CN110568842A - wheeled robot and control method thereof - Google Patents
wheeled robot and control method thereof Download PDFInfo
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- CN110568842A CN110568842A CN201910749812.9A CN201910749812A CN110568842A CN 110568842 A CN110568842 A CN 110568842A CN 201910749812 A CN201910749812 A CN 201910749812A CN 110568842 A CN110568842 A CN 110568842A
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- 238000000034 method Methods 0.000 title claims abstract description 33
- 230000005484 gravity Effects 0.000 claims abstract description 55
- 230000001133 acceleration Effects 0.000 abstract description 6
- 238000013461 design Methods 0.000 abstract description 6
- 230000002265 prevention Effects 0.000 abstract description 5
- 238000001514 detection method Methods 0.000 abstract description 4
- 230000008569 process Effects 0.000 description 10
- 230000000052 comparative effect Effects 0.000 description 3
- 230000009286 beneficial effect Effects 0.000 description 2
- 230000008859 change Effects 0.000 description 2
- 230000007547 defect Effects 0.000 description 2
- 230000000694 effects Effects 0.000 description 2
- 230000007306 turnover Effects 0.000 description 2
- 238000011161 development Methods 0.000 description 1
- 230000006872 improvement Effects 0.000 description 1
- 238000005259 measurement Methods 0.000 description 1
- 230000003287 optical effect Effects 0.000 description 1
- 238000012545 processing Methods 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
- G05D1/0212—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
- G05D1/0242—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means using non-visible light signals, e.g. IR or UV signals
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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
- G05D1/0255—Control of position or course in two dimensions specially adapted to land vehicles using acoustic signals, e.g. ultra-sonic singals
Abstract
the invention is suitable for the technical field of robots and provides a wheeled robot and a control method thereof, wherein the wheeled robot comprises a robot main body; the distance measuring sensor is arranged at the front end of the robot main body and used for detecting the distance between the robot main body and the ground; the head is rotatably arranged on the robot main body and used for adjusting the gravity center of the wheel type robot; and the control module is electrically connected with the ranging sensor and used for receiving the signal detected by the ranging sensor and controlling the head to rotate according to the received signal. The gravity center of the wheeled robot is controllable, so that the appearance design of the wheeled robot is not limited, the braking acceleration of the wheeled robot is improved, and the traveling speed of the wheeled robot is further improved; in addition, the distance detection of the distance measuring sensor positioned at the front end of the robot main body can prevent the wheeled robot from falling, and the arrangement of the head can prevent the wheeled robot from inclining forwards or turning over when the falling prevention brake is carried out.
Description
Technical Field
the invention relates to the technical field of robots, in particular to a wheel type robot and a control method thereof.
Background
with the development of society and the improvement of living standard of people, the desktop type robot is more and more popular with consumers. In the actual use process, the desktop robot is required to be capable of intelligently moving on a desktop and not falling off the desktop. However, due to the defects that the robot is designed in the prior art and the traveling speed cannot be too fast, the desktop robot such as a three-wheeled robot product is often too large in appearance, slow in traveling speed and low in practicability. In addition, when the common three-wheeled robot travels to the edge of the tabletop, the rapid braking cannot be realized, and the forward tilting and overturning are easily caused.
Disclosure of Invention
The invention aims to provide a wheel type robot, and aims to solve the technical problems that the existing three-wheel robot is limited in appearance design, slow in traveling speed and easy to tilt forwards and overturn.
the present invention is achieved in such a way that a wheeled robot includes:
A robot main body;
The distance measuring sensor is arranged at the front end of the robot main body and used for detecting the distance between the robot main body and the ground;
The head is rotatably arranged on the robot main body and used for adjusting the gravity center of the wheeled robot; and
And the control module is electrically connected with the ranging sensor and is used for receiving the signal detected by the ranging sensor and controlling the head to rotate according to the received signal.
In one embodiment, the robot main body includes:
a vehicle body;
the front wheels are arranged at the bottom of the vehicle body and close to the front end of the vehicle body; and
The rear wheels are arranged at the bottom of the vehicle body and close to the rear end of the vehicle body;
the distance measuring sensor is arranged at the end part of one end, close to the front wheel, of the vehicle body and is positioned at the bottom of the vehicle body.
In one embodiment, the ranging sensor is arranged in an inclined manner.
In one embodiment, the angle between the distance measuring sensor and the running surface of the wheeled robot is 30-60 °.
