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Omni-directional mobile robot based on Mecanum wheel and control method thereof

A technology of omnidirectional movement and control method, applied in the field of omnidirectional mobile robots, can solve the problems of motor start-up stall, large braking inertia, large driving area, and single function of the robot, etc., to improve space utilization, self-weight and other problems Light, optimized driving effect

Inactive Publication Date: 2018-09-18
NANJING UNIV OF POSTS & TELECOMM
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  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

[0003] At present, the omni-directional mobile robot driven by stepping motor has a large area occupied by the driver and a small current; the motor starts to stall, and the braking inertia is large; the robot has a single function

Method used

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  • Omni-directional mobile robot based on Mecanum wheel and control method thereof
  • Omni-directional mobile robot based on Mecanum wheel and control method thereof
  • Omni-directional mobile robot based on Mecanum wheel and control method thereof

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Embodiment Construction

[0042] Specific embodiments of the present invention are described in detail below, but it should be understood that the protection scope of the present invention is not limited by the specific embodiments.

[0043] Unless expressly stated otherwise, throughout the specification and claims, the term "comprise" or variations thereof such as "includes" or "includes" and the like will be understood to include the stated elements or constituents, and not Other elements or other components are not excluded.

[0044] see figure 1 , an omnidirectional mobile robot based on Mecanum wheels, including manual and automatic modes. In manual mode, the handle sends instructions to the signal receiving end, and the controller sends pulse signals and direction signals to the driver according to the received instructions, and then the driver controls the operation of four stepping motors to realize omnidirectional movement; in automatic mode, the PC The upper computer sends the coordinates o...

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Abstract

The invention discloses an omni-directional mobile robot based on a Mecanum wheel. The robot comprises a chassis, the Mecanum wheel, a driver, a controller, a wireless communication module, a detection module, a visual transmission module and a power module; the front side and the rear side of the chassis are each provided with a stepping motor, the Mecanum wheel is connected with the stepping motors through a coupler, the structure is symmetric, and the controller on the chassis is connected with the driver, the wireless control module, the detection module, the visual transmission module andthe power module through a circuit, a traditional wheel type moving mechanism is improved, more flexibility is achieved, and the omni-directional characteristics are used for providing great convenience for storage and carrying; the independently-designed programmable driver is small in self weight, small in size, and high in drive capacity, and the space utilization rate of the robot is improved, an exponential type speed model is built, adjustable PWM soft starting and soft braking can be achieved, the drive manner of the stepping motors is optimized, and in combination with the manual modeand the automatic mode, the function of the omni-directional mobile robot is enriched.

Description

Technical field: [0001] The invention relates to an omnidirectional mobile robot based on a Mecanum wheel, belonging to the technical field of robots. Background technique: [0002] Robot technology is the mainstream cutting-edge technology in the world today. After more than 50 years of development, it has ushered in a new era. In the next 3-5 years, the global robot industry will show a blowout growth. At present, multi-agent systems have become an important research and application field. As an important part of a multi-agent system, mobile robots have become a frontier subject of current scientific and technological research due to their wide application prospects. Among them, the wheeled mobile mechanism has more development prospects due to the great improvement of the existing working road conditions. However, ordinary wheeled mobile mechanisms require a certain turning radius. When performing many tasks, they often cannot move because the environmental space is too...

Claims

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Application Information

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IPC IPC(8): B25J5/00B25J9/16B25J13/00B25J13/02
CPCB25J5/007B25J9/1664B25J9/1697B25J13/006B25J13/02
Inventor 许为乐徐国政严翊宁沈欢
Owner NANJING UNIV OF POSTS & TELECOMM
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