CN116372921A - Control system and method for stair climbing and old assisting sharing robot based on guide rail - Google Patents
Control system and method for stair climbing and old assisting sharing robot based on guide rail Download PDFInfo
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- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D57/00—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track
- B62D57/02—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track with ground-engaging propulsion means, e.g. walking members
- B62D57/024—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track with ground-engaging propulsion means, e.g. walking members specially adapted for moving on inclined or vertical surfaces
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- B25J5/02—Manipulators mounted on wheels or on carriages travelling along a guideway
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- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
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- B25J9/1602—Programme controls characterised by the control system, structure, architecture
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- B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
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Abstract
The invention discloses a control system and a method for a guide rail type stair climbing and old sharing robot. In the process, if the self state cannot be judged or the hardware call fails, the background is fed back with basic information such as the current camera picture, the state of each hardware and the like, and the manual processing is waited. The system can be used for navigation of various intelligent machines in buildings in communities. When the user starts the robot, the electronic control unit needs to acquire vehicle information first, store the vehicle condition detection result and send the vehicle condition detection result to the sharing platform to confirm that the robot can be used. When the user finishes using, the electronic control unit acquires the vehicle information again and feeds back the track marker quantity information passing by in the period to the sharing platform.
Description
Technical Field
The invention relates to the field of robot kinematics control. More particularly, the invention relates to a control system and a control method for an old-people-helping sharing robot based on a guide rail type climbing stair.
Background
With the continuous development of the urban process of China, the residential area design in the city is more and more modern, but due to the limitation of the technical conditions of the times and the relatively backward of the construction concept of the last century, a large number of old communities exist in the areas where the urban area is preferentially developed. The old community is always a residential area which is invested and built by government units before the organization is changed, and compared with commodity houses developed after 1988, the old community is a living facility such as water, electricity, heating and the like, and the basic structure of buildings such as stairs, walls and the like is far behind the era. For various reasons, the population age distribution in the old community is mainly the aged. Meanwhile, in modern communities today, a large number of multi-storey houses below 7 floors are also built, and most of these multi-storey houses are not provided with elevators. Thus, climbing stairs has become a heart of older people who now live on higher floors and in old communities.
Currently, to solve this dilemma, there have been related products introduced to the market. This includes: modern elevator equipment is added to old communities, but the method has high cost input in the early stage, and the problem of cost allocation of households on each layer is difficult to solve, so that unnecessary neighborhood disputes are often caused. There are also related devices for stair climbing elevators that are beginning to be applied in the market, but this solution does not better meet all the elderly needs in a building, and the later maintenance costs are higher, more suitable for home customization private use residing in villas or other multi-story houses.
At present, the shared economy is rapidly developed, the development trend of the shared economy and the intelligent society is combined, a stair climbing assistance sharing robot based on a guide rail climbing mode can become a better solution to the social problem, and the stair climbing robot based on the sharing mode has a novel structure and is less in control systems and methods for solving the same problem with the stair climbing robot based on the sharing mode. The invention is based on the guide rail type stair climbing aid sharing robot based on the guide rail climbing mode, and designs a control system and a control method of the robot. The robot using the control scheme can effectively cope with complex environments in the corridor of old communities, simplify the climbing flow, improve the climbing efficiency, increase the safety of the climbing process, and have reference significance for the control scheme of the intelligent mobile machinery used in the corridor of the building.
Disclosure of Invention
The invention aims to provide a control system and a control method for a guide rail type stair climbing and old sharing robot, and the control system and the method are characterized in that the control system is based on a complete and detailed robot control process of the robot control system and a feedback method of robot information.
The guide rail type stair climbing and aging assisting shared robot control system comprises the following hardware:
a front camera;
the electronic control unit comprises a communication module for carrying out information interaction with the sharing platform, a storage module for storing a control method of the sharing robot for climbing stairs based on a guide rail, a motor driving module for driving three groups of motors, a power supply module for supplying energy, a CPU processor and an interface connected with a front camera;
the three groups of motors specifically comprise a walking driving motor, a gear motor and a ball screw motor for driving four Mecanum wheels, and are used for driving the robot and providing enough climbing capacity and high-low pose adjustment so as to ensure the accuracy of movement and docking;
the control method comprises the following steps:
the robot information feedback method is used for feeding back the hardware state information, the track climbing frequency information, the position information, the current time information and the like of the robot to the sharing platform before, during and after the use of the robot is started;
the camera acquisition and picture processing program is used for calling the front camera by the robot to acquire a picture, and extracting marker information in the picture by using methods of Opencv edge detection class, hsv color extraction, pca calculation of outline main direction, gabor filter and the like;
judging the state of the robot and branching to execute programs, wherein the robot is used for judging whether the position and the posture of the robot are abnormal or not according to the position, the size, the side length and other information of the marker, carrying out proper posture adjustment, interacting with a shared platform and feeding back to a manager background; in addition, according to different obtained markers, running according to different subroutines, selecting a movement mode and a direction, and completing autonomous tracking movement control of the robot at a stair swivel in a building and at a first building charging pile;
the gesture adjusting program is used for adjusting the position of the vehicle body by the robot through the left-right front-back movement and clockwise or anticlockwise rotation according to the specific deviation of the marker and the preset marker; the height of the docking mechanism relative to the ground can be adjusted by controlling the rotation of the ball screw motor;
the robot track running program is used for finishing track docking and climbing and descending track running control of the robot according to the markers;
the Mecanum wheel control program comprises direction control and speed control.
