CN114545919A - Loose medium mobile robot based on ROS2 - Google Patents
Loose medium mobile robot based on ROS2 Download PDFInfo
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- CN114545919A CN114545919A CN202111543657.9A CN202111543657A CN114545919A CN 114545919 A CN114545919 A CN 114545919A CN 202111543657 A CN202111543657 A CN 202111543657A CN 114545919 A CN114545919 A CN 114545919A
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- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- 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
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Abstract
The invention provides a loose medium mobile robot based on ROS2, comprising: the device comprises a spiral wheel type hub motor, a differential chassis, a controller, a sensor, a motor driver and a battery module; the number of the spiral wheel type hub motors is four, the four spiral wheel type hub motors are respectively arranged at the hub positions of the differential chassis and are in driving connection with the motor driver; the controller, the sensor, the motor driver and the battery module are arranged on the differential chassis; the controller is respectively electrically connected with the spiral wheel type hub motor, the sensor and the motor driver; the battery module is respectively and electrically connected with the spiral wheel type hub motor, the differential chassis, the controller, the sensor and the motor driver. The four-wheel differential chassis structure is adopted, and the spiral wheel type tire is carried, so that the problems that the traditional four-wheel mobile robot is difficult to operate in a loose medium and is easy to slip and even sink deeply are solved.
Description
Technical Field
The invention relates to the technical field of robots, in particular to a loose medium mobile robot based on ROS 2.
Background
China has a large population, and the total amount of grain production and consumption is the first world. In order to better solve the problem of large demand of current grains in China, the quantity of grains imported from foreign countries in China is continuously increased. According to the statistics of the customs administration, the imported food in 2019 in China reaches 1.11 hundred million tons, and the import amount reaches 419.82 hundred million dollars. Meanwhile, the hidden dangers and potential danger sources faced by the port are increased rapidly, great harm is caused to port personnel and environmental safety, and national public safety and economic safety are seriously threatened. At present, in the sampling process of bulk grains of ships, China can generate a plurality of safety risks such as fumigant residue, grain collapse, wheel climbing and falling and the like, and the problems of insufficient efficient and intelligent equipment, low automation degree of original equipment, high dependence on manual operation and the like in the checking and sampling link exist, so that the sample checking effect can be influenced, and meanwhile, the life safety of inspectors can be threatened.
The mobile robot can move in a corresponding environment only by a certain movement structure, and the movable capacity of the granary sampling mobile robot in a loose medium is very important. The grain loose medium represented by soybean and wheat has the characteristics of softness, easy collapse and overlarge slip rate, and the robot is very difficult to operate in the grain loose medium and is easy to slip and even deeply sink. Common motion structures cannot normally run on the surface of the bulk medium, so that it is important to design a set of mobile robots capable of moving on the surface of the bulk medium.
The invention discloses a desert four-group robot, which adopts the technical scheme that a foot type mobile robot is designed in a bionic mode, but the robot is complex in structure, high in design and processing difficulty and low in bearing capacity, is only suitable for the motion of a body robot in a loose medium, cannot realize heavy-load motion, and is low in universality and development utilization rate due to the fact that a control system adopts a simple embedded operating system.
Patent document CN113510720A (application number: CN202110665852.2) discloses a real-time distributed cooperative robot control system, which is connected with a robot body and includes a Linux operating system unit, a real-time kernel unit, a data distribution service unit, a robot control unit, and an EtherCAT field bus unit. However, the patent does not relate to the description of movement in a loose medium, and cannot solve the disadvantages of the prior art.
Disclosure of Invention
In view of the defects in the prior art, the invention aims to provide a ROS 2-based bulk medium mobile robot.
