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
- Publication number
- 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
- Authority
- CN
- China
- Prior art keywords
- robot
- information
- control system
- navigation
- processing device
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Active
Links
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
Robotic technology field is the utility model is related to, more particularly to a kind of robot autonomous navigation and motion control system
System.
Background technology
Robot autonomous airmanship is the research hotspot of robot field, is the pass that robot realizes autonomous
Key.Robot autonomous airmanship mainly passes through sensor senses environmental information and oneself state, is determining self-position
Scene map is built at the same time, and realizes the autonomous in circumstances not known using position and cartographic information.
The robot on the market with independent navigation function is largely to be based on specific sensor and specific algorithm at present
Developed, and do not have versatility, robot development company generally requires to put into substantial amounts of manpower and material resources are researched and developed.
And at present the independent navigation equipment that may be directly applied on the market on different types of robot platform usually only adapt to it is specific
Sensor, independent navigation is carried out using the method navigated when building map, although this method can reduce band from leading
The R＆D costs of the mobile robot for function of navigating, but need to be used cooperatively with specific sensor；In addition, navigate in Jian Tu
Method increase the computing load pressure of navigation system, and map can not preserve, and cause after each restarting systems all
Need to rebuild map and navigate, process is cumbersome and inefficiency.
Utility model content
The purpose of the utility model is to overcome the shortcomings that the prior art with deficiency, there is provided a kind of robot autonomous navigation and
Kinetic control system, may be directly applied on different types of robot platform, be adapted to different types of sensor, and using first
The method navigated after structure map, to reduce independent navigation and kinetic control system to different types of robot platform and sensing
The dependency degree of device, and can directly preserve after map structuring and call at any time, increment can also be carried out according to actual needs
Formula updates, so as to reduce load pressure of the map structuring to navigation system operational performance.
The purpose of this utility model is achieved through the following technical solutions：
A kind of robot autonomous navigation and kinetic control system, including the first processing unit, second processing device and power supply
Managing device；Wherein,
First processing unit carries out the parameter information of the robot platform, with postponing, to obtain and handle high data
Quantity sensor measurement data information, map management information request and navigation task request, are merged, structure with internal navigation-related information
Build scene map and carry out path planning, generate motion planning and robot control order and navigation task progress feedback information；
The second processing device obtains and handles the low data bulk sensor information of the robot platform, is converted into interior
Portion's navigation-related information, while simultaneously handling machine people's motion control commands are obtained, motor motion control instruction is converted into, and send
To the robot platform motor and its driving device to drive motor movement；
The electric power controller provides power supply for first processing unit and the second processing device.
In the above-mentioned technical solutions, a kind of robot autonomous navigation provided by the utility model and kinetic control system, lead to
Cross the first processing unit and second processing device obtains respectively and the parameter information of handling machine people's platform, sensor data information
And navigation task request, motion planning and robot control order and motor motion control instruction are generated, driving robot platform moves, and
By in the master control system of real time kinematics feedback of status to robot platform, realize navigation task progress feedback, considerably reduce
The load pressure brought by independent navigation function to robot control system runnability, and may be directly applied to different type
Robot platform on, be adapted to different types of sensor, reduce independent navigation and kinetic control system to robot platform and
The dependency degree of sensor type, reduces the development difficulty of the robot with independent navigation function and shortens the construction cycle, make band certainly
The robot of main navigation feature obtains more preferable market development prospect.
Brief description of the drawings
Fig. 1 is the fit structure schematic diagram of independent navigation and kinetic control system and robot platform.
Fig. 2 is independent navigation and kinetic control system electric power controller operating diagram.
Embodiment
The utility model is described in further detail with reference to embodiment and attached drawing, but the implementation of the utility model
Mode not limited to this.