The complete control process comprises the following steps:
step one: the user selects to use a guide rail type stair climbing and old-helping shared robot service at a charging pile starting point through mobile phone code scanning, the robot tests each sensor of the robot, the robot information feedback method is called, test information is obtained to interact with the use information and a shared platform, and after the shared platform confirms that the robot is normal in state, the robot starts to start service;
step two: the method comprises the steps of controlling a robot to start a camera in real time, acquiring a shooting picture in front of the robot, and calling a camera acquisition and picture processing program;
step three: calling and judging the state of the robot and branching to execute a program, wherein a main chip of the electronic control unit acquires the position information of the route marker in the shot picture, judges the state of the main chip and detects whether abnormality exists; if the route is abnormal, uploading abnormal information to a sharing platform, transmitting the abnormal information to a mobile phone client of a user through a wireless mobile network, prompting that the route has an obstacle and can not go, and suggesting to clear the obstacle of the route for use;
step four: the robot calls a Mecanum wheel control program to control each advancing motor according to the route markers, and realizes the direction and motion control according to the motion characteristics of the Mecanum wheel to control the robot to move to the track entrance;
step five: invoking an attitude adjustment program, and enabling a main chip of a controller to identify a track marker in a camera shooting picture, and enabling the relative position of the marker and the robot to reach an expected position by adjusting the attitude; judging the state of the device after the adjustment is finished, and detecting whether an abnormality exists or not; if the position and the posture of the robot are normal, calling a robot track running program, and controlling the robot to climb stairs by utilizing a gear motor; if the track is abnormal, uploading abnormal information to a sharing platform, transmitting the abnormal information to a mobile phone client of a user through a wireless mobile network by the sharing platform, prompting that the track is abnormal in butt joint and cannot serve, and suggesting that the user is assisted to finish butt joint or terminate service;
step six: the running process calls a camera acquisition and picture processing program at a certain set frequency, acquires a camera picture and judges the state of the robot; if obvious abnormality exists, uploading the abnormality information to a sharing platform;
step seven: after the stair is separated from the track, continuously identifying a route marker at the stair swivel, calling a Mecanum wheel control program, controlling a Mecanum wheel motor to move to the next track, or controlling the Mecanum wheel to turn around and return automatically after the user finishes using the stair; in the process, a camera acquisition and picture processing program is continuously called at a certain frequency, and a gesture adjustment program is called according to the position of a marker in a camera picture to carry out gesture fine adjustment of a robot; if the abnormal information is obvious, uploading the abnormal information to a sharing platform;
step eight: after climbing to a destination floor, if a user selects to finish service through a mobile phone client, the robot sets a marker for starting to detect the charging pile, if the charging pile marker is not recognized, the robot enters a step five to circularly execute and finish self-descending of the robot to a starting point, if the charging pile is recognized, a Mecanum wheel control program is called, and a Mecanum wheel motor is controlled to drive the robot to drive into a wireless charging pile area to finish autonomous wireless charging; if the user selects standby service after reaching the destination floor, the robot automatically moves to the temporary parking space of the floor to standby and records standby time;
step nine: after the use of the user is finished, calling a robot information feedback method, and enabling the robot to acquire the use information and interact with the sharing platform;
step ten: after the charging pile is restarted, calling a robot information feedback method system to acquire information interaction sharing platforms of all sensors;
step eleven: the robot acquires the interactive information of the sharing platform, finishes the use, finishes the archiving of service information of the user and automatic deduction of the tariffs, and waits for the next use after updating and storing state information such as the electric quantity of the robot.
