CN111240323A - Double-sided running mobile robot and control method thereof - Google Patents
Double-sided running mobile robot and control method thereof Download PDFInfo
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- CN111240323A CN111240323A CN202010033934.0A CN202010033934A CN111240323A CN 111240323 A CN111240323 A CN 111240323A CN 202010033934 A CN202010033934 A CN 202010033934A CN 111240323 A CN111240323 A CN 111240323A
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- 238000010586 diagram Methods 0.000 description 3
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0231—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means
- G05D1/0246—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means using a video camera in combination with image processing means
Abstract
The present disclosure provides a mobile robot operating on both sides and a control method thereof. The mobile robot comprises a robot body, a mobile part, a driving mechanism, a gyroscope and a control unit; the moving parts comprise two groups which are symmetrically positioned on two sides of the robot body, and the top end and the bottom end of each moving part exceed the robot body; the driving mechanism, the gyroscope and the control unit are positioned in the robot body; the driving mechanism is connected with the moving part and is used for driving the moving part to move in two directions; the gyroscope is used for acquiring attitude original data of the robot; the control unit is electrically connected with the gyroscope and the driving mechanism and used for identifying the upward face of the robot according to the attitude original data and correspondingly controlling the driving action of the driving mechanism. The mobile robot and the control method thereof can adapt to more complex field environment, reduce the damage rate and improve the detection efficiency.
Description
Technical Field
The disclosure relates to the field of emergency rescue equipment, in particular to a mobile robot capable of running on two sides and a control method thereof.
Background
Emergency rescue generally refers to the taking of preventive, preparatory, responsive and restorative activities and plans for sudden, damaging emergencies. According to different types of emergency events, the emergency rescue method is divided into the emergency rescue in the fields of sanitary emergency, traffic emergency, fire emergency, earthquake emergency, factory and mine emergency, family emergency and the like. In some emergency accidents such as earthquake, fire of large building, explosion and collapse of factory and mine, the site topography is complex and the environment is dangerous, if rescuers enter the site with trade, the accident is easy to cause useless casualties. Therefore, in the emergency rescue industry such as fire safety, the mobile robot is widely used to replace human beings to go deep into dangerous sites to do some on-site rescue and detection work. Current mobile robot is mostly the dolly shape, all will distinguish the positive and negative of dolly, can only move up simultaneously, in case the dolly overturns, and the wheel can not contact ground, and the dolly will not continue normal motion and control, and nevertheless the scene of fire situation is complicated, and the barrier is numerous, appears the phenomenon that the dolly overturns very easily, leads to detection efficiency lower.
Disclosure of Invention
The present disclosure is directed to solving at least one of the technical problems of the related art or related art.
To this end, in a first aspect of the present disclosure, there is provided a mobile robot operating on both sides, including a robot body, a moving part, a driving mechanism, a gyroscope, and a control unit;
the moving parts comprise two groups which are symmetrically positioned on two sides of the robot body, and the top end and the bottom end of each moving part exceed the robot body; the driving mechanism, the gyroscope and the control unit are positioned in the robot body;
the driving mechanism is connected with the moving part and is used for driving the moving part to move in two directions;
the gyroscope is used for acquiring attitude original data of the robot;
the control unit is electrically connected with the gyroscope and the driving mechanism and used for identifying the upward face of the robot according to the attitude original data and correspondingly controlling the driving action of the driving mechanism.
The mobile robot further comprises a mechanical rocker arm and a camera, wherein a containing groove which is communicated along the vertical direction is formed in the robot body, the containing groove is internally provided with the mechanical rocker arm, one end of the mechanical rocker arm is rotatably connected with the groove wall of the containing groove through a shaft rod, and the other end of the mechanical rocker arm is provided with the camera;
the control unit is also used for controlling the rotation direction of the mechanical rocker arm according to the upward surface of the robot.
Further, the mobile robot further comprises two groups of distance measuring sensors symmetrically arranged at the front end and the rear end of the robot body.
Further, the robot body has a centrosymmetric structure in the horizontal direction.
In a second aspect of the present invention, there is provided a control method of a mobile robot according to the first aspect, comprising:
acquiring attitude original data acquired by the gyroscope;
recognizing attitude information of the mobile robot according to the attitude original data, wherein the attitude information comprises an upward surface;
and controlling the driving action of the driving mechanism according to the attitude information of the robot.
