201 results about "Mobile robot control" patented technology

In a mobile robot, a user position data acquisition unit acquires user position data representing a user's location. A user movable space generation unit generates user movable space data representing a space in which the user moves based on the user position data. A position relationship control unit controls a position relationship between the user and the mobile robot based on the user movable space data.

The occurrence of a slippage of a robot in operation, following a desired gait, is determined, and the permissible range of a restriction object amount, such as a floor reaction force horizontal component or a floor reaction force moment vertical component to be applied to the robot, is variably set according to a slippage determination result. A provisional motion of a desired gait is determined using a dynamic model, and if the restriction object amount defined by the provisional motion deviates from the permissible range, then the motion of a desired gait is determined by correcting the provisional motion by changing the changing rate of the angular momentum of the robot from the provisional motion so as to limit the restriction object amount to the permissible range, while satisfying a dynamic balance condition.

A control device for a legged mobile robot, in which a correction manipulated variable of a desired floor reaction force (desired floor reaction force's moment) is subsequently determined based on an error between an actual state quantity, such as a body posture angle, of the robot 1 and a desired state quantity of the same, and at the same time, a desired movement of the robot 1 is subsequently determined by the use of the correction manipulated variable and a dynamic model. At this time, a friction force component, which defines a frictional force between the robot 1 and a floor such as a translation floor reaction force's horizontal component, is set as a variable to be limited, and an allowable range of the variable to be limited is set. The desired movement is determined so that the variable to be limited remains within the allowable range and a resultant force of an inertial force and gravity, generated by the movement of the robot 1 on the dynamic model, balances with a floor reaction force obtained by correcting the desired floor reaction force by the correction manipulated variable. The desired movement is determined by adjusting a plurality of movement modes having mutually different generation ratios of a floor reaction force's moment and a translation floor reaction force.

A control device for a mobile robot, in which the desired value of a motion state amount of a mobile robot includes at least the desired value of a vertical component of a first-order differential value of the translational momentum of the entire mobile robot. The desired value is determined by a state amount desired value determiner such that the observed value of the vertical position of an overall center-of-gravity point of the mobile robot is converged to a predetermined desired value according to a feedback control law. A control input determiner carries out the processing of inverse dynamics calculation, using the desired value of the motion state amount thereby to determine the desired driving force for each joint. The operation of an actuator is controlled on the basis of the determined desired driving force.

A controller of a leg type moving robot determines an action force to be input to an object dynamic model 2 such that a motion state amount (object model velocity) of the object dynamic model 2 follows a desired motion state amount based on a moving plan of an object, and also determines a manipulated variable of the motion state amount (object model velocity) of the object dynamic model 2 such that the difference between an actual object position and a desired object position approximates zero, and then inputs the determined action force and manipulated variable to the object dynamic model 2 to sequentially determine the desired object position. Further, a desired object reaction force to a robot from the object is determined from the determined reaction force. This arrangement causes the robot to perform an operation of moving an object while securing stability of the robot by determining the desired motion of the object and the desired value of an action force between the object and the robot while minimizing the difference between a motion state of the object on the object dynamic model and an actual motion state.

A control device for a legged mobile robot, in which a correction manipulated variable of a desired floor reaction force (desired floor reaction force's moment) is subsequently determined based on an error between an actual state quantity, such as a body posture angle, of the robot 1 and a desired state quantity of the same, and at the same time, a desired movement of the robot 1 is subsequently determined by the use of the correction manipulated variable and a dynamic model. At this time, a friction force component, which defines a frictional force between the robot 1 and a floor such as a translation floor reaction force's horizontal component, is set as a variable to be limited, and an allowable range of the variable to be limited is set. The desired movement is determined so that the variable to be limited remains within the allowable range and a resultant force of an inertial force and gravity, generated by the movement of the robot 1 on the dynamic model, balances with a floor reaction force obtained by correcting the desired floor reaction force by the correction manipulated variable. The desired movement is determined by adjusting a plurality of movement modes having mutually different generation ratios of a floor reaction force's moment and a translation floor reaction force.

A control device for a legged mobile robot has a unit which generates the time series of a future predicted value of a model external force manipulated variable as a feedback manipulated variable for reducing the deviation of the posture of the robot. A desired motion determining unit sequentially determines the instantaneous value of a desired motion such that the motion of the robot will reach or converge to a reaching target in the future in the case where it is assumed that the time series of an additional external force defined by the time series of a future predicted value of the model external force manipulated variable is additionally applied to the robot on a dynamic model.

An apparatus 1 for controlling a movable robot recognizes the person to be followed up from an image taken by a camera C by an image processing portion 20, controls leg portions R1 of a movable robot A so as to keep a prescribed interval between the movable robot A and the person by a portion 50 for detecting an action, and notify the degree of the distance between the movable robot A and the person to the person by a voice from a voice outputting portion 62.

