CN204044623U - A kind of control system of robot - Google Patents
A kind of control system of robot Download PDFInfo
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- CN204044623U CN204044623U CN201420336308.9U CN201420336308U CN204044623U CN 204044623 U CN204044623 U CN 204044623U CN 201420336308 U CN201420336308 U CN 201420336308U CN 204044623 U CN204044623 U CN 204044623U
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- 230000033001 locomotion Effects 0.000 claims abstract description 71
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- 230000006698 induction Effects 0.000 claims abstract description 20
- 230000001133 acceleration Effects 0.000 claims abstract description 15
- 230000007246 mechanism Effects 0.000 claims abstract description 14
- 230000004888 barrier function Effects 0.000 claims description 8
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- 230000008569 process Effects 0.000 abstract description 4
- 238000001514 detection method Methods 0.000 description 3
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Abstract
The utility model discloses a kind of control system of robot, relate to robot field, solve in prior art, the technical matters of easy sideslip in the process that robot works on the slope, the utility model provides a kind of control system of robot to comprise main control module, travel mechanism and the direction acquisition module be connected with main control module for gathering robot directional information, direction acquisition module comprises the magnetic field induction sensor of locality magnetic field data, direction acquisition module also comprises the Gravity accelerometer gathering acceleration of gravity data, main control module also passes through the stable rectilinear motion of travel mechanism control according to the acceleration of gravity data acquisition robot directional information of the terrestrial magnetic field data of magnetic field induction sensor and Gravity accelerometer.The utility model is applied to the motion control to robot.
Description
[technical field]
The utility model relates to robot field.
[background technology]
Lawn is the important component part of urban afforestation, pass through grass-removing robot, improve mowing efficiency to a certain extent, reduce labour intensity, save a large amount of labo r resources, the motion path that grass-removing robot autokinetic movement controls generally is determined according to the specification on on-the-spot lawn and shape, usually adoptable have spiralling path clustering, Contour extraction shape motion path controls, random random walk controls and parallel reciprocating path clustering, grass-removing robot is mowed along many parallel straight reciprocating motions, parallel reciprocating path clustering is the wherein ideal efficient movement control mode of robot.Intelligent grass-removing of the prior art determines direction by inductively magnetic field, all the time towards a fixing direction when guaranteeing robot rectilinear motion, but, the method only just obtains better effects when ground is more smooth, when ground inclination larger or uneven, the fuselage of robot produces, the magnetic field coordinate of robot collection also produces inclination, therefore the magnetic field data gathered is different from actual terrestrial magnetic field, error is there is according to the direction of motion that the magnetic field data gathered calculates, cause walking direction mistake, cause and wander off, the effect that impact is mowed.
[utility model content]
The technical matters that the utility model solves is to provide a kind of control system of robot, improves the rectilinearity of robot motion's track.
For solving the problems of the technologies described above, the utility model adopts following technical scheme:
A kind of control system of robot, the direction acquisition module comprising main control module, travel mechanism and be connected with main control module for gathering robot directional information, described direction acquisition module comprises the magnetic field induction sensor of locality magnetic field data, described direction acquisition module also comprises the Gravity accelerometer gathering acceleration of gravity data, and described main control module also passes through the stable rectilinear motion of travel mechanism control according to the acceleration of gravity data acquisition robot directional information of the terrestrial magnetic field data of magnetic field induction sensor and Gravity accelerometer.
Further, described control system also comprises the boundary information acquisition module that zone boundary information manually made by collection machine, and described main control module is according to the translation motion of the feedback signal control of boundary information acquisition module.
Further, described control system also comprises the barrier induction module for responding to barrier, and described main control module is according to the translation motion of the feedback signal control of barrier induction module.
Further, described travel mechanism comprises movable motor combination and movable motor driver module.
Further, described movable motor combination comprises left movable motor and right movable motor.
The beneficial effects of the utility model:
The utility model, by magnetic field induction sensor and Gravity accelerometer in combination, calculate the direction of robot, by the combination of Gravity accelerometer and terrestrial magnetic field induction pick-up, overcome method easy shortcoming occurred compared with big error on non-horizontal surface of an existing robot land used magnetic field data calculated direction, ensure that the accuracy of calculated direction, and it is parallel to ensure between line of motion.Realize the autokinetic movement of robot by parallel reciprocating manner, except except level land, in hillside fields, up-and-down subsurface still can stablize the direction of motion of robot, eliminates the interference that fuselage tilts, prevents motion process generation sideslip.