In one embodiment, the angle between the distance measuring sensor and the running surface of the wheeled robot is 45 °.
in one embodiment, the head is rotatably disposed at a central region of a top end of the robot main body.
in one embodiment, the wheeled robot further comprises:
The bracket is fixedly connected to the top end of the robot main body and is vertically arranged;
The rotating shaft is fixedly connected to the bracket and horizontally arranged, and the head is connected to the rotating shaft; and
The first driving piece is electrically connected with the control module and used for driving the head to rotate around the rotating shaft to the front end or the rear end of the robot main body.
In one embodiment, a first inclined surface is arranged on one side of the head part facing the front end of the robot main body, a second inclined surface is arranged on one side of the head part facing the rear end of the robot main body, and the first inclined surface and the second inclined surface are symmetrically arranged.
In one embodiment, the distance measuring sensor is an infrared distance sensor or a laser distance sensor or an ultrasonic distance sensor.
Another object of the present invention is to provide a method for controlling a wheeled robot, which is applied to the wheeled robot according to any one of the above embodiments, wherein the method for controlling a wheeled robot includes:
Judging the running state of the robot main body;
Detecting a distance between the robot main body and the ground;
Judging whether the distance is larger than a preset value or not;
when the distance is larger than a preset value, starting an anti-falling program; and starting a turning program when the distance is less than or equal to a preset value and the robot main body is in a turning state.
In one embodiment, the fall arrest procedure comprises the steps of:
Detecting whether the center of gravity of the head is close to a rear wheel, if so, executing the next step, and if not, adjusting the center of gravity of the head to be close to the rear wheel;
And controlling the robot main body to brake.
In one embodiment, the turning program comprises the steps of:
detecting whether the center of gravity of the head is close to a front wheel, if so, executing the next step, and if not, adjusting the center of gravity of the head to be close to the front wheel;
and controlling the robot main body to perform differential turning.
the wheel type robot has the following beneficial effects: the robot body is provided with the distance measuring sensor and the head, the control module controls the head to rotate according to signals detected by the distance measuring sensor so as to adjust the gravity center of the wheeled robot, the gravity center of the wheeled robot is controllable, so that the appearance design of the wheeled robot is not limited, the appearance is small and exquisite, the braking acceleration of the wheeled robot is improved, and the traveling speed of the wheeled robot is further improved; in addition, the distance detection of the distance measuring sensor positioned at the front end of the robot main body can prevent the wheeled robot from falling, and the arrangement of the head can prevent the wheeled robot from inclining forwards or turning over when the falling prevention brake is carried out.
The control method of the wheeled robot has the following beneficial effects: if the wheeled robot runs in a straight-going state, judging whether the wheeled robot walks to the edge of the running surface according to the detected distance, if the wheeled robot does not walk to the edge of the running surface, the wheeled robot runs normally all the time, and if the wheeled robot walks to the edge of the running surface, a fall-prevention program is started to prevent the wheeled robot from falling; and if the wheeled robot is judged to be in the turning process, judging whether the wheeled robot walks to the edge of the running surface according to the detected distance, executing a turning program if the wheeled robot does not walk, and adjusting the head to be close to the front wheel so as to ensure that the wheeled robot does not turn over in the turning process, and if the wheeled robot walks to the edge of the running surface, forcibly executing a falling-prevention program to prevent the wheeled robot from falling.
Drawings
In order to more clearly illustrate the technical solutions in the embodiments of the present invention, the drawings needed to be used in the embodiments will be briefly described below, and it is obvious that the drawings in the following description are only some embodiments of the present invention, and it is obvious for those skilled in the art that other drawings can be obtained according to these drawings without creative efforts.
fig. 1 is a schematic view of a wheeled robot according to an embodiment of the present invention in a running state;
fig. 2 is a schematic view of a wheeled robot according to an embodiment of the present invention, in a state of running to an edge on a running surface;
Fig. 3 is a schematic view of a wheeled robot according to a comparative example of the present invention, which is in a state of running to an edge on a running surface;
Fig. 4 is a schematic view of a wheeled robot controlling a change of a center of gravity of a head during a fall arrest process according to an embodiment of the present invention;
fig. 5 is a schematic view of a state of controlling a change in the center of gravity of a head when a wheeled robot according to an embodiment of the present invention generates a lateral centrifugal force during a turn;
Fig. 6 is a flowchart of a control method of a wheeled robot according to an embodiment of the present invention;
Fig. 7 is a flowchart of a control method of a fall arrest program according to an embodiment of the present invention;
fig. 8 is a flowchart of a control method of a turning program according to an embodiment of the present invention.
