A method for adjusting the balance support of AGV robot chassis

Abstract

The invention discloses an AGV robot chassis balance support adjustment method, which belongs to the technical field of automatic decoration in the construction industry. The adjustment method comprises the following steps: adjusting the support leg angle: adjusting the angle of the angle adjustment motor according to the construction scene requirements, and generally adjusting the angle to a 45° tilt position; adjusting the support leg height: adjusting the support leg position control motor, and judging whether the support leg is in full contact with the ground by detecting the current of the support leg position control motor, so that all the support legs are in contact with the ground; chassis leveling: reading the Euler angle information of the IMU of the chassis, dividing the 360 ​​degrees in the horizontal direction of the vehicle body into 8 quadrants, and judging the current chassis tilt direction according to the signs of the Euler angle pitch axis and roll axis, and then according to the tilt direction, adjusting the height of the three support legs in the lower position, so that the vehicle body keeps the angles of the pitch axis and the roll axis with the world coordinates at 0; and completing the final leveling through multiple approximation adjustments.

Description

Technical Field

[0001] The present invention relates to the technical field of automatic decoration in the construction industry, and in particular to a method for adjusting the balance support of an AGV robot chassis. Background Art

[0002] AGV chassis robots are generally used for automatic decoration of walls and ceilings in the construction industry, including wall and ceiling puttying, spraying, and polishing. When performing ceiling and wall operations, if the ground is uneven, the puttying effect and process will not meet the requirements. When construction is performed at a higher altitude, the center of gravity of the robot will change with the increase in the operating height, which may cause a very dangerous rollover. During the robot's operations such as puttying, polishing, and spraying, ensuring the stability of the equipment and safe construction is a problem that the present invention needs to solve. Summary of the invention

[0003] The purpose of the present invention is to provide a method for adjusting the balance support of an AGV robot chassis to solve the technical problem in the prior art that the robot cannot ensure stable and safe construction of the equipment during operations such as puttying, grinding, and spraying.

[0004] The present invention provides a method for adjusting the balance support of an AGV robot chassis, wherein the robot chassis comprises a support leg, an angle adjustment motor for adjusting the rotation angle of the support leg, and a support leg position control motor for realizing the lifting and lowering of the support leg, comprising the following steps:

[0005] Sp1: Adjust the angle of the support legs: According to the needs of the construction scene, adjust the angle of the motor. In general, the angle is adjusted to a 45° tilt position;

[0006] Sp2: Adjust the height of the supporting legs: adjust the supporting leg position control motor, and determine whether the supporting legs are in full contact with the ground by detecting the current of the supporting leg position control motor, so that all the supporting legs are in contact with the ground;

[0007] Sp3: Chassis leveling: read the Euler angle information of the chassis IMU, divide the 360 ​​degrees of the horizontal direction of the vehicle body into 8 quadrants, and determine the current chassis tilt direction according to the signs of the Euler angle pitch axis and roll axis. Then, according to the tilt direction, adjust the height of the three lower support legs to make the vehicle body keep the angle between the pitch axis and the roll axis and the world coordinates at 0;

[0008] Sp4: Complete the final leveling through multiple approximate adjustments.

[0009] Furthermore, according to the signs of the pitch axis and roll axis of the Euler angle, the 360 ​​degrees in the horizontal direction of the vehicle body are divided into 8 quadrants, namely: (roll=0, pitch>0) corresponds to the first quadrant, (roll<0, pitch>0) corresponds to the second quadrant, (roll<0, pitch=0) corresponds to the third quadrant, (roll<0, pitch<0) corresponds to the fourth quadrant, (roll=0, pitch<0) corresponds to the fifth quadrant, (roll>0, pitch<0) corresponds to the sixth quadrant, (roll>0, pitch=0) corresponds to the seventh quadrant, and (roll>0, pitch>0) corresponds to the eighth quadrant.

