CN205670259U - The dynamic self-adapting stabilizing control system of mobile robot - Google Patents
The dynamic self-adapting stabilizing control system of mobile robot Download PDFInfo
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- CN205670259U CN205670259U CN201620536203.7U CN201620536203U CN205670259U CN 205670259 U CN205670259 U CN 205670259U CN 201620536203 U CN201620536203 U CN 201620536203U CN 205670259 U CN205670259 U CN 205670259U
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- mobile platform
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- extending apparatus
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Abstract
This utility model relates to point of zero moment Dynamic Stability Control application in terms of mobile robot, especially disclose the dynamic self-adapting stabilizing control system of a kind of mobile robot, including mobile platform, it is located on mobile platform the attachment means that can connect robot torso portion, can stretch out and then strengthen the extending apparatus of mobile platform stability of strutting system along mobile platform edge and connect the manipulation unit of described mobile platform and extending apparatus；Manipulation unit includes can calculating mobile platform point of zero moment in real time, judging ZMP computing module, body movement and the navigation control module of Robotic Dynamic stability and connect the control chamber of robot torso portion；Control chamber connects ZMP computing module, body movement and navigation control module, mobile platform and extending apparatus.This utility model can real time machine device people's point of zero moment, judge the dynamic stability of mobile platform, automatic adjusting machine device people's trunk or mobile extending apparatus, it is ensured that the dynamic stability of robot.
Description
Technical field
This utility model relates to point of zero moment (ZMP) Dynamic Stability Control application in terms of mobile robot, especially
It relates to the dynamic self-adapting stabilizing control system of a kind of mobile robot.
Background technology
Point of zero moment ZMP initially originates in the pose stabilization control of the sport dynamics of anthropomorphic robot both legs.Point of zero moment
It is used to judge that the important indicator of anthropomorphic robot Dynamic Stability Control, ZMP fall inside the scope that sole supports, then robot
Can stably walk.Foot has counteracting force also can produce moment when contacting ground.If there is a little its counteracting force, inertia
The net torque of power and be zero point be referred to as point of zero moment.ZMP control mechanism by ZMP principle integrated use at motion planning, dynamic
The aspect that multiple Robotic Dynamic modules such as mechanics stability contorting, joint drive control control.
But current and incapability adjusts the control device of robot ambulation stability according to point of zero moment ZMP, and then can only
Keeping stability during walking robot track route, robot cannot be carried out other any operations；I.e. robot transport weight
Time or center of gravity occur still toppling over during skew, and existing use the interim method increasing counterweight in robot to protect more
Hold the demand of robot stabilization, and the method expends time and manpower, the most also increases the burden of robot, reduces machine
Task efficiency.
Utility model content
This utility model is in order to overcome the deficiencies in the prior art, it is provided that one can real time machine device people's point of zero moment, protect
Card Robotic Dynamic stability, the dynamic self-adapting stabilizing control system of mobile robot.
