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Autonomous ball-wheel-moving robot and control method thereof

A mobile robot and control method technology, applied in two-dimensional position/channel control and other directions, can solve the static instability of the robot and other problems, and achieve the effect of enhancing the ability of autonomous operation, reducing friction, and enhancing the ability to start autonomously.

Active Publication Date: 2014-11-19
BEIJING INSTITUTE OF TECHNOLOGYGY
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

[0003] The purpose of the present invention is: to propose a new autonomous ball-wheel robot structure and its control system, solve the problem of static instability of the robot by improving the mechanical structure, realize the automatic switching of the robot from static stability and dynamic stability, and realize the robot barrier-free The passage of the channel improves the environmental adaptability of the robot

Method used

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  • Autonomous ball-wheel-moving robot and control method thereof
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  • Autonomous ball-wheel-moving robot and control method thereof

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Experimental program
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Embodiment 1

[0026] Embodiment 1: see attached figure 1 , an autonomous ball-wheel mobile robot, which includes: a spherical wheel 1, a universal wheel drive mechanism 2, a support structure 3, a booster bracket 6, a control module 4 and sensors;

[0027] See attached figure 2 , 3 , the booster bracket 6 includes: bracket inner ring 12, bracket outer ring 13 and universal caster 14; bracket inner ring 12 and bracket outer ring 13 are connected by fixtures, universal casters 14 are symmetrically distributed on bracket outer ring 13, bracket inner ring 12 is socketed outside the spherical surface of the spherical wheel 1, and is fixedly connected with the support structure 3 through the bracket; when the robot is tilted, the universal caster 14 contacts with the ground to play a supporting role;

[0028] Sensor comprises: attitude sensor 30 and environment sensor 5; Environment sensor 5 is used for obtaining environment image; Attitude sensor 30 is used for obtaining the attitude data of ...

Embodiment 2

[0034] Embodiment 2: the control method of autonomous type ball-wheel mobile robot, it is based on the autonomous type ball-wheel mobile robot as described in embodiment 1, and comprises the following steps:

[0035] A. After the robot is powered on, the master controller completes the initialization operations of the interface, attitude sensor 30 and environment sensor 5;

[0036]B. The main controller reads the environmental data of the environmental sensor 5, processes the environmental data and identifies obstacles, and plans a feasible path; at the same time, the main controller reads the attitude data of the attitude sensor 30, and identifies the road condition in combination with the environmental data;

[0037] C. The main controller decides to select the robot to execute the motion control strategy through the road surface recognition result;

[0038] D. The main controller reads the data of the DC motor in the universal wheel drive mechanism 2, and calculates the spe...

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Abstract

The invention relates to the technical field of automatic control, and particularly relates to an autonomous ball-wheel-moving robot and a control method thereof. The autonomous ball-wheel-moving robot comprises a spherical wheel (1), a universal wheel driving mechanism (2), a support structure (3), an assisting bracket (6), a control module (4) and a sensor, wherein the sensor detects the robot posture and the environment information; the control module (4) analyzes the environment information to obtain a control strategy through the balancing algorithm and the motion control algorithm, and sends control signals to the universal wheel driving mechanism (2); the universal wheel driving mechanism (2) drives a direct current motor to move according to the control signals to drive the spherical wheel (1) to move; therefore, the posture and the movement of the robot are controlled. The autonomous ball-wheel-moving robot and the control method thereof can automatically realize static balance and dynamic balance, can pass through an obstacle-free channel, are good in mobility, and are strong in environmental adaptation.

Description

technical field [0001] The invention relates to the technical field of automatic control, in particular to a ball wheel mobile robot and a control method thereof. Background technique [0002] The research of spherical wheeled mobile robot has become a hotspot in the research of dynamic stable robot. The world's first ball-wheel robot was developed by Carnegie Mellon University in 2005. It is called CMU Ballbot. The robot has the size of an adult and uses an inverse mouse-driven structure. There is no mechanism to make the robot statically stable in the electric state, and an additional yaw mechanism is needed to realize yaw motion. In 2009, the new version of CMU Ballbot designed a leg support to solve the problem of static instability of the robot. However, the structure of the leg support is complicated, which makes the control of the robot more complicated. In 2008, Tohoku Gakuin University in Japan designed the BallIP robot. The robot uses three sets of symmetrical u...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G05D1/02
Inventor 杨毅简剑吕宁一张宽王美玲
Owner BEIJING INSTITUTE OF TECHNOLOGYGY
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