CN108555935B - Robot and control method - Google Patents
Robot and control method Download PDFInfo
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- CN108555935B CN108555935B CN201810506603.7A CN201810506603A CN108555935B CN 108555935 B CN108555935 B CN 108555935B CN 201810506603 A CN201810506603 A CN 201810506603A CN 108555935 B CN108555935 B CN 108555935B
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- 230000005484 gravity Effects 0.000 claims abstract description 17
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- 230000003993 interaction Effects 0.000 claims description 28
- 230000001276 controlling effect Effects 0.000 claims description 16
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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
- B25J11/00—Manipulators not otherwise provided for
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1602—Programme controls characterised by the control system, structure, architecture
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- Engineering & Computer Science (AREA)
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Abstract
The invention discloses a robot and a control method, wherein the robot comprises a machine body, a moving mechanism for driving the machine body to move, an emergency stop mechanism and a body adjusting mechanism, wherein the emergency stop mechanism comprises a connecting frame, a slide bar, a sucker seat, a compression spring, a sucker, a cylindrical cam, a pulley shaft, a pulley, a stop driven gear, a stop driving gear, a stop motor and an electromagnetic valve; the body adjusting mechanism consists of a fixed frame, a fixed column, a pitching motor seat, a pitching motor, a main framework, a secondary framework, a rack, a telescopic motor and a rack driving gear; the emergency stop mechanism can realize the emergency stop function of the robot when the robot encounters emergency in the rapid movement process, such as pedestrians, animals, carts and the like, and prevent safety accidents caused by installing pedestrians and the like; the emergency stop mechanism can also prevent the robot from tipping over due to overhigh gravity center and dynamic change in the process of carrying goods.
Description
Technical Field
The invention relates to a safe humanized service robot and a control method, belonging to the crossing fields of robotics, mechanics, instrument science, computer science, automatic control technology, sensor technology and the like.
Background
The population aging causes a reduced proportion of age-suitable workers due to the population aging, and the labor cost is increased year by year. In view of these problems, the development of related technologies and applications of robots is fast in recent years, and many countries have issued some policies for promoting the development of the robot technology, and the robot technology has been successfully applied to industry, agriculture, service industry, and even military. In the field of industrial application, industrial robot programming operation application is very mature because the field environment is always fixed; picking robots, pesticide spraying robots and the like are also appeared in agricultural application; in military, many unmanned aerial vehicles, underwater unmanned aerial vehicles, land unmanned combat vehicles and other automated weapons are also being used by robots in the military field.
Many service robots, such as a greeting robot, a tour guide robot, a meal delivery robot and the like, are facing the service industry at present, and the market of the service industry is huge, so that a large number of service robot research institutions and related products are at home and abroad. In public places such as supermarkets, markets, hospitals and subway stations, the crowd flow is large, and service type robots are applied to face a plurality of problems, wherein the important point is personnel safety problem, namely that the robots cannot cause personnel injury.
In the process of serving a person, a robot is often required to have a certain height, such as a height close to the height of the person, so as to facilitate the work in daily life such as carrying objects, and the like, and cooperate with the person to complete a certain task, and the like. The center of gravity of the robot rises along with the increase of the height, so that most wheel type service robots which are equivalent to the height of people at present often have a large and heavy chassis, and need to move on a flat ground to prevent damage caused by tipping.
The moving speed of the service robot needs to keep up with the speed of the user, so that the service robot can conform to the ergonomics, has better man-machine interaction, and realizes the cooperative movement operation with the person or follows the user. However, the center of gravity of the wheeled service robot is high, which is equivalent to the height of the human body, and the moving speed cannot be too high, so that the phenomenon that the wheeled service robot turns over or bumps on objects or pedestrians during emergency stop is prevented.
In places with large crowd density, such as markets and supermarkets, the chassis of the service robot cannot be too large, for example, part of robot products are robots with improved supermarket shopping carts, which occupy too much ground space to cause congestion and other problems, and the ideal service robot is the same as people, has a high-picking figure and can freely shuttle in the crowd.
From the analysis of the above aspects, in a scene with dense people flow, on the premise of safety first, the man-machine natural interactivity of the robot, the height, the movement speed, the size and the volume of the robot and the like have some mutual restrictions. A service robot requiring a small footprint and a height comparable to a person can quickly follow the user or work in concert with the user, which presents a significant challenge to the robot. It is currently difficult to find such successfully applied robot products, and robots with such capabilities are well accepted by users.
With the development of material science, robotics, instrument science, computer science, sensor technology, control technology, etc., service robots have been developed faster in recent years, and thus, the research and design of a safe humanized service robot by using these technologies is one of the work currently required by those skilled in the art.
Disclosure of Invention
Technical problem
The invention aims to overcome the defects of the prior art and provide a robot capable of stopping and improving the standing stability of the robot under emergency conditions and a control method thereof.
In order to solve the technical problems, the invention adopts the following technical scheme:
The utility model provides a robot, includes organism and drive the mobile mechanism of organism motion, its characterized in that: the emergency stop mechanism comprises a connecting frame, a slide bar, a sucker seat, a compression spring, a sucker, a cylindrical cam, a pulley shaft, a pulley, a stop driven gear, a stop driving gear, a stop motor and an electromagnetic valve; the connecting frame is fixed at the bottom of the chassis of the moving mechanism, the stop driven gear and the stop driving gear are arranged at the lower end of the sucker seat, the stop driven gear is meshed with the stop driving gear, the stop driving gear is arranged on the output shaft of the stop motor, and the stop motor is positioned between the connecting frame and the sucker seat and is fixed above the sucker seat; the cylindrical cam is connected with the stop driven gear, the upper end of the cylindrical cam passes through a through hole in the middle of the connecting frame and the chassis, and a thin shaft on the lower end surface of the cylindrical cam passes through a shaft hole in the middle of the sucker seat; an adjusting groove is formed in the cylindrical surface of the cylindrical cam, one end of the pulley shaft is fixed on a connecting frame, the other end of the pulley shaft stretches into the adjusting groove in the side surface of the cylindrical cam to be connected with the pulley, a sliding rod is arranged between the connecting frame and the sucker seat, and the compression spring is sleeved on the sliding rod; the sucker is arranged on the bottom surface of the sucker seat; the electromagnetic valve is fixed on the chassis, and an air inlet of the electromagnetic valve is connected with the small hole at the upper part of the sucker through an air pipeline; when the pulley shaft slides up and down along the regulating groove, the sucker seat is driven to slide up and down on the sliding rod relative to the connecting frame, and when the sucker seat slides to the lowest position, the sucker is sucked with the ground to stop moving the robot.
The adjusting groove is composed of a circle of spiral arc grooves and a straight line groove connecting the head and the tail of the spiral line, wherein the straight line groove is along the axis direction of the cylinder.
