CN111775147B - Intelligent control system of mobile robot - Google Patents

Intelligent control system of mobile robot Download PDF

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Publication number
CN111775147B
CN111775147B CN202010525491.7A CN202010525491A CN111775147B CN 111775147 B CN111775147 B CN 111775147B CN 202010525491 A CN202010525491 A CN 202010525491A CN 111775147 B CN111775147 B CN 111775147B
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China
Prior art keywords
robot
motor
motion
omnidirectional moving
stable supporting
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CN202010525491.7A
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Chinese (zh)
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CN111775147A (en
Inventor
刘净瑜
谭旭
任明妍
王颜
张加波
漆嘉林
刘娇文
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Beijing Satellite Manufacturing Factory Co Ltd
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Beijing Satellite Manufacturing Factory Co Ltd
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Priority to CN202010525491.7A priority Critical patent/CN111775147B/en
Publication of CN111775147A publication Critical patent/CN111775147A/en
Priority to PCT/CN2021/099308 priority patent/WO2021249460A1/en
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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
    • B25J9/1602—Programme controls characterised by the control system, structure, architecture
    • B25J9/161—Hardware, e.g. neural networks, fuzzy logic, interfaces, processor
    • 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
    • B25J19/04—Viewing devices
    • 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
    • B25J9/1666—Avoiding collision or forbidden zones
    • 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
    • B25J9/1679—Programme controls characterised by the tasks executed
    • B25J9/1687—Assembly, peg and hole, palletising, straight line, weaving pattern movement
    • 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
    • B25J9/1697—Vision controlled systems

Abstract

The intelligent control system for the movable robot realizes the omnidirectional movement control of the robot, so that the robot can automatically run to a specified position to be assembled and automatically complete an assembly task; meanwhile, the horizontal position of the robot can be automatically adjusted under the condition of uneven ground by the stable supporting function, the levelness of the robot is kept, the motion state of the robot and the assembly condition of the execution tail end of the robot can be monitored in real time through a screen of an upper computer, the labor cost is greatly saved, the working efficiency is remarkably improved, the positioning precision is improved to +/-0.2 mm, and the assembly precision in the assembly process is ensured.

Description

Intelligent control system of mobile robot
Technical Field
The invention relates to an intelligent control system of a movable robot, and belongs to the technical field of intelligent control of movable robots.
Background
Along with the development of science and technology, to the assembly of product, the mode of manual assembly is being replaced gradually to robot automatic assembly technique, and current robot is mostly the robot that is used for the fixed point assembly, needs to wait to process the product and move the robot position and assemble. However, when a product with a large volume or a large weight is processed, due to the difficulty of moving the product, the robot is often required to be transported to a designated position for assembly, so that the positioning accuracy of the robot is low, the labor cost is wasted, and the working efficiency is seriously affected.
Generally, a mobile robot is omnidirectional mobile automatic processing equipment and comprises four sets of Mecanum wheels, four sets of spiral elevators and a mechanical arm; the mobile robot comprises four sets of Mecanum wheels, four sets of spiral lifters, a ground scanning module and a control module, wherein the four sets of Mecanum wheels move in an omnidirectional manner and are supported by the four sets of spiral lifters, the positions of the sets of Mecanum wheels are judged by identifying ground guide lines, the sets of Mecanum wheels move, if the sets of Mecanum wheels deviate from a preset route in the moving process, particularly if the sets of Mecanum wheels are not parallel to the guide lines, one ground scanning module cannot identify the sets of Mecanum wheels, and the sets of Mecanum wheels can be completely separated from the ground guide lines along with continuous accumulation of deviation, so that.
Disclosure of Invention
The technical problem solved by the invention is as follows: the defects of the prior art are overcome, and the intelligent control system of the movable robot is provided, so that the omnidirectional movement of the robot is realized, the robot can automatically run to the appointed position to be assembled and automatically complete the assembly task; meanwhile, the horizontal position of the robot can be automatically adjusted under the condition of uneven ground by the stable supporting function, the levelness of the robot is kept, the motion state of the robot and the assembly condition of the execution tail end of the robot can be monitored in real time through a screen of an upper computer, the labor cost is greatly saved, the working efficiency is obviously improved, and the assembly precision in the assembly process is ensured.
The technical scheme of the invention is as follows: a mobile robotic intelligence control system comprising: the system comprises an upper computer unit, a movable robot main control unit, a motion resolving unit, an omnidirectional moving driving unit, an omnidirectional moving motor 1, an omnidirectional moving motor 2, an omnidirectional moving motor 3, an omnidirectional moving motor 4, a stable supporting driving unit, a stable supporting motor 1, a stable supporting motor 2, a stable supporting motor 3, a stable supporting motor 4, a robot control unit, a camera, a scene scanning unit, a ground scanning module, a space scanning module and an obstacle scanning module.
