WO2022198695A1 - Rolling brush type omnidirectional walking robot and walking control method therefor - Google Patents

Rolling brush type omnidirectional walking robot and walking control method therefor Download PDF

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WO2022198695A1
WO2022198695A1 PCT/CN2021/084072 CN2021084072W WO2022198695A1 WO 2022198695 A1 WO2022198695 A1 WO 2022198695A1 CN 2021084072 W CN2021084072 W CN 2021084072W WO 2022198695 A1 WO2022198695 A1 WO 2022198695A1
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robot
rotating roller
rotating
coordinate system
walking
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PCT/CN2021/084072
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French (fr)
Chinese (zh)
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张振
梁春林
许槐杰
段云峰
欧保全
杨锴
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深圳市伽利略机器人有限公司
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    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot
    • G05D1/02—Control of position or course in two dimensions
    • G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
    • G05D1/0212—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory
    • G05D1/0223—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory involving speed control of the vehicle

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  • Aviation & Aerospace Engineering (AREA)
  • Radar, Positioning & Navigation (AREA)
  • Remote Sensing (AREA)
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  • General Physics & Mathematics (AREA)
  • Automation & Control Theory (AREA)
  • Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)

Abstract

A rolling brush type omnidirectional walking robot, comprising a chassis (1), wherein at least three rotating roller brushes (2) that also serve as walking wheels are provided on the chassis (1); the rotating roller brushes (2) rotate around axes thereof; and the chassis (1) is provided with a point B, the at least three rotating roller brushes (2) are evenly distributed around point B, and a projection of the axis of each rotating roller brush (2) on the chassis (1) passes through point B. By adjusting the rotational speed of each rotating roller brush (2), the robot may achieve the omnidirectional walking of a sweeping robot; meanwhile, as the rotating roller brushes (2) also serve as walking wheels, the sweeping robot may clean paths that have been walked along when walking, which is extremely convenient. Also provided is a walking control method for a rolling brush type omnidirectional walking robot.

Description

滚刷式全向行走的机器人及其行走控制方法Rolling brush type omnidirectional walking robot and its walking control method 技术领域technical field
本申请涉及行走机器人技术领域，尤其涉及一种滚刷式全向行走的机器人及其行走控制方法。The present application relates to the technical field of walking robots, and in particular, to a rolling brush type omnidirectional walking robot and a walking control method thereof.
背景技术Background technique
当前大多数扫地机器人使用的双轮差速模型，在运动的时候会受到限制，只能前进后退，圆心转弯，机器不够灵活。The two-wheel differential model used by most of the current sweeping robots will be limited when moving, and can only move forward and backward, turning around the center of the circle, and the machine is not flexible enough.
技术问题technical problem
为了提高扫地机器人的行走灵活性，本申请提供了一种滚刷式全向行走的机器人。In order to improve the walking flexibility of the cleaning robot, the present application provides a rolling brush type omnidirectional walking robot.
技术解决方案technical solutions
滚刷式全向行走的机器人，包括底盘，所述底盘上设有兼作行走轮的至少三个转动滚刷，所述转动滚刷绕其轴线转动，所述底盘上设有点B，所述至少三个转动滚刷绕所述点B周向均匀分布，且各转动滚刷的轴线在底盘上的投影穿过所述点B。A roller-brush type omnidirectional walking robot includes a chassis on which at least three rotating roller brushes that double as walking wheels are arranged, the rotating roller brushes rotate around its axis, and a point B is arranged on the chassis, and the at least three rotating roller brushes are arranged on the chassis. The three rotating roller brushes are evenly distributed around the point B in the circumferential direction, and the projection of the axis of each rotating roller brush on the chassis passes through the point B.
如上所述的滚刷式全向行走的机器人，所述底盘上设有与各个转动滚刷相对应用于驱动转动滚刷转动的驱动电机。In the above-mentioned rolling brush type omnidirectional walking robot, the chassis is provided with a driving motor corresponding to each rotating rolling brush and used for driving the rotating rolling brush to rotate.
