CN108445893A - A kind of Movement Controller of Mobile Robot and mobile robot - Google Patents
A kind of Movement Controller of Mobile Robot and mobile robot Download PDFInfo
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- CN108445893A CN108445893A CN201810580138.1A CN201810580138A CN108445893A CN 108445893 A CN108445893 A CN 108445893A CN 201810580138 A CN201810580138 A CN 201810580138A CN 108445893 A CN108445893 A CN 108445893A
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- 238000010586 diagram Methods 0.000 description 6
- 230000004044 response Effects 0.000 description 5
- 238000011161 development Methods 0.000 description 3
- 230000013011 mating Effects 0.000 description 3
- 238000005516 engineering process Methods 0.000 description 2
- 238000007689 inspection Methods 0.000 description 2
- 239000002245 particle Substances 0.000 description 2
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- 230000006978 adaptation Effects 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
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Classifications
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- 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
- G05D1/0238—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means using obstacle or wall sensors
- G05D1/024—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means using obstacle or wall sensors 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 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
- G05D1/0212—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory
- G05D1/0214—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory in accordance with safety or protection criteria, e.g. avoiding hazardous areas
-
- 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
- G05D1/0212—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory
- G05D1/0221—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory involving a learning process
-
- 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
- G05D1/0212—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory
- G05D1/0223—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory involving speed control of the vehicle
-
- 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
- G05D1/0246—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means using a video camera in combination with image processing means
-
- 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
- G05D1/0276—Control of position or course in two dimensions specially adapted to land vehicles using signals provided by a source external to the vehicle
-
- 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
- G05D1/0287—Control of position or course in two dimensions specially adapted to land vehicles involving a plurality of land vehicles, e.g. fleet or convoy travelling
- G05D1/0289—Control of position or course in two dimensions specially adapted to land vehicles involving a plurality of land vehicles, e.g. fleet or convoy travelling with means for avoiding collisions between vehicles
-
- 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
- G05D1/0287—Control of position or course in two dimensions specially adapted to land vehicles involving a plurality of land vehicles, e.g. fleet or convoy travelling
- G05D1/0291—Fleet control
Abstract
The invention discloses a kind of Movement Controller of Mobile Robot, including locating module, and the current position coordinates and mobile robot for obtaining mobile robot work as leading angle with default positive direction；Navigation module, mobile route for the mobile robot by being obtained by current position coordinates, when leading angle and target location coordinate, target angle, determine target velocity of the mobile robot on mobile route, wherein target velocity is not more than the maximum speed that mobile route allows；Programmable logic controller (PLC) PLC module, the rotating speed of each driving unit for obtaining mobile robot according to target velocity, and driver corresponding with the driving unit is controlled by the rotating speed of each driving unit respectively.The present invention is not limited by Mobile Robotics Navigation mode, versatile, applied widely.The invention also discloses a kind of mobile robots, have above-mentioned advantageous effect.
Description
Technical field
The present invention relates to robot fields, more particularly to a kind of Movement Controller of Mobile Robot and mobile robot.
Background technology
With the development of science and technology, application of the mobile robot in fields such as storage, logistics, electric inspection process is increasingly extensive.No
The mobile robot of same type has different navigation modes, the controller inside mobile robot to be led according to what its own was used
The relevant information for the mobile robot that boat mode provides controls mobile robot chassis, to realize that control mobile robot is moved
It is dynamic.In the prior art, common controller is PLC (Programmable Logic Controller, programmable logic control
Device processed) controller, but at present PLC controller can not handle navigation laser and camera data, therefore, PLC controller without
Method control leads to being applicable in for PLC controller using the moveable robot movement of the novel navigation modes such as laser navigation, vision guided navigation
Range is relatively narrow.
Therefore, how to provide it is a kind of solve above-mentioned technical problem scheme be that those skilled in the art need to solve at present
Problem.
Invention content
The object of the present invention is to provide a kind of Movement Controller of Mobile Robot, are not limited by Mobile Robotics Navigation mode,
It is versatile, it is applied widely；It is a further object of the present invention to provide a kind of mobile robots.