reference numerals referred to in the above figures are detailed below:
10-a robot body; 11-a vehicle body; 12-a front wheel; 121-left front wheel; 122-the right front wheel; 13-rear wheel; 101-a running surface; 102-the ground; 20-a range sensor; 201-infrared optical path; 30-a head; 31-a first bevel; 32-a second bevel; 40-a scaffold; 50-rotation axis; l-braking distance; the included angle between the alpha-infrared light path and the running surface; the angle between the beta-ranging sensor and the running surface.
Detailed Description
In order to make the objects, technical solutions and advantages of the present invention more apparent, the present invention is described in further detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative of the invention and are not intended to limit the invention.
It will be understood that when an element is referred to as being "secured to" or "disposed on" another element, it can be directly or indirectly secured to the other element. When an element is referred to as being "connected to" another element, it can be directly or indirectly connected to the other element. The terms "upper", "lower", "left", "right", "front", "rear", "vertical", "horizontal", "top", "bottom", "inner", "outer", and the like indicate orientations or positions based on the orientations or positions shown in the drawings, and are for convenience of description only and not to be construed as limiting the technical solution. The terms "first", "second" and "first" are used merely for descriptive purposes and are not to be construed as indicating or implying relative importance or implicitly indicating the number of technical features. The meaning of "plurality" is two or more unless specifically limited otherwise.
it should be noted that the front end of the wheeled robot or the front end of the robot main body or the front end of the vehicle body of the embodiment of the present invention refers to an end thereof near the front wheels, and the rear end of the wheeled robot or the rear end of the robot main body or the rear end of the vehicle body refers to an end thereof near the rear wheels.
In order to explain the technical solution of the present invention, the following detailed description is made with reference to the specific drawings and examples.
referring to fig. 1, an embodiment of the present invention provides a wheeled robot, which is mainly applied to a tabletop type robot and can run on a running surface 101, where the running surface 101 is mainly referred to as a tabletop. Specifically, the wheeled robot includes a robot main body 10, a ranging sensor 20, a head 30, and a control module (not shown). The distance measuring sensor 20 is disposed at the front end of the robot main body 10, and is used for detecting the distance between the robot main body 10 and the ground 102; the head 30 is rotatably provided on the robot main body 10, and is used for adjusting the gravity center of the wheeled robot, that is, the gravity center of the robot main body 10 is adjusted by rotating the head 30, for example, when the head 30 is rotated to be close to the front end of the robot main body 10, the gravity center of the robot main body 10 is forward, and when the head 30 is rotated to be close to the rear end of the robot main body 10, the gravity center of the robot main body 10 is backward; the control module is electrically connected to the distance measuring sensor 20, and is configured to receive a signal detected by the distance measuring sensor 20 and control the head 30 to rotate according to the received signal.
in a Specific Application, the control module may be a Central Processing Unit (CPU), or may be other general-purpose control device, a Digital Signal Processor (DSP), an Application Specific Integrated Circuit (ASIC), an off-the-shelf Programmable Gate Array (FPGA) or other Programmable logic device, a discrete Gate or transistor logic device, a discrete hardware component, or the like. Wherein the general control device may be a microprocessor or the control device may be any conventional control device or the like.
At present, in order to prevent a wheeled robot, particularly a three-wheeled robot, the center of gravity of the robot is generally designed to be close to the front end, and the robot tends to tilt forward during braking. In the present embodiment, the head 30 is provided on the robot body 10, and the center of gravity of the wheeled robot can be adjusted by the head 30, and when braking, the center of gravity of the wheeled robot is brought close to the rear end by rotating the head 30, and the wheeled robot can be prevented from tilting forward.
