CN106826849A - One kind is anti-to push over service robot and processing method - Google Patents
One kind is anti-to push over service robot and processing method Download PDFInfo
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- CN106826849A CN106826849A CN201710053560.7A CN201710053560A CN106826849A CN 106826849 A CN106826849 A CN 106826849A CN 201710053560 A CN201710053560 A CN 201710053560A CN 106826849 A CN106826849 A CN 106826849A
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- service robot
- omni
- directional wheel
- pressure sensor
- compensation campaign
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J11/00—Manipulators not otherwise provided for
- B25J11/008—Manipulators for service tasks
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
- B25J19/02—Sensing devices
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J5/00—Manipulators mounted on wheels or on carriages
- B25J5/007—Manipulators mounted on wheels or on carriages mounted on wheels
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- Mechanical Engineering (AREA)
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Abstract
Service robot and processing method are pushed over the invention provides anti-, the robot includes omni-directional wheel chassis and the robot body being arranged on omni-directional wheel chassis；The surrounding on omni-directional wheel chassis is distributed with several pressure sensors, and pressure sensor is used to detect the stressing conditions of omni-directional wheel chassis surrounding；It is anti-to push over the stressing conditions that control module is used to be detected according to pressure sensor, generation compensation campaign speed, and omni-directional wheel bobbin movement is driven according to compensation campaign speed, so that service robot keeps balance, low cost, service robot is in static or execution motor task, the external force situation that surrounding is subject to can be monitored, and push and shove disturbance holding balance using the absorption of reaction equation motor behavior, and keep original motion mode as far as possible simultaneously, can avoid the occurrence of situations such as pushing over when there is physical interaction with the mankind.
Description
Technical field
The invention belongs to robot field, and in particular to one kind is anti-to push over service robot and processing method.
Background technology
With continuing to develop for robot technology, increasing robot initially enters service field, the service of having served as
Robot role.As service robot, it is necessary to service robot possesses the ability interacted with the mankind, this not only includes language
Interaction on speech, behavior, also the physics interaction on unavoidable limbs.For example, quilt is understood unavoidably by the robot in crowded hospital services
Crowd's collision of shuttle, or pushed and shoved by curious children；Old man is assisted in the robot of community service to walk about.In order to avoid service
Robot when mobile with human interaction when the detection, it is necessary to service robot is had the ability of falling push and shove, and take and move accordingly
Behavior prevents itself and being serviced personnel from falling so that damaging.
Most service robot research multiple point pays close attention to the man-machine dialogue systems such as language, display information at present, only
A small number of technologies focus on self-protection behavior of the robot with the mankind when physics is interacted.Such as, Jory Lafaye et al. use model
Pre- observation procedure prevents robot of omnidirectional from the motion control shifted onto is prevented when pushing and shoving.However, the method to be mainly used in robot quiet
Anti- when only is pushed and shoved, and computing is complicated, is not suitable for the reaction equation motion control using the service robot of inexpensive hardware；Double
The Double Telepresence Robot of Robotics companies.The robot can pass through self-balancing movement in fore-and-aft direction
The certain disturbance of control resistance, but due to the limitation of the robot motion mechanism, it is impossible to realize it is lateral push and shove put and shift onto.
The content of the invention
For defect of the prior art, the present invention provide it is a kind of it is anti-push over service robot and processing method, low cost,
Situations such as pushing over can be avoided the occurrence of when there is physical interaction with the mankind.
One kind is anti-to push over service robot, including omni-directional wheel chassis and the robot body being arranged on omni-directional wheel chassis；
Omni-directional wheel chassis is provided with several omni-directional wheels；The surrounding on omni-directional wheel chassis is distributed with several pressure sensors, and pressure is passed
Sensor is used to detect the stressing conditions of omni-directional wheel chassis surrounding；Also include being arranged on service robot anti-pushes over control mould
Block, anti-control module of pushing over generates compensation campaign speed for the stressing conditions detected according to pressure sensor, and according to benefit
Repay movement velocity and drive omni-directional wheel bobbin movement so that service robot keeps balance.
