An all-terrain mobile robot vehicle body stabilization system and control method

Abstract

The present application relates to a kind of all-terrain mobile robot car body stabilizing system and control method, belong to mobile robot technical field, it is mainly composed of system control module and stabilizing mechanism module two parts, the system control module mainly includes main controller module, man-machine interaction module, drive module, sensor module, the stabilizing mechanism module mainly includes actuator, actuator mounting plate, actuator connection L type board, stabilizing shock absorber etc.;When mobile robot travels on the smooth road surface, the stable control of car body is mainly responsible by system control module;When mobile robot travels in complex terrain, rely on system control module, stabilizing mechanism module works, the stabilizing mechanism module of car body directly intervenes suspension work, control the ground clearance of the wheels of left and right sides of car body keeps equal, and then guarantee the stability of car body.The present application adopts control method and mechanical structure to combine to improve the stability of car body of mobile robot.

Description

TECHNICAL FIELD

[0001] The present application relates to a kind of all-terrain mobile robot car body stabilizing system and control method, belong to mobile robot technical field. BACKGROUND

[0002] All-terrain robot often needs to carry out some outdoor work in complex working environment, for example, mobile robot loads bionic arm to carry out intelligent grabbing, carries camera to carry out terrain survey, personnel search and rescue, these are higher to the stability of mobile robot occasion.The instability of car body can affect its precision when working, the load capacity of car body and the output power of driving motor, simultaneously, in the case of complex road surface, the height of two sides of wheel is not consistent, thus the car body of whole vehicle can produce larger swing, to cause error when working even the failure of work.

[0003] As China patent application No.201711490143.5 a kind of mobile robot stabilizing mechanism and the mobile robot equipped with the stabilizing mechanism include two sets of respectively set in the left and right sides of mobile robot support mechanism, support mechanism includes lifting column and lifting mechanism, lifting column moves up and down under the action of lifting mechanism to lift mobile robot from ground or lower mobile robot to ground.This kind of mechanism only to the stability of mobile robot in stationary working state has been better improved, but when moving, this kind of mechanism is difficult to play the role of stabilizing car body,

[0004] Meanwhile, this kind of mechanism lacks damping mechanism, only suitable for indoor work.As China patent application No.201911097045.4 a kind of balance system of all-terrain mobile robot and control method thereof, wherein the balance system of all-terrain mobile robot includes control chip, gravity sensor, gyroscope, joint motor and mobile motor respectively arranged on mobile robot;The data obtained by gravity sensor and gyroscope is integrated into the balance data, and the balance data is stored on the database, and the gravity sensor and gyroscope are connected to the control chip through the database;The joint motor and / or mobile motor are connected to the control chip and controlled by the control chip.The balance system of all-terrain mobile robot makes mobile robot can be suitable for all complex terrains, and can make car body keep horizontal.But this balancing mechanism only from control system level to constrain the stability of car body, without adding mechanical structure to guarantee the stability of car body, facing some work terrain is more complex, the stability of mobile robot is difficult to guarantee. SUMMARY

[0005] In order to solve the problem of the traditional single control method and mechanical structure to improve the stability of the vehicle body, the patent adopts the combination of balance control method and mechanical structure to improve the stability of the mobile robot vehicle body; The patent is widely applicable, and can ensure the stability of the mobile robot vehicle body in the process of static and mobile operation; For the road conditions and operation scenes that do not pass, the patent adopts the combination of active system control and passive stability mechanism to control the stability of the vehicle body.

[0006] In order to achieve the above object, the application adopts the following technical scheme:

[0007] A kind of all-terrain mobile robot vehicle body stabilizing system, it is characterized by: mainly by system control module and stabilizing mechanism module two parts are composed of;

[0008] The system control module mainly includes main controller module, man-machine interaction module, drive module, sensor module, the main controller module is set to the control chip inside the mobile robot, the man-machine interaction module is composed of wireless remote control device and man-machine interface, the drive module is composed of servo motor, motor driver, speed reducer, encoder, the sensor module is composed of gyroscope sensor, GPS module;