The present invention relates to environment monitoring and control field of mobile robot, especially to a nuclear monitoring system based on hybrid sensor network and a method thereof. The system according to the invention is composed of a common node, a mobile node, a local base station, a local monitoring center and a remote monitoring center. The sensor node is used for monitoring the nuclear radiation information in the network covering area. The mobile node is used for replacing the working personnel to enter certain occasion which is hard for the entering of person. A background monitoring platform adopts the navigation monitoring based on digital map. The system can finish the accident rescuing operation and can free the people from the dangerous and execrable working environment.

A method for controlling a mobile robot on basis of hand signals is realized according to the following steps of: selecting appropriate control terminal equipment and an appropriate mobile robot, and building a control system of the mobile robot; and mapping a hand signal which is made by an operator on a touch screen of a control terminal into a movement control command of the mobile robot, sending the command to the mobile robot, and realizing the movement of the mobile robot according to the movement command. The method has the following advantages that the hand signals are utilized to realize the movement control of the mobile robot, is intuitive and simple and convenient to operate, and is in accordance with human operation habits; and the control terminal of the mobile robot can be simplified, the size and weight are reduced, and the mobile robot is convenient to carry and transport.

A control device for a legged mobile robot has a first motion determiner which sequentially determines the instantaneous value of a first motion of a robot by using a first dynamic model and a second motion determiner which sequentially determines the instantaneous value of a second motion of the robot by using a second dynamic model, and sequentially determines a desired motion of the robot by combining the first motion and the second motion. A low frequency component and a high frequency component of a feedback manipulated variable having a function for bringing a posture state amount error, which indicates the degree of the deviation of an actual posture of the robot from a desired posture, close to zero are fed back to the first motion determiner and the second motion determiner, respectively.

The invention discloses a mobile robot route planning method based on a distance grid map. The mobile robot route planning method includes selecting front grids by a moving window method in the process of moving of a robot, updating the distance grid map, managing the front grids to be updated by an array management method during updating, and updating a control model of the mobile robot by an A*search algorithm in the mobile robot route planning method based on the distance grid map. The mobile robot route planning method based on the distance grid map is of great fundamental significance in high-ranking tasks like generating topological maps and planning a route in the unknown environment.

The invention discloses a variable structure control method of a wheeled mobile robot. according the method, the linear motion of a robot is controlled by using a multimodal PID (proportion integration differentiation) control method; and a forward direction of a trolley is corrected by using the combination of a control method and a PID control and a rule control; the two control modes are switched through the changes of a directional angle and a centre offset; the robot is controlled to turn in an in-situ right angle turning mode according to turning direction information and position information; by using the multimode PID control and the combination of the rule control and the PID control, the algorithm can use different control algorithms and corresponding control parameters according to different states of the robot to effectively improve the robot motion control performance; the control mode is divided according to the error change condition so as to reasonably simulate the control behavior of a human; compared with the traditional PID control method, the variable structure control method has a certain intelligence and improves the walking motion control quality of the robot.

A setting unit 33 configured to set a first landing permissible region in order to ground a free leg side foot 16 within an upper tread surface or a lower tread surface of a step existing ahead of a legged mobile robot 1 in a traveling direction, and a setting unit 34 configured to set a second landing permissible region in order to ground the free leg side foot 16 on an edge of the upper tread surface or the lower tread surface are provided to switch landing permissible regions for movement control of the robot 1 according to a step height.

The present invention provides a safe path planning method including a process of using a grid map and a congestion map, and a process of planning a path of a mobile robot using a cost function.

The invention provides a trajectory tracking method for a four-wheel-driven wheeled mobile robot. The method comprises the steps of firstly establishing a kinematic model, a dynamic model and a driving motor model of a system; then designing a kinematic controller for adjusting speed of the system according to a given reference trajectory based on the kinematic model; operating the kinematic controller for obtaining the anticipated torque of a motor according to the speed of a to-be-adjusted system based on the kinematic model; designing a driving motor controller for designing an appropriate driving voltage of the system for satisfying the anticipated torque of the motor based on the driving motor model; and finally performing trajectory tracking control on the four-wheel-driven wheeled mobile robot according to a backstepping robustness trajectory tracking control method. The trajectory tracking method according to the invention realizes a purpose of improving stability of a four-wheel-driven wheeled mobile robot control system in a complicated uncertain environment and furthermore improves system controlling effectiveness on the condition with uncertain factors.

The present invention provides a safe path planning method including a process of using a grid map and a congestion map, and a process of planning a path of a mobile robot using a cost function.

