit information monitoring and
With the function of motion control unit data communication, drive control unit and in front and back turning control cell are used for receiving motor control
Unit instructs and realizes motor and rotates, and motor, as final actuator, realizes wheeled mobile robot in different mode
Lower motion；Wheeled robot passes through to gather the real time data of multiple sensors, and the control mode using feedback regulation can be realized
Robot safe operation under complex environment.
The present invention has following beneficial effect：
1. adopt the control mode of feedback regulation, expense is low, reliability and real-time are high, are compared to using force transducer control
The method of operation in complex environment for the robot processed, it is ensured that the safety of robot ambulation while having saved project cost
Property and reliability.
2. wheel type mobile sniffing robot control system is based on modularization idea, and modules function divides clear, no
Line remote manipulation unit and main logic unit are responsible for control instruction transmission data and are shown, motion control unit, drive control
Unit, in front and back turning control cell and sensor data acquisition unit are responsible for realizing 6 servomotors coordinations turn by algorithm
Dynamic, simplify system structure, improve mobile robot response speed.
3. it is based on kinematics analyses, it is possible to achieve robot motion in different modes, robot function is more various
Change, the different methods of operation can be selected to realize completing of robot task for different road conditions.
4. video camera, GPS module position, appearance sensor and ultrasonic sensor are connected to main control unit, by the data of collection
Feed back to controller after use processing, the location status of car body are fused in robot control algorithm, examined by real-time
Survey vehicle body attitude and location status, judge the run location of car body and run shape body, collateral security robot walks in complex road surface
Safety.
5.UMAC motion controller has the extendible interface such as mechanical position limitation, conveniently in real time hardware is extended；
Software aspects functional realiey is various, can change correlation function by changing the increasing of appropriate section code.
Brief description
Fig. 1 is the principle schematic of a kind of wheeled detection Mobile Robot Control System described in specific embodiment one,
Fig. 2 be of the present invention a kind of wheeled detect mobile robot and its main composition components and parts positional structure show
It is intended to,
Fig. 3 is real according to one kind wheeled detection Mobile Robot Control System and control method described in specific embodiment nine
The flow chart of existing control method.
Specific embodiment
Specific embodiment one：Illustrate present embodiment with reference to Fig. 1, the one kind described in present embodiment is wheeled
Mobile sniffing robot control system, it includes car body basic framework and four driving wheels and steering mechanism in front and back, described car
Body basic framework and four driving wheels and in front and back steering mechanism's composition wheeled mobile robot, it also includes photographic head 1-4-
1st, GPS module 1-4-2, Position and attitude sensor 1-4-3, ultrasonic sensor 1-4-4, main logic unit 1-2, PERCOM peripheral communication list
First 1-3, wireless remote control operating unit 1-4, UMAC motion control unit 1-5, drive control unit 1-6, front steering control
Unit 1-7, rear steering control unit 1-8；
Each driving wheel described is driven with a DC servo motor, and each steering mechanism described is driven with a flow servo motor
Dynamic, described photographic head 1-4-1, GPS module 1-4-2, Position and attitude sensor 1-4-3, main logic unit 1-2 and UMAC fortune
Dynamic control unit 1-5 is respectively positioned on the inside of car body basic framework, and described Position and attitude sensor 1-4-3 is located at car body basic subrack
At the geometric center of frame；
Data transfer is realized by Ethernet, outward between described wireless remote control operating unit 1-4 and external communications units 1-3
Portion communication unit 1-3 realizes being connected by Ethernet with main logic unit 1-2, and main control unit 1-2 passes through RS485
Bus mode is realized being connected with photographic head 1-4-1, and main control unit 1-2 passes through RS232 bus mode and GPS module
1-4-2 realizes connecting, and main control unit 1-2 is passed through USB serial interface mode and passed with Position and attitude sensor 1-4-3 and ultrasound wave
Sensor 1-4-4 realizes connecting, and meanwhile, main control unit 1-2 is connected with UMAC motion control unit 1-5 by Ethernet,
The control signal outfan of UMAC motion control unit 1-5 connects drive control unit 1-6, front steering control unit 1-7
With the control signal input of rear steering control unit 1-8, the feedback signal input terminal of UMAC motion control unit 1-5 is even
Connect the feedback signal output of drive control unit 1-6, front steering control unit 1-7 and rear steering control unit 1-8；
In present embodiment, UMAC motion control unit 1-5 passes through to control servo-driver, controls servomotor band motor car wheel
Steering mechanism's motion in front and back, when car body carries out climbing and runs, Position and attitude sensor is by the real-time attitude angle of collecting vehicle running body
Number of degrees value, data feeds back to main logic unit after treatment, then sends out corresponding control instruction to fortune by main logic unit
Dynamic control unit, controls the operating of servomotor；
In present embodiment, UMAC motion control unit 1-5 adopts the UMAC motion controller of 32 axles, has and master
Control cell data communication, the function of planning drive control unit；
Drive control unit, instructs and realizes motor coordination rotation for receiving motion control unit；Sensor unit is used for
The detection running environment of car body and the operation attitude information of car body, and testing result is fed back to major control unit；
Wireless remote control operating unit program and main control unit program are based on VC++6.0 and develop；Motion control unit and turning in front and back
Developed to control unit program based on the PLC program in UMAC and motion control program；
Wireless remote control operating unit and main logic unit, are responsible for the transmission of instruction, the display of reception and information；Motor control
Unit, drive control unit, in front and back turning control cell and sensor acquisition unit, responsible environment and car body operational factor
Collection and controlled motor rotate thus driving wheeled moveable robot movement.