The body adjusting mechanism consists of a fixed frame, a fixed post, a pitching motor seat, a pitching motor, a main framework, a secondary framework, a rack, a telescopic motor and a rack driving gear; the fixed frame is fixed on the chassis through the fixed posts; the pitching motor seat is fixed on the upper surface of the fixed frame, and the fixed pitching motor is fixed on the pitching motor seat; the bottom of the main framework is arranged on an output shaft of the pitching motor; the secondary framework slides up and down in a straight line in the main framework; the rack is arranged at the bottom of the secondary framework; the telescopic motor is fixed at the top end of the main framework; the rack driving gear is fixed on an output shaft of the telescopic motor and meshed with the rack.
The machine body consists of a bottom part, a lower part, a middle part, an upper part and a neck part which are sequentially connected from bottom to top; the bottom is a rigid cylinder structure and is fixedly arranged on the moving mechanism; the neck part is of a rigid cylinder structure and is fixedly arranged at the top of the body adjusting mechanism; the lower part, the middle part and the upper part are column casing structure shells with a certain arc shape; the middle part is made of flexible structural materials, so that the body can be conveniently and naturally flexibly deformed along with the height of the robot or in the pitching motion process of the robot.
The moving mechanism is a moving mechanism driven by four omni wheels and comprises a chassis, four motor mounting frames, four motors, four couplers and four omni wheels; the chassis is a round thin plate; the four motor mounting frames are of L-shaped structures, one side of each L is mounted on the lower portion of the chassis, the other side of each L is provided with one motor, and the four motors are uniformly distributed on the circular chassis and point to the circumferential direction from the circle center; four couplings are respectively arranged on the four motor output shafts, and four omni-directional wheels are respectively arranged on the four motor output shafts
The sucker seat is cross-shaped; the number of the sliding rods is eight, the lower end of each sliding rod is connected with one sucker, and the eight suckers are respectively fixed on the bottom surface of one end part of the cross sucker seat towards the ground.
The system also comprises a display touch screen and a mechanical arm; the display touch screen is fixed at the top of the secondary framework; the mechanical arm consists of an arm base, an arm, a multi-dimensional force sensor, a hand and arm swing motor and a swing driving gear; the arm base is fixed on the main framework close to the upper part; the upper end of the arm is provided with a partial gear structure, and the lower end of the arm is connected and provided with a multidimensional force sensor; the hand is connected to the other end of the multi-dimensional force sensor, and is of an elliptical annular structure, so that the hand can grasp the hand conveniently; the arm swing motor is arranged on the arm base, and a swing driving gear on an output shaft of the arm swing motor is meshed with a gear structure at the upper end of the arm.
The system comprises a camera, a driving module, a wireless communication unit, a sensing control device, a control processing unit, a storage unit, a motion control unit, a driving module and a wireless communication unit, wherein the sensing control device comprises an acceleration gyroscope module, a camera, an ultrasonic sensor, an infrared thermal imaging sensor, a code disc, a control processing unit and a wireless communication unit; the acceleration gyroscope module is arranged on the chassis and is used for detecting the attitude angle of the chassis of the robot; the camera is arranged at the neck of the machine body and used for detecting environmental information and identifying obstacles and pedestrians; the ultrasonic sensor comprises a plurality of sensor heads which are arranged on the outer surface of the bottom of the machine body and are used for detecting the distance of an obstacle; the infrared thermal imaging sensor is arranged at the lower part of the machine body and is used for detecting pedestrian information; the code wheel is a code wheel provided with each motor and is used for detecting the rotation angle and the rotation speed of the motor; the control processing unit processes the sensor data, saves the data to the storage unit, and generates control commands to control the moving mechanism, the emergency stop mechanism, the body adjusting mechanism and the man-machine interaction equipment; the driving module is used for driving four motors, an electromagnetic valve, a stopping motor, a pitching motor, a telescopic motor and an arm swinging motor of the moving mechanism; the wireless communication unit realizes communication between the robot and the wireless device.
The invention discloses a control method of a robot, which is characterized by comprising the following steps of: the system comprises a moving mechanism control, a body adjusting mechanism control, an emergency stop mechanism control and a man-machine interaction device control;
the moving mechanism is controlled by controlling four omnidirectional wheel driving motors, so that the robot moves towards any direction of 360 degrees;
the body adjusting mechanism control comprises the steps of detecting the inclination angle [ alpha, beta ] of a robot chassis in the moving process of the robot, wherein alpha is the pitch angle of the chassis, beta is the roll angle of the chassis, and controlling the robot to adjust the inclination angle of a main framework relative to a fixed frame by controlling the in-situ rotation of an omnidirectional wheel of the robot, so that the gravity center of the whole robot is controlled to be in a safe range, and the robot is prevented from turning over; when the robot advances in an accelerating way, the robot is prevented from turning backwards by controlling the main framework of the robot to swing forwards by a certain angle, and when the robot stops in a decelerating way, the robot is prevented from turning forwards by controlling the main framework of the robot to swing backwards by a certain angle, wherein the swing angle delta=f (a) of the main framework is the acceleration of the robot;
the emergency stop mechanism control flow is as follows:
s1: firstly, an electromagnetic valve is opened to enable an air inlet to be communicated with an air outlet, a motor is controlled to rotate, a cam is driven to rotate, the cam rotates and moves upwards, the distance between a connecting frame and a sucker seat is reduced, a compression spring stores elastic potential energy, and when a pulley reaches the highest point of a spiral groove quickly, the cam stops rotating and is ready to work;
S2: when the ultrasonic sensor and the infrared thermal imaging sensor detect that pedestrians or obstacles are close to each other rapidly in front of the movement of the robot, the cam continues to rotate, the pulley can slide to the bottom end of the groove rapidly from the return channel, so that the sucker is triggered to press to the ground, air in the sucker is discharged through a pipeline of the electromagnetic valve, the electromagnetic valve is closed rapidly at the moment, the electromagnetic valve and the air pipe are in a negative pressure state, the sucker is adsorbed on the ground, a certain suction force is provided, the robot is fixed on the ground, and accidents caused by collision of the robot and the people are prevented;
s3: when the robot needs to start to leave, the electromagnetic valve is opened, the atmosphere enters the sucker, the sucker automatically drops, the cam continues to rotate, and a new emergency stop preparation working stage is entered;
the man-machine interaction equipment control is that an operator can input certain information through a display touch screen or receive related information of the robot, so that the robot is correspondingly controlled; the man-machine interaction equipment control further comprises that in the process that an operator pulls the hand of the robot to move, the robot senses the pulling force of the person through the multidimensional force sensor, so that the movement speed of the robot is controlled, and the speed v is as follows:
v=f(F x , F y , F z )=c 1 F x +c 2 F x 2 +c 3 F y +c 4 F y 2 +c 5 F z +c 6 F z 2
Wherein F is x 、F y And F z Is the three-dimensional force information detected by the multi-dimensional force sensor, and the coefficient c i =f i (θ, γ), i=1, 2,3,4,5,6, θ is the pitch angle of the main frame, and γ is the swing angle of the arm.
