CN107472399A - A kind of transportation robot dolly and its control method - Google Patents
A kind of transportation robot dolly and its control method Download PDFInfo
- Publication number
- CN107472399A CN107472399A CN201710655214.6A CN201710655214A CN107472399A CN 107472399 A CN107472399 A CN 107472399A CN 201710655214 A CN201710655214 A CN 201710655214A CN 107472399 A CN107472399 A CN 107472399A
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- China
- Prior art keywords
- robot
- processor
- robot car
- control
- car
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- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
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Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D63/00—Motor vehicles or trailers not otherwise provided for
- B62D63/02—Motor vehicles
- B62D63/04—Component parts or accessories
-
- 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
Abstract
The invention discloses a kind of transportation robot dolly and its control method, and it includes vehicle frame, mechanical arm, Power Component, master control borad and the module that tracks；Processor in the master control borad periodically receives the path signal for the module transmission that tracks, and the processor controls Power Component to run according to path signal so that robot car travels in the preset path for scribble solid color；The processor receives the position signalling, and the processor controls steering wheel according to position signalling, and then controls the run action of swing arm.The present invention detects preset path situation automatically by the module that tracks, the robot car is advanced according to preset path, Power Component robot car is controlled to advance by processor, pass through the processor control machinery arm free movement, the robot car is very intelligent, and automaticity is very high.
Description
Technical field
The present invention relates to robot car technical field, more particularly to a kind of transportation robot dolly and its controlling party
Method.
Background technology
Intelligent carriage is widely used in detection, monitoring, fire-fighting, remote operation, amusement etc..Intelligent carriage can also be recognized
To be a kind of robot, the research both at home and abroad to this respect in the last few years deepens continuously, and achieves many great successes, intelligence
The function of car also constantly strengthens, and it is all typical case that personnel, which search and rescue etc., when mars exploration car, natural calamity.Intelligent carriage it is wireless
The researchs such as remote control, wireless sensing have attracted the notice of numerous researchers, and many sensors are mounted with some intelligent carriages,
Processor operational capability is also very strong, and the perception of height can be carried out to surrounding environment, carries out computing to image information, is almost not required to
The intervention of very important person can complete complex task, such as mars exploration car, but some intelligent vehicles using difference due to that need not carry
Many sensors, not strong to surrounding environment perception, processor ability is nor very strong, i.e., " brain " of intelligent carriage is inadequate
Prosperity to it, it is necessary to carry out installing another powerful " brain " --- computer, intelligent carriage can be the letter collected
Number being sent to computer by radio communication is handled, and intelligent carriage can also receive to be transported come the instruction to computer
Dynamic, operating personnel can also be by computer come remote-controlled intelligent dolly so that and intelligent carriage has another powerful " brain ",
Preferably complete task.
The intelligent robot car wireless remote-control system that tracks certainly that existing Chinese patent publication No. is CN103163882A,
The radio communication transferring system and wirelessly connect with radio communication transferring system that it includes host computer, connects with host computer
The robot car control system for connecing and communicating, radio communication transferring system include transceiver controller module, transfer wireless receiving and dispatching
Module and wired communication interface circuit module, robot car control system include agv controller module, power module and small
Vehicle radio transceiver module, the input of agv controller module are terminated with signal conditioning circuit, the input termination of signal conditioning circuit
There are temperature sensor module, moisture sensor module, infrared sensor module, obstacle avoidance module and velocity sensor, dolly control
The output of device module is terminated with four stepper motor drivers.It needs that, by connecting bit machine control, wireless remote need to be passed through
Control, very inconvenient when this dolly is applied into transport article, intelligence degree is not high.
The content of the invention
In view of the above-mentioned state of the art, the technical problems to be solved by the invention are to provide a kind of transportation robot
Dolly and its control method.
