CN114670243A - Mobile robot with overturn preventing function and overturn preventing method - Google Patents
Mobile robot with overturn preventing function and overturn preventing method Download PDFInfo
- Publication number
- CN114670243A CN114670243A CN202210223665.3A CN202210223665A CN114670243A CN 114670243 A CN114670243 A CN 114670243A CN 202210223665 A CN202210223665 A CN 202210223665A CN 114670243 A CN114670243 A CN 114670243A
- Authority
- CN
- China
- Prior art keywords
- robot
- moment
- mobile
- control moment
- inclination
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Granted
Links
- 238000000034 method Methods 0.000 title claims abstract description 22
- 238000001514 detection method Methods 0.000 claims abstract description 17
- 230000001133 acceleration Effects 0.000 claims description 7
- 230000002265 prevention Effects 0.000 claims description 3
- 230000008569 process Effects 0.000 abstract description 8
- 238000005516 engineering process Methods 0.000 abstract description 3
- 230000009471 action Effects 0.000 abstract description 2
- 238000010586 diagram Methods 0.000 description 6
- 230000000694 effects Effects 0.000 description 3
- 238000005096 rolling process Methods 0.000 description 3
- 230000000087 stabilizing effect Effects 0.000 description 3
- 230000008859 change Effects 0.000 description 2
- 230000002411 adverse Effects 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000003247 decreasing effect Effects 0.000 description 1
- 238000006073 displacement reaction Methods 0.000 description 1
- 238000009434 installation Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000035945 sensitivity Effects 0.000 description 1
- 238000006467 substitution reaction Methods 0.000 description 1
- 230000007306 turnover Effects 0.000 description 1
Images
Classifications
-
- 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
- B25J19/0008—Balancing devices
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J13/00—Controls for manipulators
- B25J13/08—Controls for manipulators by means of sensing devices, e.g. viewing or touching devices
- B25J13/085—Force or torque sensors
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J13/00—Controls for manipulators
- B25J13/08—Controls for manipulators by means of sensing devices, e.g. viewing or touching devices
- B25J13/088—Controls for manipulators by means of sensing devices, e.g. viewing or touching devices with position, velocity or acceleration sensors
-
- 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
- B25J9/1674—Programme controls characterised by safety, monitoring, diagnostic
Landscapes
- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Human Computer Interaction (AREA)
- Manipulator (AREA)
Abstract
The invention belongs to the technical field of mobile action robots, and particularly relates to a mobile robot with an anti-overturn function and an anti-overturn method. A transfer robot having an overturn preventing function includes: the control moment gyro is installed on the movable base, and based on the detection result of the horizontal detection part, when the inclination degree is greater than or equal to the preset minimum inclination angle, the compensation moment is provided to reduce the inclination degree. The control moment gyro technology is adopted to stabilize the mobile robot base body, and in the operation process, when the robot base body faces scenes such as heavy load, large arm extension, slope road surface walking and the like, the stability of the robot base body can be ensured, and overturning is prevented.
Description
Technical Field
The invention belongs to the technical field of mobile robot equipment, and particularly relates to a mobile robot with an anti-overturn function and an anti-overturn method.
Background
In a robot arm operation process, such as a material handling robot, a robot arm loaded with a robot arm needs to grab a material and transport the material to another place. During the robot work, there are 2 risks: when the robot body cannot work close to a platform due to certain reasons or the limitation of a working scene, such as the material to be grabbed is on the platform, and the existence of the platform, the robot mechanical arm may grab the material with the allowed maximum arm spread, at the moment, the risk is that the weight and the arm spread length of the mechanical arm form a large moment due to the certain weight of the material, and the existence of the large moment possibly causes the robot body to roll or even turn over laterally, so that an accident is caused; when the mechanical arm of the mobile robot grabs a certain material, in the process of transporting the material to a certain position, if the road surface is uneven or has a certain slope, the risk is that the robot is prone to rollover. The above two scenes are only common scenes of the mobile robot, and have certain representativeness and universality. In order to meet such a situation, besides improving the intelligence level and control performance of the robot, other powerful measures should be taken to improve the reliability of the robot operation and the operation capability to cope with the limit situation.