According to the invention, the ROS 2-based bulk medium mobile robot comprises: the device comprises a spiral wheel type hub motor, a differential chassis, a controller, a sensor, a motor driver and a battery module;
the number of the spiral wheel type hub motors is four, the four spiral wheel type hub motors are respectively arranged at the hub positions of the differential chassis and are in driving connection with the motor driver;
the controller, the sensor, the motor driver and the battery module are arranged on the differential chassis;
the controller is respectively electrically connected with the spiral wheel type hub motor, the sensor and the motor driver;
the battery module is respectively and electrically connected with the spiral wheel type hub motor, the differential chassis, the controller, the sensor and the motor driver.
Preferably, the spiral wheel type hub motor and the motor driver adopt four single-shaft spiral wheel type hub motors and matched drivers, the rated power is 720W, and the output rotating speed is 770 RPM.
Preferably, the shape of the tire is a spiral configuration suitable for loose environment, and the material is nylon material.
Preferably, the differential chassis controls the speed difference of two sides of the wheels to complete the forward and backward movement and the steering movement of the robot.
Preferably, the sensor comprises an integrated encoder, an inertial measurement unit IMU, a GPS, a laser radar and a binocular camera, and is used for monitoring the running state, the self posture and the environmental information of the robot in real time and providing a data basis for subsequent drawing construction, positioning and navigation.
Preferably, the battery module is a 48V36AH lithium battery, and the spiral wheel type hub motor directly supplies power through 48V, converts the voltage into 12V and then supplies power to the controller and the sensor.
Preferably, the hierarchy of the controller is divided into a ground station PC, a robot upper computer end and a robot lower computer end;
the robot lower computer end controls the motion of the robot, obtains the feedback data of the robot at the same time, packs and sends the feedback data to the robot upper computer end;
the robot upper computer end comprises a data communication interface, a robot state parameter initialization interface, a data preprocessing interface, a simulation interface, a kinematics analysis interface and an upper algorithm realization interface, wherein the data communication interface is connected with the lower computer and each sensor;
the ground station PC is used for providing a visual and manual control interface.
Preferably, the lower robot end is responsible for robot control, converts the motion instruction transmitted from the upper robot end into a control instruction for each motor, sends a corresponding command to the motor driver to drive the spiral wheel type hub motor to move, and feeds back encoder and sensor data to the upper robot end.
Preferably, the upper computer end of the robot is responsible for realizing upper-layer algorithms, including sensor information acquisition, data preprocessing, data transmission, map construction, positioning and path planning.
Preferably, the ground station PC provides a communication and remote control interface and an autonomous navigation interface;
the communication and remote control interface is used for displaying speed, angular speed information, battery voltage and residual capacity information, feedback information and real-time image information during operation of the robot in real time, parameter configuration based on ROS2 master-slave machine communication and parameter configuration in a remote control mode;
the autonomous navigation interface is used for displaying a two-dimensional grid map, three-dimensional point cloud data, setting an initialization position, setting a target position, setting a return point, a return instruction starting, a robot running position coordinate and a target return point coordinate.
Compared with the prior art, the invention has the following beneficial effects:
(1) by adopting the four-wheel differential chassis structure and carrying the spiral wheel type tire, the problems that the traditional four-wheel mobile robot is difficult to operate in a loose medium and is easy to slip and even sink deeply are solved, and meanwhile, compared with other legged robots, the four-wheel mobile robot has the advantages of simple structure, large load-carrying capacity and good feasibility;
(2) by adopting the ROS2 robot operating system as the master control operating system, the problems that the conventional ROS is poor in real-time performance, can only run on a few operating systems, occupies a large amount of resources and the like are solved, and the requirements of a distributed system on safety, expansibility, fault tolerance and real-time performance are met;
(3) by adopting a layered control system framework, the coupling between layers is reduced, and the cost of system modification and upgrading at the later stage is reduced;
(4) by adopting a multi-sensor fusion technology, the functions of map building, positioning and navigation in different landform environments can be realized.