The robot information feedback method comprises the following steps:
step one: the interaction between the robot and the sharing platform is that when a user starts to use, the robot tests each sensor of the robot to obtain hardware test information, feeds back information to the sharing platform together with position information and current time information obtained according to a shooting picture, updates relevant data of the robot in a database and judges whether the data has service conditions or not, and if so, sends starting permission information to the robot;
step two: the method comprises the steps that the number of times of entering a track is recorded in real time in the using and running process of the robot, real-time hardware abnormality information, self-position information and current time information are fed back to a sharing platform, and relevant data of the robot are updated;
step three: after the use of the robot is finished, combining the information record of the use of the present time temporarily stored in the robot, feeding back the current position information and the current time information to the sharing platform, and storing the current position information and the current time information;
step four: the robot returns to the starting point charging pile again, the current charging state and time information are fed back to the sharing platform, and relevant data of the robot are updated; the manager obtains the robot information from the shared platform, so that the robot information is monitored.
Judging the state of the robot and branching the execution program comprises the following steps:
step one: extracting different types of markers from the shot image data, including a track marker, a route marker or a charging pile marker, and acquiring the position of the marker on a picture to be compared with an expected position;
step two: the position or the gesture has larger deviation, the ball screw motor is used for trying to adjust the height of the docking mechanism relative to the ground or the Mecanum wheel driving motor is used for trying to control the robot to automatically rotate in situ for one circle, whether a marker with smaller deviation exists in the visual angle range is continuously detected, and the abnormality is submitted to the background if the marker is repeated for a plurality of times and still cannot be identified; if a marker with smaller deviation is detected, the control of the robot direction is implemented by utilizing a Mecanum wheel driving motor again, and the gesture of the robot is adjusted to meet the requirement of butt joint; if the gesture adjustment is not successful, submitting an exception to the background; if a plurality of markers exist in one identification, selecting the marker which accords with the expected degree and the most accords with the expected position;
step three: and (3) sending out different control instructions according to different types of the markers when no position abnormality or position deviation is in a threshold range.
The robot posture adjustment program includes the steps of:
step one: acquiring a camera picture, identifying a marker, and comparing the current position of a center point with an expected position; if the offset is larger, the step II is carried out, and if the offset is within the threshold range, the step III is carried out;
step two: the control motor is used for controlling the Mecanum wheel to enable the robot to move to an offset direction or controlling the ball screw motor to adjust the height of the docking mechanism relative to the ground;
step three: acquiring a camera picture and identifying a marker; if the size difference is larger, entering a step four; if the difference is within the threshold range, entering a step five;
step four: the motor is controlled, and the Mecanum wheel is controlled to enable the Mecanum wheel robot to move forwards and backwards; if the current is smaller, the device advances, and if the current is larger, the device retreats;
step five: acquiring a camera picture, identifying a marker, and comparing the current position of a center point with an expected position; if the offset is larger, the step II is carried out, and if the offset is negligible, the step VI is carried out;
step six: acquiring a camera picture, identifying a marker, and comparing the side length of a certain marker with an expected side length; if the size difference is larger, entering a step seven; if the difference is negligible, entering a step eight;
step seven: the motor is controlled, and the Mecanum wheel is controlled to enable the Mecanum wheel robot to rotate in situ;
step eight: acquiring a camera picture, identifying a marker, and comparing the current position of a center point with an expected position; if the offset is larger, the step II is carried out, and if the offset is negligible, the step III is carried out;
step nine: and (5) finishing adjustment.
The robot orbit running program comprises the following steps:
step one: controlling the Mecanum wheel to advance towards the track entrance according to the track entrance marker position information;
step two: slightly driving the Mecanum wheel to advance, if the detected track-entering resistance is within the threshold range, indicating that track-entering is successful, starting track-entering, otherwise slightly driving the Mecanum wheel to retreat, and re-entering the step two, and if overtime, feeding back abnormal docking;
step three: starting the gear motor after 1s, judging whether the gear motor moves normally, and if the gear motor cannot move normally, feeding back abnormality;
step four: controlling the stable speed of the gear motor, slowly advancing, starting climbing the track, and keeping the gesture of the robot horizontal to ensure that a user stably stands;
step five: judging that the front track is finished, decelerating stably, and preparing derailment; reaching the track marker to complete derailment
The invention has the beneficial effects that:
1. the invention has the advantages of lower cost, better stability and strong reliability. According to the invention, the path planning of the stair climbing robot can be realized by only relying on the markers arranged in advance, the robot track arranged in advance, the charging pile and the camera with lower configuration, so that the robot is navigated, and the information feedback of a certain self state is completed. Low manufacturing cost and easy mass production.
2. The invention has timely information feedback and certain stability. The information acquisition of the invention is more dependent on the markers, and part of the markers in the system have the function of reflecting the travelling position of the trolley on the guide rail, so that if the guide rail has problems, the problems can be timely found out by identifying the markers, and the problems are fed back through a network and are manually processed. The invention has a certain self state adjustment mechanism, can avoid misjudgment to a certain extent, and realizes the stability and reliability in the climbing process of the robot.
