CN207319062U - A kind of robot autonomous navigation and kinetic control system - Google Patents

A kind of robot autonomous navigation and kinetic control system Download PDF

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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
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China
Prior art keywords
robot
information
control system
navigation
processing device
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Expired - Fee Related
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CN201720770742.1U
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Chinese (zh)
Inventor
韩龙
黄晓霞
熊炯涛
许荣盛
涂思聪
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Shenzhen Linkmiao Robot Technology Co Ltd
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Shenzhen Linkmiao Robot Technology Co Ltd
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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

A kind of robot autonomous navigation and kinetic control system
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.
CN201720770742.1U 2017-06-28 2017-06-28 A kind of robot autonomous navigation and kinetic control system Expired - Fee Related CN207319062U (en)

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Cited By (7)

* Cited by examiner, † Cited by third party
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

Cited By (7)

* Cited by examiner, † Cited by third party
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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