Autonomous ball-wheel mobile robot and its control method

Abstract

The invention relates to the technical field of automatic control, in particular to a ball wheel mobile robot and a control method thereof. The autonomous ball-wheel mobile robot includes: a spherical wheel (1), a universal wheel drive mechanism (2), a support structure (3), a booster support (6), a control module (4) and a sensor; wherein the sensor detects the attitude of the robot and the environment Information; the control module (4) analyzes the environmental information to obtain the control strategy, obtains the control strategy through the balance and motion control algorithm, and sends the control signal to the universal wheel drive mechanism (2); the universal wheel drive mechanism (2) drives according to the control signal The rotation of the DC motor drives the movement of the spherical wheel (1), thereby realizing attitude and motion control of the robot. The invention can automatically realize static and dynamic balance, can pass through barrier-free passages, has good maneuverability and strong environmental adaptability.

Description

technical field

[0001] The invention relates to the technical field of automatic control, in particular to a ball wheel mobile robot and a control method thereof. Background technique

[0002] The research of spherical wheeled mobile robot has become a hotspot in the research of dynamic stable robot. The world's first ball-wheel robot was developed by Carnegie Mellon University in 2005. It is called CMU Ballbot. The robot has the size of an adult and uses an inverse mouse-driven structure. There is no mechanism to make the robot statically stable in the electric state, and an additional yaw mechanism is needed to realize yaw motion. In 2009, the new version of CMU Ballbot designed a leg support to solve the problem of static instability of the robot. However, the structure of the leg support is complicated, which makes the control of the robot more complicated. In 2008, Tohoku Gakuin University in Japan designed the BallIP robot. The robot uses three sets of symmetrical u...

Examples

Embodiment 1

[0026] Embodiment 1: see attached figure 1 , an autonomous ball-wheel mobile robot, which includes: a spherical wheel 1, a universal wheel drive mechanism 2, a support structure 3, a booster bracket 6, a control module 4 and sensors;

[0027] See attached figure 2 , 3 , the booster bracket 6 includes: bracket inner ring 12, bracket outer ring 13 and universal caster 14; bracket inner ring 12 and bracket outer ring 13 are connected by fixtures, universal casters 14 are symmetrically distributed on bracket outer ring 13, bracket inner ring 12 is socketed outside the spherical surface of the spherical wheel 1, and is fixedly connected with the support structure 3 through the bracket; when the robot is tilted, the universal caster 14 contacts with the ground to play a supporting role;

[0028] Sensor comprises: attitude sensor 30 and environment sensor 5; Environment sensor 5 is used for obtaining environment image; Attitude sensor 30 is used for obtaining the attitude data of ...

Embodiment 2

[0034] Embodiment 2: the control method of autonomous type ball-wheel mobile robot, it is based on the autonomous type ball-wheel mobile robot as described in embodiment 1, and comprises the following steps:

[0035] A. After the robot is powered on, the master controller completes the initialization operations of the interface, attitude sensor 30 and environment sensor 5;

[0036]B. The main controller reads the environmental data of the environmental sensor 5, processes the environmental data and identifies obstacles, and plans a feasible path; at the same time, the main controller reads the attitude data of the attitude sensor 30, and identifies the road condition in combination with the environmental data;

[0037] C. The main controller decides to select the robot to execute the motion control strategy through the road surface recognition result;

[0038] D. The main controller reads the data of the DC motor in the universal wheel drive mechanism 2, and calculates the spe...

technical field

[0001] The invention relates to the technical field of automatic control, in particular to a ball wheel mobile robot and a control method thereof. Background technique

[0002] The research of spherical wheeled mobile robot has become a hotspot in the research of dynamic stable robot. The world's first ball-wheel robot was developed by Carnegie Mellon University in 2005. It is called CMU Ballbot. The robot has the size of an adult and uses an inverse mouse-driven structure. There is no mechanism to make the robot statically stable in the electric state, and an additional yaw mechanism is needed to realize yaw motion. In 2009, the new version of CMU Ballbot designed a leg support to solve the problem of static instability of the robot. However, the structure of the leg support is complicated, which makes the control of the robot more complicated. In 2008, Tohoku Gakuin University in Japan designed the BallIP robot. The robot uses three sets of symmetrical u...

Examples

Embodiment 1

[0026] Embodiment 1: see attached figure 1 , an autonomous ball-wheel mobile robot, which includes: a spherical wheel 1, a universal wheel drive mechanism 2, a support structure 3, a booster bracket 6, a control module 4 and sensors;

[0027] See attached figure 2 , 3 , the booster bracket 6 includes: bracket inner ring 12, bracket outer ring 13 and universal caster 14; bracket inner ring 12 and bracket outer ring 13 are connected by fixtures, universal casters 14 are symmetrically distributed on bracket outer ring 13, bracket inner ring 12 is socketed outside the spherical surface of the spherical wheel 1, and is fixedly connected with the support structure 3 through the bracket; when the robot is tilted, the universal caster 14 contacts with the ground to play a supporting role;

[0028] Sensor comprises: attitude sensor 30 and environment sensor 5; Environment sensor 5 is used for obtaining environment image; Attitude sensor 30 is used for obtaining the attitude data of ...

Embodiment 2

[0034] Embodiment 2: the control method of autonomous type ball-wheel mobile robot, it is based on the autonomous type ball-wheel mobile robot as described in embodiment 1, and comprises the following steps:

[0035] A. After the robot is powered on, the master controller completes the initialization operations of the interface, attitude sensor 30 and environment sensor 5;

[0036]B. The main controller reads the environmental data of the environmental sensor 5, processes the environmental data and identifies obstacles, and plans a feasible path; at the same time, the main controller reads the attitude data of the attitude sensor 30, and identifies the road condition in combination with the environmental data;

[0037] C. The main controller decides to select the robot to execute the motion control strategy through the road surface recognition result;

[0038] D. The main controller reads the data of the DC motor in the universal wheel drive mechanism 2, and calculates the spe...

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