These features of the present utility model and advantage will embodiment below, exposure detailed in accompanying drawing.
[accompanying drawing explanation]
Below in conjunction with accompanying drawing, the utility model is described further:
Fig. 1 is structural representation of the present utility model;
Fig. 2 is workflow diagram of the present utility model;
Fig. 3 is the track route figure of robot;
Fig. 4 is the coordinate schematic diagram of robot directional information.
[embodiment]
The technical scheme of accompanying drawing to the utility model embodiment below in conjunction with the utility model embodiment is explained and illustrated, but following embodiment is only preferred embodiment of the present utility model, and not all.Based on the embodiment in embodiment, those skilled in the art under the prerequisite not making creative work obtain other embodiment, all belong to protection domain of the present utility model.
With reference to figure 1, a kind of control system of robot, comprise main control module 1, travel mechanism 3 and with main control module link information collecting mechanism 2, information acquisition mechanism 2 comprises the direction acquisition module 21 for gathering robot directional information, direction acquisition module 21 comprises the magnetic field induction sensor of locality magnetic field data, direction acquisition module also comprises the Gravity accelerometer gathering acceleration of gravity data, main control module 1 is according to the acceleration of gravity data acquisition robot directional information of the terrestrial magnetic field data of magnetic field induction sensor and Gravity accelerometer, the terrestrial magnetic field data of magnetic field induction sensor and the acceleration of gravity data of Gravity accelerometer can calculate directional information by main control module, or also can calculate in the acquisition module of direction, main control module is according to the motion state of directional information by control travel mechanism, make current kinetic direction consistent with the linear movement direction of setting.
Magnetic field induction sensor locality magnetic field data, Gravity accelerometer gathers acceleration of gravity data, and the Computing Principle in current kinetic direction is as follows:
With reference to figure 4, X
b, Y
b, Z
bfor describing the orthogonal 3-D walls and floor of robot fuselage attitude, X
a, Y
a, Z
abe respectively three coordinate axis of sensor sensing acceleration of gravity, X
a, Y
a, Z
a(unit is g), X to be respectively the component of acceleration of gravity on these three axles
m, Y
m, Z
mbe respectively three coordinate axis of sensor sensing magnetic field intensity, X
m, Y
m, Z
mbe respectively the component of magnetic field on these three axles.If Y
bbe Roll, X with the angle of surface level
bbe Pitch, X with the angle of surface level
bat the angle Heading that surface level projection and the angle of earth magnetic north are robot and magnetic north.Suppose that sensor is fixed in robot, X
a, Mwith X
bparallel, Y
a, Mwith Y
bparallel, then X
a, M, Y
a, Mthe plane, the X that determine
b, Y
bthe plane determined is parallel to each other.Under supposing that robot is in horizontality, then X
a, M, Y
a, Mthe plane, the X that determine
b, Y
bthe plane determined, surface level three are parallel to each other, and terrestrial magnetic field is at Z
mcomponent Z on coordinate
mbe 0, acceleration is at X
a, Y
aon component X
a, Y
abe 0, magnetic field, base area is at X
m, Y
mon component X
m, Y
m, by formula: Heading=arctan (Y
m/ X
m) calculate robot motion direction Heading.Robot is when motion on a slope, and fuselage produces, and therefore magnetic field is at Z
mcomponent Z
mbe not 0, at X
m, Y
mon component X
m, Y
minconsistent with the situation of level, pass through formula: Heading=arctan (Y
m/ X
m) calculate robot motion direction Heading and there is deviation, but by the acceleration of gravity that records at X
a, Y
aon component X
a, Y
acalculate angle of inclination Pitch and Roll of machine, more in combination magnetic field at X
m, Y
m, Z
mon component X
m, Y
m, Z
m, by following formula, the angle Heading of robot and magnetic north can be calculated:
Pitch＝arcsin(-X
a)
Roll＝arcsin(Y
a/cosPitch)
X＝Xm*cosPitch+Zm*sinPitch
Y＝Xm*sinroll*sinPitch+Ymcosroll-Zm*sinroll*cosPitch
Heading＝arctan(Y/X)
Keep Heading constant in straight line moving process, thus it is parallel to ensure between the rectilinearity of robot motion and line of motion.