Technical scheme is a kind of control method of transportation robot dolly used by the present invention solves above-mentioned technical problem,
It includes：
Vehicle frame, the lower end of the vehicle frame are provided with multiple wheels；
Mechanical arm, the mechanical arm are arranged on vehicle frame, and the mechanical arm includes multiple steering wheels and multiple swing arms, Duo Gesuo
The multiple swing arms of servo driving are stated, each steering wheel is equipped with position detector, the position of the position detector detection swing arm
And generate position signalling；
Power Component, the Power Component drive multiple vehicle wheel rotations so that robot car is advanced；
Master control borad, the master control borad are arranged on vehicle frame, and the master control borad is provided with processor, the processor control machine
The athletic performance of tool arm, the operation of the processor control Power Component；
Tracked module, and the module that tracks is set on vehicle frame, and the module that tracks is by identifying that it is single that colour recognition scribbles
The preset path of color, and generate path signal；
Wherein, the processor periodically receives the path signal for the module transmission that tracks, and the processor is according to path signal
Control Power Component operation so that robot car travels in the preset path for scribble solid color；The processor receives
The position signalling, the processor controls steering wheel according to position signalling, and then controls the run action of swing arm.
Further, multiple steering wheels correspond with multiple swing arms, the rotational angle of steering wheel and the position pair of swing arm
Should, the resistance value of position detector is corresponding with the steering wheel rotational angle, and the position detector generates according to its resistance value
Position signalling, the processor judge the position of swing arm according to position signalling.
Further, Power Component is provided with the driving of at least two motors and multiple motors, and the driving of each motor is at least driven
A motor is moved, multiple motors correspond with the multiple wheel.
Further, the motor be driven through controlled motor rotate forward, invert control the robot car advance and
Fall back.
Further, the motor is driven through the speed of service of control machine people's dolly both sides motor so that robot
Turn, when robot car turns left, control the motor operation speed on the right side of the robot car to be more than robot car left
The speed of service turned, when robot car is turned right, passes through the motor operation described in the drive and control of electric machine on the left of robot
Speed is more than the speed of service on the right side of robot car；
Or the motor of the drive and control of electric machine robot car side rotates forward, the motor reversal of opposite side so that machine
People turns, and when robot car turns left, reversion, right side rotate forward on the left of robot car described in the drive and control of electric machine, when
When robot car is turned right, rotated forward on the left of robot car described in the drive and control of electric machine, right side reversion.
A kind of control method of transportation robot dolly, comprises the following steps：
S1, the robot car is arranged in the preset path for scribble solid color and travelled, multiple modules that track are led to
Identification colour recognition preset path is crossed, and then generates path signal, and sends path signal to processor；
S2, the position detector in mechanical arm detect the position of each swing arm by detecting each steering wheel rotational angle
Put, and then generate position signalling, and send position signalling to processor；
S3, the processor in master control borad receives the path signal of multiple modules transmissions that track and position detector sends
Position signalling, the processor control servo driving swing arm according to position signalling；The processor controls institute according to path signal
Power Component operation is stated, and then the robot car is advanced.
Further, in step sl, multiple modules that track detect from the front of the robot car, left, rear
Preset path, the module that each tracks generate path signal.
Further, in step sl, the module that tracks is periodically to the robot car transmitting path signal.
Further, in step S2, the rotational angle of steering wheel and the position correspondence of swing arm, the position detector resistance value
Corresponding with the steering wheel rotational angle, the position detector generates position signalling according to its resistance value.
Further, in step s3, in the traveling process of the robot car, the processor RX path letter
Number, judge the relative position of each wheel and the preset path in robot car, the processor controls Power Component
The travel direction of robot car is adjusted, all wheels of robot car is among the preset path.
The present invention detects preset path situation automatically by the module that tracks, and the robot car is according to preset path row
Enter, control Power Component robot car to advance by processor, by the processor control machinery arm free movement,
The robot car is very intelligent, and automaticity is very high.
