RU178222U1 - Mobile robot - Google Patents

Mobile robot Download PDF

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Publication number
RU178222U1
RU178222U1 RU2017108594U RU2017108594U RU178222U1 RU 178222 U1 RU178222 U1 RU 178222U1 RU 2017108594 U RU2017108594 U RU 2017108594U RU 2017108594 U RU2017108594 U RU 2017108594U RU 178222 U1 RU178222 U1 RU 178222U1
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RU
Russia
Prior art keywords
mobile robot
workshop
platform
robot
wheels
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RU2017108594U
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Russian (ru)
Inventor
Владимир Владимирович Глебов
Олег Васильевич Егоркин
Дмитрий Андреевич Старов
Original Assignee
федеральное государственное бюджетное образовательное учреждение высшего образования "Нижегородский государственный технический университет им. Р.Е. Алексеева" (НГТУ)
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Application filed by федеральное государственное бюджетное образовательное учреждение высшего образования "Нижегородский государственный технический университет им. Р.Е. Алексеева" (НГТУ) filed Critical федеральное государственное бюджетное образовательное учреждение высшего образования "Нижегородский государственный технический университет им. Р.Е. Алексеева" (НГТУ)
Priority to RU2017108594U priority Critical patent/RU178222U1/en
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Publication of RU178222U1 publication Critical patent/RU178222U1/en

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    • BPERFORMING OPERATIONS; TRANSPORTING
    • B25HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25JMANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J5/00Manipulators mounted on wheels or on carriages

Abstract

The utility model is aimed at orienting a mobile robot in a workshop of an industrial enterprise and preventing its collisions with obstacles. A mobile robot consists of a platform on which an on-board computer is installed, which independently creates a control algorithm. To accurately determine the location, the mobile robot has a gyroscope that transmits the coordinates of the location. The gyroscope is installed in the center of mass of the mobile robot. The rear wheels are driven, and the front wheel rotates freely around its axis. The rear wheels are driven by two electric motors. The power source for the entire mobile robot is four AA alkaline batteries (this is the minimum and sufficient amount necessary for the operation of all electronic components, a larger amount of charge will increase battery life, but will increase the load on the platform). To prevent a collision with any object, an ultrasonic distance sensor is installed on the servo drive, which in turn is fixed to the platform. Recognition of the boundary of the site by a mobile robot is carried out using infrared light sensors installed at extreme points along the perimeter of the platform.

