CN108995739A - A kind of general omnidirectional's robot developing platform - Google Patents
A kind of general omnidirectional's robot developing platform Download PDFInfo
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- CN108995739A CN108995739A CN201810758946.2A CN201810758946A CN108995739A CN 108995739 A CN108995739 A CN 108995739A CN 201810758946 A CN201810758946 A CN 201810758946A CN 108995739 A CN108995739 A CN 108995739A
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- 230000007246 mechanism Effects 0.000 claims abstract description 45
- 230000009471 action Effects 0.000 claims abstract description 4
- 238000009434 installation Methods 0.000 claims description 14
- XAGFODPZIPBFFR-UHFFFAOYSA-N aluminium Chemical compound [Al] XAGFODPZIPBFFR-UHFFFAOYSA-N 0.000 claims description 5
- 229910052782 aluminium Inorganic materials 0.000 claims description 5
- 239000000725 suspension Substances 0.000 claims description 5
- 238000002604 ultrasonography Methods 0.000 claims 1
- 230000006870 function Effects 0.000 abstract description 12
- 238000011161 development Methods 0.000 abstract description 10
- 238000011160 research Methods 0.000 description 4
- 238000013461 design Methods 0.000 description 3
- 238000010586 diagram Methods 0.000 description 3
- 230000000694 effects Effects 0.000 description 3
- 241000239290 Araneae Species 0.000 description 2
- 230000009286 beneficial effect Effects 0.000 description 2
- 230000008878 coupling Effects 0.000 description 2
- 238000010168 coupling process Methods 0.000 description 2
- 238000005859 coupling reaction Methods 0.000 description 2
- 238000000034 method Methods 0.000 description 2
- 239000000203 mixture Substances 0.000 description 2
- 238000012544 monitoring process Methods 0.000 description 2
- 238000012827 research and development Methods 0.000 description 2
- 230000004888 barrier function Effects 0.000 description 1
- 230000015572 biosynthetic process Effects 0.000 description 1
- 238000004891 communication Methods 0.000 description 1
- 230000005611 electricity Effects 0.000 description 1
- 230000003028 elevating effect Effects 0.000 description 1
- 238000007620 mathematical function Methods 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 230000008450 motivation Effects 0.000 description 1
- 239000012466 permeate Substances 0.000 description 1
- 239000000047 product Substances 0.000 description 1
- 238000001228 spectrum Methods 0.000 description 1
- 238000003786 synthesis reaction Methods 0.000 description 1
- 238000012549 training Methods 0.000 description 1
- 238000012546 transfer Methods 0.000 description 1
Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D63/00—Motor vehicles or trailers not otherwise provided for
- B62D63/02—Motor vehicles
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- Engineering & Computer Science (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Transportation (AREA)
- Mechanical Engineering (AREA)
- Manipulator (AREA)
- Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
Abstract
The present invention discloses a kind of general omnidirectional's robot developing platform, it is related to mobile platform field, including platform hull, omni-directional moving mechanism, radar, sensor, expand objective table, expand connecting plate, control system and operating system, the lower part that platform hull is arranged in omni-directional moving mechanism is used to support mobile entire platform and connects control system and is controlled by it, laser radar is arranged in platform hull for scanning ambient enviroment, sensor is arranged in platform hull to be monitored for avoidance, objective table is expanded to be arranged in platform hull for disposing expansion equipment, connecting plate is expanded to be arranged in platform hull for disposing the connecting component for expanding equipment connection, action control of the control system for each equipment in control platform, operating system is used for the robot for managing and controlling entire platform and developing on the platform；The Omni-mobile flexibility of the platform is more preferable, can adapt to more complicated environment and operating condition, and be convenient for functions expanding and secondary development.
Description
Technical field
The present invention relates to mobile platform fields, especially design the robot developing platform of Omni-mobile.
