CN109508013A - A kind of autonomous Control of Wheeled Mobile Robots device - Google Patents
A kind of autonomous Control of Wheeled Mobile Robots device Download PDFInfo
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- CN109508013A CN109508013A CN201811562624.7A CN201811562624A CN109508013A CN 109508013 A CN109508013 A CN 109508013A CN 201811562624 A CN201811562624 A CN 201811562624A CN 109508013 A CN109508013 A CN 109508013A
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- control
- robot
- fault
- wheeled
- sensory perceptual
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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
- G05D1/0212—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
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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
- G05D1/0212—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
Abstract
The present invention provides a kind of autonomous Control of Wheeled Mobile Robots devices, including master control system, combination sensory perceptual system, motion control and obstacle avoidance system, path planning system, fault diagnosis and fault-tolerant alarm system, top level control and remote monitoring system；Master control system is used to coordinate remaining work of each system between；Combination sensory perceptual system is used to obtain the speed and the distance between robot and barrier of barrier；Motion control and obstacle avoidance system, which are used to control wheeled robot, hides obstacle；Path planning system is for planning path of the wheeled robot from origin-to-destination；Fault diagnosis is with fault-tolerant alarm system for judging whether wheeled robot is wrong；Top level control and remote monitoring system are used to monitor the working condition of wheeled robot.
Description
Technical field
The present invention relates to a kind of Medical Devices technology, especially a kind of autonomous Control of Wheeled Mobile Robots device.
Background technique
Mobile robot technology is with a wide range of applications in the fields such as traffic, medical treatment, logistics, is the industrialization of the country
With the key technology and important impetus in IT application process.Due to the complexity of application environment and task, developing property
The better Movement Controller of Mobile Robot of energy is forward position and the hot fields of current robot research.Although China's mobile robot
Industry has obtained significant progress, but in localization process, lacks core technology, and key components and parts rely on import, still
It is the ultimate challenge faced at present.Gap especially in terms of high performance servo motor and high-accuracy retarder is particularly evident,
Cause domestic industrial robot controller cost high, the maturation for seriously constraining Robot industry takes part in international competition power
It is formed.And since Robot industry scientific research level more lags, kernel component is with low content of technology, moves in automobile, electronics etc.
Mobile robot applies more mature field, and market is monopolized by foreign brand name substantially.Controller of the present invention can be preferably applicable in
In wheeled robot, especially in terms of medical, can assist physical disabilities complete avoiding barrier and from
Main walking.Specified movement can be also completed in the case where some extreme and complicated.
Summary of the invention
The purpose of the present invention is to provide a kind of autonomous Control of Wheeled Mobile Robots device, including master control system,
Combine sensory perceptual system, motion control and obstacle avoidance system, path planning system, fault diagnosis and fault-tolerant alarm system, top level control
With remote monitoring system；Master control system is used to coordinate remaining work of each system between；Sensory perceptual system is combined for obtaining barrier
Hinder the speed and the distance between robot and barrier of object；Motion control and obstacle avoidance system are for controlling wheeled robot
Hide obstacle；Path planning system is for planning path of the wheeled robot from origin-to-destination；Fault diagnosis and fault-tolerant alarm
System is for judging whether wheeled robot is wrong；Top level control and remote monitoring system are used to monitor the work of wheeled robot
State.
It cooperates between (1) control system each section compared with prior art, the present invention having the advantage that, jointly
Complete the autonomous of mobile robot；(2) this system uses open type software, hardware configuration, can according to need and facilitates expansion
Function is filled, the scientific research demand it is suitable for different purposes is made；(3) hardware is set according to system requirements and electrical characteristic progress modularization
Meter not only facilitates installation and maintenance, but also improves the reliability of system；(4) controller of the present invention has network communicating function, just
It cooperates with, can judge according to the actual situation and decision in resource-sharing and multirobot, as given speed is mutated or in zone of reasonableness
Except when processing, to failure it is automatic diagnosis etc..
The invention will be further described with reference to the accompanying drawings of the specification.
Detailed description of the invention
Fig. 1 is control system architecture diagram of the present invention.
Fig. 2 is controller positioning of the present invention and motion control figure.
Specific embodiment
In conjunction with Fig. 1, a kind of autonomous Control of Wheeled Mobile Robots device, including master control system, combination sensory perceptual system,
Motion control and obstacle avoidance system, path planning system, fault diagnosis and fault-tolerant alarm system, top level control and long-range monitoring are
System.Master control system is used to coordinate remaining work of each system between；Combination sensory perceptual system is used to obtain the speed of barrier, with
And the distance between robot and barrier；Motion control and obstacle avoidance system, which are used to control wheeled robot, hides obstacle；Path
Planning system is for planning path of the wheeled robot from origin-to-destination；Fault diagnosis and fault-tolerant alarm system are for judging wheel
Whether formula robot is wrong；Top level control and remote monitoring system are used to monitor the working condition of wheeled robot.
Combination sensory perceptual system is mutually tied by the Primary Location of range laser radar sensor with visual sensor accurate positionin
Conjunction mode carries out detection of obstacles.Visual sensor constitutes light stream and tests the speed mould using camera, inertial measurement component, ultrasonic wave module
Block, specific method are the light streams calculated on the picture being continuously shot by algorithm, and light stream counter can solve the speed of relative motion
Degree.
