CN106647741A - Laser-navigation-based omnibearing motion mechanism control system - Google Patents
Laser-navigation-based omnibearing motion mechanism control system Download PDFInfo
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- CN106647741A CN106647741A CN201611007005.2A CN201611007005A CN106647741A CN 106647741 A CN106647741 A CN 106647741A CN 201611007005 A CN201611007005 A CN 201611007005A CN 106647741 A CN106647741 A CN 106647741A
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- 238000001514 detection method Methods 0.000 claims abstract description 32
- 238000007405 data analysis Methods 0.000 claims description 13
- 238000004458 analytical method Methods 0.000 claims description 6
- 238000011065 in-situ storage Methods 0.000 abstract 1
- 238000005516 engineering process Methods 0.000 description 7
- 238000000034 method Methods 0.000 description 7
- 238000010586 diagram Methods 0.000 description 3
- 239000012491 analyte Substances 0.000 description 2
- 230000004888 barrier function Effects 0.000 description 2
- 238000005070 sampling Methods 0.000 description 2
- 230000011664 signaling Effects 0.000 description 2
- 230000009286 beneficial effect Effects 0.000 description 1
- 238000004140 cleaning Methods 0.000 description 1
- 230000005674 electromagnetic induction Effects 0.000 description 1
- 230000007613 environmental effect Effects 0.000 description 1
- 238000005406 washing Methods 0.000 description 1
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- 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
- G05D1/0234—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means using optical markers or beacons
- G05D1/0236—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means using optical markers or beacons in combination with a laser
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- 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
- G05D1/0257—Control of position or course in two dimensions specially adapted to land vehicles using a radar
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- Engineering & Computer Science (AREA)
- Physics & Mathematics (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- Aviation & Aerospace Engineering (AREA)
- General Physics & Mathematics (AREA)
- Automation & Control Theory (AREA)
- Optics & Photonics (AREA)
- Electromagnetism (AREA)
- Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
- Traffic Control Systems (AREA)
Abstract
The invention discloses a laser-navigation-based omnibearing motion mechanism control system. The system comprises an omnibearing movement module based on an ROS four-axis control system and an RPLIDAR-laser-radar-based navigation module. The ROS four-axis control system feeds back location information in real time by the RPLIDAR laser radar; and a rotating speed and a turning direction of a detection robot are controlled by a driver to realize traverse movement, oblique movement, and in-situ rotation movement around the axis of the detection robort, so that the detection robot can walk along a predetermined path. The RPLIDAR laser radar is connected with a PC machine by a matched USB connecting wire; the PC machine uses the RPLIDAR laser radar to realize map building and path planning of the detection robot and stores the planned path information into the omnibearing movement module; the RPLIDAR laser radar carries out navigation positioning on the detection robot in real time and transmits the collected location information to the omnibearing movement module; and on the basis of the feedback location information, the ROS four-axis control system adjusts the omnibearing movement module continuously to enable the detection robot to walk along a predetermined track.
Description
Technical field
The present invention relates to a kind of omnibearing movable mechanism control system based on laser navigation.
Background technology
With the development of science and technology, mobile robot technology is rapidly developed, particularly AGV mobile robots,
Factory floor and warehouse logisticses aspect are increasingly widely applied.Because traditional AGV mobile robots have certain
Radius of turn, it is impossible to adapt to narrow environment, so occurring in that all directionally movable robot, the robot motion flexibly, can
Keeping realizing traversing, diagonal and the rotary motion around own axes in the case that itself pose is constant, so as to adapt to narrow
Space environment.For some special working environments, it is desirable to which it, can be in long-distance running while narrow environment is adapted to
Along fixed route walking.
At present, path planning is the key component of mobile robot technology, and can airmanship be path planning realize
Precondition.AGV dollies are capable of the homing guidance of realizing route, and its key is that the introducing of airmanship and to guiding
The identification of information.The guide mode classification of AGV can be divided by the separate sources of guidance information, also can be by the not similar shape of guide line
Formula is divided.It is different by information source, inner guide type and outer conduction can be divided into, common inner guide type mainly has inertia method, sits
Mark method etc., common outer conduction mainly has electromagnetic induction, laser, optics etc..Divide by line form, wired and nothing can be divided into
Wire type, common are wire type method has electromagnetic wire, tape line, colour band line etc., common wireless type method have ultrasonic wave, laser,
Coordinate, gyroscope, satellite fix etc..
