CN107357288B - Device and method for double-vehicle cooperative motion of Mecanum wheel robot - Google Patents
Device and method for double-vehicle cooperative motion of Mecanum wheel robot Download PDFInfo
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- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0287—Control of position or course in two dimensions specially adapted to land vehicles involving a plurality of land vehicles, e.g. fleet or convoy travelling
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Abstract
The invention discloses a device and a method for cooperative motion of two vehicles of a Mecanum wheel robot. The three-dimensional displacement measuring device consists of two linear displacement sensors and an angular displacement sensor, wherein the X-direction displacement sensor acquires the position change of the connecting rod in the X direction, the Y-direction displacement sensor acquires the position change of the connecting rod in the Y direction, and the angular displacement sensor acquires the angle change of the connecting rod. When the main vehicle and the slave vehicle generate deviation delta X, deviation delta Y and deviation delta theta in the direction and the angle of X, Y due to movement, the three-dimensional displacement measuring device measures the deviation change and sends the deviation change to the slave vehicle; receiving the delta X, delta Y and delta theta from the vehicle, adjusting the position of the robot to be consistent with the position, distance and speed of the main vehicle.
Description
Technical Field
The invention belongs to the field of robot double-vehicle cooperative operation, and particularly relates to a device and a method for measuring double-vehicle cooperative motion of a Mecanum wheel robot.
Background
The Mecanum wheeled all-directional mobile robot is flexible and convenient in conveying small workpieces and materials, but for parts with ultra-long body shapes or heavier parts, cargo handling can be achieved only by coordination and cooperation of a plurality of Mecanum wheeled all-directional mobile robots, and therefore formation control of the Mecanum wheeled all-directional mobile robots is widely applied to industrial fields.
The multi-robot formation control is a common cooperation problem in a multi-robot system, and means that a plurality of robots need to maintain a certain formation while adapting to environmental constraints in the process of reaching a target. The multi-robot formation can make up the defect that a single robot is insufficient in knowledge, capability, resources or information required for solving problems, meanwhile, the multi-robot formation can enhance the rapidity and reliability of the system, improve the quality of finished tasks, utilize limited resources to the maximum extent, enhance the flexibility of the system and the like, and the characteristics enable the multi-mobile robot formation control to be widely applied to the fields of military affairs, industry, field operation and rescue, robot football competition and the like.
In real life, there are many tasks that are difficult to accomplish by one person alone, such as: longer rod-shaped objects or massive objects with a higher mass usually require two or more people to carry together. Similarly, when Mecanum wheeled omni-directional mobile robots are used to transport such long or heavy objects instead of humans, it is often necessary to use the same number of Mecanum wheeled omni-directional mobile robots to co-transport such objects in an efficient manner. The problem of cooperative object transportation by multiple Mecanum wheeled omni-directional mobile robots is actually the formation maintenance problem of a multiple omni-directional mobile robot system with constraint conditions, and the relative spatial position of each Mecanum wheeled omni-directional mobile robot participating in the transportation work is required to be kept unchanged, i.e. each transporting robot is required to have the same motion speed and motion direction.
Disclosure of Invention
The technical problem is as follows: the invention provides a device for realizing the coincidence of a slave vehicle and a master vehicle in distance, angle and position by motion adjustment and used for the double-vehicle cooperative motion of a Mecanum wheel robot. The invention also provides a Mecanum wheel robot double-vehicle cooperative motion method based on the device.
The technical scheme is as follows: the invention discloses a double-vehicle cooperative motion device for a Mecanum wheel robot, which comprises a three-dimensional displacement measuring device, a connecting rod and a fixed seat, wherein the three-dimensional displacement measuring device is fixedly arranged at the geometric center of the upper end surface of a main vehicle, the connecting rod is arranged between the main vehicle and a secondary vehicle, the fixed seat is arranged at the geometric center of the upper end surface of the secondary vehicle, one end of the connecting rod is fixedly connected to the three-dimensional displacement measuring device, the other end of the connecting rod is connected to the fixed seat, the three-dimensional displacement measuring device comprises an X-direction displacement sensor parallel to the width X direction of the body of the main vehicle, a Y-direction linear displacement sensor parallel to the length Y direction of.
Furthermore, in the device, one end of the connecting rod, which is connected with the three-dimensional displacement measuring device, is fixedly arranged on the angular displacement sensor, and when the relative position and distance between the master car and the slave car are changed, the connecting rod can drive the angular displacement sensor to rotate and can drive the X-direction displacement sensor and the Y-direction displacement sensor to generate displacement in the X, Y direction.
