CN212683967U - Autonomous mobile robot control system and robot - Google Patents
Autonomous mobile robot control system and robot Download PDFInfo
- Publication number
- CN212683967U CN212683967U CN202020884780.1U CN202020884780U CN212683967U CN 212683967 U CN212683967 U CN 212683967U CN 202020884780 U CN202020884780 U CN 202020884780U CN 212683967 U CN212683967 U CN 212683967U
- Authority
- CN
- China
- Prior art keywords
- mobile robot
- module
- autonomous mobile
- control system
- robot
- 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
Images
Landscapes
- Manipulator (AREA)
- Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
Abstract
The utility model provides an autonomous mobile robot and control system thereof through carrying on joint calibration equipment and multi freedom moving part, makes the motion and keeps away actions such as barrier according to external environment information, effectively improves autonomous mobile robot's autonomic ability, autonomous mobile robot both can remove the loaded down with trivial details operation burden that remote control robot brought, again can full play mobile robot flexibility and adaptability under the complex environment to improve robot motion efficiency, reduce mobile robot's use cost.
Description
Technical Field
The utility model relates to a robotechnology field, in particular to autonomous mobile robot control system and robot.
Background
The statements in this section merely provide background information related to the present disclosure and may not necessarily constitute prior art.
With the development of the robot technology, more and more robots participate in daily production and life of people, and the mobile robot as a machine device capable of automatically operating according to human control or a preprogrammed program can release people from repeated heavy operations and can assist or replace the human to enter a severe environment unsuitable for the human to work; remote control mobile robot, need the motion of operating device such as operating personnel remote control mobile platform, camera cloud platform to can acquire mobile robot's operating condition, site environment information, automobile body motion information etc. in real time, respond to in time according to current operating condition of robot and environmental information, therefore remote control mobile robot receives artificial control, the influence of communication network quality is great, if improper operation or communication delay are great, all cause the robot action malfunction easily, cause the damage or cause the secondary damage by arousing the robot trouble to the robot body.
It should be clear to those skilled in the art that the core problem of the autonomous mobile robot is how to ensure that the robot accurately senses the external environment in real time, and makes actions such as response, obstacle avoidance and the like according to the external environment information; the inventor finds that although the existing autonomous mobile robot can realize autonomous motion under a certain condition, the positioning precision of the robot cannot be ensured under a complex environment, and the obstacle avoidance accuracy of the autonomous mobile robot is influenced; meanwhile, since the autonomous mobile robot usually carries a certain tooling device, in order to ensure the safety of the robot and the tooling device, the autonomous mobile robot is required to be capable of adjusting the direction and the position in real time with multiple degrees of freedom in the obstacle avoidance process, and the existing autonomous mobile robot obviously cannot achieve the purpose.
SUMMERY OF THE UTILITY MODEL
The utility model discloses a solve the problem that exists among the prior art, provide an autonomous mobile robot control system and robot, through carrying on joint calibration equipment and multi freedom moving part, make the motion and keep away actions such as barrier according to external environment information, effectively improve autonomous mobile robot's autonomic ability, autonomous mobile robot both can remove the loaded down with trivial details operation burden that remote control robot brought, again can full play mobile robot flexibility and adaptability under the complex environment to improve robot motion efficiency, reduce mobile robot's use cost.
In order to solve the above problem, the utility model adopts the following technical scheme:
an autonomous mobile robot control system comprises a main control module, wherein the main control module is connected with an environment perception module, the environment perception module comprises a radar and a depth camera, and a controller in the main control module is connected with the radar and the depth camera through a bus; the main control module is also connected with a walking module, the walking module comprises a motion chassis and a motor, differential wheels are arranged on two sides of the motion chassis and connected with the motor, universal wheels are further arranged on the motion chassis, and the universal wheels and the differential wheels arranged on two sides of the motion chassis are distributed in a triangular mode; the controller is connected with a motion driver through a serial bus and through a PCANUSB, and the motion driver is connected with the universal wheel and the differential wheel.
Further, the controller communicates with other modules using a serial bus.
Further, the motion driver is connected to a CAN bus, the Baud rate of the CAN bus is set to be not less than 100kbps, and the motion driver is set to be in a speed mode.
Further, the radar adopts a laser radar, and fixed point coordinate signals collected by the laser radar are transmitted to the controller through Ethernet.
