CN108297061A - A kind of mobile robot and its control method for high-rise indoor guiding - Google Patents
A kind of mobile robot and its control method for high-rise indoor guiding Download PDFInfo
- Publication number
- CN108297061A CN108297061A CN201810097950.9A CN201810097950A CN108297061A CN 108297061 A CN108297061 A CN 108297061A CN 201810097950 A CN201810097950 A CN 201810097950A CN 108297061 A CN108297061 A CN 108297061A
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- China
- Prior art keywords
- steering engine
- mobile robot
- personal computer
- industrial personal
- elevator
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Classifications
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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
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J11/00—Manipulators not otherwise provided for
- B25J11/008—Manipulators for service tasks
-
- 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
- B25J19/005—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators using batteries, e.g. as a back-up power source
-
- 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
- B25J9/1694—Programme controls characterised by use of sensors other than normal servo-feedback from position, speed or acceleration sensors, perception control, multi-sensor controlled systems, sensor fusion
- B25J9/1697—Vision controlled systems
Abstract
The invention discloses a kind of mobile robots and its control method for high-rise indoor guiding, mobile robot includes car body, the supporting rack being installed on car body, and it is installed on supporting rack top and towards being provided with industrial personal computer, STM32 microcontrollers, driver, battery and radar on consistent manipulator and camera car body；STM32 microcontrollers, radar, camera, the built-in drive of manipulator steering engine, the built-in drive of arm end steering engine are connect with industrial personal computer, and STM32 microcontrollers are connected by the wheel hub motor of driver and traveling wheel.The mobile robot of the present invention imitates the mankind and presses the purpose that target elevator button realizes seating elevator, realizes that elevator control system need not be transformed in conversion of the mobile robot between different floors, the present invention, ensure that the safety of elevator operation.
Description
Technical field
The present invention relates to indoor information service robotic technology field, specifically a kind of movement for high-rise indoor guiding
Robot and its control method.
Background technology
Indoor information service robot generally provides certain field business service, speech exchange service, guide service, but mostly
Number service is to be carried out with same floor in situ.Also some mobile robots can by the interaction between electric life controller,
It realizes to elevator control system and sends command request, reach permission, elevator control system opens elevator, realizes by taking elevator
Form to other floors shift.This method is very easy to implement, but since elevator is a kind of seating tool, peace
Full property requirement is very high, and wireless interaction information is easy to dry by the external world between this mobile robot and elevator control system
It disturbs so that for elevator in the case where being impermissible for opening, opens voluntarily causes safety accident.
Invention content
The technical problem to be solved in the present invention is to provide a kind of mobile robot for high-rise indoor guiding and its controls
Method,.
The technical scheme is that：
A kind of mobile robot for high-rise indoor guiding includes car body, the supporting rack being installed on car body, and installation
In supporting rack top and towards consistent manipulator and camera；The car body includes chassis, the walking being connected on chassis
Wheel is installed on the mounting bracket of three-dimensional frame-shaped construction on the upper surface of chassis, is set on the upper surface of chassis and inside mounting bracket
Industrial personal computer, STM32 microcontrollers, driver and battery, the radar for being set on the upper surface of chassis and being stretched out from mounting bracket top；
The bottom end of the supporting rack is fixedly connected on the top of mounting bracket；The manipulator includes to be fixedly connected on supporting rack
Connecting plate, inner end on top be connected to link block on connecting plate, multiple steering engine cant beams connected in sequence and for refer to by
The mechanical finger of elevator, the steering engine cant beam includes steering engine and inner end is connected to the cant beam in steering engine turning end, phase
In two adjacent steering engine cant beams, the steering engine of one of steering engine cant beam is fixedly connected on the rotation of another steering engine cant beam
On beam outer end, and in multiple steering engine cant beams, the steering engine of inner terminal steering engine cant beam is fixedly connected on the outer end of link block, most
It is connected with end steering engine on the outer end of the cant beam of outer end steering engine cant beam, the machine is connected in the turning end of end steering engine
Tool finger；The industrial personal computer, STM32 microcontrollers, driver, radar, camera, the steering engine of multiple steering engine cant beams, end
Steering engine is battery powered, the STM32 microcontrollers, radar, camera, the built-in drive of multiple steering engines, end steering engine
Built-in drive connect with industrial personal computer, the STM32 microcontrollers pass through the wheel hub motor of driver and traveling wheel connect.
The avoidance sensor for being additionally provided with DC/DC converters on the chassis and being connect with industrial personal computer, the industry control
Machine, STM32 microcontrollers are connect with battery by DC/DC converters and are powered, and the avoidance sensor is for detecting ground
The distance in face is hole when distance is more than the value set to be considered as front, and industrial personal computer will trigger emergency stop, prevent mobile robot from falling
Go down.