Brief description of the drawings
Fig. 1 is the bright dimensional structure diagram of this law；
Fig. 2 is the flow chart of the present invention.
Embodiment
It is the specific embodiment of the present invention and with reference to accompanying drawing below, technical scheme is further described,
But the present invention is not limited to these embodiments.
Embodiment 1
It refer to Fig. 1-Fig. 2, a kind of transportation robot dolly of the present invention, including：
Vehicle frame 100, the lower end of the vehicle frame 100 is provided with multiple wheels 200, in this embodiment, the quantity of wheel 200
For four.
Mechanical arm 300, the mechanical arm 300 are arranged on vehicle frame 200, and the mechanical arm 300 includes multiple Hes of steering wheel 310
Multiple swing arms 320, multiple steering wheels 310 drive multiple swing arms 320, and each steering wheel 310 is equipped with position detector, institute
State the position of position detector detection swing arm 320 and generate position signalling.
Power Component, the Power Component drive four wheels 200 to rotate so that robot car is advanced.The power
Component includes two motors and drives 500 and four motors 600, and two motors 600 of control of motor driving 500, motor 600 can
Rotated with band motor car wheel 200, a motor 600 drives a wheel 200 to move, the control motor of motor driving 500
600 rotate forward or invert, and then control the robot car to move forward and backward.The resistance value of steering wheel 310 and the steering wheel 310
Rotational angle is corresponding, and the position detector generates position signalling, the processor root according to the resistance value of each steering wheel 310
The position of each swing arm 320 is judged according to position signalling.
Master control borad 400, the master control borad 400 are arranged on vehicle frame 100, and the master control borad 400 is provided with processor, master control
Plate 400 is connected with multiple steering wheels 310 in the mechanical arm 300 respectively with by signal wire.The processor control machinery arm
300 athletic performance, the operation of the processor control Power Component；The model arduino of the processor
mega2560。
In this embodiment, the quantity of motor driving 500 is two, and each motor drives 500 modules to control two electricity
Machine 600, six signal pins (ENA, ENB, IN1, IN2, IN3, IN4) of motor driving 500 respectively with the master control borad
400 digital pin is connected.
The master control borad 400 is also connected with the Power Component, the processor control Power Component in the master control borad 400
In motor driving 500,500 can be turned by motor driving with control machine people dolly.The motor driving 500 passes through control
The speed of service of robot car both sides motor 600 so that robot turns.
When robot car turns left, the speed of service of motor 600 on the right side of the robot car is controlled to be more than robot
The speed of service that dolly turns left, when robot car is turned right, on the left of the control robot of motor driving 500
The speed of service of motor 600 is more than the speed of service on the right side of robot car.
Or the motor drives the motor 600 of 500 control machine people's dolly sides to rotate forward, the motor 600 of opposite side inverts,
So that robot turns, when robot car turns left, inverted on the left of the control robot car of motor driving 500,
Right side rotates forward, and when robot car is turned right, rotating forward, right side are anti-on the left of the control robot car of motor driving 500
Turn.
The forward and backward of 500 controlled motors 600 is driven to control the robot car to advance and fall back by motor.
In this embodiment, the quantity of the motor driving 500 is two, and a motor drives 500 control machine people
The motor 600 of dolly side.Wherein the quantity of motor 600 is four, and four motors 600 drive four wheels 200 respectively.
Tracked module, and the module that tracks is set on vehicle frame 100, and the module that tracks is by identifying that colour recognition scribbles list
The preset path of one color, and generate path signal.
The module that tracks is by identifying color discrimination preset path.For example, red track is preset as the machine
The running track of people's dolly, the module identification red that tracks can identify preset path.
Wherein, the processor periodically receives the path signal for the module transmission that tracks, and the processor is according to path signal
Control Power Component operation so that robot car travels in preset path；The processor receives the position signalling, institute
State processor and steering wheel 310 is controlled according to position signalling, and then control the run action of swing arm 320.