The upper computer unit is used for sending instructions to the main control unit of the mobile robot through a Wi-Fi network, wherein the instructions comprise the movement speed, the movement end coordinate value and the processing point coordinate value information of the robot;
the motion resolving unit can acquire the motion states of the omnidirectional moving motor 1, the omnidirectional moving motor 2, the omnidirectional moving motor 3, the omnidirectional moving motor 4, the stable supporting motor 1, the stable supporting motor 2, the stable supporting motor 3 and the stable supporting motor 4 in real time and send the motion states to the main control unit of the movable robot;
the camera can acquire the position coordinate value of the current mobile robot, the position coordinate value of the execution tail end and the processing state information of the execution tail end in real time and send the position coordinate value, the position coordinate value and the processing state information to the main control unit of the mobile robot through the robot control unit;
the upper computer unit can display the motion states of the omnidirectional moving motor 1, the omnidirectional moving motor 2, the omnidirectional moving motor 3, the omnidirectional moving motor 4, the stable supporting motor 1, the stable supporting motor 2, the stable supporting motor 3 and the stable supporting motor 4 which are fed back by the main control unit of the movable robot, and the position coordinate value of the current movable robot, the position coordinate value of the execution tail end and the processing state information of the execution tail end;
the space scanning module sends the space position coordinates of the movable robot to the scene scanning unit, and the scene scanning unit sends the current space position coordinates of the movable robot acquired by the space scanning module to the main control unit of the movable robot;
the movable robot main control unit calculates the execution time from the current space position of the movable robot to the motion end point according to the motion speed and the motion end point coordinate value of the robot in the instruction and the current space position coordinate of the movable robot;
the movable robot main control unit is used for receiving a motion speed, a motion end point coordinate value and a machining point coordinate value instruction sent by the upper computer, sending the motion speed, the motion end point coordinate value and the execution time of the robot in the instruction to the motion resolving unit, and sending the machining point coordinate value in the instruction to the robot control unit; in the moving process of the movable robot, the condition of abnormal running direction can occur, and the movable robot needs to be adjusted in time, so that the phenomenon that the movable robot gradually moves out of a designated area and is out of control is avoided;
the ground scanning module can collect position offset signals in real time and send the position offset signals to the main control unit of the movable robot through the scene scanning unit;
the movable robot main control unit receives the position offset signal sent by the scene scanning unit, calculates the offset angle of the robot and the offset distance of the robot according to the offset, calculates the movable robot motion speed vector for correcting the position of the robot according to the offset angle of the robot and the offset distance of the robot, and sends the vector to the motion calculation unit;
the motion resolving unit is used for resolving motion parameters of the omnidirectional moving motor 1, the omnidirectional moving motor 2, the omnidirectional moving motor 3 and the omnidirectional moving motor 4 according to the robot motion speed, the motion end point coordinate value and the execution time sent by the movable robot main control unit and sending the motion parameters to the omnidirectional moving driving unit; and the motion calculating unit determines the working positions of the stable support motor 1, the stable support motor 2, the stable support motor 3 and the stable support motor 4 according to the motion endpoint coordinate value sent by the main control unit of the movable robot, sets the motion parameters of the stable support motors and sends the motion parameters to the stable support driving unit.
The omnidirectional moving driving unit is used for converting the motion parameters of the omnidirectional moving motor 1, the omnidirectional moving motor 2, the omnidirectional moving motor 3 and the omnidirectional moving motor 4 into power signals and sending the power signals to the omnidirectional moving motor 1, the omnidirectional moving motor 2, the omnidirectional moving motor 3 and the omnidirectional moving motor 4;
the stable supporting driving unit converts the motion parameters of the stable supporting motor 1, the stable supporting motor 2, the stable supporting motor 3 and the stable supporting motor 4 into power signals and sends the power signals to the stable supporting motor 1, the stable supporting motor 2, the stable supporting motor 3 and the stable supporting motor 4;
the omnidirectional moving motor 1, the omnidirectional moving motor 2, the omnidirectional moving motor 3 and the omnidirectional moving motor 4 respectively move according to the power signals; and realizing the omnidirectional movement of the mobile robot.
The stable supporting motor 1, the stable supporting motor 2, the stable supporting motor 3 and the stable supporting motor 4 move according to power signals of the stable supporting motors; and stable support of the movable robot is realized.
The omnidirectional moving motor 1, the omnidirectional moving motor 2, the omnidirectional moving motor 3 and the omnidirectional moving motor 4 feed the self moving state back to the motion resolving unit through the omnidirectional moving driving unit;
the stable support motor 1, the stable support motor 2, the stable support motor 3 and the stable support motor 4 feed the motion state of the motor back to the motion calculation unit through the stable support driving unit;
the movable robot main control unit receives the self motion states of the omnidirectional moving motor 1, the omnidirectional moving motor 2, the omnidirectional moving motor 3, the omnidirectional moving motor 4, the stable supporting motor 1, the stable supporting motor 2, the stable supporting motor 3 and the stable supporting motor 4 which are sent by the motion resolving unit;
the camera can acquire the position coordinate value of the current mobile robot, the position coordinate value of the execution tail end and the processing state information of the execution tail end in real time and send the position coordinate value, the position coordinate value and the processing state information to the main control unit of the mobile robot through the robot control unit;
the obstacle scanning module is used for acquiring obstacle information on a motion path of the robot in real time and feeding the obstacle information back to the scene scanning unit, the scene scanning unit sends the obstacle information to the main control unit of the movable robot, if obstacles exist around the movable robot, the main control unit of the movable robot stops the motion of the movable robot to ensure safety, and finally the main control unit of the movable robot sends the obstacle information to the upper computer to be displayed on the upper computer;
the robot control unit can receive a processing point coordinate value instruction sent by the movable robot main control unit, position adjustment is carried out on the execution tail end of the robot mechanical arm according to the processing point coordinate value and the position coordinate value of the execution tail end acquired by the camera, the mechanical arm finishes the processing process depending on the execution tail end of the mechanical arm, the robot control unit forms the acquired processing state of the execution tail end into a processing state signal, and the processing state signal and the current position information are transmitted to the movable robot main control unit in real time; and the main control unit of the movable robot is sent to the upper computer unit for displaying.
Preferably, the processing points are: the working position of the tip is performed.
Preferably, the motion states of the omni-directional movement motor 1, the omni-directional movement motor 2, the omni-directional movement motor 3, and the omni-directional movement motor 4 include: normal operation, stop operation and fault alarm.
Preferably, the motion states of the stable support motor 1, the stable support motor 2, the stable support motor 3 and the stable support motor 4 include: unsupported, start action, complete support and fault alarm.
Preferably, the execution end machining state information includes: preparing for processing, processing and finishing.
Preferably, the incorrect running direction means deviation from a preset route, and as the deviation amount is accumulated continuously, the movable robot is finally caused to deviate from the preset route completely, so that the movable robot is out of control.
Preferably, the designated area is a preset range of a robot motion area.
Preferably, the mobile robot motion velocity vector for correcting the robot position includes a motion velocity and a motion direction, so that the mobile robot moves according to the motion velocity vector and returns to the predetermined route.
Preferably, the robot has a robot arm, the end of which is provided with an execution end for processing the product.
Compared with the prior art, the invention has the advantages that:
(1) the invention realizes the omnidirectional movement of the robot by giving the required data in the upper computer, and timely adjusts the movement direction according to the data fed back by the omnidirectional movement motor in real time, so that the robot can accurately and autonomously move to the position to be processed of the product, automatically complete the assembly work and achieve the aim of saving the labor cost.