3. The invention is convenient to use, can improve the utilization rate of resources, and has the characteristics of popularization and easy popularization. The invention can process the information of the user and the robot by means of the cloud platform, and realize the management of the operation of the robot, thereby providing a shared operation basis for the robot facilities in different communities in the city.
Drawings
FIG. 1 is a block diagram of a control system of an aging-assisting shared robot based on a guide rail type climbing stair;
FIG. 2 is a position layout of each module in a stair-climbing aid sharing robot control system based on guide rails;
FIG. 3 is a main program flow chart of a control method of an aging-assisting shared robot based on a guide rail type climbing stair;
FIG. 4 is a flow chart of a program for judging the state of a robot and executing branches based on a control method of a guide rail type stair climbing and old assisting shared robot;
FIG. 5 is a flowchart of a track entering program of a robot track running program based on a guide rail type stair climbing and old sharing robot control method according to the invention;
FIG. 6 is a flow chart of a running program of a robot on a track based on a control method of a rail-type stair climbing and old assisting shared robot;
fig. 7 is a flowchart of an attitude adjustment program of a stair climbing aid sharing robot control method based on a guide rail type according to the invention;
FIG. 8 is a schematic diagram of a control system for controlling four Mecanum wheels to move to realize robot direction control based on a guide rail type stair climbing and old sharing robot, which is disclosed by the invention;
fig. 9 is a schematic diagram of speed control of a control system for controlling a Mecanum wheel of an aging-assisting shared robot based on a guide rail type stair climbing.
Reference numerals illustrate: 1-sensor module, 2-control module, 3-actuator module
Detailed Description
For a clearer description of embodiments of the present application or of the prior art, the drawings that are needed in the embodiments will be briefly described, it will be apparent that the drawings in the following description are only some embodiments described in the present invention, and that other drawings can be obtained by those skilled in the art according to these drawings, and the present invention will be further described in detail with reference to the drawings.
As shown in FIG. 1, the sensor module comprises a front camera, the control module comprises an electronic control unit consisting of a CPU, a power module, a communication module, a storage module, a motor driving module and an interface, and the actuator module comprises four motors for controlling the Mecanum wheels, a gear motor and a ball screw motor. The positional arrangement relation of the sensor module, the control module and the actuator module in the control system on the guide rail type stair climbing and aging assisting shared robot is shown in fig. 2. The front camera is connected with the input end of an A/D converter of the electronic control unit, collected marker position information is transmitted to the A/D converter in the form of analog signals, and the A/D converter converts the analog signals into digital signals so that the controller main chip can compare the vehicle condition information to determine the state of the robot. After the state is determined, the main chip sends out a digital control signal, and the digital control signal is converted into an analog control signal through a D/A converter, so that a corresponding motor is controlled to control a Mecanum wheel or a gear to perform proper actions. In addition, the electronic control unit communicates with the sharing platform through a network. If the main chip confirms that the state of the robot is abnormal, the state of each motor and the current shot image of the camera are called, abnormal information is sent to the sharing platform by means of the network, and a background manager obtains the abnormal information from the sharing platform. And when the robot is started, position information, use information, hardware detection information and other robot information are acquired and are interacted with the shared platform when abnormality or use is finished.
The storage module of the electronic control unit stores a control system and a control method for the guide rail type stair climbing and old assisting sharing robot and temporarily stores single use information of the robot, and as shown in fig. 3, the overall control flow for the guide rail type stair climbing and old assisting sharing robot operation method and the information feedback method specifically comprises the following execution steps:
step one: the user selects the robot at the starting point of the charging pile, the robot tests each sensor of the robot, acquires test information and use information to interact with the sharing platform, and the sharing platform confirms that the robot is in a normal state and then starts the robot.
Step two: and a front camera is relied on to acquire a front shooting picture of the robot.
Step three: the main chip recognizes the position information of the route marker in the image, judges the state of the main chip and detects whether the abnormality exists. If the abnormal condition exists, the abnormal information is uploaded to the sharing platform, and the use is ended.
Step four: and if the position and the posture of the robot are normal, outputting control signals to control the motors by the main chip according to the route markers, and controlling the robot to move to the track entrance according to the characteristics of the Mecanum wheels.
Step five: the main chip recognizes the track marker in the image, judges the state of the main chip, and detects whether the abnormality exists. And if the position and the gesture of the robot are normal, the robot enters the track, and the robot is controlled to climb stairs by utilizing the gear motor. If the abnormality exists, the abnormality information is uploaded to the sharing platform.
