CN111409065A - Robot chassis working in complex environment - Google Patents

Robot chassis working in complex environment Download PDF

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Publication number
CN111409065A
CN111409065A CN202010044308.1A CN202010044308A CN111409065A CN 111409065 A CN111409065 A CN 111409065A CN 202010044308 A CN202010044308 A CN 202010044308A CN 111409065 A CN111409065 A CN 111409065A
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China
Prior art keywords
robot
chassis
data connection
module
controller
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CN202010044308.1A
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Chinese (zh)
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赵立恒
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Shanghai Qiangmei Artificial Intelligence Technology Co ltd
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Shanghai Qiangmei Artificial Intelligence Technology Co ltd
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Priority to CN202010044308.1A priority Critical patent/CN111409065A/en
Publication of CN111409065A publication Critical patent/CN111409065A/en
Pending legal-status Critical Current

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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Programme-controlled manipulators
    • B25J9/16—Programme controls
    • B25J9/1656—Programme controls characterised by programming, planning systems for manipulators
    • B25J9/1664—Programme controls characterised by programming, planning systems for manipulators characterised by motion, path, trajectory planning
    • 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
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Programme-controlled manipulators
    • B25J9/16—Programme controls
    • B25J9/1602—Programme controls characterised by the control system, structure, architecture
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Programme-controlled manipulators
    • B25J9/16—Programme controls
    • B25J9/1628—Programme controls characterised by the control loop
    • B25J9/163—Programme controls characterised by the control loop learning, adaptive, model based, rule based expert control
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Programme-controlled manipulators
    • B25J9/16—Programme controls
    • B25J9/1694—Programme controls characterised by use of sensors other than normal servo-feedback from position, speed or acceleration sensors, perception control, multi-sensor controlled systems, sensor fusion

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  • Engineering & Computer Science (AREA)
  • Robotics (AREA)
  • Mechanical Engineering (AREA)
  • Automation & Control Theory (AREA)
  • Manipulator (AREA)
  • Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)

Abstract

A robot chassis for operation in a complex environment, comprising: control mechanism, mechanical mechanism, chassis system, robot automobile body. The control mechanism, the mechanical mechanism and the chassis system are all loaded on the robot body. The invention particularly relates to a novel robot chassis which is good in obstacle crossing performance, stable in working environment and capable of improving working efficiency. The chassis of the robot can realize the accuracy and rapidity of identification and control according to the detected position of the barrier, thereby actively avoiding the barrier in time; when the intelligent recognition system carried by the robot chassis judges the front object collided, the obstacle can be quickly avoided in a short time, so that the safety of the robot chassis in driving is ensured; and data in the driving process is stored and analyzed, the data is compared by the data position sensor, and error data is corrected and filed so that a later manager can check the reason of the error data.