In order to solve the above technical problems, the present invention provides a kind of Movement Controller of Mobile Robot, including：
Locating module, the current position coordinates and the mobile robot for obtaining mobile robot and default positive direction
Work as leading angle；
Navigation module, for by by current position coordinates, when leading angle and target location coordinate, target angle obtain
The mobile route of the mobile robot determines target velocity of the mobile robot on the mobile route, wherein institute
It states target velocity and is not more than the maximum speed that the mobile route allows；
Programmable logic controller (PLC) PLC module, for obtaining each of the mobile robot according to the target velocity
The rotating speed of driving unit, and driver corresponding with the driving unit is controlled by the rotating speed of each driving unit respectively.
Preferably, the locating module is the alignment sensor equipped with position detecting module.
Preferably, the locating module includes：
Computing unit containing multiple location algorithm packets, for accessing alignment sensor, and by with the orientation sensing
The corresponding location algorithm packet of device, the current position coordinates and the mobile robot for calculating the mobile robot are preset with described
Positive direction works as leading angle.
Preferably, the locating module is additionally operable to：
The current position coordinates of the mobile robot and the mobile robot and default positive direction are worked as into leading angle
It is sent to control station；
Then the mobile route be the control station according to current position coordinates, when leading angle and target location coordinate, mesh
The mobile route that ticket holder angle is calculated.
Preferably, it is described according to current position coordinates, when leading angle and target location coordinate, target angle obtain the shifting
The process of the mobile route of mobile robot is specially：
By current position coordinates, when leading angle and target location coordinate, target angle are counted by shortest path first
It calculates, obtains the mobile route of the mobile robot.
Preferably, the mistake of the rotating speed of each driving unit that the mobile robot is obtained according to the target velocity
Journey is specially：
The target velocity is decomposed by Kinematic Algorithms, respectively obtains each driving unit of the mobile robot
Rotating speed.
Preferably, the target velocity includes the target linear velocity of X-direction, the target linear velocity of Y direction and direction
Control mark.
Preferably, the direction controlling is identified as target angular velocity or target angle.
Preferably, the PLC module is additionally operable to：
After receiving the business order that the control station is sent, the business unit for controlling the mobile robot executes institute
State business order.
In order to solve the above technical problems, the present invention also provides a kind of mobile robots, including such as above-mentioned any one institute
The Movement Controller of Mobile Robot stated.
The present invention provides a kind of Movement Controller of Mobile Robot, including locating module, for obtaining working as mobile robot
Front position coordinate and mobile robot work as leading angle with default positive direction；Navigation module, for by by current position coordinates,
When the mobile route for the mobile robot that leading angle and target location coordinate, target angle obtain, determine that mobile robot is being moved
Target velocity on dynamic path, wherein target velocity is not more than the maximum speed that mobile route allows；Programmable logic controller (PLC)
PLC module, the rotating speed of each driving unit for obtaining mobile robot according to target velocity, and pass through each driving respectively
The rotating speed of unit controls driver corresponding with the driving unit.
As it can be seen that in practical applications, scheme using the present invention, navigation module passes through the current location by mobile robot
Coordinate and the mobile route obtained when leading angle with default positive direction determine target speed of the mobile robot on mobile route
Degree, is then sent to PLC module, PLC module controls each driving of mobile robot according to target velocity by target velocity
Unit realizes the control to mobile robot chassis, and compared with prior art, the present invention is not by Mobile Robotics Navigation mode
Limitation, it is versatile, it is applied widely.
The present invention also provides a kind of mobile robots, have identical with above-mentioned Movement Controller of Mobile Robot beneficial to effect
Fruit.
Description of the drawings
It to describe the technical solutions in the embodiments of the present invention more clearly, below will be to institute in the prior art and embodiment
Attached drawing to be used is needed to be briefly described, it should be apparent that, the accompanying drawings in the following description is only some implementations of the present invention
Example, for those of ordinary skill in the art, without creative efforts, can also obtain according to these attached drawings
Obtain other attached drawings.
Fig. 1 is a kind of structural schematic diagram of Movement Controller of Mobile Robot provided by the present invention；
Fig. 2 is the structural schematic diagram of another Movement Controller of Mobile Robot provided by the present invention；
Fig. 3 is a kind of schematic diagram of the embodiment of Movement Controller of Mobile Robot provided by the present invention.
