CN106584418B - Omnidirectional robot and control method thereof - Google Patents
Omnidirectional robot and control method thereof Download PDFInfo
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- CN106584418B CN106584418B CN201611196724.3A CN201611196724A CN106584418B CN 106584418 B CN106584418 B CN 106584418B CN 201611196724 A CN201611196724 A CN 201611196724A CN 106584418 B CN106584418 B CN 106584418B
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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
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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
- B25J5/007—Manipulators mounted on wheels or on carriages mounted on wheels
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- 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
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- 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
- B25J9/1679—Programme controls characterised by the tasks executed
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- Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
Abstract
The invention discloses an omnidirectional robot and a control method thereof, relates to the technical field of robots, and aims to solve the technical problem that the existing robot cannot adapt to a terrain structure with height differences on two sides. The omnidirectional robot of the present invention includes: the two ends of the frame body are provided with two groups of travelling mechanisms, one group of travelling mechanisms is higher than the other group of travelling mechanisms, and the height difference of the two groups of travelling mechanisms is consistent with the height of the topographic structure with the height difference at the two sides; specifically, the travelling mechanism is a Mecanum wheel set.
Description
Technical Field
The invention relates to the technical field of robots, in particular to an omnidirectional robot and a control method thereof.
Background
In practical application of the robot, an application scene of a topographic structure having a height difference on both sides, for example, an application scene of an electrolytic aluminum furnace wall, is sometimes encountered, and a practical application scene in which the electrolytic aluminum furnace wall is taken as a topographic structure having a height difference on both sides will be described in detail below.
China is a large country for producing electrolytic aluminum, the yield of the original aluminum reaches 3167 ten thousand tons in 2015, and the yield of the original aluminum accounts for 55.7 percent of the total yield of the original aluminum in the world. Wherein the electric power cost of the aluminum electrolysis enterprises accounts for about 40% of the total cost, and the index is only 25% abroad. One of the key factors affecting the cost of electricity is the welding resistance between the cathode of the electrolyzer and the conductive bus bar.
Specifically, the cathode and the conductive bus are connected through the explosion welding block, and the cost of electrolytic aluminum per ton can be reduced by more than 100 yuan when the connection resistance between the cathode and the conductive bus is reduced by 1 milliohm. Nowadays, aluminum electrolysis production enterprises mostly adopt a manual conveying mode, so that the workload is extremely high, the conveying efficiency is low, and the field labor environment is severe.
Accordingly, applicants have found that there is a need in the art to provide a robot that can accommodate different terrain in lieu of manually transporting heavy supplies.
Disclosure of Invention
The invention aims to provide an omnidirectional robot and a control method thereof, which are used for solving the technical problem that the existing robot cannot adapt to different terrains (such as a terrain structure with height difference on two sides).
The invention provides an omnidirectional robot, comprising: the two ends of the frame body are provided with two groups of travelling mechanisms, one group of travelling mechanisms is higher than the other group of travelling mechanisms, and the height difference of the two groups of travelling mechanisms is consistent with the height of the topographic structure with the height difference on two sides; the walking mechanism is a Mecanum wheel group.
Wherein the Mecanum wheel set comprises two Mecanum wheels; the four Mecanum wheels are vertically arranged with the topographic structure with height differences on the two sides.
Specifically, the Mecanum wheel set comprises two Mecanum wheels; the four Mecanum wheels are arranged in parallel with the topographic structure with the height difference on the two sides.
Further, each Mecanum wheel is connected with a speed reducer and a driving motor.
In practical application, the frame body is provided with a box body for accommodating materials.
The frame body comprises a plurality of support beams which are arranged in parallel at intervals in sequence, and each support beam comprises a cross beam and a longitudinal beam which are vertically connected; one end of the cross beam is provided with one group of travelling mechanisms, the other end of the cross beam is connected with one end of the longitudinal beam, and the other end of the longitudinal beam is provided with the other group of travelling mechanisms; the box body is arranged on the cross beam.
