CN220795694U - Robot anti-slip control system and mobile robot - Google Patents
Robot anti-slip control system and mobile robot Download PDFInfo
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- CN220795694U CN220795694U CN202321336999.8U CN202321336999U CN220795694U CN 220795694 U CN220795694 U CN 220795694U CN 202321336999 U CN202321336999 U CN 202321336999U CN 220795694 U CN220795694 U CN 220795694U
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- WHXSMMKQMYFTQS-UHFFFAOYSA-N Lithium Chemical group [Li] WHXSMMKQMYFTQS-UHFFFAOYSA-N 0.000 claims description 3
- 229910052744 lithium Inorganic materials 0.000 claims description 3
- 230000006698 induction Effects 0.000 description 4
- 238000010276 construction Methods 0.000 description 3
- 238000010586 diagram Methods 0.000 description 3
- 230000000694 effects Effects 0.000 description 3
- 230000006870 function Effects 0.000 description 3
- 230000008859 change Effects 0.000 description 2
- 238000000034 method Methods 0.000 description 2
- 230000001360 synchronised effect Effects 0.000 description 2
- 238000013473 artificial intelligence Methods 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 238000004364 calculation method Methods 0.000 description 1
- 239000004020 conductor Substances 0.000 description 1
- 230000007547 defect Effects 0.000 description 1
- 238000013461 design Methods 0.000 description 1
- 238000011161 development Methods 0.000 description 1
- 230000005674 electromagnetic induction Effects 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 230000003993 interaction Effects 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
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- 230000007659 motor function Effects 0.000 description 1
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Abstract
The utility model provides a robot anti-slip control system and a mobile robot, wherein the system comprises: the robot mobile device is connected with the motor through a connecting shaft, the motor is respectively connected with the battery management subsystem and the control circuit board, and the battery management subsystem is connected with the control circuit board. The robot anti-slip control system provided by the utility model can effectively prevent the mobile robot from walking due to external force in a shutdown state.
Description
Technical Field
The utility model relates to the technical field of robots, in particular to a robot anti-slip control system and a mobile robot.
Background
With the rapid development of economy and the progress of technology, mobile robots are becoming more and more popular in people's daily lives, and mobile robots (robots) are machine devices that automatically perform work, which can either accept human commands, run pre-programmed programs, or act according to principles formulated with artificial intelligence techniques. Its task is to assist or replace human work, such as in the industry, construction, or dangerous work.
In the off state, the mobile robot may slip in some natural states without a mechanical brake. Such as wind blows, or a person touches, or is placed on an uneven surface, if the robot is allowed to slide continuously, the robot may collide with a person or other objects, causing damage or damage. Therefore, it is necessary to control the walking of the robot when the mobile robot is shut down, and if the robot is braked by adding an external mechanical brake device, the cost and the workload of the robot design are increased.
Disclosure of Invention
In view of the above, the present utility model aims to overcome the defects in the prior art, and provides a robot anti-slip control system and a mobile robot.
The utility model provides the following technical scheme:
in a first aspect, the present application provides a robot anti-slip control system, comprising:
the robot mobile device is connected with the motor through a connecting shaft, the motor is respectively connected with the battery management subsystem and the control circuit board, and the battery management subsystem is connected with the control circuit board.
In one embodiment, the robot anti-slip control system further comprises a battery, and the battery is connected with the control circuit board.
In one embodiment, the battery management subsystem is coupled to the battery.
In one embodiment, the battery is connected to the motor.
In one embodiment, the robot anti-slip control system further comprises an alarm subsystem, wherein the alarm subsystem is connected with the battery management subsystem.
In one embodiment, the alarm subsystem includes an audible alarm or a light alarm.
In one embodiment, the audible alarm includes a speaker and the light alarm includes an LED light.
In one embodiment, the robotic movement device includes a movement wheel coaxially coupled to the motor.
In one embodiment, the battery is a lithium battery.
In a second aspect, the present application also provides a mobile robot comprising a robot anti-slip control system according to the first aspect.
The embodiment of the utility model has the following beneficial effects:
the robot anti-slip control system provided by the utility model can effectively prevent the robot from walking due to external force in a shutdown state under the condition of not adding an additional mechanical brake device, thereby reducing the risk brought by robot walking.