Background technique
The application of robot more comes and extensively, almost permeates all spectra, and various countries' especially western developed country is just endeavoured
In research, exploitation and service robot is widely applied, currently, the U.S., Japan and other countries, robot be applied to mall shopping,
The multiple fields such as article transfer, household service, exhibition room security personnel.Compared with common industrial robot, service robot has more
Big more flexible working space, therefore it often uses mobile robot, mobile robot needs to adapt to various indoor complicated rings
Border, outdoor such as a variety of environment such as target practice training place, often require that its have can narrow, crowded occasion flexibly and fast from
By the performance moved, this also becomes the difficulties of robot research and design, therefore can flexibly move in the work environment
Moving and having the function of to execute is the characteristics of mobile machine is recognized, and it is machine that mobile mechanism, which is the pith for forming mobile robot,
The key of people's realization functional requirement.
Robotics development makes rapid progress, and time and tide wait for no man, and the omnidirectional's robot developing platform for providing a versatility can
Robot research and development speed is greatly improved, avoids repeating the case where making " wheel ".Existing robot developing platform is mostly that spider gear moves
Realize and turn to that the flexibility of spider gear chassis is insufficient, in certain narrow, crowded spaces by the rotational speed difference of driving wheel in dynamic chassis
Interior limitation of movement, the chassis basis that cannot be provided to the robot research and development high to requirement on flexibility.In addition, existing chassis hardware
Upper is mostly the set of system of independent completion, is implanted into and verifies for algorithm, the closure on hardware, so that such chassis is only suitable for
It is verified in algorithm research, for the requirement for needing hardware to expand, such as addition mechanical arm, increase elevating mechanism, then is difficult to meet.
Summary of the invention
The purpose of the present invention is to provide a kind of Omni-mobile flexibility is more preferable, and it is convenient for functions expanding and secondary opens
A kind of general omnidirectional's robot developing platform of hair.
To achieve the above object, the technical scheme is that a kind of general omnidirectional's robot developing platform, feature exist
In: including platform hull, omni-directional moving mechanism, radar, sensor, expand objective table, expansion connecting plate, control system and behaviour
Make system, the lower part that platform hull is arranged in the omni-directional moving mechanism is used to support mobile entire platform and connects control system
System is controlled by it, and the laser radar is arranged in platform hull for scanning ambient enviroment, and the sensor is arranged in platform
It is monitored on shell for avoidance, the expansion objective table, which is arranged in platform hull, expands equipment for disposing, and the expansion connects
Fishplate bar is arranged in platform hull for disposing the connecting component for expanding equipment connection, and the control system is used for control platform
The action control of upper each equipment, the operating system are used for the machine for managing and controlling entire platform and developing on the platform
People.
The operating system uses ROS robot operating system.
The sensor is ultrasonic sensor.
The radar is laser radar.
The sensor is laid multiple along surrounding's different angle of platform hull.
The objective table of expanding includes the bottom plate being arranged in platform hull and is arranged on bottom plate for expanding equipment installation
The fixation aluminum profile of connection.
Expansion connecting plate setting is on expanding objective table or platform hull, the expansion objective table and platform hull
It is upper to offer the through-hole passed through for connecting component respectively.
The omni-directional moving mechanism include the preceding mobile mechanism being mainly made of the Mecanum wheel group independently driven and
The Mecanum wheel group opposed platforms shell of mobile mechanism afterwards, the preceding mobile mechanism is not swingable, the rear mobile mechanism
Mecanum wheel group be equipped with installation set, the installation set towards between one end and platform hull of Mecanum wheel be equipped with suspension
Mechanism is connected between the other end and platform hull of the installation set by shaft bearing component.
Mobile mechanism is front end before the platform hull is corresponding, and mobile mechanism is rear end after corresponding to, and the radar is set
It sets on the front end of platform hull.
It is laid with biography respectively on front, left front and the direction of right front three in the front end side wall of the platform hull
Sensor is respectively equipped with sensor on the two sidewalls of the platform hull and rear end side wall.