In addition, the existing robot is limited by the appearance design of the prior art robot, and the two defects that the traveling speed cannot be too high result in that the robot product is often too large in appearance, slow in traveling speed and low in practicability. For example, in order to control the center of gravity to be low, the robot must make the chassis large to greatly reduce the center of gravity, but making the chassis large will result in the robot being too large in shape; meanwhile, since the robot cannot control the center of gravity, its braking acceleration must be designed small or the vehicle may be overturned. Therefore, the embodiment provides a brand new design, the robot body is provided with the distance measuring sensor 20 and the head 30, the control module controls the head 30 to rotate according to signals detected by the distance measuring sensor 20 so as to adjust the gravity center of the wheeled robot, the gravity center of the wheeled robot is controllable, so that the shape design of the wheeled robot is not limited, the appearance is small and exquisite, the braking acceleration of the wheeled robot is improved, and the traveling speed of the wheeled robot is further improved; in addition, the distance detection of the distance measuring sensor 20 located at the front end of the robot body 10 prevents the wheeled robot from falling, and the provision of the head 30 prevents the wheeled robot from tilting forward or rolling over at the time of fall arrest.
in one embodiment, referring to fig. 1 and 2, the robot main body 10 includes a vehicle body 11, front wheels 12, and rear wheels 13. The number of the front wheels 12 is two, and the two front wheels are respectively arranged on two sides of the bottom of the vehicle body 11 and are close to the front end of the vehicle body 11; the rear wheel 13 is one in number, and is disposed at the bottom of the vehicle body 11 near the rear end of the vehicle body 11, such as at a middle position of the bottom of the rear end of the vehicle body 11. In the present embodiment, the wheeled robot is a three-wheeled robot. In a particular application, and with reference to FIG. 5, the front wheel 12 includes a left front wheel 121 and a right front wheel 122. Alternatively, the vehicle body 11 has a rectangular parallelepiped shape, a square shape, or the like.
In the present embodiment, the distance measuring sensor 20 is provided at an end portion of the vehicle body 11 near one end of the front wheel 12 and at a bottom portion of the vehicle body 11, and specifically, the distance measuring sensor 20 is mounted in front of the front wheel 12 of the robot main body 10 and is closer to the front wheel 12. Preferably, the distance measuring sensor 20 is also arranged obliquely, and specifically, one end of the distance measuring sensor 20 close to the end face of the front end of the vehicle body 11 is higher than one end close to the front wheel 12. The distance measuring sensor 20 is provided obliquely to the bottom of the front end of the vehicle body 11, thereby increasing the braking distance of the wheeled robot.
In a specific application, the distance measuring sensor 20 includes an infrared emitting module (not shown) for emitting infrared light and an infrared receiving module (not shown) for receiving infrared light reflected by a target object, such as a table or a floor 102.
An infrared light emitting and receiving loop of the distance measuring sensor 20 is an infrared light path 201, an included angle between the infrared light path 201 and the ground 102 or the running surface 101 is set to be alpha, an included angle between the distance measuring sensor 20 and the running surface 101 or the ground 102 of the wheeled robot is set to be beta, and then alpha + beta is 90 degrees. Among them, the running surface 101 is considered as a surface parallel to the ground 102.
referring to fig. 2, when the distance measuring sensor 20 runs on the running surface 101, the distance measured by the distance measuring sensor is the distance between the vehicle body 11 and the running surface 101, and if the wheeled robot does not run to the edge of the running surface 101, the distance is not changed; when the wheeled robot runs to the edge of the running surface 101, the distance which can be detected by the wheeled robot is the distance between the vehicle body 11 and the ground 102, so that the wheeled robot can brake at the moment when the distance changes, and at this moment, the distance between the front wheels 12 of the wheeled robot and the boundary between the running surface 101 and the ground 102 is the braking distance L.
it can be understood that the smaller the value of the included angle α between the infrared light path 201 and the ground 102, the larger the braking distance L left for the wheeled robot, but the less the reflected infrared light included in the infrared light path 201, which may cause the distance measuring sensor 20 to receive too little infrared light to make a false determination, and therefore, the smaller the included angle α is, the better the included angle α is, and the appropriate angle should be selected.
in one embodiment, the angle α between the infrared light path 201 and the ground 102 ranges from 30 ° to 60 °, and correspondingly, the angle β between the distance measuring sensor 20 and the operation surface 101 ranges from 30 ° to 60 °. For example, when the included angle α between the infrared light path 201 and the ground 102 is 30 °, the included angle β between the distance measuring sensor 20 and the operation surface 101 is 60 °; when the angle α between the infrared light path 201 and the ground 102 is 60 °, the angle β between the distance measuring sensor 20 and the operation surface 101 is 30 °, that is, α + β is 90 °.
In this embodiment, the range of the included angle α between the infrared light path 201 and the ground 102 is selected to be 30 ° to 60 °, so that the distance measurement sensor 20 can be prevented from misjudging while the braking distance L is increased.