Further, in the device of the invention, the slave vehicle adjusts the posture of the slave vehicle according to deviation data Δ X, Δ Y, Δ θ of the slave vehicle relative to the master vehicle in the X direction, the Y direction and the angle, which are acquired by the X-direction displacement sensor, the Y-direction displacement sensor and the angular displacement sensor, so as to realize synchronous coincidence with the master vehicle in position and distance.
The invention discloses a method for cooperative motion of two vehicles of a Mecanum wheel robot, which comprises the following steps:
step 10) one end of a connecting rod is connected to a three-dimensional displacement measuring device on the master vehicle, the other end of the connecting rod is connected to a fixed seat of the slave vehicle, an X-direction displacement sensor in the three-dimensional displacement measuring device, and a Y-direction displacement sensor and an angle displacement sensor respectively acquire the current X-direction displacement, Y-direction displacement and angle value as deviation references;
step 20) the master vehicle receives a movement command to move, the master vehicle and the slave vehicle generate changes in position and distance, the X-direction displacement sensor, the Y-direction displacement sensor and the angular displacement sensor respectively measure changes in X-direction displacement, Y-direction displacement and angle, and the deviation references measured in the step 10) are respectively subtracted from the changes to obtain deviation data deltax, deltay and delta theta of the slave vehicle relative to the master vehicle in the X direction, the Y direction and the angle;
and step 30) calculating speed commands of wheels of the slave vehicle through an inverse kinematics equation and a PID algorithm according to the deviation data delta x, delta y and delta theta, and sending the speed commands to the slave vehicle, so as to adjust the posture of the slave vehicle and keep the body of the slave vehicle consistent with the master vehicle in position and distance.
The device measures the changes of the secondary vehicle and the main vehicle in the X direction, the Y direction and the angle, and the secondary vehicle performs motion adjustment according to the changes of the position and the angle of the secondary vehicle and the distance to realize the consistency of the secondary vehicle and the main vehicle in the distance, the angle and the position.
Has the advantages that: compared with the prior art, the Mecanum wheel robot can realize omnidirectional motion, so that the position and the posture of the slave vehicle following the master vehicle can not be determined due to the omnidirectional motion when the slave vehicle follows the master vehicle to synchronously move, and the consistency on the angle, the distance and the position can not be completely realized; the technical scheme of the invention can realize the coordinated movement of the two vehicles and keep the consistent distance and angle of X, Y, acquire the deviation of the slave vehicle relative to the master vehicle in the direction and angle of X, Y by the three-dimensional displacement measuring device, and then control the slave vehicle to change the movement state to realize the consistent position and movement with the master vehicle.
According to the technical scheme, the three-dimensional displacement sensor arranged on the master vehicle mainly comprises an X-direction displacement sensor, a Y-direction linear displacement sensor and an angular displacement sensor, the deviation of the slave vehicle relative to the master vehicle in the X direction, the Y direction and the angle is measured and sent to the slave vehicle, and the slave vehicle adjusts the movement to realize the cooperative movement with the master vehicle.
Drawings
FIG. 1 is a schematic diagram of the apparatus and method of the present invention.
Fig. 2 is a schematic diagram of a three-dimensional displacement measuring device in the device of the present invention.
FIG. 3 is a view showing the structure of the fixed base of the device of the present invention.
Fig. 4 is a schematic view of the twin vehicle Δ X, Δ Y, Δ θ of the present invention.
Fig. 5 is a flowchart of a two-vehicle cooperative control method of the present invention.
The figure shows that: the device comprises a master car 1, a slave car 2, a connecting rod 3, a fixed seat 4, an angular displacement sensor 5, an X-direction displacement sensor 6 and a Y-direction displacement sensor 7.
Detailed Description
The invention is further described with reference to the following examples and the accompanying drawings.