Step six: and in the operation process, acquiring a shooting picture at a certain frequency, and judging the state of the robot. If the abnormal information is obvious, uploading the abnormal information to the sharing platform.
Step seven: after the track is separated, the route marker is continuously identified, the Mecanum wheel motor is controlled to move to the next track, or after the user finishes using, the Mecanum wheel is controlled to turn around and return automatically. In the process, the robot posture is finely adjusted at a certain frequency according to the marker at the position of the shooting picture. If the abnormal information is obvious, uploading the abnormal information to the sharing platform.
Step eight: and if the charging pile mark is not identified, the step five is carried out, and the charging pile is identified, the Mecanum wheel motor is controlled to drive in.
Step nine: after the user finishes using, the robot acquires the using information and interacts with the sharing platform.
Step ten: and after the charging pile is restarted, the system acquires the information interaction sharing platform of each sensor.
Step eleven: the robot acquires the interactive information of the sharing platform, finishes the use, and waits for the next use.
As shown in fig. 4, the invention provides a subroutine for judging the state of a robot in the control process of a shared robot for climbing stairs along a guide rail, wherein in the figure, a track marker is used for calibrating the position of a track entrance, a route marker comprises a ground marking, and a charging pile marker is used for calibrating the position of a charging pile entrance. The execution steps are as follows:
step one: initially, a picture is taken from a front camera.
Step two: and extracting the markers according to the shape, the size and the color by using methods of Opencv edge detection class, hsv color extraction, pca calculation of the main direction of the outline, gabor filter and the like, and obtaining the positions of the markers on the picture and comparing the positions with the expected positions.
Step three: the position or the gesture has larger deviation, the ball screw motor is used for trying to adjust the height of the docking mechanism relative to the ground or the Mecanum wheel is used for trying to control the motor to control the robot to rotate in situ for one circle, the markers with smaller deviation around are continuously detected, and the abnormality is submitted to the background if the markers are still unrecognizable. If the deviation is smaller, the attitude of the robot is attempted to be adjusted by utilizing a Mecanum wheel control motor, the adjustment cannot be successful for a plurality of times, and the abnormality is submitted to the background. If a plurality of markers exist in one identification, the markers which are most consistent with the expected positions are selected according to the expected degree.
Step four: the method has the advantages that no position abnormality or slight negligible position deviation exists, and different control instructions are sent out according to different markers.
As shown in fig. 5, the steps of the track-based sub-program for climbing stairs to help old sharing robot control process according to the invention are as follows:
step one: and controlling the Mecanum wheel to advance towards the entrance according to the track entrance marker.
Step two: the arrival entrance adjusts the gesture according to the marker, and adjusts the height of docking mechanism relative to ground with ball screw motor.
Step three: and (3) slightly driving the Mecanum wheel to advance, if the Mecanum wheel cannot advance and is at the track-entering position, starting track-entering, otherwise, re-entering the second step, and if the time-out is overtime, feeding back the overtime abnormality.
Step four: and starting the gear motor after 1s, judging whether the gear motor moves normally, and if the gear motor cannot move normally, feeding back the abnormality.
As shown in fig. 6, the motor control subroutine of the robot on the track based on the control process of the rail type stair climbing and old assisting shared robot disclosed by the invention is implemented as follows:
step one: into the track.
Step two: and controlling the gear motor to advance at a high speed. And judging whether the front part is a flat rail or not. And if the track is a flat track, repeating the second step. If the rail is the inclined rail, the step three is entered.
Step three: the robot is kept horizontal, the speed is stabilized, and the robot advances slowly.
Step four: and judging whether the front part is a flat rail or not. If the rail is the inclined rail, returning to the step three. If the track is a flat track, the step five is entered.
Step five: decelerating and preparing for derailment. Derailment at the marker is reached.
As shown in fig. 7, the self-posture fine tuning subroutine based on the control process of the guide rail type stair climbing and aging assisting shared robot comprises the following steps:
step one: and acquiring a camera picture, identifying a marker, and comparing the current position of the center point with the expected position. If the offset is larger, the step two is carried out, and if the offset is negligible, the step three is carried out.
Step two: and controlling the Mecanum wheel to control the motor, and controlling the Mecanum wheel to enable the robot to move towards the offset azimuth.
Step three: and acquiring a camera image and identifying the marker. If the size difference is larger, the step four is entered. If the difference is negligible, the step five is entered.
Step four: and controlling the Mecanum wheel control motor, and controlling the Mecanum wheel to enable the Mecanum wheel robot to move back and forth. If the current is smaller, the device advances, and if the current is larger, the device retreats.
Step five: and acquiring a camera picture, identifying a marker, and comparing the current position of the center point with the expected position. If the offset is larger, the step II is carried out, and if the offset is negligible, the step III is carried out.