Drawings
Other features, objects and advantages of the invention will become more apparent upon reading of the detailed description of non-limiting embodiments with reference to the following drawings:
FIG. 1 is a schematic diagram of a mechanical structure of a mobile robot;
FIG. 2 is a schematic diagram of an electrical structure connection;
FIG. 3 is a block diagram of a hierarchical control system;
FIG. 4 is a platform control messaging flow diagram;
wherein the reference numerals are: the device comprises a 1-spiral wheel type hub motor, a 2-differential chassis, a 3-controller, a 4-sensor, a 5-motor driver and a 6-battery module.
Detailed Description
The present invention will be described in detail with reference to specific examples. The following examples will assist those skilled in the art in further understanding the invention, but are not intended to limit the invention in any way. It should be noted that it would be obvious to those skilled in the art that various changes and modifications can be made without departing from the spirit of the invention. All falling within the scope of the present invention.
Example (b):
as shown in fig. 1, the present invention provides a loose-media mobile robot based on ROS2, comprising: the device comprises a spiral wheel type hub motor 1, a differential chassis 2, a controller 3, a sensor 4, a motor driver 5 and a battery module 6; the four spiral wheel type hub motors 1 are respectively arranged at the hub positions of the differential chassis 2 and are in driving connection with the motor driver 5; the controller 3, the sensor 4, the motor driver 5 and the battery module 6 are arranged on the differential chassis 2; the controller 3 is respectively and electrically connected with the spiral wheel type hub motor 1, the sensor 4 and the motor driver 5; the battery module 6 is respectively and electrically connected with the spiral wheel type hub motor 1, the differential chassis 2, the controller 3, the sensor 4 and the motor driver 5.
Specifically, the novel spiral wheel type mobile robot is designed, a control platform is built based on a robot operating system ROS2, complex motion in a loose environment can be achieved, and complex functions of map building positioning and autonomous navigation can be achieved based on various sensors. Mainly comprises the following parts:
1. four-wheel differential chassis: the four wheels are driven independently, the forward and backward movement and the steering movement of the robot are completed by controlling the speed difference of the two sides of the wheels, and an additional steering structure is not needed.
2. Helical wheel type hub motor and driver: the spiral wheel type hub motor does not need a complex external structure, so that the overall layout of the vehicle structure is more flexible. The vehicle body adopts four single-shaft spiral wheel type hub motors and matched drivers, the rated power can reach 720W, and the output rotating speed can reach 770 RPM. The tyre adopts a spiral configuration suitable for loose environment and is manufactured by using a nylon material machine.
3. A controller module: in order to meet the requirements of complex robot systems, a layered control system is adopted. The upper computer selects a high-performance Nvidia NX development board as a main control core for algorithm operation; the lower computer adopts an embedded board which is based on STM32 as a main control and is responsible for robot motion control and bottom layer obstacle avoidance.
4. A sensor module: various sensors such as an encoder, an Inertial Measurement Unit (IMU), a GPS (global positioning system), a laser radar and a binocular camera are integrated, so that the running state, the posture and the environmental information of the robot can be monitored in real time, and a data basis is provided for the realization of functions such as subsequent drawing construction, positioning and navigation.
5. Battery and power conversion module: the mobile robot is powered by a 48V36AH lithium battery to provide electric energy for all electric equipment on the platform. The spiral wheel type hub motor can be directly supplied with power through 48V, and the controller and the sensor need to be supplied with power through 12V voltage, so that a DC-DC power supply conversion module needs to be provided for voltage conversion.