In order to make the above objects, features and advantages of the present utility model more comprehensible, preferred embodiments accompanied with figures are described in detail below.
Drawings
In order to more clearly illustrate the technical solutions of the embodiments of the present utility model, the drawings that are needed in the embodiments will be briefly described below, it being understood that the following drawings only illustrate some embodiments of the present utility model and therefore should not be considered as limiting the scope, and other related drawings may be obtained according to these drawings without inventive effort for a person skilled in the art.
FIG. 1 illustrates a robotic anti-slip control system frame construction diagram;
fig. 2 shows a construction diagram of a mobile robot.
Description of main reference numerals:
10. a robot body; 20. a base; 100. the robot anti-slip control system; 101. a robotic movement device; 102. a motor; 103. a battery management subsystem; 104. and a control circuit board.
Detailed Description
Embodiments of the present utility model are described in detail below, examples of which are illustrated in the accompanying drawings, wherein like or similar reference numerals refer to like or similar elements or elements having like or similar functions throughout. The embodiments described below by referring to the drawings are illustrative only and are not to be construed as limiting the utility model.
It will be understood that when an element is referred to as being "fixed to" another element, it can be directly on the other element or intervening elements may also be present. When an element is referred to as being "connected" to another element, it can be directly connected to the other element or intervening elements may also be present. In contrast, when an element is referred to as being "directly on" another element, there are no intervening elements present. The terms "vertical," "horizontal," "left," "right," and the like are used herein for illustrative purposes only.
In the present utility model, unless explicitly specified and limited otherwise, the terms "mounted," "connected," "secured," and the like are to be construed broadly, and may be, for example, fixedly connected, detachably connected, or integrally formed; can be mechanically or electrically connected; can be directly connected or indirectly connected through an intermediate medium, and can be communicated with the inside of two elements or the interaction relationship of the two elements. The specific meaning of the above terms in the present utility model can be understood by those of ordinary skill in the art according to the specific circumstances.
Furthermore, the terms "first," "second," and the like, are used for descriptive purposes only and are not to be construed as indicating or implying a relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defining "a first" or "a second" may explicitly or implicitly include one or more such feature. In the description of the present utility model, the meaning of "a plurality" is two or more, unless explicitly defined otherwise.
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 terminology used in the description of the templates herein is for the purpose of describing particular embodiments only and is not intended to be limiting of the utility model. The term "and/or" as used herein includes any and all combinations of one or more of the associated listed items.
Example 1
Referring to fig. 1, fig. 1 is a schematic diagram of a robot anti-slip control system 100 (hereinafter referred to as "control system") provided in the present application. The control system 100 is applied to various mobile robots, such as: a humanoid robot.
The control system 100 includes: the robot mobile device 101 is coaxially connected with the motor 102 through a connecting shaft, the motor 102 is respectively connected with the battery management subsystem 103 and the control circuit board 104, and the battery management subsystem 103 is connected with the control circuit board 104.
When the robot is in a starting state, the control circuit board 104 can control the robot moving device 101 to be automatically locked, so that the robot is prevented from sliding; when the robot is in the off state, the control circuit board 104 is powered off, the robot moving device 101 is in the unlocked state, and if the ground on which the robot is positioned is uneven or is subjected to external force, the robot may slip.
In this embodiment, when the robot is in a shutdown state, such as a robot is walking due to various reasons, the robot moving device 101 drives the connecting shaft to rotate when sliding, the connecting shaft drives the motor 102 to rotate, when the motor 102 rotates, a coil in the motor will react to a change of current, thereby generating back electromotive force, and when the back electromotive force in the motor reaches a preset electromotive force threshold, the battery management subsystem 103 will be controlled to wake up, and after the battery management subsystem 103 is wakened up, a control signal is sent to the control circuit board 104; the control circuit board 104 controls the motor 102 to stop rotating according to the control signal, so as to brake the robot moving device 101.
Since the robot can automatically lock the robot moving device 101 in the on state, the robot is not required to slide, and therefore, the battery management subsystem 103 is in the off state, and the battery management subsystem 103 is turned on to detect whether the robot slides when the robot is turned off.
