20 results about "Omnidirectional mobile robot" patented technology

The invention discloses an omni-directional mobile robot pose adjustment method based on a laser radar, and the method comprises the steps: collecting and processing multi-frame laser radar data through a system to extract environment features in a working point creation stage after a robot is precisely guided to a target pose, and carrying out the correlation storage of a working point identifier, a global pose and standard feature data after verification. And when the robot navigates to a position near a working point, triggering an accurate adjustment process: calling pre-stored standard features by a system, collecting laser radar data in real time to perform same filtering and feature extraction processing, and performing iterative calculation through a point cloud matching algorithm to obtain X and Y direction and course angle deviations between a current position and a standard position. And finally, carrying out pose correction, and carrying out real-time cyclic feedback until the deviation reaches a millimeter-level precision threshold value. According to the invention, the dependence of a traditional two-dimensional code accurate positioning scheme on illumination, cleanliness and entity marking is overcome, and the method has the advantages of high precision, strong environmental adaptability and high reliability.

The invention relates to an omnidirectional mobile robot dog autonomous obstacle avoidance and state monitoring method for a track fork, and relates to the field of machine vision, and the method comprises the steps: constructing a prior three-dimensional map containing semantic information through multi-sensor fusion; precise real-time positioning is realized based on feature matching and an ICP algorithm, and a global optimal path considering distance, coverage and energy consumption is planned by using the improved A; an omnidirectional obstacle avoidance strategy is started through obstacle recognition and risk assessment in the advancing process, and the moving mode is dynamically adjusted; and when arriving at a detection point, adaptively adjusting an observation pose, fusing visual data, infrared data and three-dimensional data, and realizing automatic identification and diagnosis of the apparent defect of the turnout by means of a deep learning model. The system and the method have the advantages that full-process autonomous inspection of the track crossroad is realized by means of multi-sensor fusion and an intelligent algorithm, the system and the method have the capabilities of accurate positioning, flexible obstacle avoidance and comprehensive and efficient defect detection, the system and the method are adaptive to complex scenes, and manual dependence is greatly reduced.

The application discloses a preset time formation control method for input delay multi-universal mobile robots, and belongs to the field of adaptive control of universal mobile robots. The control method comprises the following steps: establishing a dynamic model of multi-universal mobile robots with input delay, unknown nonlinear terms and external disturbance; introducing auxiliary vectors based on Padé approximation and Laplace transformation to simplify input delay analysis, and reconstructing the dynamic model based on the auxiliary variables; combining dynamic surface control technology to construct a preset time filter; step-by-step constructing Lyapunov functions to obtain an adaptive law and a preset time formation controller, wherein the preset time formation controller is used to output a control vector, the control vector is input into the reconstructed dynamic model, and formation control is realized. The preset time formation control method effectively suppresses the influence of input delay on the dynamic characteristics of the system, ensures the real-time performance of the control signal, and also ensures that each robot completes the formation task within the preset time.

The invention relates to an anti-interference control method and system for an omni-directional mobile robot. The method comprises the steps that S1, a kinetic model in the EL system form of the omni-directional mobile robot is constructed; s2, constructing a disturbance observer DOB according to the dynamical model of the omni-directional mobile robot, and estimating the total disturbance of the omni-directional mobile robot through the disturbance observer DOB; s3, acquiring an initial control quantity for controlling the omni-directional mobile robot by utilizing PD control; and S4, combining the total disturbance estimated by the disturbance observer DOB and the initial control quantity to obtain a final control quantity, and controlling the omnidirectional mobile robot through the final control quantity. According to the invention, the anti-interference control of the omnidirectional mobile robot can be effectively realized.

The utility model relates to a high-precision large-stroke liftable measuring system, which comprises a moving device, and a three-stage lifting system is mounted on the moving device. A laser measurement radar is mounted on the third-stage lifting system; the third-stage lifting system comprises a first-stage lifting frame, a second-stage lifting frame is vertically and slidably connected into the first-stage lifting frame, and a third-stage lifting frame is vertically and slidably connected into the second-stage lifting frame. According to the utility model, the mobile robot technology, the high-precision large-stroke linear lifting technology and the laser radar automatic measurement technology are combined, so that the station transfer efficiency of the measurement equipment is greatly improved; meanwhile, the whole set of measurement system is centrally powered by a lithium battery pack arranged in the omnidirectional mobile robot, so that the electricity is convenient to take; the repeated positioning precision of the carried high-precision large-stroke linear lifting system is up to + / -0.05 mm, the lifting stroke is 0.1-10 m, the measurement range is wide, the compatibility is higher, and the measurement requirements of most of large components are met.