如上所述的滚刷式全向行走的机器人，所述转动滚刷的外周侧上设有拖布。In the above-mentioned rolling brush type omnidirectional walking robot, a mop is provided on the outer peripheral side of the rotating rolling brush.
如上所述的滚刷式全向行走的机器人，所述点B位于所述底盘的几何中心。In the above-mentioned roller-brush type omnidirectional walking robot, the point B is located at the geometric center of the chassis.
如上所述的滚刷式全向行走的机器人，所述底盘上设有三个转动滚刷或四个转动滚刷。In the above-mentioned rolling brush type omnidirectional walking robot, the chassis is provided with three rotating rolling brushes or four rotating rolling brushes.
如上所述的滚刷式全向行走的机器人行走控制方法，包括如下步骤：The above-mentioned rolling brush-type omnidirectional walking control method of a robot comprises the following steps:
S1，根据移动路径计算得出移动过程中机器人运动参数，所述机器人运动参数包括机器人转动角速度
Figure 376659dest_path_image001
的大小和方向，机器人移动速度 V的大小和方向； S1, calculating the motion parameters of the robot in the moving process according to the moving path, and the motion parameters of the robot include the rotational angular velocity of the robot
Figure 376659dest_path_image001
The size and direction of , the size and direction of the robot moving speed V ;
S2，中央控制单元接收所述机器人运动参数，并根据机器人转动角速度
Figure 154122dest_path_image001
的大小和方向以及机器人移动速度 V的大小和方向计算得出各转动滚刷的转速
Figure 842637dest_path_image002
； S2, the central control unit receives the robot motion parameters, and according to the robot rotation angular velocity
Figure 154122dest_path_image001
The size and direction of the robot and the size and direction of the robot's moving speed V are calculated to obtain the rotation speed of each rotating roller brush.
Figure 842637dest_path_image002
;
S3，根据计算得出的各转动滚刷的转速
Figure 603920dest_path_image002
控制各转动滚刷对应转动。 S3, according to the calculated rotational speed of each rotating roller brush
Figure 603920dest_path_image002
Control each rotating roller brush to rotate correspondingly.
如上所述的滚刷式全向行走的机器人行走控制方法，在步骤S2中，中央控制单元以机器人所在环境建立世界坐标系{S}和以底盘上的点B为原点建立相对机器人固定不动的机器坐标系{E}，机器坐标系{E}与世界坐标系{S}的偏转角设为θ，对单个转动滚刷进行计算时，该转动滚刷线速度 V 1 的方向与机器坐标系{E}的X轴夹角为Ψ，该转动滚刷线速度 V 1 的方向与世界坐标系{S}的X轴夹角
Figure dest_path_image003
= θ + Ψ，所述机器人移动速度 V的方向与世界坐标系{S}的X轴夹角为β，所述机器人移动速度 V在世界坐标系{S}的X轴的速度
Figure 398701dest_path_image004
为： As mentioned above, in step S2, the central control unit establishes a world coordinate system {S} with the environment where the robot is located and establishes a fixed relative robot with the point B on the chassis as the origin. The machine coordinate system {E} of , the deflection angle between the machine coordinate system {E} and the world coordinate system {S} is set to θ, when calculating a single rotating brush, the direction of the linear speed V 1 of the rotating brush is related to the machine coordinate The angle between the X axis of the system {E} is Ψ, the direction of the linear velocity V 1 of the rotating roller brush is the angle between the X axis of the world coordinate system {S}
Figure dest_path_image003
= θ + Ψ, the included angle between the direction of the robot moving speed V and the X-axis of the world coordinate system {S} is β, and the robot moving speed V is the speed of the X-axis of the world coordinate system {S}.