Specific implementation mode
Core of the invention is to provide a kind of Movement Controller of Mobile Robot, is not limited by Mobile Robotics Navigation mode,
It is versatile, it is applied widely；Another core of the present invention is to provide a kind of mobile robot.
In order to make the object, technical scheme and advantages of the embodiment of the invention clearer, below in conjunction with the embodiment of the present invention
In attached drawing, technical scheme in the embodiment of the invention is clearly and completely described, it is clear that described embodiment is
A part of the embodiment of the present invention, instead of all the embodiments.Based on the embodiments of the present invention, those of ordinary skill in the art
The every other embodiment obtained without making creative work, shall fall within the protection scope of the present invention.
Fig. 1 is please referred to, Fig. 1 is a kind of structural schematic diagram of Movement Controller of Mobile Robot provided by the present invention, including：
Locating module 1, the current position coordinates and mobile robot for obtaining mobile robot and default positive direction
Work as leading angle；
Specifically, locating module 1 is used to obtain the information of mobile robot current location, the information of current location includes moving
The current pose information of current position coordinates and mobile robot of the mobile robot on map.Current position coordinates include X
Axial coordinate and Y axis coordinate, in general, mobile robot can be regarded as to a particle on map, particle coordinate is to move
Mobile robot, can also be regarded as a square or ball by robot current position coordinates, and the center point coordinate of square or ball is
For mobile robot current position coordinates；Current pose information refers to folder of the mobile robot on this map with default positive direction
Angle θ, generally using Y direction as default positive direction.
Navigation module 2, for by by current position coordinates, when leading angle and target location coordinate, target angle obtain
Mobile robot mobile route, determine target velocity of the mobile robot on mobile route, wherein target velocity is little
In the maximum speed that mobile route allows；
Specifically, before Movement Controller of Mobile Robot startup, navigation module 2 can pre-save complete map datum,
And all route datas on this map, include that mobile robot movement on the route is permitted in every route data
Perhaps maximum speed.Mobile route in the present invention, which refers to any one on map, to make mobile robot from current location
It is moved to the route of target location.It is understood that mobile robot is made to be moved to the route of target location from current location
May have a plurality of, be actually needed, can be chosen by the nearest principle of distance or used time most short principle etc. corresponding according to scene
Mobile route of the route as mobile robot.It is emphasized that the mobile route of mobile robot can be in the present invention
By navigation module 2 itself according to current position coordinates, when leading angle and target location coordinate, target angle are calculated
, can also be by other control modules according to current position coordinates, when leading angle and target location coordinate, target angle carry out
It calculates and is handed down to navigation module 2.After navigation module 2 determines the mobile route of mobile robot, according to the movement road
The maximum speed that mobile robot moves is allowed to determine target velocity that mobile robot moves on the mobile route on diameter,
Target velocity generally also needs to need in conjunction with scene to set, and is certainly as long as meeting the requirement no more than maximum speed
The working efficiency for improving mobile robot, can also directly using permitted maximum speed on the mobile route as moving machine
The target velocity of device people.Wherein, target location coordinate and target angle are usually to be sent by control station.
It is understood that locating module 1 and navigation module 2 can be directly packaged by the present invention in specific implementation
Two functional blocks that can be called by PLC module 3.
Programmable logic controller (PLC) PLC module 3, for obtaining each driving unit of mobile robot according to target velocity
Rotating speed, and pass through the rotating speed of each driving unit respectively and control corresponding with driving unit driver.
It is understood that the mobile robot of different model, corresponding business unit is also different, each business sheet
Member has and its one-to-one application program, before Movement Controller of Mobile Robot normal work, the mating PLC configurations of PLC module 3
Software downloads to application program corresponding with the business unit of current mobile robot in PLC module 3 from the ends PC, by PLC moulds
PLC kernel dispatching application programs operation in block 3.Specifically, the present invention develops corresponding a variety of mobile robot models in advance
And meets the application programs of a variety of project demands and store and to the ends PC work as movement so as to the calling of subsequent movement robot controller
When the business unit of robot changes, it is only necessary to before Movement Controller of Mobile Robot normal work, be downloaded from the ends PC corresponding
Application program.The customization work of different mobile robots passes through the mating PLC Development of Configuration Software of PLC module 3
Application program is realized, on the one hand ensure that the design stability degree of locating module 1 and navigation module 2；On the other hand, in development and application
The present invention programs standard using IEC61131-3 when program, significantly reduces customization difficulty, improves mobile robot control
The versatility of device.