Optionally, the included angle α between the infrared light path 201 and the ground 102 is 30 °, 35 °, 40 °, 45 °, 50 °, 55 °, 60 °, or the like; correspondingly, the included angle β between the distance measuring sensor 20 and the operation surface 101 is 60 °, 55 °, 50 °, 45 °, 40 °, 35 °, or 30 °.
Preferably, an included angle α between the infrared light path 201 and the ground 102 is 45 °, and correspondingly, an included angle β between the distance measuring sensor 20 and the operation surface 101 is 45 °.
in a comparative embodiment, please refer to fig. 3, the distance measuring sensor 20 is disposed at the bottom of the vehicle body 11 and is disposed horizontally, that is, an included angle β between the distance measuring sensor 20 and the operation surface 101 is 0 °, and at this time, an included angle α between the infrared light path 201 and the ground 102 is 90 °. At this time, in order to make the wheeled robot have a certain braking distance L, the body 11 of the wheeled robot must be extended by a certain distance. Also, in this comparative example, since the center of gravity of the wheeled robot cannot be adjusted, it is likely that the vehicle may tilt forward during rapid braking.
in one embodiment, referring to fig. 1 and 2, in order to control braking of the wheeled robot more smoothly and increase braking acceleration, a head 30 is provided on the robot body 10. In the present embodiment, the head 30 is rotatably disposed at a central region of the top end of the robot main body 10 so as to adjust the center of gravity of the wheeled robot and at the same time facilitate the control module to control it. Of course, in other embodiments, the head 30 may be rotatably disposed at other positions of the robot main body 10 to adjust the center of gravity of the wheeled robot.
in one embodiment, continuing to refer to fig. 1 and 2, the wheeled robot further includes a support 40, a rotating shaft 50, and a first drive member. Wherein, the bracket 40 is fixedly connected to the top end of the robot main body 10 and is vertically arranged. The rotating shaft 50 is fixedly connected to the bracket 40 and horizontally disposed, the head 30 is connected to the rotating shaft 50, and the head 30 is connected to the bracket 40 through the rotating shaft 50. Optionally, the head 30 is sleeved outside the rotating shaft 50. The first driving member is mounted on the bracket 40 or the head 30, and is used for driving the head 30 to rotate around the rotating shaft 50, and the first driving member is further electrically connected to the control module, and is used for driving the head 30 to rotate around the rotating shaft 50 under the control of the control module, so that the head 30 rotates towards the front end or the rear end of the robot main body 10, and the center of gravity of the wheeled robot is changed. In this embodiment, the control module may control the angle of rotation of the head 30 about the axis of rotation 50. In a particular application, the first drive member may be a steering engine.
when the head 30 is in the vertical state, since the head 30 is disposed in the center region of the top end of the vehicle body 11, and the head 30 has a symmetrical structure, the head 30 does not affect the center of gravity of the wheel robot, as shown in fig. 1 and 2; when the head 30 rotates clockwise, the center of gravity of the wheeled robot can be adjusted to be close to the rear wheel 13, as shown in fig. 4, which shows that the wheeled robot controls the center of gravity of the head 30 to be close to the rear wheel 13 in the anti-falling braking process, so that the center of gravity of the wheeled robot is close to the rear wheel 13; when the head 30 is rotated counterclockwise, the center of gravity of the wheeled robot can be adjusted to be close to the front wheel 12, as shown in fig. 5, which shows that the center of gravity of the head 30 is controlled to be close to the front wheel 12 when the wheeled robot generates a lateral centrifugal force during turning, thereby making the center of gravity of the wheeled robot close to the front wheel 12. Wherein, when the vehicle body 11 is a cuboid, the rotation plane of the head 30 is parallel to the plane formed by the vehicle body 11 along the length direction and the height direction thereof; of course, the rotation plane of the head 30 may be parallel to the plane formed by the vehicle body 11 in the longitudinal direction and the width direction thereof. It will be appreciated that the wheeled robot is preferably close to the front wheels 12 in its centre of gravity for stability when cornering; the center of gravity of the wheeled robot is stable near the rear wheels 13 in order to have a large braking acceleration.