(2) According to the invention, the automatic leveling function of the robot is realized by stably supporting the motor so as to replace a manual leveling link, thereby reducing the waste of labor cost and greatly improving the working efficiency; the problem that the positioning precision is reduced due to uneven ground in the moving process and after the terminal is reached is solved, and the assembly precision is ensured.
(3) The invention adopts three scanning modules of ground scanning, space scanning and obstacle scanning to monitor the real-time position coordinates of the robot and the condition of whether obstacles exist, and the specific position of the scene fed back by the camera can finely adjust the position of the execution tail end, so that the positioning precision is improved to +/-0.2 mm from the original +/-5 mm, and the safe operation of the robot is guaranteed.
(4) The invention provides an intelligent control system of a movable robot, which realizes the omnidirectional movement of the robot, so that the robot can automatically run to a specified position to be assembled and automatically complete an assembly task; meanwhile, the horizontal position of the robot can be automatically adjusted under the condition of uneven ground by the stable supporting function, the levelness of the robot is kept, and the motion state of the robot and the assembly condition of the execution tail end of the robot can be monitored in real time through a screen of an upper computer. The labor cost is greatly saved, the working efficiency is obviously improved, and the assembly precision in the assembly process is ensured.
(5) The invention adopts two ground scanning modules which are respectively arranged at the front part and the rear part of the movable robot, and the connecting line of the central point of the scanning field of view of the ground scanning module 1 and the central point of the scanning field of view of the ground scanning module 2 is superposed with the central axis of a chassis; the central axis of the chassis refers to the line connecting the front central point and the rear central point of the mobile robot chassis. The two ground scanning modules can respectively collect the offset distance with the ground guide line, so that the offset angle and the total offset of the movable robot can be calculated, the adjustment is carried out in real time, the movable robot is prevented from generating offset accumulation, and the movable robot is ensured to always run on a preset route.
Drawings
FIG. 1 is a block diagram of the control system components of the present invention;
FIG. 2 is a schematic diagram of a mobile robot with an incorrect direction of motion; (a) represents L1＜0、L2The case of > 0; (b) represents L1＞0、L2Case < 0; (c) represents L1And L2Same number, and L1>L2Case (d) represents L1And L2Same number, and L1<L2In the state ofThe method is described.
Fig. 3 is a schematic view of a display interface of the upper computer unit according to the present invention.
Detailed Description
The invention is described in further detail below with reference to the figures and the specific embodiments
The intelligent control system of the movable robot realizes the omnidirectional movement of the robot, so that the robot can automatically run to a specified position to be assembled and automatically complete an assembly task; meanwhile, the horizontal position of the robot can be automatically adjusted under the condition of uneven ground by the stable supporting function, the levelness of the robot is kept, and the motion state of the robot and the assembly condition of the execution tail end of the robot can be monitored in real time through a screen of an upper computer. The labor cost is greatly saved, the working efficiency is obviously improved, the positioning precision is improved to +/-0.2 mm, and the assembly precision in the assembly process is ensured.
The invention is preferably applied to the processing process of the space station structure shell, the processing points on the structure shell are welded, the processed object is the space station structure shell, the weight and the volume are large, the movement is difficult, the required processing precision is extremely high, and the error is less than or equal to +/-0.02 mm. Therefore, the traditional manual processing mode is difficult to realize, and if the robot is adopted for processing, the robot needs to be moved to a position to be processed, so that the fixed-point processing robot is difficult to realize.
The movable robot is omnidirectional moving automatic processing equipment and comprises a chassis, four Mecanum wheel sets, four spiral lifters and mechanical arms; the mechanical arm is provided with an execution tail end
Four Mecanum wheel sets are arranged on the lower portion of the chassis to conduct omnidirectional movement, four spiral lifters are arranged on the lower portion of the chassis to conduct stable supporting, a mechanical arm is arranged on the upper portion of the chassis, and the mechanical arm depends on the execution tail end of the mechanical arm to complete a machining process.
An omnidirectional moving motor 1, an omnidirectional moving motor 2, an omnidirectional moving motor 3 and an omnidirectional moving motor 4 respectively control four sets of Mecanum wheels to work;
the device comprises a stable support driving unit, a stable support motor 1, a stable support motor 2, a stable support motor 3 and a stable support motor 4, wherein the stable support driving unit, the stable support motor 1, the stable support motor 2, the stable support motor 3 and the stable support motor 4 are respectively used for controlling four groups of spiral elevators to lift;
when the spiral elevator rises to the highest (namely extends out), the Mecanum wheel set is separated from the ground; when the spiral elevator is lowered to the lowest level (namely, retracted), the Mecanum wheels contact the ground to work;
the control system of the invention realizes the mobile processing of the robot by controlling the four Mecanum wheel sets, directly drives the robot to a position to be processed of a space station, then controls the spiral lifter to stably support (extend), completes the processing of a product by the executing tail end on the mechanical arm, and can realize the welding of the product and the like by arranging a tool at the executing tail end.
In order to meet the requirement of machining precision, it is preferable that a spiral elevator is respectively arranged at each of four corners of the mobile robot, and when the mobile robot reaches the machining position, the mobile robot is stably supported by the elevation of the spiral elevator, so that the machining process reference point is kept unchanged.
Because large-scale equipment and products are more in a workshop, in the running process of the movable robot, if the condition of deviating from a guide line causes the collision of other equipment or products, great loss is caused, the movement route of the movable robot needs to be strictly controlled, the traditional navigation mode only has one ground scanning module and is placed in the center of the chassis, and only whether the center of the current Mecanum wheel set deviates from the ground guide line or not can be detected, and the deviation angle of the Mecanum wheel set cannot be detected. The invention adopts two ground scanning modules which are respectively arranged at the front part and the rear part of the chassis of the movable robot, and can acquire the offset between the two ground scanning modules and the ground guide line, thereby calculating the offset angle of the movable robot, carrying out real-time adjustment, ensuring the correct driving direction of the movable robot and not influencing other equipment or products.
The invention relates to an intelligent control system of a mobile robot, comprising: the system comprises an upper computer unit, a movable robot main control unit, a motion resolving unit, an omnidirectional moving driving unit, an omnidirectional moving motor 1, an omnidirectional moving motor 2, an omnidirectional moving motor 3, an omnidirectional moving motor 4, a stable supporting driving unit, a stable supporting motor 1, a stable supporting motor 2, a stable supporting motor 3, a stable supporting motor 4, a robot control unit, a camera, a scene scanning unit, a ground scanning module, a space scanning module and an obstacle scanning module.