To achieve these goals, this utility model is by the following technical solutions: a kind of mobile robot the most adaptive
Answer stabilizing control system, including mobile platform, be located on mobile platform the attachment means that can connect robot torso portion, can edge
Mobile platform edge stretches out and then strengthens the extending apparatus of mobile platform stability of strutting system and connect described mobile platform and stretching, extension
The manipulation unit of device；Described manipulation unit includes can calculating mobile platform point of zero moment in real time, judging that Robotic Dynamic is stable
Property ZMP computing module, body movement and navigation control module and connect the control chamber of robot torso portion；Described control chamber
Connect ZMP computing module, body movement and navigation control module, mobile platform and extending apparatus.Mobile platform can be moving machine
Device people provides a stable basis；Attachment means can realize being installed on mobile platform robot torso portion；Stretch dress
Put extensible and contact ground, disposing more stable in robot execution action Shi Shi robot；Dynamically ZMP computing module can be real-time
Calculating the point of zero moment of mobile platform, and feed back information to control chamber, control chamber controls extending apparatus as required and stretches, dynamic
State ZMP computing module measures the stability region of the point of zero moment expanded when extending apparatus launches, it is ensured that robot is at static condition
Under (center of gravity) and dynamically lower (point of zero moment) balance.Dynamically ZMP computing module can be real when robot performs control action
Time measure its dynamic point of zero moment, judge the dynamic stability of robot according to the point of zero moment measured simultaneously, control chamber can
The action controlling robot torso portion is calculated so that it is be maintained at point of zero moment stable region according to above feedback and judge.Move
When moving platform moves on the ground, dynamic ZMP computing module calculates point of zero moment.Robot when ground moving, control chamber
The action controlling robot, and the point of zero moment of planning robot and kinetic parameter in advance can be calculated in real time so that it is be maintained at zero
In Moment Point stability range, it is ensured that the stability of robot；To guarantee keep robot pose balance in dynamically and will not incline
Covering, the available method calculating zero point Moment Point in real time judges mobile platform dynamic stability in movement, eliminates employing
Increase the requirement that the method holding posture of robot weight equalizer is stable, do not increase the burden of robot, and stability is adjusted
Joint speed is fast, and efficiency is high, it is not necessary to manual operation, time saving and energy saving；Body movement and navigation control module can realize to barrier
Detection and the control of the direction of motion to mobile platform, it is ensured that can effective avoiding obstacles in mobile platform moving process.
Further, described control chamber includes mainboard, touch screen, communication module and connect described mainboard, touch screen, communication
The controller of module；Communication module connects described ZMP computing module, body movement and navigation control module, mobile platform and stretches
Extending apparatus.Controller plays signal processing, analysis and the overall effect controlled, communication module can realize signal be wirelessly transferred and
Receive, touch screen be convenient to operation personnel operation control.
Further, described mobile platform include can to the travel mechanism that any direction moves, connect travel mechanism many
To drive system, described multidirectional drive system connects described control chamber.Multidirectional driver can control travel mechanism to any direction
Mobile, and then control the moving direction of mobile platform, described control chamber can facilitate and is controlled multidirectional drive system.
Further, described extending apparatus includes that the side lever that can stretch out to mobile platform edge, connection side lever can drive side
The first driving means, the support bar connecting side lever and the/bracing frame that bar is flexible, described first driving means connects described control
Case.Control chamber can control the first driving means and stretch, and then drives side lever to stretch, it is achieved stretch support bar and/bracing frame
Control.
Further, it is provided with the first omni-directional wheel bottom described support bar and/bracing frame.Can make support bar and/bracing frame with
Mobile platform moves together, and then ensures the stability that mobile platform moves.
Further, in the middle part of described support bar it is bent supporting leg/vertical rod-like structure.Bent supporting leg makes
With more free, support more stable.
Further, described ZMP computing module, body movement and navigation control module are all located on mobile platform.
Further, described control chamber is portable body structure.Can conveniently manage use then.
In sum, this utility model can real time machine device people's point of zero moment, judge the dynamic stability of mobile platform,
And automatic adjusting machine device people's trunk or mobile extending apparatus, it is ensured that the dynamic stability of robot.
Accompanying drawing explanation
Fig. 1 a is axonometric chart one of the present utility model；
Fig. 1 b is part-structure schematic diagram of the present utility model；
Fig. 1 c is use state diagram one of the present utility model；
Fig. 2 a is use state diagram two of the present utility model；
Fig. 2 b is use state diagram three of the present utility model；
Fig. 3 is the state diagram one during extending apparatus of the present utility model expansion；
Fig. 4 a is axonometric chart two of the present utility model；
Fig. 4 b is the upward view of Fig. 4 a.
Detailed description of the invention
In order to make those skilled in the art be better understood from this utility model scheme, real below in conjunction with this utility model
Execute the accompanying drawing in example, the technical scheme in this utility model embodiment is carried out clear, complete description.