[0009] The stabilizing mechanism module mainly includes stabilizing damper lower support, stabilizing mechanism base, slide rail installation vertical plate, sliding block, slide rail, actuator, actuator mounting plate, actuator connecting L-shaped plate, stabilizing damper upper support, stabilizing damper, the stabilizing mechanism base is installed on the top of the truss vehicle body front and rear, the slide rail installation vertical plate is installed on the stabilizing mechanism base, the slide rail is installed on the slide rail installation vertical plate and is connected with sliding block, the stabilizing damper upper support is installed on the sliding block and is connected with actuator connecting L-shaped plate, the top of the slide rail is provided with actuator mounting plate, the actuator is installed on the actuator mounting plate and is connected with actuator connecting L-shaped plate, the upper end of the stabilizing damper is connected with the stabilizing damper upper support, and the lower end is connected with the stabilizing damper lower support, the stabilizing damper lower support is connected with the upper U-shaped swing arm, the stabilizing damper is symmetrically arranged on the left and right sides, and forms a flexible isosceles triangle with the truss vehicle body suspension damper.

[0010] Further, the main control module is used for acquiring feedback signals of the sensor and operation instructions and processing signals and data.

[0011] Further, the wireless remote control device is responsible for the forward and backward movement and steering of the mobile robot, and the man-machine interface is responsible for displaying the working data of the mobile robot.

[0012] Further, a kind of all-terrain mobile robot vehicle body stabilizing control method, it is characterized by: mainly by system control module and stabilizing mechanism module two parts are composed of;

[0013] When the mobile robot travels on a smooth road surface, the wheels at both ends of the vehicle body are located on the same horizontal plane, at this time the stability control of the vehicle body is mainly responsible for the system control module, and the vehicle body stability mechanism module does not intervene; when the mobile robot travels on complex terrain, the system control module and the stability mechanism module work, the vehicle body stability mechanism module directly intervenes in the suspension work, controls the ground clearance of the wheels on both sides of the vehicle body to keep equal, and further ensures the stability of the vehicle body.

[0014] Further, the system control module adopts three closed loop circuits to control the stability of the vehicle body,

[0015] Among them, the closed loop control circuit one is composed of controller, driver, motor I, motor II, front spring mass and torque balance mechanism, the controller generates a variety of motion parameters to drive the motor driver to drive the motor I and motor II to change the pose, the displacement change of the motor I and motor II acts on the front spring mass, at the same time under the action of road excitation, the lateral wear and slip amount of the vehicle body will increase, which will affect the stability of the vehicle body, and the change of signal instruction will drive the torque balance mechanism of the front spring mass to generate a motion parameter negative feedback to inhibit the vibration and slip amount of the vehicle body, and further improve the stability of the vehicle body;

[0016] The closed loop control circuit two is composed of controller, driver, motor III, motor IV, rear spring mass and torque balance mechanism, and its control method is the same as that of the closed loop control circuit one;

[0017] The closed loop control circuit three is composed of controller, driver, torque balance mechanism, motor I, motor II, motor III, motor IV, front and rear spring mass, frame and load, after the action of the frame, load and road excitation, the change of the motion parameters of the vehicle body, the sensor measures the motion parameters to generate a negative feedback, optimizes the motion parameters, and further improves the stability of the vehicle body.

[0018] The application adopts the combination of control method and mechanical structure, that is, the combination of active system control and passive stability mechanism to improve the stability of the vehicle body of the mobile robot, thereby increasing the precision and success rate of the mobile robot working in complex terrain, the system control module and the stability mechanism module of the vehicle body do not interfere with each other, and the stability mechanism module of the vehicle body only assists the control module of the system to control the stability of the vehicle body of the mobile robot when the system control module alone cannot keep the vehicle body in good stability in complex terrain, effectively improves the stability of the vehicle body, and has wide application range.

[0019] Meanwhile, the control method of the vehicle body adopts three closed loop circuits formed by the controller, the driver, the motor, the sprung mass, the frame, the load and other internal components, so as to optimize the motion parameters, reduce the influence of the road excitation and improve the stability of the vehicle body. BRIEF DESCRIPTION OF DRAWINGS

[0020] Figure 1 is the structure diagram of the all-terrain mobile robot involved in the present application;

[0021] Figure 2 is the structure diagram of the stabilizing mechanism module;

[0022] Figure 3 is the structure diagram of the vehicle body stabilizing system control module;

[0023] Figure 4 is the control module diagram of the vehicle body stabilizing system.