In the prior art, generally, under the condition of safe operation, namely under the condition of ensuring that a machine body does not have any inclination of side inclination, the allowable maximum arm extension range and the maximum weight of materials which can be grabbed are specified, and if the maximum arm extension range and the maximum weight of materials which can be grabbed exceed the limit, the robot cannot execute operation tasks. In the above-described limit or special case, it is likely that the robot fails to grip or cannot complete the work, or is simply out of the work range, thereby limiting the application range of the mobile robot. The arrangement is a technical method adopted by most robots, and aims to ensure safety and guarantee operation during operation of the operation robots. There are also products, in particular designed with mechanical means for stabilizing the robot base, for stabilizing during the work; if some robot products have designed lifting mechanical device, when the robot snatchs the great material of weight, rely on auxiliary device to make the area of contact increase in order to increase the stability of robot bottom surface and ground, when treating that the material is placed in robot base member surface, this auxiliary device lifting leaves ground to the robot removes.
Therefore, for the mobile robot, different technical schemes need to be adopted in order to improve the working range of the robot and the capacity of meeting the limit condition, and one technical scheme cannot be adopted to meet the working conditions at the same time.
Disclosure of Invention
In view of the above, the invention provides a mobile robot with an anti-overturning function, which adopts a control moment gyro technology to stabilize a base body of the mobile robot, and can ensure the stability of the base body of the robot and prevent overturning in the operation process, such as in the case of scenes of heavy load, large arm spread, walking on a slope road surface and the like.
In order to achieve the technical purpose, the invention adopts the following specific technical scheme:
a mobile robot with overturn prevention function, comprising:
a movable base;
the mechanical arm is arranged on the movable base and used for grabbing an object;
a horizontal detection section for detecting a degree of inclination of the moving base;
and the control moment gyroscope is arranged on the mobile base and provides compensation moment to reduce the inclination degree when the inclination degree is greater than or equal to a preset minimum inclination angle based on the detection result of the horizontal detection part.
Further, the level detection unit is a gyroscope and is fixed to the movable base.
Further, the inclination degree is a rolling degree of the moving base.
Further, the control moment gyro is distributed at the bottom of the robot.
Furthermore, the control moment gyros form a group, and the mass center of the control moment gyros is overlapped with the mass center of the moving base under the condition that moment compensation is not carried out.
Furthermore, the two groups of control moment gyros are symmetrically distributed by the centroid of the moving base under the state that moment compensation is not carried out.
The invention also provides an overturn preventing method of the mobile operation robot based on the movable operation robot with the overturn preventing function, which comprises the following steps:
s101, setting a lowest inclination angle for the robot;
s102, pre-rotating a flywheel of the control moment gyroscope;
s103, when the inclination degree of the robot is larger than or equal to the lowest inclination angle, setting precession rotation acceleration and precession rotation angle which are perpendicular to the axial direction of a flywheel of the control moment gyro, and reducing the inclination degree of the robot to be lower than the lowest inclination angle.
Further, the flywheel of the control moment gyro is pre-rotated when:
when the arm extension length of the mechanical arm reaches a preset length;
when the robot travels on a banked road segment.
Further, when the robot travels on a roll section, the pre-rotation speed includes: ω 0, ω 1, and ω 2,
When the inclination angle of the roll section is <5 °, the pre-rotation is set to ω 0;
when the inclined road section is between 5 and 10 degrees, the pre-rotation is set to be omega 1;
when the ground inclination angle exceeds 10 degrees, the pre-rotation is set to be omega 2;
wherein: ω 0< ω 1< ω 2.
Further, when the robot travels on a roll section, the maximum grab weight of the robot is calculated based on the steps of:
s201, detecting a real-time inclination angle of the side-tipping road section according to the horizontal detection part;
s202, calculating the maximum moment of the control moment gyro when the robot is positioned under the real-time inclination angle;
and S203, obtaining the maximum grabbing weight of the mechanical arm when the robot does not tilt based on the maximum moment and the longest horizontal distance between the moment arm of the mechanical arm and the center of mass of the robot.