Description

Robot chassis working in complex environment
Technical Field
The invention relates to the field of intelligent robots, in particular to a robot chassis working in a complex environment.
Background
The existing robot chassis equipment used in the market is a fixed base, processes a part of fixed intervals, and has the defects of small operable range, inflexible operation and the like; or the tires are directly added on the chassis of the robot, so that the robot is convenient to move when being moved; alternatively, the movement command handle may be used to control the movement of the robot using a simple control system and structure.
The robot has the advantages of unsmooth moving line, clumsy movement, inconvenient manual operation and control, redundant manpower occupation and the like.
During this operation, much data is not recorded by the robot, and the data can help the robot chassis research.
Aiming at the defects of the robot chassis, the movable mode is adopted, the tire and the control system are added on the robot chassis, the robot can move automatically, the cost is saved, the efficiency is improved, the improvement is realized, and a new operation mode is added for the robot chassis.
Disclosure of Invention
The invention aims to provide a robot chassis working in a complex environment, which can autonomously move through an algorithm, realize autonomous operation of a robot, record a motion track in real time and correct error data.
The embodiment of the invention is realized by the following steps:
a robot chassis working in a complex environment comprises a control mechanism, a mechanical mechanism, a chassis system and a robot body, wherein:
the control mechanism is electrically connected with the mechanical mechanism, the chassis system is in data connection with the control mechanism, and the control mechanism, the mechanical mechanism and the chassis system are all loaded on the robot body.
The control mechanism is used for controlling the movement operation of the robot chassis to receive data of each part and send a control command.
The control mechanism comprises an industrial personal computer, a lower computer, a CAN bus, a controller, an S L AM algorithm module, a router, a multi-sensor group, a laser radar, a voice recognition module, a gyroscope, a power supply system, an upper computer and a posture sensor, wherein:
industrial computer electric connection controller, controller data connection lower computer, S L AM algorithm module data connection controller, the upper computer passes through CAN bus data connection controller, router data connection controller, multisensor organizes data connection controller, laser radar data connection controller, speech recognition module data connection controller, gyroscope data connection controller, electrical power generating system electric connection controller, position sensor data connection lower computer.
The lower computer is used for receiving data of the position sensor.
The position sensor is used for controlling the walking position and the advancing direction of the robot chassis and correcting error data.
The gyroscope is used for controlling the stability and the direction of the robot chassis.
The power supply system is used for providing operation capacity for the robot chassis.
The laser radar is used for detecting the road surface condition, data is provided for the controller, and the controller makes judgment and controls the advancing and the direction of the robot chassis.
The command received by the upper computer is transmitted to the control panel through the CAN bus, the control panel transmits a signal to the servo motor through the RS485 communication interface, and the motor controls the driving wheel to move forward after receiving the signal.
The voice recognition module is used for voice control, a voice recognition algorithm is added, the voice recognition module is connected with the controller, and a person controls the behavior mode of the chassis robot through a voice command.
The router is connected to a robot chassis control industrial personal computer and sends instructions of advancing, retreating, turning and the like to the upper computer control.
An attitude regulation and control algorithm is built in the S L AM algorithm module, so that the robot can keep walking in a stable attitude in the operation process under the complex environment.
The gesture sensor interface is written into a low-pass filter to filter out step disturbance with higher amplitude,
wherein a signal I is input to an attitude sensor1、I2、I3…InAnd a low-pass filter threshold phi is judged: i isnIf the amplitude is larger than phi, filtering out a high-amplitude part of the signal, and transmitting the high-amplitude part to the industrial personal computer module by a smaller amplitude; otherwise, directly transmitting the signal to an industrial personal computer, and outputting a filtered attitude signal I1 *、I2 *、I3 *…In *。
The threshold phi attitude signal of the position sensor takes the mass center of the vehicle body as the origin of a coordinate system of the vehicle body, and the generation numbers of the four wheels and the sensor passing through the lie group and the lie group
so(3)＝{R∈R3×3|RRT＝I,det(R)＝1}
Figure RE-GDA0002511709360000041
And (3) carrying out coordinate transformation, fusing attitude values of the multiple sensors and the measurement direction, and carrying out nonlinear minimum two multiplication:
Figure BDA0002368834760000043
and removing errors generated by motion distortion.
The multi-sensor group includes: the device comprises an antenna, a deep learning camera, an infrared detector and an ultrasonic detecting instrument.