Back emf refers to an electromotive force generated by a tendency to react to a change in current, and is typically found in electromagnetic coils such as relay coils, solenoid valves, contactor coils, motors, inductors, and the like. Therefore, when the motor 102 rotates, back electromotive force is also generated, and the motor functions as a generator.
When the robot is in a shutdown state, the robot may slide due to various reasons, the motor 102 is driven to rotate by sliding the mobile device 101 of the mobile robot, the coil inside the motor 102 is driven to cut a magnetic induction line when the motor 102 rotates to generate back electromotive force, the faster the rotation is, the larger the back electromotive force is, when the back electromotive force reaches a preset electromotive force threshold value, the battery management subsystem 103 is awakened, then a control signal is sent to the control circuit board 104 through the battery management subsystem 103, and then the control circuit board 104 controls the motor 102 to stop rotating, so that the mobile device 101 of the mobile robot is controlled to stop moving, namely the mobile robot stops moving. The battery management subsystem is activated by utilizing the back electromotive force, so that the motor has the effect of a generator, and the mobile robot can be prevented from sliding due to external force in a shutdown state without arranging other external mechanical braking devices.
In an embodiment, the robot moving device 101 includes a moving wheel, the moving wheel is coaxially connected with the motor 102, the motor 102 is driven to rotate by the rotating moving wheel, and the moving wheel is driven to rotate by the rotating motor 102, so that the mutual control between the robot moving device 101 and the motor 102 is realized.
In one embodiment, the control circuit board 104 includes: an ACIM-AC induction motor control board, a brush direct current motor control board, a BLDC-brushless direct current motor control board, a PMSM-permanent magnet synchronous motor control board, a stepper motor drive control board, an asynchronous motor control board, a synchronous motor control board, a servo motor control board or a tubular motor drive control board, and a user can select one of the control boards according to requirements.
The robotic anti-slip control system 100 further includes a battery that is connected to the control circuit board 104 and the battery management subsystem 103, respectively.
The BATTERY management subsystem 103 is also generally called BMS (english full name BATTERY MANAGEMENT SYSTEM) and is mainly used for intelligent management of batteries. When the back electromotive force generated by the rotation of the motor 102 reaches the wake-up threshold value of the battery management subsystem 103, the battery management subsystem 103 is waken up, then the battery switch is controlled to be turned on, power is supplied to the control circuit board 104, and the robot mobile device 101 is controlled to stop sliding through the control circuit board 104, and as the battery management subsystem 103 integrates a plurality of functions, the battery management subsystem 103 is used for back electromotive force monitoring and battery management, so that the effect is better.
In an embodiment, the battery is connected to the motor 102, and the battery is further configured to provide an operating power supply to the motor 102 when the robot is in a power-on state.
When the robot is in a starting state, the battery provides a working power supply for the motor 102, the motor 102 rotates after being connected with the working power supply, and then the robot moving device 101 is driven to move, or the motor 102 is locked after being connected with the working power supply, and then the robot moving device 101 is driven to stop moving. Therefore, when the battery management subsystem 103 receives the wake-up signal, the battery switch is controlled to be turned on, and the mobile robot is in a power-on state at this time, so that the mobile robot can work normally according to the instruction of the user. The battery can be a lithium battery, is light and has large capacity, and is suitable for the long-time working requirement of the mobile robot.
In one embodiment, the mobile robot control system 100 further comprises an alarm subsystem, which is connected to the battery management subsystem 103.
In order to avoid the mobile robot from running continuously, after the battery management subsystem 103 receives the wake-up signal, alarm information is generated and sent to the alarm subsystem, so that the alarm subsystem alarms, and a user can process the mobile robot in time.
The alarm subsystem comprises an audible alarm or a light alarm, or other alarms. Specifically, the audible alarm comprises a loudspeaker, and the light alarm comprises an LED lamp. The loudspeaker or the LED lamp is used for alarming according to the alarm signal, so that a user can quickly find that the robot slides and take corresponding measures, such as: moving the mobile robot to a flat place avoids it from continuing to slide.
In an embodiment, the calculation formula of the back electromotive force is:
U＝N*BLV
u is back electromotive force, N is the rotating speed of the motor, B is magnetic induction intensity, L is the length of a conductor in the motor, and V is the speed of cutting magnetic induction lines.