Figure 398701dest_path_image004
for:
Figure 76676dest_path_image005
；
Figure 76676dest_path_image005
;
所述机器人移动速度 V在世界坐标系{S}的y轴的速度
Figure 197078dest_path_image006
为： The speed of the robot moving speed V in the y-axis of the world coordinate system {S}
Figure 197078dest_path_image006
for:
Figure 711236dest_path_image007
；
Figure 711236dest_path_image007
;
所述转动滚刷的线速度 V 1 为： The linear velocity V 1 of the described rotating roller brush is:
Figure 575287dest_path_image008
；
Figure 575287dest_path_image008
;
其中 d为转动滚刷中心至点B在水平面的投影距离，
Figure 78075dest_path_image001
为机器人转动角速度，
Figure 634958dest_path_image009
为转动滚刷线速度 V 1 的方向与世界坐标系{S}的X轴的夹角； where d is the projected distance from the center of the rotating roller brush to point B on the horizontal plane,
Figure 78075dest_path_image001
is the rotational angular velocity of the robot,
Figure 634958dest_path_image009
is the angle between the direction of the linear velocity V 1 of the rotating roller and the X axis of the world coordinate system {S};
通过公式： Via the formula:
Figure 370833dest_path_image010
Figure 370833dest_path_image010
得出转动滚刷的转速
Figure 38575dest_path_image002
，其中 r为转动滚刷的半径，
Figure dest_path_image011
是圆周率。 Obtain the rotational speed of the rotating brush
Figure 38575dest_path_image002
, where r is the radius of the rotating brush,
Figure dest_path_image011
is the circle rate.
有益效果beneficial effect
本申请中，通过调节各转动滚刷的转速，可实现扫地机器人进行全向行走，同时由于转动滚刷兼作行走轮，因此扫地机器人在行走的时候可以清洁行走过的路径，十分方便。In the present application, by adjusting the rotational speed of each rotating roller brush, the sweeping robot can walk in all directions. At the same time, since the rotating roller brush doubles as a walking wheel, the sweeping robot can clean the walking path when walking, which is very convenient.
附图说明Description of drawings
为了更清楚地说明本申请实施例中的技术方案，下面将对实施例描述中所需要使用的附图作简单地介绍。In order to illustrate the technical solutions in the embodiments of the present application more clearly, the following briefly introduces the accompanying drawings that are used in the description of the embodiments.
图1是底盘设有三个转动滚刷的扫地机器人示意图；Fig. 1 is the schematic diagram of the sweeping robot with three rotating roller brushes on the chassis;
图2是底盘设有四个转动滚刷的扫地机器人示意图；Fig. 2 is the schematic diagram of the sweeping robot with four rotating roller brushes on the chassis;
图3是单个转动滚刷的速度方向在世界坐标系和机器坐标系中的分析示意图。 Figure 3 is a schematic diagram of the analysis of the speed direction of a single rotating roller brush in the world coordinate system and the machine coordinate system.
本发明的最佳实施方式Best Mode for Carrying Out the Invention
为了使本申请所解决的技术问题、技术方案及有益效果更加清楚明白，以下结合附图及实施例，对本申请进行进一步详细说明。应当理解，此处所描述的具体实施例仅仅用以解释本申请，并不用于限定本申请。In order to make the technical problems, technical solutions and beneficial effects solved by the present application clearer, the present application will be further described in detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are only used to explain the present application, but not to limit the present application.
当本申请实施例提及“第一”、“第二”等序数词时，除非根据上下文其确实表达顺序之意，应当理解为仅仅是起区分之用。When ordinal numbers such as "first" and "second" are mentioned in the embodiments of the present application, unless they really express the meaning of order according to the context, it should be understood that they are only used for distinction.
在本申请的描述中，需要说明的是，除非另有明确的规定和限定，术语“安装”、“相连”、“连接”应做广义理解，例如，可以是固定连接，也可以是可拆卸连接，或一体地连接；可以是机械连接，也可以是电连接；可以是直接相连，也可以通过中间媒介间接相连，可以是两个元件内部的连通。对于本领域的普通技术人员而言，可以具体情况理解上述术语在本申请中的具体含义。In the description of this application, it should be noted that, unless otherwise expressly specified and limited, the terms "installed", "connected" and "connected" should be understood in a broad sense, for example, it may be a fixed connection or a detachable connection Connection, or integral connection; can be mechanical connection, can also be electrical connection; can be directly connected, can also be indirectly connected through an intermediate medium, can be internal communication between two elements. For those of ordinary skill in the art, the specific meanings of the above terms in this application can be understood in specific situations.