The invention relates to a safe humanized service robot which comprises a machine body, a moving mechanism, an emergency stop mechanism, a body adjusting mechanism, man-machine interaction equipment, a sensing control device, a power module and an article container.
The machine body consists of a bottom part, a lower part, a middle part, an upper part and a neck part which are sequentially connected from bottom to top; the bottom is a rigid cylinder structure and is fixedly arranged on the moving mechanism; the neck part is of a rigid cylinder structure and is fixedly arranged at the top of the body adjusting mechanism; the lower part, the middle part and the upper part are column casing structure shells with a certain arc shape; the middle part is made of flexible structural materials, so that the body can be conveniently and naturally flexibly deformed along with the height of the robot or in the pitching motion process of the robot.
The moving mechanism is four omni-wheel driven moving mechanisms and comprises a chassis, four motor mounting frames, four motors, four couplings and four omni-wheels; the chassis is a round thin plate; the four motor mounting frames are of L-shaped structures, one side of each L is mounted on the lower portion of the chassis, the other side of each L is provided with one motor, and the four motors are uniformly distributed on the circular chassis and point to the circumferential direction from the circle center; four couplings are respectively arranged on the four motor output shafts, and four omni-directional wheels are respectively arranged on the four motor output shafts.
The emergency stop mechanism comprises a connecting frame, eight sliding rods, sucker seats, eight linear bearings, eight compression springs, eight suckers, a cylindrical cam, a pulley shaft, pulleys, a thrust bearing, a stop driven gear, a stop driving gear, a stop motor and an electromagnetic valve; the connecting frame is of a cross structure and is fixed at the bottom of the chassis, and four end parts of the cross are positioned in the neutral spaces of the four motor mounting frames; the upper ends of every two slide bars are respectively fixed at one end part of the connecting frame, and the lower ends face the ground; the sucker seat is also of a cross structure, four end parts of the sucker seat are respectively positioned right below four end parts of the connecting frame, each end part of the sucker seat is provided with two bearing mounting holes, a linear bearing is arranged on each end part of the sucker seat, a slide rod penetrates through the linear bearing, and the whole sucker seat can slide up and down relative to the connecting frame along eight slide rods; the eight pressure springs are respectively sleeved on the eight sliding rods, the upper ends of the eight pressure springs are fixed on the lower surface of the connecting frame, and the lower ends of the eight pressure springs are fixed on the upper surface of the sucker seat, so that a certain constraint force exists when the sucker seat slides along the sliding rods; eight suckers are respectively fixed on the bottom surface of one end part of the cross-shaped sucker seat towards the ground; the cylindrical cam is cylindrical, a circle of spiral cam grooves are formed in the side face of the cylindrical cam, the head and the tail of the spiral line are directly communicated through the groove along the axis direction of the cylinder, the upper end of the cylindrical cam passes through a through hole in the middle of a connecting frame and a chassis, and a thin shaft on the lower end face of the cylindrical cam passes through a shaft hole in the middle of a sucker seat; a transverse pulley shaft is arranged at the middle part of the connecting frame and close to the cylindrical cam, one end of the pulley shaft is fixed on the connecting frame, and the other end of the pulley shaft extends into a groove on the side surface of the cylindrical cam; the pulley is arranged at the other end of the pulley shaft and positioned in the groove of the cylindrical cam, and can roll along the groove; the thin shaft at the lower part of the cylindrical cam is provided with thrust bearings at the upper and lower surfaces of the sucker seat, so that the friction force of the cylindrical cam is small when the cylindrical cam rotates relative to the sucker seat; a stop driven gear is arranged at the lower part of the thrust bearing below the sucker seat; the stop driving gear is meshed with the stop driven gear and is arranged on an output shaft of the stop motor; the stop motor is fixed above one cross-shaped side of the sucker seat and is positioned between the sucker seat and the connecting frame, and the motor shaft penetrates through the sucker seat to face the ground; the electromagnetic valve is fixed on the upper surface of the chassis, and the air inlet of the electromagnetic valve is connected with the small holes at the upper parts of the eight suckers through a plastic air pipeline.
The body adjusting mechanism consists of a fixed frame, eight fixed posts, a pitching motor seat, a pitching motor, a main framework, a secondary framework, a rack, a telescopic motor and a rack driving gear; the fixed frame is of a disc-shaped structure and has the same diameter as the chassis; eight pillars are uniformly distributed on the circumference, and the fixed frame is fixed on the chassis; the pitching motor seat is of an L-shaped structure, one side of the pitching motor seat is in a horizontal direction and fixed on the upper surface of the fixed frame, and the other side of the pitching motor seat is in a vertical direction and used for fixing the pitching motor; the main framework is a carbon fiber tube with a square section, and the bottom of the main framework is arranged on an output shaft of the pitching motor; the secondary framework is a half side of a carbon fiber tube with a square section, namely the section is close to a U shape, and the square side length of the outer side of the secondary framework is smaller than the side length of the inner side direction of the main framework, so that the secondary framework can slide up and down in a straight line in the main framework; the rack is arranged at the bottom of the U-shaped groove of the secondary framework; the telescopic motor is fixed at the top end of the main framework; the rack driving gear is fixed on the output shaft of the telescopic motor and meshed with the rack.
The man-machine interaction device comprises a display touch screen and a mechanical arm; the display touch screen is fixed at the top of the secondary framework; the mechanical arm consists of an arm base, an arm, a multi-dimensional force sensor, a hand, an arm swinging motor and a swinging driving gear; the arm base is fixed on the main framework and is close to the upper part; the arm is a cylindrical tube, the upper end of the arm is provided with a partial gear structure, and the lower end of the arm is connected and provided with a multidimensional force sensor; the hand is connected with the other end of the multidimensional force sensor, and is of an elliptical annular structure, so that the hand can grasp the multidimensional force sensor conveniently; the arm swinging motor is arranged on the arm base, and a swinging driving gear on an output shaft of the arm swinging motor is meshed with a gear structure at the upper end of the arm.
Advantageous effects
The robot and the control method have the robot appearance which is equivalent to the height of a human body and is long, and are convenient for sports operation in environments with more obstacles such as crowd and the like.