By adopting the technical scheme, the invention can also bring the following beneficial effects:
during the mobile robot operation, in the left and right sides perpendicular with the robot walking direction, if the arm operation scope surpasss fuselage side plane more, and the arm lifts, when taking the heavy object, because of the barycenter of heavy object is far away from fuselage center of mass, equivalent moment is great, probably cause the fuselage of robot unstability, there is the tendency of turning on one's side even, at this moment, the control moment top can produce certain balanced moment, the point of application of this moment is in opposite one side, and the direction is down, this moment can play certain balancing action, offset the barycenter of some heavy objects and the too far adverse effect of the overturning moment that causes of fuselage barycenter, thereby keep the stability of robot. In the most extreme case, when the mechanical arm lifts and takes heavy objects on the left or right side, the arm has the longest spread, so that the robot tilts for a certain angle instantaneously along the direction vertical to the walking direction, namely the side surface of the machine body, the control moment gyroscope instantaneously generates reverse moment to be applied to the opposite side, and the machine body is corrected and returned to a stable state, thereby avoiding accidents.
Drawings
In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings required to be used in the embodiments will be briefly described below, and it is obvious that the drawings in the following description are only some embodiments of the present invention, and it is obvious for those skilled in the art that other drawings can be obtained according to the drawings without creative efforts.
Fig. 1 is a schematic structural diagram of a mobile robot with an anti-overturn function according to an embodiment of the present invention;
FIG. 2 is a schematic diagram of a control moment gyroscope according to an embodiment of the present invention;
FIG. 3 is a schematic diagram of a structural layout employing a single set of control moment gyroscopes in accordance with certain embodiments of the present invention;
FIG. 4 is a schematic diagram of a structural layout of a gyroscope employing two sets of control moments according to an embodiment of the present invention;
FIG. 5 is a schematic view of a robot in an inclined state while traveling on a horizontal ground according to an embodiment of the present invention;
FIG. 6 is a schematic view of a robot in an inclined state while traveling on an inclined ground according to an embodiment of the present invention;
FIG. 7 is a block diagram of a control moment gyro algorithm flow in accordance with an embodiment of the present invention;
FIG. 8 is a flowchart illustrating a robot anti-overturning control process when the robot travels on a horizontal ground according to an embodiment of the present invention;
FIG. 9 is a flowchart illustrating a robot overturn prevention control process when the robot travels on an inclined ground according to an embodiment of the present invention;
FIG. 10 is a method for calculating a maximum grabbing weight of a robot arm when the robot travels a roll section according to an embodiment of the present invention;
wherein: 1. a movable base; 2. a mechanical arm; 3. a horizontal detection unit; 4. a control moment gyro; 41. a mounting seat; 42. a flywheel; 43. a precession motor.
Detailed Description
Embodiments of the present invention will be described in detail below with reference to the accompanying drawings.
The embodiments of the present invention are described below with reference to specific embodiments, and other advantages and effects of the present invention will be easily understood by those skilled in the art from the disclosure of the present specification. It is to be understood that the described embodiments are merely exemplary of the invention, and not restrictive of the full scope of the invention. The invention is capable of other and different embodiments and of being practiced or of being carried out in various ways, and its several details are capable of modification in various respects, all without departing from the spirit and scope of the present invention. It is to be noted that the features in the following embodiments and examples may be combined with each other without conflict. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
It is noted that various aspects of the embodiments are described below within the scope of the appended claims. It should be apparent that the aspects described herein may be embodied in a wide variety of forms and that any specific structure and/or function described herein is merely illustrative. Based on the disclosure, one skilled in the art should appreciate that one aspect described herein may be implemented independently of any other aspects and that two or more of these aspects may be combined in various ways. For example, an apparatus may be implemented and/or a method practiced using any number of the aspects set forth herein. In addition, such an apparatus may be implemented and/or such a method may be practiced using other structure and/or functionality in addition to or other than one or more of the aspects set forth herein.
It should be further noted that the drawings provided in the following embodiments are only for illustrating the basic idea of the present invention, and the drawings only show the components related to the present invention rather than being drawn according to the number, shape and size of the components in actual implementation, and the type, quantity and proportion of each component in actual implementation can be changed freely, and the layout of the components can be more complicated.
In addition, in the following description, specific details are provided to facilitate a thorough understanding of the examples. However, it will be understood by those skilled in the art that the aspects may be practiced without these specific details.
