CN109227541A - A kind of robot and patrol method based on laser ranging - Google Patents
A kind of robot and patrol method based on laser ranging Download PDFInfo
- Publication number
- CN109227541A CN109227541A CN201811136937.6A CN201811136937A CN109227541A CN 109227541 A CN109227541 A CN 109227541A CN 201811136937 A CN201811136937 A CN 201811136937A CN 109227541 A CN109227541 A CN 109227541A
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- Prior art keywords
- laser ranging
- robot
- chassis frame
- module
- master control
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Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1656—Programme controls characterised by programming, planning systems for manipulators
- B25J9/1664—Programme controls characterised by programming, planning systems for manipulators characterised by motion, path, trajectory planning
- B25J9/1666—Avoiding collision or forbidden zones
-
- 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
- B25J19/005—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators using batteries, e.g. as a back-up power source
-
- 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
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1602—Programme controls characterised by the control system, structure, architecture
- B25J9/161—Hardware, e.g. neural networks, fuzzy logic, interfaces, processor
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1674—Programme controls characterised by safety, monitoring, diagnostic
- B25J9/1676—Avoiding collision or forbidden zones
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- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Automation & Control Theory (AREA)
- Physics & Mathematics (AREA)
- Artificial Intelligence (AREA)
- Evolutionary Computation (AREA)
- Fuzzy Systems (AREA)
- Mathematical Physics (AREA)
- Software Systems (AREA)
- Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
Abstract
The invention discloses a kind of robots based on laser ranging, including circuit master control borad, power supply module, chassis frame, drive module and laser ranging positioning system modules composition, the circuit master control borad is fixed on the center below chassis frame, the power supply module is installed on chassis frame, shown drive module is installed on the chassis frame, the laser positioning module is fixed on chassis frame, the power supply module, drive module, laser ranging locating module is connect with circuit master control borad, the laser ranging module measures robot at a distance from each barrier of surrounding, the patrol route of robot is calculated by the central processing unit again, its scope of application is very extensive, its control is simple and reliable, cost can control very low, it is a kind of very promising robot control method.
Description
Technical field
The present invention relates to robot chassis control more particularly to a kind of robots and patrol method based on laser ranging.
Background technique
Existing robot line walking mostly uses greatly AGV (automated guided vehicle) magnetic conductance technology, by having electricity magnetically or optically
Equal homing guidances device is travelled along defined guide path or SLAM (positioning and map structuring immediately) map structuring technology,
I.e. robot is moved since a unknown position in circumstances not known, is carried out in moving process according to location estimation and map
Self poisoning, while increment type map is built on the basis of self poisoning, realize the autonomous positioning and navigation of robot.And this
The shortcomings that two kinds of technologies is exactly that cost is relatively high, so not being suitable among the life and industrial scene of some low costs.Together
When also there is similar sweeping robot to pass through ultrasonic wave like that carry out simple avoidance, but avoiding obstacles by supersonic wave degree of intelligence is low, patrols
Patrol low efficiency.
Summary of the invention
The purpose of the present invention is in view of the above shortcomings of the prior art, providing a kind of robot based on laser ranging,
The present invention can reduce the production cost of vehicle, while go on patrol precision height, and intelligence degree is high.
The method for the robot patrol based on laser ranging that the present invention also provides a kind of simultaneously.
The purpose of the present invention can be achieved through the following technical solutions:
A kind of robot based on laser ranging, including circuit master control borad, power supply module, sole, drive module and swash
Ligh-ranging positioning system modules composition, the circuit master control borad are fixed on the center below chassis frame, the power supply mould
Block is installed on chassis frame, and shown drive module is installed on the chassis frame, and the laser positioning module is fixed on chassis
Frame, the power supply module, drive module, laser ranging locating module are connect with circuit master control borad, the laser ranging module
Robot is measured at a distance from each barrier of surrounding, then calculates the patrol road of robot by the central processing unit
Line.
Preferably, the laser ranging locating module includes 8 laser ranging units, wherein 2 laser ranging lists
Member is fixed on the front end of the chassis frame, and 2 laser ranging units are fixed on the rear end of the chassis frame, 2 institutes
The left end that laser ranging unit is fixed on the chassis frame is stated, 2 laser ranging units are fixed on the chassis frame
Right end, 8 laser ranging units connect with the circuit master control borad, and the laser ranging unit is for detecting machine
People is at a distance from peripheral obstacle, the laser ranging unit model GY-53.