The power supply system includes: power module, charger interface, battery module, power control box, scram switch, wherein:
the charger interface is electrically connected with the power supply module, the battery module is electrically connected with the power supply module, the power supply control box is electrically connected with the power supply module, and the emergency stop switch is electrically connected with the power supply module.
The chassis system includes: control system, object motion information acquisition device, alarm device, collision information acquisition device, safety device, object image volume information acquisition device, intelligent recognition system, wherein:
the device comprises an object motion information acquisition device data connection control system, an alarm device data connection control system, a collision information acquisition device data connection control system, a safety protection device electric connection control system, an object image volume information acquisition device data connection control system and an intelligent identification system data connection control system.
Wherein: the alarm device is used for the conditions that the robot chassis is overturned, collided, can not turn, can not advance and can not retreat in the advancing process, and the alarm device can make a sound to respond to remind a user or an administrator to make an adaptive response.
When the safety protection device is used for the robot to travel, the speed is high, the robot collides with an obstacle, the safety protection device can make a proper response, the safety of the robot chassis is protected, and the loss is reduced as much as possible.
The object image volume information acquisition device is used for acquiring the volume information of objects around the robot, a map is generated in the control system, and the robot can move in a working area by calling the map when moving next time or executing a command.
The intelligent recognition system is mainly used for the robot to collect peripheral image data, the intelligent recognition system recognizes objects according to the collected image data, the complex objects cannot be manually marked by a later manager who can not recognize the complex objects by the database, and the marked information is added into the database and can be used for the intelligent recognition system to recognize similar objects next time.
The mechanical structure includes: RS485 communication interface, servo motor, encoder, speed reducer, plum blossom contact shaft, belt pulley, bearing, tire cover plate, axletree, dustproof safety cover, wherein:
RS485 communication interface electric connection servo motor, servo motor electric connection speed reducer, encoder electric connection servo motor, servo motor physical connection plum blossom contact shaft, belt pulley physical connection plum blossom contact shaft, the tire is connected to bearing physics, wheel shaft physical connection bearing, tire physical connection tire housing board.
The embodiment of the invention at least has the following advantages or beneficial effects:
1. a chassis system is adopted to record the motion track and collision information of the robot, and an image information acquisition device and an identification system are added, so that the robot chassis is more intelligent and has stronger controllability;
2. the chassis of the robot can control the self-advancing and moving through a self-control system by adopting a tire type chassis;
3. the robot chassis is added with a control mechanism, the robot chassis can realize autonomous control of the robot, the acquired data is processed autonomously, and the system function of the robot chassis is covered comprehensively;
4. by adopting a moving algorithm and a correction algorithm, displacement deviation in the moving process of the mechanical arm robot can be recorded and corrected, and a continuous optimization effect is achieved;
drawings
In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings needed to be used in the embodiments will be briefly described below, it should be understood that the following drawings only illustrate some embodiments of the present invention and therefore should not be considered as limiting the scope, and for those skilled in the art, other related drawings can be obtained from the drawings without inventive effort.
Fig. 1 is a schematic view of a robot chassis frame.
Fig. 2 is a schematic view of the control mechanism in the chassis frame schematic view of fig. 1.
Fig. 3 is a schematic diagram of a multi-sensor cluster in the control mechanism of fig. 2.
Fig. 4 is a schematic diagram of a power supply system in the control mechanism of fig. 2.
Fig. 5 is a mechanical schematic of the chassis frame schematic of fig. 1.
Fig. 6 is a schematic view of a chassis system of the chassis frame schematic of fig. 1.
Fig. 7 is a schematic view of the vehicle body structure.
Fig. 8 is an external view of the robot chassis.
Detailed Description
In order to make the objects, technical solutions and advantages of the embodiments of the present invention clearer, the technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are some, but not all embodiments of the present invention. The components of embodiments of the present invention generally described and illustrated in the figures herein may be arranged and designed in a wide variety of different configurations.