Further, the recognizing the pose information of the mobile robot according to the pose raw data comprises:
and calculating the yaw angle, the pitch angle and/or the roll angle according to the attitude original data.
Further, the recognizing the pose information of the mobile robot according to the pose raw data comprises:
and searching in a preset table according to the angles of the yaw angle, the pitch angle and/or the roll angle to obtain corresponding attitude information, wherein the attitude information comprises a first face-up direction, a second face-up direction, a left inclination direction and a right inclination direction of the robot.
Further, the recognizing the pose information of the mobile robot according to the pose raw data further comprises:
judging whether the angles of the yaw angle, the pitch angle and/or the roll angle are preset angles or not;
if so, calculating the duration of the angle;
and when the duration reaches a preset threshold value, determining corresponding posture information, wherein the posture information comprises right-side standing and left-side standing of the robot.
Further, the method further comprises controlling a rotational direction of the mechanical rocker arm according to the attitude information.
Further, the method further comprises the steps of determining obstacle avoidance logic according to the attitude information, and identifying the obstacle by using the distance data acquired by the ranging sensor.
According to the mobile robot running on two sides and the control method thereof, the moving parts with the top end and the bottom end exceeding the robot body and capable of moving in two directions are adopted, the upward face of the robot is identified according to data measured by the gyroscope, the moving direction is controlled, the mobile robot is not limited to a fixed posture to walk, when the mobile robot falls to the ground or topples over due to some reason, the current posture can be automatically judged, control and adjustment can be carried out, and the moving mode is changed so that the mobile robot can still keep a normal moving state. Compared with a mobile robot which can only move in an upward-facing posture, the mobile robot disclosed by the embodiment of the disclosure can adapt to more complex emergency and fire-fighting site environments, can intelligently adjust a motion mode in a complex posture change process to complete functions of motion state adjustment, autonomous obstacle avoidance, obstacle crossing and the like, can reduce the capability of the robot of incapability of moving and further executing tasks due to posture change, reduces the damage rate, and greatly improves the detection efficiency.
Additional aspects and advantages of the disclosure will be set forth in part in the description which follows and, in part, will be obvious from the description, or may be learned by practice of the disclosure.
Drawings
The above and/or additional aspects and advantages of the present disclosure will become apparent and readily appreciated from the following description of the embodiments, taken in conjunction with the accompanying drawings of which:
FIG. 1 is a schematic diagram of components of a mobile robot according to an embodiment of the present disclosure;
fig. 2 is an external structural schematic diagram of a mobile robot according to an embodiment of the present disclosure;
fig. 3 is a flow chart of a mobile robot control method according to an embodiment of the present disclosure;
fig. 4 is a schematic diagram of an operating state of a mobile robot according to an embodiment of the present disclosure.
Detailed Description
In order that the above objects, features and advantages of the present disclosure can be more clearly understood, the present disclosure will be described in further detail below with reference to the accompanying drawings and detailed description. It should be noted that the embodiments and features of the embodiments of the present application may be combined with each other without conflict.
In the following description, numerous specific details are set forth in order to provide a thorough understanding of the present disclosure, however, the present disclosure may be practiced in other ways than those described herein, and therefore the scope of the present disclosure is not limited by the specific embodiments disclosed below.
Referring to fig. 1, there is shown a mobile robot operating on both sides, including a robot body 1, a moving part 2, a driving mechanism 3, a gyroscope 4, and a control unit 5. The mobile robot has a front-back recognition function, and can normally operate when any one side faces upwards.
The moving parts 2 comprise two groups, are symmetrically positioned on two sides of the robot body 1, and the top end and the bottom end of the moving parts 2 exceed the robot body 1, so that the moving parts 2 are in contact with the ground no matter which side of the robot faces upwards, and the robot body can be protected and can be driven to move.
The driving mechanism 3, the gyroscope 4 and the control unit 5 are located inside the robot body 1. Optionally, the robot body 1 has a cavity inside to accommodate and fix the driving mechanism 3, the gyroscope 4 and the control unit 5.
The driving mechanism 3 is connected (not shown) to the moving member 2 for driving the moving member 2 to move bidirectionally. Alternatively, the drive mechanism 3 may drive one or more of the moving parts 2 independently, for example, only the moving part 2 on the right side of the robot body 1.