Preferably, the circuit master control borad includes central processing unit, gyroscope chip, CAN communication chip, serial communication mould
Block circuit, ADC converter, electromagnetic relay, nine axis inertial navigation units and GPS locator, the gyroscope chip with it is described
Central processing unit connection, the central processing unit are connect by CAN chip with drive module, and the serial communication modular circuit is set
Two, the central processing unit is connect by one of serial communication modular with remote controller signal, and the central processing unit is logical
It crosses another serial communication modular to connect with GPS locator, the power supply module passes through the ADC converter and electromagnetic relay
It is connect with central processing unit, the nine axis inertial navigation unit and GPS locator are for determining the position of robot, the gyro
Accurate orientation is transferred to center reason device by instrument chip, and the CAN communication chip is for the signal of central processing unit to be transferred to
Motor, while the feedback signal of motor is received, the serial communication modular circuit sets two, and one of serial communication modular is used
Robot chassis is controlled with this in the information for receiving remote controler, another road serial communication modular circuit is then used to read described
The geographical coordinate absolute value of GPS locator, the ADC converter and electromagnetic relay module are used to measure the battery capacity,
Reserve battery power supply is automatically switched to when electricity is relatively low.
Preferably, the drive module includes motor, wheel and motor driven adjuster, and the motor and wheel are designed with
Four, the wheel is installed on four corners of the chassis frame, and the motor is fixed on the chassis frame, each wheel
Respectively with the power output axis connection of corresponding motor, the signal input part of the motor cross motor driven adjuster with it is described
Circuit master control borad connection, each motor individually control a wheel, so that the running precision of robot is high, control performance more goes out
Color, STM32F7 processor are rotated by CAN communication chip controls motor.
Preferably, the chassis frame is welded by square aluminium, and square aluminium is light-weight, easy polishing, be not easy to get rusty, plasticity is good.
Preferably, the power supply module includes main supplying cell and reserve battery, and the main supplying cell passes through main battery
Frame is fixed on the bottom of the chassis frame, and the reserve battery is fixed on the bottom of the chassis frame by reserve battery frame
Portion, ADC converter and electromagnetic relay module automatically switch to reserve battery confession when electricity is relatively low for measuring battery capacity
Electricity.
A kind of robot patrol method based on laser ranging is as follows:
When not having barrier around robot, robot is carried out straight by the geographical absolute coordinate of the GPS locator
Line walking；
In robot driving process, robot measures robot and each barrier of surrounding by 8 laser ranging units
Hindering the distance of object, the central processing unit reads the distance value of 8 road laser ranging units and the patrol route of planning robot,
Then can communication chip is sent after the data value of patrol route being carried out PID resolving as value of feedback to, can communication chip is logical
The revolving speed that motor driven adjuster controls each motor is crossed, to realize the row of adjustment robot by the revolving speed for controlling each wheel
Into direction, to guarantee that robot is gone on patrol by specific route.
Compared with the prior art, the invention has the following advantages and beneficial effects:
1, relative to AGV magnetic conductance technology or SLAM map structuring technology, this product is patrolled using the robot of laser ranging
Patrol method, it is only necessary to laser ranging component be installed in robot, the production cost of vehicle can be reduced.
2, this product may be implemented robot by 8 laser ranging units and nine axis inertial navigation units and carry out interior calmly
Position and navigation, while cooperating carrying GPS locator on robot chassis that outdoor navigation may be implemented, it is applied widely.
3, this product goes on patrol method using the robot of laser ranging, can shorten the R&D cycle.