Thus, the following detailed description of the embodiments of the present invention, presented in the figures, is not intended to limit the scope of the invention, as claimed, but is merely representative of selected embodiments of the invention. All other embodiments, which can be obtained by a person skilled in the art without inventive step based on the embodiments of the present invention, are within the scope of protection of the present invention.
It should be noted that: like reference numbers and letters refer to like items in the following figures, and thus, once an item is defined in one figure, it need not be further defined and explained in subsequent figures.
In the description of the embodiments of the present invention, it should be noted that, if the terms "center", "upper", "lower", "left", "right", "vertical", "horizontal", "inner", "outer", etc. indicate an orientation or a positional relationship based on the orientation or the positional relationship shown in the drawings, or an orientation or a positional relationship which is usually laid out when the product of the present invention is used, the description is only for convenience and simplicity, and the indication or the suggestion that the referred device or element must have a specific orientation, be constructed in a specific orientation, and be operated, therefore, the present invention should not be construed as being limited. Furthermore, the terms "first," "second," "third," and the like are used solely to distinguish one from another and are not to be construed as indicating or implying relative importance.
Furthermore, the terms "horizontal", "vertical", "overhang", and the like do not require that the components be absolutely horizontal or overhang, but may be slightly inclined. For example, "horizontal" merely means that the direction is more horizontal than "vertical" and does not mean that the structure must be perfectly horizontal, but may be slightly inclined.
In the description of the embodiments of the present invention, "a plurality" represents at least 2.
In the description of the embodiments of the present invention, it should be further noted that unless otherwise explicitly stated or limited, the terms "disposed," "mounted," "connected," and "connected" should be interpreted broadly, and may be, for example, fixedly connected, detachably connected, or integrally connected; can be mechanically or electrically connected; they may be connected directly or indirectly through intervening media, or they may be interconnected between two elements. The specific meanings of the above terms in the present invention can be understood by those skilled in the art according to specific situations.
Example 1
Fig. 1 is an overall structural diagram of a robot chassis working in a complex environment, which includes: control mechanism, mechanical mechanism, chassis system, robot automobile body, wherein: the control mechanism, the mechanical mechanism and the chassis system are loaded on the robot body, namely on the robot chassis.
FIG. 2 is an overall framework of the control mechanism of FIG. 1, which includes an industrial personal computer, a data sensor, a lower computer, an upper computer, a CAN bus, a controller, an S L AM algorithm module, a router, a multi-sensor group, a laser radar, a voice recognition module, a gyroscope and a power supply system.
The connection relationship is that an industrial personal computer is electrically connected with a controller, the controller is in data connection with a lower computer, an S L AM algorithm module is in data connection with the controller, the upper computer is in data connection with the controller through a CAN bus, the router is in data connection with the controller, the multi-sensor group data connection controller, the laser radar data connection controller, the voice recognition module data connection controller, the gyroscope data connection controller, the power supply system is electrically connected with the controller, and the posture sensor is in data connection with the lower computer.
The control mechanism is mainly responsible for the motion mode and the motion trail of a robot chassis, a router is used for receiving instructions, the multi-sensor group and the laser radar are used for detecting peripheral obstacles by the robot, recording and collecting peripheral data, a three-dimensional map is generated, and the laser radar directly guides the moving direction and the path of the robot. The voice recognition module is used for the administrator to send commands to control the moving mode, the working behavior and the like of the robot in a voice mode.
That is, the voice recognition module is used to provide a variety of man-machine interaction modes.
The gyroscope plays a role in the operation of the robot in directly guiding direction and positioning to stabilize the chassis of the robot.
FIG. 3 is a multi-sensor group comprising: the device comprises an antenna, a deep learning camera, an infrared detector and an ultrasonic detection instrument.
The algorithm can be added to the degree of depth learning camera before not putting into use, and the camera can take notes all objects that the camera lens recorded when the robot is used, analyzes these objects, tracks the object of settlement, for example, tracks a dolly, and the degree of depth learning camera can track the orbit of dolly when the dolly removes so, and control mechanism analysis degree of depth learning camera gathers's data, makes real-time instruction, and the robot can remove self at the in-process that the dolly removed, tracks the orbit of dolly.