The emergency stop mechanism can realize the emergency stop function of the robot when the robot encounters emergency in the rapid movement process, such as pedestrians, animals, carts and the like, and prevent safety accidents caused by installing pedestrians and the like; the emergency stop mechanism can also adsorb and fix the chassis of the robot on the ground when the robot quickly adjusts the height in situ and uses the mechanical arm to carry goods and other operations, so as to prevent the robot from tipping due to overhigh gravity center and dynamic change in the process of carrying the goods; the emergency stop mechanism can effectively improve the safety of the robot applied to public places such as markets, supermarkets and the like;
the body adjusting mechanism can adjust the height of the robot, and can adjust the height to the lowest when the robot moves at a high speed, so that the gravity center of the robot is the lowest, thereby improving the safety of movement and preventing rollover; the body adjusting mechanism can also adjust the height of the robot according to the robot and users with different heights, such as adults and children, so as to interact with the users conveniently and realize the cooperation tasks of article transmission and the like; the body adjusting mechanism can also adjust the pitching angle of the robot so as to adjust the gravity center position of the robot, and when the acceleration gyroscope module of the robot detects the inclination angle of the chassis of the robot, namely the gradient of a road surface, the pitching angle of the robot can be adjusted according to the angle of the gradient, so that the robot with high gravity center is prevented from tipping over, and the moving safety of the transported articles of the robot is improved; the body adjusting mechanism can also adjust the pitch angle of the robot, adjust the forward tilting of the robot when accelerating to advance, prevent the robot from overturning backwards, adjust the backward tilting of the robot when decelerating, and prevent the robot from overturning forwards, thereby preventing the robot from overturning under the condition of high movement speed of the robot.
The man-machine interaction equipment provided by the invention is used for interacting with a human body by adopting the mechanical arm, and the three-dimensional force information of the interaction of the robot and the hand is detected by the multi-dimensional force sensor additionally arranged on the mechanical arm, so that the movement speed of the robot is controlled.
The safe humanized service robot and the control method can enable the height of the robot to be adjustable, have high movement speed, simultaneously have good safety, prevent rollover, meet the requirement of a user on the speed and have good man-machine interaction; the human-computer interaction arm structure with multidimensional force information perception is adopted, so that the cooperative movement and operation of the robot and the human can be effectively completed, and the robot has good practical value. The robot and the control method can be used for carrying out related data acquisition, exercise operation and the like in places such as markets, supermarkets, hospitals and subway stations, and have good application prospects.
The safe humanized service robot and the control method have the robot shape which is equivalent to the height of a human body and is long in size, and are convenient for sports operation in environments with more obstacles such as crowd and the like; the emergency stop mechanism is matched with the body adjusting mechanism, so that the height of the robot is adjustable, the robot has high movement speed, and meanwhile, the robot has good safety, prevents rollover, meets the requirement of a user on the speed, and has good man-machine interaction; the human-computer interaction arm structure with multidimensional force information perception is adopted, so that the cooperative movement and operation of the robot and the human can be effectively completed, and the robot has good practical value. The robot and the control method can be used for carrying out related data acquisition, exercise operation and the like in places such as markets, supermarkets, hospitals and subway stations, and have good application prospects.
Drawings
Fig. 1 is a block diagram of a robot composition according to an embodiment of the present invention.
Fig. 2 is a schematic view of the overall structure of a robot according to an embodiment of the present invention.
Fig. 3 is a schematic diagram of a robot body according to an embodiment of the present invention.
Fig. 4 is a schematic top view of a robotic movement mechanism according to an embodiment of the invention.
Fig. 5 is a schematic bottom view of a robot moving mechanism according to an embodiment of the present invention.
Fig. 6 is a schematic view of a partial structure of a moving mechanism of a robot according to an embodiment of the present invention.
Fig. 7 is a schematic view of a robot moving mechanism and an emergency stop mechanism according to an embodiment of the present invention.
Fig. 8 is a schematic structural view of a compressed state of a compression spring of an emergency stop mechanism of a robot according to an embodiment of the present invention.
Fig. 9 is a schematic view 1 showing a structure of a compressed spring of an emergency stop mechanism for a robot in an extended state according to an embodiment of the present invention.
Fig. 10 is a schematic view 2 showing a state where a compression spring of an emergency stop mechanism of a robot according to an embodiment of the present invention is extended.
Fig. 11 is a partial schematic view of a robot emergency stop mechanism according to an embodiment of the present invention 1.
Fig. 12 is a partial schematic view of a robotic emergency stop mechanism according to an embodiment of the invention 2.
Fig. 13 is a partial schematic view of a robot emergency stop mechanism according to an embodiment of the present invention, fig. 3.
Fig. 14 is a schematic view 1 of a structure of a robot body adjusting mechanism and man-machine interaction equipment according to an embodiment of the present invention.
Fig. 15 is a schematic view 2 of a structure of a robot body adjusting mechanism and man-machine interaction equipment according to an embodiment of the present invention.
Fig. 16 is a schematic diagram of a robot sensor control device and a power module according to an embodiment of the invention.
Fig. 17 is a schematic view showing a state in which the robot body is contracted and contracted according to the embodiment of the present invention.
Fig. 18 is a schematic view of a robot body recline state according to an embodiment of the present invention.
Fig. 19 is a schematic view showing a robot body tilting forward state according to an embodiment of the present invention.
Fig. 20 is a schematic diagram of typical motion state adjustment of a robot according to an embodiment of the present invention.
Fig. 21 is a schematic view of a robot handling pallet in accordance with an embodiment of the present invention.
Fig. 22 is a schematic diagram of a fast moving state of the robot on an up-slope and a down-slope according to an embodiment of the present invention.
Fig. 23 is a schematic view of an acceleration and deceleration motion state of a robot according to an embodiment of the present invention.
Detailed Description
The working principle and working procedure of the present invention will be described in further detail with reference to the drawings and examples.
Examples: referring to fig. 1, a safety humanized service robot is composed of a body 1, a moving mechanism 2, an emergency stop mechanism 3, a body adjusting mechanism 4, human-computer interaction equipment 5, a sensing control device 6, a power module 7 and an article container 8.
Referring to fig. 2, 3, 4 and 14, the body 1 is composed of five parts, namely a bottom part 1-1, a lower part 1-2, a middle part 1-3, an upper part 1-4 and a neck part 1-5, which are sequentially connected from bottom to top; the bottom 1-1 is of a rigid cylindrical structure and is fixedly arranged on the moving mechanism 2; the neck part 1-5 is a rigid cylinder structure and is fixedly arranged on the top of the body adjusting mechanism 4; the lower part 1-2, the middle part 1-3 and the upper part 1-4 are column casing structure shells with a certain arc shape; the middle part 1-3 is made of flexible structural material so that the body 1 can do pitching motion along with the body adjusting mechanism 4.