As shown in Figure 1, synchronous positioning provided by the utility model includes with building figure, path planning and kinetic control system 1
First processing unit 11, second processing device 12 and electric power controller 13；Wherein,
First processing unit 11 carries out the parameter information of the robot platform 2, with postponing, to obtain and handle height
221 measurement data information of data quantity sensor, map management information request and navigation task request, with internal navigation-related information
Fusion, builds scene map and carries out path planning, generate motion planning and robot control order and navigation task progress feedback information；
The second processing device 12 obtains and handles 222 information of low data bulk sensor of the robot platform 2, turns
Change internal navigation-related information into, while obtain simultaneously handling machine people's motion control commands, be converted into motor motion control instruction,
And send to the motor of the robot platform 2 and its driving device 23 to drive motor movement；
The electric power controller 13 provides power supply for first processing unit 11 and the second processing device 12.
In the present embodiment, the robot platform 2 refers to master control system 21, configures some sensor devices 22,
Robot using motor as chassis driving element.Specifically, the robot platform master control system 21 refers to logic
Analytic function, the task that can realize is formulated and the robot top level control system of scheduling.
Further, some sensor devices 22 that the robot platform 2 configures include high 221 He of data quantity sensor
Low data bulk sensor 222.The high data quantity sensor 221 includes at least laser radar, depth camera or binocular camera
In any one.The low data bulk sensor 222 can be encoder, and impact switch, IMU Inertial Measurement Units, surpass
Sonic sensor, the one or more in infrared sensor.
Preferably, the robot autonomous navigation and kinetic control system 1 can be adapted to most sensor on the market,
The sensor that the robot platform 2 configures can make choice outfit according to specifically used scene.
Further, the chassis structure of the robot platform 2 can be wheel group formula chassis structure or crawler belt
Formula chassis structure, includes but not limited to the robot chassis of four-wheel drive, the robot chassis of two wheel guide robot driving, using omnidirectional
The all directionally movable robot chassis of wheel or Mecanum wheel, caterpillar type robot chassis, AGV (Automated Guided
Vehicle) automatically guiding trolley chassis.
In the present embodiment, it is preferred that the robot autonomous navigation and kinetic control system 1 carry and be installed on the machine
On the chassis of people's platform 2.
In the present embodiment, first processing unit 11 and the master control system 21 of the robot platform 2 carry out external number
According to communication, the parameter information of configuration of robotic platform 2 in the first processing unit 11, and generated after handling parameter information
Corresponding configuration file, system will be configured automatically after preserving the configuration file, complete system initialization.The robot is put down
The parameter information of platform includes but not limited to mechanical dimension's parameter on robot chassis, and the speed reducing ratio of motor, motor maximum (top) speed, is compiled
The umber of pulse of code device, the kind of sensor and installation site of installation.
In the present embodiment, first processing unit 11 and the master control system 21 of the robot platform 2 carry out external number
According to communication, further include and obtain map management information request.The map management information request includes but not limited to map structuring
Request, map list information request, map datum import request.
Further, master control system 21 issues map structuring request, and first processing unit 11 receives map structuring
After request, real-time measuring data information is obtained in the high data quantity sensor 221 configured from robot platform 2, is obtained after processing
The gray scale map of surrounding environment, and map datum is preserved, complete map structuring process.It is main during map structuring
Control system 21 can control robot motion by way of remote control, by issuing automatic exploration order robot can also be allowed to exist
Freely walk in circumstances not known.First processing unit 11 is surveyed by collecting and handling the real-time of high data quantity sensor 221
Measure data message, you can obtain complete surrounding environment map datum.Preferably, first processing unit 11 is described in acquisition
After the real-time measuring data information of the high data quantity sensor 221 of robot platform 2, SLAM (Simultaneous will be used
Localization and Mapping) algorithm carries out data processing, realize the map structuring of current environment, and it is same on map
Step obtains the position coordinates of robot.
Further, master control system 21 issues map list information request, and first processing unit 11 receives ground
After Figure List information request, by inside preserve map list information be transferred in master control system 21, then by master control system 21 into
Row map selects.Preferably, multigroup map data information can be preserved in first processing unit 11, with the side of ground Figure List
Formula is managed.The map data information is differentiated including but not limited to name map or map code name, map size, map
Rate, Map Compression ratio, map building time.
