CN207319062U - A kind of robot autonomous navigation and kinetic control system - Google Patents
A kind of robot autonomous navigation and kinetic control system Download PDFInfo
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- CN207319062U CN207319062U CN201720770742.1U CN201720770742U CN207319062U CN 207319062 U CN207319062 U CN 207319062U CN 201720770742 U CN201720770742 U CN 201720770742U CN 207319062 U CN207319062 U CN 207319062U
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Abstract
The utility model discloses a kind of robot autonomous navigation and kinetic control system, including the first processing unit, second processing device and electric power controller：First processing unit carries out the parameter information of robot platform with postponing, and obtains and handles high data volume sensor measurement data information, map management information request and navigation task are asked, generation motion planning and robot control order and navigation task progress feedback information；Second processing device obtains and the low data bulk sensor information of handling machine people's platform and motion planning and robot control order, is converted into motor motion control order-driven robot motion；Electric power controller provides power supply for the first processing unit and second processing device.With using simple and convenient, integrated level is high, it is versatile the advantages of, the dependency degree of independent navigation and kinetic control system to robot platform and sensor type can be effectively reduced.
Description
Technical Field
The utility model relates to a robotechnology field, in particular to robot is navigation and motion control system independently.
Background
The robot autonomous navigation technology is a research hotspot in the field of robots and is a key point for realizing autonomous movement of the robot. The autonomous navigation technology of the robot mainly senses environmental information and self state through a sensor, establishes a scene map while determining the self position, and realizes autonomous movement in an unknown environment by using the position and the map information.
At present, most of robots with autonomous navigation functions in the market are developed based on specific sensors and specific algorithms, and are not universal, and robot development companies often need to invest a large amount of manpower and material resources for research and development. However, the autonomous navigation device directly applicable to different types of robot platforms in the market at present is usually only adapted to a specific sensor, and autonomous navigation is performed by using a method of constructing a map and navigating at the same time, and although the method can reduce the research and development cost of a mobile robot with an autonomous navigation function, the method needs to be used in cooperation with the specific sensor; in addition, the method of map building and navigation increases the operation load pressure of the navigation system, and the map cannot be stored, so that the map needs to be reconstructed and navigated after the system is restarted every time, and the process is complicated and the efficiency is low.
SUMMERY OF THE UTILITY MODEL
An object of the utility model is to overcome prior art's shortcoming and not enough, a robot is independently navigated and motion control system is provided, but directly be applied to on the robot platform of different grade type, the sensor of adaptation different grade type, and adopt the method of navigation after the map of founding earlier, in order to reduce the degree of dependence of independently navigating and motion control system to the robot platform of different grade type and sensor, but also direct save and call at any time after the map is founded, can also carry out incremental updating according to in-service use needs, thereby reduce the map and found the load pressure to navigation system operational performance.
The purpose of the utility model is realized through the following technical scheme:
a robot autonomous navigation and motion control system comprises a first processing device, a second processing device and a power supply management device; wherein,
the first processing device is used for configuring parameter information of the robot platform, acquiring and processing high-data-quantity sensor measurement data information, a map management information request and a navigation task request, fusing the high-data-quantity sensor measurement data information, the map management information request and the navigation task request with internal navigation related information, constructing a scene map and planning a path, and generating a robot motion control command and navigation task progress feedback information;
the second processing device acquires and processes low data sensor information of the robot platform, converts the low data sensor information into internal navigation related information, acquires and processes a robot motion control command, converts the robot motion control command into a motor motion control command, and sends the motor motion control command to a motor of the robot platform and a driving device of the motor to drive the motor to move;
the power management device provides power for the first processing device and the second processing device.