The connection structure between the driving part 3, the moving part 2 and the robot body 1 can be realized in various ways by those skilled in the art, and is not limited in detail. As an example, the moving members 2 are wheel sets or crawlers, each of which is connected to the robot body 1 through a shaft, and the driving mechanism 3 includes a driving motor and a transmission structure connected to the shaft to bi-directionally rotate the wheel sets or crawlers.
The gyroscope 4 is used for collecting the attitude raw data of the robot. The gyroscope is optionally a 9-axis gyroscope which can output attitude raw data through an IIC interface, the control unit 5 can calculate the yaw angle/pitch angle/roll angle according to the attitude raw data, the attitude raw data is updated once every 100ms, and time guarantee is provided for real-time judgment and correction of the attitude of the trolley.
The control unit 5 is electrically connected with the gyroscope 4 and the driving mechanism 3, and is used for identifying the upward surface of the robot according to the attitude raw data and correspondingly controlling the driving action of the driving mechanism 3.
Optionally, the mobile robot further includes two sets of distance measuring sensors 6 and 7 symmetrically disposed at the front and rear ends of the robot body 1, and the distance measuring sensors 6 and 7 are electrically connected to the control unit 5 and send the measured distance information to the control unit 5. Alternatively, the two sets of distance measuring sensors 6, 7 have the same number of sensors, and the installation position of each sensor is symmetrical with respect to the robot body 1.
Alternatively, the robot body 1 may have a centrosymmetric structure in the horizontal direction, for example, a rectangular cross section in the horizontal direction. Through the structural arrangement of the front and back symmetry and the left and right symmetry, the running states when different faces face upwards only have differences in the direction, and the control is more convenient.
Referring to fig. 2, an external structure of a mobile robot according to an embodiment of the present disclosure is shown. Fig. 2a is a plan view and fig. 2b is a front view. In this embodiment, the mobile robot is a trolley, the mobile component 2 is a wheel set, which optionally includes six wheels, three wheels are respectively disposed on the left and right sides of the robot body 1, and the top end and the bottom end of each wheel both exceed the robot body 1. The driving mechanism 3 is arranged inside the robot body 1 and can drive at least part of the wheels to move so as to drive the robot to move. The front end and the rear end of the robot body 1 are respectively provided with a group of distance measuring sensors 6 and 7, and each group of distance measuring sensors comprises two sensors. The robot body 1 has a centrosymmetric structure in the horizontal direction.
Optionally, the mobile robot further comprises a mechanical rocker arm 8 and a camera 9, the robot body 1 is provided with a holding tank which runs through in the vertical direction, the holding tank is internally provided with the mechanical rocker arm 8, one end of the mechanical rocker arm 8 is rotatably connected with a tank wall of the holding tank through a shaft rod, and the other end of the mechanical rocker arm is provided with the camera 9. The control unit 5 is also used to control the direction of rotation of the mechanical swing arm 8 according to the robot's upward facing. The mechanical swing arm 8 can rotate in a designated direction under the control of the control unit 5, so that the camera 9 extends out of the robot body 1 for shooting the scene environment. Specifically, a steering engine component connected with the control unit 5 may be provided, and the steering engine component drives the mechanical rocker arm 8 to rotate around the shaft lever under the control of the control unit 5. Through setting up this camera of two-way take-off and landing, can be according to the height of the gesture adjustment camera of robot and accomodate in the holding tank, realize on-the-spot image acquisition's function and effectively protected the camera. Through the design of mechanical rocker arm, enlarged the video acquisition scope of camera, can obtain more comprehensive conflagration scene information, provide help for the rescue.
The mobile robot of two-sided operation of this disclosed embodiment is through adopting top and bottom all to surpass robot body and two way motion's removal part to according to the ascending face of data identification robot that the gyroscope recorded and then control moving direction, let the mobile robot no longer confine to walking under a fixed gesture, can adapt to more complicated emergent, fire control site environment, reduce the spoilage, promoted the detectivity greatly.
With reference to fig. 3, which shows a control method of a mobile robot according to the description with reference to fig. 1-2, optionally performed by said control unit 5, the method comprising the steps of:
s31, acquiring attitude original data acquired by the gyroscope;
optionally, the gyroscope is a 9-axis gyroscope, and the raw attitude data related to yaw/pitch/roll can be output through the IIC interface.
