CN111037609A - Wheel type robot slipping jamming detection system and method - Google Patents

Wheel type robot slipping jamming detection system and method Download PDF

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Publication number
CN111037609A
CN111037609A CN201911395927.9A CN201911395927A CN111037609A CN 111037609 A CN111037609 A CN 111037609A CN 201911395927 A CN201911395927 A CN 201911395927A CN 111037609 A CN111037609 A CN 111037609A
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wheel
wheeled robot
time
data
rear wheel
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杜林宝
刘涛
张力
杨斌
郝庆军
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China Nuclear Power Operation Technology Corp Ltd
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China Nuclear Power Operation Technology Corp Ltd
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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
    • B25J19/02—Sensing devices
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J5/00—Manipulators mounted on wheels or on carriages
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J5/00—Manipulators mounted on wheels or on carriages
    • B25J5/007—Manipulators mounted on wheels or on carriages mounted on wheels

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  • Robotics (AREA)
  • Mechanical Engineering (AREA)
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Abstract

The invention relates to the technical field of wheeled robots, and particularly discloses a system and a method for detecting slipping jamming of a wheeled robot. The detection method comprises the steps that 1, a distance difference between the front wheel and the rear wheel within a certain time interval is obtained by using distance measuring sensors of the front wheel and the rear wheel of the wheeled robot; 2. judging whether the wheeled robot slips or blocks according to the difference of the motion distances of the front wheels and the rear wheels of the wheeled robot; 3. acquiring motor current data at the moment when the wheeled robot slips or is blocked, and judging the type of slipping or blocking; 4. and outputting and displaying the detection result through a display unit. According to the wheel type robot slipping jamming detection system and method, slipping and jamming detection can be achieved according to the difference of the motion distance of the front wheel and the rear wheel, and whether jamming or slipping occurs can be further distinguished; in addition, the system has simple requirements on hardware, only 2 distance measuring sensors are needed, no requirements on the types of the sensors are required, the system is simple, and the detection result is reliable.

Description

Wheel type robot slipping jamming detection system and method
Technical Field
The invention belongs to the technical field of wheeled robots, and particularly relates to a system and a method for detecting slipping jamming of a wheeled robot.
Background
The industrial robot generally adopts a four-wheel type structure, and the wheel type robot slips if the output torque of a motor is greater than the maximum adhesive force torque which can be provided by a contact surface in the process of uniform-speed traveling of the contact surface; jamming occurs if there is an obstacle in the contact surface that affects the rotation of the wheel. The robot body will shift forward and even stop under the conditions of slipping and jamming.
The wheel type robot slip detection method comprises three current wheel type robot slip detection schemes, wherein the first scheme is that more than two measuring sensors are arranged on a traveling wheel, such as a code disc, laser and infrared, and the pose at different moments is calculated based on data of the two sensors to make judgment, the method needs 2 or at least 4 sensors, the cost is high, and the system is failed due to the fault of any sensor; secondly, an acceleration sensor is arranged on a robot body, speed data are obtained by utilizing acceleration integration to realize detection, and the detection accuracy is low due to the fact that errors and noises exist in the acceleration data; the third is based on big dipper or GPS velocity data realization detection, but has the limitation, can't use to environmental signal such as indoor not good, and the poor neglected judgement that leads to of velocity data precision moreover. More importantly, the three schemes cannot distinguish slippage and blockage and cannot provide fault information for maintenance personnel. Therefore, a more reliable and simpler method for detecting whether the robot slips or is jammed is needed.
The cleaning robot for the sealing surface of the reactor pressure vessel of the nuclear power station adopts a four-wheel type structure, has the functions of grinding, polishing and dust collection for the sealing surface, requires to keep constant-speed motion in the normal operation process, and once slipping or blocking is detected, the grinding and polishing must be stopped immediately, so that the grinding amount is prevented from exceeding the limit. Therefore, a reliable and simple method for detecting slippage and jamming is needed.
Disclosure of Invention
The invention aims to provide a wheel type robot slipping and blocking detection system and method, which can reliably and conveniently judge whether a robot body slips and blocks and can distinguish the types of the slips and the blocks.