In the stabilizing control system of mobile robot, apply point of zero moment stability contorting concept and apply to mobile machine
It is considered as an effective control method that people's attitude dynamic stability controls.
For mobile robot, during point of zero moment controls to be equally applicable for mobile manipulation, posture is stable.
Use adjusting zero Moment Point Region control mode that mobile-robot system can be helped to realize self adaptation dynamic stability when manipulation
Property control.
As Figure 1-4, the dynamic self-adapting stabilizing control system of a kind of mobile robot, including mobile platform 104, even
Connection device 106, extending apparatus 108 and manipulation unit.Described attachment means 106 is located on mobile platform 104, and can connect machine
People's torso portion 102.Extending apparatus 108,114 can stretch out along mobile platform 104 edge, and then enhancing mobile platform 104 supports
Stability. wherein, extending apparatus 108 stretches out along mobile platform 104 two ends, and extending apparatus 114 is then along mobile platform 104 both sides
Stretch out.Manipulation unit connects described mobile platform 104 and extending apparatus 108,114.
Concrete, described manipulation unit includes ZMP computing module, body movement and navigation control module and control chamber.Institute
Stating control chamber is portable body structure, facilitates operator to use.Described control chamber connects robot torso portion 102, enters
And robot torso portion 102 can be controlled.Described ZMP computing module can calculate mobile platform zero moment in real time, it is judged that
The dynamic stability of robot.Described control chamber connects ZMP computing module, body movement and navigation control module, mobile platform
104 and extending apparatus 108,114.Furthermore, described control chamber includes mainboard, touch screen, communication module and controller.Controller is even
Connecing described mainboard, touch screen and communication module, communication module connects described ZMP computing module, body movement and Navigation Control mould
Block, mobile platform 104 and extending apparatus 108,114.And described ZMP computing module, body movement and navigation control module are all provided with
On mobile platform 104.
Further, mobile platform can be that mobile robot provides a stable basis.Described mobile platform 104 includes
Travel mechanism and multidirectional drive system, usual travel mechanism has multiple move mode, such as the one side complete drives in Fig. 1 a
116, the common wheel hub in Fig. 1 b, the centipede belt drive in Fig. 1 c.Multidirectional drive system connects travel mechanism, and travel mechanism can be to
Any direction moves, and then ensures that mobile platform 104 moves to any direction, and described multidirectional drive system connects described control
Case.Mobile platform 104 can make robot move flexibly in any direction and effective avoiding obstacles in narrow space.
As shown in Figure 1a, described extending apparatus 108,114 at least, described extending apparatus 108,114 includes side lever
122, the first driving means, support bar.Described side lever 122 can stretch out to mobile platform 104 edge, and the first driving means is located at shifting
On moving platform 104, and the first driving means connects side lever 122, and then side lever 122 can be driven to stretch.Support bar connects side lever
122, described first driving means connects described control chamber.As illustrated in figure 1 c, in the middle part of described support bar can be bent propping up
Support leg 121；Or as shown in Figure 1 b, support bar can also be vertical rod-like structure 120, certainly can also is that both make in combination
With.In other embodiments, described support bar also can replace with bracing frame, or support bar is applied in combination with bracing frame.Described
There is the function in similar joint at the bent place of supporting leg 121, and then mobile platform 104 can be made to have the ability that gait moves.Described
Support bar and bracing frame have the function of sustainable vertical weight.