The steering engine cant beam is three.
The top of the mounting bracket is fixedly connected with supporting rack mounting plate, and the bottom end of the supporting rack is fixedly connected on
On supporting rack mounting plate.
It is covered with retainer outside the steering engine and end steering engine of multiple steering engine cant beams.
The traveling wheel includes there are two driving wheel and a directive wheel, and the wheel hub motor of two driving wheels passes through drive
Dynamic device is connect with STM32 microcontrollers.
The supporting rack includes that there are four vertical beam and multiple web beams being connected between two neighboring vertical beam, described
The bottom ends of four vertical beams be connected on supporting rack mounting plate by corresponding angle connector, the tops of two adjacent vertical beams it
Between be installed on horizontal mounting plate, the camera is fixed on the surface in horizontal mounting plate and positioned at manipulator.
A kind of control method of mobile robot for high-rise indoor guiding, has specifically included following steps：
（1）, the radar scanning interior space, scanning result is then sent to industrial personal computer, industrial personal computer carries out analyzing processing to result,
The location information of mobile robot, the angle and distance information of walking are obtained, then by the location information of mobile robot, walking
Angle, distance and velocity information be sent to STM32 microcontrollers, STM32 microcontrollers are according to above-mentioned mobile robot relevant information
The wheel hub motor movement that traveling wheel is driven by driver, to drive mobile robot to march to the target of elevator push button；
（2）, when mobile robot reach elevator push button target ground after, camera shoot elevator push button image, then send
To industrial personal computer, after industrial personal computer carries out analysis and identification to the button in the image of elevator push button, control command is sent to multiple steering engines
Built-in drive and end steering engine built-in drive, steering engine and the movement of end steering engine are driven, until mechanical finger presses mesh
Mark elevator push button；
（3）, after elevator door is opened, industrial personal computer according to radar scanning situation send mobile robot relevant information it is mono- to STM32
Piece machine, STM32 microcontrollers drive the wheel hub motor of traveling wheel to move by driver, to drive mobile robot to march to electricity
In ladder, after mobile robot enters in elevator, step is repeated（2）Press the button of destination.
The step（2）Industrial personal computer in the image of elevator push button button carry out analysis and identification the specific steps are：
Industrial personal computer uses Canny edge detections and Hough transform technique analysis to determine the button edge contour in elevator push button disk first,
Then the font or on ＆ off switch image pair for being carried out by Classification and Identification, and is stored with industrial personal computer for number in profile by neural network
Than, to obtain the key position of destination, further according to the angle that each steering engine of key position data computer tool arm need to rotate,
By controlling the movement of steering engine, realize that robot arm end effector presses elevator button.
The industrial personal computer carries out the key position of destination the analysis of angle and distance, then rotates manipulator
Angle information be sent to multiple steering engines built-in drive and end steering engine built-in drive, while range information being sent
STM32 microcontrollers are given, then the built-in drive of multiple steering engines and the built-in drive of end steering engine driving steering engine and end rudder
Machine moves, while STM32 microcontrollers control traveling wheel auxiliary carries out micro-shifting until mechanical finger presses the button of destination.
Advantages of the present invention：
The mobile robot of the present invention imitates the mankind and presses the purpose that target elevator button realizes seating elevator, realizes mobile machine
Elevator control system need not be transformed in conversion of the people between different floors, the present invention, ensure that the safety of elevator operation.
Description of the drawings
Fig. 1 is the structural schematic diagram of mobile robot of the present invention.
Fig. 2 is the structural schematic diagram of car body of the present invention.
Fig. 3 is the structural schematic diagram of supporting rack of the present invention.
Fig. 4 is the structural schematic diagram of manipulator of the present invention.
Fig. 5 is the control principle drawing of the present invention.
Specific implementation mode
Following will be combined with the drawings in the embodiments of the present invention, and technical solution in the embodiment of the present invention carries out clear, complete
Site preparation describes, it is clear that described embodiments are only a part of the embodiments of the present invention, instead of all the embodiments.It is based on
Embodiment in the present invention, it is obtained by those of ordinary skill in the art without making creative efforts every other
Embodiment shall fall within the protection scope of the present invention.
