Wheeled robot odometer device based on magneto-rheology and control method

Abstract

The invention particularly relates to a wheeled robot odometer device based on magneto-rheology and a control method. The odometer device comprises a metering assembly, a wheel assembly and a pressure adjusting assembly arranged between the robot body and the wheel assembly. The pressure adjusting assembly comprises a shell, an adjusting disc arranged in the shell and a magnetorheological elastomer located between the robot body and the adjusting disc. An adjusting shaft is arranged on the adjusting disc; the magnetorheological elastomer is coaxially arranged on the adjusting shaft in a sleeving mode and abuts against the adjusting disc; and an electromagnetic coil is arranged between the magnetorheological elastomer and the adjusting shaft and is used for changing the expansion amount of the magnetorheological elastomer by generating a magnetic field with corresponding strength. The invention discloses a control method of a wheeled robot odometer device. According to the invention, the positive pressure of the wheel on the ground can be adaptively adjusted, so that the wheel of the odometer device flexibly touches the ground and purely rolls, and the measurement precision of the odometer and the normal work of the wheeled robot are ensured.

Description

technical field [0001] The invention relates to the technical field of robot navigation, in particular to a wheeled robot odometer device and control method based on magnetorheology. Background technique [0002] The odometer is the navigation and positioning sensor system of the robot, which is used to detect and calculate the positioning information such as the displacement and angle of the robot. The hardware part of the odometer usually consists of three parts: displacement sensor, main control unit and mechanical installation structure. Among them, the displacement sensor commonly used in the odometer can include: photoelectric encoder, Hall sensor, gyroscope, etc.; the main control unit is used for To read and process sensor data, the common odometer main control unit can be: programmable logic controller (PLC), single-chip microcomputer (MCU) or high-speed digital signal processor (DSP), etc.; the mechanical installation structure usually refers to the The mechanical...

AI Technical Summary

Problems solved by technology

However, only when the robot accelerates or the ground friction coefficient becomes small, the wheels need a relatively large positive pressure. In other scenarios, if the odometer's wheel has too much positive pressure on the ground, the reaction force will make the encoder or odometer Excessive pressure on other components will affect the measurement accuracy of the odometer; at the same time, for a robot with a lighter weight, it will also cause uneven pressure on the original wheels of the robot or even hang in the air, which will affect the normal work of the original robot

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