In order to make the effect of the head 30 adjusting the center of gravity of the wheeled robot more obvious, a first inclined surface 31 is provided on a side of the head 30 facing the front end of the robot main body 10, and a second inclined surface 32 is provided on a side of the head 30 facing the rear end of the robot main body 10, and the first inclined surface 31 and the second inclined surface 32 are symmetrically provided. Specifically, the first and second slopes 31 and 32 have a lower height at an end close to the rotation axis 50 than at an end remote from the rotation axis 50. When the head 30 rotates clockwise or counterclockwise, due to the existence of the first inclined surface 31 and the second inclined surface 32, the rotation angle of the head 30 is increased, and further, the effect of the head 30 in adjusting the center of gravity of the wheeled robot is more obvious. Optionally, the included angle between the first inclined surface 31 and the second inclined surface 32 and the running surface 101 is 30 ° to 60 °, and specifically may be 30 °, 35 °, 40 °, 45 °, 50 °, 55 °, or 60 °, and the like.
Alternatively, the distance measuring sensor 20 may be an infrared distance sensor, a laser distance sensor, or an ultrasonic distance sensor.
Referring to fig. 6, an embodiment of the present invention further provides a method for controlling a wheeled robot, where the method for controlling a wheeled robot is applied to the wheeled robot according to any one of the above embodiments. Specifically, referring to fig. 1, fig. 2, fig. 4 and fig. 5, the method for controlling a wheeled robot includes the following steps:
s1, judging the running state of the robot main body 10;
S2, detecting the distance between the robot main body 10 and the ground 102;
S3, judging whether the distance is larger than a preset value;
S4, when the distance is larger than a preset value, starting a falling prevention program; and when the distance is less than or equal to a preset value and the robot main body 10 is in a turning state, starting a turning program.
specifically, in the step S4, when the robot main body 10 is in the straight-ahead state and the distance is greater than the preset value, the fall prevention program is started; when the robot main body 10 is in a straight-moving state and the distance is less than or equal to a preset value, the robot main body 10 continues to keep the straight-moving state, and repeatedly judges whether the distance is greater than the preset value; when the robot main body 10 is in a turning state and the distance is greater than a preset value, starting an anti-falling program; when the robot main body 10 is in a turning state and the distance is less than or equal to a preset value, a turning procedure is started.
before the operation state of the robot main body 10 is judged, the method further includes a step of starting the wheeled robot to operate the wheeled robot. The operation states of the robot main body 10 mainly include a turning state and a straight traveling state. The operating state of the robot main body 10 can be determined by determining whether the command issued by the operator is a turn or a straight line, and specifically, the command can be determined by the control module. The detection of the distance between the robot main body 10 and the floor 102 is achieved by the distance measuring sensor 20. The preset value can be selected and set according to actual conditions.
Referring to fig. 7, in the embodiment, the fall protection procedure includes the following steps:
S41, detecting whether the gravity center of the head 30 is close to the rear wheel 13, if so, executing the next step, otherwise, adjusting the gravity center of the head 30 to be close to the rear wheel 13;
s42, the robot main body 10 is controlled to brake.
When the center of gravity of the head 30 is close to the rear wheel 13, the center of gravity of the wheeled robot is also close to the rear wheel 13, and the determination of the center of gravity of the head 30 is realized by detecting the angle of a steering engine driving the head 30 to rotate. The braking of the wheeled robot is controlled by the control module.
Referring to fig. 8, in the present embodiment, the turning procedure includes the following steps:
s401, detecting whether the gravity center of the head 30 is close to the front wheel 12, if so, executing the next step, otherwise, adjusting the gravity center of the head 30 to be close to the front wheel 12;
and S402, controlling the robot main body 10 to perform differential turning.
When the center of gravity of the head 30 is close to the front wheel 12, the center of gravity of the wheeled robot is also close to the front wheel 12, and the determination of the center of gravity of the head 30 is realized by detecting the angle of a steering engine driving the head 30 to rotate. The differential turning of the wheeled robot is controlled by the control module. In a specific application, the front wheels 12 of the wheeled robot are driving wheels, that is, the left front wheel 121 and the right front wheel 122 are both driving wheels, and the speed of the left front wheel 121 and the speed of the right front wheel 122 are controlled by the control module to realize differential turning. For example, when the speed of the left front wheel 121 is smaller than the speed of the right front wheel 122, a left turn can be achieved; when the speed of the left front wheel 121 is greater than the speed of the right front wheel 122, a right turn can be achieved.