The technical scheme of the invention is as follows: a wheel type robot slipping jamming detection system comprises a first distance measuring sensor, a second distance measuring sensor, a control center module and a display unit, wherein the first distance measuring sensor and the second distance measuring sensor are respectively arranged on a front wheel and a rear wheel which are on the same side of a wheel type robot; the first sensor and the second sensor are respectively connected with the control center module, and the control center module is used for acquiring the distance difference between the front wheel and the rear wheel of the wheeled robot; the motor current acquisition unit is connected with the control center module, transmits real-time motor current data to the control center, determines the type of slipping or jamming by using the acquired real-time motor current on the basis of determining the occurrence of slipping jamming by using the front and rear wheel distance difference of the control center, and displays the detection result by using the display unit.
The control center module comprises an arithmetic unit and a storage unit, the first distance measuring sensor and the second distance measuring sensor are connected with the arithmetic unit, and the arithmetic unit is used for converting data of front wheels and rear wheels collected between the first distance measuring sensor and the second distance measuring sensor into distance difference of the front wheels and the rear wheels; the motor current acquisition unit is a driver, a frequency converter or a current measuring sensor, can directly read a motor current signal and transmits the motor current signal to the operation unit connected with the motor current acquisition unit; the storage unit is connected with each module and used for storing the acquired data and the operational data.
The first distance measuring sensor and the second distance measuring sensor are code disc type photoelectric sensors or rotary transformers; the control center module is a PLC, an industrial personal computer or a singlechip; the display unit is a display screen or an indicator light.
A wheel type robot slipping jamming detection method specifically comprises the following steps:
step 1, obtaining a motion distance difference of front wheels and rear wheels within a certain time interval by using distance measuring sensors of the front wheels and the rear wheels of the wheeled robot;
step 2, judging whether the wheeled robot slips or blocks according to the motion distance difference of the front wheel and the rear wheel of the wheeled robot;
step 3, obtaining motor current data at the moment when the wheeled robot slips or is blocked, and judging the type of slipping or blocking;
and 4, outputting and displaying the detection result through a display unit.
5. The method for detecting the slip jam of the wheeled robot according to claim 4, wherein: when the slipping or the blocking is judged to occur in the step 3, the specific step of determining the type of the slipping or the blocking is as follows:
3.1, directly obtaining current data of a motor of the wheeled robot by using a current acquisition unit;
when the wheel type robot is judged to be slipped or blocked, the current acquisition unit is utilized to obtain the current data I of the motor of the wheel type robot at the current moment1；
3.2, judging whether the wheel type robot generates slipping or generates blocking by using the current data of the motor of the wheel type robot;
setting a current threshold I0If the motor current I1> set value I0Judging that jamming occurs; if the motor current I1Not more than a set value I0Then it is determined that a slip has occurred.
In the step 1, the specific steps of obtaining the motion distance difference between the front wheel and the rear wheel within a certain time interval by using the distance measuring sensors of the front wheel and the rear wheel of the wheeled robot are as follows:
step 1.1, acquiring photoelectric sensor data of front wheels and rear wheels on the same side of the wheeled robot at a certain moment;
acquiring photoelectric sensor data of front wheels and rear wheels on the same side of the wheeled robot at the first time t1
Step 1.2, code disc photoelectric sensor data of a front wheel and a rear wheel on the same side of the wheeled robot at the other moment are obtained;
acquiring photoelectric sensor data of a front wheel and a rear wheel coded disc on the same side of the wheeled robot at a second moment t2, wherein the second moment t2 is a certain moment after the first moment t 1;
step 1.3, obtaining the movement distance difference of the front wheel and the rear wheel of the wheeled robot in two time intervals;
let the front wheel encoder value be N1 at a first time t1t1Rear wheel encoder value N2t1The front wheel encoder value is N1 at the second time t2t2Rear wheel encoder value N2t2(ii) a Then the front wheel movement distance S1 is, in the time interval between the first time t1 and the second time t 2:
in the first case: the code wheel photoelectric sensor is arranged on the output shaft:
S1＝|N1t2-N1t1i/encoder pulse frequency x wheel circumference
In the second case: the code wheel photoelectric sensor is arranged at the tail end of the motor:
S1＝|N1t2-N1t1i/encoder pulse frequency/speed reducer reduction ratio multiplied by wheel circumference
Similarly, in the time interval between the first time t1 and the second time t2, the rear wheel movement distance S2 is:
in the first case: the code wheel photoelectric sensor is arranged on the output shaft:
S2＝|N2t2-N2t1i/encoder pulse frequency x wheel circumference;
in the second case: the code wheel photoelectric sensor is arranged at the tail end of the motor:
S2＝|N2t2-N2t1i/encoder pulse frequency/speed reducer reduction ratio multiplied by wheel circumference;
obtaining the difference between the moving distance of the front wheel and the moving distance of the rear wheel in the time interval between the first time t1 and the second time t2 as follows:
△S1＝|S2-S1|。
in the step 1, the code wheel photoelectric sensor can be independently arranged on an encoder on an output shaft of the wheeled robot or arranged on an encoder at the tail end of a motor, so that the data of the code wheel photoelectric sensors of the front wheel and the rear wheel can be acquired simultaneously; the time interval between the second time t2 and the first time t1 is 0.5 s.