This invention discloses a modular omnidirectional mobile robot and an adaptive intelligent track system, relating to the field of suspended conveying technology. It includes a vehicle body and a track assembly and a suspension assembly installed within the vehicle body. The suspension assembly includes a winding roller and a cable wound around the winding roller. A base is rotatably mounted at the bottom end of the cable, and a strapping strap is mounted on the base. One end of the strapping strap passes through the base and is movably engaged with it. Several evenly distributed positioning holes are formed on the strapping strap. A rigid rod is rotatably mounted at the bottom of the vehicle body, and a hook is rotatably mounted on the rigid rod. With the strapping strap passing through the base, the hook passes through two positioning holes. This invention, through the engagement of the hook and the positioning holes on the strapping strap, limits the positioning holes to prevent the strapping strap from falling off. Furthermore, by hooking the strapping strap, it also limits the cable. When the object stops suddenly, the rigid rod pulls the cable, greatly reducing damage to the cable caused by the inertia of the object during sudden stops.

The application discloses an omnidirectional mobile robot and a balance rocker structure thereof. The omnidirectional mobile robot comprises a chassis structure which is composed of an H-shaped power system, swing arm walking mechanisms on two sides and a balance rocker structure. The H-shaped power system is used for distributing power to the swing arm walking mechanisms on two sides. The swing arm walking mechanisms can freely swing with the power output shaft of the H-shaped power system as the axis. The balance rocker structure is arranged between the H-shaped power system and the swing arm walking mechanisms on two sides and is used for rotatingly constraining the H-shaped power system so that the H-shaped power system, the swing arm walking mechanisms and the balance rocker structure form an integral whole with the chassis function. The balance rocker structure comprises a rotary support structure, an intermediate rocker and side rockers located at left and right ends of the intermediate rocker. The balance rocker structure plays a role in homogenizing the disturbance input of the swing arms on two sides and further guarantees the obstacle surmounting profiling performance of the chassis.

The invention discloses a leader following method and system of an omnidirectional mobile robot based on anti-interference pulses, and relates to the technical field of leader following of omnidirectional mobile robots, and the method comprises the steps: constructing a system model containing hybrid disturbance, designing an observer to estimate the system model, and designing a compensator according to the observer; a pulse control packet loss model is established based on Bernoulli distribution, a pulse controller containing packet loss information is designed, compensation and the pulse controller are combined, a pulse controller based on disturbance observation is formed, an augmented system is obtained, sufficient conditions for ensuring the stability of a mean square index of the system are deduced, and the stability of the system is improved. And a gain matrix of the observer and the pulse controller is solved according to the state information of the leader and the follower, a control instruction is generated by combining the obtained gain matrix, and leader-follower control over the follower robot is achieved. According to the invention, the leader-following control cost of the omni-directional mobile robot is effectively reduced, and the robustness of the leader-following control of the omni-directional mobile robot is enhanced.

This invention discloses a multi-motor synchronous fault-tolerant control method for an eight-wheeled omnidirectional mobile robot, belonging to the field of robot control technology. Key technical points include: completing parameter calibration based on factory scenario parameters to obtain a standardized initial system state; executing a multi-motor synchronous control process based on robot operation instructions and inverse kinematics model to obtain multi-motor synchronous control results; executing a multi-motor fault-tolerant control process based on motor operation monitoring data and fault judgment rules to obtain multi-motor fault-tolerant control results; and obtaining robot operation results based on the multi-motor synchronous control results and the multi-motor fault-tolerant control results. This invention, through the orderly execution of the multi-motor synchronous control process and the multi-motor fault-tolerant control process, outputs stable and reliable multi-motor fault-tolerant control results, comprehensively improving the operational stability, parameter adaptability, and fault recovery capability of the control system.

This invention relates to an anti-interference control method and system for an omnidirectional mobile robot. The method includes: Step S1: Constructing a dynamic model of the omnidirectional mobile robot; Step S2: Constructing a Normalized Disturbance Observer (NDOB) based on the dynamic model, and estimating the total disturbance of the omnidirectional mobile robot using the NDOB; Step S3: Obtaining the initial control quantity for controlling the omnidirectional mobile robot using PD control; Step S4: Combining the total disturbance estimated by the NDOB and the initial control quantity to obtain the final control quantity, and achieving control of the omnidirectional mobile robot using the final control quantity. This invention effectively estimates the total disturbance by constructing an enhanced normalized disturbance observer (NDOB), thereby achieving anti-interference control of the omnidirectional mobile robot.