The robot platform can not be connected with the outside world by any wire in the working process, an internal mobile power supply is needed for supplying power, and the schematic connection diagram of the electrical structure is shown in fig. 2. As shown in fig. 2, the control system needs to use a plurality of different voltages to supply power to different devices, and therefore a voltage conversion module and an inverter module are added to perform voltage conversion. A48V 36AH lithium battery is used as a mobile power supply. Wherein the rated input voltage of the spiral wheel type hub motor and the driver thereof is 48V, and a mobile power supply can be adopted for directly supplying power. The upper computer Nvidia NX development board and the lower computer STM32 can be powered by using DC 12V. Therefore, 12V after power conversion is used for power supply. The power supply voltage of the wireless router is 9-19V, so that 12V can be adopted for power supply. The power supply voltage of sensors such as a GPS, an IMU, a laser radar and a binocular camera is 5V, and the USB ports of an upper computer and a lower computer can be used for supplying power. Simultaneously, in order to satisfy the demand that later stage robot platform carried on sampling mechanism, install 220V contravariant module additional.
The control system of the robot platform is designed in a layered mode, different functions are divided into different levels, coupling among the levels is greatly reduced, and cost of later-stage modification and upgrading is reduced. The hierarchical control system framework is divided into three parts, namely a ground station PC, a robot upper computer end and a robot lower computer end, as shown in FIG. 3. The lower robot end is the bottommost part, the motion control of the robot platform is realized by converting the obtained motion instruction into a control signal of the spiral wheel type hub motor, and meanwhile, the feedback data of the motion platform is obtained and packaged and sent to the upper robot end. The robot upper computer end is the most important component of the control system, and mainly comprises a data communication interface with a lower computer and each sensor, a robot state parameter initialization interface, a data preprocessing interface, a simulation interface, a kinematics analysis interface and an upper algorithm realization interface. The ground station PC is arranged on the uppermost layer of the control system and mainly provides a visual and manual control interface for workers.
The lower computer end of the robot is mainly responsible for platform control, converts the motion instructions transmitted by the upper computer end into control instructions for each motor, sends corresponding commands to the motor driver to drive the spiral wheel type hub motor to move, and simultaneously feeds back encoder and sensor data to the upper computer end of the robot. The message passing flow is as shown in figure 4.
The ROS 2-based robot upper computer end is mainly responsible for realizing upper-layer algorithms, and mainly comprises sensor information acquisition, data preprocessing, data transmission, map building, positioning, path planning and other algorithms.
The ground station PC mainly provides a convenient operation interface for users, and the communication and remote control interface can display speed and angular speed information, battery voltage and residual capacity information, running feedback information and real-time image information in the running process of the robot in real time, parameter configuration based on ROS2 master-slave machine communication and parameter configuration in a remote control mode. The autonomous navigation interface can display a two-dimensional grid map and three-dimensional point cloud data, the control keys comprise an initialization position setting, a target position setting, a return point setting and a return instruction starting, and the running position coordinate and the target return point coordinate of the robot can be observed at the same time.
In the description of the present application, it is to be understood that the terms "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", and the like indicate orientations or positional relationships based on those shown in the drawings, and are only for convenience in describing the present application and simplifying the description, but do not indicate or imply that the referred device or element must have a specific orientation, be constructed in a specific orientation, and be operated, and thus, should not be construed as limiting the present application.
Those skilled in the art will appreciate that, in addition to implementing the systems, apparatus, and various modules thereof provided by the present invention in purely computer readable program code, the same procedures can be implemented entirely by logically programming method steps such that the systems, apparatus, and various modules thereof are provided in the form of logic gates, switches, application specific integrated circuits, programmable logic controllers, embedded microcontrollers and the like. Therefore, the system, the device and the modules thereof provided by the present invention can be considered as a hardware component, and the modules included in the system, the device and the modules thereof for implementing various programs can also be considered as structures in the hardware component; modules for performing various functions may also be considered to be both software programs for performing the methods and structures within hardware components.
The foregoing description of specific embodiments of the present invention has been presented. It is to be understood that the present invention is not limited to the specific embodiments described above, and that various changes or modifications may be made by one skilled in the art within the scope of the appended claims without departing from the spirit of the invention. The embodiments and features of the embodiments of the present application may be combined with each other arbitrarily without conflict.
