A control system for a wheeled robot to automatically walk along the centerline of a slope

A wheeled robot and control system technology, applied in control/adjustment system, non-electric variable control, two-dimensional position/channel control, etc., can solve running instability, changing operating parameters, wheeled robot cannot run smoothly, etc. problem, to achieve the effect of accurate comparison and accurate inclination information

CN111026112BActive Publication Date: 2021-03-26HUAZHONG UNIV OF SCI & TECH
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Patent Information

Authority / Receiving Office
CN · China
Patent Type
Patents(China)
Current Assignee / Owner
Publication Date
2021-03-26

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Abstract

The invention belongs to the related technical field of intelligent control, and discloses a control system for a wheeled robot to automatically walk along a slope center line, which comprises a slopeedge identification module, a target distance identification module, a slope inclination angle identification module, a central controller, a self-adaptive slope inclination angle driving module andthe like. Wherein the slope edge recognition module is used for detecting the slope edge and correspondingly calculating the deviation between the current position of the trolley and the slope centerline, so that the trolley can adjust the self direction to walk along the slope center line; the slope inclination angle recognition module is used for detecting the inclination angle of the robot trolley, and correspondingly, the parameters of the driving module can be configured to enable the trolley to stably run on a slope; and when the trolley approaches the target place, the stop position mark is detected through the target distance identification module, and the trolley can be accurately controlled to realize deceleration parking. By means of the method, effective guarantee can be provided for the wheeled robot to stably crawl along the center line of the slope and accurately stop at a destination.
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Description

technical field

[0001] The invention belongs to the technical field related to intelligent control, and more specifically relates to a control system for a wheeled robot to automatically walk along the center line of a slope. Background technique

[0002] With the development of intelligent chemical factories and intelligent warehousing and logistics, intelligent wheeled mobile robots are increasingly used in the production of intelligent chemical factories. At present, the control system of a wheeled mobile robot mainly includes a sensor module, a central controller module, a drive module, and a communication module, etc., and the control system can control the wheeled robot to track and run in the factory area according to a predetermined trajectory. However, with the emergence of various working conditions, the working environment has higher and higher requirements for the control system of wheeled robots. One of the requirements is that wheeled robots need to perform wal...

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Embodiment Construction

[0051] In order to make the object, technical solution and advantages of the present invention clearer, the present invention will be further described in detail below in conjunction with the accompanying drawings and embodiments. It should be understood that the specific embodiments described here are only used to explain the present invention, not to limit the present invention.

[0052] figure 1 It is a schematic diagram of the overall structure of the control system for the wheeled robot constructed by the present invention to automatically walk along the center line of the slope. Such as figure 1 As shown, the system mainly includes a slope edge recognition module, a target distance recognition module, a slope angle recognition module, a central controller, and an adaptive slope angle drive module. In addition, actuator modules can also be configured as required. Each of them will be explained in detail below.

[0053] figure 2 It is a schematic diagram used to demon...