See that Fig. 1-Fig. 4, a kind of mobile robot for high-rise indoor guiding include car body 1, be installed on car body 1
Supporting rack 2, and be installed on 2 top of supporting rack and be installed on supporting rack top and towards consistent manipulator 3 and camera 4；
Car body 1 includes chassis 11, and two driving wheels 12 and a directive wheel 13 being connected on chassis 11 are installed on chassis 11
The mounting bracket 14 of three-dimensional frame-shaped construction, is set to the industrial personal computer on 11 upper surface of chassis and inside mounting bracket 14 on end face
15, STM32 microcontrollers 16, driver 17, battery 18 and DC/DC converters 19 are set on 11 upper surface of chassis and from installation
The radar 110 that 14 top of frame is stretched out, the avoidance sensor 111 being set on chassis 11；
The top of mounting bracket 14 is fixedly connected with supporting rack mounting plate 112, and supporting rack 2 includes that there are four vertical beam 21 and multiple connections
The bottom end of web beam 22 between two neighboring vertical beam 21, four vertical beams 21 is connected to by corresponding angle connector 23
On supporting rack mounting plate 112, horizontal mounting plate 24 is installed between the top of two adjacent vertical beams 21, camera 4 is fixed on perpendicular
On straight mounting plate 24 and positioned at the surface of manipulator；
Manipulator 3 includes the company that the connecting plate 31 being fixedly connected in horizontal mounting plate 24, inner end are connected on connecting plate 31
It connects 32, three steering engine cant beams connected in sequence of block and for referring to the mechanical finger 36 by elevator, steering engine cant beam includes rudder
Machine 33 and inner end are connected to the cant beam 34 in steering engine turning end, and in adjacent two steering engine cant beams, one of steering engine turns
The steering engine 33 of dynamic beam is fixedly connected on 34 outer end of cant beam of another steering engine cant beam, and in three steering engine cant beams, most
The steering engine 33 of inner end steering engine cant beam is fixedly connected on the outer end of link block 32, the cant beam 34 of outermost end steering engine cant beam
It is connected with end steering engine 35 on outer end, is connected with mechanical finger 36 in the turning end of end steering engine 35, three steering engine cant beams
It is covered with retainer 37 outside steering engine 33 and end steering engine 35；
4, three industrial personal computer 15, STM32 microcontrollers 16, driver 17, radar 110, avoidance sensor 111, camera steering engines turn
Steering engine 33, the end steering engine 35 of dynamic beam are powered by battery 18, and industrial personal computer 15, STM32 microcontrollers 16 are converted by DC/DC
Device 19 connect with battery 18 and is powered；
See Fig. 5, the built-in driving of STM32 microcontrollers 16, radar 110,111, three camera 4, avoidance sensor steering engines 33
Device, end steering engine 35 built-in drive connect with industrial personal computer 15, STM32 microcontrollers 16 pass through driver 17 and two driving
The wheel hub motor connection of wheel 12.Wherein, avoidance sensor 111 is used to detect the distance on ground, when distance is more than the value of setting
It is hole to be considered as front, and industrial personal computer 15 will trigger emergency stop, prevent mobile robot from falling down.
See that Fig. 5, a kind of control method of mobile robot for high-rise indoor guiding have specifically included following steps：
（1）, radar 110 scan the interior space, scanning result is then sent to industrial personal computer 15, industrial personal computer 15 divides result
Analysis is handled, and obtains the location information of mobile robot, the angle and distance information of walking, then believes the position of mobile robot
Breath, angle, distance and the velocity information walked are sent to STM32 microcontrollers 16, and STM32 microcontrollers 16 are according to above-mentioned mobile machine
People's relevant information drives the wheel hub motor of two driving wheels 12 to move by driver 17, to drive mobile robot to march to
The target of elevator push button；
（2）, when mobile robot reach elevator push button target ground after, camera 4 shoot elevator push button image, then send
To industrial personal computer 15, after industrial personal computer 15 carries out analysis and identification to the button in the image of elevator push button, control command is sent to three
The built-in drive of the built-in drive and end steering engine 35 of steering engine 33 drives steering engine 33 and end steering engine 35 to move, until machine
Tool finger 36 presses target elevator button；
（3）, after elevator door is opened, industrial personal computer 15 according to radar 110 scan situation send mobile robot relevant information to
STM32 microcontrollers 16, STM32 microcontrollers 16 drive the wheel hub motor of two driving wheels 12 to move by driver 17, to drive
Dynamic mobile robot marches in elevator, after mobile robot enters in elevator, repeats step（2）Press corresponding target electricity
Terraced button.
