Coding positioning system and method based on orthogonal omnidirectional wheels

Abstract

The invention discloses a coding positioning system and method based on orthogonal omnidirectional wheels. The coding positioning system comprises an orthogonal omnidirectional wheel, a damping module and a coding feedback module, the damping module is mounted between the orthogonal omnidirectional wheel and the robot main body, and the coding feedback module is mounted on an extension line of a rotating shaft of the orthogonal omnidirectional wheel. The coding positioning method comprises the following steps: S1, measuring the diameter d of an orthogonal omnidirectional wheel; s2, counting the number n of rising edge pulses generated when the orthogonal omnidirectional wheel rotates for a circle in any direction; s3, counting the number Nx of rising edge pulses generated by rotation in the X direction and the number Ny of rising edge pulses generated by rotation in the Y direction after the orthogonal omnidirectional wheel reaches the target position; s4, coordinates (X, Y) of the target position of the orthogonal omnidirectional wheel are obtained through joint calculation, and robot feedback positioning is achieved. The method has the beneficial effects that accurate positioning and timely feedback adjustment of walking of the robot are achieved, meanwhile, the smoothness of movement of the robot is guaranteed, and it is guaranteed that the robot can accurately reach the designated position.

Description

Technical Field

[0001] The present invention belongs to the technical field of robot precise positioning, and in particular relates to the design of a coding positioning system and method based on orthogonal omnidirectional wheels. Background Art

[0002] Common wheeled walking robot models include two-wheel walking, three-wheel walking, four-wheel walking and omnidirectional walking models. The omnidirectional walking method has its unique advantages. It can flexibly and accurately reach the target position in some special situations (such as narrow walking tracks, short walking distances, frequent turns, or small operating spaces). The walking and rotating mode allows it to quickly reach the target position in a straight line and complete the walking task in the target direction at the same time. However, existing robots are difficult to achieve accurate positioning and cannot achieve timely feedback and adjustment. Summary of the invention

[0003] The purpose of the present invention is to solve the problem that it is difficult for an omnidirectional walking robot to achieve accurate positioning in the prior art, and proposes a coding positioning system and method based on orthogonal omnidirectional wheels.

[0004] The technical solution of the present invention is: a coding positioning system based on an orthogonal omnidirectional wheel, characterized in that: it includes an orthogonal omnidirectional wheel, a shock absorption module and an encoding feedback module; the shock absorption module is installed between the orthogonal omnidirectional wheel and the robot body; the encoding feedback module is installed on the extension line of the orthogonal omnidirectional wheel rotation axis.

[0005] Preferably, the orthogonal omnidirectional wheel comprises a hub and a driven wheel, six hub teeth are evenly arranged on the outer circumference of the hub, a driven wheel is installed between every two hub teeth, and the radial direction of the driven wheel is perpendicular to the tangent direction of the outer circumference of the hub.

[0006] Preferably, the shock absorbing module comprises a slide rail and a spring, and the spring is in a compressed state.

[0007] Preferably, the encoding feedback module comprises two rotary incremental encoders for measuring the number of rising edge pulses generated by the rotation of the orthogonal omnidirectional wheel in the X direction and the Y direction.

[0008] The present invention also provides a coding positioning method based on an orthogonal omnidirectional wheel, comprising the following steps:

[0009] S1. Measure the diameter d of the orthogonal omnidirectional wheel;

[0010] S2, using the encoder feedback module to count the number of rising edge pulses n generated by the orthogonal omnidirectional wheel rotating one circle in any direction;

[0011] S3, using the encoder feedback module to count the number of rising edge pulses N generated by the orthogonal omnidirectional wheel rotating in the X direction after reaching the target positionx The number of rising edge pulses N generated by the rotation in the Y direction y ;

[0012] S4. The coordinates (X, Y) of the target position of the orthogonal omnidirectional wheel are obtained by joint calculation to realize the feedback positioning of the robot.