The invention discloses a multi-mobile robot control system based on following a pilot formation, which comprises an experimental environment image acquisition module, an upper computer positioning module, a car-like mobile robot group, a communication module and a control algorithm module, wherein the experimental environment image acquisition module is used for acquiring video images of a plurality of mobile robot formation experimental environments; the upper computer positioning module calculates absolute position information of each robot in real time by using an image processing algorithm through a coordinate system calibrated via a camera; the car-like mobile robot group is composed of a plurality of single mobile trolleys, and an autonomous decision is made to complete the formation task; the communication module performs data interaction and information sharing through a wireless communication manner; the control algorithm module coordinates and controls the whole system to complete the formation task based on the pilot-followed formation algorithm. The multi-mobile robot control system based on following a pilot formation in the invention is a multi-robot formation systemwhich is based on visual positioning and suitable for the indoor and has the characteristics of strong reliability and strong real-time performance.

A permissible range of a restriction object amount, which is a vertical component of a floor reaction force moment or a component of the floor reaction force moment in floor surface normal line direction, or a vertical component of an angular momentum changing rate of the robot or a component of the angular momentum changing rate in floor surface normal line direction, is set, and at least a provisional instantaneous value of a desired motion is input to a dynamic model so as to determine an instantaneous value of a model restriction object amount as an output of the dynamic model. An instantaneous value of a desired motion is determined by correcting the provisional instantaneous value of the desired motion such that at least the instantaneous value of the model restriction object amount falls within the permissible range.

The present invention relates to a control device based on the bluetooth technology and used for a mobile robot. In the present invention, a DSP+CPLD control mode is adopted, a DSP serves as the master control chip of a robot motion platform, at the same time, a CPLD is used for the phase discrimination of the pulse signal fed back by a motor, for the signal conformity, and for the expanding of the four paths of signals generated by the DSP, so as to reduce the burden of a nuclear controller and make up the deletion thereof, thereby, the nuclear controller is mainly used for the realization of the highlevel control algorithm. The wireless communication is realized based on the bluetooth technology. The present invention mainly comprises a powder pack, a communication unit, a motor driving unit, a nuclear control unit, a CPLD unit and an attitude detecting unit. A mobile robot subsystem prepared by means of the present invention, the sampling period can be very small even in a complicated control process, the control effect is similar to a continuous control process; besides, in the run procedure, the response speed is rapid, the overshoot is small, and the stability is high; furthermore, the control effect can be further improved by combining with the signal of a multiple sensor, the program memory has no need of expanding, the periphery circuit of the nuclear unit is simple, the function of the controller is convenient to be expanded.

A control device for a legged mobile robot has a first motion determiner which sequentially determines the instantaneous value of a first motion of a robot by using a first dynamic model and a second motion determiner which sequentially determines the instantaneous value of a second motion of the robot by using a second dynamic model, and sequentially determines a desired motion of the robot by combining the first motion and the second motion. A low frequency component and a high frequency component of a feedback manipulated variable having a function for bringing a posture state amount error, which indicates the degree of the deviation of an actual posture of the robot from a desired posture, close to zero are fed back to the first motion determiner and the second motion determiner, respectively.

The invention discloses a mobile robot controller and a control method. The mobile robot controller comprises a remote controller, a wireless receiving and transmitting module, an industrial personal computer, a receiver, a sensor, a sensor wireless transmission system, a proportional valve and a switching valve. The control method comprises the following steps: acquiring the control information of a remote controller panel through a remote controller acquisition board; transmitting the acquired control information to the industrial personal computer in the form of an instruction; acquiring the information of an encoder for encoding the absolute value of each joint by using the industrial personal computer, and performing kinematics algorithm processing through a main industrial personal computer; sensing a control instruction to the receiver to complete motion control over a mobile assembly robot. A high-frequency automobile assembly task is completed by using a special tool connected to the tail end of the mobile robot controller in a master-slave and autonomous control way instead of the arms of a person, thereby lowering the labor intensity of operation personnel and ensuring the safety of the operation personnel.

The invention discloses a motion control system and method of a mobile robot in an intelligent space. The motion control system is composed of the intelligent space and the mobile robot. The intelligent space comprises a monitoring host, a distributed visual system and a wireless sensor network system based on Zigbee. The motion control method of the mobile robot in the intelligent space comprises the steps that pose information of the mobile robot is obtained at first; then control deviation e of the mobile robot is obtained; mobile robot multi-objective self-regulation PID motion control based on an RBF identification network is conducted at last. Compared with an existing mobile robot control system based on a vehicle-mounted video, the motion control system and method of the mobile robot in the intelligent space have the advantages of being small in calculated amount, good in instantaneity, and more accurate in motion control.