如图1和图2所示的滚刷式全向行走的机器人，包括底盘1，所述底盘1上设有兼作行走轮的至少三个转动滚刷2，所述转动滚刷2绕其轴线转动，所述底盘1上设有点B，具体地，所述点B位于所述底盘1的几何中心。所述至少三个转动滚刷2绕所述点B周向均匀分布，且各转动滚刷2的轴线在底盘1上的投影穿过所述点B。本实施例中，通过调节各转动滚刷的转速，可实现扫地机器人进行全向行走，同时由于转动滚刷兼作行走轮，因此扫地机器人在行走的时候可以清洁行走过的路径，十分方便。为了方便调节转动滚刷转速，所述底盘1上设有与各个转动滚刷2相对应用于驱动转动滚刷2转动的驱动电机。As shown in Fig. 1 and Fig. 2, the rolling brush-type omnidirectional walking robot includes a chassis 1, and the chassis 1 is provided with at least three rotating rolling brushes 2 which also serve as walking wheels, and the rotating rolling brushes 2 revolve around its axis During rotation, the chassis 1 is provided with a point B, specifically, the point B is located at the geometric center of the chassis 1 . The at least three rotating roller brushes 2 are evenly distributed in the circumferential direction around the point B, and the projection of the axis of each rotating roller brush 2 on the chassis 1 passes through the point B. In this embodiment, by adjusting the rotational speed of each rotating roller brush, the sweeping robot can walk in all directions. At the same time, because the rotating roller brush doubles as a walking wheel, the sweeping robot can clean the walking path when walking, which is very convenient. In order to conveniently adjust the rotational speed of the rotating roller brushes, the chassis 1 is provided with a driving motor corresponding to each rotating roller brush 2 for driving the rotating roller brushes 2 to rotate.
进一步地，为了方便高效清洁地面，所述转动滚刷2的外周侧上设有拖布。Further, in order to facilitate and efficiently clean the ground, a mop is provided on the outer peripheral side of the rotating roller brush 2 .
进一步地，为了使扫地机器人有效实现全向移动，所述底盘1上设有三个转动滚刷2或四个转动滚刷2。结构简单，方便控制。Further, in order to enable the sweeping robot to effectively realize omnidirectional movement, the chassis 1 is provided with three rotating roller brushes 2 or four rotating roller brushes 2 . Simple structure and convenient control.
本实施例还公开了所述的滚刷式全向行走的机器人行走控制方法，包括如下步骤：This embodiment also discloses the described rolling brush omnidirectional walking control method of the robot, which includes the following steps:
S1，根据移动路径计算得出移动过程中机器人运动参数，所述机器人运动参数包括机器人转动角速度
Figure 628825dest_path_image001
的大小和方向，机器人移动速度 V的大小和方向。 S1, calculating the motion parameters of the robot in the moving process according to the moving path, and the motion parameters of the robot include the rotational angular velocity of the robot
Figure 628825dest_path_image001
The size and direction of , the size and direction of the robot moving speed V.
S2，中央控制单元接收所述机器人运动参数，并根据机器人转动角速度
Figure 356609dest_path_image001
的大小和方向以及机器人移动速度 V的大小和方向计算得出各转动滚刷2的转速
Figure 845360dest_path_image002
。 S2, the central control unit receives the robot motion parameters, and according to the robot rotation angular velocity
Figure 356609dest_path_image001
The size and direction of the robot and the size and direction of the robot's moving speed V are calculated to obtain the rotation speed of each rotating roller brush 2
Figure 845360dest_path_image002
.
S3，中央控制单元根据计算得出的各转动滚刷2的转速
Figure 801945dest_path_image002
控制各转动滚刷2对应转动。本步骤中，中央控制单元通过控制驱动电机作业以控制各转动滚刷的转动。 S3, the central control unit calculates the rotational speed of each rotating roller brush 2 according to
Figure 801945dest_path_image002
Control each rotating roller brush 2 to rotate correspondingly. In this step, the central control unit controls the rotation of each rotating roller brush by controlling the operation of the driving motor.