Multiple steering wheels 310 correspond with multiple swing arms 320, the rotational angle of steering wheel 310 and the position of swing arm 320
Corresponding, the resistance value of position detector is corresponding with the rotational angle of steering wheel 310, and the position detector is according to its resistance value
Position signalling is generated, the processor judges the position of swing arm 320 according to position signalling.One steering wheel 310 drives a swing arm
320, multiple actions of swing arm 320 coordinate the molar behavior for completing mechanical arm 300.
Power Component is provided with multiple motors driving 500 and multiple motors 600, and each motor driving 500 at least drives one
Individual motor 600, multiple motors 600 correspond with the multiple wheel 200.
Lithium battery is additionally provided with the vehicle frame 100, the lithium battery is that motor drives 500, motor 600, master control borad 400 to supply
Electricity.
Embodiment two
According to Fig. 1-Fig. 2, the present embodiment, a kind of control method of transportation robot dolly, comprise the following steps：
S1, the robot car is arranged in the preset path for scribble solid color and travelled, multiple modules that track are led to
Identification colour recognition preset path is crossed, and then generates path signal, and sends path signal to processor；The preset path with
The color for locating environment described in preset path is different.
Multiple modules that track detect default path from the front of the robot car, left, rear, and each track mould
Block generates path signal, and the module that each tracks directly sends respective path signal to processor.
The module that tracks can also identify the bend of track, track grade, and the module that tracks is periodically to the machine
People's dolly transmitting path signal, in this embodiment, the quantity of the module that tracks is three, and the module that tracks is that five tunnels track
Module, three five road tracking modules are every 0.5 second transmitting path signal to processor.
S2, the position detector in mechanical arm 300 detect each swing arm by detecting each rotational angle of steering wheel 310
320 position, and then position signalling is generated, and position signalling is sent to processor；The processor judges each swing arm
320 swing arm 320 act before position, by controlling steering wheel 310 to control the run action of each swing arm 320.
In step S2, the rotational angle of steering wheel 310 and the position correspondence of swing arm 320, the position detector resistance value with
The rotational angle of steering wheel 310 is corresponding, and the position detector generates position signalling according to its resistance value.
S3, the processor in master control borad 400 receive the path signal and position detector hair of multiple modules transmissions that track
The position signalling sent, the processor control steering wheel 310 to drive swing arm 320 according to position signalling；The processor is according to path
Signal controls the Power Component operation, and then the robot car is advanced.
In step s3, in the traveling process of the robot car, the processor RX path signal, machine is judged
Each wheel 200 and the relative position of the preset path in people's dolly, the processor control Power Component regulation machine
The travel direction of people's dolly, all wheels 200 of robot car are made to be among the preset path.
By four wheels 200 marked as 1,2,3,4, by the left side front-wheel that No. 1 wheel 200 is robot car, No. 2 cars are
The left side rear wheel of robot car；No. 3 wheels 200 are the robot car right side front wheel, and No. 4 wheels 200 are described
Robot car right side rear wheel, the track robot car diagonal line length, each wheel 200 are preset with described
The relative position in path has situations below：
No. 1 wheel 200 is outside preset path, and for other wheels 200 in preset path, processor control Power Component makes institute
State robot right-hand rotation.
1st, No. 2 wheels 200 are outside preset path, and in preset path, processor control Power Component makes other wheels 200
The robot turns right.
1st, No. 3 wheels 200 are on the left of preset path, and other wheels 200 are in preset path, processor control Power Component
The robot is set to turn right.
1st, No. 3 wheels 200 are on the right side of preset path, and other wheels 200 are in preset path, processor control Power Component
The robot is set to turn left.
1st, 2, No. 3 wheels 200 are outside preset path, and other wheels 200 are in preset path, processor control Power Component
The robot is set to turn right.
No. 2 wheels 200 are outside preset path, and for other wheels 200 in preset path, processor control Power Component makes institute
State robot first to keep straight on, if No. 2 wheels 200 enter in preset path, just turn left.