In this embodiment, if the wheeled robot is in a straight-ahead state during operation, whether the wheeled robot runs to the edge of the running surface 101 is judged according to the distance detected by the distance measuring sensor 20, and if the wheeled robot does not run to the edge of the running surface 101, the wheeled robot runs normally, and if the wheeled robot runs to the edge of the running surface 101, the anti-falling braking program is started, and meanwhile, the center of gravity of the head 30 is adjusted to be close to the rear wheel 13, so that the wheeled robot is ensured not to tilt forward in the braking process; if the wheeled robot is judged to be in the turning process, whether the wheeled robot runs to the edge of the running surface 101 is judged according to the distance detected by the distance measuring sensor 20, if the wheeled robot does not run, a turning program is executed, meanwhile, the gravity center of the head 30 is adjusted to be close to the front wheels 12, so that the wheeled robot is ensured not to turn over in the turning process, and if the wheeled robot runs to the edge of the running surface 101, a falling prevention braking program is forcibly executed.
it should be understood that, the sequence numbers of the steps in the foregoing embodiments do not imply an execution sequence, and the execution sequence of each process should be determined by its function and inherent logic, and should not constitute any limitation to the implementation process of the embodiments of the present invention.
the invention is not to be considered as limited to the particular embodiments shown and described, but is to be accorded the widest scope consistent with the principles and novel features herein disclosed.
Claims (12)
1. A wheeled robot, comprising:
A robot main body;
the distance measuring sensor is arranged at the front end of the robot main body and used for detecting the distance between the robot main body and the ground;
The head is rotatably arranged on the robot main body and used for adjusting the gravity center of the wheeled robot; and
and the control module is electrically connected with the ranging sensor and is used for receiving the signal detected by the ranging sensor and controlling the head to rotate according to the received signal.
2. the wheeled robot of claim 1, wherein said robot body comprises:
a vehicle body;
The front wheels are arranged at the bottom of the vehicle body and close to the front end of the vehicle body; and
The rear wheels are arranged at the bottom of the vehicle body and close to the rear end of the vehicle body;
The distance measuring sensor is arranged at the end part of one end, close to the front wheel, of the vehicle body and is positioned at the bottom of the vehicle body.
3. the wheeled robot of claim 2, wherein said range finding sensor is in an inclined configuration.
4. The wheeled robot of claim 1, wherein said range finding sensor is angled from 30 ° to 60 ° from a running surface of said wheeled robot.
5. the wheeled robot of claim 4, wherein said range finding sensor is angled at 45 ° from a running surface of said wheeled robot.
6. a wheeled robot as claimed in any one of claims 1 to 5 wherein said head is pivotally mounted to a central region of the top end of said robot body.
7. the wheeled robot of claim 6, further comprising:
the bracket is fixedly connected to the top end of the robot main body and is vertically arranged;
The rotating shaft is fixedly connected to the bracket and horizontally arranged, and the head is connected to the rotating shaft; and
the first driving piece is electrically connected with the control module and used for driving the head to rotate around the rotating shaft to the front end or the rear end of the robot main body.
8. the wheeled robot of any one of claims 1 to 5, wherein a side of said head facing a front end of said robot main body is provided with a first inclined surface, a side of said head facing a rear end of said robot main body is provided with a second inclined surface, and said first inclined surface and said second inclined surface are symmetrically arranged.
9. A wheeled robot as claimed in any one of claims 1 to 5 wherein said range finding sensor is an infrared or laser or ultrasonic range sensor.
10. a control method of a wheeled robot, applied to the wheeled robot according to any one of claims 1 to 9, wherein the control method of a wheeled robot includes the steps of:
Judging the running state of the robot main body;
Detecting a distance between the robot main body and the ground;
Judging whether the distance is larger than a preset value or not;
When the distance is larger than a preset value, starting an anti-falling program; and starting a turning program when the distance is less than or equal to a preset value and the robot main body is in a turning state.
11. the method of controlling a wheeled robot of claim 10, wherein said fall arrest procedure comprises the steps of:
detecting whether the center of gravity of the head is close to a rear wheel, if so, executing the next step, and if not, adjusting the center of gravity of the head to be close to the rear wheel;
and controlling the robot main body to brake.
12. the method of controlling a wheeled robot according to claim 10 or 11, wherein said turning program includes the steps of:
Detecting whether the center of gravity of the head is close to a front wheel, if so, executing the next step, and if not, adjusting the center of gravity of the head to be close to the front wheel;
And controlling the robot main body to perform differential turning.
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Application publication date: 20191213 |