Claims (10)
1. A bulk media mobile robot based on ROS2, comprising: the device comprises a spiral wheel type hub motor (1), a differential chassis (2), a controller (3), a sensor (4), a motor driver (5) and a battery module (6);
the number of the spiral wheel type hub motors (1) is four, the four spiral wheel type hub motors are respectively arranged at the hub positions of the differential chassis (2) and are in driving connection with the motor driver (5);
the controller (3), the sensor (4), the motor driver (5) and the battery module (6) are arranged on the differential chassis (2);
the controller (3) is respectively and electrically connected with the spiral wheel type hub motor (1), the sensor (4) and the motor driver (5);
the battery module (6) is respectively and electrically connected with the spiral wheel type hub motor (1), the differential chassis (2), the controller (3), the sensor (4) and the motor driver (5).
2. The ROS 2-based bulk media mobile robot of claim 1, wherein the helical wheel hub motor (1) and motor driver (5) uses four single-shaft helical wheel hub motors and matching drivers, rated power is 720W, and output speed is 770 RPM.
3. The ROS 2-based bulk media mobile robot of claim 1, wherein the shape of the tire is a spiral configuration suitable for use in a loose environment and the material is nylon.
4. The ROS 2-based bulk media moving robot of claim 1, wherein the differential chassis (2) accomplishes the forward and backward movement and steering movement of the robot by controlling the speed difference between the two sides of the wheels.
5. The ROS 2-based bulk media mobile robot of claim 1, wherein the sensors (4) include integrated encoders, inertial measurement units IMU, GPS, lidar and binocular cameras to monitor the robot's state of operation, attitude and environmental information in real time, providing a data basis for subsequent mapping, positioning and navigation.
6. The ROS 2-based bulk media moving robot of claim 1, wherein the battery module (6) is a 48V36AH lithium battery, and the spiral wheel type hub motor (1) is directly powered by 48V, and the voltage is converted into 12V and then supplied to the controller (3) and the sensor (4).
7. The ROS 2-based bulk media mobile robot of claim 1, characterized in that the hierarchy of the controller (3) is divided into a ground station PC, a robot upper computer end and a robot lower computer end;
the robot lower computer end controls the motion of the robot, obtains the feedback data of the robot at the same time, packs and sends the feedback data to the robot upper computer end;
the robot upper computer end comprises a data communication interface, a robot state parameter initialization interface, a data preprocessing interface, a simulation interface, a kinematics analysis interface and an upper algorithm realization interface, wherein the data communication interface is connected with the lower computer and each sensor;
the ground station PC is used for providing a visual and manual control interface.
8. The ROS 2-based bulk media mobile robot of claim 7, wherein the lower robot end is responsible for robot control, and converts the motion commands transmitted from the upper robot end into control commands for each motor, and sends corresponding commands to the motor driver (5) to drive the helical wheel type hub motor (1) to move, and feeds back encoder and sensor data to the upper robot end.
9. The ROS 2-based bulk media mobile robot of claim 7, wherein the robot upper computer end is responsible for the implementation of upper-layer algorithms including sensor information collection, data pre-processing, data transmission, and mapping, positioning, and path planning.
10. The ROS 2-based bulk media mobile robot of claim 7, wherein the ground station PC provides a communication and remote control interface and an autonomous navigation interface;
the communication and remote control interface is used for displaying speed, angular speed information, battery voltage and residual capacity information, feedback information and real-time image information during operation of the robot in real time, parameter configuration based on ROS2 master-slave machine communication and parameter configuration in a remote control mode;
the autonomous navigation interface is used for displaying a two-dimensional grid map, three-dimensional point cloud data, setting an initialization position, setting a target position, setting a return point, a return instruction starting, a robot running position coordinate and a target return point coordinate.
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN116215697A (en) * | 2022-12-12 | 2023-06-06 | 上海交通大学 | Grain sampling system |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN116215697A (en) * | 2022-12-12 | 2023-06-06 | 上海交通大学 | Grain sampling system |
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