Preferably, the pressure sensor is multiple, in same level, and is evenly distributed on omni-directional wheel chassis
Center is on the circle in the center of circle.
Preferably, the omni-directional wheel is multiple, and is evenly distributed on the surrounding on omni-directional wheel chassis.
A kind of above-mentioned anti-processing method for pushing over service robot, comprises the following steps：
S1：The three-dimensional system of coordinate with the service robot barycenter as coordinate origin is set up, it is clothes to define height of center of mass z
Business robot height equivlent；
S2：When distinguishing static detection service robot or uniform motion, i-th static pressure value Fn of pressure sensori；
S3：When service robot is acted on by external force, the stress of i-th pressure sensor of difference detection service robot
Pressure value Fni /, and according to static pressure value FniIt is calculated i-th stress difference vector Δ F of pressure sensori, and according to
Pressure sensor horizontal level pi=[x, y] and stress difference vector Δ FiIt is calculated the external force vector F that service robot is subject to
When unbalance index pξ=sum (pi*ΔFi)/sum(ΔFi), wherein pξIt is vector [xξ,yξ], x, y is respectively pressure sensor
The abscissa and ordinate of horizontal level, sum is summation operation；
S4：According to unbalance index pξCompensation campaign speed is calculated, and omni-directional wheel bottom is driven according to compensation campaign speed
Disk is moved so that service robot keeps balance.
Preferably：The step S4 includes：
S41：The basic polygon with omni-directional wheel position as summit is set up, and according to two default zoom factors to benchmark
Polygon is zoomed in and out, and respectively obtains the first support polygon SfWith the second support polygon Sn；
S42：According to unbalance index pξ, the first support polygon Sf, the second support polygon SnGeneration compensation campaign speed；
S43：Omni-directional wheel bobbin movement is driven according to compensation campaign speed so that service robot keeps balance.
Preferably：In the step S41, the second support polygon SnPositioned at the first support polygon SfIt is interior.
Preferably：The step S42 is comprised the following steps：
S42a：When unbalance index pξPositioned at the first support polygon SfOutside region, and current service robot is in non-compensation
During motor pattern, compensation campaign speed is generated, define service robot and be in compensation campaign pattern；
S42b：When unbalance index pζPositioned at the second support polygon SnIn region, and service robot is in compensation campaign mould
During formula, setting compensation movement velocity is zero, defines service robot and is in non-compensation campaign pattern.
Preferably：The computing formula of compensation campaign speed V is as follows：
V=Vt+f (pξ)；
Vt is the default uniform motion speed of service robot, f (pξ) it is PID control model.
Preferably：When the compensation campaign speed is zero, omni-directional wheel bobbin movement is driven according to default uniform motion
Speed is moved.
As shown from the above technical solution, the anti-of present invention offer pushes over service robot and processing method, low cost, service
Robot can monitor the external force situation that surrounding is subject to, and utilize reaction equation motor behavior in static or execution motor task
Absorption is pushed and shoved disturbance and keeps balance, and keeps original motion mode as far as possible simultaneously, can when there is physical interaction with the mankind
Avoid the occurrence of situations such as pushing over.
Brief description of the drawings
In order to illustrate more clearly of the specific embodiment of the invention or technical scheme of the prior art, below will be to specific
The accompanying drawing to be used needed for implementation method or description of the prior art is briefly described.In all of the figs, similar element
Or the general reference by being similar in part is identified.In accompanying drawing, each element or part might not draw according to actual ratio.
Fig. 1 is the anti-front view for pushing over service robot in the present embodiment.
Fig. 2 is the anti-stereogram for pushing over service robot in the present embodiment.
First, second support polygon obtained after polygon scaling on the basis of Fig. 3.
Fig. 4 is the basic polygon that this method is set up.
In figure, 1- robot bodies, 2- omni-directional wheels chassis, 3- pressure sensors.