Detailed description of the invention
Fig. 1 is the overall structure diagram of the embodiment of the present invention；
Fig. 2 is the schematic front view of the embodiment of the present invention；
Fig. 3 is the schematic side view of the embodiment of the present invention；
Fig. 4 is the flank patrol exemplary diagram of the robot of the embodiment of the present invention；
Fig. 5 is the turning exemplary diagram of the robot of the embodiment of the present invention；
Fig. 6 is the exemplary diagram that turns around of the robot of the embodiment of the present invention；
Fig. 7 is the T shape crossing exemplary diagram of the robot of the embodiment of the present invention:
Fig. 8 is the crossroad exemplary diagram of the robot of the embodiment of the present invention；
Fig. 9 is the free schema exemplary diagram of the robot of the embodiment of the present invention；
Figure 10 is the circuit diagram of the central processing unit of the embodiment of the present invention；
Figure 11 is the circuit diagram of the gyroscope chip of the embodiment of the present invention；
Figure 12 is the circuit diagram of the ADC converter of the embodiment of the present invention；
Figure 13 is the circuit diagram of the CAN communication chip of the embodiment of the present invention
Wherein 1a~1h be laser ranging unit, 2 be wheel, 3 be motor, 4 be chassis frame, 5 be main battery carrier, 6
It is main supplying cell for circuit master control borad, 7,8 be reserve battery, and 9 be reserve battery frame.
Specific embodiment
Present invention will now be described in further detail with reference to the embodiments and the accompanying drawings, but embodiments of the present invention are unlimited
In this.
A kind of robot based on laser ranging, including circuit master control borad 6, power supply module, chassis frame 4, drive module
It is formed with laser ranging positioning system modules, the circuit master control borad is fixed on the center of 4 lower section of chassis frame, the confession
Electric module is installed on chassis frame 4, and shown drive module is installed on the chassis frame 4, and the laser positioning module is fixed on
Chassis frame 4, the power supply module, drive module, laser ranging locating module are connect with circuit master control borad, the Laser Measuring
Robot, which is measured, at a distance from each barrier of surrounding, then through the central processing unit away from module calculates patrolling for robot
Patrol route；
As shown in Figure 1, Figure 3, it is respectively 1a~1h that the laser ranging locating module, which includes 8 laser ranging units,
Two laser ranging units 1a, 1b are placed in front of middle robot chassis respectively；Two laser ranging unit 1c are placed on right side respectively,
1d；Rear side places two laser ranging units 1e, 1f respectively；Two laser ranging unit 1g, 1h are placed in left side respectively, and described 8
A laser ranging unit is connect with the circuit master control borad, and the laser ranging unit is used for sniffing robot and surrounding obstacles
The distance of object, the laser ranging unit model GY-53.
The circuit master control borad 6 top as shown in figure 11 including circuit diagram central processing unit as shown in Figure 10, circuit diagram
Spiral shell instrument chip, circuit diagram CAN communication chip, serial communication modular circuit, circuit diagram ADC as shown in figure 12 as shown in fig. 13 that
Converter, electromagnetic relay, nine axis inertial navigation units and GPS locator, the gyroscope chip and the central processing unit
Connection, the central processing unit are connect by CAN chip with drive module, and the serial communication modular circuit sets two, described
Central processing unit is connect by one of serial communication modular with remote controller signal, and the central processing unit is gone here and there by another
Port communications module is connect with GPS locator, and the power supply module passes through the ADC converter and electromagnetic relay and central processing
Device connection, the nine axis inertial navigation unit and GPS locator are used to determine the position of robot, and the gyroscope chip will be quasi-
True orientation is transferred to central processing unit, and the CAN communication chip is used to the signal of central processing unit being transferred to motor, simultaneously
The feedback signal of motor is received, the serial communication modular circuit sets two, and one of serial communication modular is distant for receiving
The information of control device controls robot chassis with this, another road serial communication modular circuit is then used to read the GPS locator
Geographical coordinate absolute value, the ADC converter and electromagnetic relay module are for measuring the battery capacity, when electricity is relatively low
When automatically switch to reserve battery power supply, the central processing unit is STM32F405RGT6 processor, and gyroscope chip is
MPU6050 chip, CAN communication chip are SN65HVD232D chip, and ADC converter is AD8628 converter, nine axis inertial navigations
The model GY-951 of unit, the model ATK-NEO-6M of GPS locator.
As shown in Figure 1, the drive module includes motor 3, wheel 2 and motor driven adjuster, the motor 3 and wheel
2 are designed with four, and the wheel 2 is installed on four corners of the chassis frame 4, and the motor 3 is fixed on the chassis
Frame 4, for each wheel 2 respectively with the power output axis connection of corresponding motor 3, the signal input part of the motor 3 crosses motor
Driving adjuster is connect with the circuit master control borad 6, and each motor 3 individually controls a wheel, so that the operation essence of robot
Degree is high, and control performance is outstanding, and the wheel 2 is Mecanum wheel.