When described extending apparatus is opened and contacts ground, can be more stable in robot execution action Shi Shi robot.Mobile
Platform 104 may utilize multidirectional drive system and provides the stability of multiple directions.Mobile platform 104 edge extensible go out a zero-g
The extending apparatus of square point, point of zero moment stably can be realized by extending apparatus.As shown in Fig. 3, Fig. 4 a and Fig. 4 b, when stretching dress
Put 108,114 stretching, extension time, the scope that it is covered creates point of zero moment stability region, this region by robot foothold with
An interior polygonal region characterizes.As long as mobile robot keep dynamic center of gravity in the range of point of zero moment stability region,
Just dynamic equilibrium can be kept in dynamic mobile manipulates stable.Robot torso portion 102 posture equally can be in dynamically manipulation
In realize ZMP self-adaptative adjustment to improve stability.Extending apparatus 108,114 can carry out stretching or shrink control by side lever 110
System.In some designs, a supporting leg 121 from extending further out from extending apparatus 108,114, and then can make shifting
Moving platform 104 has gait and moves control ability.In some narrow space, the extensible device of side makes machine mobile platform
104 have and preferably contact ground, and are conducive to provide higher system dynamic stability.The material of mobile platform 104 is permissible
It is iron and steel, titanium, plastics, rubber, silicon etc..
As shown in figures 2 a and 2b, when robot performs such as to embrace lifting with transfer weight of task, mobile platform 104 can be stretched
Put on display at least one extending apparatus 108,114 to expand point of zero moment dynamic stability region.As shown in Fig. 3 and Fig. 4 a, as long as
The dynamic center of gravity of robot system is maintained in point of zero moment stability region, and mobile platform 104 and robot torso portion 102 are i.e.
Dynamic stability can be kept.The available method calculating point of zero moment in real time of manipulation unit differentiates that mobile platform 104 is in movement
Dynamic stability.The method of this calculating point of zero moment eliminates and kept steady by the interim method increasing robot counterweight in the past
Fixed demand.
In order to keep stability in mobile platform 104 moving process, it is provided with bottom the most described extending apparatus 108,114
First omni-directional wheel 119.
Described attachment means 106 has the robot of dexterous manipulation function (at least have to embrace and lift and transfer article function) and leads to
Cross robot torso portion 102 to be arranged on mobile platform 104 mentioned above.Attachment means 106 is used for installing a machine
People's torso portion 102, robot torso portion 102 includes anthropomorphic robot or the mechanical system of similar crane.Robot body
Stem portion 102 can by bolt, screw, weld, the mode such as bonding is connected with mobile platform 104.Point of zero moment is available to be stretched
Device 108,114 and other be connected to the part on mobile platform 104 and provided power by motor driver, the most described multidirectional drive
Dynamic system and the first driving means are motor driver, the most in other embodiments, it is also possible to be cylinder, cylinder etc. other
Driver part.
Dynamic self-adapting stabilizing control system provides dynamic attitude stability for robot manipulation, especially holds in robot
During the dexterous manipulation tasks of row, including embrace lift with transfer weight, battlefield on rescue the wounded time, provide static shape being reached for robot
(center of gravity) under state and dynamically in (point of zero moment) balance, move manipulation for robot and provide lasting dynamic stability.Move
Moving platform 104 utilizes centipede belt drive to move on road surface of jolting.Mobile platform 104 may utilize omnidirectional's drive system offer and appoints
The control stability in meaning direction.Mobile platform 104 border can be extended out a point of zero moment extending apparatus makes robot more stable,
Prevent robot from tumbling, in dynamically, keep the balance of robot.
Dynamic self-adapting stabilizing control system comprises following methods: have the side in dynamic mobile ground supports face adaptively
Method, make robot have dexterous manipulation function (at least have embrace lift an and transfer article function) method, and and above-mentioned ground prop up
The method that support point locomotive function coordinates is to reach to meet system dynamics attitude stability.Guarantee when above-mentioned movement and dexterous manipulation
System can reach stable method by dynamically adjusting in ground supports.Measurement system gravity, point of zero moment, point of zero moment are steady
The method determining region；The method controlling extensible ground support means；The method controlling robot stable posture；Adaptive Planning
Point of zero moment and the method for kinetic parameter.
Obviously, described embodiment is only a part of embodiment of the present utility model rather than whole embodiments.
Based on the embodiment in this utility model, those of ordinary skill in the art are obtained under not making creative work premise
Every other embodiment, all should belong to the scope of this utility model protection.