The travel mechanism 3 adopted comprises movable motor combination 32 and movable motor driver module 31.
Movable motor combination comprises left movable motor and right movable motor, the direction of motion that the action controlling left movable motor and right movable motor by movable motor driver module carrys out control is stabilized on target travel direction, is also realized the translation motion of robot by left movable motor and right movable motor simultaneously.
Control system also comprises the boundary information acquisition module 22 that zone boundary information manually made by collection machine, when robot rectilinear motion reaches border, perform region, boundary information acquisition module induction boundary condition sends sideband signal, and main control module completes the translation motion of robot by the motion state that motor drive module control lines walks motor combination according to sideband signal.
In the utility model, boundary information acquisition module 22 comprises the single-chip microcomputer of the induction sensor circuit of boundary information, the signal processing circuit of transform boundary information and process boundary information, and single-chip microcomputer connects described main control module.
The clock module of record travel time, the record pass acquires module of running stroke and the detection of obstacles module for detecting barrier can also be set in information acquisition mechanism, detection of obstacles module can be touching switch, when detection of obstacles module senses barrier, master control module controls robot translation motion avoiding obstacles; Pass acquires module can adopt Hall element to respond to the motion state of movable motor.
Referring to figs. 2 and 3, adopt the control method of the robot of above-mentioned control system, comprise the following steps:
1) linear movement direction setting: robot to be placed in perform region and to start, the directional information when robot that direction acquisition module obtains by main control module starts is set as linear movement direction, keeps stablizing of direction of motion in linear motion;
2) direction of translatory motion setting: the left in linear relative movement direction or right translation are set to the translation direction of robot, motion is then terminated on the border that translation motion to whole vehicle body goes out perform region.
3) rectilinear motion controls: main control module is according to the actual motion directional information of the acceleration of gravity data acquisition robot of the terrestrial magnetic field data of magnetic field induction sensor and Gravity accelerometer, main control module contrast actual motion directional information and the linear movement direction of setting, the motion state walking motor combination by movable motor driver module control lines makes the actual motion direction of robot move rectilinear motion forward or backwards by the linear movement direction of setting.In rectilinear motion control procedure, setting robot travels forward as positive movement, motion is counter motion backward, when there is right avertence in positive movement direction, accelerate right lateral to walk motor speed and reduce left lateral to walk motor speed, when there is left avertence in positive movement direction, accelerate left lateral to walk motor speed and reduce right lateral to walk motor speed, and when there is right avertence in counter motion direction, accelerate left lateral to walk motor speed and reduce right lateral to walk motor speed, accelerate right lateral when left avertence appears in counter motion direction to walk motor speed and reduce left lateral to walk motor speed, control rectilinear motion.
4) translation motion controls: trigger boundary information acquisition module when robot rectilinear motion arrives the border of perform region, boundary information acquisition module induction boundary condition sends sideband signal, and main control module completes the translation motion of robot by the motion state that motor drive module control lines walks motor combination according to sideband signal.After robot positive movement or counter motion rear body go out border, stop current rectilinear motion, main control module makes robot move to the distance of setting by controlling the motion of left and right movable motor.
Wherein translation motion is not for reversing end for end translation, do not reverse end for end the level that translation can guarantee between adjacent straight-line trajectory, it is as follows not reverse end for end the concrete method of operating of translation: during right translation, first control left lateral walk motor speed be greater than right lateral walk motor speed run move a certain distance, control right lateral again to walk motor speed and be greater than left lateral and walk motor speed motion certain distance, alternately pace of change completes right translation; During left, first control right lateral walk motor speed be greater than left lateral walk motor speed run move a certain distance, control left lateral again to walk motor speed and be greater than right lateral and walk motor speed motion certain distance, alternately pace of change completes left, pass through which, even if work on the slope, also can accurately controlling party to.