Furthermore, the master control module is also connected with a communication module, and the communication module is in wireless connection with the remote control platform.
Further, the communication module comprises a network switch and a signal transmitting/receiving device.
Further, the remote control platform comprises a remote server or a mobile terminal.
Further, the environment sensing module further comprises a pan-tilt camera, and the pan-tilt camera is connected with the controller through Ethernet.
Furthermore, the main control module is also connected with a power module, and the power module adopts a 48V storage battery pack.
An autonomous mobile robot includes a robot main body and the above-mentioned autonomous mobile robot control system.
Compared with the prior art, the beneficial effects of the utility model are that:
(1) the robot is roughly positioned through an encoder carried by a motor, positioning compensation is carried out through an inertia measurement unit, the positioning precision of the robot is optimized, meanwhile, the laser radar and the depth camera are jointly calibrated, registration of the laser radar and the depth camera is completed, a conversion matrix of fixed-point coordinates in an external environment in a coordinate system of the laser radar and the depth camera is determined, obstacle avoidance and navigation of the robot in a sensor data fusion state are achieved, fusion optimization is carried out with a robot rough positioning result, and the positioning precision of the robot is further improved.
(2) The motion chassis of the autonomous mobile robot adopts a structure of two differential wheels and universal wheels, the differential wheels are used as driving wheels, and the direction adjustment of full freedom degree in the horizontal direction is carried out through the universal wheels; the controller is connected with a motion driver in CAN bus communication through a PCANUSB, and therefore the real-time performance of the regulation and control of the differential wheel and the universal wheel is greatly improved.
Drawings
The accompanying drawings, which are incorporated in and constitute a part of this application, illustrate embodiments of the application and, together with the description, serve to explain the application and are not intended to limit the application.
Fig. 1 is a schematic diagram of an autonomous mobile robot control system according to a first embodiment of the present invention;
fig. 2 is a front view of an autonomous mobile robot according to a second embodiment of the present invention;
fig. 3 is a left side view of an autonomous mobile robot according to the second embodiment of the present invention.
The system comprises an industrial personal computer (1), an industrial personal computer (2), a laser radar (3), a holder camera (4), a network switch (5), a power supply (6), a universal wheel (7), a differential wheel (8), an ultrasonic sensor (9), a servo driver (10), a depth camera (11) and a wireless transceiving module.
The specific implementation mode is as follows:
the present invention will be further described with reference to the accompanying drawings and specific embodiments.
It should be noted that the following detailed description is exemplary and is intended to provide further explanation of the disclosure. Unless defined otherwise, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this application belongs.
The first embodiment is as follows:
in the following, a preferred embodiment of the present invention is illustrated, as shown in fig. 1, which shows an autonomous mobile robot control system, comprising a main control module, wherein the main control module is connected to an environment sensing module, the environment sensing module comprises a laser radar and a depth camera, and a controller in the main control module is connected to the laser radar and the depth camera through a bus; the main control module is also connected with a walking module, the walking module comprises a motion chassis and a motor, differential wheels are arranged on two sides of the motion chassis and connected with the motor, universal wheels are further arranged on the motion chassis, and the universal wheels and the differential wheels arranged on two sides of the motion chassis are distributed in a triangular mode; the controller is connected with a motion driver which is communicated with the CAN through a serial bus through a PCANUSB, and the motion driver is connected with the universal wheel and the differential wheel;
the motion chassis adopts a structure of two differential wheels and universal wheels, the master control module is connected with a motion driver communicating with a CAN bus through a PCANUSB, the two drivers are connected on the CAN bus in a hanging manner, a left motor drive and a right motor drive are respectively numbered as 0 and 1, the motion driver 0 is used for left wheel drive control of the differential wheels, and the motion driver 1 is used for right wheel control drive control of the differential wheels; the Baud rate of the CAN bus is set to be 100kbps, and a driver is set to work in a speed mode; the driver adopts a servo driver.
Furthermore, in order to ensure accurate positioning of the autonomous mobile robot, the control system performs coarse positioning on the autonomous mobile robot through an encoder carried by a motor, performs positioning compensation through an inertial measurement unit, and optimizes positioning accuracy of the robot; and then, the laser radar and the depth camera are calibrated in a combined manner, the registration of the laser radar and the depth camera is completed, a conversion matrix of fixed point coordinates in an external environment in a coordinate system of the laser radar and the depth camera is determined, the obstacle avoidance and navigation of the robot in a sensor data fusion state are realized, the robot is fused and optimized with a robot coarse positioning result, and the positioning precision of the robot is further improved.