In the step 1, the specific steps of obtaining the motion distance difference between the front wheel and the rear wheel within a certain time interval by using the distance measuring sensors of the front wheel and the rear wheel of the wheeled robot are as follows:
step 1.1, acquiring data of rotary encoders of front wheels and rear wheels of the wheeled robot in a period of time interval, and converting the data of the encoders into rotation angles of wheel shafts;
collecting the data of the rotary encoders of the front wheels and the rear wheels of the wheeled robot within the time interval from the first time t3 to the second time t4, and converting the data of the rotary encoders into the rotation angle of the wheel shaft;
step 1.2, obtaining the movement distance of the front wheel and the rear wheel in a time interval according to the data of the rotary encoder;
in the time interval from the first time t3 to the second time t4, the rotation angle of the front wheel on the same side obtained by the rotation coding data of the front wheel and the rear wheel is α, the rotation angle of the rear wheel is β, and the movement distance of the front wheel on the same side in the time interval from t3 to t4 is:
s3 is α/360 times the circumference of the wheel
The moving distance of the rear wheel on the same side in the time interval from t3 to t4 is as follows:
s4 is β/360 times the circumference of the wheel
Step 1.3, obtaining the motion distance difference of the front wheel and the rear wheel in a corresponding time interval;
obtaining the difference between the moving distances of the front wheels and the rear wheels of the wheeled robot in the time interval from the first time t3 to the second time t4 as follows:
△S2＝|S3-S4|。
the specific steps of judging whether the slipping or the blocking occurs in the step 2 are as follows:
setting the distance difference constant of slip or jam as S according to the test result0When the difference of the current rear wheel motion distance is larger than the set distance difference S0And judging that the four-wheel wheeled robot slips or is blocked.
The current threshold I set in the step 3.20The value of the current of the motor is more than 2 times, preferably 5 times of rated current.
The invention has the following remarkable effects: according to the wheel type robot slipping jamming detection system and method, slipping and jamming detection can be achieved according to the difference of the motion distance of the front wheel and the rear wheel, and whether jamming or slipping occurs can be further distinguished; in addition, the system has simple requirements on hardware, only 2 distance measuring sensors are needed, no requirements on the types of the sensors are required, the system is simple, and the detection result is reliable.
Drawings
FIG. 1 is a schematic diagram of a wheel-type robot slip jam detection system according to the present invention;
FIG. 2 is a flow chart of a method for detecting a slip jam of a wheeled robot according to the present invention;
fig. 3 is a flow chart of another method for detecting a slip jam of a wheeled robot according to the present invention;
in the figure: 1. a first ranging sensor; 2. a second ranging sensor; 3. a current collection unit; 4. an arithmetic unit; 5. a storage unit; 6. a display unit.
Detailed Description
The invention is described in further detail below with reference to the figures and the embodiments.
As shown in fig. 1, a wheel type robot slipping jamming detection system includes a first distance measuring sensor 1, a second distance measuring sensor 2, a control center and a display unit 6, wherein the first distance measuring sensor 1 and the second distance measuring sensor 2 are respectively installed on front and rear wheels of a wheel type robot, the first distance measuring sensor 1 and the second distance measuring sensor 2 are connected with an arithmetic unit 4 and a storage unit 5 in a control center module, and measurement data of the first distance measuring sensor 1 and the second distance measuring sensor 2 are processed by the arithmetic unit 4 to obtain a distance difference between the front and rear wheels of the wheel type robot; the current acquisition unit is connected with the operation unit 4 and the storage unit 5, the current acquisition unit can obtain a motor current signal of the wheeled robot, the operation unit 4 processes measurement and operation data of the first distance measurement sensor 1 and the second distance measurement sensor 2 and the motor current signal obtained by the current acquisition unit, transmits the data to the storage unit 5 for storage, and displays a detection result through a display unit 6 connected with a control center, wherein the first distance measurement sensor 1 and the second distance measurement sensor 2 are code disc type photoelectric sensors or rotary transformers; the control center module is a PLC, an industrial personal computer or a singlechip; the display unit 6 is a display screen or an indicator light; the current acquisition unit 3 is a driver, a frequency converter or a current measurement sensor.