In current valve hall, due to its internal strong-electromagnetic field environment, the complexity of space structure does not typically permit
Perhaps the environmental condition inside valve hall is changed；Valve hall internal unit is extremely expensive, it is necessary to assure the operation of internal unit
Safety, therefore the precise and stable control to the comprehensive carrying robot of valve hall is realized, to realizing its delivery function and and wall
The cooperation of face clean robot realizes that washing and cleaning operation is significant.
The present invention devises a kind of omnibearing movable mechanism control system based on laser navigation, in control omni-directional wheel motion
While, based on RPLIDAR laser radar techniques, realize to 360 ° of comprehensive laser scannings of working environment, machine can be realized
People's detection of obstacles, map structuring, autonomous positioning navigation and path planning, improve the kinematic accuracy of robot.
The content of the invention
It is existing under transformer station's valve hall strong magnetic field circumstance in order to overcome, narrow environment is adapted to mobile robot, it is real
Existing flexible avoidance and along the particular/special requirement that fixation locus are moved, the drawbacks described above for existing, the present invention provide it is a kind of be capable of achieving it is complete
Orientation mobile robot is along fixed route walking and the omnibearing movable mechanism controls based on laser navigation of raising kinematic accuracy
System.
The technical solution used in the present invention is：
Omnibearing movable mechanism control system based on laser navigation, it is characterised in that:Including based on the axles of ROS tetra- control system
The Omni-mobile module and the navigation module based on RPLIDAR laser radars of system；Wherein,
The described axle control systems of ROS tetra- pass through RPLIDAR laser radar Real-time Feedback positional informations, by driver control
The rotating speed of system detection robot and steering, realize detection the traversing of robot, diagonal and rotate in place motion around own axes,
Ensure the predefined paths walking of detection Robot；
The radius that described RPLIDAR laser radars can be set 360 ° of comprehensive scannings range finding task and
It is connected with PC by supporting USB connecting lines, described PC is realized to detecting robot by RPLIDAR laser radars
Map structuring and path planning, and the path information storage planned in Omni-mobile module；Described RPLIDAR laser
Radar carries out navigator fix to detecting robot in real time, and the positional information of collection is passed in real time Omni-mobile module, root
According to the positional information of feedback, the axle control systems of ROS tetra- constantly adjust Omni-mobile module and make detection Robot desired trajectory row
Walk.
Described detection robot includes robot body, also including the omni-directional wheel being arranged on robot body, drives
Device, the axle control systems of ROS tetra-, RPLIDAR laser radars and the limit switch installing plate for installing limit switch；Described
The positional information that the axle control systems of ROS tetra- pass through RPLIDAR laser radar Real-time Feedbacks, turning by driver control omni-directional wheel
Speed and steering, realize detection the traversing of robot, diagonal and rotate in place motion around own axes, it is ensured that detection Robot
Predefined paths are walked；The positional information that the described axle control systems of ROS tetra- are measured by limit switch, realizes to detecting robot
The precise control of stop position.
Also including data acquisition module, the positional information that described data collecting module collected limit switch is measured, according to
Design requirement adjusts sampling rate.
Also include data processing module and data analysis module, described data processing module receiving data acquisition module is adopted
The signal of collection simultaneously carries out data analysis by data analysis module, and analysis result is sent into the axle control systems of ROS tetra-, ROS tetra-
Axle control system adjusts the motion state of detection robot according to analysis result, realizes to detecting robot motion state and path
Control.
Described RPLIDAR laser radars 4 have the configurable scan frequencies of 2-10Hz, can pass through motor PWM signal control
The scan frequency of RPLIDAR laser radars processed.The laser radar can realize that resolution of ranging is in the scan frequency of 5.5Hz
The 0.2% of current distance value, the navigation module carries out trajectory planning by being modeled to working environment, can be according to collection
Position signalling carries out real-time online adjustment motion state, is capable of achieving the precision navigation to robot system.
Computer realizes the map structuring and path planning to robot by laser radar, and the path letter planned
Breath is stored in ROS control systems, and laser radar carries out navigator fix to detecting robot in real time, and the positional information of collection
ROS control systems are passed in real time, and according to the positional information of feedback, ROS control systems constantly adjust Omni-mobile module, make machine
Device people walks along desired trajectory.Further, the positional information that ROS control systems are measured by limit switch, realizes to robot
The precise control of stop position.