The invention discloses a double-vehicle cooperative motion device for a Mecanum wheel robot, which comprises a three-dimensional displacement measuring device, a connecting rod 3 and a fixed seat 4, wherein the three-dimensional displacement measuring device is fixedly arranged at the geometric center of the upper end surface of a main vehicle 1, the connecting rod 3 is arranged between the main vehicle 1 and a secondary vehicle 2, the fixed seat 4 is arranged at the geometric center of the upper end surface of the secondary vehicle 2, one end of the connecting rod 3 is fixedly connected to the three-dimensional displacement measuring device, the other end of the connecting rod 3 is connected to the fixed seat 4, and the three-dimensional displacement measuring device comprises an X-direction displacement sensor 6 parallel to the width X direction of a vehicle body of the main vehicle 1, a Y-direction linear displacement sensor parallel to the length Y direction of the vehicle. The connecting rod 3 is fixedly arranged on the angular displacement sensor 5 at one end connected with the three-dimensional displacement measuring device, and when the relative position and distance between the master vehicle 1 and the slave vehicle 2 are changed, the connecting rod 3 can drive the angular displacement sensor 5 to rotate and can drive the X-direction displacement sensor 6 and the Y-direction displacement sensor 7 to generate displacement in the X, Y direction.
In a preferred embodiment, the slave vehicle 2 adjusts the posture of the slave vehicle 2 according to deviation data Δ X, Δ Y, Δ θ of the slave vehicle 2 relative to the master vehicle 1 in the X direction, the Y direction and the angle, which are acquired by the X-direction displacement sensor 6, the Y-direction displacement sensor 7 and the angular displacement sensor 5, so as to realize synchronous consistency with the master vehicle 1 in position and distance.
The invention discloses a method for cooperative motion of two vehicles of a Mecanum wheel robot, which comprises the following steps:
step 10) one end of a connecting rod 3 is connected to a three-dimensional displacement measuring device on the master vehicle 1, the other end of the connecting rod is connected to a fixed seat 4 of the slave vehicle 2, and an X-direction displacement sensor 6, a Y-direction displacement sensor 7 and an angular displacement sensor 5 in the three-dimensional displacement measuring device respectively acquire current X-direction displacement, Y-direction displacement and an angle value as deviation references;
step 20) the master vehicle 1 receives a movement command to move, the master vehicle 1 and the slave vehicle 2 generate changes in position and distance, the X-direction displacement sensor 6, the Y-direction displacement sensor 7 and the angular displacement sensor 5 respectively measure changes in X-direction displacement, Y-direction displacement and angle, and the deviation datum measured in the step 10) is subtracted from the changes respectively to obtain deviation data delta X, delta Y and delta theta of the slave vehicle relative to the master vehicle 1 in the X direction, the Y direction and the angle;
and step 30) calculating the speed command of each wheel of the slave vehicle 2 by the slave vehicle 2 through an inverse kinematics equation and a PID algorithm according to the deviation data delta x, delta y and delta theta, and then adjusting the positions and the distances of the body of the slave vehicle 2 and the main vehicle 1 to be consistent.
The specific embodiment is as follows:
referring to fig. 4, in the embodiment of the invention, the radius of the wheel of two mesoscale Mecanum wheel robots is 110mm, the half-car length is 363mm, and the half-car width is 408 mm. The left Mecanum wheel type omnibearing mobile robot is used as a main vehicle 1, the right Mecanum wheel type omnibearing mobile robot is used as a secondary vehicle 2, a three-dimensional displacement sensor is arranged at the central position of the upper end of the main vehicle 1, meanwhile, a steel plate with the length of 1500mm and the thickness of 6mm is taken as a connecting rod 3 for connecting the main vehicle and the secondary vehicle, and one end of the connecting rod 3 is connected with a rotary table of the three-dimensional displacement sensor on the main vehicle 1 through a screw; the other end of the connecting rod 3 is welded on a fixed seat 4 at the center of the slave vehicle 2. In this embodiment, deviation data Δ x, Δ y, Δ θ between the two vehicles are measured by a three-dimensional displacement sensor, and the collected deviation data is transmitted to the slave vehicle 2 through an RS232 data line, and the slave vehicle 2 calculates and controls the speed of each wheel, thereby realizing synchronous operation with the master vehicle 1.
As shown in fig. 5, the specific flow of the robot two-vehicle cooperative motion control in the embodiment is as follows:
step 1) before the double-vehicle moves, an X-direction displacement sensor 6, a Y-direction displacement sensor 7 and an angular displacement sensor 5 in a three-dimensional displacement measuring device of the main vehicle 1 respectively acquire current X-direction displacement, Y-direction displacement and an angle value as deviation references;
and step 2) starting a double-vehicle mode, sending a speed command of the main vehicle 1, running the main vehicle 1, and measuring change values delta X, delta Y and delta theta in X-direction displacement, Y-direction displacement and angle respectively by an X-direction displacement sensor 6, a Y-direction displacement sensor 7 and an angular displacement sensor 5 of a three-dimensional displacement measuring device on the main vehicle 1.