Specific embodiment two：Present embodiment is to the wheeled detection moving machine of the one kind described in specific embodiment one
Device people's control system is described further, in present embodiment, external communications units 1-3 include main wireless communication module and from
Wireless communication module, described main wireless communication module and from wireless communication module adopt wireless mode connect, main radio communication mold
Block is connected by ether net mode with wireless remote control operating unit 1-4, from wireless communication module and main logic unit 1-2
Connected by ether net mode.
Specific embodiment three：Present embodiment is that detect wheeled to the one kind described in specific embodiment one moves machine
People's control system is described further, and in present embodiment, photographic head (1-1-1) adopts the high-resolution XC- of Sony's technical grade
ES50 Series Industrial digital camera is realized, and GPS module (1-1-2) adopts the GS-89m-J of GSTAR technical grade low-power consumption
Model is realized, and Position and attitude sensor (1-1-3) adopts the MTI-G model of XSENS to realize.
Specific embodiment four：Present embodiment is that detect wheeled to the one kind described in specific embodiment one moves machine
People's control system is described further, and in present embodiment, each driving wheel and in front and back steering mechanism's machine respectively include one and watch
Take motor, drive control unit 1-6 includes 4 servo-driver 1-6-1 and 4 servomotor 1-6-2, front steering control unit
1-7 includes 1 servo-driver 1-7-1 and 1 servomotor 1-7-2, and rear steering control unit 1-8 includes 1 servo-drive
Device 1-8-1 and 1 servomotor 1-8-2, one driving wheel of each Serve Motor Control or steering mechanism's operating.
6 control signal outfans of described UMAC motion control unit 1-5 connect 6 servo-drive respectively
The control signal input of device 1-6-1,1-7-1 and 1-8-1, the control of 6 servo-drivers 1-6-2,1-7-2 and 1-8-2
Signal output part connects the control signal input of 6 servomotors 1-6-1,1-7-1 and 1-8-1,6 servo electricity respectively
The feedback signal output of machine 1-6-2,1-7-2 and 1-8-2 connects 6 servo-drivers 1-6-1,1-7-1 and 1-8-1 respectively
Feedback signal input terminal, the feedback signal output of 6 servo-drivers 1-6-1,1-7-1 and 1-8-1 connects respectively
6 feedback signal input terminal of UMAC motion control unit 1-5.
Specific embodiment five：Present embodiment is to the wheeled detection moving machine of the one kind described in specific embodiment one
Device people's control system is described further, and in present embodiment, wireless remote control operating unit 1-4 adopts PC machine to realize.
Specific embodiment six：Present embodiment is to the wheeled detection moving machine of the one kind described in specific embodiment one
Device people's control system is described further, and in present embodiment, main logic unit 1-2 adopts the master of model PC104
Plate is realized.
In present embodiment, main logic unit using grinding magnificent A E C -6 920 mainboard, for realizing and remote control
The information exchange of operating unit, sensor unit information monitoring and the function with motion control unit data communication.