The preferred scheme is as follows: the mobile robot intelligent control system is shown in a composition diagram of fig. 1, an upper computer unit is placed on a mobile robot shell and is interconnected with a mobile robot main control unit through a cable; the mobile robot main control unit is placed in the mobile robot and is interconnected with the motion resolving unit, the scene scanning unit, the robot control unit and the upper computer unit through cables; the motion resolving unit is arranged in the movable robot and is interconnected with the movable robot main control unit, the omnidirectional movement driving unit and the stable support driving unit through cables; the scene scanning unit is arranged in the movable robot and is interconnected with the main control unit of the movable robot, the ground scanning module, the space scanning module and the obstacle scanning module through cables; the robot control unit is placed above a shell skin of the movable robot and is interconnected with the main control unit of the movable robot, the camera and the execution tail end through cables; the omnidirectional moving driving unit is arranged in the movable robot and is interconnected with the omnidirectional moving motor 1, the omnidirectional moving motor 2, the omnidirectional moving motor 3 and the omnidirectional moving motor 4 through cables; the omnidirectional moving motor 1, the omnidirectional moving motor 2, the omnidirectional moving motor 3 and the omnidirectional moving motor 4 are respectively arranged on 4 Mecanum wheel sets of the movable robot; the stable supporting driving unit is placed in the movable robot and is interconnected with the stable supporting motor 1, the stable supporting motor 2, the stable supporting motor 3 and the stable supporting motor 4 through cables; the stable support motor 1, the stable support motor 2, the stable support motor 3 and the stable support motor 4 are respectively connected with the spiral lifters at 4 corners of the movable robot; the two ground scanning modules are respectively arranged at the front part and the rear part of the movable robot chassis and are interconnected with the scene scanning unit through cables; the space scanning module is arranged right in front of the movable robot and is interconnected with the scene scanning unit through a cable; the obstacle scanning modules are respectively arranged at two ends of a diagonal line of the movable robot, scan obstacles around the movable robot and are interconnected with the scene scanning unit through cables; the camera is placed above a mechanical arm of the movable robot and is interconnected with the robot control unit through a cable; the execution tail end is placed at the front end of a mechanical arm of the movable robot and is interconnected with the robot control unit through a cable.
The upper computer unit is used for sending instructions to the main control unit of the mobile robot through the Wi-Fi network, the instructions comprise the movement speed, the movement end point coordinate value and the processing point coordinate value information (namely the working position of the execution tail end) of the robot, so that an operator can input parameters at the far end of the working position, and the mobile robot can automatically complete the processing process.
The motion resolving unit can acquire the motion states (preferably including normal operation, stop operation and fault alarm) of the omnidirectional moving motor 1, the omnidirectional moving motor 2, the omnidirectional moving motor 3 and the omnidirectional moving motor 4 and the motion states (preferably including unsupported state, action start, support completion and fault alarm) of the stable supporting motor 1, the stable supporting motor 2, the stable supporting motor 3 and the stable supporting motor 4 in real time and send the motion states to the main control unit of the movable robot;
the camera can acquire the position coordinate value of the current mobile robot, the position coordinate value of the execution tail end and the processing state information of the execution tail end (preferably including preparation processing, processing and finishing processing) in real time and send the information to the main control unit of the mobile robot through the robot control unit;
the upper computer unit can display the motion states (preferably including normal operation, stop operation and fault alarm) of the omnidirectional moving motor 1, the omnidirectional moving motor 2, the omnidirectional moving motor 3 and the omnidirectional moving motor 4, the motion states (preferably including non-support, start action, complete support and fault alarm) of the stable supporting motor 1, the stable supporting motor 2, the stable supporting motor 3 and the stable supporting motor 4, the position coordinate value of the current movable robot, the position coordinate value of the execution tail end and the execution tail end processing state information (preferably including preparation processing, processing and complete processing) fed back by the main control unit of the movable robot.
The space scanning module sends the space position coordinates of the movable robot to the scene scanning unit, and the scene scanning unit sends the current space position coordinates of the movable robot acquired by the space scanning module to the main control unit of the movable robot;
the main control unit of the mobile robot has the preferable scheme that: and calculating the execution time from the current space position of the movable robot to the motion end point according to the motion speed of the robot, the coordinate value of the motion end point and the current space position coordinate of the movable robot in the command. The robot motion speed V, the motion end point coordinates (X, Y) and the current control position coordinates (X ', Y'), and the execution time T is [ (X '-X) + (Y' -Y) ]/V;
the movable robot main control unit is used for receiving a motion speed, a motion end point coordinate value and a machining point coordinate value instruction sent by the upper computer, sending the motion speed, the motion end point coordinate value and the execution time of the robot in the instruction to the motion resolving unit, and sending the machining point coordinate value in the instruction to the robot control unit; in the moving process of the mobile robot, the moving direction may be wrong (wrong, which means deviating from a predetermined route), and if the mobile robot is not timely adjusted, the mobile robot gradually deviates from the range of the ground guide line, so that the mobile robot runs out of a designated area (a preset robot moving area) in a runaway manner, and a runaway phenomenon occurs.
The preferred scheme is as follows: two ground scanning modules, namely a ground scanning module 1 and a ground scanning module 2, are configured for the mobile robot and are respectively arranged at the front part and the rear part of a chassis of the mobile robot, and the ground scanning module 1 can acquire the offset L between the ground scanning module 1 and a ground guide line1The ground scanning module 2 can collect the offset L with the ground guide line2And sends the offset signal to the scene scanning module. The main control unit of the mobile robot receives the offset L sent by the scene scanning module1And offset L2Therefore, whether the current running of the movable robot has the condition of direction irregularity or not is calculated, and if L is not the same, the movable robot moves in the same direction1Not equal to 0 or L2If not equal to 0, the current direction is not correct, the adjustment is needed, and the robot can moveThe abnormal case is 4 as shown in fig. 2, in which the offset angle α is arcsin (| L)1-L2L/L), where L is the distance between the scanning view field center points of the ground scanning module 1 and the ground scanning module 2, and the offset direction needs to be determined by L1And L2If L is the size of1<0，L2>0, the robot is shifted in the counterclockwise direction, as shown in fig. 2 (a); if L is1>0，L2<0, the robot is shifted clockwise, as shown in fig. 2 (b); if L is1And L2In the same sign, i.e. L1And L2Are all made of>0, or L1And L2Are all made of<0, at this time, if L1>L2The robot is shifted clockwise as shown in fig. 2 (c); if L is1And L2In the same sign, i.e. L1And L2Are all made of>0, or L1And L2Are all made of<0, at this time, if L1<L2The robot is then displaced in a counter-clockwise direction as shown in fig. 2 (d). Offset distance L of mobile robotDeflection＝(L1+L2) And 2, after the calculation of the offset direction, the offset angle and the offset distance of the movable robot is completed, the main control unit of the movable robot analyzes the calculation result, analyzes the motion speed of the robot and sends the motion speed to the motion calculating unit to realize the automatic deviation correction of the robot. By the calculation method, the mobile robot can always deviate from the guide line to cause the out-of-control phenomenon. Not only improves the working efficiency, but also protects other devices and products in workshop buildings.