进一步地，在步骤S2中，如图3所示，为了在计算时方便机器人确定自己的位置，中央控制单元建立世界坐标系{S}和机器坐标系{E}。具体地，中央控制单元以机器人所在环境的水平面设置X轴和Y轴，以机器人的移动初始点设置为坐标原点建立世界坐标系{S}，当然，世界坐标系{S}的坐标原点也可设置在机器人所在环境的其他位置上。中央控制单元以底盘1上的点B设置为坐标原点，以底盘的径向平面设置X轴和Y轴建立相对机器人固定不动的机器坐标系{E}， 机器坐标系{E}与世界坐标系{S}的偏转角设为θ。Further, in step S2, as shown in Figure 3, in order to facilitate the robot to determine its own position during calculation, the central control unit establishes a world coordinate system {S} and a machine coordinate system {E}. Specifically, the central control unit sets the X-axis and the Y-axis on the horizontal plane of the environment where the robot is located, and sets the movement initial point of the robot as the coordinate origin to establish the world coordinate system {S}. Of course, the coordinate origin of the world coordinate system {S} can also be Set elsewhere in the robot's environment. The central control unit sets the point B on the chassis 1 as the coordinate origin, and sets the X-axis and Y-axis on the radial plane of the chassis to establish a fixed machine coordinate system {E} relative to the robot. The machine coordinate system {E} and the world coordinate The deflection angle of the system {S} is set to θ.
对单个转动滚刷进行计算时，该转动滚刷2线速度 V 1 的方向与机器坐标系{E}的X轴夹角为Ψ，该转动滚刷2线速度 V 1 的方向与世界坐标系{S}的X轴夹角
Figure 794172dest_path_image009
= θ + Ψ，扫地机器人自身在转动时，
Figure 692858dest_path_image009
会随着扫地机器人的转动而变化。底盘上设有三个转动滚刷时，其中一个转动滚刷线速度 V 1 的方向与机器坐标系{E}的X轴夹角Ψ设为60°，另两个转动滚刷线速度的方向与机器坐标系{E}的X轴夹角分别为-60°和180°；底盘上设有四个转动滚刷时，其中一个转动滚刷线速度 V 1 的方向与机器坐标系{E}的X轴夹角Ψ=
Figure 872167dest_path_image012
Figure 396558dest_path_image013
,其中C为该转动滚刷的中心位置到机器坐标系{E}原点的水平距离，D为该转动滚刷的中心位置到机器坐标系{E}原点的垂直距离。所述机器人移动速度 V的方向与世界坐标系{S}的X轴夹角为β，所述机器人移动速度 V在世界坐标系{S}的X轴的速度
Figure 243291dest_path_image004
为： When calculating a single rotating roller brush, the included angle between the direction of the linear velocity V 1 of the rotating roller brush 2 and the X-axis of the machine coordinate system {E} is Ψ, and the direction of the linear speed V 1 of the rotating roller brush 2 and the world coordinate system are Ψ. X-axis angle of {S}
Figure 794172dest_path_image009
= θ + Ψ, when the cleaning robot itself is rotating,
Figure 692858dest_path_image009
It will change with the rotation of the sweeping robot. When there are three rotating roller brushes on the chassis, the angle Ψ between the direction of the linear speed V1 of one of the rotating roller brushes and the X-axis of the machine coordinate system {E} is set to 60°, and the direction of the linear speed of the other two rotating roller brushes is the same as that of the machine coordinate system {E}. The included angles of the X-axis of the machine coordinate system {E} are -60° and 180° respectively; when there are four rotating roller brushes on the chassis, the direction of the linear speed V 1 of one of the rotating roller brushes is the same as that of the machine coordinate system {E}. X-axis angle Ψ=
Figure 872167dest_path_image012
Figure 396558dest_path_image013
, where C is the horizontal distance from the center of the rotating brush to the origin of the machine coordinate system {E}, and D is the vertical distance from the center of the rotating brush to the origin of the machine coordinate system {E}. The included angle between the direction of the robot moving speed V and the X axis of the world coordinate system {S} is β, and the speed of the robot moving speed V in the X axis of the world coordinate system {S}