Specific embodiment
The embodiment of technical solution of the present invention is described in detail below in conjunction with accompanying drawing.Following examples are only used for
Technical scheme is clearly illustrated, therefore is only used as example, and protection model of the invention can not be limited with this
Enclose.It should be noted that unless otherwise indicated, technical term used in this application or scientific terminology are should be belonging to the present invention
The ordinary meaning that art personnel are understood.
One kind is anti-to push over service robot, as Figure 1-4, including omni-directional wheel chassis 2 and is arranged on omni-directional wheel chassis
Robot body 1；Omni-directional wheel chassis 2 is provided with several omni-directional wheels；The surrounding on omni-directional wheel chassis 2 is distributed with several pressures
Force snesor 3, pressure sensor 3 is used to detect the stressing conditions of the surrounding of omni-directional wheel chassis 2；Also include being arranged on service robot
On it is anti-push over control module, anti-control module of pushing over is for the stressing conditions that are detected according to pressure sensor, generation compensation
Movement velocity, and omni-directional wheel bobbin movement is driven according to compensation campaign speed so that service robot keeps balance.
The anti-data for pushing over control module in real time to pressure sensor detection are monitored, and omni-directional wheel can realize 360 degree
Mobile, the omni-directional wheel chassis of the present embodiment is by the previous patent (patent No. of applicant：CN201610278474.1) obtain.Work as clothes
When business robot is acted on by external force, the numerical value of its pressure sensor detection changes, the difference detected by pressure sensor
Value, is compensated movement velocity, and drive omni-directional wheel chassis towards certain direction, move at some speed.Service robot static or
When performing motor task, the external force situation that surrounding is subject to can be monitored, be absorbed using reaction equation motor behavior and push and shove disturbance holding
Balance, and keeps original motion mode as far as possible simultaneously, can be avoided the occurrence of when there is physical interaction with the mankind and the feelings such as push over
Condition.
During specific implementation, the pressure sensor 3 is multiple, preferably 3, in same level, and is uniformly divided
Cloth is on the circle with omni-directional wheel center chassis as the center of circle.Two adjacent pressure sensors form 120 angles.The omni-directional wheel is
Multiple, more than 2, and is evenly distributed on the surrounding on omni-directional wheel chassis.
A kind of above-mentioned anti-processing method for pushing over service robot, comprises the following steps：
S1：The quality and shape of service robot are measured, the centroid position of service robot is calculated, and set up with the clothes
Business robot barycenter is the three-dimensional system of coordinate of coordinate origin, and it is service robot height equivlent to define height of center of mass z；
S2：When distinguishing static detection service robot or uniform motion, i-th static pressure value Fn of pressure sensori；
Pressure sensor service robot in the case where the data that service robot is static or detects during uniform motion are considered to be acted on without external force
The active force that surrounding is subject to.
S3：When service robot is acted on by external force, the stress of i-th pressure sensor of difference detection service robot
Pressure value Fni /, and according to static pressure value FniIt is calculated i-th stress difference vector Δ F of pressure sensori, and according to
Pressure sensor horizontal level pi=[x, y] and stress difference vector Δ FiIt is calculated the external force vector F that service robot is subject to
When unbalance index pξ=sum (pi*ΔFi)/sum(ΔFi), wherein pξIt is vector [xξ,yξ], x, y is respectively pressure sensor
The abscissa and ordinate of horizontal level, sum is summation operation；xξ,yξRespectively pξHorizontal vector longitudinal direction vector.
Wherein, Δ Fi=Fni /-FniIf pressure sensor is 3, the stress difference vector for obtaining respectively Δ F1、
ΔF2、ΔF3。
S4：According to unbalance index pξCompensation campaign speed is calculated, and omni-directional wheel bottom is driven according to compensation campaign speed
Disk is moved so that service robot keeps balance.Specially：
S41：The basic polygon with omni-directional wheel position as summit is set up, as shown in figure 4, and according to two default scalings
Factor pair basic polygon is zoomed in and out, and ensures that the center of basic polygon is constant during scaling, respectively obtains the first support polygon
Shape SfWith the second support polygon Sn；If pressure sensor is three, the basic polygon for obtaining, the first support polygon
SfWith the second support polygon SnIt is equilateral triangle.First support polygon SfWith the second support polygon SnCorresponding contracting
Put the factor different.During specific implementation, the second support polygon SnPositioned at the first support polygon SfIt is interior.
S42：According to unbalance index pξ, the first support polygon Sf, the second support polygon SnGeneration compensation campaign speed；
Comprise the following steps：
S42a：When unbalance index pξPositioned at the first support polygon SfOutside region, and current service robot is in non-compensation
During motor pattern, judge that service robot is currently at unstable state, it is necessary to add good motion vector, generate compensation campaign
Speed, defines service robot and is in compensation campaign pattern；
The computing formula of compensation campaign speed V is as follows：
V=Vt+f (pξ)；
Vt is the default uniform motion speed of service robot, f (pξ) be PID control model, i.e., according to current unbalance finger
Mark pξLocation status, speed state and historical integral time state computation compensation campaign speed, drive omni-directional wheel bobbin movement according to
Compensation campaign speed is moved.
S42b：When unbalance index pξPositioned at the second support polygon SnIn region, and service robot is in compensation campaign mould
During formula, judge that service robot has absorbed and push and shove, may return to non-compensation campaign pattern, setting compensation movement velocity is zero,
Drive omni-directional wheel bobbin movement to be moved according to default uniform motion speed, define service robot and be in non-compensation campaign mould
Formula.
S43：Omni-directional wheel bobbin movement is driven according to compensation campaign speed so that service robot keeps balance.
The method service robot can monitor the external force situation that surrounding is subject in static or execution motor task, and
Absorbed using reaction equation motor behavior and push and shove disturbance and keep balance, and keep original motion mode as far as possible simultaneously, with the mankind
Situations such as pushing over can be avoided the occurrence of during generation physical interaction.
Finally it should be noted that：Various embodiments above is merely illustrative of the technical solution of the present invention, rather than its limitations；To the greatest extent
Pipe has been described in detail with reference to foregoing embodiments to the present invention, it will be understood by those within the art that：Its according to
The technical scheme described in foregoing embodiments can so be modified, or which part or all technical characteristic are entered
Row equivalent；And these modifications or replacement, the essence of appropriate technical solution is departed from various embodiments of the present invention technology
The scope of scheme, it all should cover in the middle of the scope of claim of the invention and specification.
Claims (9)
1. it is a kind of to prevent pushing over service robot, it is characterised in that including omni-directional wheel chassis and the machine being arranged on omni-directional wheel chassis
Device human agent；Omni-directional wheel chassis is provided with several omni-directional wheels；The surrounding on omni-directional wheel chassis is distributed with several pressure sensings
Device, pressure sensor is used to detect the stressing conditions of omni-directional wheel chassis surrounding；Also include being arranged on service robot anti-pushes away
Control module, anti-to push over the stressing conditions that control module is used to be detected according to pressure sensor, generates compensation campaign speed,
And omni-directional wheel bobbin movement is driven according to compensation campaign speed so that service robot keeps balance.
2. it is according to claim 1 to prevent pushing over service robot, it is characterised in that the pressure sensor is multiple, position
In in same level, and it is evenly distributed on the circle with omni-directional wheel center chassis as the center of circle.
3. it is according to claim 1 to prevent pushing over service robot, it is characterised in that the omni-directional wheel is multiple, and uniformly
It is distributed in the surrounding on omni-directional wheel chassis.
4. a kind of anti-processing method for pushing over service robot according to claim 1, it is characterised in that：Including following step
Suddenly：
S1：The three-dimensional system of coordinate with the service robot barycenter as coordinate origin is set up, it is server to define height of center of mass z
Device people's height equivlent；
S2：When distinguishing static detection service robot or uniform motion, i-th static pressure value Fn of pressure sensori；
S3：When service robot is acted on by external force, the stress pressure of i-th pressure sensor of difference detection service robot
Value Fni /, and according to static pressure value FniIt is calculated i-th stress difference vector Δ F of pressure sensori, and according to pressure
Sensor horizontal position pi=[x, y] and stress difference vector Δ FiWhen being calculated the external force vector F that service robot is subject to
Unbalance index pξ=sum (pi*ΔFi)/sum(ΔFi), wherein pξIt is vector [xξ,yξ], x, y is respectively pressure sensor level
The abscissa and ordinate of position, sum is summation operation；
S4：According to unbalance index pξCompensation campaign speed is calculated, and omni-directional wheel chassis fortune is driven according to compensation campaign speed
It is dynamic so that service robot keeps balance.
5. the anti-processing method for pushing over service robot according to claim 4, it is characterised in that：The step S4 bags
Include：
S41：The basic polygon with omni-directional wheel position as summit is set up, and it is polygon to benchmark according to two default zoom factors
Shape is zoomed in and out, and respectively obtains the first support polygon SfWith the second support polygon Sn；
S42：According to unbalance index pξ, the first support polygon Sf, the second support polygon SnGeneration compensation campaign speed；
S43：Omni-directional wheel bobbin movement is driven according to compensation campaign speed so that service robot keeps balance.
6. the anti-processing method for pushing over service robot according to claim 5, it is characterised in that：In the step S41,
The second support polygon SnPositioned at the first support polygon SfIt is interior.
7. the anti-processing method for pushing over service robot according to claim 6, it is characterised in that：The step S42 bags
Include following steps：
S42a：Work as pξPositioned at the first support polygon SfOutside region, and current service robot be in non-compensation campaign pattern when,
Generation compensation campaign speed, defines service robot and is in compensation campaign pattern；
S42b：When unbalance index pξPositioned at the second support polygon SnIn region, and service robot is in compensation campaign pattern
When, setting compensation movement velocity is zero, defines service robot and is in non-compensation campaign pattern.
8. the anti-processing method for pushing over service robot according to claim 7, it is characterised in that：Compensation campaign speed V
Computing formula it is as follows：
V=Vt+f (pξ)；
Vt is the default uniform motion speed of service robot, f (pξ) it is PID control model.
9. the anti-processing method for pushing over service robot according to claim 8, it is characterised in that：When the compensation campaign
When speed is zero, omni-directional wheel bobbin movement is driven to be moved according to default uniform motion speed.
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107953940A (en) * | 2017-11-13 | 2018-04-24 | 浙江仑迈智能科技有限公司 | A kind of storage Omni-mobile platform with center of gravity monitoring function |
| CN108177138A (en) * | 2018-02-26 | 2018-06-19 | 张宇晨 | A kind of robot |
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| CN101590323A (en) * | 2009-07-08 | 2009-12-02 | 北京工业大学 | A kind of one-wheel robot system and control method thereof |
| KR101061367B1 (en) * | 2011-02-07 | 2011-09-01 | 한국생산기술연구원 | Omnidirectional mobile robot base |
| CN103984350A (en) * | 2014-05-30 | 2014-08-13 | 深圳市创冠智能网络技术有限公司 | Toppling prevention mobile device and toppling prevention method thereof |
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| JP2009101484A (en) * | 2007-10-24 | 2009-05-14 | Toyota Motor Corp | Inversion traveling robot and its control method |
| CN101590323A (en) * | 2009-07-08 | 2009-12-02 | 北京工业大学 | A kind of one-wheel robot system and control method thereof |
| KR101061367B1 (en) * | 2011-02-07 | 2011-09-01 | 한국생산기술연구원 | Omnidirectional mobile robot base |
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| CN107953940A (en) * | 2017-11-13 | 2018-04-24 | 浙江仑迈智能科技有限公司 | A kind of storage Omni-mobile platform with center of gravity monitoring function |
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| CN106826849B (en) | 2019-05-07 |
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