Referring to fig. 1, 2 and 3, the moving mechanism 2 is a four-wheel-driven moving mechanism and comprises a chassis 2-1, a first motor mounting frame 2-2, a second motor mounting frame 2-3, a third motor mounting frame 2-4, a fourth motor mounting frame 2-5, a first motor 2-6, a second motor 2-7, a third motor 2-8, a fourth motor 2-9, a first wheel 2-10, a second wheel 2-11, a third wheel 2-12 and a fourth wheel 2-13; 2-14 parts of first coupling, 2-15 parts of second coupling, 2-16 parts of third coupling and 2-17 parts of fourth coupling; the motor mounting frame I2-2, the motor mounting frame II 2-3, the motor mounting frame III 2-4 and the motor mounting frame IV 2-5 are arranged at the lower part of the chassis 2-1, and the motor I2-6, the motor II 2-7, the motor III 2-8 and the motor IV 2-9 are respectively arranged on the motor mounting frame I2-2, the motor mounting frame II 2-3, the motor mounting frame III 2-4 and the motor mounting frame IV 2-5; the first omnidirectional wheel 2-10, the second omnidirectional wheel 2-11, the third omnidirectional wheel 2-12 and the fourth omnidirectional wheel 2-13 are respectively connected to the output shafts of the first motor 2-6, the second motor 2-7, the third motor 2-8 and the fourth motor 2-9 through the first coupling 2-14, the second coupling 2-15, the third coupling 2-16 and the fourth coupling 2-17.
Referring to fig. 1, fig. 7, fig. 8, fig. 9, fig. 10, fig. 11, fig. 12, fig. 13, fig. 14, fig. 16, fig. 17, fig. 18, and fig. 19, the emergency stop mechanism 3 includes a connection bracket 3-1, a slide rod one 3-2, a slide rod two 3-3, a slide rod three 3-4, a slide rod four 3-5, a slide rod five 3-6, a slide rod six 3-7, a slide rod seven 3-8, a slide rod eight 3-9, a suction cup holder 3-10, a linear bearing one 3-11, a linear bearing two 3-12, a linear bearing three 3-13, a linear bearing four 3-14, a linear bearing five 3-15, a linear bearing six 3-16, a linear bearing seven 3-17, a linear bearing eight 3-18, a compression spring one 3-19, a compression spring two 3-20, a compression spring three 3-21, a compression spring four 3-22, a compression spring five 3-23, a compression spring six 3-24, a compression spring seven 3-25, a compression spring eight 3-26, a suction cup one 3-27, a suction cup three-28, a suction cup 3-29, a four 3-30, a five-30, a gear wheel 3-35, a driving wheel 33-36, a driving wheel 33-35, a driving wheel 33, and a driving wheel 33; the connecting frame 3-1 is fixed at the bottom of the chassis 2-1; the first sliding rod 3-2, the second sliding rod 3-3, the third sliding rod 3-4, the fourth sliding rod 3-5, the fifth sliding rod 3-6, the sixth sliding rod 3-7, the seventh sliding rod 3-8 and the eighth sliding rod 3-9 are fixed at the four ends of the connecting frame 3-1; the sucker seat 3-10 is provided with a first linear bearing 3-11, a second linear bearing 3-12, a third linear bearing 3-13, a fourth linear bearing 3-14, a fifth linear bearing 3-15, a sixth linear bearing 3-16, a seventh linear bearing 3-17 and an eighth linear bearing 3-18, wherein the first sliding rod 3-2, the second sliding rod 3-3, the third sliding rod 3-4, the fourth sliding rod 3-5, the fifth sliding rod 3-6, the sixth sliding rod 3-7, the seventh sliding rod 3-8 and the eighth sliding rod 3-9 respectively penetrate through the first linear bearing 3-11, the second linear bearing 3-12, the third linear bearing 3-13, the fourth linear bearing 3-14, the fifth linear bearing 3-15, the sixth linear bearing 3-16, the seventh linear bearing 3-17 and the eighth linear bearing 3-18, and the whole sucker seat 3-10 can be connected with the upper sliding rod 3-1 and the lower sliding rod along the first sliding rod 3-2, the second sliding rod 3-3, the third sliding rod 3-4, the fourth sliding rod 3-5, the fifth sliding rod 3-6, the sixth sliding rod 3-7, the seventh sliding rod 8 and the eighth sliding rod 3-9; the compression spring I3-19, the compression spring II 3-20, the compression spring III 3-21, the compression spring IV 3-22, the compression spring V3-23, the compression spring VI 3-24, the compression spring V3-25 and the compression spring V3-26 are respectively sleeved on the slide bar I3-2, the slide bar II 3-3, the slide bar III 3-4, the slide bar IV 3-5, the slide bar V3-6, the slide bar V3-7, the slide bar V3-8 and the slide bar V3-9, the upper ends of the compression springs V3-21, the compression springs V3-25 and the compression springs V3-26 are fixed on the lower surface of the connecting frame 3-1, and the lower ends of the compression springs V3-6 are fixed on the upper surface of the sucker seat 3-10; 3-27 parts of a first sucker, 3-28 parts of a second sucker, 3-29 parts of a third sucker, 3-30 parts of a fourth sucker, 3-31 parts of a fifth sucker, 3-32 parts of a sixth sucker, 3-33 parts of a seventh sucker and 3-34 parts of an eighth sucker are fixed on the bottom surface of the sucker seat 3-10; the cylindrical cam 3-35 is cylindrical, a circle of spiral cam grooves are formed in the side face of the cylindrical cam 3-35, the head and the tail of the spiral line are directly communicated through the groove along the axis direction of the cylinder, the upper end of the cylindrical cam 3-35 passes through a through hole in the middle of the connecting frame 3-1 and the chassis 2-1, and a thin shaft on the lower end face of the cylindrical cam 3-35 passes through a shaft hole in the middle of the sucker seat; the connecting frame 3-1 is provided with a pulley shaft 3-36, one end of the pulley shaft 3-36 is fixed on the connecting frame 3-1, and the other end of the pulley shaft is penetrated into a groove on the side surface of the cylindrical cam 3-35; the pulley 3-37 is arranged at the other end of the pulley shaft 3-36 and is positioned in a groove of the cylindrical cam 3-35 and can move along the groove; the thin shaft at the lower part of the cylindrical cam 3-35 is positioned on the upper surface and the lower surface of the sucker seat 3-10, and thrust bearings 3-38 are arranged on the upper surface and the lower surface of the cylindrical cam, so that the friction force is small when the cylindrical cam 3-35 rotates relative to the sucker seat 3-10; the lower part of the thrust bearing 3-38 below the sucker seat 3-10 is provided with a stop driven gear 3-39; engaged with the stop driven gear 3-39 is a stop driving gear 3-40, the stop driving gear 3-40 being mounted on the output shaft of the stop motor 3-41; the stop motor 3-41 is fixed above the sucker seat 3-10, and a motor shaft passes through the sucker seat 3-10 to face the ground; the electromagnetic valve 3-42 is fixed on the upper surface of the chassis 2-1, and the air inlet of the electromagnetic valve is connected with the upper small holes of the eight suckers through a plastic air pipeline.