Claims (8)
1. move a dynamic self-adapting stabilizing control system for robot, including mobile platform (104), be located at mobile platform
(104) attachment means (106) of robot torso portion (102) can be connected on, can stretch out along mobile platform (104) edge, enter
And strengthen the extending apparatus (108,114) of mobile platform (104) stability of strutting system and connect described mobile platform (104) and stretch
The manipulation unit of device (108,114)；It is characterized in that: described manipulation unit includes can calculating mobile platform zero moment in real time
Point, the ZMP computing module, body movement and the navigation control module that judge Robotic Dynamic stability and connection robot trunk
Divide the control chamber of (102)；Described control chamber connects ZMP computing module, body movement and navigation control module, mobile platform
And extending apparatus (108,114) (104).
The dynamic self-adapting stabilizing control system of mobile robot the most according to claim 1, it is characterised in that: described control
Case processed includes mainboard, touch screen, communication module and connect the controller of described mainboard, touch screen, communication module；Communication module is even
Connect described ZMP computing module, body movement and navigation control module, mobile platform (104) and extending apparatus (108,114).
The dynamic self-adapting stabilizing control system of mobile robot the most according to claim 1, it is characterised in that: described shifting
Moving platform (104) includes can be described multidirectional to the travel mechanism that any direction moves, the multidirectional drive system of connection travel mechanism
Drive system connects described control chamber.
The dynamic self-adapting stabilizing control system of mobile robot the most according to claim 1, it is characterised in that stretch described in:
Extending apparatus (108,114) includes can to drive side to the side lever (122) that mobile platform (104) edge stretches out, connection side lever (122)
The first driving means, the support bar connecting side lever (122) and/bracing frame that bar (122) is flexible, described first driving means connects
Described control chamber.
The dynamic self-adapting stabilizing control system of mobile robot the most according to claim 4, it is characterised in that stretch described in:
Extending apparatus (108,114) bottom is provided with the first omni-directional wheel (119).
The dynamic self-adapting stabilizing control system of mobile robot the most according to claim 4, it is characterised in that: described
It is bent supporting leg (121) and/vertical rod-like structure (120) in the middle part of strut.
The dynamic self-adapting stabilizing control system of mobile robot the most according to claim 1, it is characterised in that: described
ZMP computing module, body movement and navigation control module are all located on mobile platform (104).
The dynamic self-adapting stabilizing control system of mobile robot the most according to claim 1, it is characterised in that: described control
Case processed is portable body structure.
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201620536203.7U CN205670259U (en) | 2016-06-04 | 2016-06-04 | The dynamic self-adapting stabilizing control system of mobile robot |
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| CN201620536203.7U CN205670259U (en) | 2016-06-04 | 2016-06-04 | The dynamic self-adapting stabilizing control system of mobile robot |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105843230A (en) * | 2016-06-04 | 2016-08-10 | 浙江侍维波机器人科技有限公司 | Dynamic adaptive stability control system for mobile robot |
| CN106843258A (en) * | 2017-04-13 | 2017-06-13 | 桂林电子科技大学 | Can omnibearing tilt dolly seesaws device and its balance control method |
-
2016
- 2016-06-04 CN CN201620536203.7U patent/CN205670259U/en not_active Expired - Fee Related
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105843230A (en) * | 2016-06-04 | 2016-08-10 | 浙江侍维波机器人科技有限公司 | Dynamic adaptive stability control system for mobile robot |
| CN106843258A (en) * | 2017-04-13 | 2017-06-13 | 桂林电子科技大学 | Can omnibearing tilt dolly seesaws device and its balance control method |
| CN106843258B (en) * | 2017-04-13 | 2023-05-23 | 桂林电子科技大学 | Trolley teeterboard device capable of being tilted in all directions and balance control method thereof |
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Legal Events
| Date | Code | Title | Description |
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| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant | ||
| CF01 | Termination of patent right due to non-payment of annual fee | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20161102 Termination date: 20180604 |