In one embodiment of the present invention, there is provided a transfer robot having an anti-toppling function, as shown in fig. 1, including:
the moving base 1 is a base body for moving, installing the mechanical arm 2 or performing other operations on the robot, is provided with an installation interface for fixing the mechanical arm 2, and drives the mechanical arm 2 and the mechanical arm 2 to grab a heavy object to move;
the mechanical arm 2 is arranged on the moving base 1 and used for grabbing objects, the mechanical arm 2 in the embodiment is a joint mechanical arm 2 or a telescopic mechanical arm 2 or a combination of the joint mechanical arm and the telescopic mechanical arm, one end of the mechanical arm is fixed on the moving base 1, the other end of the mechanical arm is used for grabbing heavy objects according to joint driving or telescopic driving, and the position of the mechanical arm fixed on the moving base 1 is generally the position of the mass center or the vicinity of the mass center of the moving base 1;
a horizontal detection unit 3 for detecting the inclination degree of the moving base 1, wherein the horizontal detection unit 3 of the present embodiment may be externally mounted or may be mounted on the moving base 1, and specifically, may be a gyroscope, a displacement detector, or other devices capable of detecting the deflection of the moving base 1;
And a control moment gyro 4 mounted on the moving base 1 and providing a compensation moment to reduce the tilt when the tilt degree is greater than or equal to a preset minimum tilt angle based on a detection result of the level detection part 3.
In the embodiment, the preset lowest ground clearance angle is set in a controllable range where the control moment gyro 4 can return the mobile base 1, so as to ensure that the robot does not overturn, and the whole weight, the inclination acceleration, the arm length of the mechanical arm 2, the weight of a heavy object to be grabbed and the moment which can be generated by the control moment gyro 4 need to be considered when the lowest ground clearance angle is set.
Since the control moment gyro 4 can provide only two-directional moments, if it is necessary to prevent the movement base 1 from overturning in a plurality of directions, it is necessary to install a plurality of sets of control moment gyros 4 having different moment directions for the mobile robot.
In the present embodiment, the robot is likely to travel on a horizontal road surface or a road surface having a roll, and the robot of the present embodiment is inclined by an angle between the moving base 1 and the horizontal plane.
In one embodiment, control moment gyro 4 is shown in fig. 2 and includes a mounting base 41, a flywheel 42, and a precession motor 43; as shown in fig. 3 and 4, the mounting base 41 is fixed on the moving base 1, the flywheel 42 is driven by a set of servo driving device, and is externally wrapped by the housing and can rotate in the housing, and the rotating shaft is always perpendicular to the driving shaft of the precession motor 43; the precession motor 43 is a servo motor, the rotation axis is perpendicular to the advancing direction of the moving base 1, and can drive the housing with the flywheel 42 installed therein to realize deflection at a certain angle, and the precession servo motor can drive the flywheel housing to deflect in the positive and negative directions at a certain angle and acceleration. To reduce the rotational resistance of the flywheel 42 and to improve safety, a vacuum may be drawn within the housing.
In one embodiment, the level detecting unit 3 is a gyroscope and is fixed to the mobile base 1.
In an embodiment, the tilting is a roll when the moving base 1 is moving or stationary, when the moving robot has a moving direction, and the embodiment is discussed in terms of a roll of the moving robot:
when the mobile robot rolls, as shown in fig. 5 and 6, there are generally two cases: when the mechanical arm 2 is in the maximum arm spread range, a heavy object is lifted and held, and the weight of the heavy object is larger; or the robot walks on a road surface with a certain inclination.
As shown in fig. 5, a roll angle θ >0 caused when the right-leaning is defined; the roll angle theta caused by left inclination is less than 0; the same applies to the inclination of the road surface.
Tc is a downward moment generated by the control moment gyro 4, and by this moment, there is an effect of decreasing the roll angle θ (absolute value), thereby forcing the body to return to a steady state.
The roll angle θ is measured by a gyro sensor mounted on the body, and the roll acceleration at the moment of rolling is also monitored.
When the robot walks on a horizontal ground (as shown in fig. 5), no side inclination exists under the normal condition, and theta is 0; however, when the body tends to roll due to the weight lifting under the condition of the maximum arm extension, the slight change of theta is monitored by the gyroscope sensor, the control system immediately responds, calculates the appropriate control quantity to the control moment gyro 4 unit, and corrects the slight change, so that the robot is still in a stable state, and the mechanical arm 2 can still normally work. The flow of the control program of the robot controller is shown in fig. 7.