Referring to fig. 14, 15, 17, 18 and 19, the body adjusting mechanism 4 is composed of a fixed frame 4-1, a fixed column one 4-2, a fixed column two 4-3, a fixed column three 4-4, a fixed column four 4-5, a fixed column five 4-6, a fixed column six 4-7, a fixed column seven 4-8, a fixed column eight 4-9, a pitching motor seat 4-10, a pitching motor 4-11, a main frame 4-12, a sub-frame 4-13, a rack 4-14, a telescopic motor 4-15 and a rack driving gear 4-16; the fixed frame 4-1 is fixed on the chassis 2-1 by the fixed column one 4-2, the fixed column two 4-3, the fixed column three 4-4, the fixed column four 4-5, the fixed column five 4-6, the fixed column six 4-7, the fixed column seven 4-8 and the fixed column eight 4-9; the pitching motor seats 4-10 are fixed on the upper surface of the fixed frame; the pitching motor 4-11 is fixed on the pitching motor seat 4-10; the main framework 4-12 is a carbon fiber tube with a square section, and the bottom of the main framework is arranged on an output shaft of the pitching motor 4-11; the secondary framework 4-13 is a half side of a carbon fiber tube with a square section, and the secondary framework 4-13 can linearly slide up and down in the main framework 4-12; the racks 4-14 are arranged on the secondary frameworks 4-13; the telescopic motor 4-15 is fixed at the top end of the main framework 4-12; the rack driving gear 4-16 is fixed on an output shaft of the telescopic motor 4-15 and meshed with the rack 4-14; the pitching motor 4-11 rotates to drive the whole main framework 4-12 and above parts to swing, so that pitching motion of the robot body is realized, and the gravity center position is regulated; the height of the robot can be adjusted by rotating the telescopic motors 4-15.
Referring to fig. 2, 14, 15, 17, 18 and 19, the human-machine interaction device 5 includes a display touch screen 5-1 and a robot arm 5-2; the display touch screen 5-1 is fixed at the top of the secondary framework 4-13; the mechanical arm 5-2 is composed of an arm base 5-2-1, an arm 5-2-2, a multidimensional force sensor 5-2-3, a hand 5-2-4, an arm swinging motor 5-2-5 and a swinging driving gear 5-2-6; the arm base 5-2-1 is fixed on the main framework 4-12; the upper end of the arm 5-2-2 is provided with a partial gear structure, and the lower end of the arm 5-2-2 is provided with a multidimensional force sensor 5-2-3; the hand 5-2-4 is connected to the end of the multidimensional force sensor 5-2-3; the arm swinging motor 5-2-5 is arranged on the arm base 5-2-1, and a swinging driving gear 5-2-6 on the output shaft of the arm swinging motor 5-2-5 is meshed with a gear structure at the upper end of the arm 5-2-2; the rotation of the arm swing motor 5-2-5 can drive the arm 5-2-2 to swing up and down.
Referring to fig. 1, 2 and 16, the sensing control device 6 is composed of an acceleration gyro module 6-1, a camera 6-2, an ultrasonic sensor 6-3, an infrared thermal imaging sensor 6-4, a code wheel 6-5, a control processing unit 6-6, a storage unit 6-7, a motion control unit 6-8, a driving module 6-9 and a wireless communication unit 6-10; the acceleration gyroscope module 6-1 is arranged on the chassis 2-1 and is used for detecting the attitude angle of the robot chassis 2-1; the camera 6-2 is arranged at the neck 1-5 of the machine body 1 and is used for detecting environmental information and identifying obstacles and people; the ultrasonic sensor 6-3 includes a plurality of sensor heads mounted on the outer surface of the bottom cylinder of the body for detecting the distance of the obstacle; the infrared thermal imaging sensor 6-4 is arranged at the lower part of the machine body and is used for detecting the information of pedestrians; the code wheel 6-5 is positioned at the rear end part of the motor and is used for detecting the rotating speed and the rotating angle of the motor; the control processing unit 6-6, the storage unit 6-7 and the motion control unit 6-8 are all arranged on the chassis 2-1; the control processing unit 6-6 processes the sensor data, saves the data to the storage unit 6-7, and generates control commands to control the moving mechanism 2, the emergency stop mechanism 3, the body adjusting mechanism 4 and the man-machine interaction device 5; the driving module 6-9 realizes the driving of the electromechanical systems of the moving mechanism 2, the emergency stop mechanism 3, the body adjusting mechanism 4 and the man-machine interaction device 5; the wireless communication units 6-10 enable communication of the robot with a server, wireless devices, etc.
Referring to fig. 14 and 15, the power module 7 includes a lithium battery 7-1 and a voltage conversion module 7-2.
Referring to fig. 18 and 19, the article container 8 has a cylindrical tubular structure and is mounted on the main frames 4 to 12 for holding articles.
Referring to fig. 20, a typical motion state of the robot, 9 is a state when the height of the robot body is adjusted to be higher by the robot body adjusting mechanism and the gravity center is also higher, and the robot moves forward at a low speed to prevent tipping; 10 is that when the height of the robot is low, the gravity center is also low, and the robot moves forwards at a high speed; 11 is that when the camera 6-2, the ultrasonic sensor 6-3 and the infrared thermal imaging sensor 6-4 of the robot detect that the front obstacle or the pedestrian suddenly appears, the emergency stop mechanism 3 of the robot triggers the quick-loading ground to adsorb the robot on the ground so as to prevent collision; the emergency stop mechanism 3 of the robot releases and withdraws, and the robot breaks away from the ground to restart the forward movement.
Referring to fig. 21, when the robot conveys goods, 13 is that the robot arm 5-2 holds the goods 15, the emergency stop mechanism 3 works to fix the robot on the ground in order to prevent the robot from tipping over due to the change of the gravity center of the robot during the process of conveying the goods 15; and 14, the body adjusting mechanism 4 adjusts the head of the robot to adjust the gravity center of the robot to fall at a better position as much as possible, so that the robot is prevented from tipping over, and the safe operation is ensured.
Referring to fig. 22, the fast moving state of the robot up and down slopes is shown as 16, and the acceleration gyro module 6-1 of the robot detects the inclination angle of the chassis when the robot moves up slopes, so that the body adjusting mechanism 4 is controlled to adjust the pitch angle of the robot, the main framework 4-12 of the robot is ensured to be close to the vertical state, the gravity center of the robot is located at a better position as far as possible, the robot is prevented from overturning, and the safety up slopes is ensured; 17 is that after the robot detects the ground level, the body adjusting mechanism 4 adjusts the pitch angle of the robot to be close to 0 degree, controls the pitch angle to be close to 0 degree and safely moves; and 18 is the chassis inclination angle of the robot when the acceleration gyroscope module 6-1 of the robot detects the downhill movement of the robot, so that the body adjusting mechanism 4 is controlled to adjust the pitch angle of the robot, the main framework 4-12 of the robot is ensured to be close to a vertical state, the gravity center of the robot is located at a better position as far as possible, the robot is prevented from tipping over, and the safe downhill movement is ensured.
