CN104714550A - Mecanum wheel omni-directional mobile inspection robot - Google Patents
Mecanum wheel omni-directional mobile inspection robot Download PDFInfo
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Abstract
The invention relates to a Mecanum wheel omni-directional mobile inspection robot. The Mecanum wheel omni-directional mobile inspection robot comprises a movable chassis, a movable vehicle body, a monitoring device and a remote control device, wherein the movable chassis comprises a driving device, a navigation positioning device, a control device, a power supply and a charging device, the driving device comprises vehicle wheels and a transmission device, the navigation positioning device comprises a magnetic field sensor and a radio frequency identification reader-writer, the control device comprises a control mainboard and a communication device, the power supply is electrically connected with the control device and used for supply power to the movable chassis, the charging device is electrically connected with the power supply and used for charging the power supply; the movable vehicle body is fixed on the movable chassis; the monitoring device is arranged on the movable vehicle body and comprises a video monitoring device and a monitoring sensing device. The Mecanum wheel omni-directional mobile inspection robot can achieve actions such as start and stop or track transformation according to the set requirements in any position so that the comprehensive inspection of electrical equipment within the inspection range can be achieved.
Description
Technical field
The present invention relates to a kind of Mecanum wheel Omni-mobile crusing robot, belong to transport conveyor field.
Background technology
Mecanum wheel Omni-mobile crusing robot is a kind of transport conveyor being used for carrying electric inspection process equipment, be applied in the patrol task of various power equipment, the crusing robot function singleness of current use, mainly can carry inspection device forward-reverse and turning, but do not support that transverse translation and original place are rotated, can not walk according to predetermined path simultaneously, bring inconvenience to the process of patrolling and examining.
Summary of the invention
For solving the problem, the object of the invention is for providing a kind of Mecanum wheel Omni-mobile crusing robot, robot provided by the present invention can be dexterous mobile, and namely longitudinally advance and retreat, transverse translation and original place are rotated, and can walk according to predefined paths simultaneously.
The object of the invention is to be achieved through the following technical solutions:
A kind of Mecanum wheel Omni-mobile crusing robot, comprising:
Mobile chassis, it comprises drive unit, navigation positional device and control device, power supply and charging device; Wherein,
Described drive unit comprises wheel and gearing, and described wheel is fixedly connected with the output shaft of described gearing;
Described navigation positional device comprises magnetic field sensor and radio-frequency identification reader/writer;
Described control device comprises control mainboard and communication device, and described gearing, magnetic field sensor, radio-frequency identification reader/writer and communication device are electrically connected with described control mainboard respectively; Described control mainboard is used for the movement of control and the status information of collecting robot people, and carries out communication by described communication device and remote operation controller;
Power supply, it is electrically connected with described control device, for providing power supply to described mobile chassis;
Charging device, it is connected with described power electric, for described power source charges;
Moving body, it is fixed on the top of described mobile chassis;
Supervising device, it is arranged on described moving body, comprising: video monitoring apparatus, for monitoring described robot and gathering image; Monitoring sensing device, for obtaining described robot environment temperature, humidity, smog information;
Described remote operation controller, for adjusting described robot moving direction and described supervising device angle.
Further, described wheel is Mecanum wheel.
Further, described gearing comprises motor and speed reducer, and the input shaft of described reductor is fixedly connected with the output shaft of described motor, and the output shaft of described reductor is fixedly connected with wheel.
Further, described drive unit also comprises code-disc, and described code-disc is connected with the main shaft of described motor, and described code-disc is electrically connected with described control mainboard.
Further, the number of described magnetic field sensor is 4, and is separately positioned on the lower surface of described mobile chassis.
Further, described control mainboard is ARM control panel.
Further, described communication device comprises WIFI device a and blue-tooth device, for carrying out communication with described remote operation controller.
Further, described remote operation controller is provided with host computer and WIFI device b, and described WIFI device b and described WIFI device a carries out wireless telecommunications, and the data upload extremely described host computer that will receive, described host computer sends steering order to robot, controls advancing of described robot.
Further, described mobile chassis comprises web member, and described mobile chassis is connected with described moving body by described web member, and described drive unit, navigation positional device and control device, power supply and charging device are separately positioned on web member.
Further, be equipped with track patrolling and examining on ground, described robot moves on described track, and described track is provided with RFID tag, and described RFID tag is read by described radio-frequency identification reader/writer.