A legged mobile robot, a legged mobile robot controller and a legged mobile robot control method are provided to perform a loading operation to load a gripped object in parallel on a target place having a height where a stretchable range of arm portions of the legged mobile robot is enhanced with no operator's handling. The legged mobile robot includes the arm portions having links for gripping an object, and leg portions having links for moving, and the arm and the leg portions are joined to a body thereof. The legged mobile robot controller includes a data acquisition unit, a whole-body cooperative motion control unit and a loading detection unit, and controls motions of the legged mobile robot based on posture / position data regarding a posture / position of each link of the legged mobile robot and on an external force data regarding an external force affecting the arm portions.

A legged mobile robot, a legged mobile robot controller and a legged mobile robot control method are provided to perform a loading operation to load a gripped object in parallel on a target place having a height where a stretchable range of arm portions of the legged mobile robot is enhanced with no operator's handling. The legged mobile robot includes the arm portions having links for gripping an object, and leg portions having links for moving, and the arm and the leg portions are joined to a body thereof. The legged mobile robot controller includes a data acquisition unit, a whole-body cooperative motion control unit and a loading detection unit, and controls motions of the legged mobile robot based on posture / position data regarding a posture / position of each link of the legged mobile robot and on an external force data regarding an external force affecting the arm portions.

The invention provides a wheel-type detection mobile robot control system and method and relates to the field of robot control technologies and safety. The invention overcomes the problem that the conventional wheel-type detection mobile robot can be damaged when operating in a complex environment as topographic relief is large. A wireless signal input or output end of a remote control operation unit is connected with the output or input end of an external communication unit, the external communication unit is connected with a master control unit, two paths of communication signal input or output ends of the master control unit are connected with two paths of communication signal output or input ends of a sensor unit respectively, the input or output end of the master control unit is connected with the output or input end of a movement control unit, the output end of the movement control unit is connected with the input end of a drive control unit, and the input end of the movement control unit is connected with the output end of the drive control unit. The robot can be used in an operation environment where the topographic relief is large, and selects the operation mode according to change in real-time parameters of vehicle body operation collected by a vehicle-mounted sensor, so that the safety operation of a vehicle body is ensured.

The invention relates to an omnidirectional wheel, in particular to an omnidirectional wheel, which can finish the manufacture by using standard parts and a simple machining means under the condition without special manufacturing equipment. The omnidirectional wheel belongs to the control field of the logistics equipment and the moving robot and discloses a manufacturing method of the structure of the omnidirectional wheel. The related wheel hubs of the omnidirectional wheel adopt an arrangement structure which has an inner layer and an outer layer and stagger specific angles in an alternating manner, thus avoiding the difficulty of the manufacture and the installation brought by the integration of the wheel hubs. An outer wheel hub and an inner wheel hub connected by a flange disc are fixed with joint bearings and are respectively connected with the two ends of a shaft of a roller; and the roller adopts a separated structure of a supporting bearing and polyurethane, thus guaranteeing the accuracy of the omni movement. In the invention, the whole omnidirectional wheel has better elasticity and convenient installation.

The invention provides a mobile robot control system and a teleoperation control method of a robot tail end pose, and particularly relates to the mobile robot control system and the teleoperation control method of the robot tail end pose based on wearable binocular vision specific to a carrying multi-degree-of-freedom mechanical arm. The process of the control method is the pose of an operator gesture-the pose of a virtual gesture model-the pose of the tail end of a virtual mechanical arm-the pose of the tail end of a multi-degree-of-freedom mechanical arm; and the continuous control on the pose of the tail end of the multi-degree-of-freedom mechanical arm is realized by establishing the driving relationship of the pose of the operator gesture and the pose of the tail end of the multi-degree-of-freedom mechanical arm. Meanwhile, the following process of the tail end of the virtual mechanical arm and the virtual gesture model is displayed in a wearable virtual displayer, so that the control process is relatively intuitive so as to solve the problems that in the control process of a vehicle-mounted multi-degree-of-freedom reconnaissance system of an existing mobile reconnaissance robot, the control method is complicated, and the pose of the tail end of the vehicle-mounted multi-degree-of-freedom reconnaissance system cannot be intuitively controlled.

The invention discloses a structural design method for an omni wheel and belongs to the mobile robot control field. As a hub of the omni wheel adopts an arrangement structure with two layers of an inner layer and an outer layer which are alternatively staggered at 45 degree angle, so the installation difficulty brought by the hub integration is avoided. A cushion block is clamped between an outer hub support and an inner hub support which are respectively connected with a spindle annulet. The invention causes the whole hub support to have better flexibility and easy installation. As a driven wheel uses an integrated structure of a support sleeve and the rubber vulcanization, the movement precision of the omni wheel is ensured. The invented omni wheel moves smoothly and has the advantages of compact structure and strong environmental adaptability.