Step six: and acquiring a camera image, identifying the marker, and comparing the side length of a certain marker with the expected side length. If the size difference is larger, the step seven is entered. If the difference is negligible, step eight is entered.
Step seven: and controlling the Mecanum wheel control motor, and controlling the Mecanum wheel to enable the Mecanum wheel robot to rotate in situ.
Step eight: and acquiring a camera picture, identifying a marker, and comparing the current position of the center point with the expected position. If the offset is larger, the step II is carried out, and if the offset is negligible, the step III is carried out.
Step nine: and (5) finishing adjustment.
As shown in fig. 8, the control method of the mecanum wheel for the guide rail type stair climbing and aging assisting sharing robot is as follows:
moving forward: the left front wheel, the right front wheel, the left rear wheel and the right rear wheel are driven forward.
Moving backward: the left front wheel, the right front wheel, the left rear wheel and the right rear wheel are driven backwards.
Moving to the left: the right front wheel and the left rear wheel are driven forward. The left front wheel and the right rear wheel are driven backwards.
Moving to the right: the left front wheel and the right rear wheel are driven forward. The right front wheel and the left rear wheel are driven backwards.
Move to the left front: the right front wheel and the left rear wheel are driven forward.
Move to the right and back: the right front wheel and the left rear wheel are driven backwards.
Moving to the right front: the left front wheel and the right rear wheel are driven forward.
Move to the left and back: the left front wheel and the right rear wheel are driven backwards.
Clockwise in-situ rotation: the left front wheel and the left rear wheel are driven forward, and the right front wheel and the right rear wheel are driven backward.
Counterclockwise in-situ rotation: the right front wheel and the right rear wheel are driven forward, and the left front wheel and the left rear wheel are driven backward.
The specific speed control of the Mecanum wheel is as follows:
the movement control of the Mecanum robot is related to the Mecanum wheel mounting mode of the robot. First, a coordinate system is established in the geometric center of the robot, wheels are numbered in sequence, and a speed vector v of the robot itself is set, as shown in fig. 9. Wherein v is x 、v y For v in x-axisAnd the component on the y-axis, ω being the rotational angular velocity of the robot, v rn Is to provide angular velocity of robot motion (e.g. v r1 Wheel 1), v n Is v and v in world coordinate system rn Vector sum (e.g. v) 1 Is the resultant speed of wheel 1). r is the radius of the wheel, and a and b are the distance values between the two sides of the wheel
The positive kinematics of the mecanum wheel is as follows,
through theoretical calculation and deduction, the inverse kinematics equation of the Mecanum wheel is that,
the electronic control unit is pre-stored with various dimension parameters of the robot, such as the radius r of the wheels and half a and half b of the distance between the two wheels.
While certain exemplary embodiments of the present invention have been described above by way of illustration only, it will be apparent to those of ordinary skill in the art that modifications may be made to the described embodiments in various different ways without departing from the spirit and scope of the invention. Accordingly, the drawings and description are to be regarded as illustrative in nature and not as restrictive of the scope of the invention, which is defined by the appended claims.
Claims (6)
1. Control system and method based on guide rail type climbing stair helps old sharing robot, characterized by that, control system includes:
a front camera;
the electronic control unit comprises a communication module for carrying out information interaction with the sharing platform, a storage module for storing a control method of the sharing robot for climbing stairs based on a guide rail, a motor driving module for driving three groups of motors, a power supply module for supplying energy, a CPU processor and an interface connected with a front camera;
the three groups of motors specifically comprise a walking driving motor, a gear motor and a ball screw motor for driving four Mecanum wheels, and are used for driving the robot and providing enough climbing capacity and high-low pose adjustment so as to ensure the accuracy of movement and docking;
the control method of the stair climbing assisting sharing robot based on the guide rail specifically comprises the following steps:
the robot information feedback method is used for feeding back the hardware state information, the track climbing frequency information, the position information, the current time information and the like of the robot to the sharing platform before, during and after the use of the robot is started;
the camera acquisition and picture processing program is used for calling the front camera by the robot to acquire a picture, and extracting marker information in the picture by using methods of Opencv edge detection class, hsv color extraction, pca calculation of outline main direction, gabor filter and the like;
judging the state of the robot and branching to execute programs, wherein the robot is used for judging whether the position and the posture of the robot are abnormal or not according to the position, the size, the side length and other information of the marker, carrying out proper posture adjustment, interacting with a shared platform and feeding back to a manager background; in addition, according to different obtained markers, running according to different subroutines, selecting a movement mode and a direction, and completing autonomous tracking movement control of the robot at a stair swivel in a building and at a first building charging pile;
the gesture adjusting program is used for adjusting the position of the vehicle body by the robot through the left-right front-back movement and clockwise or anticlockwise rotation according to the specific deviation of the marker and the preset marker; the height of the docking mechanism relative to the ground can be adjusted by controlling the rotation of the ball screw motor;
the robot track running program is used for finishing track docking and climbing and descending track running control of the robot according to the markers;
the Mecanum wheel control program comprises direction control and speed control.