As shown in Figure 1, the chassis frame 4 is welded by square aluminium, square aluminium is light-weight, easy polishing, is not easy to get rusty, plasticity
It is good.
As shown in figure 3, the power supply module includes main supplying cell 7 and reserve battery 8, the main supplying cell 7 passes through
Main battery frame 5 is fixed on the bottom of the chassis frame 4, and the reserve battery 8 is fixed on the vehicle bottom by reserve battery frame 9
The bottom of plate rail 4, ADC converter and electromagnetic relay module are automatically switched to for measuring battery capacity when electricity is relatively low
Reserve battery power supply.
As shown in Fig. 4~9, a kind of robot patrol method based on laser ranging is as follows:
When not having barrier around robot, robot is carried out straight by the geographical absolute coordinate of the GPS locator
Line walking；
In robot driving process, robot measures robot and each barrier of surrounding by 8 laser ranging units
Hindering the distance of object, the central processing unit reads the distance value of 8 road laser ranging units and the patrol route of planning robot,
Then can communication chip is sent after the data value of patrol route being carried out PID resolving as value of feedback to, can communication chip is logical
The revolving speed that motor driven adjuster controls each motor is crossed, to realize the row of adjustment robot by the revolving speed for controlling each wheel
Into direction, to guarantee that robot is gone on patrol by specific route.
There is barrier around robot, robot measures robot and surrounding by 8 laser ranging units
The distance of each barrier, then the patrol route of robot is calculated by the circuit master control borad, following the description is with a~h points
Laser ranging unit 1a~1h is not represented measures distance；
As shown in figure 4, d or g are then judged as flank patrol mode when h is less than 60cm and if only if c, c, d are utilized at this time
Or the difference of g, h carry out PID and adjust to guarantee that robot is travelled along sideline.
As shown in figure 5, d or g, h measure distance less than 60cm and when a, b are less than 60cm and if only if c, then it is judged as and turns
Curved mode, allows robot chassis point centered on the near front wheel or off-front wheel at this time, passes through inertial navigation module as feedback rotation
90 degree, to guarantee robot left-hand bend or turn right.
As shown in fig. 6, and if only if a, b, c, d, g are then judged as the mode of turning around when h is less than 60cm, allow robot at this time
Chassis point centered on geometric center, by inertial navigation module as feedback rotation 180 degree, come guarantee robot turn left or
Person turns right and turns around.
As shown in fig. 7, and if only if a, when b is less than 60cm, then it is judged as T-type crossing mode, allows robot chassis at this time
The point centered on the near front wheel is rotated by 90 ° by inertial navigation module as feedback, to guarantee that robot turns left.And pass through
GPS module records the geographical polar coordinates at the T-type crossing, then turns right when the T-type crossing passed through under the coordinate next time.
As shown in figure 8, being then judged as four crossway mouth mold when the data of c or h have jump and a, b are greater than 60cm
Formula, allows robot chassis point centered on the near front wheel at this time, is rotated by 90 ° by inertial navigation module as feedback, to guarantee machine
Device people turns left.And the geographical polar coordinates for recording the crossroad by GPS module pass through under the coordinate when next time
It then turns right when then keeping straight on when crossroad, then passing through next time.
As shown in figure 9, being then judged as certainly when all laser ranging unit 1a~1h distance value measured is all larger than 60cm
By mode, robot is allowed to carry out straight line walking according to the geographical absolute coordinate of GPS module at this time.
In use, opening the power switch of two batteries in two battery carriers.It waits about 2 seconds, to circuit main control module
After the completion of initialization and correction, it is set as manual mode using remote control, and controls robot and reaches line walking starting, when front is taken the photograph
As head alignment horizontal line track, by remote control setting, it is automatic running on transmisson line mode, and robot just starts to go on patrol automatically, until passing through distant
Control switches back into manual mode.
Above-mentioned specific embodiment is the preferred embodiment of the present invention, can not be limited the invention, and others are appointed
The change or other equivalent substitute modes what is made without departing from technical solution of the present invention, are included in protection of the invention
Within the scope of.