The present invention technology design be：First robot carries out 360 ° to working environment entirely by RPLIDAR laser radars
Position of orientation is scanned and map structuring, realizes the path planning to robot, and the path information storage planned is controlled in ROS
In system processed, laser radar carries out in real time navigator fix to robot, and the positional information of collection is passed in real time ROS controls
System, according to the positional information of feedback, ROS control systems constantly adjust in Omni-mobile module the steering of each omni-directional wheel and turn
Speed, makes Robot desired trajectory walk.Secondly, start RPLIDAR laser radars, 360 ° of comprehensive positions are carried out to working environment
Scanning and map structuring, and the trajectory planning path for passing through Computer Storage are put, by stop of the position sensor to robot
Position carries out precise control.Thirdly, laser radar is acquired and carries out map structure after laser reflection to positional information
Build, by data acquisition module, be sent to data analysis module, data analysis module is saved to nonvolatile storage
In, as initial data.
Beneficial effects of the present invention are embodied in：
1st, while omni-directional wheel motion is controlled, based on RPLIDAR laser radar techniques, realize complete to 360 ° of working environment
Orientation laser scanning, can realize robot barrier analyte detection, map structuring, autonomous positioning navigation and path planning, improve machine
The kinematic accuracy of device people.
2nd, the kinematic accuracy of robot is on the one hand improve well, and robot is realized while moving along desired trajectory
Flexible avoidance；On the other hand the internal environment for not changing valve hall to greatest extent is realized.For all directionally movable robot
Important foundation is established in extensively application.
Description of the drawings
Fig. 1 is overall structure diagram of the present invention.
Fig. 2 is laser radar navigation system operating diagram of the present invention.
Fig. 3 is total system operational flow diagram of the present invention.The present invention
Specific embodiment
Referring to figs. 1 to Fig. 3, based on the omnibearing movable mechanism control system of laser navigation, including based on the control of the axles of ROS tetra-
The Omni-mobile module and the navigation module based on RPLIDAR laser radars 4 of system 3；Wherein,
The described axle control systems 3 of ROS tetra- pass through the Real-time Feedback positional information of RPLIDAR laser radars 4, by driver
The rotating speed of 2 control detection robots 10 and steering, realize detection the traversing of robot 10, diagonal and revolve around the original place of own axes
Transhipment is dynamic, it is ensured that the predefined paths walking of detection Robot；
360 ° of comprehensive scannings range finding task of the radius that described RPLIDAR laser radars 4 can be set is simultaneously
And be connected with PC 8 by supporting USB connecting lines, described PC 8 is realized to detection machine by RPLIDAR laser radars 4
The map structuring and path planning of device people 10, and the path information storage planned in Omni-mobile module 9；Described
RPLIDAR laser radars 4 carry out navigator fix to detecting robot in real time, and the positional information of collection is passed in real time omnidirectional
Mobile module 9, according to the positional information of feedback, constantly adjustment Omni-mobile module makes detection robot to the axle control systems 3 of ROS tetra-
10 walk along desired trajectory.
Described detection robot 10 includes robot body, also including the omni-directional wheel 1 being arranged on robot body, drives
Dynamic device 2, the axle control systems 3 of ROS tetra-, RPLIDAR laser radars 4 and the limit switch installing plate for installing limit switch 5
6；The positional information that the described axle control systems 3 of ROS tetra- pass through the Real-time Feedback of RPLIDAR laser radars 4, is controlled by driver 2
The rotating speed of omni-directional wheel processed 1 and steering, realize detection the traversing of robot 10, diagonal and rotate in place motion around own axes,
Ensure that detection robot 10 walks along predefined paths；The position that the described axle control systems 3 of ROS tetra- are measured by limit switch 5
Information, realizes the precise control to detecting robot stop position.
Also include data acquisition module 12, described data acquisition module 12 gathers the positional information that limit switch 5 is measured,
Sampling rate is adjusted according to design requirement.
Also include data processing module 7 and data analysis module 11, the described receiving data of data processing module 7 collection mould
The signal of the collection of block 12 simultaneously carries out data analysis by data analysis module 11, and analysis result is sent into the axles of ROS tetra- control system
The system axle control systems 3 of 3, ROS tetra- adjust the motion state of detection robot 10 according to analysis result, realize to detecting robot fortune
Dynamic state and the control in path.
Described RPLIDAR laser radars 4 have the configurable scan frequencies of 2-10Hz, can pass through motor PWM signal control
The scan frequency of RPLIDAR laser radars processed.The laser radar can realize that resolution of ranging is in the scan frequency of 5.5Hz
The 0.2% of current distance value, the navigation module carries out trajectory planning by being modeled to working environment, can be according to collection
Position signalling carries out real-time online adjustment motion state, is capable of achieving the precision navigation to robot system.
Computer realizes the map structuring and path planning to robot by laser radar, and the path letter planned
Breath is stored in ROS control systems, and laser radar carries out navigator fix to detecting robot in real time, and the positional information of collection
ROS control systems are passed in real time, and according to the positional information of feedback, ROS control systems constantly adjust Omni-mobile module, make machine
Device people walks along desired trajectory.Further, the positional information that ROS control systems are measured by limit switch, realizes to robot
The precise control of stop position.