Also further, list information makes choice map to the master control system 21 according to the map, and issues map number
Asked according to importing；After first processing unit 11 receives map datum importing request, map datum will be read from inside, it is complete
Imported into map datum, and map data information is transferred in master control system 21.Preferably, the map that master control system 21 is issued
Data import request bag and contain the name map selected from ground Figure List or map code name, and the first processing unit 11 is by base area
The map title claims or map code name calls corresponding map datum.
In the present embodiment, first processing unit 11 and the master control system 21 of the robot platform carry out external number
According to communication, further include and obtain navigation task request.The navigation task request that master control system 21 is issued can be one or more mesh
Ground position and the moving line of posture or robot.First processing unit 11 receives leading for master control system 21
After task requests of navigating, navigation task is asked with reference to map datum to carry out Preliminary Analysis, completes the preliminary planning of motion path.
In the present embodiment, first processing unit 11 and the master control system 21 of the robot platform carry out external number
According to communication, task process feedback information is further included.In robot asks motion process according to navigation task, first processing
Device 11 will gather the relevant information of motion state in real time, and generation navigation progress feedback information, is transmitted to robot and puts down after processing
In the master control system 21 of platform, motion state monitoring and navigation task progress feedback are realized.The navigation task progress feedback information
Including but not limited to map data information, sensor data information, route planning information, the real time position and posture of robot,
Real time kinematics speed and direction, navigation task process.
Preferably, master control system of first processing unit 11 by way of network connection with the robot platform
21 carry out data transmission.Specifically, the mode of network connection can be Ethernet connection or wireless network connection.
Those skilled in the art will appreciate that except the mode of network connection, first processing unit 11 may be used also
To be carried out data transmission with other connection modes and the master control system 21 of the robot platform, such as optical fiber, USB and WUSB
(Wireless USB), it is only necessary to ensure that the transmission of data meets pre-defined communication protocol.
In the present embodiment, unified lead to is respectively defined in first processing unit 11 and the second processing device 12
Believe agreement, can carry out data transmission respectively with high data quantity sensor 221 and low data bulk sensor 222, can also be in institute
State and carry out internal data transfer between the first processing unit 11 and the second processing device 12.
In the present embodiment, the second processing device 12 obtains the robot platform by pre-defined communication protocol
The data message of 2 low data bulk sensor 222, is converted into internal navigation-related information after processing.The internal navigation is related
Information includes but not limited to the motion state of each motor of robot platform, impact switch state, surrounding environment obstacle information.
Further, the second processing device 12 carries out internal data communication with first processing unit 11, by institute
Internal navigation-related information is stated to be transferred in first processing unit 11.
In the present embodiment, first processing unit 11 obtains the robot platform by pre-defined communication protocol
The real-time measuring data information of 2 high data quantity sensor 221, it is currently fixed to obtain robot after being blended with map data information
Position information.The location information includes the coordinate value and deflection that robot present position is mapped on map.
Further, after first processing unit 11 gets robot current location information, with the map datum
Information, the internal navigation-related information are merged, and are asked to carry out navigation programming decision-making with reference to the navigation task, are completed fortune
Dynamic path planning, generates motion planning and robot control order, and motion planning and robot control order is transferred to second processing device 12.
Motion planning and robot control order includes the position and posture robot on motion path at each point, the movement velocity of robot and
Direction.
Further, in robot kinematics, first processing unit 11 and the second processing device 12
Obtain in real time and update high data quantity sensor 221 letter related to low data bulk sensor 222 of the robot platform 2
Breath, realizes synchronous positioning and the real-time acquisition of ambient condition information, and according to acquired information real-time update motion path
Programmed decision-making, controls so as to fulfill real time kinematics.