By using above-mentioned technical proposal, the beneficial effects of the present invention are: above-mentioned Omni-mobile mechanism uses Mecanum
Wheel group composition, constitutes the chassis of platform, Mecanum wheel is a kind of omni-directional wheel, can be more using this multiple wheel combination
Flexible and convenient realization all-around mobile function, it is further above-mentioned after suspension mechanism in mobile mechanism, shaft bearing component
What structure setting made rear mobile mechanism has swingable, reducible effect so that rear mobile mechanism have with platform hull it is soft
Property connection effect, the structure setting can guarantee that the Mecanum wheel of preceding mobile mechanism and rear mobile mechanism connects simultaneously with ground
Touching improves the mobile passage capacity and kinematic accuracy of omnidirectional's robot developing platform, to preferably realize that the present invention states omnidirectional
Mobile flexibility is more preferable, can adapt to the purpose effect of more complicated environment and operating condition.Development platform of the invention is equipped with thunder
It reaches, sensor etc. and use ROS robot operating system (Robot Operating System), user can be facilitated basic herein
It is upper to carry out software development and realize the functions such as independent navigation and secondary development on this basis.General robot of omnidirectional of the invention
The integral mechanical structure of development platform, each system combination collocation are coordinated, and can meet the different demands of different user, can operate with religion
It educates on scientific research field or other field.
Detailed description of the invention
Fig. 1 is a kind of overall structure diagram of general omnidirectional's robot developing platform of the present invention；
Fig. 2 is a kind of schematic diagram of internal structure of general omnidirectional's robot developing platform of the present invention；
Fig. 3 is a kind of circuit structure block diagram of general omnidirectional's robot developing platform of the present invention.
In figure:
Platform hull 1；Case frame 11；Panel 12；Through-hole 13；Omni-directional moving mechanism 2；
Mecanum wheel group 21；Mecanum wheel 211；Driving motor 212；Shaft coupling 213；
Preceding mobile mechanism 22；Mobile mechanism 23 afterwards；Installation set 24；Suspension mechanism 25；Shaft bearing component 26；
Radar 3；Sensor 4；Expand objective table 5；Bottom plate 51；Through-hole 511；Fixed aluminum profile 52；
Expand connecting plate 6；Control system 7；Operating system 8.
Specific embodiment
In order to further explain the technical solution of the present invention, being explained in detail below by specific embodiment the present invention
It states.
A kind of general omnidirectional's robot developing platform disclosed by the invention includes platform hull as shown in Figure 1, Figure 2 and Figure 3
1, omni-directional moving mechanism 2, radar 3, sensor 4, expansion objective table 5, expansion connecting plate 6, control system 7 and operating system 8,
The position connection relationship between each portion is described in detail with reference to the accompanying drawing.
Action control of the control system 7 for each equipment in control platform, controls comprehensive shifting as illustrated in the drawing
The movement of motivation structure 2, work start and stop there are also radar 3 and sensor 4, and the operating system 8 is for managing and controlling entire platform
And the robot developed on the platform, ROS robot operating system, Robot are preferably used in the present embodiment
Operating System is the metaoperating system of an open source for being suitable for robot, it provides the due service of system,
Including hardware abstraction, underlying device control, the realization of common mathematical function, inter-process messages transmitting, and reason is assured, it also provides use
In acquisition, compile, write and across computer operation code needed for tool and library function, therefore basis can facilitate in platform herein
Software development is carried out in upper increase equipment realizes the functions such as independent navigation and secondary development on this basis.
The platform hull 1 supports the case frame 11 of load-bearing including main its and is located at shell as depicted in figs. 1 and 2
Setting is fixedly mounted for each component, equipment inside platform hull 1 in panel 12 outside body frame 11.