The ultrasonic detector is used for detecting moving objects, and the working principle is that ultrasonic which can not be heard by human ears is used as a detection source to detect the objects, ultrasonic is emitted, and the distance of the detected objects is measured through the reflection of the objects and the time difference after echo is received. And moving the robot by using the measured distance so as to avoid the movement of the obstacle.
And the infrared detector is a device for converting an incident infrared radiation signal into an electric signal and outputting the electric signal.
Fig. 4 is a power system architecture diagram, which includes a power module, a charger interface, a battery module, a power control box, and an emergency stop switch, wherein: the emergency stop switch is used for an emergency switch when the robot fails in operation, and quickly turns off a power supply of the robot, so that the robot loses the mobility.
The battery module, the charger interface and the power control box are a charging socket and an electric storage plate block of the robot, and the power module can detect whether electric quantity and a power system of the robot have faults or not, so that the operation of the robot is better guaranteed, and the good operation of a maintenance system plays an important role.
Fig. 5 is a mechanical structure of a robot, including: RS485 communication interface, servo motor, speed reducer, encoder, plum blossom contact shaft, belt pulley, bearing, tire cover plate, dustproof safety cover, wheel axle.
The servo motor is used for providing kinetic energy for the mechanical structure, and the servo motor provides active potential energy for the control mode of the movement of the robot such as steering, advancing and retreating.
The speed reducer is a component for helping the robot to reduce the speed in the moving process.
The tire cover plate provides a certain protection for the tire.
The dustproof protection cover prevents that the dust from entering into the inside mechanism of robot, protects inside clear part, and the dust is to electronic component harm volume, and the dust protection cover can effectual prevention dust's entering, prolongs the life of robot.
The bearing transmits the kinetic energy of the servo motor to the tire, so that the tire rotates when acquiring the kinetic energy, and the robot is further pushed to move.
Fig. 6 is a chassis system of a robot, including: the system comprises a control system, an object motion information acquisition device, an alarm device, a collision information acquisition device, a safety protection device, an object image volume information acquisition device and an intelligent identification system.
Wherein: the object motion information acquisition device is connected to the ultrasonic detection instrument, acquires the object information of the robot moving around, and the alarm device is used for reminding the manager that the robot breaks down so that the manager can effectively and timely discover and process the object information. The alarm device has the function of archiving, namely when the robot breaks down or collides, the data are archived, so that the data in the later period of the administrator can be conveniently consulted, and the operation condition of the robot can be known.
The collision information acquisition device is used for recording collision data, strength, speed and time of the robot in the moving process and commands executed by the control system at that time, and the data can help managers or researchers to improve the robot more effectively in the later period.
The safety protection device mainly protects internal parts and frameworks of the robot more effectively during collision, and reduces loss of the robot caused by moving collision.
The intelligent recognition system is used for the robot to carry out intelligent recognition on the images of surrounding objects, which is somewhat similar to the robot moving on the street at present, and can recognize pedestrians, obstacles and the like on the road.
The object image volume information acquisition device is used for acquiring the information of objects around the robot, a three-dimensional map is generated intelligently in the robot, the size and position information of the objects in the three-dimensional map can be changed at any time according to the data acquired by the robot, and the three-dimensional map is convenient for the robot to move.
Fig. 7 is a frame diagram of a robot chassis, including: the device comprises a power switch, a battery pack, a charger interface, an emergency stop switch, a multi-sensor group, an industrial personal computer, a lower computer, a control panel, a driver, a speed reducer, an encoder, a servo motor, a main shaft, an auxiliary shaft, a plum blossom connecting shaft, a bearing, a belt pulley, tires, a vehicle body and a power driving module.
Fig. 8 is an external view of a robot chassis, in which tires 10, a robot chassis 20, a depth learning camera 30, a searchlight 40, and a bearing 50 are shown.
The tire 10 is physically connected with the bearing 50, the tire 10 and the bearing 50 are physically loaded below the robot chassis 20, and the depth learning camera 30 and the searchlight 40 are externally arranged on the robot chassis 20.
The searchlight provides light for the robot when being used for the robot night operation.
The above is only a preferred embodiment of the present invention, and is not intended to limit the present invention, and various modifications and changes may be made to the present invention by those skilled in the art. Any modification, equivalent replacement, or improvement made within the spirit and principle of the present invention should be included in the protection scope of the present invention.