The preferred scheme is as follows: the ground scanning module comprises a ground scanning module 1 and a ground scanning module 2. The ground scanning module 1 and the ground scanning module 2 are respectively arranged at the front part and the rear part of the chassis of the movable robot, and the ground scanning module 1 can acquire the offset L between the ground scanning module 1 and a ground guide line1The ground scanning module 2 can collect the offset L with the ground guide line2The scene scanning unit sends the scene scanning information to the main control unit of the movable robot; by using two ground scanning modules, the mobile robot can always sense the offset and offset angle between the mobile robot and the ground guide line, real-time adjustment can be performed, and the mobile robot is prevented from deviating outThe wire is guided to cause the runaway phenomenon. Not only improves the working efficiency, but also protects other devices and products in workshop buildings.
The movable robot main control unit receives the position offset signal sent by the scene scanning unit, calculates the offset angle of the robot and the offset distance of the robot according to the offset, calculates the motion velocity vector (the motion direction of the motion velocity vector is considered) of the movable robot for correcting the position of the robot according to the offset angle of the robot and the offset distance of the robot, and sends the motion velocity vector to the motion calculating unit, and the movable robot can finally return to the preset motion route by the signal.
The motion calculating unit preferably comprises: and the system is used for resolving motion parameters of the omnidirectional moving motor 1, the omnidirectional moving motor 2, the omnidirectional moving motor 3 and the omnidirectional moving motor 4 according to the robot motion speed, the motion end point coordinate value and the execution time sent by the main control unit of the movable robot. The movement speed of the 4 motors is calculated according to the movement speed of the robot, the speed division of each wheel set is obtained through decomposition according to the wheel track and the direction of the 4 wheel sets, the direction of the 4 motors is obtained according to the movement end point coordinate value, the movement direction of the next movable robot is obtained according to the comparison of the movement end point coordinate value and the current coordinate value of the movable robot, and the movement direction of each motor in the next step is obtained according to the direction of each wheel set. And sending the data to the omnidirectional moving driving unit; the motion calculating unit determines the starting working positions of the stable support motor 1, the stable support motor 2, the stable support motor 3 and the stable support motor 4 according to the motion endpoint coordinate value sent by the movable robot main control unit and the principle that the movable robot starts stable support after reaching the endpoint, sets the motion parameters of the stable support motor and sends the motion parameters to the stable support driving unit. The stable support implementation method comprises the following steps: the same movement speed is given for 4 stable supporting motors, the 4 stable supporting motors respectively drive 4 spiral elevators to move, the torque feedback of the motors is F before the spiral elevators fall to the ground, the torque feedback of the motors is F 'after the spiral elevators fall to the ground, when F' -F is larger than or equal to 5Nm, the spiral elevators are considered to fall to the ground, and the stable supporting motors stop moving until all the 4 stable supporting motors stop moving.
The omnidirectional movement driving unit preferably comprises: the method comprises the following steps that the motion parameters (including motion speed and motion direction) of an omnidirectional moving motor 1, an omnidirectional moving motor 2, an omnidirectional moving motor 3 and an omnidirectional moving motor 4 are used, an omnidirectional moving driving unit obtains the power-up frequency of three phases of a motor U, V, W according to the motion speed, obtains the power-up sequence of three phases of a motor U, V, W according to the motion direction, and sends the power-up sequence as a power signal to the moving motor 1, the omnidirectional moving motor 2, the omnidirectional moving motor 3 and the omnidirectional moving motor 4;
the stable support drive unit, preferred scheme is: the stable supporting driving unit obtains the power-up frequency of U, V, W three phases of the motor according to the movement speed and obtains the power-up sequence of U, V, W three phases of the motor according to the movement direction of the stable supporting motor 1, the stable supporting motor 2, the stable supporting motor 3 and the stable supporting motor 4 (including the movement speed and the movement direction), and the power-up frequency is used as a power signal and is sent to the stable supporting motor 1, the stable supporting motor 2, the stable supporting motor 3 and the stable supporting motor 4;
the omnidirectional moving motor 1, the omnidirectional moving motor 2, the omnidirectional moving motor 3 and the omnidirectional moving motor 4 respectively move according to the power signals; and realizing the omnidirectional movement of the mobile robot.
The stable supporting motor 1, the stable supporting motor 2, the stable supporting motor 3 and the stable supporting motor 4 move according to power signals of the stable supporting motors; and stable support of the movable robot is realized. The stable support implementation method comprises the following steps: the same movement speed is given for 4 stable supporting motors, the 4 stable supporting motors respectively drive 4 spiral elevators to move, the torque feedback of the motors is F before the spiral elevators fall to the ground, the torque feedback of the motors is F 'after the spiral elevators fall to the ground, when F' -F is larger than or equal to 5Nm, the spiral elevators are considered to fall to the ground, and the stable supporting motors stop moving until all the 4 stable supporting motors stop moving.
