CN106864617B - Self-balancing robot system - Google Patents
Self-balancing robot system Download PDFInfo
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- CN106864617B CN106864617B CN201710217713.7A CN201710217713A CN106864617B CN 106864617 B CN106864617 B CN 106864617B CN 201710217713 A CN201710217713 A CN 201710217713A CN 106864617 B CN106864617 B CN 106864617B
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D57/00—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track
- B62D57/02—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track with ground-engaging propulsion means, e.g. walking members
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
- B25J19/02—Sensing devices
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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
- B25J9/1674—Programme controls characterised by safety, monitoring, diagnostic
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
- Y02T10/00—Road transport of goods or passengers
- Y02T10/60—Other road transportation technologies with climate change mitigation effect
- Y02T10/72—Electric energy management in electromobility
Abstract
The invention provides a self-balancing robot system, and relates to the technical field of robots. The robot body is an integral frame with a four-column eight-beam structure, and the bottom of the robot body is connected with the load assembly through columns; the three driving wheel sets which are annularly and uniformly distributed are connected with the load-carrying assembly through bolts, and the rims of the driving wheel sets are contacted with the spherical surface; the load assembly is connected with the spherical surface through a universal ball bearing, one end of the load arm is overlapped with one end of the annular support and is provided with a through hole, and the lower end of the upright post penetrates through the through hole of the overlapped part and is fixed through a nut; the other end of the bearing arm is fixed with the spring steel sheet, one end of the limiting claw is fixed with the spring steel sheet through a bolt, and the other end of the limiting claw is provided with a universal ball bearing; the other end of the annular support is fixed with the fixed arm through a bolt, and an output shaft of the speed reducer is connected with the omnidirectional wheel through a key and a key slot; the motor support passes through the fixed arm and is connected with the motor module; the linear shaft passes through the linear bearing and is connected with the fixed arm. The robot balancing device is mainly used for robot balancing.
Description
Technical Field
The invention relates to the technical field of robots.
Background
With the rise in labor costs, mobile robots are becoming more widely used in various industries. The robots which are widely used at present are mainly wheel-type, crawler-type, foot-type and other static balance robots, and have the defects of inflexible steering, large occupied space for maintaining self stability and the like. Although the problems are solved to a certain extent, the interior spherical robot has the defects of larger volume, weaker environment sensing capability and the like because the moving mechanism, the sensor, the controller and other parts are arranged inside the sphere, and the interior spherical robot is not applied to the prior art.
The outer spherical self-balancing robot takes the ball as a driving wheel, and places the components above the ball, so that the problems of inflexible steering, large occupied space and the like are well solved. The outer spherical self-balancing robot is a dynamic balancing robot, has better stability relative to a static balancing robot, can realize movement in any direction on the ground, has no turning radius, and is suitable for being used in narrow and crowded spaces. Chinese patent CN 102991600A proposes an outer sphere type self-balancing robot structure, but since sliding friction is generated between the sphere and the driving wheel during movement, stability is still insufficient, no independent bearing structure exists, and the bearing capacity of the robot is poor. At present, the outer spherical self-balancing robot is still to be perfected.
Disclosure of Invention
The invention aims to provide a self-balancing robot system which can effectively solve the problem of dynamic balance under the condition of robot load.
The invention aims at realizing the following technical scheme: a self-balancing robot system comprises a robot body, a remote monitoring auxiliary computer, a power supply and a binocular depth camera, wherein the robot body is an integral frame of a four-upright eight-beam structure, and the bottom of the integral frame is connected with a load assembly through upright posts; the three driving wheel sets which are annularly and uniformly distributed are connected with the load-carrying assembly through bolts, and the rims of the driving wheel sets are contacted with the spherical surface; the load assembly is connected with the spherical surface through a universal ball bearing, one end of the load arm is overlapped with one end of the annular support and is provided with a through hole, and the lower end of the upright post penetrates through the through hole of the overlapped part and is fixed through a nut; the other end of the bearing arm is fixed with the spring steel sheet, the middle part is provided with a universal ball bearing, one end of the limiting claw is fixed with the spring steel sheet through a bolt, and the other end is provided with a universal ball bearing; the other end of the annular support is fixed with the fixed arm through a bolt, and an output shaft of the speed reducer is connected with the omnidirectional wheel through a key and a key slot; the motor support passes through the fixed arm and is connected with the motor module; the linear shaft passes through the linear bearing and is connected with the fixed arm; the spring is sleeved on the linear shaft and is positioned between the fixed arm and the motor support.
The shelf in the integral frame is provided with a control system and a power supply, and the outer side of the middle part of the beam below is provided with a binocular depth camera.
The control system comprises a microcomputer, a motor controller, an inertial sensor and an indoor positioning module, wherein the motor controller, the inertial sensor and the indoor positioning module are all connected with the microcomputer through cables.
