CN112882475A - Motion control method and device of Mecanum wheel type omnibearing mobile robot - Google Patents
Motion control method and device of Mecanum wheel type omnibearing mobile robot Download PDFInfo
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- GELKBWJHTRAYNV-UHFFFAOYSA-K lithium iron phosphate Chemical compound [Li+].[Fe+2].[O-]P([O-])([O-])=O GELKBWJHTRAYNV-UHFFFAOYSA-K 0.000 claims description 8
- 238000005259 measurement Methods 0.000 claims description 6
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0231—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means
- G05D1/0238—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means using obstacle or wall sensors
- G05D1/024—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means using obstacle or wall sensors in combination with a laser
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0212—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory
- G05D1/0214—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory in accordance with safety or protection criteria, e.g. avoiding hazardous areas
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0212—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory
- G05D1/0221—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory involving a learning process
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0212—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory
- G05D1/0223—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory involving speed control of the vehicle
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0276—Control of position or course in two dimensions specially adapted to land vehicles using signals provided by a source external to the vehicle
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Abstract
The invention provides a motion control method and a device of a Mecanum wheel type omnibearing mobile robot, which realize the movement of the omnibearing mobile robot from an initial position to a target position by controlling the speed and the running direction of Mecanum wheels; in the moving process, a laser radar sensor arranged on a vehicle body is utilized to automatically detect the surrounding environment; the embedded controller analyzes and compares the signals or the data detected by the laser radar sensor; the embedded controller controls the vehicle body to controllably and automatically move according to the analysis and comparison result of the signals or data detected by the laser radar sensor, so that the difference between the finally reached actual position and the target set position is within a preset allowable tolerance range. The omnidirectional mobile robot can be enabled to automatically run to the set target position from the current position better.
Description
Technical Field
The invention relates to the technical field of robots, in particular to a motion control method and a motion control device of a Mecanum wheel type all-directional mobile robot.
Background
In the occasions with narrow working spaces such as warehouses, corridors, high-voltage distribution rooms and the like and higher requirements on the running and steering flexibility of the robot, the robot needs to be capable of realizing the transverse and longitudinal translation and the rotation around the center of the robot under the condition of keeping the posture of the robot unchanged.
Therefore, there is a need for a mecanum wheel based omni-directional mobile robot to accomplish the above special occasion tasks.
Disclosure of Invention
In order to solve the technical problems of the background art, the invention provides a motion control method and a motion control device for a Mecanum wheel type all-directional mobile robot, which can enable the all-directional mobile robot to better automatically run from a current position to a set target position. Another objective of the present invention is to provide an omni-directional mobile robot based on mecanum wheels.
In order to achieve the purpose, the invention adopts the following technical scheme:
a motion control method of a Mecanum wheel type omnibearing mobile robot comprises the following steps:
1) the omnibearing mobile robot is moved from an initial position to a target position by controlling the speed and the running direction of the Mecanum wheels;
2) in the moving process, a laser radar sensor arranged on a vehicle body is utilized to automatically detect the surrounding environment;
3) the embedded controller analyzes and compares the signals or the data detected by the laser radar sensor;
4) the embedded controller controls the vehicle body to controllably and automatically move according to the analysis and comparison result of the signals or data detected by the laser radar sensor, so that the difference between the finally reached actual position and the target set position is within a preset allowable tolerance range.
The method specifically comprises the following steps: the omni-directional mobile robot automatically moves from an initial position to a target position by controlling the mecanum wheels, and at the same time, the movement needs to be realized by means of path planning. The mobile robot path planning mainly comprises the steps of constructing an environment map, planning a safety path to a specified target point on the basis of an experience map, and avoiding a dynamic barrier in real time in the process that the mobile robot moves to the target point; the path planning method comprises the following steps:
1) laser radar data at the current moment are obtained through measurement and are matched with an established environment map, and pose estimation of the robot is achieved;
2) after accurate pose estimation is obtained, incremental drawing of a map is performed by using data sensed by the laser radar at the current moment;
3) furthermore, in the path planning process, the laser radar can be used for realizing the real-time detection of the obstacles and carrying out the local path planning.