[0013] Furthermore, step S4 specifically includes the following steps:

[0014] S41, calculate the distance s that the robot travels when the orthogonal omnidirectional wheel rotates one circle, and the calculation formula is shown in formula (1):

[0015] s=π×d (1)

[0016] Where d is the diameter of the orthogonal omnidirectional wheel;

[0017] S42, calculating the resolution L of the encoding feedback module, the calculation formula is shown in formula (2):

[0018]

[0019] Where n is the number of rising edge pulses generated by one rotation of the orthogonal omnidirectional wheel in any direction;

[0020] S43, calculating the coordinates (X, Y) of the target position of the orthogonal omnidirectional wheel, the calculation formula is shown in formula (3):

[0021] X=N x ×L,Y=N y ×L (3)

[0022] Where N x 、N y They are the number of rising edge pulses generated by the orthogonal omnidirectional wheel rotating in the X and Y directions after reaching the target position.

[0023] The beneficial effects of the present invention are as follows: the present invention realizes the precise positioning and timely feedback adjustment of the robot's walking, while ensuring the smoothness of the robot's movement and ensuring that the robot can accurately reach the designated position. BRIEF DESCRIPTION OF THE DRAWINGS

[0024] Figure 1 This is a schematic diagram of the structure of the coding positioning system based on the orthogonal omnidirectional wheels provided by the present invention.

[0025] Figure 2 Schematic diagram of the orthogonal omnidirectional wheel structure.

[0026] Figure 3 This is a flow chart of the coding positioning method based on orthogonal omnidirectional wheels provided by the present invention. DETAILED DESCRIPTION

[0027] The embodiments of the present invention will be further described below in conjunction with the accompanying drawings.

[0028] The schematic diagram of the structure of the coding positioning system based on the orthogonal omnidirectional wheel provided by the present invention is as follows: Figure 1 As shown, it includes an orthogonal omnidirectional wheel 1, a shock absorption module 2 and an encoding feedback module 3. The shock absorption module 2 is installed between the orthogonal omnidirectional wheel 1 and the robot body, and the encoding feedback module 3 is installed on the extension line of the rotation axis of the orthogonal omnidirectional wheel 1.

[0029] The structural diagram of the orthogonal omnidirectional wheel 1 is as follows Figure 2 As shown, the robot comprises a hub 11 and a driven wheel 12. Six hub teeth are evenly arranged on the outer circumference of the hub 11. A driven wheel 12 is arranged between every two hub teeth. The radial direction of the driven wheel 12 is perpendicular to the tangent direction of the outer circumference of the hub 11. The coordinated movement of the hub 11 and the driven wheel 12 enables the robot to walk in all directions.

[0030] In order to mitigate and attenuate the impact and vibration caused by the uneven road surface during the walking process of the robot, as well as the possible suspension of the wheels of the robot, and ensure the smoothness of walking, a shock absorbing module 2 is arranged between the orthogonal omnidirectional wheel 1 and the robot body. The shock absorbing module 2 includes a slide rail and a spring, and the spring is in a compressed state to ensure that the orthogonal omnidirectional wheel 1 is in contact with the ground and the wheel does not suspend.

[0031] The encoder feedback module 3 includes two rotary incremental encoders for measuring the number of rising edge pulses generated by the rotation of the orthogonal omnidirectional wheel 1 in the X direction and the Y direction. The rotary incremental encoder obtains the pulses generated when the wheel shaft outputs the rotation, and knows its position through the counting device. The conversion of angular displacement in the encoder adopts the photoelectric scanning principle.

[0032] The flowchart of the coding positioning method based on orthogonal omnidirectional wheels provided by the present invention is as follows: Figure 3 As shown, the following steps are included:

[0033] S1. Measure the diameter d of the orthogonal omnidirectional wheel 1. The diameter of the omnidirectional wheel is d=54 mm.

[0034] S2. Count the number n of rising edge pulses generated when the orthogonal omnidirectional wheel 1 rotates one circle in any direction by using the encoding feedback module 3. The number n of rising edge pulses generated when the omnidirectional wheel rotates one circle in any direction is 500.

[0035] S3, using the encoder feedback module 3 to respectively count the number of rising edge pulses N generated by the orthogonal omnidirectional wheel 1 rotating in the X direction and the Y direction after reaching the target position x =1176,N y =1470.