Description

The utility model relates to robotics and can find application as a mobile robot and a self-propelled transport trolley in the shops of industrial enterprises.
Known mobile robot containing a platform with mounted wheels, motion sensors and on-board computer [1].
The disadvantage of this option is that the mobile robot has limited maneuverability.
A well-known mobile robot containing a platform, three wheels, three wheel shafts with wheels mounted on them, three wheel forks mounted on the platform, two electric motors, a rotation angle sensor of the first wheel, a rotation speed sensor of the first wheel, a power source and an onboard computer network, the wheel shaft of the first wheel is kinematically connected with the output shaft of the first electric motor, the rotation angle sensor of the first wheel and the rotation speed sensor of the first wheel, and the axis of the wheel shafts of the first and second wheels harvested on one straight line [2].
The disadvantage of this option is that the design features of the mobile robot do not allow it to turn around in place and to move in an arbitrary direction without its preliminary orientation, which limits its overall maneuverability.
Closest to the claimed model is a device placed on a mobile robot carriage with electric motors, which contains 4 standard and inexpensive ultrasonic distance sensors, for example, type HCSR04 (see Product User's Manual "Ultrasonic Sensor HCSR04" / Cytron Technologies Sdn. Bhd., Skudai, , Malaysia, price in 2013 is about 5 USD per sensor) located on the mobile robot trolley (for short - the robot trolley), taking into account the possibility of measuring the distance to objects and walls in the room in 4 mutually perpendicular directions in the direction of movement of the robot - forward naza q, right, left. Also, the proposed device contains an electronic unit for memory, calculation and control of ultrasonic distance sensors and the movement of the cart (abbreviated as on-board computer), which contains a geometric map of the premises and an algorithm for controlling the movement of the robot. The outputs of the ultrasonic distance sensors are made with the possibility of connecting to the inputs of the on-board computer, and the outputs of the on-board computer are made with the possibility of connecting the inputs of the control devices of ultrasonic sensors, namely, devices for triggering sensors for measurement, and devices of the block of electric motors of the cart, also controlled by commands from the on-board computer. The geometric map-plan of the premises is contained in the computer memory block and represents a list of objects — rooms and corridors of the premises — with the characteristic distinguishing features assigned to them: conditional numbers (names), geometric dimensions — the width (W) and length (L) of each room in meters, the number of the adjacent room with which the given room is connected by the entrance, as well as the left {X; Y} L and right {X; Y} R coordinates of the entrance to the room relative to the Cartesian axes X and Y, located on two adjacent to each other Tenkai premises - front (X) and left (Y), respectively [3].
The disadvantage of this system is that this system allows the mobile robot to function only in rooms with walls. This is due to the fact that this design uses stationary objects for orientation (walls of the room), in the absence of which navigation of the system is impossible.
The objective of the utility model is the orientation of the mobile robot in the workshop of an industrial enterprise and the prevention of its collisions with emerging obstacles.
The technical result, which consists in increasing the autonomy of the work of a mobile robot, is achieved by the fact that the device is orientated and navigated by the cart of the mobile robot when it is moved on a horizontal surface on a given section of the workshop in the absence of other dynamically moving objects, made with the possibility of installing a mobile robot with electric motors on the cart, containing an electronic block of memory, calculations and control of sensors and the movement of the trolley, geometrically stored in the memory of the electronic block of memory a map-plan of sections of the workshop, containing the numbers of all sections accessible to the robot, their geometric dimensions, namely length and width, geometric parameters of the main equipment and places of loading and unloading of material flows and the coordinates of the aisles between sections of the workshop, as well as an algorithm for controlling the movement of a mobile carriage robot, depending on the current coordinates of the robot and the purpose of its movement, characterized in that it contains an ultrasonic distance locator, consisting of an ultrasonic sensor and a servo for tracking I have space in front of me, four light infrared sensors to prevent the robot from leaving the workshop area and a digital gyroscope to accurately determine its position in the coordinate system of the workshop space.
The essence of the utility model is illustrated by drawings:
Figure 1 the appearance of a mobile robot
Figure 2 ultrasonic locator
Figure 3 decomposition of the workshop on the cell
Figure 4 algorithm for moving a mobile robot
5 is a block diagram of the operation of the control device of a mobile robot
The proposed device is schematically shown in figure 1. A mobile robot consists of platform 1, on which an on-board computer 2 is installed, which independently creates a control algorithm. To accurately determine the location of the mobile robot has a gyroscope 3, which transmits the coordinates of the location. Gyroscope 3 is installed in the center of mass of the mobile robot. Wheel 4 and 5 are driven, and wheel 6 rotates freely around its axis. The wheels 4 and 5 are driven by two electric motors 7 and 8. The power source 9 of the entire mobile robot is four AA alkaline batteries (this is the minimum and sufficient amount necessary for the operation of all electronic components, a larger charge volume will increase the battery life, but will increase the load to the platform 1). To prevent a collision with any object, an ultrasonic distance sensor 10 is installed on the servo drive 11, which, in turn, is mounted on the platform 1. The boundary of the area is recognized by a mobile robot using infrared light sensors 12, 13, 14 and 15, installed at the extreme points of platform perimeter 1.
Figure 2 explains the principle of operation of the ultrasonic locator. The locator consists of an ultrasonic distance sensor 10 and a servo drive 11. It is enough for the ultrasonic sensor 10 to turn 75 ° in both directions to cover the entire space in front of it. The servo drive 11 is designed to rotate the ultrasonic sensor.
The principle of dividing the workshop section into cells and the adopted coordinate system for them are explained in Fig.3. Mobile robot A operates on the site of the workshop where the processing centers B, C, D are located (in the case under consideration, three pieces of each item). Near each machining center is a robotic arm D for installing workpieces / finished parts on the machine and vice versa. The trajectory of the mobile robot is built only on a known territory. A terrain map can be entered into the memory of the on-board computer of a mobile robot in two ways: in a third-party program, design the entire workshop, and then only this data is entered into the on-board computer; Before the mobile robot begins to function independently, it is first allowed to “explore” the terrain and all objects that are within the industrial workshop. In the first case, the main disadvantage is the high probability of making a measurement error or designing the parameters of the terrain and objects located on it. In the second case, the robot may not study in detail all sections of the workshop. There are also bottlenecks that can be taken as a limitation, and in the future the program does not allow re-exploring this area. It should be noted that the first method is more preferable at the moment: the tactile sensors of the mobile robot can compensate for the measurement error and, during operation, make adjustments to the control and navigation algorithm. Also, corrections can be easily made to the previously created workshop layout in case of refitting the workshop or any individual sections, while the new radio layout can be quickly transferred to the on-board computer of a mobile robot, i.e., without interruption from its direct duties in the workplace.
The workshop is an area divided into several sections. Each area is separated from neighboring areas by a bright strip of paint on the floor. Paint with certain efforts can be erased and applied again, which makes it easy to convert the workshop depending on the technical specifications. Recognition of the boundary of the site by the mobile robot is carried out using infrared light sensors 12, 13, 14 and 15, which are installed at the extreme points along the perimeter of the platform 1. This arrangement of the location of infrared sensors prevents the robot from going beyond the boundaries of the site (Fig. 2 shows a schematic thick line border area of the workshop).
In FIG. 4 shows an algorithm for moving a mobile robot in a cell section of a workshop.
All cells are classified as follows:
- 1, 6, 15, 16, 21, 42, 43 - intermediate cells that allow you to move between groups of machines with the highest speed;
- 2, 4, 5, 7, 8, 10, 11, 13, 14, 17, 18, 20, 22, 23, 25, 27, 29, 30, 31, 33, 34, 35, 37, 38, 39 , 41 - docking cells;
- 3, 9, 13, 19, 24, 28, 32, 36, 40 — cells for finding a manipulator for servicing metal-cutting machines.
Figure 5 shows a generalized block diagram of the principle of operation of a mobile robot in the workshop of an industrial enterprise.
Information sources
1. Patent No. 2303240 dated 02.03.2006. A method for determining the spatial position and angular orientation of a vehicle trolley.
2. Patent No. 2446937 dated April 23, 2010. A mobile robot.
3. Patent No. 139571 dated 04/20/2014. Orientation and navigation device of a mobile robot carriage when moving along a horizontal surface in a given room.