The path planning method comprises the following specific steps:
firstly, an embedded controller receives a task position;
secondly, the system starts global path planning, firstly, a global path from the current position of the robot to the target position is searched, and then the shortest global path is searched;
thirdly, local path planning is carried out;
fourthly, the control system carries out path following control;
step five, judging whether a motion permission instruction exists at present, if so, going to step six, and if not, going back to step two;
sixthly, sending a control command to the driver;
seventhly, judging whether the target position is reached? If so, ending the navigation; if not, returning to the third step.
The device is used for realizing the motion control method of the Mecanum wheel type omnibearing mobile robot, the omnibearing mobile robot can move in any direction on a plane, 4 Mecanum wheels are used as wheels of the omnibearing mobile robot, the Mecanum wheels only do circular steering motion on a rotating shaft of the Mecanum wheels, and a rotating bearing is rigidly connected to a vehicle body; the expected vehicle body advancing direction or the expected vehicle body steering function can be realized by coordinately calculating and changing the running speed and the running direction of the Mecanum wheels; the device comprises a vehicle body frame, Mecanum wheels, bearings, a coupling, a motor, a controller and a laser sensor.
At least one 48V30Ah lithium iron phosphate storage battery is arranged in the car body of the omnidirectional mobile robot and used for providing all power requirements of the omnidirectional mobile robot, and the lithium iron phosphate storage battery is fixed on the car body and can be detached and replaced.
Laser radar sensors are respectively installed at the front end and the rear end of the vehicle body, so that the real-time distance measurement and obstacle avoidance without dead angles in a 360-degree range around the all-directional mobile robot are realized, and real-time map construction and navigation control are performed by using the collected data of the laser radar sensors.
And 4 Mecanum wheels are respectively driven by a 48V direct current motor, so that the functions of advancing, retreating and steering of the robot are realized.
The embedded controller based on the PC is adopted to send instructions, the servo driver is controlled to drive the advancing direction and the moving speed of the direct current motor, and the servo motor is provided with a speed reducer and a rotary encoder to realize position and speed double closed-loop control.
Compared with the prior art, the invention has the beneficial effects that:
the omnibearing mobile robot based on Mecanum wheels is one of robots, according to the method of the invention, an auxiliary steering mechanism is not needed, omnibearing motion can be realized only by matching the rotating speed and steering among the wheels, the positioning, navigation, anti-collision and obstacle avoidance functions of the omnibearing mobile robot on a target point can be realized only by utilizing data measured by two laser radar sensors arranged on a vehicle body, the positioning precision is high, the whole vehicle cost is reduced, in addition, the vehicle-mounted controller adopts an embedded controller based on a PC, the computing power can be greatly improved, the data storage and processing of the sensors and the motion control function of the robot are completed in the embedded controller, the dependence of an upper computer is reduced, and the omnibearing mobile robot can independently develop tasks.
Drawings
FIG. 1 is a schematic view of an omnidirectional mobile robot according to the present invention;
FIG. 2 is a schematic view of a Mecanum wheel configuration for use with the present invention 1;
FIG. 3 is a schematic diagram of a Mecanum wheel configuration for use with the present invention, FIG. 2;
FIG. 4 is a schematic illustration of a Mecanum wheel configuration for use with the present invention 3;
fig. 5 is a general architecture diagram of the path planning of the omni-directional mobile robot according to the present invention.
In the figure: 1. a vehicle body; 2. a Kenahm wheel; 3. a servo motor; 4. a bearing; 5. an embedded controller; 6. a lithium iron phosphate battery; 7. a laser radar sensor;
21. a hub; 22. a roller; 23. the wheels rotate around the contact points of the wheels and the ground; 24. the wheel rotates around the axis of the wheel under the drive of the motor; 25. the roller rotates around the axis of the roller under the driving of friction force; 26. wheel speed; 27. an active directional velocity component; 28. a passive directional velocity component;
31. receiving a task position; 32. planning a global path; 33. planning a local path; 34. path following control; 35. judging whether a motion permission instruction exists currently; 36. sending a control command to a driver; 37, it is judged whether or not the target position is reached.
Detailed Description
The following detailed description of the present invention will be made with reference to the accompanying drawings.
The Mecanum wheel 2 type omnibearing mobile robot system is divided into a hardware system and a software system. The hardware system is shown in fig. 1 and comprises a vehicle body 1, a mecanum wheel 2, a bearing 4, a motor 3, an embedded controller 55, a lithium iron phosphate storage battery 6, a laser radar sensor 7 and the like. The software system comprises a human-computer interface, a communication interface, a control algorithm and the like.