Furthermore, a communication module of the autonomous mobile robot control system is also provided with wireless receiving and sending equipment, the robot can be connected into a surrounding wireless network to communicate with a remote control center, and a mobile terminal can also be directly connected with the robot to configure and operate the robot;
the autonomous mobile robot control system realizes the map building of the surrounding environment through the fusion of a plurality of sensors such as an encoder, an inertia measurement unit, a laser radar and a depth camera, and updates the map information and the position of the robot in real time according to the data of the sensors.
Furthermore, the control module is also provided with a path planning algorithm submodule, the algorithm module can carry out real-time motion path planning according to an electronic map and the real-time position of the robot, the efficient motion of the robot is realized, the map information and the position information of the robot are displayed in real time at a remote terminal, and the efficient management of an operator is facilitated.
Further, the external environment perception module further comprises a cloud platform camera, an inertia measurement unit and an ultrasonic sensor, the cloud platform camera can return to a scene picture in real time, so that an operator can observe the surrounding environment conveniently, and emergency reaction is carried out on the possible conditions.
Further, the autonomous mobile robot control system further comprises a power supply module and a driving module, wherein the power supply module comprises a 48V power supply, a power supply monitoring system, a power supply protection system, an indicator lamp and a charger; the driving module comprises a RoboModule RMDS series direct current servo driver and a motor with an encoder; the communication module also comprises a network switch, a wireless signal transmitting and receiving device and various signal converters.
Example two:
another preferred embodiment of the present invention is described below, and as shown in fig. 2 and 3, an autonomous mobile robot is shown, which includes a robot main body and an autonomous mobile robot control system as described above.
The utility model provides an autonomous mobile robot, which can become a mobile universal robot platform for professional technology teaching and scientific research, can be added into an autonomous mobile robot teaching and scientific research experiment system, and can flexibly increase and decrease modules to meet different requirements; the robot can also be applied to various service industries to improve the walking capability and the operation capability of the service robot. An industrial control computer or an embedded controller can be selected from the computer control module, and in addition, the robot can be loaded with sensors such as an infrared camera and a GPS (global positioning system) and actuators such as a light mechanical arm, so that the performance of the robot is improved, and the application field and the operation range of the robot are expanded.
The above description is only a preferred embodiment of the present application and is not intended to limit the present application, and various modifications and changes may be made by those skilled in the art. Any modification, equivalent replacement, improvement and the like made within the spirit and principle of the present application shall be included in the protection scope of the present application.
Although the present invention has been described with reference to the accompanying drawings, it is not intended to limit the scope of the present invention, and those skilled in the art should understand that various modifications or variations that can be made by those skilled in the art without inventive work are still within the scope of the present invention.
Claims (10)
1. An autonomous mobile robot control system comprises a main control module, and is characterized in that the main control module is connected with an environment perception module, the environment perception module comprises a radar and a depth camera, and a controller in the main control module is connected with the radar and the depth camera through a bus; the main control module is also connected with a walking module, the walking module comprises a motion chassis and a motor, differential wheels are arranged on two sides of the motion chassis and connected with the motor, universal wheels are further arranged on the motion chassis, and the universal wheels and the differential wheels arranged on two sides of the motion chassis are distributed in a triangular mode; and the controller in the main control module is connected with the motion driver of the differential wheel through a bus.
2. An autonomous mobile robot control system as claimed in claim 1 wherein the controller communicates with other modules using a serial bus or Ethernet.
3. The control system of claim 1, wherein said motion driver is connected to a CAN bus, said CAN bus baud rate is set to no less than 100kbps, and said motion driver is set to a speed mode.
4. An autonomous mobile robot control system as claimed in claim 1, wherein the radar is a lidar, and the fixed point coordinate signal collected by the lidar is transmitted to the controller via Ethernet.
5. The autonomous mobile robot control system of claim 1, wherein a communication module is further connected to the master control module, and the communication module is wirelessly connected to the remote control platform.
6. The autonomous mobile robot control system of claim 5, wherein the communication module comprises a network switch and a signal transmitter/receiver.
7. An autonomous mobile robot control system as claimed in claim 5, wherein the remote control platform comprises a remote server or a mobile terminal.