S32, recognizing attitude information of the mobile robot according to the attitude original data, wherein the attitude information comprises an upward surface;
specifically, the method comprises the following steps:
calculating the yaw angle, the pitch angle and/or the roll angle according to the attitude original data;
and searching in a preset table according to the angles of the yaw angle, the pitch angle and/or the roll angle to obtain corresponding attitude information, wherein the attitude information comprises a first face-up direction, a second face-up direction, a left inclination direction and a right inclination direction of the robot.
Optionally, the recognizing the pose information of the mobile robot according to the pose raw data further includes:
judging whether the angles of the yaw angle, the pitch angle and/or the roll angle are preset angles or not;
if so, calculating the duration of the angle;
and when the duration reaches a preset threshold value, determining corresponding posture information, wherein the posture information comprises right-side standing and left-side standing of the robot.
Thus, the side standing state of the robot can be automatically judged, and the escaping processing can be carried out.
And S33, controlling the driving action of the driving mechanism according to the posture information of the robot.
Optionally, a control scheme corresponding to the posture information of the robot is determined by looking up in a preset table, and the driving action of the driving mechanism is determined according to the control scheme, including which wheels are driven, which direction is rotated, and the like.
Optionally, in step S33, the method further includes controlling a rotation direction of the mechanical rocker arm according to the attitude information, so that the camera captures a picture of a moving direction; and determining obstacle avoidance logic according to the attitude information, and identifying the obstacle by using the distance data acquired by the distance measuring sensor.
According to the mobile robot control method capable of running on two sides, the upward side of the robot is identified according to data measured by the gyroscope, so that the moving direction is controlled, the mobile robot is not limited to walking under a fixed posture any more, when the mobile robot falls to the ground or topples over due to some reason, the current posture can be automatically judged and control and adjustment are carried out, the mobile robot control method is suitable for more complex emergency and fire-fighting site environments, the damage rate is reduced, and the detection efficiency is greatly improved.
Referring to fig. 4, which illustrates an operating state of the mobile robot according to an embodiment of the present disclosure, wherein A, B illustrates both ends of the mobile robot, fig. 4(a) is a forward traveling state with a front side upward, and fig. 4(b) is a reverse traveling state with a reverse side upward. A mobile robot control method according to an embodiment of the present disclosure is explained below with reference to fig. 4.
When the mobile robot is started, initializing a control unit and a gyroscope;
when the mobile robot enters a working state, the control unit periodically reads attitude original data collected by the gyroscope, the reading period is optionally 100ms, and the time length meets the requirements of real-time judgment and correction of the attitude of the robot.
And the control unit obtains the angles of the yaw angle, the pitch angle and/or the roll angle of the robot through four-element calculation and conversion according to the attitude original data, and then performs low-pass filtering on the angle data to obtain more accurate and stable angle data.
And searching in a preset table according to the processed yaw angle, pitch angle and/or roll angle to obtain corresponding attitude information, wherein the attitude information comprises a first face-up direction, a second face-up direction, a left inclination direction and a right inclination direction of the robot. And if the yaw angle, the pitch angle and/or the roll angle are preset angles and the duration time reaches a preset threshold value, determining that the corresponding attitude information comprises right-side erection and left-side erection of the robot according to the preset table.
And controlling the action of the mobile robot according to the attitude information of the robot, wherein the action comprises controlling the driving action of a driving mechanism, controlling the rotation direction of the mechanical rocker arm and determining obstacle avoidance logic.
As an example, a correspondence table is given for determining attitude information and performed motion using only the angle of the pitch angle as follows:
when the front face of the robot is upward as shown in fig. 4(a), the control unit controls the rocker arm to rise to the front face, the camera faces to the end A of the robot, the control unit adopts front obstacle avoidance logic, distance data of the distance measuring sensor at the end A is acquired when the robot moves forward, and distance data of the distance measuring sensor at the end B is acquired when the robot moves backward;
when the reverse side is upward as shown in fig. 4(B), the control unit controls the rocker arm to rise towards the reverse side, the camera faces to the B end of the robot, the control unit adopts a back obstacle avoidance logic, the distance data of the B-end distance measuring sensor is obtained when the robot moves forward, and the distance data of the A-end distance measuring sensor is obtained when the robot moves backward;
when the pitch angle is 90 degrees or-90 degrees and is kept for 10 seconds, the robot is in a standing state, and the control unit controls the wheel set on one side to rotate so that the robot turns to one side, and then the robot is restored to a state of being capable of moving normally.