2. The control system and method for the stair climbing aid sharing robot based on the guide rail type according to claim 1, wherein the main program flow of the control method is as follows:
step one: the user selects to use a guide rail type stair climbing and old-helping shared robot service at a charging pile starting point through mobile phone code scanning, the robot tests each sensor of the robot, the robot information feedback method is called, test information is obtained to interact with the use information and a shared platform, and after the shared platform confirms that the robot is normal in state, the robot starts to start service;
step two: the method comprises the steps of controlling a robot to start a camera in real time, acquiring a shooting picture in front of the robot, and calling a camera acquisition and picture processing program;
step three: calling and judging the state of the robot and branching to execute a program, wherein a main chip of the electronic control unit acquires the position information of the route marker in the shot picture, judges the state of the main chip and detects whether abnormality exists; if the route is abnormal, uploading abnormal information to a sharing platform, transmitting the abnormal information to a mobile phone client of a user through a wireless mobile network, prompting that the route has an obstacle and can not go, and suggesting to clear the obstacle of the route for use;
step four: the robot calls a Mecanum wheel control program to control each advancing motor according to the route markers, and realizes the direction and motion control according to the motion characteristics of the Mecanum wheel to control the robot to move to the track entrance;
step five: invoking an attitude adjustment program, and enabling a main chip of a controller to identify a track marker in a camera shooting picture, and enabling the relative position of the marker and the robot to reach an expected position by adjusting the attitude; judging the state of the device after the adjustment is finished, and detecting whether an abnormality exists or not; if the position and the posture of the robot are normal, calling a robot track running program, and controlling the robot to climb stairs by utilizing a gear motor; if the track is abnormal, uploading abnormal information to a sharing platform, transmitting the abnormal information to a mobile phone client of a user through a wireless mobile network by the sharing platform, prompting that the track is abnormal in butt joint and cannot serve, and suggesting that the user is assisted to finish butt joint or terminate service;
step six: the running process calls a camera acquisition and picture processing program at a certain set frequency, acquires a camera picture and judges the state of the robot; if obvious abnormality exists, uploading the abnormality information to a sharing platform;
step seven: after the stair is separated from the track, continuously identifying a route marker at the stair swivel, calling a Mecanum wheel control program, controlling a Mecanum wheel motor to move to the next track, or controlling the Mecanum wheel to turn around and return automatically after the user finishes using the stair; in the process, a camera acquisition and picture processing program is continuously called at a certain frequency, and a gesture adjustment program is called according to the position of a marker in a camera picture to carry out gesture fine adjustment of a robot; if the abnormal information is obvious, uploading the abnormal information to a sharing platform;
step eight: after climbing to a destination floor, if a user selects to finish service through a mobile phone client, the robot sets a marker for starting to detect the charging pile, if the charging pile marker is not recognized, the robot enters a step five to circularly execute and finish self-descending of the robot to a starting point, if the charging pile is recognized, a Mecanum wheel control program is called, and a Mecanum wheel motor is controlled to drive the robot to drive into a wireless charging pile area to finish autonomous wireless charging; if the user selects standby service after reaching the destination floor, the robot automatically moves to the temporary parking space of the floor to standby and records standby time;
step nine: after the use of the user is finished, calling a robot information feedback method, and enabling the robot to acquire the use information and interact with the sharing platform;
step ten: after the charging pile is restarted, calling a robot information feedback method system to acquire information interaction sharing platforms of all sensors;
step eleven: the robot acquires the interactive information of the sharing platform, finishes the use, finishes the archiving of service information of the user and automatic deduction of the tariffs, and waits for the next use after updating and storing state information such as the electric quantity of the robot.
3. The control system and method for the stair climbing aid sharing robot based on the guide rail type according to claim 1, wherein the robot information feedback method comprises the following steps:
step one: the interaction between the robot and the sharing platform is that when a user starts to use, the robot tests each sensor of the robot to obtain hardware test information, feeds back information to the sharing platform together with position information and current time information obtained according to a shooting picture, updates relevant data of the robot in a database and judges whether the data has service conditions or not, and if so, sends starting permission information to the robot;
step two: the method comprises the steps that the number of times of entering a track is recorded in real time in the using and running process of the robot, real-time hardware abnormality information, self-position information and current time information are fed back to a sharing platform, and relevant data of the robot are updated;
step three: after the use of the robot is finished, combining the information record of the use of the present time temporarily stored in the robot, feeding back the current position information and the current time information to the sharing platform, and storing the current position information and the current time information;
step four: the robot returns to the starting point charging pile again, the current charging state and time information are fed back to the sharing platform, and relevant data of the robot are updated; the manager obtains the robot information from the shared platform, so that the robot information is monitored.