As shown in FIG. 8, the starting condition of the flywheel start operation of the control moment gyro 4 is that when the extension length of the arm of the robot is greater than the set L0When the value is obtained, the moment gyro 4 is controlled to be in a standby state from this moment, and whether the precession servo motor needs to be started to swing at a certain angle and acceleration is calculated according to data measured by the gyro sensor.
When the arm extension length returns to the set L0When the device works within the range, the moment gyro 4 inertia flywheel can reduce the rotating speed or stop rotating through certain hysteresis control so as to save energy.
In the program processing, the lowest ground clearance angle theta is specified0The sensitivity of the gyroscope sensor is high, and when the robot normally walks, a small angle theta is set due to the fact that tires, a chassis and the like have certain flexibility and are not completely rigid bodies0As a starting point of the criterion, so as to avoid false alarm.
For the work on inclined ground, the control flow diagram is shown in fig. 9.
After the robot controller starts the self-checking initialization setting, or in the walking process, for example, when the robot controller runs from a horizontal ground to an inclined ground, whether the walking ground is inclined or not can be judged according to the gyroscope sensor. If the control moment gyroscope 4 is actually positioned on the inclined ground, the flywheel of the control moment gyroscope 4 is immediately started to rotate for standby; the speed of the flywheel rotating in standby mode is divided into three speed sections, namely omega 0, omega 1 and omega 2 according to the inclination angle of the ground, and the relation is as follows:
ω0<ω1<ω2；
The three speed sections have a certain relation with the ground inclination angle, the larger the ground inclination angle is, the higher the flywheel rotation speed is, in the invention, the initial inclination angle range is set as follows:
when the ground inclination angle is less than 5 degrees, the speed of the flywheel is set to be omega 0;
when the ground inclination angle is 5-10 degrees, the speed of the flywheel is set to be omega 1;
when the ground inclination exceeds 10 deg., the flywheel speed is set to omega 2.
As shown in the control program of fig. 7, when walking on an inclined ground, the arm extension range of the mechanical arm 2 is not concerned, the inertia flywheel in the whole course is in the operation standby state, and for the dangerous inclination of rolling, the speed of the flywheel needs to be increased to increase the stabilizing moment.
In some embodiments, the control moment gyro 4 is distributed at the bottom of the robot.
In some embodiments, the control moment gyro 4 is a group, and in order to ensure that the control moment gyro 4 can compensate the return moment for both lateral inclinations, the center of mass overlaps with the center of mass of the moving base 1 in a state where the moment compensation is not performed.
In some embodiments, in order to increase the balancing moment, the control moment gyros 4 are two groups, and the centroids of the two groups of control moment gyros 4 are symmetrically distributed with the centroid of the moving base 1 in a state of not performing moment compensation.
Based on the same inventive concept, in one embodiment of the present invention, a method for preventing a mobile working robot from overturning is provided, which is characterized in that:
s101, setting a lowest inclination angle for the robot;
s102, the flywheel of the control moment gyro 4 starts to pre-rotate;
and S103, when the inclination degree is greater than or equal to the lowest ground clearance angle, setting a precession rotation acceleration vertical to the axial direction of the flywheel for the flywheel of the control moment gyroscope 4, and reducing the inclination degree of the robot to be below the lowest ground clearance angle.
In one embodiment, the flywheel of the control moment gyro 4 starts to pre-spin:
when the extension length of the mechanical arm 2 reaches the preset length;
when the robot travels on a non-horizontal road segment.
In one embodiment, when the robot travels on a roll road section, as shown in fig. 10, the maximum gripping weight of the robot is calculated based on the following steps:
s201, detecting a real-time inclination angle of the inclined road section according to the horizontal detection part 3;
s202, calculating the maximum moment of the control moment gyro 4 when the robot is positioned at the real-time inclination angle;
and S203, obtaining the maximum grabbing weight of the mechanical arm 2 when the robot does not tilt based on the maximum moment and the longest horizontal distance between the moment arm of the mechanical arm 2 and the center of mass of the robot.
The robot of the embodiment can autonomously calculate the maximum weight of the material or the limit condition which can be grabbed on the premise of not turning on one side.
In the technical scheme of the embodiment, the control moment gyroscope 4 technology is adopted to stabilize the base body of the mobile robot, and particularly, in the operation process, when the robot is in scenes such as extreme conditions, heavy load, large arm spread, slope road walking and the like, the stability of the base body of the robot is still ensured, and the tipping tendency is prevented.