The control system and the driving wheel set are connected with a power supply through cables; the binocular depth camera is connected with the control system through a cable.
The robot body is connected with the remote monitoring auxiliary computer through a cable.
The motor module comprises an encoder, a direct current servo motor and a speed reducer, wherein the encoder is connected with the direct current servo motor, and the speed reducer is connected with an output shaft of the direct current motor.
The driving wheel set consists of a motor module, a wheel set suspension and an omnidirectional wheel, wherein the motor module comprises an encoder, a direct current servo motor and a speed reducer, the encoder is connected with the direct current servo motor and synchronously rotates with the motor, and the actual rotating speed of the motor is detected; the speed reducer is connected with the output shaft of the direct current motor, reduces the output rotating speed and improves the output torque; an output shaft of the speed reducer is connected with the omnidirectional wheel through a key and a key slot, and the rotation of the output shaft is converted into the rotation of the omnidirectional wheel; the speed reducer is connected with the wheel set in a hanging way.
The wheel set suspension comprises a motor support, a fixed arm, a linear bearing, a spring and a linear shaft, wherein the fixed arm is connected with the annular support; the motor support passes through the fixed arm and is connected with the motor module; the linear bearing is connected with the motor support; the linear shaft penetrates through the linear bearing to be connected with the fixed arm, so that the displacement direction of the motor support is limited; the spring is sleeved on the linear shaft and is positioned between the fixed arm and the motor support. The wheel set suspension ensures real-time contact between the omni-wheel and the ball, so that the omni-wheel can always drive the ball to rotate.
The binocular depth camera can acquire three-dimensional information of the environment where the robot is located in real time, three-dimensional map construction and instant positioning of the environment where the robot is located are achieved, and a basic map is provided for autonomous path planning and navigation of the robot.
The control system consists of a high-performance microcomputer, a motor controller, an inertial sensor and an indoor high-precision positioning module, wherein the motor controller, the inertial sensor and the indoor high-precision positioning module are all electrically connected with the high-performance microcomputer. The high-performance microcomputer processes the collected real-time attitude information and the position information, converts the processed real-time attitude information and the position information into control signals, transmits the control signals to the motor controller, and then the control signals are converted into control signals of the direct-current servo motor by the motor controller to control the servo motor to rotate, so that balance control and motion control of the robot are realized.
The control system and the remote monitoring auxiliary computer are both carried with ROS (Robot Operating System) robot operating systems, the system is a distributed secondary operating system, data transmission among different devices and message transmission among different processes can be realized, so that the data processing and control processes of the ectosphere type self-balancing robot system can be operated on different computers, the working efficiency of the robot system is improved, and the expansibility of the robot system is improved.
Compared with the prior art, the invention has the following advantages:
1. the invention is thin and high in whole, maintains self stability through dynamic balance, has stronger capability of restoring balance under the action of external force, does not fall down, and uses the ball to replace the traditional wheel, thereby realizing the non-radius steering and omnibearing movement of the robot and having stronger maneuverability even in narrow and crowded environments.
2. The invention adopts the omni-wheel as the driving wheel for driving the ball to rotate, reduces the sliding friction between the ball and the driving wheel, and enhances the stability of the robot. The robot has a loading structure, and the contact area with the ball is increased under the condition of not affecting the free rotation of the ball, so that the robot can bear heavier load.
3. The invention uses high-precision indoor positioning module, binocular depth camera and other sensors, and adopts high-performance microcomputer as main onboard controller, so that the robot can autonomously realize map establishment, instant positioning and path planning, and the intelligent degree of the robot system is higher.
4. According to the invention, the ROS is adopted as a main control system, so that efficient and stable data transmission between different controllers and computers is realized, different tasks are reasonably distributed on different computers or controllers in the same network, the state of the robot can be monitored in real time, auxiliary data processing is provided, the working efficiency of the robot system is improved, and the expansibility of the robot system is improved.
Drawings
Fig. 1 is a schematic structural view of a robot body;
FIG. 2 is a schematic top view of the drive wheel set, load carrying assembly and ball;
FIG. 3 is a cross-sectional view taken in the direction A-A of FIG. 2;
FIG. 4 is a schematic structural view of a wheelset suspension;
FIG. 5 is a schematic diagram of the basic control principle of the present invention;
fig. 6 is a control architecture diagram of the present invention.
Detailed Description
The invention is further described below with reference to the drawings and the detailed description.