In the above control method described with reference to fig. 4, only the angle of the pitch angle is used. Those skilled in the art will appreciate that other angles or combinations of angles may be used to determine the pose of the robot.
Further, while operations are depicted in a particular order, this should be understood as requiring that such operations be performed in the particular order shown or in sequential order, or that all illustrated operations be performed, to achieve desirable results. Under certain circumstances, multitasking and parallel processing may be advantageous. Likewise, while several specific implementation details are included in the above discussion, these should not be construed as limitations on the scope of the disclosure. Certain features that are described in the context of separate embodiments can also be implemented in combination in a single implementation. Conversely, various features that are described in the context of a single implementation can also be implemented in multiple implementations separately or in any suitable subcombination.
Although the subject matter has been described in language specific to structural features and/or methodological acts, it is to be understood that the subject matter defined in the appended claims is not necessarily limited to the specific features or acts described above. Rather, the specific features and acts described above are disclosed as example forms of implementing the claims.
Claims (10)
1. A mobile robot with double-sided operation is characterized by comprising a robot body, a mobile part, a driving mechanism, a gyroscope and a control unit;
the moving parts comprise two groups which are symmetrically positioned on two sides of the robot body, and the top end and the bottom end of each moving part exceed the robot body; the driving mechanism, the gyroscope and the control unit are positioned in the robot body;
the driving mechanism is connected with the moving part and is used for driving the moving part to move in two directions;
the gyroscope is used for acquiring attitude original data of the robot;
the control unit is electrically connected with the gyroscope and the driving mechanism and used for identifying the upward face of the robot according to the attitude original data and correspondingly controlling the driving action of the driving mechanism.
2. The mobile robot of claim 1, further comprising a mechanical rocker and a camera, wherein the robot body is provided with a receiving groove which penetrates in a vertical direction, the receiving groove is internally provided with the mechanical rocker, one end of the mechanical rocker is rotatably connected with a groove wall of the receiving groove through a shaft rod, and the other end of the mechanical rocker is provided with the camera;
the control unit is also used for controlling the rotation direction of the mechanical rocker arm according to the upward surface of the robot.
3. The mobile robot of claim 2, further comprising two sets of ranging sensors symmetrically disposed at front and rear ends of the robot body.
4. The mobile robot according to claim 3, wherein the robot body has a centrosymmetric structure in a horizontal direction.
5. The method of controlling a mobile robot according to claim 4, comprising:
acquiring attitude original data acquired by the gyroscope;
recognizing attitude information of the mobile robot according to the attitude original data, wherein the attitude information comprises an upward surface;
and controlling the driving action of the driving mechanism according to the attitude information of the robot.
6. The method of claim 5, wherein the identifying pose information for the mobile robot from the pose raw data comprises:
and calculating the yaw angle, the pitch angle and/or the roll angle according to the attitude original data.
7. The method of claim 6, wherein the identifying pose information for the mobile robot from the pose raw data comprises:
and searching in a preset table according to the angles of the yaw angle, the pitch angle and/or the roll angle to obtain corresponding attitude information, wherein the attitude information comprises a first face-up direction, a second face-up direction, a left inclination direction and a right inclination direction of the robot.
8. The method of claim 7, wherein said identifying pose information for the mobile robot from the pose raw data further comprises:
judging whether the angles of the yaw angle, the pitch angle and/or the roll angle are preset angles or not;
if so, calculating the duration of the angle;
and when the duration reaches a preset threshold value, determining corresponding posture information, wherein the posture information comprises right-side standing and left-side standing of the robot.
9. The method of claim 7 or 8, further comprising controlling a rotational direction of the mechanical rocker arm based on the attitude information.
10. The method of claim 9, further comprising determining obstacle avoidance logic based on the attitude information and identifying obstacles using range data collected by the ranging sensors.
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| CN202010033934.0A CN111240323A (en) | 2020-01-13 | 2020-01-13 | Double-sided running mobile robot and control method thereof |
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| CN114044072A (en) * | 2021-09-03 | 2022-02-15 | 吉林大学 | Large obstacle-crossing high-speed moving device |
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