[0010] Further, according to the determined quadrant, the height value of the corresponding support leg position control motor adjustment is calculated by the Euler angle. The support leg position control motors 1, 2, 3, and 4 are represented by M1, M2, M3, and M4, respectively, where a is the angle between the support leg and the chassis, w' is the distance mapping of the support leg on the roll axis, l' is the mapping of the support leg on the pitch axis, W is the width of the vehicle body, L is the length of the vehicle body, and D is the length of the support leg: When in the first quadrant, the tilt direction of the chassis is the downward tilt of the front end of the vehicle. Inclined, that is, M1 and M4 are higher, and M2 and M3 are lower. At this time, M2 and M3 need to be adjusted. Since it is in the first quadrant, the vehicle body is tilted only at an angle on the pitch axis, so the heights adjusted by M2 and M3 are the same. The pitch axis tilt angle is set to β, and the adjustment height at this time is h=(1 / 2*L+l')*sin(β), where L is the vehicle body length, l'=cos(a)*D, then M2=M3=h=(1 / 2*L+l')*sin(β).

[0011] Furthermore, when in the second quadrant, there are angles between the pitch axis and the roll axis and the horizontal position of the world coordinates. The height of M2 is at the lowest position, and M4 is at the highest position. It is necessary to adjust M1, M2, and M3 at the same time, and decompose the inclined surface into the pitch axis surface and the roll axis surface. The two motors related to the pitch axis are M2 and M3, and the motors related to the roll axis are M1 and M2. Then M1=(1 / 2*W+w')*sin(ro), where ro represents the angle value on the roll axis, M3=(1 / 2*W+l')*sin(po), where po represents the angle value on the pitch axis, and M2=M1+M3.

[0012] Furthermore, when in the third quadrant, the adjustment heights of the M1 and M2 motors associated with the roll axis are: M1 = M2 = (1 / 2*W+w')*sin(ro), where ro represents the angle value of the roll axis.

[0013] Furthermore, when in the fourth quadrant, it is necessary to adjust the M1, M2, and M4 motors, and the corresponding adjustment height is: M2 = (1 / 2*W+w')*sin(ro), where ro represents the angle value on the roll axis, M4 = (1 / 2*W+l')*sin(po), where po represents the angle value on the pitch axis, and M1 = M2+M4.

[0014] Furthermore, when in the fifth quadrant, it is necessary to adjust the M1 and M4 motors, and the corresponding adjustment height is: M1=M4=(1 / 2*W+l')*sin(po), where po represents the angle value on the pitch axis.

[0015] Furthermore, when in the sixth quadrant, M1, M3, and M4 need to be adjusted, and the corresponding adjustment heights are: M1 = (1 / 2*W+l')*sin(po), where po represents the angle value on the pitch axis, M3 = (1 / 2*W+w')*sin(ro), where ro represents the angle value on the roll axis, and M4 = M1+M3.

[0016] Furthermore, when in the seventh quadrant, M3 and M4 need to be adjusted, and the corresponding adjustment height is: M3=M4=(1 / 2*W+w')*sin(ro), where ro represents the angle value on the roll axis.

[0017] Furthermore, when in the eighth quadrant, M2, M3, and M4 need to be adjusted, and the corresponding adjustment heights are: M2 = (1 / 2*W+l')*sin(po), where po represents the angle value on the pitch axis, M4 = (1 / 2*W+w')*sin(ro), where ro represents the angle value on the roll axis, and M3 = M2+M4.

[0018] Compared with the prior art, the beneficial effects of the present invention are:

[0019] In the prior art, when the AGV chassis robot is working on the ceiling and wall, when the ground is uneven, the puttying effect and process cannot meet the requirements, and when the construction is carried out at a higher altitude, the center of gravity of the robot will change with the increase of the working height, which may cause a very dangerous rollover phenomenon. In response to such problems, the present invention designs an AGV robot chassis balance support adjustment method. After the support legs are raised, the relationship between the Euler angle and the position of each support leg is decomposed through the built-in balance adjustment algorithm, combined with the posture Euler angle between the chassis and the world coordinates, and the changed position data is substituted into the position loop of the leg motor, so that the support legs move to the specified position under the drive of the angle adjustment motor and the support leg position control motor. It can calculate and adjust in real time, and can keep the chassis and the body stable in various construction environments and various height adjustments, prevent the body from rolling over, and ensure safe construction. BRIEF DESCRIPTION OF THE DRAWINGS

[0020] In order to more clearly illustrate the specific implementation methods of the present invention or the technical solutions in the prior art, the drawings required for use in the specific implementation methods or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are some implementation methods of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative work.