Preferably, robot also includes dynamic barrier information in the ambient condition information acquired in motion process, is transporting
Avoidance decision-making preferentially will be carried out to dynamic barrier during the programmed decision-making in dynamic path.
In the present embodiment, after the second processing device 12 receives motion planning and robot control order, to robot motion
Control command carries out computing parsing, the motor motion control instruction of generation wheel group, and motor motion control instruction is sent to described
The motor and its driving device 23 of robot platform 2, make motor driven wheel group be moved by the speed of planning, so as to fulfill robot
Platform 2 asks to move according to navigation task.
Preferably, in robot kinematics, the second processing device 12 will obtain the robot platform 2 in real time
Motor movement status information, and by motor movement status information and motor motion control instruction carry out fusion treatment, in real time adjust
Whole motor motion control instruction, makes the motion control of robot more accurate by way of feedback.
In the present embodiment, as shown in Fig. 2, the electric power controller 13 includes decompression and Voltage stabilizing module, to exterior defeated
Enter voltage to be handled, be converted into the operating voltage of first processing unit 11 and the second processing device 12 and stablize defeated
Go out, be that first processing unit 11 and the second processing device 12 provide power supply.First processing unit 11 and described
The operating voltage of second processing device 12 can be identical or different.
Compared with the prior art, robot autonomous navigation and the motion control system of Highgrade integration provided by the utility model
System 1, can be directly mounted on robot platform 2, by the first processing unit 11 and second processing device 12 respectively with robot
Master control system 21, sensor device 22, motor and its driving device 23 of platform are connected, and pass through pre-defined communication protocol
Carry out data transmission, map structuring, path planning and motion control can be achieved after handling in the data gathered to each several part
Function, adapts to different types of robot platform and different types of sensor, significantly reduces independent navigation function pair
The dependency degree of robot platform and sensor type, can be effectively reduced the robot with independent navigation function development difficulty and
Shorten the construction cycle.
The above descriptions are merely preferred embodiments of the present invention, is not intended to limit the present invention, this area
Technical staff is not on the premise of the basic conception of the utility model is departed from, any modification, equivalent replacement, improvement and so on,
It should be included within the scope of protection of this utility model.In addition, term " first ", " second " are only used for description purpose, without
It is understood that to indicate or implying relative importance.In the description of the utility model, " multiple " are meant that two or more, unless
It is another to have clearly specific limit.
Claims (7)
1. a kind of robot autonomous navigation and kinetic control system, including the first processing unit, second processing device and power supply pipe
Manage device；Wherein,
First processing unit carries out the parameter information of the robot platform with postponing, and obtains and handles high data volume biography
Sensor measurement data information, map management information request and navigation task request, merge with internal navigation-related information, build field
Scape map simultaneously carries out path planning, generates motion planning and robot control order and navigation task progress feedback information；
The second processing device obtains and handles the low data bulk sensor information of the robot platform, is converted into inside and leads
Boat relevant information, while simultaneously handling machine people's motion control commands are obtained, motor motion control instruction is converted into, and send to institute
Motor and its driving device of robot platform are stated to drive motor movement；
The electric power controller provides power supply for first processing unit and the second processing device.
2. robot autonomous navigation according to claim 1 and kinetic control system, it is characterised in that the robot is certainly
Leading boat and kinetic control system, which carry, to be installed on the robot platform.
3. robot autonomous navigation according to claim 1 and kinetic control system, it is characterised in that first processing
Device can carry out external data communication with the master control system of the robot platform, obtain the parameter information of robot platform,
Map management information is asked, navigation information request and feedback navigation task progress information.
4. robot autonomous navigation according to claim 1 and kinetic control system, it is characterised in that first processing
Device can obtain and handle the real-time measuring data information of the high data quantity sensor of the robot platform, at described second
Reason device can obtain and handle the real time data information of the low data bulk sensor of the robot platform；
The high data quantity sensor includes at least any one in laser radar, depth camera or binocular camera；
The low data bulk sensor can be encoder, impact switch, IMU Inertial Measurement Units, and ultrasonic sensor is red
One or more in outer sensor.