As shown in fig. 1 and 2, the present invention relates to a self-balancing robot system comprising a robot body and a remote monitoring auxiliary computer 22. The robot body is provided with an integral frame 2, a loading assembly, a driving wheel set 14, a ball 20, a control system, a power supply 1 and a binocular depth camera 21; the integral frame 2 of the four-column eight-beam structure consists of aluminum profiles, corner connectors and aluminum plates, and the aluminum profiles and the aluminum plates are fixedly connected through the corner connectors; the control system, the binocular depth camera 21 and the power supply 1 are all arranged on the integral frame 2, and the integral frame 2 is connected with the load assembly through the upright post 7; the three driving wheel sets 14 are all connected with the load assembly through bolts, the three driving wheel sets 14 are annularly and uniformly distributed and are all contacted with the ball 20, and the ball 20 is driven to rotate through friction force; the load assembly is connected with the ball 20 through the universal ball bearing 9, so that the free rotation of the ball 20 is not influenced while the position of the ball center is unchanged; the control system and the driving wheel set 14 are electrically connected with the power supply 1; the control system is electrically connected with the driving wheel set 14; the binocular depth camera 21 is electrically connected with a control system; information is transmitted between the robot body and the remote monitoring auxiliary computer 22 by wireless communication.
As shown in fig. 3, the load assembly consists of a stand column 7, an annular support 8, a universal ball bearing 9, a spring steel sheet 10, a bearing arm 11 and a limiting claw 12, wherein the bearing arm 11 is fixed on the annular support 8 through the stand column 7 and a nut; the limiting claw 12 is connected with the bearing arm 11 through the spring steel sheet 10, so that the limiting claw 12 can press the ball 20, and the ball 20 is prevented from falling out of the robot body; the bearing arm 11 and the limiting claw 12 are both provided with the universal ball bearing 9, the universal ball bearing 9 is contacted with the ball 20, and the free rotation of the ball 20 is not influenced while the gravity of the robot body is transferred to the ball 20.
The driving wheel set 14 consists of a motor module 13, a wheel set suspension 16 and an omnidirectional wheel 19, wherein the motor module 13 comprises an encoder, a direct current servo motor and a speed reducer, the encoder is connected with the direct current servo motor and synchronously rotates with the motor, and the actual rotating speed of the motor is detected; the speed reducer is connected with the output shaft of the direct current motor, reduces the output rotating speed and improves the output torque; the output shaft of the speed reducer is connected with the omnidirectional wheel 19 through a key and a key slot, and the rotation of the output shaft is converted into the rotation of the omnidirectional wheel 19; the decelerator is connected to the wheelset suspension 16.
As shown in fig. 4, the wheel set suspension 16 comprises a motor support 14, a fixed arm 15, a linear bearing 16, a spring 17 and a linear shaft 18, wherein the fixed arm 15 is connected with the annular support 8; the motor support 14 passes through the fixed arm 15 and is connected with the motor module 13; the linear bearing 16 is connected with the motor support 14; the linear shaft 18 passes through the linear bearing 16 and is connected with the fixed arm 15, so that the displacement direction of the motor support 14 is limited; the spring 17 is fitted over the linear shaft 18 and is located between the fixed arm 15 and the motor support 14. The wheelset suspension 16 ensures real-time contact between the omni-wheel 19 and the ball 20 so that the omni-wheel 19 can always drive the ball 20 in rotation.
As shown in fig. 5, the control system is composed of a high-performance microcomputer 3, a motor controller 6, an inertial sensor 4 and an indoor high-precision positioning module 5, and the motor controller 6, the inertial sensor 4 and the indoor high-precision positioning module 5 are electrically connected with the high-performance microcomputer 3. The inertial sensor 4 is used for acquiring the attitude information of the robot in real time, the indoor high-precision positioning module 5 is used for acquiring the accurate position information of the robot in real time, the high-performance microcomputer 3 processes the acquired real-time attitude information and the position information and then converts the processed real-time attitude information and the position information into control signals to be transmitted to the motor controller 6, and the control signals converted into the control signals of the direct-current servo motor by the motor controller 6 control the servo motor to rotate, so that balance control and motion control of the robot are realized.
As shown in fig. 6, an overall control architecture diagram of the present invention is shown. The whole control system mainly comprises a high-performance microcomputer arranged on the robot body and a remote monitoring auxiliary computer. The high-performance microcomputer and the remote monitoring computer both adopt an ROS system, the high-performance microcomputer collects and fuses data from an inertial sensor, an encoder, a high-precision indoor positioning module and a binocular depth camera, the data are communicated with a remote auxiliary computer through WIFI, the remote auxiliary computer performs auxiliary data processing, and finally map construction, instant positioning, autonomous path planning and motor driving control are realized on the high-performance microcomputer.