[0021] Figure 1 It is a schematic structural diagram of the support legs of the AGV chassis of the present invention;

[0022] Figure 2 It is a schematic diagram of each quadrant of the chassis in the present invention;

[0023] Figure 3 It is a schematic diagram of the adjustment mode of the gyroscope of the chassis in each quadrant in the present invention;

[0024] Figure 4 The flowchart of the adjustment method in the present invention is shown in FIG.

[0025] Reference numerals:

[0026] 1. Angle adjustment motor; 2. Support leg position control motor; 3. Support leg. DETAILED DESCRIPTION

[0027] The technical solution of the present invention will be clearly and completely described below in conjunction with the accompanying drawings. Obviously, the described embodiments are only part of the embodiments of the present invention, rather than all of the embodiments.

[0028] The components of the embodiments of the present invention generally described and shown in the drawings herein may be arranged and designed in various different configurations. Therefore, the following detailed description of the embodiments of the present invention provided in the drawings is not intended to limit the scope of the claimed invention, but merely represents selected embodiments of the present invention.

[0029] Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in the field without making any creative work shall fall within the scope of protection of the present invention.

[0030] Combine the following Figures 1 to 4 As shown, an embodiment of the present invention provides a method for adjusting the balance support of an AGV robot chassis, wherein the robot chassis includes a support leg 3, an angle adjustment motor 1 for adjusting the rotation angle of the support leg 3, and a support leg position control motor 2 for realizing the lifting and lowering of the support leg 3, comprising the following steps:

[0031] Sp1: Adjust the angle of support leg 3: According to the construction scene requirements, adjust the angle of motor 1. In general, adjust the angle to a 45° tilt position.

[0032] Sp2: Adjust the height of the support legs 3: adjust the support leg position control motor 2, and determine whether the support legs 3 are completely in contact with the ground by detecting the current of the support leg position control motor 2, so that all the support legs 3 are in contact with the ground;

[0033] Sp3: Chassis leveling: read the Euler angle information of the chassis IMU, divide the 360 ​​degrees of the horizontal direction of the vehicle body into 8 quadrants, and determine the current chassis tilt direction according to the signs of the Euler angle pitch axis and roll axis. Then, according to the tilt direction, adjust the height of the three lower support legs 3 so that the vehicle body keeps the angle between the pitch axis and the roll axis and the world coordinates at 0;

[0034] Sp4: Complete the final leveling through multiple approximate adjustments.

[0035] In the prior art, when the AGV chassis robot is working on the ceiling and wall, when the ground is uneven, the puttying effect and process cannot meet the requirements, and when the construction is carried out at a higher altitude, the center of gravity of the robot will change with the increase of the working height, which may cause a very dangerous rollover phenomenon. In response to such problems, the present invention designs an AGV robot chassis balance support adjustment method. After the support leg 3 is raised, the relationship between the Euler angle and the position of each support leg 3 is decomposed through the built-in balance adjustment algorithm, combined with the posture Euler angle between the chassis and the world coordinates, and the position data is then substituted into the position loop of the leg motor, so that the support leg 3 moves to the specified position under the drive of the angle adjustment motor and the support leg position control motor 2. It can calculate and adjust in real time, and can keep the chassis and the body stable in various construction environments and various height adjustments, prevent the body from rolling over, and ensure safe construction.

[0036] When judging whether the supporting leg 3 is in contact with the ground, the angle sensor signal built into the chassis is used to output a rotation angle signal, and the current is collected to judge whether the detection motor is in contact with the ground. If so, the current will increase. When it increases to a certain threshold, the interface judges that the supporting leg 3 is in contact with the ground.

[0037] In one embodiment, the 360 ​​degrees in the horizontal direction of the vehicle body can be divided into 8 quadrants according to the signs of the Euler angle pitch axis and the roll axis, namely: (roll=0, pitch>0) corresponds to the first quadrant, (roll<0, pitch>0) corresponds to the second quadrant, (roll<0, pitch=0) corresponds to the third quadrant, (roll<0, pitch<0) corresponds to the fourth quadrant, (roll=0, pitch<0) corresponds to the fifth quadrant, (roll>0, pitch<0) corresponds to the sixth quadrant, (roll>0, pitch=0) corresponds to the seventh quadrant, and (roll>0, pitch>0) corresponds to the eighth quadrant.