Claims (7)
1. a kind of robot based on laser ranging, which is characterized in that including circuit master control borad, power supply module, chassis frame, drive
Dynamic model block and laser ranging positioning system modules composition, the circuit master control borad are fixed on the center below chassis frame,
The power supply module is installed on chassis frame, and shown drive module is installed on the chassis frame, and the laser positioning module is solid
Due to chassis frame, the power supply module, drive module, laser ranging locating module are connect with circuit master control borad.
2. a kind of robot based on laser ranging according to claim 1, which is characterized in that the laser ranging positioning
Module includes 8 laser ranging units, wherein 2 laser ranging units are fixed on the front end of the chassis frame, 2 institutes
The rear end that laser ranging unit is fixed on the chassis frame is stated, 2 laser ranging units are fixed on the chassis frame
Left end, 2 laser ranging units are fixed on the right end of the chassis frame, and 8 laser ranging units are and institute
State circuit master control borad connection.
3. a kind of robot based on laser ranging according to claim 1, which is characterized in that the circuit master control borad packet
Include central processing unit, gyroscope chip, CAN communication chip, serial communication modular circuit, ADC converter, electromagnetic relay, nine
Axis inertial navigation unit and GPS locator, the gyroscope chip are connect with the central processing unit, and the central processing unit is logical
It crosses CAN chip to connect with drive module, the serial communication modular circuit sets two, and the central processing unit passes through one of them
Serial communication modular is connect with remote controller signal, and the central processing unit passes through another serial communication modular and GPS locator
Connection, the power supply module are connect by the ADC converter and electromagnetic relay with central processing unit.
4. a kind of robot based on laser ranging according to claim 1, which is characterized in that the drive module includes
Motor, wheel and motor driven adjuster, the motor and wheel are designed with four, and the wheel is installed on the chassis frame
Four corners, the motor is fixed on the chassis frame, each wheel respectively with the power output shaft of corresponding motor
Connection, the signal input part of the motor are crossed motor driven adjuster and are connect with the circuit master control borad.
5. a kind of robot based on laser ranging according to claim 1, which is characterized in that the chassis frame is by side
Aluminium is welded.
6. a kind of robot based on laser ranging according to claim 1, which is characterized in that it is characterized in that, described
Power supply module includes main supplying cell and reserve battery, and the main supplying cell is fixed on the chassis frame by main battery frame
Bottom, the reserve battery is fixed on the bottom of the chassis frame by reserve battery frame, described main for battery and spare
Battery is connect with circuit master control borad.
7. going on patrol method, feature based on a kind of robot based on laser ranging described in any one of claim 1~6
It is, comprising the following steps:
When not having barrier around robot, robot carries out linear rows by the geographical absolute coordinate of the GPS locator
It walks；
In robot driving process, robot measures robot and each barrier of surrounding by 8 laser ranging units
Distance, the central processing unit reads the distance value of 8 road laser ranging units and the patrol route of planning robot, then
Can communication chip is sent to after the data value of patrol route is carried out PID resolving as value of feedback, and can communication chip passes through electricity
Machine driving adjuster controls the revolving speed of each motor, to realize the traveling side of adjustment robot by the revolving speed for controlling each wheel
To guarantee that robot is gone on patrol by specific route.
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811136937.6A CN109227541A (en) | 2018-09-28 | 2018-09-28 | A kind of robot and patrol method based on laser ranging |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811136937.6A CN109227541A (en) | 2018-09-28 | 2018-09-28 | A kind of robot and patrol method based on laser ranging |
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Family
ID=65057812
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| CN201811136937.6A Pending CN109227541A (en) | 2018-09-28 | 2018-09-28 | A kind of robot and patrol method based on laser ranging |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110370284A (en) * | 2019-08-07 | 2019-10-25 | 北京凌天世纪控股股份有限公司 | A kind of automatic control system of explosion-proof autonomous crusing robot |
| CN111531522A (en) * | 2020-06-11 | 2020-08-14 | 南京聚特机器人技术有限公司 | Wheeled robot that patrols and examines in narrow space |
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| US20100312390A1 (en) * | 2007-05-14 | 2010-12-09 | Robosoft | Domestic robot assistant having a rolling chassis |
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