Claims (3)
1. The self-balancing robot system comprises a robot body, a remote monitoring auxiliary computer (22), a power supply (1) and a binocular depth camera (21), and is characterized in that the robot body connected with the remote monitoring auxiliary computer (22) through a cable is an integral frame (2) of a four-column eight-beam structure, the bottom of the integral frame (2) is connected with a load assembly through a column (7), a control system and the power supply (1) are arranged on a shelf in the integral frame (2), and the binocular depth camera (21) is arranged on the outer side of the middle part of a beam below the integral frame; the control system and the driving wheel set are connected with a power supply (1) through cables; the binocular depth camera (21) is connected with the control system through a cable; the three driving wheel sets which are annularly and uniformly distributed and are composed of a motor module (13), a wheel set suspension and an omnidirectional wheel (19) are connected with a load assembly through bolts, and the rims of the driving wheel sets are contacted with the surface of a ball (20);
the load assembly is connected with the surface of a ball (20) through a universal ball bearing (9), one end of a bearing arm (11) is overlapped with one end of an annular support (8) and is provided with a through hole, and the lower end of a stand column (7) penetrates through the through hole of the overlapped part and is fixed through a nut; the other end of the bearing arm (11) is fixed with a spring steel sheet (10), the middle part is provided with a universal ball bearing (9), one end of the limiting claw (12) is fixed with the spring steel sheet (10) through a bolt, and the other end is provided with the universal ball bearing (9); the other end of the annular support (8) is fixed with the fixed arm (15) through a bolt, and an output shaft of the speed reducer is connected with the omnidirectional wheel (19) through a key and a key slot; the motor support (14) passes through the fixed arm (15) to be connected with the motor module (13); the linear shaft (18) passes through the linear bearing (16) and is connected with the fixed arm (15); the spring (17) is sleeved on the linear shaft (18) and is positioned between the fixed arm (15) and the motor support (14).
2. A self-balancing robotic system as claimed in claim 1, wherein: the control system comprises a microcomputer (3), a motor controller (6), an inertial sensor (4) and an indoor positioning module (5), wherein the motor controller (6), the inertial sensor (4) and the indoor positioning module (5) are all connected with the microcomputer (3) through cables.
3. A self-balancing robotic system as claimed in claim 1, wherein: the motor module (13) comprises an encoder, a direct current servo motor and a speed reducer, wherein the encoder is connected with the direct current servo motor, and the speed reducer is connected with an output shaft of the direct current motor.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710217713.7A CN106864617B (en) | 2017-04-05 | 2017-04-05 | Self-balancing robot system |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710217713.7A CN106864617B (en) | 2017-04-05 | 2017-04-05 | Self-balancing robot system |
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| Publication Number | Publication Date |
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| CN106864617A CN106864617A (en) | 2017-06-20 |
| CN106864617B true CN106864617B (en) | 2023-05-26 |
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| CN201710217713.7A Active CN106864617B (en) | 2017-04-05 | 2017-04-05 | Self-balancing robot system |
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Families Citing this family (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107616760A (en) * | 2017-09-25 | 2018-01-23 | 吴佳芮 | A kind of steering mechanism of smart home clean robot |
| CN107639647A (en) * | 2017-10-30 | 2018-01-30 | 桂林电子科技大学 | The wrist joint of robot mechanism of omnidirectional's wheel drive |
| CN109434862B (en) * | 2018-11-30 | 2021-09-07 | 北京精密机电控制设备研究所 | Active friction end effector for two-dimensional space friction application |
| CN110253526A (en) * | 2019-07-11 | 2019-09-20 | 南方科技大学 | A kind of station ball-type robot |
| CN110587618B (en) * | 2019-08-28 | 2020-10-13 | 北京航空航天大学 | Self-balancing motion platform driven by double ball wheels |
| CN111216826A (en) * | 2020-01-14 | 2020-06-02 | 华南理工大学广州学院 | Ball moving balance robot system |
| CN111232074A (en) * | 2020-01-14 | 2020-06-05 | 华南理工大学广州学院 | Ball moving balance robot with real-time monitoring function |
Family Cites Families (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102991600A (en) * | 2012-12-10 | 2013-03-27 | 北京交通大学 | Ball type self-balancing robot |
| CN103612254B (en) * | 2013-11-14 | 2015-12-09 | 北京交通大学 | A kind of loading robot utilizing flying wheel to drive |
| CN104155976B (en) * | 2014-07-18 | 2016-08-24 | 北京理工大学 | Autonomous type ball wheel mobile robot and control method thereof |
| CN104985584A (en) * | 2015-07-20 | 2015-10-21 | 北京工业大学 | Spherical self-balancing robot |
| CN105058398B (en) * | 2015-08-04 | 2017-03-22 | 北京理工大学 | Spherical-wheel mobile robot and speed measuring method thereof |
| KR101685339B1 (en) * | 2016-08-23 | 2016-12-12 | 주식회사 맥스로텍 | Ball-driven robot |
| CN106393108A (en) * | 2016-10-17 | 2017-02-15 | 南昌航空大学 | Independent-state single-spheroid self-balanced movement device |
| CN206679112U (en) * | 2017-04-05 | 2017-11-28 | 西南交通大学 | A kind of self-balance robot system |
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2017
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