[0038] According to the quadrant determined in the above steps, the height value adjusted by the corresponding support leg position control motor 2 is calculated by the Euler angle. The support leg position control motors 21, 2, 3, and 4 are represented by M1, M2, M3, and M4 respectively, where a is the angle between the support leg 3 and the chassis, w' is the distance mapping of the support leg 3 on the roll axis, l' is the mapping of the support leg 3 on the pitch axis, W is the width of the vehicle body, L is the length of the vehicle body, and D is the length of the support leg: When in the first quadrant, the tilt direction of the chassis is the front end of the vehicle Tilt downward, that is, M1 and M4 are higher, and M2 and M3 are lower. At this time, M2 and M3 need to be adjusted. Since it is in the first quadrant, the car body tilts only at an angle on the pitch axis, so the heights adjusted by M2 and M3 are the same. Set the pitch axis tilt angle to β, then the adjustment height at this time is h=(1 / 2*L+l')*sin(β), where L is the car body length, l'=cos(a)*D, then M2=M3=h=(1 / 2*L+l')*sin(β);

[0039] Specifically, when in the second quadrant, there are angles between the pitch axis and the roll axis and the horizontal position of the world coordinates. The height of M2 is at the lowest position, and M4 is at the highest position. It is necessary to adjust M1, M2, and M3 at the same time, and decompose the inclined surface into the pitch axis surface and the roll axis surface. The two motors related to the pitch axis are M2 and M3, and the motors related to the roll axis are M1 and M2. Then M1=(1 / 2*W+w')*sin(ro), where ro represents the angle value on the roll axis, M3=(1 / 2*W+l')*sin(po), where po represents the angle value on the pitch axis, and M2=M1+M3;

[0040] Specifically, when in the third quadrant, the adjustment heights of the M1 and M2 motors associated with the roll axis are: M1=M2=(1 / 2*W+w')*sin(ro), where ro represents the angle value of the roll axis.

[0041] Specifically, when in the fourth quadrant, it is necessary to adjust the M1, M2, and M4 motors, and the corresponding adjustment height is: M2 = (1 / 2*W+w')*sin(ro), where ro represents the angle value on the roll axis, M4 = (1 / 2*W+l')*sin(po), where po represents the angle value on the pitch axis, and M1 = M2+M4.

[0042] Specifically, when in the fifth quadrant, the M1 and M4 motors need to be adjusted, and the corresponding adjustment height is: M1=M4=(1 / 2*W+l')*sin(po), where po represents the angle value on the pitch axis.

[0043] Specifically, when in the sixth quadrant, M1, M3, and M4 need to be adjusted, and the corresponding adjustment heights are: M1 = (1 / 2*W+l')*sin(po), where po represents the angle value on the pitch axis, M3 = (1 / 2*W+w')*sin(ro), where ro represents the angle value on the roll axis, and M4 = M1+M3.

[0044] Specifically, when in the seventh quadrant, M3 and M4 need to be adjusted, and the corresponding adjustment height is: M3=M4=(1 / 2*W+w')*sin(ro), where ro represents the angle value on the roll axis.

[0045] Specifically, when in the eighth quadrant, M2, M3, and M4 need to be adjusted, and the corresponding adjustment heights are: M2 = (1 / 2*W+l')*sin(po), where po represents the angle value on the pitch axis, M4 = (1 / 2*W+w')*sin(ro), where ro represents the angle value on the roll axis, and M3 = M2+M4.

[0046] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention, rather than to limit it. Although the present invention has been described in detail with reference to the aforementioned embodiments, those skilled in the art should understand that they can still modify the technical solutions described in the aforementioned embodiments, or replace some or all of the technical features therein by equivalents. However, these modifications or replacements do not cause the essence of the corresponding technical solutions to deviate from the scope of the technical solutions of the embodiments of the present invention.