Beneficial effect of the present invention is:
Robot of the present invention, using Mecanum wheel as travel mechanism, achieves and longitudinally retreats and transverse translation, can make full use of and patrol and examine space, and reach the effect to the multi-faceted monitoring of power equipment in the scope of patrolling and examining; Robot of the present invention comprises magnetic field sensor and radio-frequency identification reader/writer, can complete set walking path in the scope of patrolling and examining, and comprises that common front and back travel, left and right translation, and according to track along given towards carrying out curved path walking.Robot of the present invention can stop in the position of specifying, and reaches certain precision, can also continue afterwards to perform next instruction action.Robot of the present invention can use track to navigate and radio-frequency (RF) identification location technology allows multiple robot carry out in proper order moving successively or simultaneously according to the arrangement of setting, and requires according to setting the action realizing start and stop or conversion track at an arbitrary position.
Robot of the present invention is under the effect of Mecanum wheel, the all-around mobile of Three Degree Of Freedom in plane can be realized, there is the ability of zero radius of turn, transverse translation, freely can walk in narrow space or in rugged surroundings, freely level and smooth Omni-mobile can be carried out in small space, described robot is moved flexibly and comfortably with the speed expected and direction.
Robot of the present invention is navigated by track and magnetic field sensor, and it has very strong stability.At key node, such as: in flex point, halt, path point, high-precision travelling control can be carried out by the magnetic stripe sensor of surrounding, thus reach the function of carrying out movement on the magnetic stripe of latticed layout with any attitude.
Communication device can be real-time each robot is monitored, comprise position, motion state and platform information as electricity etc.
Described supervising device passes Control Room back fast and accurately described robot information.
Remote operation controller makes monitoring range expand further, improves the reliability of remote monitoring.
Accompanying drawing explanation
Fig. 1 is the front view of Mecanum wheel Omni-mobile crusing robot of the present invention;
Fig. 2 is the upward view of Mecanum wheel Omni-mobile crusing robot of the present invention;
Fig. 3 is the left view of Mecanum wheel Omni-mobile crusing robot of the present invention;
Fig. 4 is the oblique view of Mecanum wheel Omni-mobile crusing robot of the present invention;
Fig. 5 is the control flow chart of Mecanum wheel Omni-mobile crusing robot of the present invention.
Wherein, 1-mobile chassis, 2-moving body, 3-web member, 4-Mecanum wheel, 5-motor, 7-magnetic field sensor, 8-radio-frequency identification reader/writer, 9-supervising device, 10-charging device.
Embodiment
Below in conjunction with drawings and Examples, the specific embodiment of the present invention is described in further detail.Following examples for illustration of the present invention, but are not used for limiting the scope of the invention.
A kind of Mecanum wheel Omni-mobile crusing robot, comprising:
Mobile chassis 1, it comprises drive unit, navigation positional device and control device, power supply and charging device 10; Wherein,
Described drive unit comprises wheel and gearing, and described wheel is fixedly connected with the output shaft of described gearing;
Described navigation positional device comprises magnetic field sensor 7 and radio-frequency identification reader/writer 8;
Described control device comprises control mainboard and communication device, and described gearing, magnetic field sensor 7, radio-frequency identification reader/writer 8 and communication device are electrically connected with described control mainboard respectively; Described control mainboard is used for the movement of control and the status information of collecting robot people, and carries out communication by described communication device and remote operation controller;
Power supply, it is electrically connected with described control device, for providing power supply to described mobile chassis 1;
Charging device 10, it is connected with described power electric, for described power source charges;
Moving body 2, it is fixed on the top of described mobile chassis 1;
Supervising device 9, it is arranged on described moving body 2, comprising: video monitoring apparatus, for monitoring described robot and gathering image; Monitoring sensing device, for obtaining described robot environment temperature, humidity, smog information;
Described remote operation controller, for adjusting described robot moving direction and described supervising device 9 angle.
Further, described wheel is Mecanum wheel 4.
Further, described gearing comprises motor 5 and reductor, and the input shaft of described reductor is fixedly connected with the output shaft of described motor 5, and the output shaft of described reductor is fixedly connected with wheel.
Further, described drive unit also comprises code-disc, and the input shaft of described code-disc is connected with the main shaft of described motor 5, and described code-disc is electrically connected with described control mainboard.Described code-disc in order to read the corner data of motor, and sends it to control mainboard, thus realizes the collection to robot data.
Further, the number of described magnetic field sensor 7 is 4, and is separately positioned on the lower surface of described mobile chassis 1.
Further, described control mainboard is ARM control panel.
Further, described communication device comprises WIFI device a and blue-tooth device, for carrying out communication with described remote operation controller.