The omnidirectional moving motor 1, the omnidirectional moving motor 2, the omnidirectional moving motor 3 and the omnidirectional moving motor 4 feed the self moving state back to the motion resolving unit through the omnidirectional moving driving unit;
the stable support motor 1, the stable support motor 2, the stable support motor 3 and the stable support motor 4 feed the motion state of the motor back to the motion calculation unit through the stable support driving unit;
the preferred scheme is as follows: the movable robot main control unit receives the self motion states of the omnidirectional moving motor 1, the omnidirectional moving motor 2, the omnidirectional moving motor 3, the omnidirectional moving motor 4, the stable supporting motor 1, the stable supporting motor 2, the stable supporting motor 3 and the stable supporting motor 4 which are sent by the motion resolving unit; the main control unit of the mobile robot compares the motion speed of 8 motors (the omnidirectional moving motor 1-omnidirectional moving motor 4 and the stable supporting motor 1-stable supporting motor 4) with the motion speed of the robot sent to the motion resolving unit, and if the sending speed is inconsistent with the feedback speed, the motion of all the motors is stopped, so that the mobile robot stops the current action.
The camera can acquire the position coordinate value of the current movable robot, the position coordinate value of the execution tail end and the processing state information (preparation for processing, processing and completion) of the execution tail end in real time and send the information to the main control unit of the movable robot through the robot control unit;
the obstacle scanning module preferably comprises: acquiring barrier information on a robot motion path in real time, feeding the barrier information back to a scene scanning unit, sending the barrier information to a movable robot main control unit by the scene scanning unit, stopping the motion of the movable robot by the movable robot main control unit if barriers exist around the movable robot, ensuring safety, and finally sending the barrier information to an upper computer by the movable robot main control unit to be displayed on a screen of the upper computer;
the preferred scheme is as follows: the robot control unit can receive a processing point coordinate value instruction sent by the movable robot main control unit and adjust the position of the execution tail end of the robot mechanical arm according to the processing point coordinate value and the position coordinate value of the execution tail end collected by the camera; the robot comprises a mechanical arm, and an execution tail end is arranged on the mechanical arm. The robot control unit controls the mechanical arm to move to a processing position; the execution end finishes the processing action; the camera collects the position coordinate value of the current movable robot, the position coordinate value of the execution tail end and the processing state information of the execution tail end, and the product is processed; the robot control unit transmits a machining state signal (comprising a preparation machining state, a machining starting state and a machining state) of the execution tail end to the movable robot main control unit in real time; and the main control unit of the movable robot is sent to the upper computer unit for displaying. As shown in fig. 3.
The invention discloses a preferable control mode of a mobile robot intelligent control system, which comprises the following steps:
(1) and inputting a motion speed, a motion end point coordinate value and a machining point coordinate value instruction of the movable robot into the upper computer unit, and transmitting the instructions to the main control unit of the movable robot through the Wi-Fi network.
(2) And the movable robot main control unit distributes the movement speed, the movement end coordinate value and the execution time instruction of the movable robot to the movement resolving unit.
The two ground scanning modules are respectively placed at the front part and the rear part of a movable robot chassis and respectively comprise a ground scanning module 1 and a ground scanning module 2; the connecting line of the central point of the scanning view field of the ground scanning module 1 and the central point of the scanning view field of the ground scanning module 2 is superposed with the central axis of the chassis; the central axis of the chassis refers to the line connecting the front central point and the rear central point of the mobile robot chassis.
The main control unit of the mobile robot receives the offset L sent by the scene scanning module1(offset amount L)1The vertical distance between the center point of the scanning view field of the ground scanning module 1 and a ground guide line, wherein the ground guide line is the connection line between the current position of the robot and a designated station) and the offset L2(offset amount L)2The vertical distance between the center point of the scanning view field of the ground scanning module 2 and the ground guide line), and whether the current running direction of the mobile robot is wrong is calculated, if L is not, the mobile robot runs in the same direction1Not equal to 0 or L2Not equal to 0, the current direction is not correct, and the adjustment is needed, so thatThe case where the direction of the mobile robot is not normal is 4 as shown in fig. 2, where the offset angle α is arcsin (| L)1-L2L/L), where L is the distance between the scanning view field center points of the ground scanning module 1 and the ground scanning module 2, and the offset direction needs to be determined by L1And L2If L is the size of1<0，L2>0, the robot is shifted in the counterclockwise direction, as shown in fig. 2 (a); if L is1>0，L2<0, the robot is shifted clockwise, as shown in fig. 2 (b); if L is1And L2In the same sign, i.e. L1And L2Are all made of>0, or L1And L2Are all made of<0, at this time, if L1>L2The robot is shifted clockwise as shown in fig. 2 (c); if L is1And L2In the same sign, i.e. L1And L2Are all made of>0, or L1And L2Are all made of<0, at this time, if L1<L2The robot is then displaced in a counter-clockwise direction as shown in fig. 2 (d). Offset distance L of mobile robotDeflection＝(L1+L2) And 2, after the calculation of the offset direction, the offset angle and the offset distance of the movable robot is completed, the main control unit of the movable robot analyzes the calculation result, analyzes the motion speed of the robot and sends the motion speed to the motion calculating unit to realize the automatic deviation correction of the robot.
(3) The motion resolving unit resolves motion curve parameters of the omnidirectional moving motor 1, the omnidirectional moving motor 2, the omnidirectional moving motor 3 and the omnidirectional moving motor 4 according to the robot motion speed, the motion end point position coordinate and the execution time parameter sent by the movable robot main control unit, and sends the motion curve parameters to the omnidirectional moving driving unit.
(4) The omnidirectional movement driving unit converts the movement curve parameters of the omnidirectional movement motor 1 calculated by the movement resolving unit into power signals, and sends the power signals to the omnidirectional movement motor 1.
(5) The omnidirectional movement driving unit converts the movement curve parameters of the omnidirectional movement motor 2 calculated by the movement resolving unit into power signals, and sends the power signals to the omnidirectional movement motor 2.
(6) The omnidirectional movement driving unit converts the movement curve parameters of the omnidirectional movement motor 3 calculated by the movement resolving unit into success rate signals and sends the success rate signals to the omnidirectional movement motor 3.
(7) The omnidirectional movement driving unit converts the movement curve parameters of the omnidirectional movement motor 4 calculated by the movement resolving unit into success rate signals, and sends the success rate signals to the omnidirectional movement motor 4.
(8) The motion calculating unit calculates motion curve parameters of the stable support motor 1, the stable support motor 2, the stable support motor 3 and the stable support motor 4 according to the robot motion speed, the motion end point position coordinate and the execution time parameter sent by the movable robot main control unit, and sends the motion curve parameters to the stable support driving unit.