In the above technical solution, the utility model provides a robot autonomous navigation and motion control system, respectively obtain and process parameter information of a robot platform, sensor data information and a navigation task request through a first processing device and a second processing device, generate a robot motion control command and a motor motion control command, drive the robot platform to move, and feed back a real-time motion state to a main control system of the robot platform, thereby realizing navigation task process feedback, greatly reducing load pressure brought by an autonomous navigation function to the operation performance of the robot control system, and can be directly applied to different types of robot platforms, adapt to different types of sensors, reduce dependence of the autonomous navigation and motion control system on the robot platform and the sensor type, reduce development difficulty and shorten development cycle of the robot with the autonomous navigation function, the robot with the autonomous navigation function has better market development prospect.
Drawings
Fig. 1 is a schematic diagram of a structure of a self-contained navigation and motion control system and a robot platform.
FIG. 2 is a schematic diagram of the operation of the power management device of the autonomous navigation and motion control system.
Detailed Description
The present invention will be described in further detail with reference to the following examples and drawings, but the present invention is not limited thereto.
As shown in fig. 1, the system 1 for synchronous positioning, mapping, path planning and motion control provided by the present invention includes a first processing device 11, a second processing device 12 and a power management device 13; wherein,
after configuring the parameter information of the robot platform 2, the first processing device 11 acquires and processes the measurement data information of the high data sensor 221, the map management information request and the navigation task request, fuses with the internal navigation related information, constructs a scene map and plans a path, and generates a robot motion control command and navigation task progress feedback information;
the second processing device 12 acquires and processes the information of the low data sensor 222 of the robot platform 2, converts the information into internal navigation related information, acquires and processes a robot motion control command, converts the robot motion control command into a motor motion control command, and sends the motor motion control command to the motor of the robot platform 2 and the driving device 23 thereof to drive the motor to move;
the power management device 13 provides power to the first processing device 11 and the second processing device 12.
In this embodiment, the robot platform 2 is a robot having a main control system 21, a plurality of sensor devices 22, and a motor as a chassis driving element. Specifically, the robot platform master control system 21 is a robot upper control system having a logic analysis function and capable of implementing task formulation and scheduling.
Further, the plurality of sensor devices 22 of the robot platform 2 includes a high data sensor 221 and a low data sensor 222. The high data rate sensor 221 includes at least one of a laser radar, a depth camera, or a binocular camera. The low data-content sensor 222 may be one or more of an encoder, a crash switch, an IMU inertial measurement unit, an ultrasonic sensor, and an infrared sensor.
Preferably, the robot autonomous navigation and motion control system 1 may be adapted to most sensors on the market, and the sensors configured on the robot platform 2 may be selectively equipped according to specific use scenarios.
Further, the chassis structure of the robot platform 2 may be a wheel-set chassis structure, or a tracked chassis structure, including but not limited to a four-wheel-driven robot chassis, a two-wheel differential-driven robot chassis, an omni-directional robot chassis using omni wheels or mecanum wheels, a tracked robot chassis, and an agv (automated guided vehicle) automatic guided vehicle chassis.
In this embodiment, preferably, the robot autonomous navigation and motion control system 1 is mounted on a chassis of the robot platform 2.
In this embodiment, the first processing device 11 performs external data communication with the main control system 21 of the robot platform 2, configures the parameter information of the robot platform 2 in the first processing device 11, processes the parameter information to generate a corresponding configuration file, and stores the configuration file to automatically configure the system, thereby completing system initialization. The parameter information of the robot platform includes, but is not limited to, mechanical dimension parameters of a robot chassis, a reduction ratio of a motor, a maximum rotating speed of the motor, a pulse number of an encoder, a type of a mounted sensor and a mounting position.
In this embodiment, the first processing device 11 performs external data communication with the main control system 21 of the robot platform 2, and further includes a request for obtaining map management information. The map management information request includes, but is not limited to, a map construction request, a map list information request, and a map data import request.