Specifically, the omnidirectional robot further includes: and one end of the reinforcing beam is connected with the cross beam, and the other end of the reinforcing beam is connected with the longitudinal beam.
Further, a pair of distance sensors are arranged at the upper group of the travelling mechanisms.
Further, the two distance sensors are respectively and symmetrically arranged at two sides of the axis of the frame body.
Still further, the distance sensor is disposed adjacent to the Mecanum wheel.
Compared with the prior art, the omnidirectional robot has the following advantages:
the omnidirectional robot provided by the invention comprises: the two ends of the frame body are provided with two groups of travelling mechanisms, one group of travelling mechanisms is higher than the other group of travelling mechanisms, and the height difference of the two groups of travelling mechanisms is consistent with the height of the topographic structure with the height difference at the two sides; specifically, the travelling mechanism is a Mecanum wheel set. According to analysis, in the omnidirectional robot provided by the invention, as the two ends of the frame body are respectively provided with the two groups of running mechanisms with different heights and formed by the Mecanum wheel groups, and the height difference of the two groups of running mechanisms is consistent with the height of the topographic structures with the height difference on two sides (such as electrolytic aluminum furnace walls), the omnidirectional robot provided by the invention can adapt to different terrains and walk on the topographic structures with the height difference on two sides (such as electrolytic aluminum furnace walls) to replace manual conveying of heavy materials, thereby solving the technical problem that the traditional robot cannot adapt to the topographic structures with the height difference on two sides (such as topographic structures with the height difference on two sides).
The invention also provides a control method of the omnidirectional robot, which comprises the following steps: establishing a first coordinate system at the midpoint of the connecting line of the two distance sensors; establishing a second coordinate system on steps of the terrain structure table top with the height difference at two sides; determining the position and the included angle of the first coordinate system relative to the second coordinate system; determining coordinates of a center of the omnidirectional robot in the first coordinate system; determining coordinates of the center of the omnidirectional robot in the second coordinate system; and calculating the linear speed and the angular speed of the omnidirectional robot.
The control method of the omni-directional robot has the same advantages as the omni-directional robot compared with the prior art, and is not described herein.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings that are needed in the description of the embodiments or the prior art will be briefly described, and it is obvious that the drawings in the description below are some embodiments of the present invention, and other drawings can be obtained according to the drawings without inventive effort for a person skilled in the art.
Fig. 1 is a schematic perspective view of an omni-directional robot according to an embodiment of the present invention;
fig. 2 is a schematic diagram of a front view structure of an omni-directional robot according to an embodiment of the present invention;
fig. 3 is a schematic perspective view of another omni-directional robot according to an embodiment of the present invention;
fig. 4 is a schematic diagram of a front view structure of another omni-directional robot according to an embodiment of the present invention;
fig. 5 is a flow chart of a control method of an omnidirectional robot according to an embodiment of the present invention;
fig. 6 is a coordinate system setting diagram of a control method of an omnidirectional robot according to an embodiment of the present invention;
fig. 7 is a kinematic analysis diagram of a mecanum wheel in the omnidirectional robot according to the embodiment of the present invention.
In the figure: 1-a frame body; 2-a travelling mechanism; 3-a topographic structure (electrolytic aluminum furnace wall) with height differences on both sides; 21-Mecanum wheel; 4-speed reducer; 5-driving a motor; 6, a box body; 11-supporting beams; 111-a cross beam; 112-stringers; 113-reinforcing the beam.
Detailed Description
The following description of the embodiments of the present invention will be made apparent and fully in view of the accompanying drawings, in which some, but not all embodiments of the invention are shown. All other embodiments, which can be made by those skilled in the art based on the embodiments of the invention without making any inventive effort, are intended to be within the scope of the invention.
In the description of the present invention, it should be noted that the directions or positional relationships indicated by the terms "center", "upper", "lower", "left", "right", "vertical", "horizontal", "inner", "outer", etc. are based on the directions or positional relationships shown in the drawings, are merely for convenience of describing the present invention and simplifying the description, and do not indicate or imply that the devices or elements referred to must have a specific orientation, be configured and operated in a specific orientation, and thus should not be construed as limiting the present invention. Furthermore, the terms "first," "second," and "third" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance.