The invention provides an omnidirectional mobile robot path tracking method based on a triangular magnetic sensing array, and the method comprises the steps: setting an equilateral triangular magnetic sensing array in a robot, and obtaining a magnetic field signal of a magnetic strip path in real time; obtaining a signal barycentric coordinate through a barycentric positioning algorithm based on the signal, and obtaining an attitude angle deviation through pose calculation; extracting transverse deviation by combining the barycentric coordinates of the signals and the attitude angle deviation; motion planning is carried out according to the transverse deviation and the attitude angle deviation, and a target speed is generated; and inputting the target speed into a three-wheel omnidirectional motion model for inverse solution to obtain three-wheel target rotating speeds, and further driving a motor to realize path tracking. According to the omnidirectional mobile robot path tracking method based on the triangular magnetic sensor array, transverse and attitude deviations can be solved synchronously, multi-degree-of-freedom coordination tracking is realized in combination with omnidirectional motion control, the accuracy, smoothness and curve passing ability of path tracking are effectively improved, and derailing is avoided.

The present application relates to a kind of three-wheel omni-directional mobile manipulator self-motion planning method, method includes: S1, using gradient descent formula, the speed layer index of manipulator is deduced from different initial state adjustment to desired state;S2, introduce end positioning error and the feedback of its integral, and combine the kinematics equation of mobile platform and the speed layer index of S1, design self-motion planning scheme described in the form of pseudo-inverse;S3, obtain the initial state of manipulator, the initial state is substituted into self-motion planning scheme and iteratively calculated, obtain the rotational angular velocity of drive wheel and joint speed of self-motion planning;S4, the rotational angular velocity of drive wheel and joint speed of self-motion planning is sent to the lower computer controller of three-wheel omni-directional mobile manipulator, drive three-wheel omni-directional mobile manipulator and mobile platform reach desired state.Compared with prior art, the present application has the advantages of automatic, fast, accurate adjustment between different states etc..

A self-stabilizing omnidirectional mobile robot and mobile device is disclosed. The self-stabilizing omnidirectional mobile robot includes a robot body (1), a power system, and casters (2). The power system includes a first power unit (3), a foot unit (4), a second power unit (5), a foot end (6), and a third power unit (7) connected in sequence. The first power unit (3) is mounted on the robot body (1) and drives the foot unit (4) to swing in a vertical plane relative to the robot body (1). The first power unit (3) is mounted on the hip joint of each foot, controlling the foot unit (4) to swing up and down in the vertical direction, which in turn moves the casters (2) up and down in the vertical direction. Thus, when the robot encounters an obstacle or uneven ground during its movement, the up and down movement of the casters (2) effectively keeps the posture of the robot body (1) unchanged.

The application provides a tracking control method and system of an omnidirectional mobile robot in a complex pulse deception attack environment, and belongs to the technical field of omnidirectional mobile robot control. The method comprises the following steps: obtaining a dynamic model of the omnidirectional mobile robot based on the motion characteristics of the omnidirectional mobile robot; obtaining an error equation based on the dynamic model, a target point and a position coordinate of the robot; and designing a sliding mode controller, wherein the controller implements sliding mode control on the robot according to the error and the kinematic model, so as to achieve the effect of resisting pulse deception attack. The method can not only be applied to a pulse deception attack environment, but also can be applied to some scenes of data transmission packet loss and sensor failure.

The invention discloses a multi-degree-of-freedom circular omnidirectional mobile robot chassis, and relates to the field of mobile robots. The problems that an existing movable chassis is insufficient in steering flexibility, complex in structure and poor in adaptability to the use environment are solved. The chassis comprises a chassis upper cover (D) and a circular disc body (F), and further comprises a plurality of modular steering wheels (A), the modular steering wheels (A) integrate driving and steering functions, the modular steering wheels (A) are installed on the circular disc body (F) in an annular array mode, and wheels (A-22) of the modular steering wheels (A) extend out of the circular disc body (F) and then make contact with the ground. And the chassis upper cover (D) covers the plurality of modular steering wheels (A) on the circular disc body (F). The chassis can move in any direction in a plane, the position of the chassis does not need to be adjusted through multiple times of steering like a traditional chassis, and the positioning accuracy and efficiency are greatly improved. The robot is used for robot movement.