No. 3 wheels 200 are outside preset path, and for other wheels 200 in preset path, processor control Power Component makes institute
State robot left-hand rotation.
3rd, No. 4 wheels 200 are outside preset path, and in preset path, processor control Power Component makes other wheels 200
The robot turns left.
No. 4 wheels 200 are outside preset path, and for other wheels 200 in preset path, processor control Power Component makes institute
State robot first to keep straight on, if No. 4 wheels 200 enter in preset path, just turn right.
1st, for 2,3, No. 4 wheels 200 all on the left of preset path, processor control Power Component makes the robot turn right.
1st, for 2,3, No. 4 wheels 200 all on the right side of preset path, processor control Power Component makes the robot turn left.
This robot car is very convenient when transporting article, it is not necessary to external manipulation, can be with voluntarily
Default path is identified, when transporting object, according to default path from starting point transportation terminal, starting point, robot are returned to from terminal
Dolly can voluntarily realize turning, climb and fall, and fall back.
Specific embodiment described herein is only to spirit explanation for example of the invention.Technology belonging to the present invention is led
The technical staff in domain can be made various modifications or supplement to described specific embodiment or be replaced using similar mode
Generation, but without departing from the spiritual of the present invention or surmount scope defined in appended claims.
Claims (10)
- A kind of 1. transportation robot dolly, it is characterised in that including：Vehicle frame, the lower end of the vehicle frame are provided with multiple wheels；Mechanical arm, the mechanical arm are arranged on vehicle frame, and the mechanical arm includes multiple steering wheels and multiple swing arms, multiple rudders Machine drives multiple swing arms, and each steering wheel is equipped with position detector, the position of the position detector detection swing arm and life Into position signalling；Power Component, the Power Component drive multiple vehicle wheel rotations so that robot car is advanced；Master control borad, the master control borad are arranged on vehicle frame, and the master control borad is provided with processor, the processor control machinery arm Athletic performance, the operation of processor control Power Component；Tracked module, and the module that tracks is set on vehicle frame, and the module that tracks is by identifying that colour recognition scribbles solid color Preset path, and generate path signal；Wherein, the processor periodically receives the path signal for the module transmission that tracks, and the processor controls according to path signal Power Component is run so that robot car travels in the preset path for scribble solid color；Described in the processor receives Position signalling, the processor controls steering wheel according to position signalling, and then controls the run action of swing arm.
- A kind of 2. transportation robot dolly according to claim 1, it is characterised in that：Multiple steering wheels and multiple swing arms Correspond, the rotational angle of steering wheel and the position correspondence of swing arm, the resistance value of position detector and the steering wheel rotational angle Corresponding, the position detector generates position signalling according to its resistance value, and the processor judges swing arm according to position signalling Position.
- A kind of 3. transportation robot dolly according to claim 1, it is characterised in that：Power Component is provided with least two electricity Machine drives and multiple motors, and the driving of each motor at least drives a motor, a pair of multiple motors and the multiple wheel 1 Should.
- A kind of 4. transportation robot dolly according to claim 3, it is characterised in that：The motor is driven through control electricity Machine is rotated forward, inverted to control the robot car to advance and fall back.
- A kind of 5. transportation robot dolly according to claim 3, it is characterised in that：The motor is driven through control machine The speed of service of device people's dolly both sides motor so that robot turns, and when robot car turns left, controls the robot small Motor operation speed on the right side of car is more than the speed of service that robot car turns left, when robot car is turned right, by described Motor operation speed described in drive and control of electric machine on the left of robot is more than the speed of service on the right side of robot car；Or the motor of the drive and control of electric machine robot car side rotates forward, the motor reversal of opposite side so that robot turns Curved, when robot car turns left, reversion, right side rotate forward on the left of robot car described in the drive and control of electric machine, work as machine When people's dolly is turned right, rotated forward on the left of robot car described in the drive and control of electric machine, right side reversion.