In the description of the present invention, it should be noted that, unless explicitly specified and limited otherwise, the terms "mounted," "connected," and "connected" are to be construed broadly, and may be either fixedly connected, detachably connected, or integrally connected, for example; can be mechanically or electrically connected; can be directly connected or indirectly connected through an intermediate medium, and can be communication between two elements. The specific meaning of the above terms in the present invention will be understood in specific cases by those of ordinary skill in the art.
It should be emphasized that the omnidirectional robot and the control method thereof provided by the embodiments of the present invention may be applied to any terrain structure having a height difference on both sides, and the following is only for convenience of explanation, and the omnidirectional robot and the control method thereof provided by the embodiments of the present invention are described in detail by taking an application of the omnidirectional robot and the control method thereof in an aluminum electrolysis furnace as an example, and taking an electrolytic aluminum furnace wall as a terrain structure having a height difference on both sides.
Fig. 1 is a schematic perspective view of an omni-directional robot according to an embodiment of the present invention; fig. 2 is a schematic diagram of a front view structure of an omni-directional robot according to an embodiment of the present invention; fig. 3 is a schematic perspective view of another omni-directional robot according to an embodiment of the present invention; fig. 4 is a schematic diagram of a front view structure of another omni-directional robot according to an embodiment of the present invention.
As shown in fig. 1 to 4, an embodiment of the present invention provides an omni-directional robot, including: the two ends of the frame body 1 are provided with two groups of travelling mechanisms 2, one group of travelling mechanisms 2 is higher than the other group of travelling mechanisms 2, and the height difference of the two groups of travelling mechanisms 2 is consistent with the height of a topographic structure (electrolytic aluminum furnace wall) 3 with height differences on two sides; the travelling mechanism 2 is a Mecanum wheel group.
Compared with the prior art, the omnidirectional robot provided by the embodiment of the invention has the following advantages:
in the omni-directional robot provided by the embodiment of the present invention, as shown in fig. 1 to 4, the omni-directional robot includes: the frame body 1, two sets of travelling mechanisms 2 are arranged at two ends of the frame body 1, one set of travelling mechanism 2 is higher than the other set of travelling mechanism 2, and the height difference of the two sets of travelling mechanisms 2 is consistent with the height of a topographic structure (electrolytic aluminum furnace wall) 3 with height differences at two sides; specifically, the travelling mechanism 2 is a mecanum wheel set. From analysis, it can be known that in the omnidirectional robot provided by the embodiment of the invention, two groups of travelling mechanisms 2 with different heights and composed of the Mecanum wheel groups are respectively arranged at two ends of the frame body 1, and the height difference of the two groups of travelling mechanisms 2 is consistent with the height of a topographic structure (electrolytic aluminum furnace wall) 3 with the height difference at two sides, so that the omnidirectional robot provided by the embodiment of the invention can adapt to different topography and walk on the topographic structure (electrolytic aluminum furnace wall) 3 with the height difference at two sides to replace manual transportation of heavy materials, thereby solving the technical problem that the traditional robot cannot adapt to different topographic structures (for example, the topographic structure with the height difference at two sides).
As shown in fig. 1 and fig. 2, in the omni-directional robot provided by the embodiment of the present invention, each of the above-mentioned Mecanum wheel sets may include two Mecanum wheels 21; in the actual assembly, the four mecanum wheels 21 can be arranged perpendicular to the topographic structure (electrolytic aluminum furnace wall) 3 with height differences on both sides, i.e. the mecanum wheels 21 of the running gear 2 are arranged perpendicular to the running direction of the omnidirectional robot. In order to ensure the power source of the Mecanum wheels 21 and the stability during operation, each Mecanum wheel 21 may be sequentially connected with a speed reducer 4 and a driving motor 5; the drive motor 5 provides power for the Mecanum wheel 21, and the speed reducer 4 ensures a better matching of the output shaft of the drive motor 5 with the input shaft of the Mecanum wheel 21 in terms of rotational speed.