And 3) sending the deviation data delta x, delta y and delta theta to the slave vehicle 2 through the RS232 serial port.
And 4) calculating the speeds of the four wheels of the secondary vehicle 2 by the Mecanum wheel omnidirectional movement inverse kinematics equation and the PID algorithm according to the deviation data delta x, delta y and delta theta by the secondary vehicle 2, and then controlling the positions and the distances of the vehicle body of the secondary vehicle 2 and the primary vehicle 1 to be consistent.
The above examples are only preferred embodiments of the present invention, it should be noted that: it will be apparent to those skilled in the art that various modifications and equivalents can be made without departing from the spirit of the invention, and it is intended that all such modifications and equivalents fall within the scope of the invention as defined in the claims.
Claims (2)
1. The utility model provides a be used for two car cooperative motion devices of Mecanum wheel robot, a serial communication port, the device is including the installation fix three-dimensional displacement measurement device at main car (1) up end geometric center, install connecting rod (3) between main car (1) and follow car (2), install fixing base (4) at follow car (2) up end geometric center, connecting rod (3) one end fixed connection is on three-dimensional displacement measurement device, and the connecting rod (3) other end is connected on fixing base (4), three-dimensional displacement measurement device include with main car (1) the parallel X of automobile body width X direction to displacement sensor (6), with main car (1) the parallel Y of automobile body length Y direction to linear displacement sensor and be located X is to displacement sensor (6) and Y displacement sensor (7) the angular displacement sensor (5) of intersect department, connecting rod (3) and the one end that three-dimensional displacement measurement device is connected, the connecting rod (3) is fixedly arranged on the angular displacement sensor (5), when the relative position and distance between the master car (1) and the slave car (2) are changed, the connecting rod can drive the angular displacement sensor (5) to rotate and can simultaneously drive the X-direction displacement sensor (6) and the Y-direction displacement sensor (7) to generate displacement in the direction X, Y, and the slave car (2) adjusts the posture of the slave car (2) according to deviation data delta X, delta Y and delta theta of the slave car (2) relative to the master car (1) in the X direction, the Y direction and the angle, which are acquired by the X-direction displacement sensor (6), the Y-direction displacement sensor (7) and the angular displacement sensor (5), so that the synchronous consistency of the car body of the slave car (2) and the master car (1) in the position and distance is realized.
2. A method for the tandem cooperative movement of Mecanum wheel robots, which is based on the tandem cooperative movement device for Mecanum wheel robots in claim 1, comprises the following steps:
step 10), one end of a connecting rod (3) is connected to a three-dimensional displacement measuring device on a master vehicle (1), the other end of the connecting rod is connected to a fixed seat (4) of a slave vehicle (2), an X-direction displacement sensor (6) in the three-dimensional displacement measuring device, and a Y-direction displacement sensor (7) and an angular displacement sensor (5) respectively acquire current X-direction displacement, Y-direction displacement and angle values as deviation references;
step 20) the master vehicle (1) receives a movement command to move, the master vehicle (1) and the slave vehicle (2) generate changes in position and distance, the X-direction displacement sensor (6), the Y-direction displacement sensor (7) and the angular displacement sensor (5) respectively measure changes in X-direction displacement, Y-direction displacement and angle values, and deviation references measured in the step 10) are respectively subtracted from the changes to obtain deviation data delta X, delta Y and delta theta of the slave vehicle (2) relative to the master vehicle (1) in the X direction, the Y direction and the angle;
and step 30) calculating speed commands of each wheel of the slave vehicle (2) through an inverse kinematics equation and a PID algorithm according to the deviation data delta x, delta y and delta theta, and sending the speed commands to the slave vehicle (2), so as to adjust the posture of the slave vehicle (2) and keep the body of the slave vehicle (2) consistent with the body of the master vehicle (1) in position and distance.
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| CN114604108B (en) * | 2022-01-14 | 2023-10-20 | 北京市农林科学院智能装备技术研究中心 | Master-slave vehicle cooperative operation control device and method |
| CN115196264B (en) * | 2022-06-28 | 2024-03-29 | 西安优艾智合机器人科技有限公司 | Cooperative carrying robot with vehicle-mounted clamp holder and control method thereof |
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