Composite mobile sorting robot based on omnidirectional chassis

Abstract

The invention discloses a composite mobile sorting robot based on an omnidirectional chassis, and belongs to the technical field of mobile robots. The robot comprises a suspension type chassis, omni-directional wheels, an optocoupler encoder motor, a holder, a mechanical arm, a mechanical claw, a material collecting device, a control panel, a first camera and a second camera. The cradle head is arranged above the suspension type chassis, and a mechanical arm and a material collecting device are integrally arranged on the cradle head; the first camera is arranged at the tail end of the mechanical arm, is positioned near the mechanical claw and is used for acquiring image information of a target material; the second camera is arranged at the bottom of the robot or near the material collecting device and used for collecting environment information controlled by movement of the auxiliary chassis. Omni-directional movement and material sorting operation of the robot in a complex environment are achieved through a suspension type omni-directional chassis and double-camera cooperative control structure.

Description

A composite mobile sorting robot based on an omnidirectional chassis Technical Field

[0001] This invention relates to the field of intelligent robot and automation control technology, specifically to a composite mobile sorting robot that integrates machine vision perception, visual servo control and a suspended omnidirectional motion chassis. Background Technology

[0002] With the continuous development of automation and intelligent manufacturing technologies, mobile robots have been widely used in material handling, automated sorting, and scientific research experiments. Most existing mobile robots employ differential wheels or rigid omnidirectional chassis structures, which are prone to tire slippage, wheel slippage, and body vibration in complex or uneven terrain, thus affecting the stability and grasping accuracy of the upper-level vision system.

[0003] Meanwhile, traditional sorting robots typically separate the gripping and storage devices. After gripping, the robotic arm needs to rotate at large angles or perform additional movements to transfer the material to the storage area, resulting in slow operation cycle, high energy consumption, and low system coordination efficiency. Therefore, it is necessary to propose a mobile sorting robot with a highly integrated structure and control method to improve its environmental adaptability and operational efficiency. Summary of the Invention

[0004] The purpose of this invention is to provide a composite mobile sorting robot based on an omnidirectional chassis. Through structural integration design and hierarchical collaborative control, it achieves efficient collaboration between omnidirectional movement, visual perception and grasping operations, thereby overcoming the problems of insufficient movement stability and low collaborative efficiency of grasping and storage in the prior art.

[0005] To achieve the above objectives, the present invention adopts the following technical solution: a composite mobile sorting robot based on an omnidirectional chassis, comprising the following construction steps: S1. Constructing a suspended omnidirectional chassis with suspension shock absorption function as the robot's motion carrier; S2. Setting a rotary gimbal assembly on the suspended omnidirectional chassis to form a work platform capable of omnidirectional rotation; S3. Integrating a robotic arm and a first camera on the rotary gimbal to construct a grasping execution system based on machine vision perception and visual servo control; S4. Coaxially setting a follow-up material collection device on the rotary gimbal, allowing it to rotate synchronously with the robotic arm to achieve integrated grasping and storage operations; S5. Constructing a hierarchical control system based on dual cameras and multi-sensor feedback, achieving coordinated control of omnidirectional movement and target grasping through information interaction between upper-level visual servo control and lower-level motion control.

[0006] Furthermore, in step S1, the suspended omnidirectional chassis enables each omnidirectional wheel to independently contact the ground by setting an independent suspension mechanism between multiple omnidirectional wheels and the frame, effectively reducing the vibration and slippage of the chassis under complex ground conditions; at the same time, combined with the encoder feedback information set on the drive motor, it realizes precise control of the chassis in omnidirectional motion states such as lateral movement, diagonal movement and stationary rotation.

[0007] Furthermore, in step S2, the rotary gimbal is positioned at the center of the suspended omnidirectional chassis, with its rotation axis substantially coinciding with the chassis's vertical axis. It serves to support and drive the robotic arm and the follow-up material collection device to rotate synchronously, thereby constructing a rotary work platform oriented towards multi-directional operations. The rotary gimbal allows the robot to adjust its working orientation without altering the overall chassis posture, improving operational flexibility and structural compactness.

[0008] Furthermore, in steps S3 and S4, the robotic arm and the follow-up material collection device are both fixedly mounted on the same rotary platform, thus forming a relatively static working coordinate system. After the robotic arm completes the grabbing of the target material, it only needs to retract to release the material into the follow-up material collection device behind it, avoiding the time waste and increased energy consumption caused by large-angle rotation or additional displacement of the robotic arm.

[0009] Furthermore, in step S5, the hierarchical control system includes an upper-level control module and a lower-level control module. The lower-level control module realizes motion control of the suspended omnidirectional chassis based on the environmental and motion information fed back by sensors such as the second camera and encoder. The upper-level control module performs visual servo calculations based on the target image information obtained by the first camera set at the end of the robotic arm to correct the posture of the robotic arm in real time, thereby realizing the coordinated movement and grasping processes through information interaction.