Figure 243291dest_path_image004
for:
Figure 312878dest_path_image005
；
Figure 312878dest_path_image005
;
所述机器人移动速度 V在世界坐标系{S}的y轴的速度
Figure 510641dest_path_image006
为： The speed of the robot moving speed V in the y-axis of the world coordinate system {S}
Figure 510641dest_path_image006
for:
Figure 543451dest_path_image007
；
Figure 543451dest_path_image007
;
由于单个转动滚刷是一个刚体，转动滚刷转动的时候整个转动滚刷的转速是统一的，而在扫地机器人绕点B转动时，在角速度相同的情况下，转动滚刷靠近点B的一端线速度小于转动滚刷远离点B的一端线速度，且转动滚刷靠近点B的一端至转动滚刷远离点B的一端线速度逐渐增加，因此，取转动滚刷中心位置的线速度为整个转动滚刷的线速度。所以所述转动滚刷2的线速度 V 1 为： Since a single rotating roller brush is a rigid body, when the rotating roller brush rotates, the rotation speed of the entire rotating roller brush is uniform, and when the sweeping robot rotates around point B, under the condition of the same angular velocity, the rotating roller brush is close to the end of point B The linear velocity is less than the linear velocity of the end of the rotating brush away from point B, and the linear velocity increases gradually from the end of the rotating brush close to point B to the end of the rotating brush away from point B. Therefore, take the linear velocity at the center of the rotating brush as the entire linear velocity. The linear speed of the rotating brush. Therefore, the linear velocity V 1 of the rotating roller brush 2 is:
Figure 510270dest_path_image008
；
Figure 510270dest_path_image008
;
其中 d为转动滚刷2中心位置至点B在水平面的投影距离，
Figure 485179dest_path_image001
为机器人转动角速度，
Figure 170238dest_path_image009
为转动滚刷2线速度 V 1 的方向与世界坐标系{S}的X轴夹角。 where d is the projected distance from the center of the rotating roller brush 2 to point B on the horizontal plane,
Figure 485179dest_path_image001
is the rotational angular velocity of the robot,
Figure 170238dest_path_image009
It is the included angle between the direction of the linear velocity V 1 of the rotating roller brush 2 and the X axis of the world coordinate system {S}.
最后通过公式： Finally pass the formula:
Figure 770853dest_path_image010
Figure 770853dest_path_image010
得出转动滚刷的转速
Figure 592178dest_path_image002
，其中 r为转动滚刷2的半径，
Figure 3568dest_path_image011
是圆周率。 Obtain the rotational speed of the rotating brush
Figure 592178dest_path_image002
, where r is the radius of the rotating roller brush 2,
Figure 3568dest_path_image011
is the circle rate.
扫地机器人上的每个转动滚刷2都是通过上述计算流程计算得出，中央控制单元根据计算得出的各转动滚刷2的转速
Figure 910344dest_path_image002
控制各转动滚刷2对应转动，以调节各转动滚刷的转速，实现扫地机器人进行全向行走。 Each rotating brush 2 on the sweeping robot is calculated through the above calculation process, and the central control unit calculates the rotational speed of each rotating brush 2 according to the calculation.
Figure 910344dest_path_image002
Control the corresponding rotation of each rotating roller brush 2 to adjust the rotational speed of each rotating roller brush to realize omnidirectional walking of the sweeping robot.
本实施例工作原理如下：The working principle of this embodiment is as follows:
本实施例通过调节各转动滚刷的转速，可实现扫地机器人进行全向行走，同时由于转动滚刷兼作行走轮，因此扫地机器人在行走的时候可以清洁行走过的路径，十分方便。In this embodiment, by adjusting the rotation speed of each rotating roller brush, the sweeping robot can walk in all directions, and at the same time, because the rotating roller brush doubles as a walking wheel, the sweeping robot can clean the walking path when walking, which is very convenient.