Specifically, the application program downloaded in advance in PLC module 3 is calculated according to the target velocity that navigation module 2 is sent
The rotating speed for going out each driving unit of mobile robot controls the controller of driving unit further according to rotating speed, accordingly it is also possible to by every
The rotating speed of a driving unit regards the driving parameter of the driver corresponding to the driving unit as, to realize to mobile robot
The movement of mobile robot is completed in the control on chassis.Movement Controller of Mobile Robot provided by the present invention is in the mobile machine of control
When the chassis of people, do not limited by navigation mode, it is versatile.
Wherein, it can also be many-to-one that the correspondence of driving unit and driver, which can be one-to-one,.With movement
For robot car, driving unit is the wheel of mobile robot trolley, it is assumed that mobile robot trolley has 4 wheels, when
When the type of drive of mobile robot is 4 wheel driven, a wheel corresponds to a driver；For forerunner when, two front-wheels as actively
Wheel, two trailing wheels correspond to a driver as driven wheel, a front-wheel, and being equivalent to the corresponding driver of the near front wheel can drive
The near front wheel, the corresponding driver of off-front wheel can drive off-front wheel；For rear-guard when, two trailing wheels are as driving wheel, two front-wheels
As driven wheel, a trailing wheel corresponds to a driver, and left rear wheel can be driven by being equivalent to the corresponding driver of left rear wheel, after right
Off hind wheel can be driven by taking turns corresponding driver；When type of drive is forerunner or rear-guard, differential mechanism is needed to adjust moving machine
The speed discrepancy of device people's front and back wheel.For different mobile robots, the type and quantity of the driver of driving unit are not yet
It is identical to the greatest extent, for example driver includes permanent magnet synchronous motor driver, alternating current asynchronous induction motor drive, DC brushless motor drive
Dynamic device etc..
Specifically, Movement Controller of Mobile Robot is decomposed into locating module 1, navigation module 2 and PLC module 3 three by the present invention
Part, the decoupling of this three parts function, interface are clear and mutual indepedent, these three modules both can respectively be realized in different CPU,
It can also be the different core realization in a multi-core CPU, can also be that the different software module in single CPU is realized.
Embodiment as one preferred, locating module 1 and navigation module 2 realize in the CPU of an ARM Cortex-A series,
PLC module 3 is realized in the CPU of an ARM Cortex-M series.Wherein, locating module 1, navigation module 2 and PLC module 3
Between can carry out data interaction by Ethernet.
The present invention provides a kind of Movement Controller of Mobile Robot, including locating module, for obtaining working as mobile robot
Front position coordinate and mobile robot work as leading angle with default positive direction；Navigation module, for by by current position coordinates,
When the mobile route for the mobile robot that leading angle and target location coordinate, target angle obtain, determine that mobile robot is being moved
Target velocity on dynamic path, wherein target velocity is not more than the maximum speed that mobile route allows；Programmable logic controller (PLC)
PLC module, the rotating speed of each driving unit for obtaining mobile robot according to target velocity, and pass through each driving respectively
The rotating speed of unit controls driver corresponding with the driving unit.
As it can be seen that in practical applications, scheme using the present invention, navigation module passes through the current location by mobile robot
Coordinate and the mobile route obtained when leading angle with default positive direction determine target speed of the mobile robot on mobile route
Degree, is then sent to PLC module, PLC module controls each driving of mobile robot according to target velocity by target velocity
Unit realizes the control to mobile robot chassis, and compared with prior art, the present invention is not by Mobile Robotics Navigation mode
Limitation, it is versatile, it is applied widely.
On the basis of the above embodiments：
Embodiment as one preferred, locating module 1 are the alignment sensor equipped with position detecting module.