Referring to fig. 23, the acceleration and deceleration movements of the robot, 19 is that the body adjusting mechanism 4 is controlled to make the robot have a certain forward inclination angle in the acceleration movement process of the robot, so as to prevent the robot from tipping backwards; 20 is that the pitch angle is controlled to be close to 0 degree when the robot moves at a nearly uniform speed or a low speed; and 21, in the process of decelerating movement of the robot, the body adjusting mechanism 4 is controlled to enable the robot to have a certain elevation angle, so that the robot is prevented from overturning forwards, and the safe movement of the robot is ensured.
The service robot control method comprises moving mechanism control, body adjusting mechanism control, emergency stop mechanism control and man-machine interaction equipment control;
the movement mechanism control is realized by controlling four omnidirectional wheel driving motors;
referring to fig. 14, 15, 17, 18 and 19, the body adjusting mechanism control includes, during the movement of the robot, detecting the inclination angle [ α, β ] of the chassis of the robot, where α is the pitch angle of the chassis and β is the roll angle of the chassis, and controlling the robot to adjust the inclination angle of the main frame relative to the fixed frame by controlling the in-situ rotation of the omni-directional wheel of the robot, and controlling the center of gravity of the robot to be within a safe range, for preventing the robot from turning over on an upper slope and a lower slope; when the robot is accelerated to advance, the robot is prevented from turning backwards by controlling the main framework of the robot to swing forwards by a certain angle, and when the robot is decelerated and stopped, the robot is prevented from turning forwards by controlling the main framework of the robot to swing backwards by a certain angle;
the emergency stop mechanism control flow is as follows:
s1: firstly, an electromagnetic valve is opened to enable an air inlet to be communicated with an air outlet, a motor is controlled to rotate, a cam is driven to rotate, the cam rotates and simultaneously moves upwards and directly, the distance between a chassis and a sucker seat is reduced, a compression spring stores elastic potential energy, and when a pulley reaches the highest point of a spiral groove quickly, the cam stops rotating and is ready to work;
S2: when the ultrasonic sensor and the infrared thermal imaging sensor detect that pedestrians or obstacles are close to each other rapidly in front of the movement of the robot, the cam continues to rotate, the pulley slides to the bottom end of the groove from the return channel, so that the sucker is triggered to press to the ground, air in the sucker is discharged through a pipeline of the electromagnetic valve, the electromagnetic valve is rapidly closed at the moment, the electromagnetic valve and the air pipe can be guaranteed to be in a negative pressure state, the sucker is adsorbed on the ground, a certain force is provided, the robot is fixed on the ground, and accidents are prevented;
s3: when the robot needs to start to leave, the electromagnetic valve is opened, the atmosphere enters the sucker, the sucker automatically drops, the cam continues to rotate, and a new emergency stop preparation working stage is entered.
The man-machine interaction equipment control is that an operator can input certain information through a display touch screen or receive related information of the robot, so that the robot is correspondingly controlled; the man-machine interaction device control also comprises that the robot controls the movement speed by sensing the pulling force of the robot during the hand movement process of the robot pulled by an operator, and the speed v=f (F x , F y , F z )=c 1 F x +c 2 F x 2 +c 3 F y +c 4 F y 2 +c 5 F z +c 6 F z 2 Here F x 、F y And F z Is the three-dimensional force information detected by the multi-dimensional force sensor, c i =f i (θ, γ), i=1, 2,3,4,5,6, θ is the pitch angle of the main skeleton, γ is the swing angle of the arm, and the parameter c can be determined by analysis and experiments i 。
Claims (8)
1. The utility model provides a robot, includes organism and drive the mobile mechanism of organism motion, its characterized in that: the emergency stop mechanism comprises a connecting frame, a slide bar, a sucker seat, a compression spring, a sucker, a cylindrical cam, a pulley shaft, a pulley, a stop driven gear, a stop driving gear, a stop motor and an electromagnetic valve; the connecting frame is fixed at the bottom of the chassis of the moving mechanism, the stop driven gear and the stop driving gear are arranged at the lower end of the sucker seat, the stop driven gear is meshed with the stop driving gear, the stop driving gear is arranged on the output shaft of the stop motor, and the stop motor is positioned between the connecting frame and the sucker seat and is fixed above the sucker seat; the cylindrical cam is connected with the stop driven gear, the upper end of the cylindrical cam passes through a through hole in the middle of the connecting frame and the chassis, and a thin shaft on the lower end surface of the cylindrical cam passes through a shaft hole in the middle of the sucker seat; an adjusting groove is formed in the cylindrical surface of the cylindrical cam, one end of the pulley shaft is fixed on a connecting frame, the other end of the pulley shaft stretches into the adjusting groove in the side surface of the cylindrical cam to be connected with the pulley, a sliding rod is arranged between the connecting frame and the sucker seat, and the compression spring is sleeved on the sliding rod; the sucker is arranged on the bottom surface of the sucker seat; the electromagnetic valve is fixed on the chassis, and an air inlet of the electromagnetic valve is connected with the small hole at the upper part of the sucker through an air pipeline; when the pulley shaft slides up and down along the regulating groove, the sucker seat is driven to slide up and down on the sliding rod relative to the connecting frame, and when the sucker seat slides to the lowest end position, the sucker is sucked with the ground to stop the robot;
The system also comprises man-machine interaction equipment; the man-machine interaction device comprises a display touch screen and a mechanical arm;
the body adjusting mechanism consists of a fixed frame, a fixed post, a pitching motor seat, a pitching motor, a main framework, a secondary framework, a rack, a telescopic motor and a rack driving gear; the fixed frame is fixed on the chassis through the fixed posts; the pitching motor seat is fixed on the upper surface of the fixed frame, and the pitching motor is fixed on the pitching motor seat; the bottom of the main framework is arranged on an output shaft of the pitching motor; the secondary framework slides up and down in a straight line in the main framework; the rack is arranged at the bottom of the secondary framework; the telescopic motor is fixed at the top end of the main framework; the rack driving gear is fixed on an output shaft of the telescopic motor and meshed with the rack.
2. The robot of claim 1, wherein: the adjusting groove is composed of a circle of spiral arc grooves and a straight line groove connecting the head and the tail of the spiral line, wherein the straight line groove is along the axis direction of the cylinder.
3. The robot of claim 2, wherein: the machine body consists of a bottom part, a lower part, a middle part, an upper part and a neck part which are sequentially connected from bottom to top; the bottom is a rigid cylinder structure and is fixedly arranged on the moving mechanism; the neck part is of a rigid cylinder structure and is fixedly arranged at the top of the body adjusting mechanism; the lower part, the middle part and the upper part are column casing structure shells with a certain arc shape; the middle part is made of flexible structural materials, so that the body can be conveniently and naturally flexibly deformed along with the height of the robot or in the pitching motion process of the robot.