如上所述是结合具体内容提供的多种实施方式，并不认定本申请的具体实施只局限于这些说明。凡与本申请的方法、结构等近似、雷同，或是对于本申请构思前提下做出若干技术推演或替换，都应当视为本申请的保护范围。The above are various embodiments provided in combination with specific contents, and it is not construed that the specific implementation of the present application is limited to these descriptions. Any method, structure, etc. that are similar to or similar to those of the present application, or some technical deductions or substitutions are made on the premise of the concept of the present application, shall be regarded as the protection scope of the present application.

Claims (6)

  1. 滚刷式全向行走的机器人，其特征在于，包括底盘（1），所述底盘（1）上设有兼作行走轮的至少三个转动滚刷（2），所述转动滚刷（2）绕其轴线转动，所述底盘（1）上设有点B，所述至少三个转动滚刷（2）绕所述点B周向均匀分布，且各转动滚刷（2）的轴线在底盘（1）上的投影穿过所述点B。A rolling brush type omnidirectional walking robot is characterized in that it comprises a chassis (1) on which at least three rotating rolling brushes (2) that double as walking wheels are provided, and the rotating rolling brushes (2) Rotating around its axis, the chassis (1) is provided with a point B, the at least three rotating roller brushes (2) are evenly distributed in the circumferential direction around the point B, and the axis of each rotating roller brush (2) is on the chassis (2). 1) on the projection through said point B.
  2. 根据权利要求1所述的滚刷式全向行走的机器人，其特征在于，所述底盘（1）上设有与各个转动滚刷（2）相对应用于驱动转动滚刷（2）转动的驱动电机。The rolling brush type omnidirectional walking robot according to claim 1, characterized in that, the chassis (1) is provided with a drive corresponding to each rotating rolling brush (2) for driving the rotating rolling brush (2) to rotate motor.
  3. 根据权利要求1所述的滚刷式全向行走的机器人，其特征在于，所述转动滚刷（2）的外周侧上设有拖布。The rolling brush type omnidirectional walking robot according to claim 1, characterized in that, a mop is provided on the outer peripheral side of the rotating rolling brush (2).
  4. 根据权利要求1所述的滚刷式全向行走的机器人，其特征在于，所述点B位于所述底盘（1）的几何中心。The rolling brush type omnidirectional walking robot according to claim 1, characterized in that, the point B is located at the geometric center of the chassis (1).
  5. 根据权利要求1所述的滚刷式全向行走的机器人，其特征在于，所述底盘（1）上设有三个转动滚刷（2）或四个转动滚刷（2）。The rolling brush type omnidirectional walking robot according to claim 1, characterized in that, the chassis (1) is provided with three rotating rolling brushes (2) or four rotating rolling brushes (2).
  6. 如权利要求1—5任一项所述的滚刷式全向行走的机器人行走控制方法，其特征在于，包括如下步骤：The robot walking control method for rolling brush type omnidirectional walking according to any one of claims 1-5, characterized in that, comprising the following steps:
    S1，根据移动路径计算得出移动过程中机器人运动参数，所述机器人运动参数包括机器人转动角速度
    Figure 357923dest_path_image001
    的大小和方向，机器人移动速度 V的大小和方向；     S1, calculating the motion parameters of the robot in the moving process according to the moving path, and the motion parameters of the robot include the rotational angular velocity of the robot
    Figure 357923dest_path_image001
    The size and direction of , the size and direction of the robot moving speed V ;
    S2，中央控制单元接收所述机器人运动参数，并根据机器人转动角速度
    Figure 299334dest_path_image001
    的大小和方向以及机器人移动速度 V的大小和方向计算得出各转动滚刷（2）的转速
    Figure 366779dest_path_image002
    ；     S2, the central control unit receives the robot motion parameters, and according to the robot rotation angular velocity
    Figure 299334dest_path_image001
    The size and direction of the robot and the size and direction of the robot moving speed V are calculated to obtain the rotation speed of each rotating roller brush (2).