Specific embodiment seven：One kind according to specific embodiment one is wheeled to detect mobile robot control system
System method, the content that the method includes is：
Wireless remote control operating unit 1-4 sends behaviour wirelessly to main logic unit 1-2 by main wireless communication module
Make running status, photographic head 1-4-1, GPS module 1-4-2 and the Position and attitude sensor 1- of instruction monitor in real time robot
4-3 gathers sensor information when robot runs, and information is passed to main logic unit 1-2, main logic unit 1-2
Send the order of Manipulation of the machine people walking by Ethernet to UMAC motion controller 1-5, thus UMAC motion controller
1-5 pass through to drive 6 servo-drivers 1-6-1,1-7-1 and 1-8-1 drive 6 servomotors 1-6-2,1-7-2 and
The coordination of 1-8-2 rotates and drives four driving wheels and two transition mechanisms to run；
In present embodiment, remote manipulation unit and main control unit realize radio communication based on the mode of server-client,
Wireless remote control operating unit is realized the motion of robot and is received master by sending operator's instruction to main logic unit
The data such as the robot pose angle that control unit transmits realize the display of relevant parameter；
Based on position ring, speed ring and electric current loop three close-loop control mode, UMAC motion controller sends to drive control unit
The rotation of Analog control single motor, obtains motor position information by encoder feedback；Using UMAC motion controller
Realize 6 servomotors to coordinate to rotate, thus driving mobile robot to move under different road conditions environment；
When wheeled mobile robot is walked in complex environment, attitude angle is run by real-time detection car body surrounding and car body
The change of degree, determines that car body has clear and car whether just can the climbing that complete of safety to run in front of running, and car
The change information of body environmental monitoring and operation attitude angle is dissolved in the control algolithm of robot, based on UMAC motor control
Device controls servomotor to coordinate to rotate, thus driving, wheeled robot carries out avoidance and certain carrying out whether can be safe climbs
Slope is run, and realizes safe operation in complex environment for the robot.
Specific embodiment eight：Illustrate present embodiment with reference to Fig. 3, according to specific embodiment seven
Plant the wheeled control method detecting the realization of Mobile Robot Control System method, UMAC motion controller 1-5 passes through to drive
6 servo-drivers 1-6-1,1-7-1 and 1-8-1 drive the coordination of 6 servomotors 1-6-2,1-7-2 and 1-8-2 to turn
Move four driving wheels of drive and the flow process of Liang Ge steering mechanism motion is：
Step one, UMAC motion controller (1-5) electrifying startup, receive 6 servomotors (1-6-2), (1-7-2) and
(1-8-2) motor rotation instruction, execution step two,
Step 2, judge Position and attitude sensor (1-4-3), the operational factor of the car body being gathered whether all in safety range, such as
It is really, then execution step four, if it is not, then execution step three,
Step 3, UMAC motion controller (1-5) control servomotor out of service, execution step four,
Step 4, acquisition camera (1-4-1), Position and attitude sensor (1-4-4) and ultrasonic sensor (1-4-4) real-time
Count and after carrying out fusion treatment, feed back to UMAC motion controller (1-5), execution step five,
Step 5, judge whether the current running environment of wheeled mobile robot has barrier, if there are barrier, then execute
Step 6, if it is not, execution step ten,
Step 6, the obstacle information being gathered according to photographic head (1-4-1) and ultrasonic sensor (1-4-4), turn in front and back
Motor control steering mechanism runs makes car body complete turning function, and cut-through thing continues to run with, execution step ten,
Step 7, judge whether the current running environment of wheeled mobile robot has slope, if there are slope, then execution step
Eight, if all do not had, execution step ten,
Step 8, robot carry out climbing and run, and implement collection car body attitude parameter by Position and attitude sensor (1-4-4) and judge machine
Whether tool can to turn on one's side or face upward to turn over device people occur, if it is, execution step nine, if all do not had, execution step ten,
Step 9, robot press retrogressings of former road climb original position, execution step six,
Step 10, robot continue to run with, execution step ten,
Step 11, determine whether robot ambulation END instruction, if it is, execution step ten, if it is not, then repeating
Execution step four, step 5, step 6 and step 7,
Step 12, robot stop walking.