(9) The stable supporting driving unit converts the motion curve parameters of the stable supporting motor 1 calculated by the motion calculating unit into power signals and sends the power signals to the stable supporting motor 1.
(10) The stable supporting driving unit converts the motion curve parameters of the stable supporting motor 2 calculated by the motion calculating unit into power signals and sends the power signals to the stable supporting motor 2.
(11) The stable supporting driving unit converts the motion curve parameters of the stable supporting motor 3 calculated by the motion calculating unit into success rate signals and sends the success rate signals to the stable supporting motor 3.
(12) The stable supporting driving unit converts the motion curve parameters of the stable supporting motor 4 calculated by the motion calculating unit into success rate signals and sends the success rate signals to the stable supporting motor 4.
(13) And the movable robot main control unit transmits the position coordinate information of the machining point to the robot control unit.
(14) And the robot control unit controls the robot to execute the tail end to process.
(15) And the camera feeds the specific position coordinates of the scene of the processing point back to the robot control unit, so that the robot control unit finely adjusts the position of the execution tail end.
(16) The robot control unit transmits the signals of the robot processing start, the processing completion, the current state and the current position coordinate to the movable robot main control unit in real time, and the movable robot main control unit judges whether the processing is completed according to the signals.
(17) The omnidirectional movement driving unit feeds back the movement speed and real-time coordinate signals of the omnidirectional movement motor 1, the omnidirectional movement motor 2, the omnidirectional movement motor 3 and the omnidirectional movement motor 4 to the movement resolving unit, so that the movement resolving equation is adjusted in real time according to the movement state of the movable robot.
(18) The stable supporting driving unit feeds back the motion speed and real-time coordinate signals of the stable supporting motor 1, the stable supporting motor 2, the stable supporting motor 3 and the stable supporting motor 4 to the motion calculation unit, so that the motion calculation equation is adjusted in real time according to the motion state of the movable robot.
(19) The motion resolving unit feeds back the motion states of the omnidirectional moving motor 1, the omnidirectional moving motor 2, the omnidirectional moving motor 3, the omnidirectional moving motor 4, the stable supporting motor 1, the stable supporting motor 2, the stable supporting motor 3 and the stable supporting motor 4 of the movable robot to the main control unit.
(20) The ground scanning module can be used for acquiring the vertical distance L between the center of the current self-scanning view field acquired by the ground scanning module 1 and a ground guide line (preferably a ground two-dimensional coding strip with position information)1The vertical distance L between the center of the current self-scanning view field and the ground two-dimensional coding strip is acquired by the ground scanning module 22And the ground position coordinates of the mobile robot are sent to the scene scanning unit in real time.
(21) The spatial scanning module transmits the spatial position coordinates of the mobile robot to the scene scanning unit.
(22) And the obstacle scanning single-module movable robot sends the information of whether obstacles exist in a certain distance of the surrounding scene to the scene scanning unit.
(23) The scene scanning unit feeds back the position coordinates and the offset L of the movable robot from the ground scanning module, the space scanning module and the obstacle scanning module1Offset L2And the information of whether obstacles exist in the surrounding scene is subjected to data packaging, and the data is sent to the main control unit of the movable robot.
(24) And the upper computer unit receives the position coordinates of the movable robot, the position coordinates of the execution tail end, the motion state, whether the robot is in place, whether obstacles exist in surrounding scenes, the processing state and other information sent by the main control unit of the movable robot, and displays the information on an upper computer interface.
Through the scheme, the invention realizes the omnidirectional movement of the robot, and timely adjusts the movement direction according to the data fed back by the omnidirectional movement motor in real time, so that the robot can accurately and autonomously move to the position to be processed of a product, automatically complete the assembly work, and achieve the aim of saving labor cost.
The automatic leveling function of the robot is realized by stably supporting the motor to replace a manual leveling link, so that the waste of labor cost is reduced, and the working efficiency is greatly improved; the problem that the positioning precision is reduced due to uneven ground in the moving process and after the terminal is reached is solved, and the assembly precision is ensured.
The two ground scanning modules can respectively collect the offset distance with the ground guide line, so that the offset angle and the total offset of the movable robot can be calculated, the adjustment is carried out in real time, the movable robot is prevented from generating offset accumulation, and the movable robot is ensured to always run on a preset route. Not only improves the working efficiency, but also protects other equipment and products of workshop buildings.
The movable robot developed according to the invention completes the automatic processing task of the space station structure shell, and the processing precision is controlled within +/-0.02 mm, thereby meeting the processing requirement.