- 6. a kind of control method of transportation robot dolly, it is characterised in that comprise the following steps：S1, the robot car is arranged in the preset path for scribble solid color and travelled, multiple modules that track pass through knowledge Other colour recognition preset path, and then path signal is generated, and path signal is sent to processor；S2, the position detector in mechanical arm detect the position of each swing arm by detecting each steering wheel rotational angle, entered And position signalling is generated, and position signalling is sent to processor；S3, the processor in master control borad receive the position that the path signal of multiple modules transmissions that track and position detector are sent Signal, the processor control servo driving swing arm according to position signalling；The processor controls power packages according to path signal Part is run, and then the robot car is advanced.
- A kind of 7. control method of transportation robot dolly according to claim 6, it is characterised in that：In step sl, For multiple modules that track from the front of the robot car, left, rear detection preset path, the module that each tracks generates road Footpath signal.
- A kind of 8. control method of transportation robot dolly according to claim 6, it is characterised in that：In step sl, The module that tracks is periodically to the robot car transmitting path signal.
- A kind of 9. control method of transportation robot dolly according to claim 6, it is characterised in that：In step S2, rudder The rotational angle of machine and the position correspondence of swing arm, the position detector resistance value is corresponding with the steering wheel rotational angle, institute State position detector and position signalling is generated according to its resistance value.
- A kind of 10. control method of transportation robot dolly according to claim 6, it is characterised in that：In step s3, In the traveling process of the robot car, the processor RX path signal, each wheel in robot car is judged With the relative position of the preset path, the travel direction of the processor control Power Component regulation robot car, make machine All wheels of device people's dolly are among the preset path.
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710655214.6A CN107472399A (en) | 2017-08-03 | 2017-08-03 | A kind of transportation robot dolly and its control method |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710655214.6A CN107472399A (en) | 2017-08-03 | 2017-08-03 | A kind of transportation robot dolly and its control method |
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| CN107472399A true CN107472399A (en) | 2017-12-15 |
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| CN101570219A (en) * | 2009-06-08 | 2009-11-04 | 南京航空航天大学 | Bionic leg with three-dimensional force perception and spatial surface self-adaptive ability |
| CN104972478A (en) * | 2014-04-04 | 2015-10-14 | 东南大学 | Controllable three-finger manipulator and control method thereof |
| CN105936040A (en) * | 2016-06-15 | 2016-09-14 | 浙江理工大学 | Arduino based carrying robot with image recognizing function |
| CN106057056A (en) * | 2016-07-13 | 2016-10-26 | 武汉大学 | Teaching robot dolly based on STM32F4 microcontroller |
| CN205679998U (en) * | 2016-06-22 | 2016-11-09 | 浙江机电职业技术学院 | A kind of tracking cart |
| CN106239471A (en) * | 2016-08-29 | 2016-12-21 | 上海电机学院 | A kind of transport robot |
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2017
- 2017-08-03 CN CN201710655214.6A patent/CN107472399A/en active Pending
Patent Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101570219A (en) * | 2009-06-08 | 2009-11-04 | 南京航空航天大学 | Bionic leg with three-dimensional force perception and spatial surface self-adaptive ability |
| CN104972478A (en) * | 2014-04-04 | 2015-10-14 | 东南大学 | Controllable three-finger manipulator and control method thereof |
| CN105936040A (en) * | 2016-06-15 | 2016-09-14 | 浙江理工大学 | Arduino based carrying robot with image recognizing function |
| CN205679998U (en) * | 2016-06-22 | 2016-11-09 | 浙江机电职业技术学院 | A kind of tracking cart |
| CN106057056A (en) * | 2016-07-13 | 2016-10-26 | 武汉大学 | Teaching robot dolly based on STM32F4 microcontroller |
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Application publication date: 20171215 |