The course of work of the present embodiment is：
First robot carries out 360 ° of comprehensive position scannings and map to working environment by RPLIDAR laser radars 4
Build, realize the path planning to robot, and the path information storage planned in the axle control systems 3 of ROS tetra-, laser
Radar 4 carries out in real time navigator fix to robot, and the positional information of collection is passed in real time the axle control systems 3 of ROS tetra-, root
According to the positional information of feedback, the axle control systems 3 of ROS tetra- constantly adjust the steering of each omni-directional wheel and rotating speed in Omni-mobile module 9,
Robot desired trajectory is set to walk.Further, start RPLIDAR laser radars 4,360 ° of comprehensive positions are carried out to working environment
Scanning and map structuring, and the trajectory planning path stored by PC 8 are put, by stop position of the limit switch 5 to robot
Putting carries out precise control.
Further, laser radar 4 is acquired and carries out map structuring after laser reflection to positional information, passes through
Data acquisition module 12, is sent to data analysis module 11, and data analysis module 11 is saved to nonvolatile storage
In, as initial data.Laser radar 4 and the axle control systems 3 of ROS tetra- realize robot barrier analyte detection, map structuring, from
Main location navigation and path planning, improve the kinematic accuracy of robot.Accompanying drawing 3 illustrates the flow process that whole system is run.
Content described in this specification embodiment is only enumerating to the way of realization of inventive concept, the protection of the present invention
Scope is not construed as being only limitted to the concrete form that embodiment is stated, protection scope of the present invention is also and in art technology
Personnel according to present inventive concept it is conceivable that equivalent technologies mean.
Claims (5)
1. the omnibearing movable mechanism control system of laser navigation is based on, it is characterised in that:Including based on the axle control systems of ROS tetra-
Omni-mobile module and the navigation module based on RPLIDAR laser radars；Wherein,
The described axle control systems of ROS tetra- are examined by RPLIDAR laser radar Real-time Feedback positional informations by driver control
Rotating speed and the steering of robot are surveyed, detection the traversing of robot, diagonal are realized and is rotated in place motion around own axes, it is ensured that
The predefined paths walking of detection Robot；
360 ° of comprehensive scannings range finding of the radius that described RPLIDAR laser radars can be set and passes through task
Supporting USB connecting lines are connected with PC, and described PC realizes the map to detecting robot by RPLIDAR laser radars
Build and path planning, and the path information storage planned in Omni-mobile module；Described RPLIDAR laser radars
In real time navigator fix is carried out to detecting robot, and the positional information of collection is passed in real time Omni-mobile module, according to anti-
The positional information of feedback, the axle control systems of ROS tetra- constantly adjust Omni-mobile module makes detection Robot desired trajectory walk.
2. the omnibearing movable mechanism control system of laser navigation is based on as claimed in claim 1, it is characterised in that:Described
Detection robot includes robot body, also including omni-directional wheel, driver, the axles of ROS tetra- control being arranged on robot body
System, RPLIDAR laser radars and the limit switch installing plate for installing limit switch；The described axles of ROS tetra- control system
The positional information that system passes through RPLIDAR laser radar Real-time Feedbacks, the rotating speed and steering by driver control omni-directional wheel is realized
Detect the traversing of robot, diagonal and rotate in place motion around own axes, it is ensured that the predefined paths walking of detection Robot；
The positional information that the described axle control systems of ROS tetra- are measured by limit switch, realizes the essence to detecting robot stop position
Really control.
3. the omnibearing movable mechanism control system of laser navigation is based on as claimed in claim 2, it is characterised in that:Also include
Data acquisition module, the positional information that described data collecting module collected limit switch is measured is adopted according to design requirement adjustment
Sample speed.
4. the omnibearing movable mechanism control system of laser navigation is based on as claimed in claim 3, it is characterised in that:Also include
Data processing module and data analysis module, the signal that described data processing module receiving data acquisition module is gathered simultaneously passes through
Data analysis module carries out data analysis, and analysis result is sent into the axle control systems of ROS tetra-, the axle control systems of ROS tetra- according to
The motion state of analysis result adjustment detection robot, realizes the control to detecting robot motion state and path.
5. the omnibearing movable mechanism control system of laser navigation is based on as claimed in claim 4, it is characterised in that:Described
RPLIDAR laser radars 4 have the configurable scan frequencies of 2-10Hz, can control RPLIDAR laser thunders by motor PWM signal
The scan frequency for reaching.