Further, the main control system 21 issues a map construction request, and after receiving the map construction request, the first processing device 11 obtains real-time measurement data information from the high data volume sensor 221 configured in the robot platform 2, processes the real-time measurement data information to obtain a gray scale map of the surrounding environment, and stores the map data to complete the map construction process. In the process of map construction, the master control system 21 can control the robot to move in a remote control mode, and can also enable the robot to freely walk in an unknown environment by issuing an automatic exploration command. The first processing device 11 can obtain complete map data of the surrounding environment by collecting and processing real-time measurement data information of the high data sensor 221. Preferably, after acquiring the real-time measurement data information of the high data sensor 221 of the robot platform 2, the first processing device 11 performs data processing by using a slam (simultaneouslocalization and mapping) algorithm, so as to implement map construction of the current environment, and synchronously acquire the position coordinates of the robot on the map.
Furthermore, the main control system 21 issues a map list information request, and after receiving the map list information request, the first processing device 11 transmits the map list information stored inside to the main control system 21, and then the main control system 21 performs map selection. Preferably, the first processing device 11 may store a plurality of sets of map data information and manage the map data information in a map list manner. The map data information includes, but is not limited to, a map name or a map code, a map size, a map resolution, a map compression ratio, and a map creation time.
Still further, the main control system 21 selects a map according to the map list information, and issues a map data import request; after receiving the map data import request, the first processing device 11 reads the map data from the inside, completes the import of the map data, and transmits the map data information to the main control system 21. Preferably, the map data import request issued by the main control system 21 includes a map name or a map code selected from the map list, and the first processing device 11 invokes the corresponding map data according to the map name or the map code.
In this embodiment, the first processing device 11 performs external data communication with the main control system 21 of the robot platform, and further includes a request for obtaining a navigation task. The navigation task request issued by the main control system 21 may be the position and posture of one or more destinations, or may be the movement route of the robot. After receiving the navigation task request from the main control system 21, the first processing device 11 performs preliminary analysis on the navigation task request by combining with the map data, and completes the preliminary planning of the movement path.
In this embodiment, the first processing device 11 performs external data communication with the main control system 21 of the robot platform, and further includes task process feedback information. In the process of the robot moving according to the navigation task request, the first processing device 11 collects relevant information of the motion state in real time, generates navigation process feedback information after processing, and transmits the navigation process feedback information to the main control system 21 of the robot platform to realize motion state monitoring and navigation task process feedback. The navigation task process feedback information includes, but is not limited to, map data information, sensor data information, path planning information, real-time position and posture of the robot, real-time movement speed and direction, and navigation task process.
Preferably, the first processing device 11 performs data transmission with a master control system 21 of the robot platform by means of network connection. Specifically, the network connection mode may be an ethernet connection or a wireless network connection.
It should be understood by those skilled in the art that, in addition to the network connection, the first processing device 11 may also perform data transmission with the master control system 21 of the robot platform in other connection manners, such as optical fiber, USB, and wusb (wireless USB), only to ensure that the data transmission conforms to the predefined communication protocol.
In this embodiment, the first processing device 11 and the second processing device 12 define a unified communication protocol, and may perform data transmission with the high data sensor 221 and the low data sensor 222, respectively, or may perform internal data transmission between the first processing device 11 and the second processing device 12.
In this embodiment, the second processing device 12 acquires the data information of the low data sensor 222 of the robot platform 2 through a predefined communication protocol, and converts the data information into the internal navigation related information after processing. The internal navigation related information includes, but is not limited to, the motion state of each motor of the robot platform, the collision switch state, and the surrounding obstacle information.
Further, the second processing device 12 performs internal data communication with the first processing device 11, and transmits the internal navigation related information to the first processing device 11.
In this embodiment, the first processing device 11 obtains real-time measurement data information of the high data sensor 221 of the robot platform 2 through a predefined communication protocol, and obtains current positioning information of the robot after the real-time measurement data information is fused with map data information. The positioning information comprises coordinate values and direction angles of the current position of the robot mapped on a map.