Claims (1)

  1. A mobile robot made with the ability to move on a horizontal surface in a given section of the workshop in the absence of dynamically moving objects, containing a platform, electric motors, a power supply and an on-board computer for controlling the movement of a mobile robot, in whose memory a geometric map of the sections of the workshop containing numbers is stored, the length and width of the sections available for the robot, the geometric parameters of the main equipment and the places of loading and unloading of material flows and the coordinates of the passage between sections of the workshop, characterized in that it contains an ultrasonic distance locator, consisting of an ultrasonic sensor for tracking the space in front and a servo drive, four light infrared sensors to prevent the robot from leaving the section of the workshop and a digital gyroscope to accurately determine the position in the coordinate system of the space of the workshop .
RU2017108594U 2017-03-15 2017-03-15 Mobile robot RU178222U1 (en)

Priority Applications (1)

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RU2017108594U RU178222U1 (en) 2017-03-15 2017-03-15 Mobile robot

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Application Number Priority Date Filing Date Title
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Cited By (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
RU192180U1 (en) * 2019-05-15 2019-09-05 Федеральное государственное бюджетное образовательное учреждение высшего образования "Юго-Западный государственный университет" (ЮЗГУ) Mobile robot control module
RU2740229C1 (en) * 2020-03-19 2021-01-12 Автономная некоммерческая образовательная организация высшего образования "Сколковский институт науки и технологий" Method of localizing and constructing navigation maps of mobile service robot

Citations (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
RU2446937C2 (en) * 2010-04-23 2012-04-10 Государственное учебно-научное учреждение Научно-исследовательский институт механики МГУ Mobile robot
RU139571U1 (en) * 2013-12-19 2014-04-20 Андрей Дмитриевич Рогаткин Device for orientation and navigation of a mobile robot trolley when moving it on a horizontal surface in a specified room

Patent Citations (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
RU2446937C2 (en) * 2010-04-23 2012-04-10 Государственное учебно-научное учреждение Научно-исследовательский институт механики МГУ Mobile robot
RU139571U1 (en) * 2013-12-19 2014-04-20 Андрей Дмитриевич Рогаткин Device for orientation and navigation of a mobile robot trolley when moving it on a horizontal surface in a specified room

Non-Patent Citations (1)

* Cited by examiner, † Cited by third party
Title
M.A.BATALIN et al. Sensor Coverage using Mobile Robots and Stationary Nodes. In Proceedings of the SPIE, v.48 (SPIE2002) p.269-276, Boston, MA, August 2002. *

Cited By (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
RU192180U1 (en) * 2019-05-15 2019-09-05 Федеральное государственное бюджетное образовательное учреждение высшего образования "Юго-Западный государственный университет" (ЮЗГУ) Mobile robot control module
RU2740229C1 (en) * 2020-03-19 2021-01-12 Автономная некоммерческая образовательная организация высшего образования "Сколковский институт науки и технологий" Method of localizing and constructing navigation maps of mobile service robot

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MM9K Utility model has become invalid (non-payment of fees)

Effective date: 20190316