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Self-stabilization balance omnidirectional moving mechanism and method for indoor robot

An indoor robot and omnidirectional mobile technology, which is applied in the field of self-stabilizing and balancing omnidirectional mobile mechanisms for indoor robots, can solve problems such as unstable mobile robot platforms, and achieve the effect of improving stability

Pending Publication Date: 2022-02-08
SHANDONG ALESMART INTELLIGENT TECH CO LTD
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

[0005] In order to solve the deficiencies of the prior art, the present invention provides a self-stabilizing and balancing omnidirectional moving mechanism and method for an indoor robot, which solves the problem of unstable mobile robot platform and the problem of fast self-balancing of the heavy-duty mobile robot platform, and improves the Stability of Mobile Robots

Method used

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  • Self-stabilization balance omnidirectional moving mechanism and method for indoor robot

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Embodiment 1

[0038] Embodiment 1 of the present invention provides a self-stabilizing and balancing omnidirectional movement mechanism for an indoor robot, as shown in the figure figure 1 As shown, including the mobile platform, a gyroscope 3 is installed at the center of the upper surface of the mobile platform, and two sets of steering wheels 2-1 and 2-2 are installed on the centerline of the bottom of the mobile platform. Walking, walking in curves, traversing and turning in place.

[0039] The four support legs 1-1, 1-2, 1-3 and 1-4 are symmetrically arranged at the four corners of the mobile platform. Four universal auxiliary wheels 4-1, 4-2, 4-3 and 4-4 are designed on the inside of the leg.

[0040] The mobile platform is equipped with a gyroscope, and the pose of the mobile platform is collected in real time through the gyroscope, and the platform surface of the mobile platform is controlled by the self-balancing method to reach the horizontal threshold range of the mobile platfor...

Embodiment 2

[0049] Embodiment 2 of the present invention provides a self-balancing control method, using the self-stabilizing and balancing omnidirectional movement mechanism for an indoor robot described in Embodiment 1, including:

[0050]S1: Before the mobile robot performs the task, calibrate the yaw angle, pitch angle and roll angle of the gyroscope, in order to realize the accuracy of the gyroscope detection pose.

[0051] S2: After the mobile robot performs the walking task, the gyroscope detects and obtains the attitude data of the mobile platform, including the yaw angle, pitch angle and roll angle of the mobile platform.

[0052] S3: When the yaw angle is detected, the yaw angle between the mobile platform and the target pose is measured, and the angle and direction that the mobile platform needs to be adjusted are calculated. The main controller controls the steering motor of the double steering wheel mechanism to rotate to the Y axis of the mobile platform. Parallel direction,...

Embodiment 3

[0056] Embodiment 3 of the present invention provides an indoor robot, including the self-stabilizing and balancing omnidirectional movement mechanism for an indoor robot described in Embodiment 1.

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Abstract

The invention provides a self-stabilization balance omni-directional moving mechanism and method for an indoor robot. The moving mechanism comprises a control terminal and a moving platform, two steering wheels are arranged on the center line of the bottom of the moving platform at intervals, a plurality of supporting legs are symmetrically arranged on the two sides of the center line of the bottom of the moving platform, and universal wheels are connected to the inner sides of the supporting legs; servo motors of the supporting legs are connected with a driver; a gyroscope is arranged on the upper surface of the mobile platform, the steering wheels, the driver and the gyroscope all communicate with the control terminal, and the control terminal is used for controlling actions of the steering wheels and the supporting legs according to pose data of the gyroscope so as to perform self-balancing control; the problem that a mobile robot platform is unstable and the problem of rapid self-balance of a heavy-load mobile robot platform are solved, and the stability of the mobile robot is improved.

Description

technical field [0001] The invention relates to the technical field of indoor robots, in particular to a self-stabilizing and balancing omnidirectional moving mechanism and method for an indoor robot. Background technique [0002] The statements in this section merely provide background art related to the present invention and do not necessarily constitute prior art. [0003] At present, there are more and more scenarios for the collaborative use of mobile robots and industrial robots. The usage scenario is that the industrial robot is installed on the mobile robot platform. After the mobile robot moves to the station, the industrial robot performs operations such as handling at the station. [0004] The inventors found that the operation of industrial robots requires high platform stability, and the horizontality of the work platform requires high requirements. At the same time, the ground environment of the work station is more complicated, and the work station may be a sl...

Claims

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Application Information

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IPC IPC(8): G05D1/02
CPCG05D1/0212
Inventor 周军高新彪皇攀凌杨桂生
Owner SHANDONG ALESMART INTELLIGENT TECH CO LTD