4. The control system and method for a rail-based stair climbing shared robot according to claim 1, wherein the determining the state of the robot and branching the execution program comprises:
step one: extracting different types of markers from the shot image data, including a track marker, a route marker or a charging pile marker, and acquiring the position of the marker on a picture to be compared with an expected position;
step two: the position or the gesture has larger deviation, the ball screw motor is used for trying to adjust the height of the docking mechanism relative to the ground or the Mecanum wheel driving motor is used for trying to control the robot to automatically rotate in situ for one circle, whether a marker with smaller deviation exists in the visual angle range is continuously detected, and the abnormality is submitted to the background if the marker is repeated for a plurality of times and still cannot be identified; if a marker with smaller deviation is detected, the control of the robot direction is implemented by utilizing a Mecanum wheel driving motor again, and the gesture of the robot is adjusted to meet the requirement of butt joint; if the gesture adjustment is not successful, submitting an exception to the background; if a plurality of markers exist in one identification, selecting the marker which accords with the expected degree and the most accords with the expected position;
step three: and (3) sending out different control instructions according to different types of the markers when no position abnormality or position deviation is in a threshold range.
5. The control system and method for a rail-based stair climbing shared robot according to claim 1, wherein the posture adjustment program comprises:
step one: acquiring a camera picture, identifying a marker, and comparing the current position of a center point with an expected position; if the offset is larger, the step II is carried out, and if the offset is within the threshold range, the step III is carried out;
step two: the control motor is used for controlling the Mecanum wheel to enable the robot to move to an offset direction or controlling the ball screw motor to adjust the height of the docking mechanism relative to the ground;
step three: acquiring a camera picture and identifying a marker; if the size difference is larger, entering a step four; if the difference is within the threshold range, entering a step five;
step four: the motor is controlled, and the Mecanum wheel is controlled to enable the Mecanum wheel robot to move forwards and backwards; if the current is smaller, the device advances, and if the current is larger, the device retreats;
step five: acquiring a camera picture, identifying a marker, and comparing the current position of a center point with an expected position; if the offset is larger, the step II is carried out, and if the offset is negligible, the step VI is carried out;
step six: acquiring a camera picture, identifying a marker, and comparing the side length of a certain marker with an expected side length; if the size difference is larger, entering a step seven; if the difference is negligible, entering a step eight;
step seven: the motor is controlled, and the Mecanum wheel is controlled to enable the Mecanum wheel robot to rotate in situ;
step eight: acquiring a camera picture, identifying a marker, and comparing the current position of a center point with an expected position; if the offset is larger, the step II is carried out, and if the offset is negligible, the step III is carried out;
step nine: and (5) finishing adjustment.
6. The control system and method for an old sharing robot based on a guide rail type climbing stair according to claim 2, wherein the robot track running program comprises:
step one: controlling the Mecanum wheel to advance towards the track entrance according to the track entrance marker position information;
step two: slightly driving the Mecanum wheel to advance, if the detected track-entering resistance is within the threshold range, indicating that track-entering is successful, starting track-entering, otherwise slightly driving the Mecanum wheel to retreat, and re-entering the step two, and if overtime, feeding back abnormal docking;
step three: starting the gear motor after 1s, judging whether the gear motor moves normally, and if the gear motor cannot move normally, feeding back abnormality;
step four: controlling the stable speed of the gear motor, slowly advancing, starting climbing the track, and keeping the gesture of the robot horizontal to ensure that a user stably stands;
step five: judging that the front track is finished, decelerating stably, and preparing derailment; the derailment is completed at the track marker.
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| CN116979345A (en) * | 2023-09-22 | 2023-10-31 | 中科开创（广州）智能科技发展有限公司 | Guide rail movable type shared charging robot accurate positioning method, device, equipment and medium |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN116979345A (en) * | 2023-09-22 | 2023-10-31 | 中科开创（广州）智能科技发展有限公司 | Guide rail movable type shared charging robot accurate positioning method, device, equipment and medium |
| CN116979345B (en) * | 2023-09-22 | 2024-01-30 | 中科开创（广州）智能科技发展有限公司 | Guide rail movable type shared charging robot accurate positioning method, device, equipment and medium |
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