In the first arrangement, the driving motor 5 and the speed reducer 4 are convenient to install, the omnidirectional robot runs along the Y-axis direction, can move along the X-axis direction after reaching the set position, and rotates around the Z-axis direction to adjust the posture; the above arrangement is advantageous in adjusting the posture because the Mecanum wheel 21 is highly efficient in traveling in the X-axis direction and is smoother.
As shown in fig. 3 and fig. 4, in the omni-directional robot provided by the embodiment of the present invention, each of the above-mentioned Mecanum wheel sets may include two Mecanum wheels 21; in the actual assembly, the four mecanum wheels 21 can be arranged parallel to the topographic structure (electrolytic aluminum furnace wall) 3 with height differences on both sides, i.e. the mecanum wheels 21 of the running gear 2 are arranged in the same direction as the running direction of the omnidirectional robot. In order to ensure the power source of the Mecanum wheels 21 and the stability during operation, each Mecanum wheel 21 may be sequentially connected with a speed reducer 4 and a driving motor 5; the drive motor 5 provides power for the Mecanum wheel 21, and the speed reducer 4 ensures a better matching of the output shaft of the drive motor 5 with the input shaft of the Mecanum wheel 21 in terms of rotational speed.
In the second setting, the driving motor 5 and the speed reducer 4 need to be rotated by 90 degrees relative to the first setting, the omnidirectional robot runs along the X-axis direction and can move along the Y-axis direction after reaching the set position, and the gesture is adjusted by rotating around the Z-axis direction; the device is more stable to walk when long-distance movement is required, and has certain obstacle crossing capability.
The Y-axis direction is a direction perpendicular to the topographic structure (electrolytic aluminum furnace wall) 3 having a height difference on both sides, the X-axis direction is a direction parallel to the topographic structure (electrolytic aluminum furnace wall) 3 having a height difference on both sides and coplanar with the Y-axis direction, and the Z-axis direction is a direction perpendicular to both the X-axis direction and the Y-axis direction.
In practical application, in order to ensure that the omnidirectional robot is used for conveying materials, as shown in fig. 1-4, the frame 1 may be provided with a box 6 for accommodating the materials, so that the materials may be placed in the box 6 and conveyed by the omnidirectional robot.
In order to ensure the stability of the frame 1, as shown in fig. 1 to 4, the frame 1 may include a plurality of support beams 11 arranged in parallel at intervals in sequence, and each support beam 11 may include a cross beam 111 and a longitudinal beam 112 connected perpendicularly to each other; when in specific assembly, one end of the cross beam 111 can be provided with one group of travelling mechanisms 2, the other end of the cross beam 111 can be connected with one end of the longitudinal beam 112, and the other end of the longitudinal beam 112 can be provided with the other group of travelling mechanisms 2; and, the box 6 may be provided on the cross member 111, thereby well preventing the material from falling.
The frame body 1 is composed of a plurality of supporting beams 11, so that the overall stability of the walking robot can be ensured, the material cost can be saved, and the overall weight can be reduced; each support beam 11 is formed by a transverse beam 111 and a longitudinal beam 112, which can facilitate the arrangement of two sets of running gear 2 of different heights, which are formed by a set of mecanum wheels.
Specifically, in order to further improve the stability of the frame 1 and the omnidirectional robot, as shown in fig. 1 to fig. 4, the omnidirectional robot provided in the embodiment of the present invention may further include: the reinforcing beam 113, one end of the reinforcing beam 113 may be connected to the cross beam 111, and the other end may be connected to the longitudinal beam 112, so that a good supporting effect is achieved between the cross beam 111 and the longitudinal beam 112 through the reinforcing beam 113, and further, the stability of the frame 1 and the omnidirectional robot is effectively improved again.