[0024] In the figure, 101 is a frame, 201 is an upper U-shaped swing arm, 202 is a suspension damper, 301 is a stabilizing damper lower support, 302 is a stabilizing mechanism base, 303 is a slide rail mounting vertical plate, 304 is a sliding block, 305 is a slide rail, 306 is an actuator, 307 is an actuator mounting plate, 308 is an actuator connecting L-shaped plate, 309 is a stabilizing damper upper support, 310 is a stabilizing damper, and 401 is a wheel. DETAILED DESCRIPTION

[0025] The technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the drawings in the embodiments of the present application. Obviously, the described embodiments are only part of the embodiments of the present application, rather than all the embodiments. Based on the embodiments in the present application, other embodiments obtained by those skilled in the art without creative work fall within the protection scope of the present application. Improvements and modifications on the basis of the present application all fall within the protection scope of the present application.

[0026] As Figures 1 to 3As shown, a kind of all-terrain mobile robot body stabilizing system and control method mainly includes system control module and stabilizing mechanism module. Wherein system control module mainly includes main controller module, man-machine interaction module, drive module, sensor module. Main controller module is the control chip set in mobile robot, is the core and carrier for realizing all-terrain mobile robot steering control, is used to process balance data, to generate balance signal and mobile signal, main control module can obtain the feedback signal of sensor and operation instruction in time and carry out signal and data processing. Man-machine interaction module is composed of wireless remote control device and man-machine interface (liquid crystal touch display screen). Wireless remote control device is responsible for the forward and backward movement and steering of mobile robot, and man-machine interface can directly display the current working mode of mobile robot, read the running speed of mobile robot, the angular velocity of steering and relevant working information, so as to cope with different working environments and adjust mobile robot appropriately. Drive module is composed of servo motor, motor driver, speed reducer and encoder. Motor driver controls servo motor rotation, speed reducer reduces the speed while improving the output torque, realizes the running of mobile robot, and then encoder feeds back motor speed and motor current information to control chip. Sensor module is composed of gyroscope sensor and GPS module. Gyroscope sensor is connected to control chip through database, provides accurate orientation, level, position, speed or acceleration balance signal, and uses these signals to make mobile robot travel according to the path specified by operator. GPS module is very helpful for outdoor complex environment operation.

[0027] The stabilizing mechanism mainly comprises the vehicle body stabilizing mechanism module, the stabilizing mechanism base 302 is installed above the front and rear parts of the truss vehicle body 101, the slide rail installation vertical plate 303 is installed on the stabilizing mechanism base 302, the slide rail 305 is installed on the slide rail installation vertical plate 303 and is connected with the sliding block 304, the stabilizing damper upper support 309 is installed on the sliding block 304 and is connected with the actuator connecting L-shaped plate 308, the top of the slide rail 305 is provided with the actuator installation plate 307, the actuator 306 is installed on the actuator installation plate 307 and is connected with the actuator connecting L-shaped plate 308, the upper end of the stabilizing damper 310 is connected with the stabilizing damper upper support 309, the lower end is connected with the stabilizing damper lower support 301, the stabilizing damper lower support 301 is connected with the upper U-shaped swing arm 201, the stabilizing damper 310 is two, symmetrical on the left and right sides, and forms a flexible isosceles triangle with the suspension damper 202 of the truss vehicle body 101. When the mobile robot travels on a smooth road surface, at this time, the wheels at both ends of the vehicle body are located on the same horizontal plane, at this time, the stabilizing control of the vehicle body is mainly responsible for the system control module, and the vehicle body stabilizing mechanism module does not intervene in the work. At this time, the wireless remote control device sends the running instruction to the control chip, the control chip converts the received electrical signal into an internal digital signal, and then converts the digital signal into an electrical signal and transmits it to the motor driver, then the motor driver controls the servo motor to rotate, the reducer reduces the speed while outputting the torque, realizes the running of the mobile robot, and the encoder feeds back the speed, current and other related information of the motor to the control chip, so as to realize the closed-loop control of the driving module during the running of the mobile robot. At the same time of the movement of the mobile robot, the gyroscope sensor transmits the balance data of the measured orientation, level, position, speed or acceleration to the control chip, the control chip processes the balance data, and then generates balance signals and movement signals, and transmits them to the servo motor, so as to adjust the movement state of the mobile robot and improve its stability. The closed-loop control is also established between the control chip and the man-machine interaction interface, the running state of the vehicle body is adjusted through the man-machine interaction interface, the related signals are transmitted to the control chip, the control chip feeds back the information to the man-machine interaction interface after completing the adjustment. When the mobile robot travels on a complex terrain, due to the unevenness of the ground, the heights of the left and right wheels 401 of the vehicle body from the ground are different, so that the stability of the vehicle body is poor, in this case, only relying on the control module of the system, the vehicle body cannot maintain high stability, at this time, the stabilizing mechanism module of the vehicle body needs to play a role, the stabilizing mechanism module of the vehicle body directly intervenes in the suspension work, due to the different pressures and compression lengths of the stabilizing dampers 310 on both sides of the vehicle body stabilizing mechanism, the lengths of the two waists of the flexible isosceles triangle are different, at this time, the sliding block 304 slides on the slide rail 305, so that the lengths of the two waists are consistent, so that the heights of the left and right wheels of the vehicle body from the ground are equal, and the stability of the vehicle body is ensured.