Claims (9)

1. A mobile robot intelligent control system, characterized by comprising: the system comprises an upper computer unit, a movable robot main control unit, a motion resolving unit, an omnidirectional moving driving unit, an omnidirectional moving motor 1, an omnidirectional moving motor 2, an omnidirectional moving motor 3, an omnidirectional moving motor 4, a stable supporting driving unit, a stable supporting motor 1, a stable supporting motor 2, a stable supporting motor 3, a stable supporting motor 4, a robot control unit, a camera, a scene scanning unit, a ground scanning module, a space scanning module and an obstacle scanning module;
the upper computer unit is used for sending instructions to the main control unit of the mobile robot through a Wi-Fi network, wherein the instructions comprise the movement speed, the movement end coordinate value and the processing point coordinate value information of the robot;
the motion resolving unit can acquire the motion states of the omnidirectional moving motor 1, the omnidirectional moving motor 2, the omnidirectional moving motor 3, the omnidirectional moving motor 4, the stable supporting motor 1, the stable supporting motor 2, the stable supporting motor 3 and the stable supporting motor 4 in real time and send the motion states to the main control unit of the movable robot;
the camera can acquire the position coordinate value of the current mobile robot, the position coordinate value of the execution tail end and the processing state information of the execution tail end in real time and send the position coordinate value, the position coordinate value and the processing state information to the main control unit of the mobile robot through the robot control unit;
the upper computer unit can display the motion states of the omnidirectional moving motor 1, the omnidirectional moving motor 2, the omnidirectional moving motor 3, the omnidirectional moving motor 4, the stable supporting motor 1, the stable supporting motor 2, the stable supporting motor 3 and the stable supporting motor 4 which are fed back by the main control unit of the movable robot, and the position coordinate value of the current movable robot, the position coordinate value of the execution tail end and the processing state information of the execution tail end;
the space scanning module sends the space position coordinates of the movable robot to the scene scanning unit, and the scene scanning unit sends the current space position coordinates of the movable robot acquired by the space scanning module to the main control unit of the movable robot;
the movable robot main control unit calculates the execution time from the current space position of the movable robot to the motion end point according to the motion speed and the motion end point coordinate value of the robot in the instruction and the current space position coordinate of the movable robot;
the movable robot main control unit is used for receiving a motion speed, a motion end point coordinate value and a machining point coordinate value instruction sent by the upper computer, sending the motion speed, the motion end point coordinate value and the execution time of the robot in the instruction to the motion resolving unit, and sending the machining point coordinate value in the instruction to the robot control unit; in the moving process of the movable robot, the condition of abnormal running direction can occur, and the movable robot needs to be adjusted in time, so that the phenomenon that the movable robot gradually moves out of a designated area and is out of control is avoided;
the ground scanning module can collect position offset signals in real time and send the position offset signals to the main control unit of the movable robot through the scene scanning unit;
the movable robot main control unit receives the position offset signal sent by the scene scanning unit, calculates the offset angle of the robot and the offset distance of the robot according to the offset, calculates the movable robot motion speed vector for correcting the position of the robot according to the offset angle of the robot and the offset distance of the robot, and sends the vector to the motion calculation unit;
the motion resolving unit is used for resolving motion parameters of the omnidirectional moving motor 1, the omnidirectional moving motor 2, the omnidirectional moving motor 3 and the omnidirectional moving motor 4 according to the robot motion speed, the motion end point coordinate value and the execution time sent by the movable robot main control unit and sending the motion parameters to the omnidirectional moving driving unit; the motion calculation unit determines the working positions of the stable support motor 1, the stable support motor 2, the stable support motor 3 and the stable support motor 4 according to the motion endpoint coordinate value sent by the main control unit of the movable robot, sets the motion parameters of the stable support motor and sends the motion parameters to the stable support driving unit;
the omnidirectional moving driving unit is used for converting the motion parameters of the omnidirectional moving motor 1, the omnidirectional moving motor 2, the omnidirectional moving motor 3 and the omnidirectional moving motor 4 into power signals and sending the power signals to the omnidirectional moving motor 1, the omnidirectional moving motor 2, the omnidirectional moving motor 3 and the omnidirectional moving motor 4;
the stable supporting driving unit converts the motion parameters of the stable supporting motor 1, the stable supporting motor 2, the stable supporting motor 3 and the stable supporting motor 4 into power signals and sends the power signals to the stable supporting motor 1, the stable supporting motor 2, the stable supporting motor 3 and the stable supporting motor 4;
the omnidirectional moving motor 1, the omnidirectional moving motor 2, the omnidirectional moving motor 3 and the omnidirectional moving motor 4 respectively move according to the power signals; realizing the omnidirectional movement of the mobile robot;
the stable supporting motor 1, the stable supporting motor 2, the stable supporting motor 3 and the stable supporting motor 4 move according to power signals of the stable supporting motors; the stable support of the movable robot is realized;
the omnidirectional moving motor 1, the omnidirectional moving motor 2, the omnidirectional moving motor 3 and the omnidirectional moving motor 4 feed the self moving state back to the motion resolving unit through the omnidirectional moving driving unit;
the stable support motor 1, the stable support motor 2, the stable support motor 3 and the stable support motor 4 feed the motion state of the motor back to the motion calculation unit through the stable support driving unit;
the movable robot main control unit receives the self motion states of the omnidirectional moving motor 1, the omnidirectional moving motor 2, the omnidirectional moving motor 3, the omnidirectional moving motor 4, the stable supporting motor 1, the stable supporting motor 2, the stable supporting motor 3 and the stable supporting motor 4 which are sent by the motion resolving unit;
the obstacle scanning module is used for acquiring obstacle information on a motion path of the robot in real time and feeding the obstacle information back to the scene scanning unit, the scene scanning unit sends the obstacle information to the main control unit of the movable robot, if obstacles exist around the movable robot, the main control unit of the movable robot stops the motion of the movable robot to ensure safety, and finally the main control unit of the movable robot sends the obstacle information to the upper computer to be displayed on the upper computer;
the robot control unit can receive a processing point coordinate value instruction sent by the movable robot main control unit, position adjustment is carried out on the execution tail end of the robot mechanical arm according to the processing point coordinate value and the position coordinate value of the execution tail end acquired by the camera, the mechanical arm finishes the processing process depending on the execution tail end of the mechanical arm, the robot control unit forms the acquired processing state of the execution tail end into a processing state signal, and the processing state signal and the current position information are transmitted to the movable robot main control unit in real time; and the main control unit of the movable robot is sent to the upper computer unit for displaying.
2. The mobile robot intelligence control system of claim 1, wherein: the processing points are as follows: the working position of the tip is performed.
3. The mobile robot intelligence control system of claim 1, wherein: the motion states of the omnidirectional moving motor 1, the omnidirectional moving motor 2, the omnidirectional moving motor 3 and the omnidirectional moving motor 4 include: normal operation, stop operation and fault alarm.
4. The mobile robot intelligence control system of claim 1, wherein: the motion state of stable support motor 1, stable support motor 2, stable support motor 3, stable support motor 4 includes: unsupported, start action, complete support and fault alarm.
5. The mobile robot intelligence control system of claim 1, wherein: executing end-of-line processing state information, comprising: preparing for processing, processing and finishing.
6. The mobile robot intelligence control system of claim 1, wherein: the incorrect running direction means deviation from a preset route, and as the deviation amount is accumulated continuously, the movable robot is caused to deviate from the preset route completely, so that the movable robot is out of control.
7. The mobile robot intelligence control system of claim 1, wherein: the designated area is a preset range of a robot motion area.
8. The mobile robot intelligence control system of claim 1, wherein: the movable robot motion speed vector for correcting the position of the robot comprises the motion speed and the motion direction, so that the movable robot moves according to the motion speed vector and returns to a preset route.
9. The mobile robot intelligence control system of claim 1, wherein: the robot has a mechanical arm, and the end of the mechanical arm is provided with an execution tail end for processing a product.
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