Further, in order to facilitate walking control of the omnidirectional robot, in the omnidirectional robot provided by the embodiment of the invention, a pair of distance sensors (not shown in the figure) can be arranged at a group of higher walking mechanisms 2, so that the omnidirectional robot can be ensured to walk along a topographic structure (electrolytic aluminum furnace wall) 3 with height differences at two sides without falling down steps through detection of the distance sensors, and the running track and the gesture of the omnidirectional robot can be corrected in time.
Furthermore, in order to effectively improve the detection accuracy of the distance sensors, the two distance sensors may be symmetrically disposed on two sides of the axis of the frame 1; also, the distance sensor is preferably disposed adjacent to the Mecanum wheel 21 so as to more accurately detect the real-time position of the Mecanum wheel 21.
Fig. 5 is a flow chart of a control method of an omnidirectional robot according to an embodiment of the present invention; fig. 6 is a coordinate system setting diagram of a control method of an omnidirectional robot according to an embodiment of the present invention.
The embodiment of the invention also provides a control method of the omnidirectional robot, as shown in fig. 5 and 6, comprising the following steps:
and S1, establishing a first coordinate system at the midpoint of the connecting line of the two distance sensors. Specifically, distance sensors are installed at two positions A, B, distances between two points A, B and a step are measured in real time, movement postures are adjusted, the distance between the omnidirectional robot and the step is kept to be fixed, and if the distances measured by the distance sensors at two positions A, B are L1 and L2 and the distance between the center of the omnidirectional robot and the step is required to be H, a first coordinate system O ', A, B is established at the midpoint of a A, B connecting line, and the distance between the first coordinate system O ' and the origin O ' is S0.
And S2, establishing a second coordinate system on steps of the mesa with the topographic structure (electrolytic aluminum channel steel structure) with the height difference at two sides. Specifically, a second coordinate system O.
And S3, determining the position and the included angle of the first coordinate system relative to the second coordinate system. Specifically, the position coordinates of the first coordinate system O' with respect to the second coordinate system O are: [ x, (L1+L2)/2, θ]Wherein x is the distance moved by the omni-directional robot; the included angle of the first coordinate system O' relative to the second coordinate system O is as follows:
s4, determining the coordinates of the center of the omnidirectional robot in a first coordinate system; determining coordinates of the center of the omnidirectional robot in a second coordinate system; and calculating the linear speed and the angular speed of the omnidirectional robot. Specifically, coordinates of the center P of the omni-directional robot in the first coordinate system O' are: [0, -L,1]The method comprises the steps of carrying out a first treatment on the surface of the The coordinates of the center P of the omnidirectional robot in the second coordinate system O are:the center P of the omnidirectional robot is located at a distance from the topographic structure (electrolytic aluminum furnace wall) 3 having a height difference from both sides: y is p = -lcosθ+ (l1+l2)/2; in order to maintain the distance H from the topographic structure (electrolytic aluminum furnace wall) 3 having a height difference on both sides of the omnidirectional robot, the angle to be adjusted is- θ, the distance is L-H- (l1+l2)/2, and assuming that the adjustment time is set to t, the linear velocity of the omnidirectional robot is: v y ＝[L-H-(L1+L2)/2]And/t, the angular velocity is: />
It should be added here that the Mecanum wheel 21 is an all-round mobile wheel which is characterized in that, on the basis of a conventional wheel, a plurality of small rollers which can freely rotate are arranged on the wheel rim in the direction of an angle alpha with the axis, so that when the wheel rolls, the small rollers can move sideways. By the combined use of the Mecanum wheels 21 and the coordinated control of the rotational direction and speed of each wheel, the vehicle body can be moved and rotated in any direction within the movement plane.
Fig. 7 is a kinematic analysis diagram of a mecanum wheel in the omnidirectional robot according to the embodiment of the present invention.
A coordinate system is established on the frame body 1 by taking the center of the omnidirectional robot as an origin, the advancing direction is an x-axis, the rightward running is a y-axis, the length of the vehicle body is 2L, the width is 2S, the included angle between the hub axis and the roller axis of the Mecanum wheel 21 is alpha, and the speed of four wheels is Vi (i=1, 2,3, 4), wherein: v (V) i ＝R w ×w i The method comprises the steps of carrying out a first treatment on the surface of the Rw is the radius of the small wheel and wi is the angular velocity of the wheel.
