Orthogonal two-way movement variable structure mobile robot and its control method

Abstract

The invention discloses a variable-structure mobile robot capable of making orthogonal bidirectional movement and a control method of the variable-structure mobile robot. The variable-structure mobile robot capable of making orthogonal bidirectional movement comprises a chassis, a separation type variable-position driving mechanism, a variable-position motor, an integral variable-position driving mechanism, a variable-position electric push rod, a driving wheel motor A, a driving wheel motor B, a driving wheel A, a driving wheel B, a follower wheel A, a follower wheel B, a control device and a guiding sensor. The separation type variable-position driving mechanism is installed on the chassis, and the position, relative to the chassis, of the axis of the driving wheel A is changed while the position of the driving wheel motor A is kept unchanged. The integral variable-position driving mechanism is installed on a top cover, and the position, relative to the chassis, of the axis of the driving wheel B is changed by changing the height of the top cover. The axis of the driving wheel A is orthogonal with the driving wheel B, and the lowest position of the axis of the driving wheel A is the same as that of the driving wheel B. Orthogonal bidirectional movement of the mobile robot is achieved by changing the driving wheels making contact with the ground, the movement direction can be freely switched between orthogonal directions in the same plane, and the movement maneuverability and flexibility of the mobile robot are enhanced.

Description

technical field [0001] The invention relates to the field of automation equipment, in particular to a variable-structure mobile robot capable of orthogonal bidirectional movement and a control method thereof. Background technique [0002] According to the degrees of freedom of planar motion, mobile robots can be divided into non-holonomic mobile modes with limited lateral motion and omnidirectional mobile modes that can realize all planar motions. The omni-directional mobile robot can not only move forward and backward along the longitudinal direction of the body, rotate around the center of the body, but also move left and right along the lateral direction of the body, and can move along any direction in the plane while keeping the posture of the body unchanged. The limited working space has good maneuverability. [0003] Omni-directional wheels, represented by Mecanum wheels and spherical wheels, can not only rotate around the main axis to achieve forward and backward mov...

AI Technical Summary

Problems solved by technology

However, for this kind of wheeled mobile mechanism, the transmission efficiency of the sliding coupling and the universal coupling is low, and it is difficult to accurately control the steering angle of the traveling wheel frame by using the steering link to pull.

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