Further, described remote operation controller is provided with host computer and WIFI device b, and described WIFI device b and described WIFI device a carries out wireless telecommunications, and the data upload extremely described host computer that will receive, described host computer sends steering order to robot, controls advancing of described robot.
Further, described mobile chassis 1 comprises web member 3, and described mobile chassis 1 is connected with described moving body 2 by described web member 3, and described drive unit, navigation positional device and control device, power supply and charging device 10 are separately positioned on web member 3.
Further, be equipped with track patrolling and examining on ground, described robot moves on described track, and described track is provided with RFID tag, and described RFID tag is read by described radio-frequency identification reader/writer.
Concrete, as shown in Figure 5, drive unit drives reductor by motor 5, power transmission is on Mecanum wheel 4 the most at last, speed combination is turned to by Mecanum wheel 4, the direct of travel of control, robot is under the effect of Mecanum wheel, the all-around mobile of Three Degree Of Freedom in plane can be realized, there is the ability of zero radius of turn, transverse translation, freely can walk in narrow space or in rugged surroundings, freely level and smooth Omni-mobile can be carried out in small space, robot is moved flexibly and comfortably with the speed expected and direction.Robot is not when automatically walking along prescribed path, and Mecanum wheel Omni-mobile crusing robot can utilize the communication device of robot to carry out manual manipulation to it by mobile phone or other mobile terminals.In addition, the magnetic field sensor 7 in robot can the magnetic field that sends of the perceived distance track that is less than 5 centimetres, and can feed back to and control mainboard thus carry out feedback regulation to the path of robot, makes its stable maintenance on the path of line centered by track.Radio-frequency identification reader/writer in order to reading rfid tags, thus realizes the location to robot.
When robot needs automatically to walk along prescribed path, it needs the track that runs lays track, because track thickness is very little, so can ignore its impact on the walking of robot.Needing the position stopping or carrying out change in travel direction to place RFID tag, the information of each RFID tag is input to host computer in advance, stores the position coordinates relation of its correspondence.
Robot is placed on path that track lays, allows magnetic field sensor 7 aim at directly over track, then open robot and connect host computer by wifi device b, thus realize control that it is advanced.Pass through host computer, steering orders such as can advancing directly to robot transmission, retreat, move to left, move to right, also can by set concrete RFID tag come to need in automatic generation pass through RFID tag, and carry out guided robot by magnetic field sensor 7 and advance to impact point and stop.When robot runs to the top of RFID tag, radio-frequency identification reader/writer can read the data on now ground in RFID tag, thus obtain robot the position of process, and send to host computer, as met the planning in path, then performing the action set in this RFID tag, then continuing to perform the action before reading rfid tags if do not met.
The basic exercise such as forward-reverse, translation, original place rotation of this Mecanum wheel Omni-mobile crusing robot is controlled by ARM control panel, first magnetic field data in magnetic field sensor 7 and the data in radio-frequency identification reader/writer are sent to ARM control panel, the instruction that ARM control panel sends over according to the last period host computer of programmed control drive unit execution write, as unlatching or stopping, moving along track; Simultaneously the RFID tag information of the status information of this robot, process is also sent to wifi device b by communication module by ARM control panel, thus makes host computer can obtain data in the status information of robot and RFID tag; Through the artificial or autonomous judgement of host computer, steering order is issued to ARM control panel by wifi device b by host computer, and then instruction is issued to drive unit, from completing athletic performance conversion.
Mecanum wheel Omni-mobile crusing robot of the present invention can use track to navigate and radio-frequency (RF) identification location technology allows multiple described robot in the scope of patrolling and examining carry out in proper order moving successively or simultaneously according to the arrangement of setting; and require according to setting the action realizing start and stop or conversion track at an arbitrary position, to realize patrolling and examining power equipment in the scope of patrolling and examining comprehensively.
The above is only the preferred embodiment of the present invention; it should be pointed out that for those skilled in the art, under the prerequisite not departing from the technology of the present invention principle; can also make some improvement and modification, these improve and modification also should be considered as protection scope of the present invention.