[0036] S4, jointly calculate and obtain the coordinates (X, Y) of the target position of the orthogonal omnidirectional wheel 1 to realize the feedback positioning of the robot, which specifically includes the following steps:

[0037] S41. Calculate the distance s = π × 54 ≈ 169.56 mm that the robot travels when the orthogonal omnidirectional wheel 1 rotates one circle using formula (1).

[0038] S42. Calculate the resolution of the encoding feedback module 3 by formula (2): L = 169.56 / 500≈0.34 mm.

[0039] S43, calculate the coordinates (X, Y) of the target position of the orthogonal omnidirectional wheel 1, where X=1176×0.34≈400 mm, Y=1470×0.34≈500 mm. Thus, the robot feedback positioning can be realized.

[0040] Those skilled in the art will appreciate that the embodiments described herein are intended to help readers understand the principles of the present invention, and should be understood that the protection scope of the present invention is not limited to such specific statements and embodiments. Those skilled in the art can make various other specific variations and combinations that do not deviate from the essence of the present invention based on the technical revelations disclosed by the present invention, and these variations and combinations are still within the protection scope of the present invention.

Claims

1. A coding positioning system based on orthogonal omnidirectional wheels, characterized in that: The robot comprises an orthogonal omnidirectional wheel (1), a shock absorbing module (2) and an encoding feedback module (3); the shock absorbing module (2) is installed between the orthogonal omnidirectional wheel (1) and the robot body; the encoding feedback module (3) is installed on the extension line of the rotation axis of the orthogonal omnidirectional wheel (1).

2. The coding positioning system based on orthogonal omnidirectional wheels according to claim 1 is characterized in that: The orthogonal omnidirectional wheel (1) comprises a wheel hub (11) and a driven wheel (12); six wheel hub teeth are evenly arranged on the outer circumference of the wheel hub (11), a driven wheel (12) is arranged between every two wheel hub teeth, and the radial direction of the driven wheel (12) is perpendicular to the tangent direction of the outer circumference of the wheel hub (11).

3. The coding positioning system based on orthogonal omnidirectional wheels according to claim 1 is characterized in that: The shock absorbing module (2) comprises a slide rail and a spring; the spring is in a compressed state.

4. The coding positioning system based on orthogonal omnidirectional wheels according to claim 1 is characterized in that: The encoding feedback module (3) comprises two rotary incremental encoders for measuring the number of rising edge pulses generated by the rotation of the orthogonal omnidirectional wheel (1) in the X direction and the Y direction.

5. A coding positioning method based on orthogonal omnidirectional wheels, characterized in that: The following steps are involved: S1, measuring the diameter d of the orthogonal omnidirectional wheel (1); S2, using the encoding feedback module (3) to count the number n of rising edge pulses generated by the orthogonal omnidirectional wheel (1) rotating one circle in any direction; S3, using the encoder feedback module (3) to count the number of rising edge pulses N generated by the orthogonal omnidirectional wheel (1) rotating in the X direction after reaching the target position x The number of rising edge pulses N generated by the rotation in the Y direction y ; S4. The coordinates (X, Y) of the target position of the orthogonal omnidirectional wheel (1) are obtained by joint calculation to realize the feedback positioning of the robot.

6. The coding positioning method based on orthogonal omnidirectional wheels according to claim 5 is characterized in that: The step S4 specifically comprises the following steps: S41, calculate the distance s that the robot travels when the orthogonal omnidirectional wheel (1) rotates one circle, and the calculation formula is shown in formula (1): s=π×d (1) Where d is the diameter of the orthogonal omnidirectional wheel (1); S42, calculating the resolution L of the encoding feedback module (3), the calculation formula is shown in formula (2): Where n is the number of rising edge pulses generated by the orthogonal omnidirectional wheel (1) rotating one circle in any direction; S43, calculating the coordinates (X, Y) of the target position where the orthogonal omnidirectional wheel (1) is located, and the calculation formula is shown in formula (3): X=N x ×L,Y=N y ×L (3) Where N x 、N y They are respectively the number of rising edge pulses generated by the orthogonal omnidirectional wheel (1) rotating in the X direction and the Y direction after reaching the target position.

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