Wherein, step（2）Industrial personal computer 15 in the image of elevator push button button carry out analysis and identification the specific steps are：
Industrial personal computer 15 uses the button edge wheel in Canny edge detections and Hough transform technique analysis locking elevator push button disk first
Exterior feature, the font or on ＆ off switch figure that then is carried out by Classification and Identification, and is stored with industrial personal computer 15 for number in profile by neural network
As comparison, to obtain the key position of destination, industrial personal computer 15 carries out angle and distance to the key position of destination
Analysis, then by manipulator rotate angle information be sent in the built-in drive and end steering engine 35 of three steering engines 33
Set driver, while range information is sent to STM32 microcontrollers 16, the then built-in drive and end rudder of three steering engines 33
Machine 35 built-in drive driving steering engine 33 and end steering engine 35 move, while STM32 microcontrollers 16 control traveling wheel assist into
Row micro-shifting is until mechanical finger 36 presses the button of destination.
It although an embodiment of the present invention has been shown and described, for the ordinary skill in the art, can be with
Understanding without departing from the principles and spirit of the present invention can carry out these embodiments a variety of variations, modification, replace
And modification, the scope of the present invention is defined by the appended.
Claims (10)
1. a kind of mobile robot for high-rise indoor guiding, it is characterised in that：Include car body, the branch being installed on car body
Support, and it is installed on supporting rack top and towards consistent manipulator and camera；The car body includes chassis, is connected to
Traveling wheel on chassis is installed on the upper surface of chassis the mounting bracket of three-dimensional frame-shaped construction, is set on the upper surface of chassis and position
Industrial personal computer, STM32 microcontrollers, driver inside mounting bracket and battery are set on the upper surface of chassis and from mounting bracket top
Hold the radar stretched out；The bottom end of the supporting rack is fixedly connected on the top of mounting bracket；The manipulator includes solid
Surely link block that the connecting plate that is connected on supporting rack top, inner end are connected on connecting plate, multiple steering engines connected in sequence turn
It moves beam and for referring to the mechanical finger for pressing elevator, the steering engine cant beam includes that steering engine and inner end are connected to steering engine turning end
On cant beam, in adjacent two steering engine cant beams, the steering engine of one of steering engine cant beam is fixedly connected on another rudder
On the cant beam outer end of machine cant beam, and in multiple steering engine cant beams, the steering engine of inner terminal steering engine cant beam is fixedly connected on company
It connects on the outer end of block, end steering engine, the turning end of end steering engine is connected on the outer end of the cant beam of outermost end steering engine cant beam
On be connected with the mechanical finger；The industrial personal computer, STM32 microcontrollers, driver, radar, camera, multiple steering engines turn
Steering engine, the end steering engine of dynamic beam are battery powered, the STM32 microcontrollers, radar, camera, multiple steering engines it is built-in
Driver, end steering engine built-in drive connect with industrial personal computer, the STM32 microcontrollers pass through driver and traveling wheel
Wheel hub motor connection.
2. a kind of mobile robot for high-rise indoor guiding according to claim 1, it is characterised in that：The bottom
The avoidance sensor for being additionally provided with DC/DC converters on disk and being connect with industrial personal computer, the industrial personal computer, STM32 microcontrollers are equal
It is connect and is powered with battery by DC/DC converters, the avoidance sensor is used to detect the distance on ground, when distance is big
It is hole to be considered as front in the value of setting, and industrial personal computer will trigger emergency stop, prevent mobile robot from falling down.
3. a kind of mobile robot for high-rise indoor guiding according to claim 1, it is characterised in that：The rudder
Machine cant beam is three.
4. a kind of mobile robot for high-rise indoor guiding according to claim 1, it is characterised in that：The peace
The top shelved is fixedly connected with supporting rack mounting plate, and the bottom end of the supporting rack is fixedly connected on supporting rack mounting plate.
5. a kind of mobile robot for high-rise indoor guiding according to claim 1, it is characterised in that：Described is more
It is covered with retainer outside the steering engine and end steering engine of a steering engine cant beam.
6. a kind of mobile robot for high-rise indoor guiding according to claim 1, it is characterised in that：The row
Suitcase with wheels is included there are two driving wheel and a directive wheel, and the wheel hub motor of two driving wheels passes through driver and STM32 monolithics
Machine connects.
7. a kind of mobile robot for high-rise indoor guiding according to claim 4, it is characterised in that：The branch
Support includes that there are four vertical beam and multiple web beams being connected between two neighboring vertical beam, the bottom ends of described four vertical beams
It is connected on supporting rack mounting plate, is installed between the top of two adjacent vertical beams vertically-mounted by corresponding angle connector
Plate, the camera are fixed on the surface in horizontal mounting plate and positioned at manipulator.