Further, after acquiring the current positioning information of the robot, the first processing device 11 fuses the current positioning information of the robot with the map data information and the internal navigation related information, performs a navigation planning decision in combination with the navigation task request, completes a movement path planning, generates a robot movement control command, and transmits the robot movement control command to the second processing device 12. The robot motion control command comprises the position and the posture of the robot at each point on the motion path, and the motion speed and the motion direction of the robot.
Furthermore, in the motion process of the robot, the first processing device 11 and the second processing device 12 acquire and update the related information of the high data sensor 221 and the low data sensor 222 of the robot platform 2 in real time, so as to realize the real-time acquisition of the synchronous positioning and the ambient environment information, and update the planning decision of the motion path in real time according to the acquired information, thereby realizing the real-time motion control.
Preferably, the ambient environment information acquired by the robot in the motion process further includes dynamic obstacle information, and the avoidance decision of the dynamic obstacle is preferentially performed in the planning decision process of the motion path.
In this embodiment, after receiving the robot motion control command, the second processing device 12 performs operation and analysis on the robot motion control command to generate a wheel set motor motion control command, and sends the motor motion control command to the motor of the robot platform 2 and the driving device 23 thereof, so that the motor drives the wheel set to move at a planned speed, thereby realizing that the robot platform 2 moves according to the navigation task request.
Preferably, in the motion process of the robot, the second processing device 12 acquires the motor motion state information of the robot platform 2 in real time, performs fusion processing on the motor motion state information and the motor motion control command, adjusts the motor motion control command in real time, and enables the motion control of the robot to be more accurate in a feedback mode.
In this embodiment, as shown in fig. 2, the power management device 13 includes a voltage reduction and stabilization module, processes an external input voltage, converts the external input voltage into a working voltage of the first processing device 11 and the second processing device 12, stabilizes the working voltage, and provides a power supply for the first processing device 11 and the second processing device 12. The operating voltages of the first processing device 11 and the second processing device 12 may be the same or different.
Compared with the prior art, the utility model provides a highly integrated robot is from navigation and motion control system 1, but direct mount is on robot platform 2, through first processing apparatus 11 and second processing apparatus 12 respectively with robot platform's major control system 21, sensor device 22, motor and drive arrangement 23 link to each other, and carry out data transmission through predefined communication protocol, can realize the map after handling the data of each part collection and found, route planning and motion control's function, adaptation in the robot platform of different grade type and the sensor of different grade type, the dependence of autonomic navigation function to robot platform and sensor type has greatly been reduced, can reduce the development degree of difficulty of the robot of taking autonomic navigation function effectively and shorten development cycle.
The above description is only a preferred embodiment of the present invention, and should not be taken as limiting the invention, and any modifications, equivalents, improvements and the like made by those skilled in the art without departing from the basic concept of the present invention should be included in the protection scope of the present invention. Furthermore, the terms "first" and "second" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance. In the description of the present invention, "a plurality" means two or more unless specifically limited otherwise.
Claims (7)
1. A robot autonomous navigation and motion control system comprises a first processing device, a second processing device and a power supply management device; wherein,
the first processing device is used for configuring parameter information of the robot platform, acquiring and processing high-data-quantity sensor measurement data information, a map management information request and a navigation task request, fusing the high-data-quantity sensor measurement data information, the map management information request and the navigation task request with internal navigation related information, constructing a scene map and planning a path, and generating a robot motion control command and navigation task progress feedback information;
the second processing device acquires and processes low data sensor information of the robot platform, converts the low data sensor information into internal navigation related information, acquires and processes a robot motion control command, converts the robot motion control command into a motor motion control command, and sends the motor motion control command to a motor of the robot platform and a driving device of the motor to drive the motor to move;
the power management device provides power for the first processing device and the second processing device.
2. The robotic autonomous navigation and motion control system of claim 1, wherein the robotic autonomous navigation and motion control system is piggy-backed on the robotic platform.
