Movement control method of omni-directional heavy-load mobile robot

A mobile robot and robot movement technology, applied in the field of mobile robots, can solve problems such as complex control systems, limited logistics paths, and small carrying capacity, and achieve the effects of mobile robots being flexible, improving use efficiency, and improving control accuracy

Inactive Publication Date: 2019-12-03
KOCEL INTELLIGENT FOUNDRY IND INNOVATION CENT CO LTD
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

[0003] Logistics in the production process of large-tonnage equipment is a major problem in industrial production. Due to the large tonnage, rail electric flat cars are usually used for transfer, but rail transfer cars limit the logistics path and cannot meet production needs
Heavy-duty mobile robots are becoming more and more popular in industrial production. However, due to the requirements of strong wheel load-carrying capacity and large steering torque, it is very difficult to achieve omni-directional operation control, which cannot be achieved with traditional universal wheels, and Mecanum wheels with a single wheel The carrying capacity of the system is too small, and many wheel systems are required to achieve heavy loads, which makes the control system very complicated

Method used

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  • Movement control method of omni-directional heavy-load mobile robot
  • Movement control method of omni-directional heavy-load mobile robot
  • Movement control method of omni-directional heavy-load mobile robot

Examples

Experimental program
Comparison scheme
Effect test

Embodiment 1

[0038] A motion control method for an omnidirectional heavy-duty mobile robot, the mobile robot includes a control system, at least two steering wheels, and at least two steering wheels; the control system is electrically connected to the steering wheels and the steering wheels, and the control system controls the Describe steering wheel rotation and steering. And at the same time control the steering of the steering wheel to realize the control of the motion of the mobile robot.

[0039] The specific control system controls the rotation and steering of the steering wheel and the calculation of controlling the steering of the steering wheel refers to the appended figure 1 As shown, a coordinate system is set on the motion level plane of the mobile robot. The motion center of the mobile robot is a point Ω in the coordinate system. The planned motion center of the mobile robot moves at a velocity V and an angular velocity ω. A certain wheel is at the coordinate point A in the s...

example A

[0052] Take a mobile robot with a wheel train structure composed of two steering wheels and two steering wheels as an example. The two steering wheels are the main control unit, and the two steering wheels assist in controlling the direction. Specifically, the two steering wheels are located on the same side and the opposite side The steering wheel is set, and the omnidirectional motion control method of the mobile robot in this way will be further described below.

[0053] Refer to attached figure 2 As shown, the motion center Ω of the mobile robot is taken as the origin of the coordinate system, A1 and A4 are the steering wheels, A2 and A3 are the steering wheels, and the midpoint Ω between the two steering wheels A1 and A4 is used as the motion center of the mobile robot. The center of motion of the robot is planned to move at a speed of V, the angular velocity is ω, and the point P is used as the center of rotation of the mobile robot to perform steering motion, where the...

example B

[0072] Take a mobile robot with a wheel train structure composed of two steering wheels and two steering wheels as an example, in which the two steering wheels are the main control unit, and the two steering wheels assist in controlling the direction. Specifically, the double steering wheels are arranged diagonally, and the steering wheels are also Arranged in a diagonal line, the omnidirectional motion control method of the mobile robot in this way will be further described below.

[0073] Refer to attached Figure 6 As shown, the motion center Ω of the mobile robot is taken as the origin of the coordinate system, A1 and A3 are the steering wheels, A2 and A4 are the steering wheels, and the midpoint Ω between the two steering wheels A1 and A3 is used as the motion center of the mobile robot. The center of motion of the robot is planned to move at a speed of V, the angular velocity is ω, and the point P is used as the center of rotation of the mobile robot to perform steering ...

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Abstract

The invention discloses a movement control method of an omni-directional heavy-load mobile robot. The mobile robot comprises a control system, at least two steering wheels and at least two turning wheels, wherein the control system is electrically connected with the steering wheels and the turning wheels, the control system controls the steering wheels to rotate and turn, and meanwhile, the turning wheels are controlled to turn so as to achieve the control over the movement of the mobile robot. By applying the control method, the steering wheels are used for replacing universal wheels, so thatthe omni-directional movement of the heavy-load mobile robot is achieved; by adopting the formula, the running speed and the turning angle of each steering wheel can be obtained through calculation,and meanwhile, the turning angles of the turning wheels are also obtained through calculation, so that translation in any direction or self-rotation by taking the movement center of the mobile robot as the center or rotation by taking any point as the center is realized; and compared with a traditional control method of the mobile robot, the movement control method enables the mobile robot to be more flexible and is suitable for narrow space, and the use efficiency of the mobile robot is improved.

Description

technical field [0001] The invention relates to the field of mobile robots, in particular to a motion control method for an omnidirectional heavy-duty mobile robot. Background technique [0002] The mobile robot system is not limited by venues, logistics channels and space, and can achieve millimeter-level precise positioning. Therefore, in factory logistics, its flexibility can be fully reflected to realize efficient, economical and flexible unmanned material transportation. Mobile robots are necessary automatic means of handling and unloading to connect and adjust discrete logistics systems to make their operations continuous, and their application scope and scale are getting larger and larger. [0003] Logistics in the production process of large-tonnage equipment is a major problem in industrial production. Due to the large tonnage, rail electric flat cars are usually used for transfer, but rail transfer cars limit the logistics path and cannot meet production needs. H...

Claims

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Application Information

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IPC IPC(8): B62D7/14B62D7/15B62D61/10
CPCB62D7/14B62D7/15B62D61/10
Inventor 张明才周鹏举王永恩彭凡
Owner KOCEL INTELLIGENT FOUNDRY IND INNOVATION CENT CO LTD
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