One, hardware system constitution
The omni-directional mobile robot is a type capable of moving in any direction on a plane, and 4 Mecanum wheels 2 are used as wheels of the omni-directional mobile robot, the Mecanum wheels 2 make only circular steering motions on their rotating shafts, and the rotating bearings themselves are rigidly connected to a vehicle body 1. By coordinating the calculation and changing of the running speed and running direction of mecanum wheels 22, a desired direction of travel of body 1 or a desired steering function of body 1 may be achieved.
Referring to fig. 2-4, mecanum wheel 2 is comprised of hub 21 and rollers 22. A plurality of drum-shaped rollers 22 are distributed around the circumference of the wheel body, the outer contour of these rollers 22 coinciding with the theoretical circumference of the wheel, and the rollers 22 being free to rotate, the axis of the rollers 22 being generally at 45 ° to the wheel axis. When the motor drives the wheel to rotate, the wheel advances in a direction perpendicular to the drive shaft. The wheels of each mecanum wheel 2 are rotated 24 about their own axis by a motor, the rollers are rotated 25 about their own axis by friction, and the wheels are rotated 23 about their contact point with the ground. The wheel speed 26 can be divided into two components, an active direction 27, which is the axial direction of the roller contacting the ground, and a passive direction 28, which is the direction perpendicular to the axial direction of the roller, with the rollers 22 rotating along their respective axes. Through the combination of 4 Mecanum wheels 2 and the matching of the rotating speed and the steering among all the wheels, the moment in any direction in the plane can be synthesized, so that the vehicle body 1 is driven to move in any direction in the plane, and the omnibearing motion in the plane is realized.
At least one 48V30Ah lithium iron phosphate storage battery 6 is arranged in the vehicle body 1 of the omnidirectional mobile robot and used for providing all power requirements of the omnidirectional mobile robot, and the lithium iron phosphate storage battery 6 is fixed on the vehicle body 1 and can be detached and replaced.
And 4 Mecanum wheels 2 are respectively driven by a 48V direct current motor, so that the functions of advancing, retreating and steering of the robot are realized.
An embedded controller 5 based on a PC is adopted to send instructions, a servo driver is controlled to drive the advancing direction and the moving speed of a direct current motor, and a speed reducer and a rotary encoder are installed on the servo motor to realize position and speed double closed-loop control.
Second, motion control method
The omnidirectional mobile robot can automatically drive to the target position through a corresponding motion control method.
The invention realizes automatic control and guidance of a robot by a motion control method, which comprises the following steps:
(1) the omnibearing mobile robot is moved from the initial position to the target position by controlling the speed and the running direction of the Mecanum wheels 2,
(2) the laser radar sensor 7 arranged on the vehicle body 1 is utilized in the moving process to automatically detect the surrounding environment,
(3) the embedded controller 5 analyzes and compares the signals or data detected by the lidar sensor 7,
(4) the embedded controller 5 controls the vehicle body 1 to controllably and automatically move according to the analysis and comparison result of the signal or data detected by the laser radar sensor 7, so that the difference between the finally reached actual position and the target set position is within the preset allowable tolerance range.
The omni-directional mobile robot automatically moves from an initial position to a target position by controlling the mecanum wheels 2, and at the same time, the movement needs to be performed by means of path planning. The mobile robot path planning mainly comprises the steps of constructing an environment map, planning a safety path to a specified target point on the basis of an prior map, and avoiding a dynamic barrier in real time in the process that the mobile robot moves to the target point. Firstly, laser radar data at the current moment are obtained through measurement and are matched with an established environment map, and pose estimation of the robot is achieved;
then, after accurate pose estimation is obtained, incremental drawing of a map is performed by using data sensed by the laser radar at the current moment; furthermore, in the path planning process, the laser radar can be used for realizing the real-time detection of the obstacles and carrying out the local path planning.
Figure 5 shows a method embodying path planning:
firstly, the embedded controller 5 receives a task position 31;
secondly, the system starts global path planning 32, firstly, a global path from the current position of the robot to the target position is searched, and then the shortest global path is searched;
thirdly, local path planning 33 is carried out;
fourthly, the control system performs path following control 34;
step five, judging whether a motion permission instruction 35 exists at present, if so, going to step six, and if not, going back to step two;
a sixth step of sending a control command to the driver 36;
seventh step, determine whether the target position 37 is reached? If so, ending the navigation; if not, returning to the third step.