Claims (8)
1. a kind of wheeled detection Mobile Robot Control System and control method, it includes car body major architectural structure, four drives
Driving wheel and former and later two steering mechanism form it is characterised in that it also includes photographic head (1-1-1), GPS module (1-
1-2), Position and attitude sensor (1-1-3), ultrasonic sensor (1-1-4) and main logic unit (1-2), PERCOM peripheral communication list
First (1-3), wireless remote control operating unit (1-4), UMAC motion control unit (1-5), drive control unit (1-6),
Front steering control unit (1-7), rear steering control unit (1-8)；Each driving wheel is by 1 DC servo motor and type of wire form net
Shape wheel forms, and steering mechanism is by steer motor and steering mechanical structure composition, described GPS module (1-1-2), position in front and back
Appearance sensor (1-1-3), main logic unit (1-2) and UMAC motion control unit (1-5) are respectively positioned on the interior of pedestal
Portion；
Realize data by Ethernet between described wireless remote control operating unit (1-4) and external communications units (1-3) to pass
Defeated, external communications units (1-3) are connected by Ethernet with main control unit (1-2), and main logic unit (1-2) is passed through
RS485 bus mode is realized being connected with photographic head (1-1-1), and main logic unit (1-2) passes through RS232 bus mode
Realize being connected with GPS module (1-1-2), main logic unit (1-2) pass through USB interface and Position and attitude sensor (1-1-3) and
Ultrasonic sensor (1-1-4) is realized connecting, and main logic unit (1-2) passes through Ethernet and UMAC motor control list
First (1-5) connects, and the control signal outfan of UMAC motion control unit (1-5) connects drive control unit (1-
6), the control signal input of front steering control unit (1-7) and rear steering control unit (1-8), UMAC motor control list
The feedback signal input terminal of first (1-6) connects drive control unit (1-6), front steering control unit (1-7) and rear steering
The feedback signal output of control unit (1-8).
2. the one kind according to claim 1 is wheeled detects Mobile Robot Control System and control method, and its feature exists
Include main no letter communication module and from no believing communication module in, external communications units (1-3), described main no believe communication module
With from no believing that communication module adopts wireless mode to connect, main no letter communication module and wireless remote control operating unit (1-4) logical
Cross ether net mode to connect, from no believing that communication module is connected by ether net mode with main logic unit (1-2).
3. one kind according to claim 1 is wheeled detects Mobile Robot Control System and control method, and its feature exists
In photographic head (1-1-1) adopts Sony's technical grade high-resolution XC-ES50 Series Industrial digital camera to realize, GPS
Module (1-1-2) adopts the GS-89m-J model of GSTAR technical grade low-power consumption to realize, and Position and attitude sensor (1-1-3) adopts
The MTI-G model of XSENS is realized.
4. the one kind according to claim 1 is wheeled detects Mobile Robot Control System and control method, and its feature exists
Include 4 servo-drivers (1-6-1) and 4 servomotors (1-6-2) in, drive control unit (1-6), four
Servomotor controls four driving wheels of car body respectively, and front steering control unit (1-7) includes a servo-driver (1-7-1)
, servomotor (1-7-2) and a steering mechanical device, rear steering control unit (1-8) includes a servo-driver (1-8-
1) a, servomotor (1-8-2) and steering mechanical device, turns to servomotor in front and back and controls before and after steering mechanism respectively
Run, 6 control signal outfans of described UMAC motion control unit (1-5) connect 6 servo-drivers respectively
(1-6-1), the control signal input of (1-7-1) and (1-8-1), 6 servo-drivers (1-6-1), (1-7-1) and (1-
Control signal outfan 8-1) connects the control signal of 6 servomotors (1-6-2), (1-7-2) and (1-8-2) respectively
Input, the feedback signal output of 6 servomotors (1-6-2), (1-7-2) and (1-8-2) connects 6 servos respectively
The feedback signal input terminal of driver (1-6-1), (1-7-1) and (1-8-1), 6 servo-drivers (1-6-1), (1-7-
1) and the feedback signal output of (1-8-1) to connect 6 of UMAC motion control unit (1-5) feedback signals respectively defeated
Enter end.
5. the one kind according to claim 1 is wheeled detects Mobile Robot Control System and control method, and its feature exists
In wireless remote control operating unit (1-4) adopts the operation of PC machine to realize.
6. one kind according to claim 1 wheeled detect Mobile Robot Control System and control method it is characterised in that
Main logic unit (1-2) is realized using the magnificent mainboard that grinds of model A E C -6 920.