    Figure 366779dest_path_image002
    ;
    S3，根据计算得出的各转动滚刷（2）的转速
    Figure 760851dest_path_image002
    控制各转动滚刷（2）对应转动。     S3, according to the calculated rotational speed of each rotating roller brush (2)
    Figure 760851dest_path_image002
    Control each rotating roller brush (2) to rotate correspondingly.
    7、根据权利要求6所述的滚刷式全向行走的机器人行走控制方法，其特征在于，在步骤S2中，中央控制单元以机器人所在环境建立世界坐标系{S}和以底盘（1）上的点B为原点建立相对机器人固定不动的机器坐标系{E}，机器坐标系{E}与世界坐标系{S}的偏转角设为θ，对单个转动滚刷（2）进行计算时，该转动滚刷（2）线速度 V 1 的方向与机器坐标系{E}的X轴夹角为Ψ，该转动滚刷（2）线速度 V 1 的方向与世界坐标系{S}的X轴夹角
    Figure dest_path_image003
    = θ + Ψ，所述机器人移动速度 V的方向与世界坐标系{S}的X轴夹角为β，所述机器人移动速度 V在世界坐标系{S}的X轴的速度
    Figure 375372dest_path_image004
    为：     7. The robot walking control method for rolling brush type omnidirectional walking according to claim 6, characterized in that, in step S2, the central control unit establishes a world coordinate system {S} based on the environment where the robot is located, and uses the chassis (1) to establish a world coordinate system {S}. The point B above is the origin to establish a fixed machine coordinate system {E} relative to the robot, and the deflection angle between the machine coordinate system {E} and the world coordinate system {S} is set to θ, and a single rotating roller brush (2) is calculated. , the angle between the direction of the linear velocity V 1 of the rotating roller brush (2) and the X-axis of the machine coordinate system {E} is Ψ, the direction of the linear velocity V 1 of the rotating roller brush (2) and the world coordinate system {S} The X-axis angle
    Figure dest_path_image003
    = θ + Ψ, the included angle between the direction of the robot moving speed V and the X-axis of the world coordinate system {S} is β, and the robot moving speed V is the speed of the X-axis of the world coordinate system {S}.
    Figure 375372dest_path_image004
    for:
    Figure 171290dest_path_image005
    ；
    Figure 171290dest_path_image005
    ;
    所述机器人移动速度 V在世界坐标系{S}的y轴的速度
    Figure 924482dest_path_image006
    为：     The speed of the robot moving speed V in the y-axis of the world coordinate system {S}
    Figure 924482dest_path_image006
    for:
    Figure 805850dest_path_image007
    ；
    Figure 805850dest_path_image007
    ;
    所述转动滚刷（2）的线速度 V 1 为： The linear velocity V 1 of the rotating roller brush (2) is:
    Figure 787844dest_path_image008
    ；
    Figure 787844dest_path_image008
    ;
    其中 d为转动滚刷（2）中心至点B在水平面的投影距离，
    Figure 438268dest_path_image001
    为机器人转动角速度，
    Figure 362362dest_path_image003
    为转动滚刷线速度 V 1 的方向与世界坐标系{S}的X轴的夹角；     where d is the projected distance from the center of the rotating roller brush (2) to point B on the horizontal plane,
    Figure 438268dest_path_image001
    is the rotational angular velocity of the robot,
    Figure 362362dest_path_image003
    is the angle between the direction of the linear velocity V 1 of the rotating roller and the X axis of the world coordinate system {S};
    通过公式： Via the formula:
    Figure 731026dest_path_image009
    Figure 731026dest_path_image009
    得出转动滚刷（2）的转速
    Figure 15246dest_path_image002
    ，其中 r为转动滚刷（2）的半径，
    Figure 520177dest_path_image010
    是圆周率。     Obtain the rotational speed of the rotating roller brush (2)
    Figure 15246dest_path_image002
    , where r is the radius of the rotating brush (2),
    Figure 520177dest_path_image010
    is the circle rate.
PCT/CN2021/084072 2021-03-25 2021-03-30 Rolling brush type omnidirectional walking robot and walking control method therefor WO2022198695A1 (en)

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