According to the law of electromagnetic induction, the magnitude of back electromotive force can be calculated, and a user can set the wake-up voltage of the battery management subsystem according to actual demands, so that the accurate braking of the mobile robot is realized.
Example 2
Referring to fig. 2, the present application further provides a mobile robot including a robot body 10, a base 20, and a robot moving device 101, wherein the robot body 10 is disposed on the base 20, and the base 20 is disposed on the robot moving device 101.
The base 20 is used for fixing the robot body 10 on the robot moving device 101, so that the robot moving device 101 can drive the robot body 10 to move.
The robot body 10 comprises a motor 102, a battery management subsystem 103 and a control circuit board 104, the robot moving device 101 and the motor 102 are coaxially connected through a connecting shaft, the motor 102 is respectively connected with the battery management subsystem 103 and the control circuit board 104, and the battery management subsystem 103 is connected with the control circuit board 104.
The robot moving device 101 drives the connecting shaft to rotate when walking, and the connecting shaft drives the motor 102 to rotate and generate back electromotive force;
the motor 102 is further configured to generate a wake-up signal when the back electromotive force reaches a preset electromotive force threshold, and the motor 102 is further configured to transmit the wake-up signal to the battery management subsystem 103;
the battery management subsystem 103 is configured to receive the wake-up signal, and the battery management subsystem 103 is further configured to generate a control signal according to the wake-up signal, and send the control signal to the control circuit board 104;
the control circuit board 104 is configured to receive the control signal, and the control circuit board 104 is further configured to control the motor 102 to stop rotating according to the control signal, so as to brake the robot moving device 101.
The mobile robot provided by the embodiment of the application can realize each function of the robot anti-slip control system corresponding to the embodiment 1, and can achieve the same technical effect.
Any particular values in all examples shown and described herein are to be construed as merely illustrative and not a limitation, and thus other examples of exemplary embodiments may have different values.
It should be noted that: like reference numerals and letters denote like items in the following figures, and thus once an item is defined in one figure, no further definition or explanation thereof is necessary in the following figures.
The above examples merely represent a few embodiments of the present utility model, which are described in more detail and are not to be construed as limiting the scope of the present utility model. It should be noted that it will be apparent to those skilled in the art that several variations and modifications can be made without departing from the spirit of the utility model, which are all within the scope of the utility model.
Claims (8)
1. A robot anti-slip control system, comprising:
the robot comprises a robot moving device, a motor, a battery management subsystem and a control circuit board, wherein the robot moving device is connected with the motor through a connecting shaft, the motor is respectively connected with the battery management subsystem and the control circuit board, and the battery management subsystem is connected with the control circuit board;
the battery is respectively connected with the control circuit board and the battery management subsystem; the control circuit board is connected with the robot mobile device, the battery supplies power for the control circuit board when the robot is started, and the battery cuts off the power supply of the control circuit board when the robot is shut down.
2. The robotic anti-slip control system of claim 1, wherein the battery is coupled to the motor.
3. The robotic anti-slip control system of claim 1, further comprising an alarm subsystem coupled to the battery management subsystem.
4. A robotic anti-slip control system as claimed in claim 3 in which the alarm subsystem includes an audible alarm or a light alarm.
5. The robotic anti-slip control system of claim 4, wherein the audible alarm comprises a speaker and the light alarm comprises an LED light.
6. The robotic anti-slip control system of claim 1, wherein the robotic movement device includes a movement wheel coaxially coupled with the motor.
7. The robotic anti-slip control system of claim 1, wherein the battery is a lithium battery.
8. A mobile robot comprising a robot anti-slip control system according to any one of claims 1 to 7.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202321336999.8U CN220795694U (en) | 2023-05-29 | 2023-05-29 | Robot anti-slip control system and mobile robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202321336999.8U CN220795694U (en) | 2023-05-29 | 2023-05-29 | Robot anti-slip control system and mobile robot |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN220795694U true CN220795694U (en) | 2024-04-16 |
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202321336999.8U Active CN220795694U (en) | 2023-05-29 | 2023-05-29 | Robot anti-slip control system and mobile robot |
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| Country | Link |
|---|---|
| CN (1) | CN220795694U (en) |
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2023
- 2023-05-29 CN CN202321336999.8U patent/CN220795694U/en active Active
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