All-around wheeled mobile robot with relative posture detection function

Abstract

The invention discloses an all-around wheeled mobile robot with a relative posture detection function. The all-around wheeled mobile robot is characterized in that a chassis is composed of four driving wheels and three driven wheels, each driving wheel can independently perform driving and steering, and through coordinated control, the robot moves flexibly. The chassis moves to drive the three driven wheels to rotate, and through measuring the combination rotation speed of the three omni-directional wheels, the changes of the relative posture of the robot can be detected. The mobile robot is compact in mechanical design structure, a platform has flexible movement performance, the increment of the movement posture of the platform can be automatically detected, and the robot can be stably driven on a complex road surface. Through additionally arranging a vehicle-mounted external sensor, the platform of the mobile robot can be used for performing environment detection, automatic positioning and navigation in the urban environment, and further can detect alien bodies on earth. Due to the combination design of a driven wheel system, low-cost posture detection information easy to calculate is provided for rapid intelligence of the mobile platform and robotization transformation of the mobile platform.

Description

technical field [0001] The invention belongs to the technical field of mobile robots, and in particular relates to an omnidirectional wheeled mobile robot with a relative pose detection function, which is suitable for positioning and navigation in an urban environment. Background technique [0002] When a wheeled mobile robot is driving in an urban environment, the control of the traditional differential steering method is simple, but the robot is affected by the weight of the chassis and ground friction when turning, and the control accuracy is low; if the Ackerman steering of the car is used Mechanism, due to the large turning radius, limits the maneuverability of the robot. Existing lunar and Mars exploration vehicles usually use a mobile chassis with multi-wheel independent drive and steering mechanisms. For example: "Curiosity" Mars rover uses six wheels, each wheel has an independent drive motor, two front wheels and two rear wheels are also equipped with independent ...

AI Technical Summary

Problems solved by technology

However, when omnidirectional wheels are used as the driving wheels of the mobile robot, the control accuracy of the robot's walking is affected by the contact profile between the multiple small wheels on the omnidirectional wheels and the ground, which may cause speed fluctuations in the mobile chassis, and due to the impact of the small wheels on the ground limited friction and therefore less than ideal mobility

In addition, the load-bearing capacity of omnidirectional wheels is relatively weak. When carrying heavy goods, it is not suitable to use omnidirectional wheels as driving wheels.

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