The above embodiments are implemented on the premise of the technical solution of the present invention, and detailed embodiments and specific operation procedures are given, but the scope of the present invention is not limited to the above embodiments. The methods used in the above examples are conventional methods unless otherwise specified.
Claims (8)
1. A motion control method of a Mecanum wheel type omnibearing mobile robot is characterized by comprising the following steps:
1) the omnibearing mobile robot is moved from an initial position to a target position by controlling the speed and the running direction of the Mecanum wheels;
2) in the moving process, a laser radar sensor arranged on a vehicle body is utilized to automatically detect the surrounding environment;
3) the embedded controller analyzes and compares the signals or the data detected by the laser radar sensor;
4) the embedded controller controls the vehicle body to controllably and automatically move according to the analysis and comparison result of the signals or data detected by the laser radar sensor, so that the difference between the finally reached actual position and the target set position is within a preset allowable tolerance range.
2. The motion control method of a mecanum wheeled omni-directional mobile robot as recited in claim 1, further comprising: the omnibearing mobile robot automatically moves from an initial position to a target position, the movement is realized by controlling Mecanum wheels, and meanwhile, the movement is realized by means of path planning; the mobile robot path planning mainly comprises the steps of constructing an environment map, planning a safety path to a specified target point on the basis of an experience map, and avoiding a dynamic barrier in real time in the process that the mobile robot moves to the target point; the path planning method comprises the following steps:
1) laser radar data at the current moment are obtained through measurement and are matched with an established environment map, and pose estimation of the robot is achieved;
2) after accurate pose estimation is obtained, incremental drawing of a map is performed by using data sensed by the laser radar at the current moment;
3) in the path planning process, the laser radar can be used for realizing the real-time detection of the obstacles and carrying out the local path planning.
3. The motion control method of a mecanum wheeled omni-directional mobile robot as claimed in claim 2, wherein the path planning method comprises the following steps:
firstly, an embedded controller receives a task position;
secondly, the system starts global path planning, firstly, a global path from the current position of the robot to the target position is searched, and then the shortest global path is searched;
thirdly, local path planning is carried out;
fourthly, the control system carries out path following control;
step five, judging whether a motion permission instruction exists at present, if so, going to step six, and if not, going back to step two;
sixthly, sending a control command to the driver;
seventhly, judging whether the target position is reached? If so, ending the navigation; if not, returning to the third step.
4. A device for implementing a method of controlling motion of a mecanum wheeled type omni-directional mobile robot as claimed in claim 1, wherein the omni-directional mobile robot is capable of moving in any direction on a plane, 4 mecanum wheels are used as wheels of the omni-directional mobile robot, the mecanum wheels only make circular steering motion on a rotating shaft thereof, and a rotating bearing is rigidly connected to a vehicle body; the expected vehicle body advancing direction or the expected vehicle body steering function can be realized by coordinately calculating and changing the running speed and the running direction of the Mecanum wheels;
the device comprises a vehicle body frame, Mecanum wheels, bearings, a coupling, a motor, a controller and a laser sensor.
5. The device as claimed in claim 4, wherein at least one 48V30Ah lithium iron phosphate battery is installed in the body of the omni-directional mobile robot to supply all the electricity demand of the omni-directional mobile robot, and the lithium iron phosphate battery is fixed on the body and can be removed and replaced.
6. The device of claim 4, wherein the laser radar sensors are respectively mounted at the front end and the rear end of the vehicle body, so that real-time distance measurement and obstacle avoidance without dead angles within 360 degrees around the omni-directional mobile robot are realized, and real-time map construction and navigation control are performed by using data collected by the laser radar sensors;
7. the device as claimed in claim 4, wherein the 48V DC motor is used to drive 4 Mecanum wheels respectively, so as to realize the forward, backward and steering functions of the robot.
8. The device for controlling the motion of a Mecanum wheel type omni-directional mobile robot as claimed in claim 4, wherein the embedded PC-based controller is used to send commands to control the servo driver to drive the DC motor to move in the direction and speed, and the servo motor is provided with a speed reducer and a rotary encoder to realize position and speed dual closed-loop control.
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Cited By (1)
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| CN114166529A (en) * | 2022-02-11 | 2022-03-11 | 西华大学 | Omnidirectional steering movement variable-wheel-base P2X dummy equipment and cooperative control method thereof |
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