Example 1
A wheel type robot slipping jamming detection method specifically comprises the following steps:
step 1, obtaining a motion distance difference of front wheels and rear wheels within a certain time interval by using distance measuring sensors of the front wheels and the rear wheels of the wheeled robot;
step 1.1, acquiring photoelectric sensor data of front wheels and rear wheels on the same side of the wheeled robot at a certain moment;
acquiring data of a front wheel coded disc photoelectric sensor and a rear wheel coded disc photoelectric sensor on the same side of the wheeled robot at a first time t1, wherein the coded disc photoelectric sensor can be independently installed on an encoder on an output shaft of the wheeled robot or installed on an encoder at the tail end of a motor, so that the data of the front wheel coded disc photoelectric sensor and the data of the rear wheel coded disc photoelectric sensor can be acquired at the same time;
step 1.2, code disc photoelectric sensor data of a front wheel and a rear wheel on the same side of the wheeled robot at the other moment are obtained;
acquiring coded disc photoelectric sensor data of front wheels and rear wheels on the same side of the wheeled robot at a second moment t2, wherein the second moment t2 is a certain moment after the first moment t1, and the time interval between the second moment t2 and the first moment t1 is preferably 0.5 s;
step 1.3, obtaining the movement distance difference of the front wheel and the rear wheel of the wheeled robot in two time intervals;
let the front wheel encoder value be N1 at a first time t1t1Rear wheel encoder value N2t1The front wheel encoder value is N1 at the second time t2t2Rear wheel encoder value N2t2(ii) a Then the front wheel movement distance S1 is, in the time interval between the first time t1 and the second time t 2:
in the first case: the code wheel photoelectric sensor is arranged on the output shaft:
S1＝|N1t2-N1t1i/encoder pulse frequency x wheel circumference
In the second case: the code wheel photoelectric sensor is arranged at the tail end of the motor:
S1＝|N1t2-N1t1i/encoder pulse frequency/speed reducer reduction ratio multiplied by wheel circumference
Similarly, in the time interval between the first time t1 and the second time t2, the rear wheel movement distance S2 is:
in the first case: the code wheel photoelectric sensor is arranged on the output shaft:
S2＝|N2t2-N2t1i/encoder pulse frequency x wheel circumference;
in the second case: the code wheel photoelectric sensor is arranged at the tail end of the motor:
S2＝|N2t2-N2t1i/encoder pulse frequency/speed reducer reduction ratio multiplied by wheel circumference;
obtaining the difference between the moving distance of the front wheel and the moving distance of the rear wheel in the time interval between the first time t1 and the second time t2 as follows:
△S1＝|S2-S1|
step 2, judging whether the wheeled robot slips or blocks according to the motion distance difference of the front wheel and the rear wheel of the wheeled robot;
setting the distance difference constant of slip or jam as S according to the test result0When the difference in the distance of movement of the front and rear wheels is larger than the set difference, △ S1＞S0Judging whether the four-wheel wheeled robot slips or is blocked;
step 3, obtaining motor current data at the moment when the wheeled robot slips or is blocked, and judging the type of slipping or blocking;
3.1, directly obtaining current data of a motor of the wheeled robot by using a current acquisition unit;
when the wheel type robot is judged to be slipped or blocked, the current acquisition unit is utilized to obtain the current data I of the motor of the wheel type robot at the current moment1；
3.2, judging whether the wheel type robot generates slipping or generates blocking by using the current data of the motor of the wheel type robot;
setting a current threshold I0If the motor current I1> set value I0Judging that jamming occurs; if the motor current I1Not more than a set value I0Then it is determined that a slip has occurred(ii) a Wherein the current threshold value I0Selecting a value which is more than 2 times of the current of the motor, preferably a value which is 5 times of the rated current;
and 4, outputting and displaying the detection result through a display unit.
