A mobile robot and its anti-overturning method and device
A mobile robot and robot technology, applied in the field of robots, can solve problems such as overturning and center of gravity shift, and achieve the effect of reducing damage and avoiding economic losses
Active Publication Date: 2019-05-31
深圳中智永浩机器人有限公司
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Problems solved by technology
[0003] The present invention aims at the technical problem that the mobile robot in the prior art may overturn due to the offset of the center of gravity when it encounters complex terrain such as unevenness and slopes or is subjected to external forces, and provides a mobile robot and its anti-overturning method and device. The scheme is as follows:
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[0066] In order to make the object, technical solution and advantages of the present invention clearer, the present invention will be further described in detail below in conjunction with the accompanying drawings and embodiments. It should be understood that the specific embodiments described here are only used to explain the present invention, not to limit the present invention.
[0067] In addition, the technical features involved in the various embodiments of the present invention described below can be combined with each other as long as they do not constitute a conflict with each other.
[0068] Such as figure 1 and Figure 6 As shown, the embodiment of the present invention provides a mobile robot 100 , including a body 10 , a plurality of moving wheels 20 , a plurality of attitude sensors 30 and a processor 40 . Specifically, the moving wheel 20 includes a driving wheel 21 and a driven wheel 23, figure 1 2 schematically shows that the number of driving wheels 21 and...
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The invention relates to the technical field of robots, in particular to a mobile robot and an overturn-preventing method and device thereof. The method includes: receiving the information of multiple attitude sensors, judging the overturn state of the mobile robot according to the information of the multiple attitude sensors, calculating a gravity center projection deviation vector d according to the information of the multiple attitude sensors if the overturn state of the mobile robot is a possible overturn state, and controlling the angular speed and linear speed of the mobile robot according to the gravity center projection deviation vector d to allow the mobile robot to restore to a stable state. When the mobile robot meets complex terrains such as an uneven ground and a slope or is subjected to external force, the mobile robot is possible to overturn due to gravity center deviation, the angular speed and linear speed of the mobile robot are controlled according to the gravity center projection deviation vector d to allow the mobile robot to restore to the stable state, damage caused by the overturn of the mobile robot is reduced, and economic loss is avoided.
Description
【Technical field】 [0001] The invention relates to the technical field of robots, in particular to a mobile robot and its anti-overturning method and device. 【Background technique】 [0002] Because of its simple structure, large load capacity, and flexible control, wheeled mobile robots are used as mobile mechanisms by most service mobile robots, such as sweeping mobile robots, meal delivery and welcoming mobile robots, security patrol mobile robots, etc. When encountering complex terrain such as unevenness and slopes or being subjected to external forces, the mobile robot may overturn due to the shift of the center of gravity. If no protective measures are taken, the mobile robot will be damaged, resulting in economic losses. 【Content of invention】 [0003] The present invention aims at the technical problem that the mobile robot in the prior art may overturn due to the offset of the center of gravity when it encounters complex terrain such as unevenness and slopes or is s...
Claims
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Login to View More IPC IPC(8): B25J5/00G05D1/08
CPCB25J5/007G05D1/0891
Inventor 张东文黄高超高志荣王智锋
Owner 深圳中智永浩机器人有限公司