5. robot autonomous navigation according to claim 1 and kinetic control system, it is characterised in that first processing
Internal data communication can be carried out between device and the second processing device, transmits internal navigation-related information and robot fortune
Dynamic control command.
6. robot autonomous navigation according to claim 1 and kinetic control system, it is characterised in that the second processing
Device can carry out external data communication with the motor and its driving device of the robot platform, and transmission electrical machine motion control refers to
Order.
7. robot autonomous navigation according to claim 1 and kinetic control system, it is characterised in that the power management
Device includes decompression and Voltage stabilizing module, and external input voltage can be converted into the first processing units and the second processing
The operating voltage of unit simultaneously stablizes output.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201720770742.1U CN207319062U (en) | 2017-06-28 | 2017-06-28 | A kind of robot autonomous navigation and kinetic control system |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201720770742.1U CN207319062U (en) | 2017-06-28 | 2017-06-28 | A kind of robot autonomous navigation and kinetic control system |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN207319062U true CN207319062U (en) | 2018-05-04 |
Family
ID=62436451
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201720770742.1U Active CN207319062U (en) | 2017-06-28 | 2017-06-28 | A kind of robot autonomous navigation and kinetic control system |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN207319062U (en) |
Cited By (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| 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 active Active
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 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN207319062U (en) | A kind of robot autonomous navigation and kinetic control system | |
| US11892855B2 (en) | Robot with perception capability of livestock and poultry information and mapping approach based on autonomous navigation | |
| CN109144044A (en) | The robot autonomous navigation of one kind and kinetic control system and method | |
| CN109725233B (en) | Intelligent substation inspection system and inspection method thereof | |
| CN105698807A (en) | Laser navigation system applicable to intelligent inspection robot of transformer substation | |
| CN108422419A (en) | A kind of intelligent robot and its control method and system | |
| US9043017B2 (en) | Home network system and method for an autonomous mobile robot to travel shortest path | |
| CN104385284B (en) | A kind of method realizing intelligent obstacle detouring | |
| WO2018171735A1 (en) | Virtual wall system for use in mobile device, and implementation method thereof | |
| CN108801269B (en) | Indoor cloud robot navigation system and method | |
| CN109571404B (en) | Obstacle crossing mechanism, obstacle crossing intelligent inspection robot and obstacle crossing method of transformer substation | |
| CN107272008A (en) | A kind of AGV Laser navigation systems with inertia compensation | |
| CN103048996A (en) | Automatic guided vehicle based on laser scanning distance meter, and system and navigation method of automatic guided vehicle | |
| CN107515002A (en) | A kind of systems approach and device that the real-time indoor map structure of robot and location navigation are realized based on LiDAR and cloud computing | |
| CN109572842B (en) | Pole-climbing mechanism, pole-climbing intelligent inspection robot and pole-climbing method of transformer substation | |
| CN113325837A (en) | Control system and method for multi-information fusion acquisition robot | |
| CN112894758A (en) | Robot cleaning control system, method and device and computer equipment | |
| CN214846390U (en) | Dynamic environment obstacle avoidance system based on automatic guided vehicle | |
| CN206892664U (en) | A kind of mobile robot path planning of view-based access control model identification and scheduling system | |
| CN211529000U (en) | Unmanned trolley based on laser radar and camera | |
| CN109324574A (en) | A kind of AGV trolley control system and its control method based on laser scanning | |
| Shangguan et al. | Motion planning for autonomous grain carts | |
| CN211207169U (en) | Chassis control system of greenhouse picking robot | |
| Gao et al. | Research on a panoramic mobile robot for autonomous navigation | |
| CN113218384B (en) | Indoor AGV self-adaptive positioning method based on laser SLAM |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| GR01 | Patent grant | ||
| GR01 | Patent grant |