Claims (10)
1. a Mecanum wheel Omni-mobile crusing robot, is characterized in that, comprising:
Mobile chassis (1), it comprises drive unit, navigation positional device and control device, power supply and charging device (10); Wherein,
Described drive unit comprises wheel and gearing, and described wheel is fixedly connected with the output shaft of described gearing;
Described navigation positional device comprises magnetic field sensor (7) and radio-frequency identification reader/writer (8);
Described control device comprises control mainboard and communication device, and described gearing, magnetic field sensor (7), radio-frequency identification reader/writer (8) and communication device are electrically connected with described control mainboard respectively; Described control mainboard is used for the movement of control and the status information of collecting robot people, and carries out communication by described communication device and remote operation controller;
Power supply, it is electrically connected with described control device, for providing power supply to described mobile chassis (1);
Charging device (10), it is connected with described power electric, for described power source charges;
Moving body (2), it is fixed on the top of described mobile chassis (1);
Supervising device (9), it is arranged on described moving body (2), comprising: video monitoring apparatus, for monitoring described robot and gathering image; Monitoring sensing device, for obtaining described robot environment temperature, humidity, smog information;
Described remote operation controller, for adjusting described robot moving direction and described supervising device (9) angle.
2. Mecanum wheel Omni-mobile crusing robot according to claim 1, is characterized in that, described wheel is Mecanum wheel (4).
3. Mecanum wheel Omni-mobile crusing robot according to claim 1, it is characterized in that, described gearing comprises motor (5) and reductor, the input shaft of described reductor is fixedly connected with the output shaft of described motor (5), and the output shaft of described reductor is fixedly connected with wheel.
4. Mecanum wheel Omni-mobile crusing robot according to claim 3, it is characterized in that, described drive unit also comprises code-disc, and described code-disc is connected with the main shaft of described motor (5), and described code-disc is electrically connected with described control mainboard.
5. Mecanum wheel Omni-mobile crusing robot according to claim 1, is characterized in that, the number of described magnetic field sensor (7) is 4, and is separately positioned on the lower surface of described mobile chassis (1).
6. Mecanum wheel Omni-mobile crusing robot according to claim 1, is characterized in that, described control mainboard is ARM control panel.
7. Mecanum wheel Omni-mobile crusing robot according to claim 1, it is characterized in that, described communication device comprises WIFI device a and blue-tooth device, for carrying out communication with described remote operation controller.
8. Mecanum wheel Omni-mobile crusing robot according to claim 1, it is characterized in that, described remote operation controller is provided with host computer and WIFI device b, described WIFI device b and described WIFI device a carries out wireless telecommunications, and the data upload extremely described host computer that will receive, described host computer sends steering order to robot, controls advancing of described robot.
9. Mecanum wheel Omni-mobile crusing robot according to claim 1, it is characterized in that, described mobile chassis (1) comprises web member (3), described mobile chassis (1) is connected with described moving body (2) by described web member (3), and described drive unit, navigation positional device and control device, power supply and charging device (10) are separately positioned on web member (3).
10. Mecanum wheel Omni-mobile crusing robot according to claim 1, it is characterized in that, be equipped with track patrolling and examining on ground, described robot moves on described track, and described track is provided with RFID tag, and described RFID tag is read by described radio-frequency identification reader/writer.
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| CN105291086A (en) * | 2015-11-19 | 2016-02-03 | 长春诺惟拉智能科技有限责任公司 | Indoor mobile robot for delivering meals |
| CN105301022A (en) * | 2015-11-11 | 2016-02-03 | 江苏省特种设备安全监督检验研究院 | Omni-direction mobile digital flat panel ray detection robot based on Mecanum wheels |
