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Wheel-type detection mobile robot control system and method

A mobile robot and control system technology, applied in control/adjustment system, non-electric variable control, two-dimensional position/channel control, etc., can solve problems such as tilting and rollover, and achieve low cost, reliability and real-time high performance, ensuring safety and reliability

Inactive Publication Date: 2017-02-22
HARBIN UNIV OF SCI & TECH
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

[0003] The present invention aims to solve the problem that the existing wheeled mobile detection robot rolls over or turns upside down when running in a complex environment

Method used

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  • Wheel-type detection mobile robot control system and method
  • Wheel-type detection mobile robot control system and method
  • Wheel-type detection mobile robot control system and method

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specific Embodiment approach 1

[0032] Specific Embodiment 1: This embodiment will be described in detail with reference to FIG. 1. A wheeled mobile detection robot control system described in this embodiment includes a basic frame of a car body, four driving wheels, and a front and rear steering mechanism. The basic frame, four driving wheels, and the front and rear steering mechanism form a wheeled mobile robot, which also includes a camera 1-4-1, a GPS module 1-4-2, a pose sensor 1-4-3, and an ultrasonic sensor 1-4- 4. Main control unit 1-2, external communication unit 1-3, wireless remote control unit 1-4, UMAC motion control unit 1-5, drive control unit 1-6, front steering control unit 1-7, rear steering control Units 1-8;

[0033] Each of the driving wheels is driven by a DC servo motor, each of the steering mechanisms is driven by a flow servo motor, the camera 1-4-1, the GPS module 1-4-2, the pose sensor 1-4- 3. The main control unit 1-2 and the UMAC motion control unit 1-5 are located inside the ba...

specific Embodiment approach 2

[0040] Embodiment 2: This embodiment is a further description of the control system for a wheeled detection mobile robot described in Embodiment 1. In this embodiment, the external communication unit 1-3 includes a master wireless communication module and a slave wireless communication module. module, the main wireless communication module and the slave wireless communication module are connected wirelessly, the master wireless communication module is connected with the wireless remote control operation unit 1-4 through Ethernet, and the slave wireless communication module is connected with the main control unit 1-2 through Ethernet way to connect.

specific Embodiment approach 3

[0041] Specific embodiment three: This embodiment is a further description of a wheeled detection mobile robot control system described in specific embodiment one. In this embodiment, the camera (1-1-1) adopts Sony industrial-grade high-resolution The XC-ES50 series industrial digital cameras are implemented, the GPS module (1-1-2) is realized by the GSTAR industrial-grade low-power consumption GS-89m-J model, and the pose sensor (1-1-3) is implemented by XSENS MTI- G model realized.

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Abstract

The invention provides a wheel-type detection mobile robot control system and method and relates to the field of robot control technologies and safety. The invention overcomes the problem that the conventional wheel-type detection mobile robot can be damaged when operating in a complex environment as topographic relief is large. A wireless signal input or output end of a remote control operation unit is connected with the output or input end of an external communication unit, the external communication unit is connected with a master control unit, two paths of communication signal input or output ends of the master control unit are connected with two paths of communication signal output or input ends of a sensor unit respectively, the input or output end of the master control unit is connected with the output or input end of a movement control unit, the output end of the movement control unit is connected with the input end of a drive control unit, and the input end of the movement control unit is connected with the output end of the drive control unit. The robot can be used in an operation environment where the topographic relief is large, and selects the operation mode according to change in real-time parameters of vehicle body operation collected by a vehicle-mounted sensor, so that the safety operation of a vehicle body is ensured.

Description

technical field [0001] The invention belongs to the field of control system design technology and reliability and safety technology, and in particular relates to a control system and a control method of a wheeled detection mobile robot. Background technique [0002] Human beings are always full of curiosity about unknown fields, and exploration is the first step for human beings to open the door to the unknown world. There are many unknown environments on the earth, and mobile detection robots are important detection tools. Due to the complexity of unknown environments and detection tasks, detection robots are required to have high safety and reliability. The wheeled mobile detection robot has good maneuverability and reliability, and its operation safety has always been one of the research hotspots. Contents of the invention [0003] The invention aims to solve the problem that the existing wheeled mobile detection robot rolls over or overturns when it is running in a co...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G05D1/02
CPCG05D1/0246G05D1/0255
Inventor 尤波田朋王明磊张宇
Owner HARBIN UNIV OF SCI & TECH
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