There is the alignment sensor of position detecting function, such as Sick Nav3xx systems specifically, locating module 1 is itself
The laser sensor of row, the camera module etc. with Quick Response Code decoding unit.The laser sensor of Sick Nav3xx series is one
The novel alignment sensor of kind, is positioned by reflective sticker, provides 360 ° of high-precision ambient enviroment outline data (distance, angles
Degree and reflectivity) and reflection sticker position data, the accurate reflection sticker of generation is calculated by the measurement data of reflection sticker automatically
Coordinate is directly calculated the current position coordinates of mobile robot with this and works as leading angle.Certainly, in order to make mobile robot exist
Those can not install the occasion operation of reflection sticker, can be by outline data and reflection sticker data connected applications.By Sick
The alignment sensor of Nav3xx series improves the accuracy of positioning to a certain extent as the locating module in the present invention,
Accurately determine that the mobile route of mobile robot provides the foundation for more.In addition, in the mobile machine using two-dimension code navigation
It in people's system, is layed in the information contained by the Quick Response Code icon on ground and contains its location information, by parsing in Quick Response Code
Hold, you can obtain the current position coordinates of mobile robot and work as leading angle.Therefore the camera shooting head mould with Quick Response Code decoding unit
Block and a kind of alignment sensor that can directly give current location information.
Certainly, locating module 1 is in addition to that can be the laser sensor of Sick Nav3xx series or with Quick Response Code decoding unit
Camera module, can also be other can directly acquire mobile robot current position coordinates and the device when leading angle,
The present invention does not limit herein.
With reference to shown in Fig. 2, Fig. 2 is the structural schematic diagram of another Movement Controller of Mobile Robot provided by the present invention, should
Movement Controller of Mobile Robot is on the basis of the above embodiments：
Embodiment as one preferred, locating module 1 include：
Computing unit containing multiple location algorithm packets, for accessing alignment sensor, and by with alignment sensor pair
The location algorithm packet answered, the current position coordinates and mobile robot and default positive direction for calculating mobile robot work as fore-clamp
Angle.
Specifically, in view of the alignment sensor of parts of traditional needs to calculate moving machine by mating location algorithm packet
The information of device people current location, different alignment sensors has different location algorithm packets, therefore, in Movement Controller of Mobile Robot
Before normal work, location algorithm packet corresponding with the alignment sensor that mobile robot is adapted to is installed to locating module 1 in advance
Computing unit in, to allow the locating module 1 in the present invention to be adapted to a plurality of types of alignment sensors.In view of that can connect
The alignment sensor limited types entered develop a small amount of location algorithm packet, so that it may to be adapted to the use of most of alignment sensor,
And for the different model of same class alignment sensor, generally only need adjustment member parameter, adaptation workload smaller.
Correspondingly, computing module is used to access alignment sensor, the alignment sensor being currently equipped with according to mobile robot
Select corresponding location algorithm packet, location algorithm packet corresponding with current alignment sensor can be artificial by staff
Selection, can also pass through computing module Auto-matching.Then mobile robot current location is calculated by the location algorithm packet
Information.It is understood that different alignment sensors is matched by different location algorithm packets, to complete mobile robot
The positioning function of controller has widened the scope of application of Movement Controller of Mobile Robot provided by the present invention, has reduced moving machine
The customization of device people's controller.
To sum up, when Movement Controller of Mobile Robot uses the alignment sensor equipped with position detecting module, due to this fixed
Level sensor can directly calculate the information of mobile robot current location, its own can serve as locating module, independent
Realize the positioning function of Movement Controller of Mobile Robot；And when Movement Controller of Mobile Robot uses common alignment sensor (i.e. not
The alignment sensor of the information of mobile robot current location can directly be calculated) when, then locating module 1 is equipped with meter at this time
The locating module for calculating unit, the information of mobile robot current location is calculated by the location algorithm packet in computing unit, from
And realize the positioning function of Movement Controller of Mobile Robot, therefore, staff can flexibly select according to actual requirement of engineering
Select above two locating module.
Embodiment as one preferred, locating module 1 are additionally operable to：
By the current position coordinates of mobile robot and mobile robot with default positive direction when leading angle is sent to tune
Degree station；
Then mobile route be control station according to current position coordinates, when leading angle and target location coordinate, target angle are counted
Obtained mobile route.