[0028] The control method of the mobile robot is to form a closed loop control circuit by a controller, a driver, a motor I, a motor II, a front spring mass and a torque balance mechanism, that is, the controller generates various motion parameters (wheel displacement, wheel speed, three-axis acceleration of the vehicle body, motor current) to drive the motor driver to drive the motor I and the motor II to change the pose, the displacement change of the motor I and the motor II will act on the front spring mass, and the lateral wear and the slip amount of the vehicle body will increase under the action of the road excitation, thereby affecting the stability of the vehicle body and changing the motion parameters (wheel displacement, wheel speed, three-axis acceleration of the vehicle body, motor current). The change of the signal instruction will drive the torque balance mechanism of the front spring mass to generate a motion parameter negative feedback to suppress the vibration of the vehicle body and the slip amount, so as to improve the stability of the vehicle body. The closed loop control circuit II is composed of a controller, a driver, a motor III, a motor IV, a rear spring mass and a torque balance mechanism, and the control principle is the same as that of the closed loop circuit I. The motor I, the motor II, the motor III and the motor IV are coupled, and the double closed loop control method formed by the torque balance mechanisms of the front and rear spring masses improves the stability of the vehicle body. The closed loop control circuit III is composed of a controller, a driver, a torque balance mechanism, a motor I, a motor II, a motor III, a motor IV, a front and rear spring mass, a vehicle frame and a load. Through the action of the vehicle frame, the load and the road excitation, the motion parameters (wheel displacement, wheel speed, three-axis acceleration of the vehicle body, motor current) of the vehicle body change, a negative feedback is generated by the sensor to optimize the motion parameters and improve the stability of the vehicle body.

[0029] The control method and the mechanical structure are combined, that is, the active system control and the passive stability mechanism are combined to improve the stability of the vehicle body of the mobile robot, so as to increase the precision and the success rate of the mobile robot working in complex terrain, the system control module and the stability mechanism module of the vehicle body do not interfere with each other, and the stability mechanism module of the vehicle body only assists the control of the system control module to control the stability of the vehicle body of the mobile robot when the system control module alone cannot make the vehicle body maintain good stability, thereby effectively improving the stability of the vehicle body and having a wide range of applications.

[0030] The control method of the vehicle body is to form three closed loop circuits by a controller, a driver, a motor, a spring mass, a vehicle frame and a load, so as to optimize the motion parameters, reduce the influence of the road excitation and improve the stability of the vehicle body.

[0031] The above description is only one embodiment of the present application and does not limit the present application, any modification, equivalent replacement or improvement within the technical solution and principle of the present application, especially the principle application and design method, such as the principle and specific implementation method of the present application, should be included in the protection scope of the present application.