The embodiment expands the operation range of the mobile robot, improves the operation reliability, increases the operation load capacity, improves the operation capacity under the limit condition, ensures the stability of the body of the robot, enables the robot to be more suitable for different road conditions, such as an inclined angle road surface and a rugged road surface, and improves the stability when the robot walks on the road surface; the limit operation range of the robot can be expanded, the limit operation load capacity of the robot is improved, and the robot is guaranteed to be stable and not to tip over all the time.
The above description is only for the specific embodiment of the present invention, but the scope of the present invention is not limited thereto, and any changes or substitutions that can be easily conceived by those skilled in the art within the technical scope of the present invention are included in the scope of the present invention. Therefore, the protection scope of the present invention shall be subject to the protection scope of the claims.
Claims (10)
1. A transfer robot having an overturn prevention function, comprising:
a movable base;
the mechanical arm is arranged on the movable base and used for grabbing an object;
a horizontal detection section for detecting a degree of inclination of the moving base;
and the control moment gyroscope is arranged on the mobile base and provides compensation moment to reduce the inclination degree when the inclination degree is greater than or equal to a preset minimum inclination angle based on the detection result of the horizontal detection part.
2. The mobile robot according to claim 1, wherein the level detecting section is a gyroscope fixed to the moving base.
3. A mobile robot according to claim 1, characterized in that the degree of inclination is the degree of roll of the moving base.
4. Mobile robot according to claim 1, characterized in that the control moment gyro is distributed at the bottom of the robot.
5. A mobile robot according to claim 1, characterized in that the control moment gyro is a set, and the center of mass overlaps with the center of mass of the moving base in a state where no moment compensation is performed.
6. The mobile robot according to claim 1, wherein the control moment gyros are two groups, and the centroids of the two groups of control moment gyros are symmetrically distributed with the centroid of the mobile base in a state where no moment compensation is performed.
7. A method for preventing overturning of a mobile working robot according to any of claims 1-6 and comprising the steps of:
s101, setting a lowest inclination angle for the robot;
s102, pre-rotating a flywheel of the control moment gyroscope;
s103, when the inclination degree of the robot is larger than or equal to the lowest inclination angle, setting a precession rotation acceleration and a precession rotation angle which are vertical to the axial direction of a flywheel of the control moment gyro, and reducing the inclination degree of the robot to be lower than the lowest inclination angle.
8. The mobile work robot anti-overturning method according to claim 7, characterized in that the flywheel of the control moment gyro is pre-rotated when:
when the extension length of the mechanical arm reaches a preset length;
when the robot travels on a roll road segment.
9. The mobile work robot anti-overturning method according to claim 8, wherein when the robot travels on a roll road section, the pre-rotation speed comprises: ω 0, ω 1 and ω 2,
when the inclination angle of the roll section is <5 °, the pre-rotation is set to ω 0;
when the inclined road section is between 5 and 10 degrees, the pre-rotation is set to be omega 1;
when the ground inclination angle exceeds 10 degrees, the pre-rotation is set to be omega 2;
wherein: ω 0< ω 1< ω 2.