Control method of the present utility model has more than to be limited on grass-removing robot and uses, and the parallel motion being applicable to other robot of similar application demand too controls, as Autonomous Cleaning Robot.
By above-described embodiment, the purpose of this utility model is reached by fully effective.The personage being familiar with this technology should be understood that the content that the utility model includes but not limited to accompanying drawing and describes in embodiment above.Any amendment not departing from function and structure principle of the present utility model all will comprise within the scope of the appended claims.
Claims (5)
1. the control system of a robot, comprise main control module, travel mechanism and the direction acquisition module be connected with main control module for gathering robot directional information, described direction acquisition module comprises the magnetic field induction sensor of locality magnetic field data, it is characterized in that: described direction acquisition module also comprises the Gravity accelerometer gathering acceleration of gravity data, described main control module also passes through the stable rectilinear motion of travel mechanism control according to the acceleration of gravity data acquisition robot directional information of the terrestrial magnetic field data of magnetic field induction sensor and Gravity accelerometer.
2. the control system of a kind of robot according to claim 1, it is characterized in that: described control system also comprises the boundary information acquisition module that zone boundary information manually made by collection machine, and described main control module is according to the translation motion of the feedback signal control of boundary information acquisition module.
3. the control system of a kind of robot according to claim 1 and 2, it is characterized in that: described control system also comprises the barrier induction module for responding to barrier, and described main control module is according to the translation motion of the feedback signal control of barrier induction module.
4. the control system of a kind of robot according to claim 1 and 2, is characterized in that: described travel mechanism comprises movable motor combination and movable motor driver module.
5. the control system of a kind of robot according to claim 4, is characterized in that: described movable motor combination comprises left movable motor and right movable motor.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201420336308.9U CN204044623U (en) | 2014-06-23 | 2014-06-23 | A kind of control system of robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201420336308.9U CN204044623U (en) | 2014-06-23 | 2014-06-23 | A kind of control system of robot |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN204044623U true CN204044623U (en) | 2014-12-24 |
Family
ID=52245271
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201420336308.9U Expired - Lifetime CN204044623U (en) | 2014-06-23 | 2014-06-23 | A kind of control system of robot |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN204044623U (en) |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104155975A (en) * | 2014-06-23 | 2014-11-19 | 浙江亚特电器有限公司 | System and method for controlling robot |
| CN105242675A (en) * | 2014-06-17 | 2016-01-13 | 苏州宝时得电动工具有限公司 | Automatic walking equipment |
| EP3518065A4 (en) * | 2016-09-21 | 2020-05-27 | Suzhou Radiant Photovoltaic Technology Co., Ltd | Determining method and control method for straight running of robot on slope plane |
-
2014
- 2014-06-23 CN CN201420336308.9U patent/CN204044623U/en not_active Expired - Lifetime
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105242675A (en) * | 2014-06-17 | 2016-01-13 | 苏州宝时得电动工具有限公司 | Automatic walking equipment |
| CN104155975A (en) * | 2014-06-23 | 2014-11-19 | 浙江亚特电器有限公司 | System and method for controlling robot |
| EP3518065A4 (en) * | 2016-09-21 | 2020-05-27 | Suzhou Radiant Photovoltaic Technology Co., Ltd | Determining method and control method for straight running of robot on slope plane |
| US10802500B2 (en) | 2016-09-21 | 2020-10-13 | Suzhou Radiant Photovoltaic Technology Co., Ltd | Determining method and control method for straight running of robot on slope plane |
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant | ||
| CP03 | Change of name, title or address |
Address after: No. 150 Wenlong Road, Yuxin Town, Nanhu District, Jiaxing City, Zhejiang Province Patentee after: Zhejiang Yate Electric Appliance Co.,Ltd. Address before: Jiaxing City, Zhejiang province 314100 Nanhu District Yu Xin Zhen Industrial Zone North Water Road No. 1 Patentee before: ZHEJIANG YAT ELECTRICAL APPLIANCE Co.,Ltd. |
|
| CP03 | Change of name, title or address | ||
| CX01 | Expiry of patent term |
Granted publication date: 20141224 |
|
| CX01 | Expiry of patent term |