[0010] The beneficial effects of this invention are as follows: the suspended omnidirectional chassis provides a stable observation platform for the upper vision system, effectively suppressing image jitter caused by uneven ground; the coaxial integration of the follow-up material collection device and the robotic arm enables a highly efficient "grab and store" operation mode, significantly improving sorting efficiency; and the combination of dual cameras and a layered collaborative control strategy enhances the system's robustness and operational continuity in complex environments. Attached Figure Description

[0011] Figure 1 is a schematic diagram of the overall structure of the present invention;

[0012] Figure 2 is a front view of the structure of the present invention;

[0013] Figure 3 is a top view of the structure of the present invention;

[0014] Figure 4 is a schematic diagram of the structure of the present invention from a bottom view;

[0015] Figure 5 is a schematic diagram of the rear three-dimensional structure of the present invention. Detailed Implementation

[0016] The specific embodiments of the present invention will be further described below with reference to the accompanying drawings.

[0017] As shown in Figures 1-5, a composite mobile sorting robot based on an omnidirectional chassis includes a mechanical claw 1, a mechanical arm 2, an upper base plate 3, a display screen 4, an optical coupler encoder motor 5, a suspended omnidirectional chassis 6, a first camera 7, a material collection device 8, a second camera 9, a rotating gimbal 10, a control board 11, a start switch 12, and omnidirectional wheels 13.

[0018] An upper base plate 3 is mounted above the suspended omnidirectional chassis 6. A display screen 4 is installed on the front side of the upper base plate 3 to display the system's operating status. A rotating gimbal 10 is located at the center of the upper base plate 3. A robotic arm 2 and a follow-up material collection device 8 are integrated and mounted on the rotating gimbal 10, enabling them to rotate synchronously around a vertical axis.

[0019] The robotic arm 2 is equipped with a robotic gripper 1 at its end, and a first camera 7 is positioned near the robotic gripper 1 to acquire image information of the target material. The second camera 9 is positioned below the follow-up material collection device 8, with its lens facing the ground environment.

[0020] The drive motor 5 and omnidirectional wheels 13 are connected to the lower part of the suspended omnidirectional chassis 6, and the drive motor 5 and omnidirectional wheels 13 are connected in a transmission connection. The control board 11, as the core hardware of the hierarchical control system, is electrically connected to the drive motor 5, the first camera 7, and the second camera 9, and is used to realize data processing and control command output. The start switch 12 is located on the side of the chassis and connected to the control board 11.

[0021] Work process:

[0022] During operation, the robot uses a suspended omnidirectional chassis 6 to move in all directions. When it approaches the target area, the first camera 7 identifies the target material, and the upper control module executes visual servo control to guide the robotic arm 2 to complete the grasping. After grasping, the robotic arm 2 retracts and releases the material directly into the follow-up material collection device 8. During the movement, the second camera 9 continuously acquires environmental information to assist the lower control module in adjusting the chassis movement, thereby completing the automatic sorting and handling of materials.

Claims

1. A composite mobile sorting robot based on an omnidirectional chassis, characterized in that, include: The system comprises a robotic gripper (1), a robotic arm (2), an upper base plate (3), a display screen (4), an optical encoder motor (5), a suspended chassis (6), a first camera (7), a material collection device (8), a second camera (9), a gimbal (10), a control board (11), a start switch (12), and omnidirectional wheels (13). The suspended chassis (6) is equipped with omnidirectional wheels (13) and an optical encoder motor (5) at its bottom. The upper base plate (3) is positioned above the suspended chassis (6). A gimbal (10) is located at the center of the upper base plate (3). The gimbal (10) is... The device integrates a robotic arm (2) and a material collection device (8), with the material collection device (8) located behind the robotic arm (2). The robotic claw (1) is installed at the end of the robotic arm (2), and the first camera (7) is installed at the end of the robotic arm (2) and near the robotic claw (1). The second camera (9) is installed below the material collection device (8). The control board (11) is electrically connected to the optical encoder motor (5), the robotic arm (2), the first camera (7), and the second camera (9) to realize robot motion control and robotic arm grasping operation control.

2. The composite mobile sorting robot based on an omnidirectional chassis according to claim 1, characterized in that: The suspended chassis (6) and the upper base plate (3) are connected by a suspension structure, and the control plate (11) is located in the accommodating space between the upper base plate (3) and the suspended chassis (6).

3. The composite mobile sorting robot based on an omnidirectional chassis according to claim 1, characterized in that: The drive assembly includes four rectangularly distributed omnidirectional wheels (13), each of which is driven by an independent optical encoder motor (5). The control board (11) controls the optical encoder motor (5) and controls the robot to achieve lateral translation, longitudinal movement and in-situ rotation by adjusting the speed and direction of the four motors.

4. The composite mobile sorting robot based on an omnidirectional chassis according to claim 1, characterized in that: The gimbal (10) is a rotary mechanism that can drive the robotic arm (2) and the material collection device (8) to rotate horizontally and synchronously relative to the upper base plate (3).

5. A composite mobile sorting robot based on an omnidirectional chassis according to claim 1, characterized in that: The material collection device (8) includes a disc body and several storage slots opened on the disc surface. The openings of the storage slots face upward and are inclined outward. The position of the material collection device (8) is within the retraction stroke coverage of the robotic arm (2).

6. A composite mobile sorting robot based on an omnidirectional chassis according to claim 1, characterized in that: The lens of the first camera (7) is oriented in the same direction as the gripping direction of the mechanical claw (1); the second camera (9) is located below the material collection device (8) and is used to collect road surface images.

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