4. A robot according to claim 3, characterized in that: the moving mechanism is a moving mechanism driven by four omni wheels and comprises a chassis, four motor mounting frames, four motors, four couplers and four omni wheels; the chassis is a round thin plate; the four motor mounting frames are of an L-shaped structure, one side of the L-shaped structure is arranged at the lower part of the chassis, the other side of the L-shaped structure is provided with a motor, and the four motors are uniformly distributed on the circular chassis and point to the circumferential direction from the circle center; four couplings are respectively arranged on the four motor output shafts, and four omni-directional wheels are respectively arranged on the four motor output shafts.
5. The robot of claim 4, wherein: the sucker seat is cross-shaped; the number of the sliding rods is eight, the number of the suckers is eight, and two suckers are fixed at each end part of the cross-shaped sucker seat.
6. The robot of claim 5, wherein: the display touch screen is fixed at the top of the secondary framework; the mechanical arm comprises an arm base, an arm, a multi-dimensional force sensor, a hand, an arm swing motor and a swing driving gear; the arm base is fixed on the main framework close to the upper part; the upper end of the arm is provided with a partial gear structure, and the lower end of the arm is connected and provided with a multidimensional force sensor; the hand is connected to the other end of the multi-dimensional force sensor, and is of an elliptical annular structure, so that the hand can grasp the hand conveniently; the arm swing motor is arranged on the arm base, and a swing driving gear on an output shaft of the arm swing motor is meshed with a gear structure at the upper end of the arm.
7. The robot of claim 6, wherein: the system comprises a camera, a driving module, a wireless communication unit, a sensing control device, a control processing unit, a storage unit, a motion control unit, a driving module and a wireless communication unit, wherein the sensing control device comprises an acceleration gyroscope module, a camera, an ultrasonic sensor, an infrared thermal imaging sensor, a code disc, a control processing unit and a wireless communication unit; the acceleration gyroscope module is arranged on the chassis and is used for detecting the attitude angle of the chassis of the robot; the camera is arranged at the neck of the machine body and used for detecting environmental information and identifying obstacles and pedestrians; the ultrasonic sensor comprises a plurality of sensor heads which are arranged on the outer surface of the bottom of the machine body and are used for detecting the distance of an obstacle; the infrared thermal imaging sensor is arranged at the lower part of the machine body and is used for detecting pedestrian information; the code wheel is a code wheel provided with each motor and is used for detecting the rotation angle and the rotation speed of the motor; the control processing unit processes the sensor data, saves the data to the storage unit, and generates control commands to control the moving mechanism, the emergency stop mechanism, the body adjusting mechanism and the man-machine interaction equipment; the driving module is used for driving four motors, an electromagnetic valve, a stopping motor, a pitching motor, a telescopic motor and an arm swinging motor of the moving mechanism; the wireless communication unit realizes communication between the robot and the wireless device.
8. The control method based on the robot according to claim 7, characterized in that: the system comprises a moving mechanism control, a body adjusting mechanism control, an emergency stop mechanism control and a man-machine interaction device control;
the moving mechanism is controlled by controlling four omnidirectional wheel driving motors, so that the robot moves towards any direction of 360 degrees;
the body adjusting mechanism control comprises the steps of detecting the inclination angle [ alpha, beta ] of a robot chassis in the moving process of the robot, wherein alpha is the pitch angle of the chassis, beta is the roll angle of the chassis, and controlling the robot to adjust the inclination angle of a main framework relative to a fixed frame by controlling the in-situ rotation of an omnidirectional wheel of the robot, so that the gravity center of the whole robot is controlled to be in a safe range, and the robot is prevented from turning over; when the robot advances in an accelerating way, the robot is prevented from turning backwards by controlling the main framework of the robot to swing forwards by a certain angle, and when the robot stops in a decelerating way, the robot is prevented from turning forwards by controlling the main framework of the robot to swing backwards by a certain angle, wherein the swing angle delta=f (a) of the main framework is the acceleration of the robot;
the emergency stop mechanism control flow is as follows:
s1: firstly, an electromagnetic valve is opened to enable an air inlet to be communicated with an air outlet, a motor is controlled to rotate, a cam is driven to rotate, the cam rotates and moves upwards, the distance between a connecting frame and a sucker seat is reduced, a compression spring stores elastic potential energy, and when a pulley reaches the highest point of an arc-shaped groove quickly, the cam stops rotating and is ready to work;
S2: when the ultrasonic sensor and the infrared thermal imaging sensor detect that pedestrians or obstacles are close to each other rapidly in front of the movement of the robot, the cam continues to rotate, the pulley can slide to the bottom end of the adjusting groove rapidly from the linear groove, so that the sucker is triggered to press to the ground, air in the sucker is discharged through a pipeline of the electromagnetic valve, the electromagnetic valve is closed rapidly at the moment, the electromagnetic valve and the gas pipeline can be guaranteed to be in a negative pressure state, the sucker is adsorbed on the ground, a certain suction force is provided, the robot is fixed on the ground, and accidents caused by collision of the robot and the human are prevented;
s3: when the robot needs to start to leave, the electromagnetic valve is opened, the atmosphere enters the sucker, the sucker automatically drops, the cam continues to rotate, and a new emergency stop preparation working stage is entered;
the man-machine interaction equipment control is that an operator can input certain information through a display touch screen or receive related information of the robot, so that the robot is correspondingly controlled; the man-machine interaction equipment control further comprises that in the process that an operator pulls the hand of the robot to move, the robot senses the pulling force of the person through the multidimensional force sensor, so that the movement speed of the robot is controlled, and the speed v is as follows:
v=f(F x , F y , F z )=c 1 F x +c 2 F x 2 +c 3 F y +c 4 F y 2 +c 5 F z +c 6 F z 2
Wherein F is x 、F y And F z Is the three-dimensional force information detected by the multi-dimensional force sensor, and the coefficient c i =f i (θ, γ), i=1, 2,3,4,5,6, θ is the pitch angle of the main frame, and γ is the swing angle of the arm.
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| CN109176559B (en) * | 2018-10-24 | 2022-05-24 | 上海思依暄机器人科技股份有限公司 | Robot and control method and system |
| CN109398365A (en) * | 2018-12-05 | 2019-03-01 | 苏州博众机器人有限公司 | A kind of cruiser detection system and cruiser |
| CN110568842A (en) * | 2019-08-14 | 2019-12-13 | 深圳市优必选科技股份有限公司 | wheeled robot and control method thereof |
| CN110427043B (en) * | 2019-09-04 | 2021-09-28 | 福州大学 | Pose controller design method based on gravity center offset of operation flying robot |
| CN110788826A (en) * | 2019-09-25 | 2020-02-14 | 刘泓言 | Domestic transport robot with intelligence lift platform |
| CN113353170A (en) * | 2021-07-07 | 2021-09-07 | 黄建军 | AI robot based on 5G technique |
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