The core of the controller avoidance technology includes the selection of sensor and the selection of planning algorithm.Using dynamic mind
Through network algorithm, its algorithm structure is adjusted according to the complexity of robot environment's state, realizes the shape of robot in real time
Mapping relations between state and the movement of its avoidance, effectively mitigate the operation pressure of robot.Avoidance passes through control left and right wheels
Velocity interpolation, after detecting barrier, the location information of barrier can be inputted, controls the speed and angle of left and right wheels, such as
Front has barrier to need, and revolver speed is small, and right wheel speed is big, realizes by speed difference, similarly turn right, advance,
It retreats.
In terms of moving avoidance, implement to obtain present road information using the sensor of Chinese herbaceous peony installation, in conjunction with image procossing
Related algorithm can extract lane boundary line, be obtained in real time by the coordinate transform between vehicle axis system and image coordinate system
Position and azimuth of the vehicle in lane.
In order to improve the accuracy and real-time of detection of obstacles, operand is reduced, using visual sensor and Laser Measuring
Detection of obstacles is carried out away from the mode that radar sensor combines, Primary Location and visual sensor including laser radar are accurate
Detection.Finally match with environmental information, movement when control robot is run.
Controller 4 inputs are DL, DF, DR and ANG, and DL, DR and DF respectively represent mobile robot apart from left, right
With front apart from obstacle distance, they are obtained by the data that ultrasonic sensor or visual sensor acquire；ANG indicates movement
Angle between robot present position and target position.2 outputs are Left-V, Right-V, respectively correspond control robot
Left and right wheels traveling speed, controller by adjusting left and right wheels travel speed come control mobile robot complete turn right, turn left,
It directly walks and stops etc. acting.
In conjunction with Fig. 2, in terms of path planning, Grid Method is selected to extract, handle and describe to environmental information, in the mould
Path optimizing is carried out by ant group algorithm in type, is intersected using algorithm iteration by certain probability, mutation operation, is increased
The diversity of final result enhances the ability for avoiding algorithm from falling into local optimum, substantially increases the performance of ant group algorithm.
The method for planning path for mobile robot for the improvement ant group algorithm that this project proposes, there are two remarkable advantages for tool:
(1) when barrier number increases, structure tends to complexity in problem context, traditional algorithm performance complicates because of constraint
And it is affected.Improved ant group algorithm does not need excessive constraint condition to problem, and the robustness of algorithm improves, so that its
Challenge is remained to play excellent performance.
(2) increase of environment complexity influences whether the solution ability of traditional algorithm.Improved ant group algorithm is with environment
The increase of complexity, solution ability have little effect.
Claims (6)
1. a kind of autonomous Control of Wheeled Mobile Robots device, which is characterized in that including master control system, combination perception system
System, motion control and obstacle avoidance system, path planning system, fault diagnosis and fault-tolerant alarm system, top level control and long-range monitoring
System；Wherein
Master control system is used to coordinate remaining work of each system between；
Combination sensory perceptual system is used to obtain the speed and the distance between robot and barrier of barrier；
Motion control and obstacle avoidance system, which are used to control wheeled robot, hides obstacle；
Path planning system is for planning path of the wheeled robot from origin-to-destination；
Fault diagnosis is with fault-tolerant alarm system for judging whether wheeled robot is wrong；
Top level control and remote monitoring system are used to monitor the working condition of wheeled robot.
2. system according to claim 1, which is characterized in that combination sensory perceptual system passes through range laser radar sensor
Primary Location and visual sensor accurate positionin combine mode and carry out detection of obstacles.
3. system according to claim 2, which is characterized in that the visual sensor for combining sensory perceptual system utilizes multiple sensings
Device cooperates, and calculates the speed of object, distance by complicated algorithm simulation.
4. system according to claim 2, which is characterized in that the laser radar for combining sensory perceptual system issues lasting laser
The signal of pulse, return is received by receiver, according to the delay of incidence wave and back wave, measures the actual range with target.
5. system according to claim 1, which is characterized in that motion control and obstacle avoidance system application dynamic neural network are calculated
Method realizes the mapping relations between the state of robot and the movement of its avoidance.
6. system according to claim 1, which is characterized in that fault diagnosis is communicated through 3G/4G with fault-tolerant alarm system and connect
Mouth sends warning message.
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| Application Number | Priority Date | Filing Date | Title |
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| CN201811562624.7A CN109508013A (en) | 2018-12-20 | 2018-12-20 | A kind of autonomous Control of Wheeled Mobile Robots device |
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| CN201811562624.7A CN109508013A (en) | 2018-12-20 | 2018-12-20 | A kind of autonomous Control of Wheeled Mobile Robots device |
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Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN110587610A (en) * | 2019-09-23 | 2019-12-20 | 芜湖安普机器人产业技术研究院有限公司 | Independent suspension mobile robot control system for farm based on 5G cloud scheduling system |
| CN114010999A (en) * | 2021-10-27 | 2022-02-08 | 镇江同舟螺旋桨有限公司 | Obstacle crossing structure of self-walking fire-extinguishing robot |
| WO2022213636A1 (en) * | 2021-04-09 | 2022-10-13 | 美智纵横科技有限责任公司 | Traveling control method and apparatus for autonomous mobile robot, device, and storage medium |
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Application publication date: 20190322 |