10. The mobile work robot anti-overturning method according to claim 9, wherein when the robot travels on a roll road section, the maximum grip weight of the robot is calculated based on the steps of:
s201, detecting a real-time inclination angle of the side-tipping road section according to the horizontal detection part;
s202, calculating the maximum moment of the control moment gyro when the robot is positioned under the real-time inclination angle;
and S203, obtaining the maximum grabbing weight of the mechanical arm when the robot does not tilt based on the maximum moment and the longest horizontal distance between the moment arm of the mechanical arm and the center of mass of the robot.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202210223665.3A CN114670243B (en) | 2022-03-09 | 2022-03-09 | Mobile robot with anti-overturning function and anti-overturning method |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202210223665.3A CN114670243B (en) | 2022-03-09 | 2022-03-09 | Mobile robot with anti-overturning function and anti-overturning method |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN114670243A true CN114670243A (en) | 2022-06-28 |
| CN114670243B CN114670243B (en) | 2024-05-24 |
Family
ID=82072318
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202210223665.3A Active CN114670243B (en) | 2022-03-09 | 2022-03-09 | Mobile robot with anti-overturning function and anti-overturning method |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN114670243B (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN115383758A (en) * | 2022-08-23 | 2022-11-25 | 中国人民解放军63653部队 | Engineering operation robot anti-overturning early warning device and method |
Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103869704A (en) * | 2014-04-08 | 2014-06-18 | 哈尔滨工业大学 | Method for coordination control over satellite arms of space robot based on expanded Jacobian matrix |
| CN105539007A (en) * | 2015-12-25 | 2016-05-04 | 韦鲲 | Hub with built-in control moment gyro |
| DE202016003232U1 (en) * | 2016-05-20 | 2017-08-22 | Kuka Roboter Gmbh | Mobile manipulator system with tilting stabilization |
| CN108466250A (en) * | 2018-02-11 | 2018-08-31 | 坎德拉（深圳）科技创新有限公司 | Two-wheel dispensing machine people |
| CN110412995A (en) * | 2018-04-26 | 2019-11-05 | 郑州宇通客车股份有限公司 | A kind of preventing vehicle rollover method based on control-moment gyro |
-
2022
- 2022-03-09 CN CN202210223665.3A patent/CN114670243B/en active Active
Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103869704A (en) * | 2014-04-08 | 2014-06-18 | 哈尔滨工业大学 | Method for coordination control over satellite arms of space robot based on expanded Jacobian matrix |
| CN105539007A (en) * | 2015-12-25 | 2016-05-04 | 韦鲲 | Hub with built-in control moment gyro |
| DE202016003232U1 (en) * | 2016-05-20 | 2017-08-22 | Kuka Roboter Gmbh | Mobile manipulator system with tilting stabilization |
| CN108466250A (en) * | 2018-02-11 | 2018-08-31 | 坎德拉（深圳）科技创新有限公司 | Two-wheel dispensing machine people |
| CN110412995A (en) * | 2018-04-26 | 2019-11-05 | 郑州宇通客车股份有限公司 | A kind of preventing vehicle rollover method based on control-moment gyro |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN115383758A (en) * | 2022-08-23 | 2022-11-25 | 中国人民解放军63653部队 | Engineering operation robot anti-overturning early warning device and method |
| CN115383758B (en) * | 2022-08-23 | 2023-09-19 | 中国人民解放军63653部队 | Engineering operation robot anti-overturning early warning method |
Also Published As
| Publication number | Publication date |
|---|---|
| CN114670243B (en) | 2024-05-24 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN110872088B (en) | Dynamic stability determination system for lift truck | |
| JP4824492B2 (en) | Mobile robot | |
| JP4886201B2 (en) | Mobile robot | |
| CN101600618B (en) | Mobile and control method of mobile | |
| EP2179914A1 (en) | Inverted wheel type mobile body and method of controlling the same | |
| EP2444304A1 (en) | System and method for preventing overturning of land vehicles | |
| JPWO2007013282A1 (en) | Inverted two-wheeled traveling robot and control method thereof | |
| US20140379198A1 (en) | Mobile Object | |
| EP3702311A1 (en) | A working machine and a controller | |
| CN114670243A (en) | Mobile robot with overturn preventing function and overturn preventing method | |
| KR101117040B1 (en) | Inverted pendulum type moving mechanism | |
| CN106774342A (en) | A kind of tranquilizer and its algorithm and the wheelbarrow based on the device | |
| CN206594522U (en) | A kind of tranquilizer, two axle tranquilizers and wheelbarrow | |
| JP2013189767A (en) | Electrically driven turning device | |
| CN113165855A (en) | Crane and method for monitoring operation of such crane | |
| CN115515756A (en) | Robot system | |
| CN111498698B (en) | Method and device for judging safety of boom rotation direction and engineering machinery | |
| CN112158273B (en) | Step self-adaptive walking method and device | |
| US20220371869A1 (en) | Person lifting and fall protection vehicle | |
| JP2006168871A (en) | Nonstop actuation control device for boom work vehicle | |
| JP2017043222A (en) | Moving device and control method of moving device | |
| JP4643981B2 (en) | Non-stop operation control device for boom work vehicle | |
| JP2007254059A5 (en) | ||
| JP3712568B2 (en) | Work vehicle operation restriction device | |
| JP2018104103A (en) | Inclination prevention apparatus for mobile crane |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant |