WO2021249460A1 - Intelligent control system of mobile robot - Google Patents

Abstract

An intelligent control system of a mobile robot. A robot can automatically move to a designated position to undergo assembly and automatically complete an assembly task, a stable support function can automatically adjust the level position of the robot when the ground is uneven so as to keep the robot level, and the movement status of the robot and the assembly situation at an execution terminal thereof can be monitored in real time by means of a screen of an upper computer, which achieves omni-directional movement control of the robot, greatly saves labor costs, and significantly improves the operating efficiency. Moreover, the positioning precision is improved to ±0.2 mm, and assembly precision in the assembly process is ensured.

Description

An intelligent control system for a mobile robot

This application claims the priority of a Chinese patent application filed with the Chinese Patent Office on June 10, 2020, the application number is 202010525491.7, and the application name is "a mobile robot intelligent control system", the entire content of which is incorporated into this application by reference middle.

Technical field

The invention relates to a mobile robot intelligent control system, which belongs to the technical field of mobile robot intelligent control.

Background technique

With the development of science and technology, for product assembly, robot automatic assembly technology is gradually replacing manual assembly. The existing robots are mostly robots for fixed-point assembly, and the products to be processed need to be moved to the location of the robot for assembly. However, when handling large-volume or heavy products, due to the difficulty of moving, it is often necessary to transport the robot to a designated position for assembly, which will result in low positioning accuracy of the robot and waste of labor costs, which seriously affects work efficiency.

Usually a mobile robot is an omnidirectional mobile automatic processing equipment, including four sets of Mecanum wheels, four sets of screw elevators and robotic arms; it is supported by four sets of Mecanum wheels for omnidirectional movement and four sets of screw elevators. , Using a ground scanning module, through the identification of the ground guide, determine the position of the Mecanum wheel group, and make it travel. If the NAMM wheel is not parallel to the guide line, then a ground scanning module cannot be identified. As the offset continues to accumulate, the Mecanum wheel will be completely separated from the ground guide line, causing the mobile robot to lose control .

Summary of the invention

The technical problem solved by the present invention is to overcome the above-mentioned shortcomings of the prior art and provide a mobile robot intelligent control system, which realizes the omni-directional movement of the robot, so that the robot can automatically run to the designated position to be assembled and automatically complete the assembly task ; At the same time, the stable support function can automatically adjust the horizontal position of the robot in the case of uneven ground, maintain the level of the robot, and can monitor the robot's motion status and the assembly status of the execution end through the host computer screen in real time, which greatly saves The labor cost is reduced, the work efficiency is significantly improved, the assembly accuracy in the assembly process is guaranteed, and the present invention can adjust the position of the movable robot in real time, so that the movable robot does not accumulate offset, and ensures that the movable robot is always running On the scheduled route.

The technical solution solved by the present invention is: an intelligent control system for a mobile robot, including: a host computer unit, a mobile robot main control unit, a motion calculation unit, an omnidirectional movement drive unit, an omnidirectional movement motor 1, an omnidirectional movement Motor 2, omnidirectional movement motor 3, omnidirectional movement motor 4, stable support drive unit, stable support motor 1, stable support motor 2, stable support motor 3, stable support motor 4, robot control unit, camera, scene scanning unit, Ground scanning module, space scanning module and obstacle scanning module.

The host computer unit is used to send instructions to the main control unit of the mobile robot through the Wi-Fi network, including information about the robot's movement speed, the coordinate value of the movement end point, and the coordinate value of the processing point;

The motion calculation unit can collect real-time omnidirectional movement motor 1, omnidirectional movement motor 2, omnidirectional movement motor 3, omnidirectional movement motor 4, stable support motor 1, stable support motor 2, stable support motor 3, stable support motor 4 The movement status is sent to the main control unit of the mobile robot;

The camera can collect the current position coordinate value of the mobile robot, the position coordinate value of the execution end, and the execution end processing status information in real time, and send it to the main control unit of the mobile robot through the robot control unit;

The upper computer unit can display the omnidirectional movement motor 1, the omnidirectional movement motor 2, the omnidirectional movement motor 3, the omnidirectional movement motor 4, the stable support motor 1, the stable support motor 2, and the stable support fed back by the mobile robot main control unit Motor 3, stably support the motion state of motor 4, as well as the current position coordinate value of the movable robot, the position coordinate value of the execution end, and the execution end processing state information;

The space scanning module sends the space position coordinates of the mobile robot to the scene scanning unit, and the scene scanning unit sends the current space position coordinates of the mobile robot collected by the space scanning module to the mobile robot main control unit;

The main control unit of the mobile robot calculates the execution time from the current space position of the mobile robot to the end point of the motion according to the motion speed of the robot in the instruction, the coordinate value of the motion end point, and the current space position coordinates of the mobile robot;

The mobile robot main control unit is used to receive the motion speed, motion end point coordinate value and processing point coordinate value instructions sent by the host computer, and send the robot motion speed, motion end point coordinate value and execution time in the instruction to The motion calculation unit sends the coordinate value of the processing point in the instruction to the robot control unit; during the movement of the mobile robot, it may happen that the running direction is not correct, and it needs to be adjusted in time to prevent the mobile robot from gradually walking out of the designated area. Out of control occurs;

The ground scanning module can collect the position offset signal in real time, and send it to the mobile robot main control unit through the scene scanning unit;

The mobile robot main control unit receives the position offset signal sent by the scene scanning unit, and calculates the robot's offset angle and the robot's offset distance based on the offset. The mobile robot main control unit is based on the robot's offset The angle, and the offset distance of the robot, calculate the movement speed vector of the movable robot for correcting the position of the robot, and send it to the motion calculation unit;

The motion calculation unit is used to calculate the omnidirectional movement motor 1, the omnidirectional movement motor 2, and the omnidirectional movement motor according to the robot movement speed, the movement end point coordinate value and the execution time sent by the mobile robot main control unit. 3. The motion parameters of the omnidirectional moving motor 4 are sent to the omnidirectional moving drive unit; the motion calculation unit determines the stable support motor 1, the stable support motor 2, according to the coordinate value of the motion end point sent by the main control unit of the movable robot Stably support the motor 3, stably support the working position of the motor 4, set its motion parameters, and send them to the stable support drive unit.

The omnidirectional movement drive unit converts the motion parameters of the omnidirectional movement motor 1, the omnidirectional movement motor 2, the omnidirectional movement motor 3, and the omnidirectional movement motor 4, and sends the signal to the omnidirectional movement motor 1. Motor 2, omnidirectional moving motor 3, omnidirectional moving motor 4;

Stably support the drive unit, convert the motion parameters of the stable support motor 1, the stable support motor 2, the stable support motor 3, and the stable support motor 4, convert the success rate signal, and send it to the stable support motor 1, the stable support motor 2, the stable support motor 3 , Stable support motor 4;

The omnidirectional movement motor 1, the omnidirectional movement motor 2, the omnidirectional movement motor 3, and the omnidirectional movement motor 4 respectively move according to their power signals; realizing the omnidirectional movement of the mobile robot.

The stable support motor 1, the stable support motor 2, the stable support motor 3, and the stable support motor 4 move according to their power signals; realize the stable support of the mobile robot.

The omnidirectional movement motor 1, the omnidirectional movement motor 2, the omnidirectional movement motor 3, and the omnidirectional movement motor 4 feed back their own motion state to the motion calculation unit through the omnidirectional movement drive unit;

Stable support motor 1, stable support motor 2, stable support motor 3, stable support motor 4, feedback its own motion state to the motion calculation unit through the stable support drive unit;

The mobile robot main control unit receives the omnidirectional movement motor 1, the omnidirectional movement motor 2, the omnidirectional movement motor 3, the omnidirectional movement motor 4, the stable support motor 1, the stable support motor 2, and the stable support motor sent by the motion calculation unit 3. Stably support the self-motion state of the motor 4;

The camera can collect the current position coordinate value of the mobile robot, the position coordinate value of the execution end, and the execution end processing status information in real time, and send it to the main control unit of the mobile robot through the robot control unit;

The obstacle scanning module collects obstacle information on the robot's movement path in real time, and feeds the obstacle information back to the scene scanning unit. The scene scanning unit sends the obstacle information to the mobile robot main control unit. If there are obstacles around the mobile robot, then The main control unit of the mobile robot stops the movement of the mobile robot to ensure safety. Finally, the main control unit of the mobile robot sends the obstacle information to the upper computer and displays it on the upper computer;

The robot control unit can receive the coordinate value instruction of the processing point issued by the main control unit of the mobile robot, and adjust the position of the execution end of the robot arm according to the coordinate value of the processing point and the position coordinate value of the execution end collected by the camera. The arm relies on its execution end to complete the processing process. The robot control unit forms a processing state signal from the collected processing state of the execution end, and transmits the processing state signal and current position information to the mobile robot main control unit in real time; the mobile robot main control unit Send to the upper computer unit for display.

Preferably, the processing point refers to the working position of the execution end.

Preferably, the motion states of the omnidirectional movement motor 1, the omnidirectional movement motor 2, the omnidirectional movement motor 3, and the omnidirectional movement motor 4 include: normal operation, stop operation, and fault alarm.

Preferably, the motion states of the stable support motor 1, the stable support motor 2, the stable support motor 3, and the stable support motor 4 include: unsupported, start action, complete support, and fault alarm.

Preferably, the execution end processing status information includes: preparing processing, processing in progress, and completed processing.

Preferably, the running direction is not correct, which means that it deviates from a predetermined route. As the offset continues to accumulate, it will eventually cause the mobile robot to completely deviate from the predetermined route, causing the mobile robot to lose control.

Preferably, the designated area refers to a preset robot movement area range.

Preferably, the movement speed vector of the movable robot for correcting the position of the robot includes the movement speed and the movement direction, so that the movable robot moves according to the movement speed vector and returns to the predetermined route.

Preferably, the robot has a mechanical arm, and the end of the mechanical arm is provided with an execution end for processing the product.

Compared with the prior art, the advantages of the present invention are:

(1) The present invention realizes the omnidirectional movement of the robot by giving the required data in the upper computer, and adjusts the movement direction in time according to the real-time feedback data of the omnidirectional movement motor, so that the robot can accurately and autonomously move to the product to be processed Position, and automatically complete the assembly work, achieving the goal of saving labor costs.

(2) By stably supporting the motor, the present invention realizes the automatic leveling function of the robot to replace manual leveling links, reduces the waste of labor costs, and greatly improves the work efficiency; overcomes the problem of moving and reaching the end point Later, the positioning accuracy is reduced due to uneven ground, which ensures the assembly accuracy.

(3) The present invention uses three scanning modules: ground scanning, spatial scanning and obstacle scanning to monitor the real-time position coordinates of the robot and the presence of obstacles. In addition, the specific position of the scene fed back by the camera can be used to fine-tune the position of the execution end. The positioning accuracy is increased from the original ±5mm to ±0.2mm, and it provides guarantee for the safe operation of the robot.

(4) The present invention provides a mobile robot intelligent control system, which realizes the omnidirectional movement of the robot, so that the robot can automatically run to the designated position to be assembled and automatically complete the assembly task; at the same time, the stable support function can be used on uneven ground In the case of automatic adjustment of the horizontal position of the robot, the level of the robot is maintained, and the motion state of the robot and the assembly status of the execution end can be monitored in real time through the upper computer screen. This greatly saves labor costs, significantly improves work efficiency, and ensures assembly accuracy in the assembly process.

(5) The present invention adopts two ground scanning modules, which are respectively placed on the front and rear of the mobile robot. The connection between the center point of the ground scanning module 1 and the center point of the ground scanning module 2 scanning field of view and the chassis The center axis of the chassis coincides; the center axis of the chassis refers to the line connecting the front center point and the rear center point of the mobile robot chassis. The two ground scanning modules can separately collect the offset distance from the ground guide wire. From this, the offset angle and total offset of the mobile robot can be calculated, and they can be adjusted in real time so that the mobile robot does not accumulate offset. Make sure that the mobile robot is always driving on a predetermined route.

Description of the drawings

Figure 1 is a block diagram of the control system of the present invention;

Figure 2 is a schematic diagram of a situation where the moving direction of the mobile robot is not correct; (a) represents the case of L ₁ <0 and L ₂ ＞0; (b) represents the case of L ₁ ＞0 and L ₂ ＜0; (c) represents the case of L ₁ The case (d) with the same sign as L _{2 and L 1} >L _{2 represents the case where L 1} and L _{2 have the} same sign, and L ₁ <L ₂ .

Fig. 3 is a schematic diagram of the display interface of the upper computer unit of the present invention.

detailed description

The present invention will be further described in detail below in conjunction with the drawings and specific embodiments

The intelligent control system of a mobile robot of the present invention realizes the omni-directional movement of the robot, so that the robot can automatically run to the designated position to be assembled and automatically complete the assembly task; at the same time, the stable support function can be automatically performed when the ground is uneven Adjust the horizontal position of the robot, maintain the level of the robot, and monitor the motion state of the robot and the assembly status of the execution end through the host computer screen in real time. This greatly saves labor costs, significantly improves work efficiency, and improves the positioning accuracy to ±0.2mm, which ensures the assembly accuracy during the assembly process.

The present invention is preferably applied to the processing process of the space station structure shell, welding the processing points on the structure shell, because the processed object is the space station structure shell, its weight and volume are large, it is difficult to move easily, and the required processing accuracy is extremely high. The error must be ≤±0.02mm. Therefore, the traditional manual processing method is more difficult to realize. If the robot is used for processing, the robot needs to be moved to the position to be processed, so the fixed-point processing robot is also more difficult to realize.

The mobile robot is a kind of omnidirectional mobile automatic processing equipment, including a chassis, four sets of Mecanum wheels, four sets of screw elevators and a mechanical arm; the mechanical arm is equipped with an execution end

The lower part of the chassis is equipped with four sets of Mecanum wheels for omni-directional movement and four sets of spiral elevators for stable support, and the upper part of the chassis is provided with a mechanical arm, which performs the end of the mechanical arm to complete the processing process.

In the present invention, the omnidirectional movement motor 1, the omnidirectional movement motor 2, the omnidirectional movement motor 3, and the omnidirectional movement motor 4 respectively control four sets of mecanum wheels to work;

Stable support drive unit, stable support motor 1, stable support motor 2, stable support motor 3, stable support motor 4, respectively control four sets of screw elevators for lifting;

When the screw jack rises to the highest point (that is, extends), the Mecanum wheel sets off the ground; when the screw jack is lowered to the lowest point (that is, retracts), the Mecanum wheel touches the ground to work;

The control system of the present invention realizes the mobile processing of the robot by controlling the four mecanum wheel sets, and directly drives to the space station to be processed, and then controls the screw elevator to stably support (extend), and the execution end on the mechanical arm completes the alignment For product processing, there are tools at the execution end, which can realize product welding, etc.

In order to meet the requirements of processing accuracy, it is preferable to configure a screw elevator on each of the four corners of the movable robot. When the movable robot reaches the processing position, the movable robot is stably supported by the lifting of the screw elevator to make the processing process benchmark The point remains the same.

Due to the large number of large equipment and products in the workshop, if the mobile robot deviates from the guide wire during the driving process, it will cause damage to other equipment or products and cause greater losses. It is necessary to adjust the movement route of the mobile robot. Strictly controlled, the traditional navigation mode has only one ground scanning module, which is placed in the center of the chassis. It can only detect whether the center of the current Mecanum wheel set deviates from the ground guide line, and cannot detect the deviation angle of the mecanum wheel set. The present invention adopts two ground scanning modules, which are respectively placed on the front and rear of the chassis of the mobile robot, and can collect the offsets of the two ground scanning modules from the ground guide leads, thereby calculating the deviation of the mobile robot. Shift the angle and make real-time adjustments to ensure that the mobile robot is traveling in the correct direction without affecting other equipment or products.

An intelligent control system for a mobile robot of the present invention includes: a host computer unit, a mobile robot main control unit, a motion calculation unit, an omnidirectional movement drive unit, an omnidirectional movement motor 1, an omnidirectional movement motor 2, an omnidirectional movement Moving motor 3, omnidirectional moving motor 4, stable support drive unit, stable support motor 1, stable support motor 2, stable support motor 3, stable support motor 4, robot control unit, camera, scene scanning unit, ground scanning module, space Scanning module and obstacle scanning module.

The preferred solution is: the composition diagram of the mobile robot intelligent control system of the present invention is shown in Figure 1. The upper computer unit is placed on the mobile robot shell and interconnected with the mobile robot main control unit through a cable; the mobile robot main control unit Placed inside the mobile robot, interconnected with the motion calculation unit, scene scanning unit, robot control unit, and upper computer unit through cables; the motion calculation unit is placed inside the mobile robot, and is connected to the mobile robot main control unit through the cable , The omnidirectional mobile drive unit and the stable support drive unit are interconnected; the scene scanning unit is placed inside the mobile robot, and is interconnected with the mobile robot main control unit, ground scanning module, space scanning module, and obstacle scanning module through cables; the robot control unit It is placed above the shell of the mobile robot, and is interconnected with the main control unit, camera, and execution terminal of the mobile robot through a cable; the omni-directional mobile drive unit is placed inside the mobile robot, and is connected to the omni-directional moving motor 1 through the cable. The omnidirectional movement motor 2, the omnidirectional movement motor 3, and the omnidirectional movement motor 4 are interconnected; the omnidirectional movement motor 1, the omnidirectional movement motor 2, the omnidirectional movement motor 3, and the omnidirectional movement motor 4 are respectively placed in 4 of the movable robot On a mecanum wheel set; the stable support drive unit is placed inside the mobile robot, and is interconnected with the stable support motor 1, the stable support motor 2, the stable support motor 3, and the stable support motor 4 through cables; the stable support motor 1, the stable The support motor 2, the stable support motor 3, and the stable support motor 4 are respectively connected to the screw jacks on the 4 corners of the mobile robot; there are two ground scanning modules, which are respectively placed on the front and rear of the mobile robot chassis, through The cable is interconnected with the scene scanning unit; the space scanning module is placed directly in front of the mobile robot, and is interconnected with the scene scanning unit through the cable; the obstacle scanning module is placed at both ends of the diagonal of the mobile robot to scan the mobile robot Surrounding obstacles are interconnected with the scene scanning unit through cables; the camera is placed above the robot arm of the mobile robot and interconnected with the robot control unit through the cable; the execution end is placed at the front end of the robot arm of the mobile robot, and the robot is connected through the cable Control unit interconnection.

The host computer unit is used to send instructions to the main control unit of the mobile robot through the Wi-Fi network, including the robot's movement speed, the coordinate value of the movement end point, and the coordinate value information of the processing point (that is, the working position of the execution end). The operator inputs parameters at the far end of the working position, and the movable robot can automatically complete the processing process.

The motion calculation unit can collect the motion status of the omnidirectional moving motor 1, the omnidirectional moving motor 2, the omnidirectional moving motor 3, and the omnidirectional moving motor 4 in real time (preferably including normal operation, stop operation, fault alarm) and stable support of the motor 1. The motion state of the stable support motor 2, the stable support motor 3, and the stable support motor 4 (preferably including unsupported, start action, completed support, failure alarm), send to the mobile robot main control unit;

The camera can collect the current position coordinate value of the mobile robot, the position coordinate value of the execution end and the execution end processing status information in real time (preferably including preparation processing, processing, and completion processing), and send it to the mobile robot main control through the robot control unit unit;

The upper computer unit can display the movement status of the omnidirectional movement motor 1, the omnidirectional movement motor 2, the omnidirectional movement motor 3, and the omnidirectional movement motor 4 fed back by the mobile robot main control unit (preferably including normal operation, stopped operation, and malfunction) Alarm) and the movement status of the stable support motor 1, the stable support motor 2, the stable support motor 3, the stable support motor 4 (preferably including unsupported, start action, completed support, fault alarm), and the current position coordinate value of the movable robot , The position coordinate value of the execution end and the processing state information of the execution end (preferably including preparation for processing, processing in progress, and processing completed).

The space scanning module sends the space position coordinates of the mobile robot to the scene scanning unit, and the scene scanning unit sends the current space position coordinates of the mobile robot collected by the space scanning module to the mobile robot main control unit;

The mobile robot main control unit, the preferred solution is: calculate the execution time from the current space position of the mobile robot to the motion end point according to the robot's motion speed, the motion end point coordinate value, and the current space position coordinates of the mobile robot in the instruction. Robot motion speed V, motion end point coordinates (X, Y), current control position coordinates (X ^' , Y ^' ), then the execution time is T = [(X ^' -X)+(Y ^' -Y)]/V;

The mobile robot main control unit is used to receive the motion speed, motion end point coordinate value and processing point coordinate value instructions sent by the host computer, and send the robot motion speed, motion end point coordinate value and execution time in the instruction to The motion calculation unit sends the coordinate value of the processing point in the instruction to the robot control unit; during the movement of the mobile robot, it may happen that the running direction is not correct (wrong, refers to: deviation from the predetermined route), if not Timely adjustment will cause the mobile robot to gradually deviate from the ground guide wire range, causing the mobile robot to run out of control out of the designated area (pre-set robot movement area), causing out of control.

The preferred solution is to configure two ground scanning modules for the mobile robot. Ground scanning module 1 and ground scanning module 2 are respectively placed on the front and rear of the chassis of the mobile robot. Ground scanning module 1 can collect and guide the ground. The line offset L ₁ , the ground scanning module 2 can collect the offset L ₂ from the ground guide wire, and send the offset signal to the scene scanning module. The main control unit of the mobile robot will receive the offset L ₁ and the offset L ₂ sent by the scene scanning module, and then calculate whether the mobile robot is running in an incorrect direction, if L ₁ ≠ 0 or L ₂ ≠0 means that the current direction is not correct and needs to be adjusted. There are 4 cases in which the direction of the movable robot is not correct as shown in Figure 2, where the offset angle α = arcs in(|L ₁ -L ₂ |/L), where L It is the distance between the center point of the scanning field of view of the ground scanning module 1 and the ground scanning module 2, and the offset direction needs to determine the size of _{L 1} and L _{2. If L 1} <0, L ₂ >0, the robot will shift in the counterclockwise direction , As shown in Figure 2(a); if L ₁ >0 and L ₂ <0, the robot will shift clockwise, as shown in Figure 2(b); if L ₁ and L _{2 have the} same number, that is, L ₁ and L ₂ are both> 0, or L ₁ and L ₂ are both <0. At this time, if L ₁ > L ₂ , the robot will shift in the clockwise direction, as shown in Figure 2(c); if L ₁ and L _{2 The} same number, that is, L ₁ and L ₂ are both> 0, or L ₁ and L ₂ are both <0, at this time, if L ₁ <L ₂ , the robot will shift in the counterclockwise direction, as shown in Figure 2(d) . The movable robot offset distance L _offset =(L ₁ +L ₂ )/2. After completing the calculation of the offset direction, offset angle, and offset distance of the movable robot, the main control unit of the movable robot performs the calculation Analyze, analyze the motion speed of the robot, and send it to the motion calculation unit to realize the robot's autonomous correction. Through the above calculation method, the mobile robot can always deviate from the guide wire and cause out of control. It not only improves work efficiency, but also protects other equipment and products in the workshop.

The preferred solution is: the ground scanning module includes a ground scanning module 1 and a ground scanning module 2. The ground scanning module 1 and the ground scanning module 2 are respectively placed on the front and rear of the chassis of the mobile robot. The ground scanning module 1 can collect the offset L ₁ from the ground guide wire, and the ground scanning module 2 can collect the distance between the ground and the ground. The offset L _{2 of the} guide wire is sent to the mobile robot main control unit through the scene scanning unit; through the use of two ground scanning modules, the mobile robot can always perceive the offset and the difference between itself and the ground guide wire. The offset angle can be adjusted in real time to prevent the mobile robot from deviating from the lead wire and causing out of control. It not only improves work efficiency, but also protects other equipment and products in the workshop.

The mobile robot main control unit receives the position offset signal sent by the scene scanning unit, and calculates the robot's offset angle and the robot's offset distance based on the offset. The mobile robot main control unit is based on the robot's offset The angle, and the offset distance of the robot, calculate the movement speed vector of the mobile robot for correcting the position of the robot (the movement speed vector takes the direction of movement into consideration), and send it to the motion calculation unit. This signal can finally make the mobile robot return On the scheduled exercise route.

The preferred solution of the motion calculation unit is: it is used to calculate the omnidirectional movement motor 1 and the omnidirectional movement motor 2 according to the robot movement speed, the movement end point coordinate value and the execution time sent by the mobile robot main control unit. , The motion parameters of the omnidirectional moving motor 3 and the omnidirectional moving motor 4. The movement speed of the 4 motors is calculated by the robot movement speed. According to the track and orientation of the 4 wheel sets, the sub-speed of each wheel set is decomposed. The direction of the 4 motors is derived from the coordinate value of the end point of the motion, according to the coordinate value of the end point of the motion. Comparing with the current coordinate value of the movable robot, the next step of the movement direction of the movable robot is obtained, and then according to the orientation of each wheel group, the next movement direction of each motor is obtained. And send it to the omni-directional mobile drive unit; the motion calculation unit determines the stable support motor 1, stable support according to the principle of stable support after the mobile robot reaches the end point according to the coordinate value of the motion end point sent by the main control unit of the mobile robot The starting position of the motor 2, the stable support motor 3, and the stable support motor 4 are set, and their motion parameters are set and sent to the stable support drive unit. The realization method of stable support is as follows: set the same motion speed for 4 stable support motors, and 4 stable support motors respectively drive the 4 screw elevators to move. Before the screw elevator falls to the ground, the motor torque feedback is F. After the screw elevator falls, the motor torque feedback F ^', when ^F' when -F≥5Nm, screw jacks considered floor, stable support of the motor stops moving, until all four stably support the motor stops moving.

The omnidirectional movement drive unit, the preferred solution is: the movement parameters (including movement speed and movement direction) of the omnidirectional movement motor 1, the omnidirectional movement motor 2, the omnidirectional movement motor 3, and the omnidirectional movement motor 4 are driven by the omnidirectional movement The unit obtains the power-on frequency of the three-phase motor U, V, W according to the movement speed, and the power-up sequence of the three-phase motor U, V, W according to the movement direction, which is used as a power signal and sent to the moving motor 1. Omnidirectional moving motor 2, Omnidirectional moving motor 3, Omnidirectional moving motor 4;

Stably support the drive unit, the preferred solution is: the stable support motor 1, the stable support motor 2, the stable support motor 3, the stable support motor 4 (including the movement speed and the direction of movement), and the stable support drive unit obtains the motor U according to the movement speed. , V, W three-phase power-on frequency, according to the direction of movement to get the motor U, V, W three-phase power-on sequence, as a power signal, sent to the stable support motor 1, stable support motor 2, stable support motor 3. Stably support the motor 4;

The omnidirectional movement motor 1, the omnidirectional movement motor 2, the omnidirectional movement motor 3, and the omnidirectional movement motor 4 respectively move according to their power signals; realizing the omnidirectional movement of the mobile robot.

The stable support motor 1, the stable support motor 2, the stable support motor 3, and the stable support motor 4 move according to their power signals; realize the stable support of the mobile robot. The realization method of stable support is as follows: set the same motion speed for 4 stable support motors, and 4 stable support motors respectively drive the 4 screw elevators to move. Before the screw elevator falls to the ground, the motor torque feedback is F. After the screw elevator falls, the motor torque feedback F ^', when ^F' when -F≥5Nm, screw jacks considered floor, stable support of the motor stops moving, until all four stably support the motor stops moving.

The omnidirectional movement motor 1, the omnidirectional movement motor 2, the omnidirectional movement motor 3, and the omnidirectional movement motor 4 feed back their own motion state to the motion calculation unit through the omnidirectional movement drive unit;

Stable support motor 1, stable support motor 2, stable support motor 3, stable support motor 4, feedback its own motion state to the motion calculation unit through the stable support drive unit;

The preferred solution is: the main control unit of the mobile robot receives the omnidirectional movement motor 1, the omnidirectional movement motor 2, the omnidirectional movement motor 3, the omnidirectional movement motor 4, the stable support motor 1, the stable support motor 2 sent by the motion solving unit , Stable support motor 3, stable support motor 4's own motion state; the main control unit of the mobile robot will move 8 motors (omnidirectional movement motor 1～omnidirectional movement motor 4 and stable support motor 1～stability support motor 4) The speed is compared with the robot motion speed sent to the motion calculation unit. If the sending speed is inconsistent with the feedback speed, all motor motions will be stopped and the movable robot will stop the current action.

The camera can collect the current position coordinate value of the mobile robot, the position coordinate value of the execution end and the execution end processing status information in real time (preparing processing, processing, finishing processing), and send it to the mobile robot main control unit through the robot control unit;

Obstacle scanning module, the preferred solution is: real-time collection of obstacle information on the robot's motion path, and feedback of the obstacle information to the scene scanning unit, the scene scanning unit sends the obstacle information to the mobile robot main control unit, if the mobile robot is around Obstacles, the main control unit of the mobile robot stops the movement of the mobile robot to ensure safety. Finally, the main control unit of the mobile robot sends the obstacle information to the upper computer and displays it on the upper computer screen;

The preferred solution is: the robot control unit can receive the processing point coordinate value instruction issued by the mobile robot main control unit, and perform the execution end of the robot arm according to the processing point coordinate value and the position coordinate value of the execution end collected by the camera. Position adjustment; the robot includes a mechanical arm, and an execution end is provided on the mechanical arm. The robot control unit controls the robot arm to move to the processing position; executes the end to complete the processing action; the camera collects the current position coordinate value of the movable robot, the execution end position coordinate value and the execution end processing status information to realize the processing of the product; the robot control unit And the processing status signal of the execution end (including preparation processing, processing, processing start status, processing status), the current position is transmitted to the mobile robot main control unit in real time; the mobile robot main control unit sends it to the upper computer unit To display. As shown in Figure 3.

The preferred control method of a mobile robot intelligent control system of the present invention is as follows:

(1) Input instructions for the movement speed of the movable robot, the coordinate value of the movement end point and the coordinate value of the processing point in the upper computer unit, and these instructions are transmitted to the main control unit of the movable robot through the Wi-Fi network.

(2) The mobile robot main control unit assigns the mobile robot's movement speed, the coordinate value of the movement end point and the execution time instructions to the movement calculation unit.

Through the use of two ground scanning modules, they are placed on the front and rear of the mobile robot chassis, respectively, the ground scanning module 1 and the ground scanning module 2; the ground scanning module 1 scans the center point of the field of view and the ground scanning module 2 The line of the center point of the scanning field of view coincides with the center axis of the chassis; the center axis of the chassis refers to the line between the front center point and the rear center point of the mobile robot chassis.

The mobile robot main control unit will receive the offset L ₁ sent by the scene scanning module (the offset L ₁ is the vertical distance between the center point of the scanning field of view of the ground scanning module 1 and the ground guide wire, and the ground guide wire Is the connection line between the current position of the robot and the designated station) and the offset L ₂ (the offset L ₂ is the vertical distance between the center point of the scanning field of view of the ground scanning module 2 and the ground guide wire), which can be calculated Whether the current direction of the mobile robot is incorrect, if L ₁ ≠0 or L ₂ ≠0, the current direction is not correct and needs to be adjusted. There are 4 types of incorrect directions of the mobile robot as shown in Figure 2, where the offset angle α=arcs in(|L ₁ -L ₂ |/L), where L is the distance between the center point of the scanning field of view of the ground scanning module 1 and the ground scanning module 2, the offset direction needs to be judged to determine the size of _{L 1} and L _{2, if} If L ₁ <0, L ₂ >0, the robot will shift in the counterclockwise direction, as shown in Figure 2(a); if L ₁ >0, L ₂ <0, the robot will shift in the clockwise direction, as shown in the figure 2(b); if L ₁ and L _{2 have the} same number, that is, L ₁ and L ₂ are both> 0, or L ₁ and L ₂ are both <0, at this time, if L ₁ > L ₂ , the robot moves clockwise The direction offset, as shown in Figure 2(c); if L ₁ and L _{2 have the} same sign, that is, both L ₁ and L ₂ are >0, or both L ₁ and L ₂ are less than 0, at this time, if L ₁ <L ₂ , The robot shifts in the counterclockwise direction, as shown in Figure 2(d). The movable robot offset distance L _offset =(L ₁ +L ₂ )/2. After completing the calculation of the offset direction, offset angle, and offset distance of the movable robot, the main control unit of the movable robot performs the calculation Analyze, analyze the motion speed of the robot, and send it to the motion calculation unit to realize the robot's autonomous correction.

(3) The motion calculation unit calculates the omnidirectional movement motor 1, the omnidirectional movement motor 2, the omnidirectional movement motor 3, and the omnidirectional movement according to the robot movement speed, the movement end position coordinates and the execution time parameters sent by the mobile robot main control unit. The motion curve parameters of the moving motor 4 are sent to the omni-directional moving drive unit.

(4) The omnidirectional movement drive unit transmits the conversion success rate signal of the motion curve parameters of the omnidirectional movement motor 1 calculated by the motion calculation unit to the omnidirectional movement motor 1.

(5) The omnidirectional movement drive unit transmits the conversion success rate signal of the motion curve parameters of the omnidirectional movement motor 2 calculated by the motion calculation unit to the omnidirectional movement motor 2.

(6) The omnidirectional movement drive unit transmits the conversion success rate signal of the motion curve parameter of the omnidirectional movement motor 3 calculated by the motion calculation unit to the omnidirectional movement motor 3.

(7) The omnidirectional movement drive unit transmits the conversion success rate signal of the motion curve parameter of the omnidirectional movement motor 4 calculated by the motion calculation unit to the omnidirectional movement motor 4.

(8) The motion calculation unit calculates the stable support motor 1, stable support motor 2, stable support motor 3, and stable support motor 4 according to the robot motion speed, motion end position coordinates and execution time parameters issued by the mobile robot main control unit. The motion curve parameters are sent to the stable support drive unit.

(9) The stable support drive unit converts the success rate signal of the motion curve parameters of the stable support motor 1 calculated by the motion calculation unit to the stable support motor 1.

(10) The stable support drive unit converts the success rate signal of the motion curve parameters of the stable support motor 2 calculated by the motion calculation unit to the stable support motor 2.

(11) The stable support drive unit converts the success rate signal of the motion curve parameters of the stable support motor 3 calculated by the motion calculation unit to the stable support motor 3.

(12) The stable support drive unit converts the success rate signal of the motion curve parameters of the stable support motor 4 calculated by the motion calculation unit to the stable support motor 4.

(13) The mobile robot main control unit transmits the position coordinate information of the processing point to the robot control unit.

(14) The robot control unit controls the robot to execute the end processing.

(15) The camera feeds back the specific position coordinates of the processing point scene to the robot control unit, so that the robot control unit can fine-tune the position of the execution end.

(16) The robot control unit transmits the robot processing start, processing completion, current status and current position coordinate signals to the mobile robot main control unit in real time, and the mobile robot main control unit judges whether the processing is completed according to the signals.

(17) The omnidirectional movement drive unit feeds back the movement speed and real-time coordinate signals of the omnidirectional movement motor 1, the omnidirectional movement motor 2, the omnidirectional movement motor 3, and the omnidirectional movement motor 4 to the movement calculation unit, so that it can be The motion state of the mobile robot is adjusted in real time to the motion solution equation.

(18) The stable support drive unit feeds back the motion speed of the stable support motor 1, the stable support motor 2, the stable support motor 3, the stable support motor 4, and the real-time coordinate signal to the motion calculation unit to make it based on the motion state of the movable robot Real-time adjustment of the motion solution equation.

(19) The motion calculation unit combines the mobile robot's omnidirectional movement motor 1, omnidirectional movement motor 2, omnidirectional movement motor 3, omnidirectional movement motor 4 and stable support motor 1, stable support motor 2, stable support motor 3, The motion state of the stably supporting motor 4 is fed back to the main control unit.

_{(20) The ground scanning module can send the vertical distance L 1} between the center of the current self-scanning field of view collected by the ground scanning module 1 and the ground guide (preferably a ground two-dimensional coding tape with position information) to the scene scanning unit in real time. _{The scanning module 2 collects the vertical distance L 2} between the center of the current scanning field of view and the ground two-dimensional coding belt and sends it to the scene scanning unit in real time, and sends the ground position coordinates of the mobile robot to the scene scanning unit.

(21) The space scanning module sends the space position coordinates of the mobile robot to the scene scanning unit.

(22) Obstacle scanning single module can move the robot to send information about obstacles in a certain distance around the scene to the scene scanning unit.

_{(23) The scene scanning unit packs the position coordinates, offset L 1} , offset L ₂ and obstacle information of surrounding scenes of the mobile robot fed back by the ground scanning module, space scanning module and obstacle scanning module, and then sends the data To the main control unit of the mobile robot.

(24) The upper computer unit receives the position coordinates of the movable robot, the coordinates of the execution end position, the movement status, whether the robot is in place, the obstacles in the surrounding scene, the processing status and other information from the master control unit of the movable robot, and then The information is displayed on the interface of the host computer.

After the above scheme, the present invention realizes the omnidirectional movement of the robot, and adjusts the movement direction in time according to the real-time feedback data of the omnidirectional movement motor, so that the robot can accurately and autonomously move to the position of the product to be processed, and automatically complete the assembly work. The purpose of saving labor costs.

By stably supporting the motor, the robot's automatic leveling function is realized to replace the manual leveling link, which reduces the waste of labor costs and greatly improves the work efficiency; overcomes the unevenness of the ground during the movement and after reaching the end point The resulting decrease in positioning accuracy ensures the accuracy of assembly.

The two ground scanning modules can separately collect the offset distance from the ground guide wire. From this, the offset angle and total offset of the mobile robot can be calculated, and they can be adjusted in real time so that the mobile robot does not accumulate offset. Make sure that the mobile robot is always driving on a predetermined route. It not only improves work efficiency, but also protects other equipment and products in the workshop.

The mobile robot developed according to the present invention completes the task of automatically processing the outer shell of the space station structure, and the processing accuracy is controlled within ±0.02 mm, which meets the processing requirements.

Claims (9)

1. An intelligent control system for a mobile robot, which is characterized by comprising: a host computer unit, a mobile robot main control unit, a motion calculation unit, an omnidirectional movement drive unit, an omnidirectional movement motor 1, an omnidirectional movement motor 2, an omnidirectional movement Moving motor 3, omnidirectional moving motor 4, stable support drive unit, stable support motor 1, stable support motor 2, stable support motor 3, stable support motor 4, robot control unit, camera, scene scanning unit, ground scanning module, space Scanning module and obstacle scanning module;

   The host computer unit is used to send instructions to the main control unit of the mobile robot through the Wi-Fi network, including information about the robot's movement speed, the coordinate value of the movement end point, and the coordinate value of the processing point;

   The motion calculation unit can collect real-time omnidirectional movement motor 1, omnidirectional movement motor 2, omnidirectional movement motor 3, omnidirectional movement motor 4, stable support motor 1, stable support motor 2, stable support motor 3, stable support motor 4 The movement status is sent to the main control unit of the mobile robot;

   The camera can collect the current position coordinate value of the mobile robot, the position coordinate value of the execution end, and the execution end processing status information in real time, and send it to the main control unit of the mobile robot through the robot control unit;

   The upper computer unit can display the omnidirectional movement motor 1, the omnidirectional movement motor 2, the omnidirectional movement motor 3, the omnidirectional movement motor 4, the stable support motor 1, the stable support motor 2, and the stable support fed back by the mobile robot main control unit Motor 3, stably support the motion state of motor 4, as well as the current position coordinate value of the movable robot, the position coordinate value of the execution end, and the execution end processing state information;

   The space scanning module sends the space position coordinates of the mobile robot to the scene scanning unit, and the scene scanning unit sends the current space position coordinates of the mobile robot collected by the space scanning module to the mobile robot main control unit;

   The main control unit of the mobile robot calculates the execution time from the current space position of the mobile robot to the end point of the motion according to the motion speed of the robot in the instruction, the coordinate value of the motion end point, and the current space position coordinates of the mobile robot;

   The mobile robot main control unit is used to receive the motion speed, motion end point coordinate value and processing point coordinate value instructions sent by the host computer, and send the robot motion speed, motion end point coordinate value and execution time in the instruction to The motion calculation unit sends the coordinate value of the processing point in the instruction to the robot control unit; during the movement of the mobile robot, it may happen that the running direction is not correct, and it needs to be adjusted in time to prevent the mobile robot from gradually walking out of the designated area. Out of control occurs;

   The ground scanning module can collect the position offset signal in real time, and send it to the mobile robot main control unit through the scene scanning unit;

   The mobile robot main control unit receives the position offset signal sent by the scene scanning unit, and calculates the robot's offset angle and the robot's offset distance based on the offset. The mobile robot main control unit is based on the robot's offset The angle, and the offset distance of the robot, calculate the movement speed vector of the movable robot for correcting the position of the robot, and send it to the motion calculation unit;

   The motion calculation unit is used to calculate the omnidirectional movement motor 1, the omnidirectional movement motor 2, and the omnidirectional movement motor according to the robot movement speed, the movement end point coordinate value and the execution time sent by the mobile robot main control unit. 3. The motion parameters of the omnidirectional moving motor 4 are sent to the omnidirectional moving drive unit; the motion calculation unit determines the stable support motor 1, the stable support motor 2, according to the coordinate value of the motion end point sent by the main control unit of the movable robot Stably support the motor 3, stably support the working position of the motor 4, set its motion parameters, and send them to the stable support drive unit;

   The omnidirectional movement drive unit converts the motion parameters of the omnidirectional movement motor 1, the omnidirectional movement motor 2, the omnidirectional movement motor 3, and the omnidirectional movement motor 4, and sends the signal to the omnidirectional movement motor 1. Motor 2, omnidirectional moving motor 3, omnidirectional moving motor 4;

   Stably support the drive unit, convert the motion parameters of the stable support motor 1, the stable support motor 2, the stable support motor 3, and the stable support motor 4, convert the success rate signal, and send it to the stable support motor 1, the stable support motor 2, the stable support motor 3 , Stable support motor 4;

   The omnidirectional movement motor 1, the omnidirectional movement motor 2, the omnidirectional movement motor 3, and the omnidirectional movement motor 4 respectively move according to their power signals; realize the omnidirectional movement of the mobile robot;

   The stable support motor 1, the stable support motor 2, the stable support motor 3, and the stable support motor 4 move according to their power signal; realize the stable support of the mobile robot;

   The omnidirectional movement motor 1, the omnidirectional movement motor 2, the omnidirectional movement motor 3, and the omnidirectional movement motor 4 feed back their own motion state to the motion calculation unit through the omnidirectional movement drive unit;

   Stable support motor 1, stable support motor 2, stable support motor 3, stable support motor 4, feedback its own motion state to the motion calculation unit through the stable support drive unit;

   The mobile robot main control unit receives the omnidirectional movement motor 1, the omnidirectional movement motor 2, the omnidirectional movement motor 3, the omnidirectional movement motor 4, the stable support motor 1, the stable support motor 2, and the stable support motor sent by the motion calculation unit 3. Stably support the self-motion state of the motor 4;

   The camera can collect the current position coordinate value of the mobile robot, the position coordinate value of the execution end, and the execution end processing status information in real time, and send it to the main control unit of the mobile robot through the robot control unit;

   The obstacle scanning module collects obstacle information on the robot's motion path in real time, and feeds the obstacle information back to the scene scanning unit. The scene scanning unit sends the obstacle information to the mobile robot main control unit. If there are obstacles around the mobile robot, then The mobile robot main control unit stops the movement of the mobile robot to ensure safety. Finally, the mobile robot main control unit sends the obstacle information to the upper computer and displays it on the upper computer;

   The robot control unit can receive the coordinate value instruction of the processing point issued by the main control unit of the mobile robot, and adjust the position of the execution end of the robot arm according to the coordinate value of the processing point and the position coordinate value of the execution end collected by the camera. The arm relies on its execution end to complete the processing process. The robot control unit forms a processing state signal from the collected processing state of the execution end, and transmits the processing state signal and current position information to the mobile robot main control unit in real time; the mobile robot main control unit Send to the upper computer unit for display.
2. The mobile robot intelligent control system according to claim 1, wherein the processing point refers to the working position of the execution end.
3. The intelligent control system for a mobile robot according to claim 1, characterized in that the motion states of the omnidirectional movement motor 1, the omnidirectional movement motor 2, the omnidirectional movement motor 3, and the omnidirectional movement motor 4 include: normal Run, stop running, fault alarm.
4. The intelligent control system for a mobile robot according to claim 1, wherein the motion states of the stable support motor 1, the stable support motor 2, the stable support motor 3, and the stable support motor 4 include: unsupported, start action , Complete support, fault alarm.
5. The intelligent control system for a mobile robot according to claim 1, wherein the state information of the end-of-process processing includes: preparing to process, in process, and completed process.
6. The intelligent control system for a mobile robot according to claim 1, characterized in that: the running direction is incorrect, which means that it deviates from a predetermined route. As the offset continues to accumulate, it will eventually cause the mobile robot to completely deviate from the predetermined route. Route, causing the mobile robot to lose control.
7. An intelligent control system for a mobile robot according to claim 1, wherein the designated area refers to a preset range of the robot movement area.
8. The intelligent control system for a mobile robot according to claim 1, characterized in that: the motion speed vector of the mobile robot for correcting the position of the robot includes the motion speed and the direction of motion, so that the mobile robot moves according to the motion speed vector , Back to the scheduled route.
9. The intelligent control system for a mobile robot according to claim 1, wherein the robot has a mechanical arm, and the end of the mechanical arm is provided with an execution terminal for processing products.

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