8. a kind of control method of mobile robot for high-rise indoor guiding according to claim 1, feature exist
In：Following steps are specifically included：
（1）, the radar scanning interior space, scanning result is then sent to industrial personal computer, industrial personal computer carries out analyzing processing to result,
The location information of mobile robot, the angle and distance information of walking are obtained, then by the location information of mobile robot, walking
Angle, distance and velocity information be sent to STM32 microcontrollers, STM32 microcontrollers are according to above-mentioned mobile robot relevant information
The wheel hub motor movement that traveling wheel is driven by driver, to drive mobile robot to march to the target of elevator push button；
（2）, when mobile robot reach elevator push button target ground after, camera shoot elevator push button image, then send
To industrial personal computer, after industrial personal computer carries out analysis and identification to the button in the image of elevator push button, control command is sent to multiple steering engines
Built-in drive and end steering engine built-in drive, steering engine and the movement of end steering engine are driven, until mechanical finger presses mesh
Mark elevator push button；
（3）, after elevator door is opened, industrial personal computer according to radar scanning situation send mobile robot relevant information it is mono- to STM32
Piece machine, STM32 microcontrollers drive the wheel hub motor of traveling wheel to move by driver, to drive mobile robot to march to electricity
In ladder, after mobile robot enters in elevator, step is repeated（2）Press the button of destination.
9. a kind of control method of mobile robot for high-rise indoor guiding according to claim 8, feature exist
In：The step（2）Industrial personal computer in the image of elevator push button button carry out analysis and identification the specific steps are：Industrial personal computer
It uses Canny edge detections and Hough transform technique analysis to determine the button edge contour in elevator push button disk first, then leads to
Font or on ＆ off switch image comparison that neural network carries out Classification and Identification to number in profile, and stored with industrial personal computer are crossed, to
The key position of destination is obtained, further according to the angle that each steering engine of key position data computer tool arm need to rotate, passes through control
The movement of steering engine processed realizes that robot arm end effector presses elevator button.
10. a kind of control method of mobile robot for high-rise indoor guiding according to claim 9, feature exist
In：The industrial personal computer carries out the key position of destination the analysis of angle and distance, the angle for then rotating manipulator
Degree information is sent to the built-in drive of the built-in drive and end steering engine of multiple steering engines, while range information being sent to
STM32 microcontrollers, then the built-in drive of multiple steering engines and the built-in drive of end steering engine drive steering engine and end steering engine
Movement, while STM32 microcontrollers control traveling wheel auxiliary carries out micro-shifting until mechanical finger presses the button of destination.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810097950.9A CN108297061A (en) | 2018-01-31 | 2018-01-31 | A kind of mobile robot and its control method for high-rise indoor guiding |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810097950.9A CN108297061A (en) | 2018-01-31 | 2018-01-31 | A kind of mobile robot and its control method for high-rise indoor guiding |
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| CN108297061A true CN108297061A (en) | 2018-07-20 |
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ID=62850603
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| CN201810097950.9A Pending CN108297061A (en) | 2018-01-31 | 2018-01-31 | A kind of mobile robot and its control method for high-rise indoor guiding |
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Cited By (9)
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| CN109760058A (en) * | 2019-02-25 | 2019-05-17 | 文浩 | A kind of boarding robot and its boarding robot key control method |
| CN109760070A (en) * | 2019-03-15 | 2019-05-17 | 深圳市锐曼智能装备有限公司 | Robot elevator push button position control method and system |
| CN109969292A (en) * | 2019-04-03 | 2019-07-05 | 灵动科技（北京）有限公司 | Autonomous device |
| CN110328687A (en) * | 2019-06-21 | 2019-10-15 | 拉扎斯网络科技（上海）有限公司 | A kind of mechanical arm and robot |
| CN111730575A (en) * | 2020-06-30 | 2020-10-02 | 杨鸿城 | Automatic elevator-taking robot for article distribution and working method thereof |
| CN110928298B (en) * | 2019-10-31 | 2021-08-06 | 山东大学 | Automatic cruise electric sickbed and elevator interaction method and system |
| DE102021103038A1 (en) | 2020-02-10 | 2021-08-12 | Metralabs Gmbh Neue Technologien Und Systeme | Method and system for moving a robot in an elevator |
| CN113752269A (en) * | 2020-06-01 | 2021-12-07 | 泰科电子(上海)有限公司 | Mobile robot autonomous elevator taking device and method |
| CN114236357A (en) * | 2021-12-17 | 2022-03-25 | 杭州电子科技大学 | Equipment troubleshooting vehicle and working method |
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| CN111730575A (en) * | 2020-06-30 | 2020-10-02 | 杨鸿城 | Automatic elevator-taking robot for article distribution and working method thereof |
| CN114236357A (en) * | 2021-12-17 | 2022-03-25 | 杭州电子科技大学 | Equipment troubleshooting vehicle and working method |
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Application publication date: 20180720 |