8. The autonomous mobile robot control system of claim 1, wherein the environmental awareness module further comprises a pan-tilt camera, the pan-tilt camera being connected to the remote control platform via the wireless module.
9. The control system of claim 1, wherein the main control module is further connected to a power module, and the power module is a 48V battery pack.
10. An autonomous mobile robot comprising a robot main body and an autonomous mobile robot control system according to any one of claims 1 to 9.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202020884780.1U CN212683967U (en) | 2020-05-22 | 2020-05-22 | Autonomous mobile robot control system and robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202020884780.1U CN212683967U (en) | 2020-05-22 | 2020-05-22 | Autonomous mobile robot control system and robot |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN212683967U true CN212683967U (en) | 2021-03-12 |
Family
ID=74889550
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202020884780.1U Active CN212683967U (en) | 2020-05-22 | 2020-05-22 | Autonomous mobile robot control system and robot |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN212683967U (en) |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113110451A (en) * | 2021-04-14 | 2021-07-13 | 浙江工业大学 | Mobile robot obstacle avoidance method with depth camera and single line laser radar fused |
| CN114161452A (en) * | 2021-12-30 | 2022-03-11 | 山东省科学院自动化研究所 | Inspection robot control system |
| CN115609581A (en) * | 2022-09-23 | 2023-01-17 | 上海飒智智能科技有限公司 | Mobile robot control and edge calculation method and robot controller |
-
2020
- 2020-05-22 CN CN202020884780.1U patent/CN212683967U/en active Active
Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113110451A (en) * | 2021-04-14 | 2021-07-13 | 浙江工业大学 | Mobile robot obstacle avoidance method with depth camera and single line laser radar fused |
| CN113110451B (en) * | 2021-04-14 | 2023-03-14 | 浙江工业大学 | Mobile robot obstacle avoidance method based on fusion of depth camera and single-line laser radar |
| CN114161452A (en) * | 2021-12-30 | 2022-03-11 | 山东省科学院自动化研究所 | Inspection robot control system |
| CN115609581A (en) * | 2022-09-23 | 2023-01-17 | 上海飒智智能科技有限公司 | Mobile robot control and edge calculation method and robot controller |
| CN115609581B (en) * | 2022-09-23 | 2024-02-27 | 上海飒智智能科技有限公司 | Mobile robot control and edge calculation method and robot controller |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN212683967U (en) | Autonomous mobile robot control system and robot | |
| CN108177149B (en) | Movable mechanical arm control system and method based on MR and motion planning technology | |
| US20210206003A1 (en) | Robotic arm cooperating with an off-road capable base vehicle | |
| CN101817182B (en) | Intelligent moving mechanical arm control system | |
| US20170106738A1 (en) | Self-Balancing Robot System Comprising Robotic Omniwheel | |
| CN102096413B (en) | Security patrol robot system and control method thereof | |
| CN110716549A (en) | Autonomous navigation robot system for map-free area patrol and navigation method thereof | |
| CN108818493A (en) | A kind of compound mobile robot and compound Mobile Robot Control System | |
| CN202041851U (en) | Intelligent routing inspection robot of laser navigation transformer substation | |
| CN110320915A (en) | With the job platform and its control method for building figure and path planning function automatically | |
| WO2021243696A1 (en) | Vehicle navigation positioning method and apparatus, and base station, system and readable storage medium | |
| CN109976327A (en) | A kind of patrol robot | |
| Ding et al. | Development of a high precision UWB/vision-based AGV and control system | |
| CN112828853A (en) | Indoor autonomous mobile robot | |
| CN112684791A (en) | Unmanned logistics vehicle based on 5G | |
| CN111015681A (en) | Communication machine room inspection robot system | |
| CN111823228A (en) | Indoor following robot system and operation method | |
| CN110696012B (en) | Intelligent robot system for distribution room | |
| CN111376263B (en) | Human-computer cooperation system of compound robot and cross coupling force control method thereof | |
| CN211529000U (en) | Unmanned trolley based on laser radar and camera | |
| CN201625982U (en) | Intelligent mobile mechanical arm control system | |
| CN113618731A (en) | Robot control system | |
| CN212683969U (en) | Orchard multi-robot physical model | |
| CN110850884A (en) | Intelligent agricultural machine based on binary control system | |
| CN216265979U (en) | Indoor autonomous mobile robot |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| GR01 | Patent grant | ||
| GR01 | Patent grant |