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Cited By (15)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107102641A (en) * | 2017-05-18 | 2017-08-29 | 湖北工业大学 | A kind of original place driftage spinning solution based on laser aiming two-wheel differential AGV |
| CN107876995A (en) * | 2017-11-22 | 2018-04-06 | 郑州大学 | Portable laser engraving machine |
| CN107943026A (en) * | 2017-11-09 | 2018-04-20 | 国网湖北省电力公司 | Mecanum takes turns inspecting robot and its inspection method |
| CN107992055A (en) * | 2017-12-29 | 2018-05-04 | 深圳市镭神智能系统有限公司 | A kind of independent navigation equipment and autonomous navigation method |
| CN108469824A (en) * | 2018-04-08 | 2018-08-31 | 浙江国自机器人技术有限公司 | A kind of floor-cleaning machine device people teaching type engineering construction system and method |
| CN109100745A (en) * | 2018-08-22 | 2018-12-28 | 扬州行舟科技有限公司 | A kind of water conservancy pumping plant automatic tour inspection system |
| CN109964596A (en) * | 2019-04-01 | 2019-07-05 | 华南农业大学 | A kind of direct sowing of rice apparatus and method based on intelligent robot |
| CN110143396A (en) * | 2019-06-27 | 2019-08-20 | 广东利元亨智能装备股份有限公司 | Intelligent cruise vehicle |
| CN110209176A (en) * | 2019-06-28 | 2019-09-06 | 北京史河科技有限公司 | A kind of robot |
| CN110436093A (en) * | 2019-09-16 | 2019-11-12 | 福建工程学院 | A kind of rubbish cleaning classification vehicle and rubbish clear up classification method |
| CN111239074A (en) * | 2020-02-07 | 2020-06-05 | 云南电网有限责任公司电力科学研究院 | Terahertz detection robot and detection method |
| CN112882475A (en) * | 2021-01-26 | 2021-06-01 | 大连华冶联自动化有限公司 | Motion control method and device of Mecanum wheel type omnibearing mobile robot |
| CN113848932A (en) * | 2021-10-09 | 2021-12-28 | 国网智能科技股份有限公司 | Laser navigation system and method for valve hall fire-fighting robot |
| CN114105040A (en) * | 2021-12-07 | 2022-03-01 | 江南大学 | Four-way moving double-chassis nesting without turning radius for alternately lifting AGV |
| CN114233378A (en) * | 2021-12-17 | 2022-03-25 | 中国十七冶集团有限公司 | Goaf self-walking drilling and grouting integrated equipment and installation and use method |
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| CN107943026A (en) * | 2017-11-09 | 2018-04-20 | 国网湖北省电力公司 | Mecanum takes turns inspecting robot and its inspection method |
| CN107876995A (en) * | 2017-11-22 | 2018-04-06 | 郑州大学 | Portable laser engraving machine |
| CN107992055A (en) * | 2017-12-29 | 2018-05-04 | 深圳市镭神智能系统有限公司 | A kind of independent navigation equipment and autonomous navigation method |
| CN108469824A (en) * | 2018-04-08 | 2018-08-31 | 浙江国自机器人技术有限公司 | A kind of floor-cleaning machine device people teaching type engineering construction system and method |
| CN109100745B (en) * | 2018-08-22 | 2020-08-07 | 江苏省江都水利工程管理处 | Automatic system of patrolling and examining of water conservancy pump station |
| CN109100745A (en) * | 2018-08-22 | 2018-12-28 | 扬州行舟科技有限公司 | A kind of water conservancy pumping plant automatic tour inspection system |
| CN109964596A (en) * | 2019-04-01 | 2019-07-05 | 华南农业大学 | A kind of direct sowing of rice apparatus and method based on intelligent robot |
| CN110143396A (en) * | 2019-06-27 | 2019-08-20 | 广东利元亨智能装备股份有限公司 | Intelligent cruise vehicle |
| CN110209176A (en) * | 2019-06-28 | 2019-09-06 | 北京史河科技有限公司 | A kind of robot |
| CN110436093A (en) * | 2019-09-16 | 2019-11-12 | 福建工程学院 | A kind of rubbish cleaning classification vehicle and rubbish clear up classification method |
| CN111239074A (en) * | 2020-02-07 | 2020-06-05 | 云南电网有限责任公司电力科学研究院 | Terahertz detection robot and detection method |
| CN112882475A (en) * | 2021-01-26 | 2021-06-01 | 大连华冶联自动化有限公司 | Motion control method and device of Mecanum wheel type omnibearing mobile robot |
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Application publication date: 20170510 |