This invention relates to the field of intelligent conveying technology, specifically an intelligent fruit crate delivery and obstacle avoidance system based on an omnidirectional mobile robot. The system includes a spatiotemporal fusion mapping module, a rolling temporal path optimization module, a distributed cooperative path encoding module, a trajectory tracking and torque compensation control module, a visual servo fine-tuning placement module, and a task closed-loop self-checking log module. The system performs spatiotemporal fusion mapping on the operating environment information to obtain a dense temporal environment map; performs rolling temporal optimization on the motion state to obtain a continuous curvature smooth path; performs consistent encoding on the cooperative path information to obtain conflict-free path instructions; performs torque compensation adjustment on the intelligent fruit crate delivery path to obtain a stable crate delivery state; performs visual servo fine-tuning on the target robot to obtain a zero-impact crate placement result; and performs a state self-check on the zero-impact crate placement result to obtain a closed-loop task execution log. This invention can improve the efficiency of obstacle avoidance in intelligent fruit crate delivery.

The invention relates to an omni-directional driving device and an omni-directional mobile robot, and belongs to the technical field of arrangement of vehicle power devices. The omni-directional driving device comprises a driving motor, a steering motor, a mounting plate, a driving gear set, a steering gear set, a cam, a driving piece and a walking column, the driving force is controlled by the rotating speed of the driving motor, the driving force direction is controlled by the angle of the steering motor, the driving force and the steering motor are independently adjusted and do not interfere with each other, and the control algorithm is simplified; a single driver only needs two motors to cooperate, the control logic of the four drivers is clear, and the motion response speed and the control precision can be improved; a traditional rigid wheel face is replaced by the walking column, the top abuts against the cam outer column, the bottom makes friction contact with the ground, the walking column can flexibly adapt to slight unevenness of the ground, jolt is reduced, and stability during transportation is improved. According to the omni-directional mobile robot, through the synergistic effect of driving force provided by the multiple omni-directional driving devices, omni-directional movement is achieved, steering space does not need to be reserved, and the transportation requirement of a narrow space is perfectly met.

The invention discloses a Mecanum wheel omnidirectional mobile robot trajectory tracking control method and device based on an enhanced nonsingular fast terminal sliding mode, and the method comprises the steps: 1), building a kinematics and dynamics model for a Mecanum wheel mobile robot; 2) designing an enhanced non-singular fast terminal sliding mode surface and an approaching law according to the mobile robot model established in the step 1); 3) designing an enhanced non-singular fast terminal sliding mode control algorithm suitable for the Mecanum wheel omnidirectional mobile robot according to the sliding mode surface and the reaching law designed in the step 2); and 4) based on the Lyapunov stability theory, proving that the control algorithm designed in the step 3 can enable the system state to converge to a balance point within finite time, and performing simulation on an MATLAB / Simulink platform to verify the effectiveness of the control algorithm in trajectory tracking control of the Mecanum wheel omnidirectional mobile robot. Simulation results show that the algorithm can accelerate the convergence speed of the system state of the Mecanum wheel omnidirectional mobile robot and improve the control precision of trajectory tracking.

1. The name of the design product: omnidirectional mobile robot (QR100 small). 2. The use of the design product: for indoor mobile composite robots with autonomous navigation function, can carry different forms of executive equipment such as mechanical arm, sensor, monitoring equipment, etc. to realize indoor grabbing, transportation, environmental monitoring and other functions; at the same time, it has multiple motion modes to adapt to various scene applications. 3. The design points of the design product: in shape. 4. The picture or photo that best indicates the design points: perspective view.

The invention relates to the technical field of mobile robot path planning, and discloses an omnidirectional mobile robot path planning method with lowest energy consumption optimization, comprising the following steps: step 1, establishing a kinematic model of a three-wheel omnidirectional mobile robot; according to a three-motor differential driving structure of the robot, a conversion relation between a geodetic coordinate system and a robot coordinate system is established, and the position, speed and course angle change rules of the robot are described; step 2, constructing a parameterized controller inspired by model predictive control; according to the method, efficient real-time optimization solution is realized by constructing a model predictive control heuristic parameterized controller and adopting a primitive-dual hybrid gradient algorithm; compared with a traditional model prediction control method, the calculation efficiency is remarkably improved, and the real-time decision-making requirement in a dynamic environment can be met; and meanwhile, the quadratic programming framework provides a structured constraint processing capability, so that the safety and feasibility of path planning are ensured.