According to the result of the kinematic analysis of the omnidirectional robot with the mecanum wheel 21, if the velocity V and the angular velocity w of the omnidirectional robot in the coordinate system are required, V is decomposed on the x and y axes to obtain Vx, vy, the velocities Vi (i=1, 2,3, 4) of the four wheels can be calculated by the following formula:
V 1 ＝V x +V y tanα-w(Ltanα+S)；
V 2 ＝V x -V y tanα+w(Ltanα+S)V；
V 3 ＝V x +V y tanα+w(Ltanα+S)；
V 4 ＝V x -V y tanα-w(Ltanα+S)；
given four wheel speeds, the speed V and the angular speed w of the omnidirectional robot in the coordinate system can likewise be determined:
V x ＝R w (w 1 +w 2 +w 3 +w 4 )/4；
V y ＝R w (-w 1 +w 2 -w 3 +w 4 )/(4tanα)；
w＝R w (-w 1 +w 2 +w 3 -w 4 )/(4(Ltanα+l))。
the foregoing description of the preferred embodiments of the invention is not intended to be limiting, but rather is intended to cover all modifications, equivalents, alternatives, and improvements that fall within the spirit and scope of the invention.
Claims (1)
1. The control method of the omnidirectional robot is characterized in that the control method of the omnidirectional robot is based on the omnidirectional robot, the omnidirectional robot comprises a frame body, two groups of travelling mechanisms are arranged at two ends of the frame body, one group of travelling mechanisms is higher than the other group of travelling mechanisms, and the height difference of the two groups of travelling mechanisms is consistent with the height of a topographic structure with height differences at two sides; the travelling mechanism is a Mecanum wheel group; a pair of distance sensors are arranged at the higher group of the travelling mechanisms; the two distance sensors are symmetrically arranged on two sides of the axis of the frame body respectively, and the distance sensors are arranged close to the Mecanum wheel;
the control method of the omnidirectional robot comprises the following steps:
step S1: establishing a first coordinate system at the midpoint of the connecting line of the two distance sensors; the step S1 includes the steps of:
respectively installing the distance sensors at two positions A, B, measuring the distance between the two positions A, B and a step, and adjusting the motion gesture to ensure that the omnidirectional robot keeps a fixed distance from the step;
the distance measured by the distance sensors at the A, B two positions is L1 and L2, and the distance between the center of the omnidirectional robot and the step is H, then a first coordinate system O ', A, B is established at the midpoint of the A, B connecting line, and the distance from the origin O' is the distance；
Step S2: establishing a second coordinate system O on steps of the topographic structure table top with height differences at two sides;
step S3: determining the position and the included angle of the first coordinate system relative to the second coordinate system; the step S3 includes the steps of:
the position coordinates of the first coordinate system O' relative to the second coordinate system O are: [ x, (L1+L2)/2,]wherein x is the distance the omni-directional robot moves;
the included angle of the first coordinate system O' relative to the second coordinate system O is as follows:；
step S4: determining coordinates of a center of the omnidirectional robot in the first coordinate system; determining coordinates of the center of the omnidirectional robot in the second coordinate system; calculating the linear speed and the angular speed of the omnidirectional robot; the step S4 includes the steps of:
the coordinates of the center P of the omnidirectional robot in the first coordinate system O' are as follows: [0, -L,1];
the coordinates of the center P of the omnidirectional robot in the second coordinate system O are as follows:the distance between the center P of the omnidirectional robot and the topographic structure with the height difference at the two sides is as follows: />；
In order to keep the distance between the omnidirectional robot and the topographic structure with height difference at two sides as H, the angle is adjusted as-Distance is->Setting the adjustment time to +.>The linear speed of the omnidirectional robot is:the angular velocity is: />。
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| CN113510678B (en) * | 2021-03-16 | 2023-01-10 | 行星算力(深圳)科技有限公司 | All-terrain robot control method and all-terrain robot |
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