| CN105720657A (en) * | 2016-04-13 | 2016-06-29 | 四川理工学院 | Wireless charging device for patrol robot |
| CN105751230A (en) * | 2016-03-31 | 2016-07-13 | 纳恩博（北京）科技有限公司 | Path control method, path planning method, first equipment and second equipment |
| CN106325267A (en) * | 2015-06-26 | 2017-01-11 | 北京卫星环境工程研究所 | Omnidirectional mobile platform vehicle with automatic line patrolling and obstacle avoiding functions |
| CN106325279A (en) * | 2016-10-17 | 2017-01-11 | 安徽智瑞电气有限公司 | Polling device of wireless charging pile based on mobile terminal |
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| CN106903667A (en) * | 2017-03-15 | 2017-06-30 | 广东电网有限责任公司惠州供电局 | Relay protection room inspecting robot |
| CN107807646A (en) * | 2017-11-15 | 2018-03-16 | 东莞市松迪智能机器人科技有限公司 | A kind of control device of Mecanum wheel omnirange operation |
| CN108521771A (en) * | 2017-05-31 | 2018-09-11 | 深圳市大疆创新科技有限公司 | Mecanum wheel and robot with the Mecanum wheel |
| CN108958265A (en) * | 2018-08-05 | 2018-12-07 | 北京华远意通热力科技股份有限公司 | A kind of inspecting robot |
| CN109079745A (en) * | 2018-10-29 | 2018-12-25 | 河北工业大学 | The deformable wheat wheel movement chassis of service robot |
| CN109189073A (en) * | 2018-09-28 | 2019-01-11 | 华南理工大学 | A kind of robot and patrol method based on apriltag positioning |
| CN109397241A (en) * | 2018-11-13 | 2019-03-01 | 深圳供电局有限公司 | Crusing robot in a kind of Omni-mobile room |
| CN109571403A (en) * | 2018-12-12 | 2019-04-05 | 杭州申昊科技股份有限公司 | A kind of track trace navigation intelligent inspection robot and its air navigation aid |
| CN110182556A (en) * | 2019-05-16 | 2019-08-30 | 江南大学 | Integral type Omni-mobile chassis |
| CN110772740A (en) * | 2019-12-02 | 2020-02-11 | 海汇集团有限公司 | Intelligent patrol robot |
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| CN106325267A (en) * | 2015-06-26 | 2017-01-11 | 北京卫星环境工程研究所 | Omnidirectional mobile platform vehicle with automatic line patrolling and obstacle avoiding functions |
| CN105301022A (en) * | 2015-11-11 | 2016-02-03 | 江苏省特种设备安全监督检验研究院 | Omni-direction mobile digital flat panel ray detection robot based on Mecanum wheels |
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| CN105720657A (en) * | 2016-04-13 | 2016-06-29 | 四川理工学院 | Wireless charging device for patrol robot |
| CN106325279A (en) * | 2016-10-17 | 2017-01-11 | 安徽智瑞电气有限公司 | Polling device of wireless charging pile based on mobile terminal |
| CN106708056A (en) * | 2017-02-13 | 2017-05-24 | 四川超影科技有限公司 | Motion control method of four-Mecanum wheel inspection robot |
| CN106903667A (en) * | 2017-03-15 | 2017-06-30 | 广东电网有限责任公司惠州供电局 | Relay protection room inspecting robot |
| CN108521771A (en) * | 2017-05-31 | 2018-09-11 | 深圳市大疆创新科技有限公司 | Mecanum wheel and robot with the Mecanum wheel |
| CN107807646A (en) * | 2017-11-15 | 2018-03-16 | 东莞市松迪智能机器人科技有限公司 | A kind of control device of Mecanum wheel omnirange operation |
| CN108958265A (en) * | 2018-08-05 | 2018-12-07 | 北京华远意通热力科技股份有限公司 | A kind of inspecting robot |
| WO2020062427A1 (en) * | 2018-09-25 | 2020-04-02 | 五邑大学 | Smoke inspection robot and control method therefor |
| CN109189073A (en) * | 2018-09-28 | 2019-01-11 | 华南理工大学 | A kind of robot and patrol method based on apriltag positioning |
| CN109079745A (en) * | 2018-10-29 | 2018-12-25 | 河北工业大学 | The deformable wheat wheel movement chassis of service robot |
| CN109397241A (en) * | 2018-11-13 | 2019-03-01 | 深圳供电局有限公司 | Crusing robot in a kind of Omni-mobile room |
| CN109571403A (en) * | 2018-12-12 | 2019-04-05 | 杭州申昊科技股份有限公司 | A kind of track trace navigation intelligent inspection robot and its air navigation aid |
| CN109571403B (en) * | 2018-12-12 | 2021-12-03 | 杭州申昊科技股份有限公司 | Intelligent inspection robot for magnetic track trace navigation and navigation method thereof |
| CN110182556A (en) * | 2019-05-16 | 2019-08-30 | 江南大学 | Integral type Omni-mobile chassis |
| CN110772740A (en) * | 2019-12-02 | 2020-02-11 | 海汇集团有限公司 | Intelligent patrol robot |
| CN110977478A (en) * | 2019-12-26 | 2020-04-10 | 北京卫星制造厂有限公司 | Mobile dual-robot machining system and method for drilling and milling weak rigid support |
| CN110977478B (en) * | 2019-12-26 | 2021-11-16 | 北京卫星制造厂有限公司 | Mobile dual-robot machining system and method for drilling and milling weak rigid support |
| CN111426888A (en) * | 2020-03-13 | 2020-07-17 | 国网山东省电力公司潍坊供电公司 | Movable substation power frequency electromagnetic field detection equipment |
| CN112659811A (en) * | 2020-12-30 | 2021-04-16 | 重庆大学 | Wheel type inspection robot |
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