7. the one kind according to claim 1,4 and 5 is wheeled detects Mobile Robot Control System and control method,
It is characterized in that, the content that the method includes is：Wireless remote control operating unit (1-4) passes through wireless communication module with wireless
Mode sends the running status of operational order monitor in real time robot, photographic head (1-4-1) to main logic unit (1-2)
, GPS module (1-4-2), biography when Position and attitude sensor (1-4-3) and ultrasonic sensor (1-4-4) gather robot ambulation
Sensor information, information is passed to main logic unit (1-2), and main logic unit (1-2) passes through Ethernet to UMAC motion control
Device (1-5) processed sends the order of Manipulation of the machine people walking, thus UMAC motion controller (1-5) passes through driving 6 and watches
Take driver (1-6-1), (1-7-1) and (1-8-1) and drive 6 servomotors (1-6-2), (1-7-2) and (1-8-
2) coordinate rotates the operation of four driving wheels and steering mechanism in front and back, adopts a photographic head (1-4-1), Position and attitude sensor simultaneously
(1-4-3) signal feeding back with ultrasonic sensor (1-4-4), and the sensor data information of collection is fed back after treatment
To main logic unit (1-2), then by main logic unit (1-2) adjust corresponding servomotor (1-6-2), (1-7-2) and
(1-8-2) control signal.
8. one kind according to claim 7 is wheeled detects Mobile Robot Control System and control method, and its feature exists
In UMAC motion controller (1-5) passes through to drive 6 servo-drivers (1-6-1), (1-7-1) and (1-8-1) to drive 6
The coordination of servomotor (1-6-2), (1-7-2) and (1-8-2) rotates and drives four driving wheels and steering mechanism's operation in front and back
Flow process be：
Step one, UMAC motion controller (1-5) electrifying startup, receive 6 servomotors (1-6-2), (1-7-2)
(1-8-2) motor rotation instruction, execution step two,
Step 2, judge Position and attitude sensor (1-4-3), the operational factor of the car body being gathered whether all in safety range,
If it is, execution step four, if it is not, then execution step three,
Step 3, UMAC motion controller (1-5) control servomotor out of service, execution step four,
Step 4, acquisition camera (1-4-1), Position and attitude sensor (1-4-4) and ultrasonic sensor (1-4-4) real-time
Count and after carrying out fusion treatment, feed back to UMAC motion controller (1-5), execution step five,
Step 5, judge whether the current running environment of wheeled mobile robot has barrier, if there are barrier, then execute
Step 6, if it is not, execution step ten,
Step 6, the obstacle information being gathered according to photographic head (1-4-1) and ultrasonic sensor (1-4-4), turn in front and back
Motor control steering mechanism runs makes car body complete turning function, and cut-through thing continues to run with, execution step ten,
Step 7, judge whether the current running environment of wheeled mobile robot has slope, if there are slope, then execution step
Eight, if all do not had, execution step ten,
Step 8, robot carry out climbing and run, and implement collection car body attitude parameter by Position and attitude sensor (1-4-4) and judge machine
Whether tool can to turn on one's side or face upward to turn over device people occur, if it is, execution step nine, if all do not had, execution step ten,
Step 9, robot press retrogressings of former road climb original position, execution step six,
Step 10, robot continue to run with, execution step ten,
Step 11, determine whether robot ambulation END instruction, if it is, execution step ten, if it is not, then weight
Multiple execution step four, step 5, step 6 and step 7,
Step 12, robot stop walking.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610835692.0A CN106444754A (en) | 2016-09-21 | 2016-09-21 | Wheel-type detection mobile robot control system and method |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610835692.0A CN106444754A (en) | 2016-09-21 | 2016-09-21 | Wheel-type detection mobile robot control system and method |
Publications (1)
| Publication Number | Publication Date |
|---|---|
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| CN107309877A (en) * | 2017-07-31 | 2017-11-03 | 中科新松有限公司 | The control system of quadruped robot |
| CN107611849A (en) * | 2017-10-26 | 2018-01-19 | 深圳市益海洋电力安装器材有限公司 | A kind of self-propelled power transmission cable crusing robot |