Specifically, in fields such as storage, logistics, electric inspection process, typically work is executed by multiple mobile robots
, therefore, the mobile route of other mobile robots is also contemplated that in the mobile route for determining some mobile robot, with
Avoid the possibility mutually collided.When being moved to target location by current location in view of each mobile robot, partial movement
The mobile route of Robot Selection is it is possible that the case where overlapping, therefore, the locating module 1 in the present invention can also be by movement
The current location information of robot and when leading angle is sent to control station, by control station according to current position coordinates, work as leading angle
And target location coordinate, target angle carry out the mobile route that the mobile robot is calculated, and to each mobile robot
Mobile route make overall planning, then again be each mobile robot distribution reach its corresponding target location shifting
Dynamic path, to avoid being collided between mobile robot.Navigation module 2 receives the mobile route sent by control station, can
To further increase the reliability and safety of Movement Controller of Mobile Robot.
Embodiment as one preferred, according to current position coordinates, when leading angle and target location coordinate, target angle
The process for obtaining the mobile route of mobile robot is specially：
By current position coordinates, when leading angle and target location coordinate, target angle are counted by shortest path first
It calculates, obtains the mobile route of mobile robot.
Specifically, shortest path first, that is, mobile robot reaches the road that target location is passed through from current location
In diameter, a paths of weights sum minimum are called shortest path on each side.Shortest path first includes Dijkstra's algorithm,
(Shortest Path Faster Algorithm, queue optimization are calculated by Bellman Ford algorithm, Freud's algorithm and SPFA
Method) algorithm etc., the present invention can be selected in specific implementation according to actual field.Using by shortest path first
Obtained mobile route can shorten the time that mobile robot is moved to target location by current location, improve mobile machine
Task efficiency.
Certainly, in addition to mobile route can be obtained by shortest path first, can also be existed by other methods, the present invention
This is not limited.
Embodiment as one preferred obtains the rotating speed of each driving unit of mobile robot according to target velocity
Process is specially：
Target velocity is decomposed by Kinematic Algorithms, respectively obtains the rotating speed of each driving unit of mobile robot.
Specifically, with reference to shown in Fig. 3, wherein the chassis of mobile robot includes：1# wheels and 2# as driving wheel are taken turns,
As the 3# wheels of driven wheel, 4# wheels, 5# wheels and 6# wheels, all wheels can only move in the longitudinal direction, and setting angle and X
Axis direction is parallel, two in figure dotted line be respectively chassis central axes in the front-back direction, chassis left and right directions central axes.Wherein
1# wheels, 2# wheels are mounted on central axes in the front-back direction, and the wheel spacing of the two driving wheels is 2R (unit m).For above-mentioned
Mobile robot, Kinematic Algorithms decompose as follows：Assuming that sometime, the target linear velocity for the X-direction that navigation module issues
It is W (unit rad/m) for V (unit m/s), target angular velocity, then the VELOCITY DISTRIBUTION of two driving wheels is：V1=V-RW, V2=
V+RW.In view of all wheels of the mobile robot in diagram can only move in the longitudinal direction, and setting angle and X-axis
Direction is parallel, therefore the speed of Y direction is only 0.Certainly, above-mentioned Kinematic Algorithms decomposition formula is most simple based on one
Mobile robot chassis model, what different chassis needed each driver in being calculated using different algorithms executes speed
Degree.
Embodiment as one preferred, target velocity include the target linear velocity of X-direction, Y direction score
Speed and direction controlling mark.Embodiment as one preferred, direction controlling are identified as target angular velocity or target angle.
Specifically, the target velocity of mobile robot includes mobile robot in the target linear velocity of X-direction, Y-axis side
To target linear velocity and mobile robot steering, the steering of mobile robot can pass through target angular velocity and target angle
To control.
Embodiment as one preferred, PLC module 3 are additionally operable to：
After the business order for receiving control station transmission, the business unit for controlling mobile robot executes business order.
Specifically, control station issuing service order is to PLC module 3, the application program controlling moving machine in PLC module 3
The business unit of device people executes the business order, to realize the control to mobile robot business unit.It is understood that not
Same mobile robot business order may be different, such as the business order of intelligent forklift is prong control command, sorting machine
The business order of people is to renovate control command.