Claims

1. An all-terrain mobile robot vehicle body stabilization system, characterized by: The system comprises a system control module and a stabilizing mechanism module; The system control module comprises a main controller module, a human-computer interaction module, a driving module and a sensor module, the main controller module is a control chip arranged inside the mobile robot, the human-computer interaction module is composed of a wireless remote control device and a human-computer interaction interface, the driving module is composed of a servo motor, a motor driver, a speed reducer and an encoder, and the sensor module is composed of a gyroscope sensor and a GPS module; The stabilizing mechanism module comprises a stabilizing damper lower support, a stabilizing mechanism base, a slide rail mounting vertical plate, a slide block, a slide rail, an actuator, an actuator mounting plate, an actuator connecting L-shaped plate, a stabilizing damper upper support and a stabilizing damper, the stabilizing mechanism base is arranged on the top of the front and rear parts of the truss vehicle body, the slide rail mounting vertical plate is arranged on the stabilizing mechanism base, the slide rail is arranged on the slide rail mounting vertical plate and connected with the slide block, the stabilizing damper upper support is arranged on the slide block and connected with the actuator connecting L-shaped plate, the top of the slide rail is provided with the actuator mounting plate, the actuator is arranged on the actuator mounting plate and connected with the actuator connecting L-shaped plate, the upper end of the stabilizing damper is connected with the stabilizing damper upper support, and the lower end is connected with the stabilizing damper lower support, the stabilizing damper lower support is connected with the upper U-shaped swing arm, and the stabilizing damper is symmetrically arranged on the left and right sides of the truss vehicle body and forms a flexible isosceles triangle with the truss vehicle body suspension damper. The main control module is used for acquiring feedback signals of the sensors and operation instructions and processing signals and data. The control method and the mechanical structure are combined to improve the vehicle body stability of the mobile robot.

2. The all-terrain mobile robot vehicle stability system of claim 1, wherein: The wireless remote control device is responsible for the forward and backward movement and turning of the mobile robot, and the human-computer interaction interface is responsible for displaying the working data of the mobile robot.

3. An all-terrain mobile robot vehicle body stability control method, characterized by: The all-terrain mobile robot vehicle body stabilizing system of claim 1 is adopted; When the mobile robot travels on a smooth road surface, the wheels at both ends of the vehicle body are located on the same horizontal plane, so that the stabilizing control of the vehicle body is responsible for the system control module, and the vehicle body stabilizing mechanism module does not intervene in the work; when the mobile robot travels on a complex terrain, the system control module and the stabilizing mechanism module work, the vehicle body stabilizing mechanism module directly intervenes in the suspension work, the ground clearance of the wheels on the left and right sides of the vehicle body is kept equal, and then the stability of the vehicle body is ensured.

4. The body stability control method of an all-terrain mobile robot according to claim 3, characterized by: The system control module adopts three closed-loop control circuits to control the vehicle body stability, The closed-loop control circuit one is composed of a controller, a driver, a motor I, a motor II, a front spring upper mass and a torque balance mechanism, the controller generates various motion parameters to drive the motor driver to drive the motor I and the motor II to change the pose, the displacement change of the motor I and the motor II acts on the front spring upper mass, at the same time, under the action of the road surface excitation, the lateral wear and the slip amount of the vehicle body are increased, which affects the stability of the vehicle body, and the motion parameters are changed, the change of the signal instruction drives the torque balance mechanism of the front spring upper mass to generate a motion parameter negative feedback to inhibit the vibration and the slip amount of the vehicle body, and then the stability of the vehicle body is improved. The closed loop control circuit two is composed of a controller, a driver, a motor III, a motor IV, a rear spring mass and a torque balance mechanism, and its control method is the same as that of the closed loop control circuit one. The closed loop control circuit three is composed of a controller, a driver, a torque balance mechanism, a motor I, a motor II, a motor III, a motor IV, a front and rear spring mass, a frame and a load. After the closed loop control circuit three is acted on by the frame, the load and the road surface excitation, the change of the motion parameters of the vehicle body, a negative feedback is generated by the sensor measuring the motion parameters, the motion parameters are optimized, and the stability of the vehicle body is improved.

Images