Example 2
A wheel type robot slipping jamming detection method specifically comprises the following steps:
step 1, obtaining a motion distance difference of front wheels and rear wheels within a certain time interval by using distance measuring sensors of the front wheels and the rear wheels of the wheeled robot;
step 1.1, acquiring data of rotary encoders of front wheels and rear wheels of the wheeled robot in a period of time interval, and converting the data of the encoders into rotation angles of wheel shafts;
collecting the data of the rotary encoders of the front wheels and the rear wheels of the wheeled robot within the time interval from the first time t3 to the second time t4, and converting the data of the rotary encoders into the rotation angle of the wheel shaft;
step 1.2, obtaining the movement distance of the front wheel and the rear wheel in a time interval according to the data of the rotary encoder;
in the time interval from the first time t3 to the second time t4, the rotation angle of the front wheel on the same side obtained by the rotation coding data of the front wheel and the rear wheel is α, the rotation angle of the rear wheel is β, and the movement distance of the front wheel on the same side in the time interval from t3 to t4 is:
s3 is α/360 times the circumference of the wheel
The moving distance of the rear wheel on the same side in the time interval from t3 to t4 is as follows:
s4 is β/360 times the circumference of the wheel
Step 1.3, obtaining the motion distance difference of the front wheel and the rear wheel in a corresponding time interval;
obtaining the difference between the moving distances of the front wheels and the rear wheels of the wheeled robot in the time interval from the first time t3 to the second time t4 as follows:
△S2＝|S3-S4|
step 2, judging whether the wheeled robot slips or blocks according to the motion distance difference of the front wheel and the rear wheel of the wheeled robot;
setting slip orThe distance difference constant of the jamming is S0When the difference in the distance of movement of the front and rear wheels is larger than the set difference, △ S2＞S0Judging whether the four-wheel wheeled robot slips or is blocked;
step 3, obtaining motor current data at the moment when the wheeled robot slips or is blocked, and judging the type of slipping or blocking;
3.1, directly obtaining current data of a motor of the wheeled robot by using a current acquisition unit;
when the wheel type robot is judged to be slipped or blocked, the current acquisition unit is utilized to obtain the current data I of the motor of the wheel type robot at the current moment1；
3.2, judging whether the wheel type robot generates slipping or generates blocking by using the current data of the motor of the wheel type robot;
setting a current threshold I0If the motor current I1> set value I0Judging that jamming occurs; if the motor current I1Not more than a set value I0Then it is determined that slipping occurs; wherein the current threshold value I0Selecting a value which is more than 2 times of the current of the motor, preferably a value which is 5 times of the rated current;
and 4, outputting and displaying the detection result through a display unit.

Claims (10)

1. The utility model provides a wheeled robot slips card and hinders detecting system which characterized in that: the system comprises a first distance measuring sensor (1), a second distance measuring sensor (2), a control center module and a display unit (6), wherein the first distance measuring sensor (1) and the second distance measuring sensor are respectively arranged on a front wheel and a rear wheel which are on the same side of the wheeled robot; the first sensor (1) and the second sensor (2) are respectively connected with the control center module, and the control center module is used for acquiring the distance difference between the front wheel and the rear wheel of the wheeled robot; the motor current acquisition unit (3) is connected with the control center module, transmits real-time motor current data to the control center, determines the type of slipping or jamming by using the acquired real-time motor current in the basis of determining the slipping and jamming by using the front and rear wheel distance difference of the control center, and displays the detection result by using the display unit (6).
2. The wheeled robot slippage jam detection system of claim 1, wherein: the control center module comprises an arithmetic unit (4) and a storage unit (5), the first distance measuring sensor (1) and the second distance measuring sensor (2) are connected with the arithmetic unit (4), and the arithmetic unit (4) is used for converting data of front wheels and rear wheels collected between the first distance measuring sensor (1) and the second distance measuring sensor (2) into distance difference of the front wheels and the rear wheels; the motor current acquisition unit is a driver, a frequency converter or a current measuring sensor, can directly read a motor current signal and transmits the motor current signal to the operation unit (4) connected with the motor current acquisition unit; the storage unit (5) is connected with each module and stores the acquired data and the operation data.
3. A wheeled robot slip jam detection system as claimed in claim 1 or 2, wherein: the first distance measuring sensor (1) and the second distance measuring sensor (2) are code disc type photoelectric sensors or rotary transformers; the control center module is a PLC, an industrial personal computer or a singlechip; the display unit (6) is a display screen or an indicator light.