Include the mobile robot control such as above-mentioned any one correspondingly, the present invention also provides a kind of mobile robot
Device processed.
Above-described embodiment please referred to for a kind of introduction of mobile robot provided by the present invention, the present invention is herein no longer
It repeats.
Each embodiment is described by the way of progressive in this specification, the highlights of each of the examples are with other
The difference of embodiment, just to refer each other for identical similar portion between each embodiment.For device disclosed in embodiment
For, since it is corresponded to the methods disclosed in the examples, so description is fairly simple, related place is said referring to method part
It is bright.
The foregoing description of the disclosed embodiments enables those skilled in the art to implement or use the present invention.
Various modifications to these embodiments will be apparent to those skilled in the art, as defined herein
General Principle can be realized in other embodiments without departing from the spirit or scope of the present invention.Therefore, of the invention
It is not intended to be limited to the embodiments shown herein, and is to fit to and the principles and novel features disclosed herein phase one
The widest range caused.
Claims (10)
1. a kind of Movement Controller of Mobile Robot, which is characterized in that including：
Locating module, current position coordinates and the mobile robot for obtaining mobile robot are worked as with default positive direction
Leading angle；
Navigation module, for by described in being obtained by current position coordinates, when leading angle and target location coordinate, target angle
The mobile route of mobile robot determines target velocity of the mobile robot on the mobile route, wherein the mesh
It marks speed and is not more than the maximum speed that the mobile route allows；
Programmable logic controller (PLC) PLC module, for obtaining each driving of the mobile robot according to the target velocity
The rotating speed of unit, and driver corresponding with the driving unit is controlled by the rotating speed of each driving unit respectively.
2. Movement Controller of Mobile Robot according to claim 1, which is characterized in that the locating module is to be examined equipped with position
Survey the alignment sensor of module.
3. Movement Controller of Mobile Robot according to claim 1, which is characterized in that the locating module includes：
Computing unit containing multiple location algorithm packets, for accessing alignment sensor, and by with the alignment sensor pair
The location algorithm packet answered calculates current position coordinates and the mobile robot and the default pros of the mobile robot
To work as leading angle.
4. Movement Controller of Mobile Robot according to claim 1, which is characterized in that the locating module is additionally operable to：
By the current position coordinates of the mobile robot and the mobile robot with default positive direction when leading angle is sent
To control station；
Then the mobile route be the control station according to current position coordinates, when leading angle and target location coordinate, target are pressed from both sides
The mobile route that angle is calculated.
5. Movement Controller of Mobile Robot according to claim 1, which is characterized in that it is described according to current position coordinates, when
The process for the mobile route that leading angle and target location coordinate, target angle obtain the mobile robot is specially：
By current position coordinates, when leading angle and target location coordinate, target angle are calculated by shortest path first, obtain
To the mobile route of the mobile robot.
6. according to the Movement Controller of Mobile Robot described in claim 1-5 any one, which is characterized in that described according to the mesh
The process of rotating speed for each driving unit that mark speed obtains the mobile robot is specially：
The target velocity is decomposed by Kinematic Algorithms, respectively obtains turning for each driving unit of the mobile robot
Speed.
7. Movement Controller of Mobile Robot according to claim 6, which is characterized in that the target velocity includes X-direction
Target linear velocity, Y direction target linear velocity and direction controlling mark.
8. Movement Controller of Mobile Robot according to claim 7, which is characterized in that the direction controlling is identified as target angle
Speed or target angle.
9. Movement Controller of Mobile Robot according to claim 7, which is characterized in that the PLC module is additionally operable to：
After receiving the business order that the control station is sent, the business unit for controlling the mobile robot executes the industry
Business order.
10. a kind of mobile robot, which is characterized in that including mobile robot control as described in any one of claims 1-9
Device processed.
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| CN201810580138.1A CN108445893A (en) | 2018-06-07 | 2018-06-07 | A kind of Movement Controller of Mobile Robot and mobile robot |
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| CN201810580138.1A CN108445893A (en) | 2018-06-07 | 2018-06-07 | A kind of Movement Controller of Mobile Robot and mobile robot |
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Application publication date: 20180824 |