| CN108806689A (en) * | 2018-07-30 | 2018-11-13 | 苏州工业职业技术学院 | Acoustic control self-balancing trolley and its control method |
| 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 |
| CN109001202A (en) * | 2018-07-18 | 2018-12-14 | 厦门丰臻电子科技有限公司 | A kind of implementation method for walking shift servo certainly |
| CN109856662A (en) * | 2018-12-13 | 2019-06-07 | 北京炎凌嘉业机电设备有限公司 | Radiation source detection moves robot |
| CN109885068A (en) * | 2019-03-30 | 2019-06-14 | 骞一凡 | A kind of control method and its system that robot advances |
| CN110017859A (en) * | 2018-01-08 | 2019-07-16 | 北京航空航天大学 | Control of Wheeled Mobile Robots system |
| CN110133744A (en) * | 2018-02-09 | 2019-08-16 | 北京康力优蓝机器人科技有限公司 | A kind of mobile robot road surface road conditions detection method |
| CN110419014A (en) * | 2018-09-04 | 2019-11-05 | 深圳市大疆创新科技有限公司 | Control method, system and the mobile robot of mobile robot |
| CN111002841A (en) * | 2019-11-20 | 2020-04-14 | 徐工集团工程机械股份有限公司 | Vehicle driving control system and method based on real-time working condition |
| CN111098285A (en) * | 2018-10-25 | 2020-05-05 | 北京九天微星科技发展有限公司 | Wheeled detection robot based on low-earth-orbit satellite communication |
| WO2021017082A1 (en) * | 2019-07-27 | 2021-02-04 | 南京市晨枭软件技术有限公司 | Robot instruction action control system |
| CN112596527A (en) * | 2020-12-17 | 2021-04-02 | 珠海市一微半导体有限公司 | Robot jamming detection method based on slope structure, chip and cleaning robot |
| CN113525717A (en) * | 2021-07-27 | 2021-10-22 | 哈尔滨理工大学 | Control system and control method for wriggling of wheel-legged mobile robot |
| CN114623315A (en) * | 2022-05-17 | 2022-06-14 | 国机传感科技有限公司 | Speed control driving system based on automatic power pipeline detection robot |
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| CN107309877A (en) * | 2017-07-31 | 2017-11-03 | 中科新松有限公司 | The control system of quadruped robot |
| CN107309877B (en) * | 2017-07-31 | 2021-06-11 | 中科新松有限公司 | Control system of quadruped robot |
| CN107611849A (en) * | 2017-10-26 | 2018-01-19 | 深圳市益海洋电力安装器材有限公司 | A kind of self-propelled power transmission cable crusing robot |
| CN110017859A (en) * | 2018-01-08 | 2019-07-16 | 北京航空航天大学 | Control of Wheeled Mobile Robots system |
| CN110133744A (en) * | 2018-02-09 | 2019-08-16 | 北京康力优蓝机器人科技有限公司 | A kind of mobile robot road surface road conditions detection method |
| CN109001202A (en) * | 2018-07-18 | 2018-12-14 | 厦门丰臻电子科技有限公司 | A kind of implementation method for walking shift servo certainly |
| 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 |
| CN108806689A (en) * | 2018-07-30 | 2018-11-13 | 苏州工业职业技术学院 | Acoustic control self-balancing trolley and its control method |
| CN110419014A (en) * | 2018-09-04 | 2019-11-05 | 深圳市大疆创新科技有限公司 | Control method, system and the mobile robot of mobile robot |
| CN111098285A (en) * | 2018-10-25 | 2020-05-05 | 北京九天微星科技发展有限公司 | Wheeled detection robot based on low-earth-orbit satellite communication |
| CN109856662A (en) * | 2018-12-13 | 2019-06-07 | 北京炎凌嘉业机电设备有限公司 | Radiation source detection moves robot |
| CN109856662B (en) * | 2018-12-13 | 2020-09-01 | 北京炎凌嘉业机电设备有限公司 | Radioactive source detection moving robot |
| CN109885068A (en) * | 2019-03-30 | 2019-06-14 | 骞一凡 | A kind of control method and its system that robot advances |
| CN109885068B (en) * | 2019-03-30 | 2021-12-24 | 骞一凡 | Robot traveling control method and system |
| WO2021017082A1 (en) * | 2019-07-27 | 2021-02-04 | 南京市晨枭软件技术有限公司 | Robot instruction action control system |
| CN111002841A (en) * | 2019-11-20 | 2020-04-14 | 徐工集团工程机械股份有限公司 | Vehicle driving control system and method based on real-time working condition |
| CN112596527A (en) * | 2020-12-17 | 2021-04-02 | 珠海市一微半导体有限公司 | Robot jamming detection method based on slope structure, chip and cleaning robot |
| CN112596527B (en) * | 2020-12-17 | 2023-10-24 | 珠海一微半导体股份有限公司 | Robot clamping detection method based on slope structure, chip and cleaning robot |
| CN113525717A (en) * | 2021-07-27 | 2021-10-22 | 哈尔滨理工大学 | Control system and control method for wriggling of wheel-legged mobile robot |
| CN114623315A (en) * | 2022-05-17 | 2022-06-14 | 国机传感科技有限公司 | Speed control driving system based on automatic power pipeline detection robot |
| CN114623315B (en) * | 2022-05-17 | 2022-08-16 | 国机传感科技有限公司 | Speed control driving system based on automatic power pipeline detection robot |
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