3. The system of claim 1, wherein the first processing device is capable of performing external data communication with a main control system of the robot platform to obtain parameter information, a map management information request, a navigation information request, and feedback navigation task progress information of the robot platform.
4. The robotic autonomous navigation and motion control system of claim 1, wherein the first processing means can acquire and process real-time measurement data information of a high data volume sensor of the robotic platform, and the second processing means can acquire and process real-time data information of a low data volume sensor of the robotic platform;
the high data volume sensor at least comprises any one of a laser radar, a depth camera or a binocular camera;
the low data volume sensor can be one or more of an encoder, a collision switch, an IMU inertial measurement unit, an ultrasonic sensor and an infrared sensor.
5. The system of claim 1, wherein the first processing device and the second processing device are capable of internal data communication to transmit internal navigation related information and robot motion control commands.
6. The system of claim 1, wherein the second processing device is configured to communicate external data with the motor of the robotic platform and a driving device thereof to transmit motor motion control commands.
7. The system of claim 1, wherein the power management device comprises a voltage reduction and stabilization module, and is configured to convert an external input voltage into the operating voltages of the first and second processing units and stabilize the output voltage.
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Cited By (7)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN109227566A (en) * | 2018-10-23 | 2019-01-18 | 广州赛特智能科技有限公司 | A kind of hospital's Intelligent transfer robot |
| CN109521767A (en) * | 2018-10-18 | 2019-03-26 | 李培 | Independent navigation robot system |
| CN109806113A (en) * | 2019-03-14 | 2019-05-28 | 郑州大学 | A kind of ward ICU horizontal lower limb rehabilitation intelligent interaction robot group system based on ad hoc network navigation |
| CN109820695A (en) * | 2019-04-03 | 2019-05-31 | 郑州大学 | A kind of horizontal bilateral brain paralysis lower limb rehabilitation robot in the ward ICU with communication and independent navigation locomotive function |
| CN113110510A (en) * | 2021-05-19 | 2021-07-13 | 悟空智能科技常州有限公司 | Autonomous navigation control system of fire extinguishing robot |
| CN113821040A (en) * | 2021-09-28 | 2021-12-21 | 中通服创立信息科技有限责任公司 | Robot with depth vision camera and laser radar integrated navigation |
| CN114348138A (en) * | 2022-01-22 | 2022-04-15 | 石家庄东方热电热力工程有限公司 | Wall-climbing robot navigation system and method for water-cooled wall scene |
-
2017
- 2017-06-28 CN CN201720770742.1U patent/CN207319062U/en not_active Expired - Fee Related
Cited By (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109521767A (en) * | 2018-10-18 | 2019-03-26 | 李培 | Independent navigation robot system |
| CN109227566A (en) * | 2018-10-23 | 2019-01-18 | 广州赛特智能科技有限公司 | A kind of hospital's Intelligent transfer robot |
| CN109806113A (en) * | 2019-03-14 | 2019-05-28 | 郑州大学 | A kind of ward ICU horizontal lower limb rehabilitation intelligent interaction robot group system based on ad hoc network navigation |
| CN109820695A (en) * | 2019-04-03 | 2019-05-31 | 郑州大学 | A kind of horizontal bilateral brain paralysis lower limb rehabilitation robot in the ward ICU with communication and independent navigation locomotive function |
| CN113110510A (en) * | 2021-05-19 | 2021-07-13 | 悟空智能科技常州有限公司 | Autonomous navigation control system of fire extinguishing robot |
| CN113821040A (en) * | 2021-09-28 | 2021-12-21 | 中通服创立信息科技有限责任公司 | Robot with depth vision camera and laser radar integrated navigation |
| CN114348138A (en) * | 2022-01-22 | 2022-04-15 | 石家庄东方热电热力工程有限公司 | Wall-climbing robot navigation system and method for water-cooled wall scene |
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