4. A wheel type robot slipping jamming detection method is characterized in that: the method specifically comprises the following steps:
step 1, obtaining a motion distance difference of front wheels and rear wheels within a certain time interval by using distance measuring sensors of the front wheels and the rear wheels of the wheeled robot;
step 2, judging whether the wheeled robot slips or blocks according to the motion distance difference of the front wheel and the rear wheel of the wheeled robot;
step 3, obtaining motor current data at the moment when the wheeled robot slips or is blocked, and judging the type of slipping or blocking;
and 4, outputting and displaying the detection result through a display unit.
5. The method for detecting the slip jam of the wheeled robot according to claim 4, wherein: when the slipping or the blocking is judged to occur in the step 3, the specific step of determining the type of the slipping or the blocking is as follows:
3.1, directly obtaining current data of a motor of the wheeled robot by using a current acquisition unit;
when the wheel type robot is judged to be slipped or blocked, current data I of a motor of the wheel type robot at the current moment is obtained by using a current acquisition unit;
3.2, judging whether the wheel type robot generates slipping or generates blocking by using the current data of the motor of the wheel type robot;
setting a current threshold I0If the motor current I > the set value I0Judging that jamming occurs; if the motor current I is less than or equal to the set value I0Then it is determined that a slip has occurred.
6. The method for detecting the slip jam of the wheeled robot according to claim 4, wherein: in the step 1, the specific steps of obtaining the motion distance difference between the front wheel and the rear wheel within a certain time interval by using the distance measuring sensors of the front wheel and the rear wheel of the wheeled robot are as follows:
step 1.1, acquiring photoelectric sensor data of front wheels and rear wheels on the same side of the wheeled robot at a certain moment;
acquiring photoelectric sensor data of front wheels and rear wheels on the same side of the wheeled robot at the first time t1
Step 1.2, code disc photoelectric sensor data of a front wheel and a rear wheel on the same side of the wheeled robot at the other moment are obtained;
acquiring photoelectric sensor data of a front wheel and a rear wheel coded disc on the same side of the wheeled robot at a second moment t2, wherein the second moment t2 is a certain moment after the first moment t 1;
step 1.3, obtaining the movement distance difference of the front wheel and the rear wheel of the wheeled robot in two time intervals;
let the front wheel encoder value be N1 at a first time t1t1Rear wheel encoder value N2t1The front wheel encoder value is N1 at the second time t2t2Rear wheel encoder value N2t2(ii) a Then is atIn the time interval between the first time t1 and the second time t2, the front wheel movement distance S1 is:
in the first case: the code wheel photoelectric sensor is arranged on the output shaft:
S1＝|N1t2-N1t1i/encoder pulse frequency x wheel circumference
In the second case: the code wheel photoelectric sensor is arranged at the tail end of the motor:
S1＝|N1t2-N1t1i/encoder pulse frequency/speed reducer reduction ratio multiplied by wheel circumference
Similarly, in the time interval between the first time t1 and the second time t2, the rear wheel movement distance S2 is:
in the first case: the code wheel photoelectric sensor is arranged on the output shaft:
S2＝|N2t2-N2t1i/encoder pulse frequency x wheel circumference;
in the second case: the code wheel photoelectric sensor is arranged at the tail end of the motor:
S2＝|N2t2-N2t1i/encoder pulse frequency/speed reducer reduction ratio multiplied by wheel circumference;
obtaining the difference between the moving distance of the front wheel and the moving distance of the rear wheel in the time interval between the first time t1 and the second time t2 as follows:
△S1＝|S2-S1|。
7. the method for detecting the slip jam of the wheeled robot according to claim 6, wherein: in the step 1, the code wheel photoelectric sensor can be independently arranged on an encoder on an output shaft of the wheeled robot or arranged on an encoder at the tail end of a motor, so that the data of the code wheel photoelectric sensors of the front wheel and the rear wheel can be acquired simultaneously; the time interval between the second time t2 and the first time t1 is 0.5 s.