Claims (9)

1. A robot chassis comprises a control mechanism, a mechanical mechanism, a chassis system and a robot body and is characterized in that the control mechanism is electrically connected with the mechanical mechanism, the chassis system is in data connection with the control mechanism, and the control mechanism, the mechanical mechanism and the chassis system are all loaded on the robot body.
2. The robot chassis working in a complex environment according to claim 1, wherein the control mechanism comprises an industrial personal computer, a lower computer, a CAN bus, a controller, an S L AM algorithm module, a router, a multi-sensor group, a laser radar, a voice recognition module, a gyroscope, a power supply system, an upper computer and an attitude sensor, wherein:
industrial computer electric connection controller, controller data connection lower computer, S L AM algorithm module data connection controller, the upper computer passes through CAN bus data connection controller, router data connection controller, multisensor organizes data connection controller, laser radar data connection controller, speech recognition module data connection controller, gyroscope data connection controller, electrical power generating system electric connection controller, position sensor data connection lower computer.
3. The robot chassis capable of working in a complex environment according to claim 2, wherein a posture regulation and control algorithm is built in the S L AM algorithm module, so that the robot can walk in a stable posture in the working process in the complex environment.
4. The robot chassis for complex environment operation of claim 2, wherein the attitude sensor interface is written with a "low pass filter" to filter out step disturbances with higher amplitude,
wherein a signal I is input to an attitude sensor1、I2、I3…InAnd a low-pass filter threshold phi is judged: i isnIf the amplitude is larger than phi, filtering out a high-amplitude part of the signal, and transmitting the high-amplitude part to the industrial personal computer module by a smaller amplitude; otherwise, directly transmitting the signal to an industrial personal computer, and outputting a filtered attitude signal I1 *、I2 *、I3 *…In *。
5. The complex environment robotic chassis of claim 2, wherein the attitude sensor threshold is a posture signal, wherein the four wheels and the sensor pass through lie group and lie algebra with the center of mass of the body as the origin of the coordinate system of the body
so(3)＝{R∈R3×3|RRT＝I,det(R)＝1}
Figure RE-FDA0002511709350000021
And (3) carrying out coordinate transformation, fusing attitude values of the multiple sensors and the measurement direction, and carrying out nonlinear least square method:
Figure RE-FDA0002511709350000022
and removing errors generated by motion distortion.
6. A robot chassis for complex environments according to claim 2, wherein said multiple sensor groups comprise: the device comprises an antenna, a deep learning camera, an infrared detector and an ultrasonic detecting instrument.
7. A robot chassis for complex environments according to claim 2, wherein the power supply system comprises: power module, charger interface, battery module, power control box, scram switch, wherein:
the charger interface is electrically connected with the power supply module, the battery module is electrically connected with the power supply module, the power supply control box is electrically connected with the power supply module, and the emergency stop switch is electrically connected with the power supply module.
8. A robot chassis for complex environments according to claim 1, wherein the chassis system comprises: control system, object motion information acquisition device, alarm device, collision information acquisition device, safety device, object image volume information acquisition device, intelligent recognition system, wherein:
the device comprises an object motion information acquisition device data connection control system, an alarm device data connection control system, a collision information acquisition device data connection control system, a safety protection device electric connection control system, an object image volume information acquisition device data connection control system and an intelligent identification system data connection control system.
9. A robot chassis for complex environments, according to claim 1, characterized in that said mechanical means comprise: RS485 communication interface, servo motor, encoder, speed reducer, plum blossom contact shaft, belt pulley, bearing, tire cover plate, axletree, dustproof safety cover, wherein:
RS485 communication interface electric connection servo motor, servo motor electric connection speed reducer, encoder electric connection servo motor, servo motor physical connection plum blossom contact shaft, belt pulley physical connection plum blossom contact shaft, the tire is connected to bearing physics, wheel shaft physical connection bearing, tire physical connection tire cover plate.
CN202010044308.1A 2020-01-15 2020-01-15 Robot chassis working in complex environment Pending CN111409065A (en)

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