Claims

1. A method for adjusting the balance support of an AGV robot chassis, the robot chassis comprising a support leg (3), an angle adjustment motor (1) for adjusting the rotation angle of the support leg (3), and a support leg position control motor (2) for realizing the lifting and lowering of the support leg (3), characterized in that: The steps include: Sp1: Adjust the angle of the support leg (3): According to the construction scene requirements, adjust the angle of the angle adjustment motor (1) to a 45° tilt position; Sp2: adjusting the height of the supporting legs (3): adjusting the supporting leg position control motor (2), and determining whether the supporting legs (3) are in full contact with the ground by detecting the current of the supporting leg position control motor (2), so that all the supporting legs (3) are in full contact with the ground; Sp3: Chassis leveling: Read the Euler angle information of the chassis IMU, divide the 360 ​​degrees of the horizontal direction of the vehicle body into 8 quadrants, and determine the current chassis tilt direction based on the signs of the Euler angle pitch axis and roll axis. Then, based on the tilt direction, adjust the height of the three lower support legs (3) so that the vehicle body maintains an angle of 0 between the pitch axis and the roll axis and the world coordinates; Sp4: Final leveling is completed through multiple approximate adjustments; According to the signs of the Euler angle pitch axis and roll axis, the 360 ​​degrees in the horizontal direction of the vehicle body is divided into 8 quadrants, namely: (roll=0, pitch>0) corresponds to the first quadrant, (roll<0, pitch>0) corresponds to the second quadrant, (roll<0, pitch=0) corresponds to the third quadrant, (roll<0, pitch<0) corresponds to the fourth quadrant, (roll=0, pitch<0) corresponds to the fifth quadrant, (roll>0, pitch<0) corresponds to the sixth quadrant, (roll>0, pitch=0) corresponds to the seventh quadrant, and (roll>0, pitch>0) corresponds to the eighth quadrant; According to the determined quadrant, the height value adjusted by the corresponding support leg position control motor (2) is calculated by Euler angle. The support leg position control motor (2) is set to 4, respectively represented by M1, M2, M3, and M4, where a is the angle between the support leg (3) and the chassis, w' is the distance mapping of the support leg (3) on the roll axis, l' is the mapping of the support leg (3) on the pitch axis, W is the width of the vehicle body, L is the length of the vehicle body, and D is the length of the support leg: When in the first quadrant, the chassis tilts downward from the front end, that is, M1 and M4 are higher, and M2 and M3 are lower. At this time, M2 and M3 need to be adjusted. Since it is in the first quadrant, the body tilt only has an angle on the pitch axis, so the heights adjusted by M2 and M3 are the same. The pitch axis tilt angle is set to β, and the adjustment height at this time is h=(1 / 2*L+l')*sin(β), where L is the body length, l'=cos(a)*D, then M2=M3=h=(1 / 2*L+l')*sin(β); When in the second quadrant, there are angles between the pitch axis and the roll axis and the horizontal position of the world coordinates. The height of M2 is at the lowest position, and M4 is at the highest position. It is necessary to adjust M1, M2, and M3 at the same time, and decompose the inclined surface into the pitch axis surface and the roll axis surface. The two motors related to the pitch axis are M2 and M3, and the motors related to the roll axis are M1 and M2. Then M1=(1 / 2*W+w')*sin(ro), where ro represents the angle value on the roll axis, M3=(1 / 2*W+l')*sin(po), where po represents the angle value on the pitch axis, and M2=M1+M3; When in the third quadrant, the adjustment height of the M1 and M2 motors associated with the roll axis is: M1 = M2 = (1 / 2*W + w') * sin (ro), where ro represents the angle value of the roll axis; When in the fourth quadrant, the M1, M2, and M4 motors need to be adjusted. The corresponding adjustment height is: M2 = (1 / 2*W+w')*sin(ro), where ro represents the angle value on the roll axis, M4 = (1 / 2*W+l')*sin(po), where po represents the angle value on the pitch axis, and M1 = M2+M4; When in the fifth quadrant, the M1 and M4 motors need to be adjusted, and the corresponding adjustment height is: M1 = M4 = (1 / 2*W+l')*sin(po), where po represents the angle value on the pitch axis; When in the sixth quadrant, M1, M3, and M4 need to be adjusted. The corresponding adjustment height is: M1 = (1 / 2*W+l')*sin(po), where po represents the angle value on the pitch axis, M3 = (1 / 2*W+w')*sin(ro), where ro represents the angle value on the roll axis, and M4 = M1+M3; When in the seventh quadrant, M3 and M4 need to be adjusted, and the corresponding adjustment height is: M3 = M4 = (1 / 2*W + w') * sin (ro), where ro represents the angle value on the roll axis; When in the eighth quadrant, M2, M3, and M4 need to be adjusted, and the corresponding adjustment heights are: M2 = (1 / 2*W+l')*sin(po), where po represents the angle value on the pitch axis, M4 = (1 / 2*W+w')*sin(ro), where ro represents the angle value on the roll axis, and M3 = M2+M4.

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