8. The method for detecting the slip jam of the wheeled robot according to claim 4, wherein: in the step 1, the specific steps of obtaining the motion distance difference between the front wheel and the rear wheel within a certain time interval by using the distance measuring sensors of the front wheel and the rear wheel of the wheeled robot are as follows:
step 1.1, acquiring data of rotary encoders of front wheels and rear wheels of the wheeled robot in a period of time interval, and converting the data of the encoders into rotation angles of wheel shafts;
collecting the data of the rotary encoders of the front wheels and the rear wheels of the wheeled robot within the time interval from the first time t3 to the second time t4, and converting the data of the rotary encoders into the rotation angle of the wheel shaft;
step 1.2, obtaining the movement distance of the front wheel and the rear wheel in a time interval according to the data of the rotary encoder;
in the time interval from the first time t3 to the second time t4, the rotation angle of the front wheel on the same side obtained by the rotation coding data of the front wheel and the rear wheel is α, the rotation angle of the rear wheel is β, and the movement distance of the front wheel on the same side in the time interval from t3 to t4 is:
s3 is α/360 times the circumference of the wheel
The moving distance of the rear wheel on the same side in the time interval from t3 to t4 is as follows:
s4 is β/360 times the circumference of the wheel
Step 1.3, obtaining the motion distance difference of the front wheel and the rear wheel in a corresponding time interval;
obtaining the difference between the moving distances of the front wheels and the rear wheels of the wheeled robot in the time interval from the first time t3 to the second time t4 as follows:
△S2＝|S3-S4|。
9. the method for detecting the slip jam of the wheeled robot according to claim 4, wherein: the specific steps of judging whether the slipping or the blocking occurs in the step 2 are as follows:
setting the distance difference constant of slip or jam as S according to the test result0When the difference of the current rear wheel motion distance is larger than the set distance difference S0And judging that the four-wheel wheeled robot slips or is blocked.
10. The method for detecting the slip jam of the wheeled robot according to claim 5, wherein: the current threshold I set in the step 3.20Selecting a value which is more than 2 times of the current of the motor,preferably 5 times the rated current.
CN201911395927.9A 2019-12-30 2019-12-30 Wheel type robot slipping jamming detection system and method Pending CN111037609A (en)

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JP2009196522A (en) * 2008-02-22 2009-09-03 Toyota Motor Corp Control device for vehicle
DE102010028087A1 (en) * 2010-04-22 2011-10-27 Robert Bosch Gmbh Method for determining driving reference for driver of vehicle operated in adverse traction conditions, involves determining roadworthy vehicle speed based on wheel slip data of wheel of vehicle
CN104345730A (en) * 2013-07-25 2015-02-11 科沃斯机器人科技(苏州)有限公司 Automatic mobile robot having walking state determining device, walking state determining method
CN107643186A (en) * 2017-09-15 2018-01-30 深圳市杉川机器人有限公司 The method, apparatus and system of machine skidding detection
CN107671862A (en) * 2017-11-17 2018-02-09 珠海市微半导体有限公司 The detection method and processing method that robot is stuck
CN109113498A (en) * 2018-08-01 2019-01-01 中南大学 Automatic Pilot bus door control system based on infrared detector
CN109528092A (en) * 2018-12-20 2019-03-29 珠海市微半导体有限公司 A kind of method that clean robot warns wet and slippery region
CN110174257A (en) * 2019-06-28 2019-08-27 北京云迹科技有限公司 The method and device that the indoor wheeled wheels of robot of detection skids

Patent Citations (9)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPH06289039A (en) * 1993-04-01 1994-10-18 Toyota Motor Corp Slip degree calculation device for vehicles
JP2009196522A (en) * 2008-02-22 2009-09-03 Toyota Motor Corp Control device for vehicle
DE102010028087A1 (en) * 2010-04-22 2011-10-27 Robert Bosch Gmbh Method for determining driving reference for driver of vehicle operated in adverse traction conditions, involves determining roadworthy vehicle speed based on wheel slip data of wheel of vehicle
CN104345730A (en) * 2013-07-25 2015-02-11 科沃斯机器人科技(苏州)有限公司 Automatic mobile robot having walking state determining device, walking state determining method
CN107643186A (en) * 2017-09-15 2018-01-30 深圳市杉川机器人有限公司 The method, apparatus and system of machine skidding detection
CN107671862A (en) * 2017-11-17 2018-02-09 珠海市微半导体有限公司 The detection method and processing method that robot is stuck
CN109113498A (en) * 2018-08-01 2019-01-01 中南大学 Automatic Pilot bus door control system based on infrared detector
CN109528092A (en) * 2018-12-20 2019-03-29 珠海市微半导体有限公司 A kind of method that clean robot warns wet and slippery region
CN110174257A (en) * 2019-06-28 2019-08-27 北京云迹科技有限公司 The method and device that the indoor wheeled wheels of robot of detection skids

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Application publication date: 20200421