The lower part that platform hull 1 is arranged in the omni-directional moving mechanism 2 is used to support mobile entire platform, constitutes platform
Chassis, connection control system 7 be controlled by it, the omni-directional moving mechanism 2 include mainly received by the Mike independently driven
The preceding mobile mechanism 22 and rear mobile mechanism 23 that nurse wheel group 21 forms；Here illustratively: Mecanum wheel is that had based on one
Many is located in the principle of the centre wheel of the wheel shaft on wheel periphery, these angled periphery wheel shafts turn to the wheel of a part
Power is transformed into above a wheel normal force, direction and speed by respective wheel, and the final synthesis of these power is wanted any
A resultant force vector is generated on the direction asked to ensure that this platform can be freely on the direction of final resultant force vector
Mobile, the direction without changing wheel itself, diagonally distribute many small rollers on its wheel rim, therefore wheel can be slided laterally
It moves, the bus of small roller is very special, and when wheel is around fixed wheel arbor rotation, the envelope of each small roller is cylinder
Face, so the wheel being capable of continuously rolls forward.Mecanum wheel is compact-sized, and movement is a kind of very successful full side flexibly
Position wheel, has 4 this novel wheels to be combined, can be with more flexible convenient realization all-around mobile function；In the present embodiment
Each Mecanum wheel group 21 is that independently drive is all driving wheel, and each Mecanum wheel group includes Mike as illustrated in the drawing
The compositions such as Na Mu wheel 211, driving motor 212, shaft coupling 213, by controlling the steering of four Mecanum wheels 211 respectively and turning
Speed cooperates the omnidirectional moving, it can be achieved that AGV (Automated Guided Vehicle), is so that 4 each Mikes in the present embodiment
Na Mu wheel 211 keeps contacting simultaneously with ground, the Mecanum wheel group 21 of the preceding mobile mechanism 22 can opposed platforms shell 1 not
It is swingable, and it is described after the Mecanum wheel group 21 of mobile mechanism 23 be equipped with installation set 24, the installation set 24 is towards Mike
Suspension mechanism 25, the other end and platform hull 1 of the installation set 24 are equipped between one end and platform hull 1 of Na Mu wheel 211
Between by shaft bearing component 26 connect, can realize above-mentioned beneficial effect in this way, improve the passability of platform, walk
When ground on have a little small injustice can also pass through.
The radar 3 preferably uses laser radar in the present embodiment, is arranged in platform hull 1, as shown in the figure
, mobile mechanism 22 is front end before the platform hull 1 is corresponding, and mobile mechanism 23 is rear end after corresponding to, the laser thunder
For scanning ambient enviroment on up to the front end that platform hull 1 is arranged in, scan data is transferred to operating system 8, is adopted based on above-mentioned
With ROS robot development system, feasible route is calculated, can be realized the independent navigation function of platform.
The sensor 4 is arranged in platform hull 1 to be monitored for avoidance, realizes platform security protection on the move, this
In embodiment, the sensor 4 preferably uses ultrasonic sensor, when ultrasonic sensor detects that barrier is less than safety
By signal feedback operation system 8 after distance, operating system 8 is to issue the instruction for stopping continuing to move to control system, and separately count
It calculates shiftable haulage line to issue, reaches independent navigation, the sensor 4 can be multiple along the laying of surrounding's different angle of platform hull 1, such as
It is shown in figure, divide on front, left front and the direction of right front three on the front end side wall panel 12 of the platform hull 1
It is not laid with ultrasonic sensor, and its two sidewalls panel 12 and rear end sidewall panel 12 are also respectively equipped with ultrasonic sensor,
To reach comprehensive monitoring, especially front end side wall panel 12 in the setting in three directions, in the mobile main side that advances
The upward structure setting monitoring range is wide, and the advance for capableing of better security protection platform is mobile.
The present invention is used for robot developing platform functions expanding as the platform for facilitating secondary development, develops other function,
Setting is for disposing the expansion objective table 5 for expanding equipment (carrying other workbench such as mechanical arm etc.), energy in platform hull 1
Enough facilitate the firm installation for expanding equipment, the objective table 5 of expanding includes the bottom being arranged in platform hull 1 as illustrated in the drawing
Plate 51 installs the fixation aluminum profile 52 of connection with being arranged in for expanding equipment on bottom plate 51, fixed aluminum profile 52 shown in figure is
Two of parallel interval setting, structure is simple, easy for installation, stable connection.
The connecting plate 6 of expanding is arranged in platform hull 1 for disposing connecting component (such as line connected for expanding equipment
Road connection-peg etc., as user provide hardware electric appliance and support, reserve enough performance margins when to development platform electrical design, such as
The equipment of user development, which can facilitate, goes electricity communication etc. by connector completion on expanding connecting plate 6, realizes the fast of expanding function
Speed is built), as illustrated in the drawing, the connecting plate 6 of expanding is arranged on the bottom plate 51 for expanding objective table 5, the bottom plate 51
With the through-hole 511/13 for offering and passing through for connecting component is respectively corresponded in platform hull 1, the extension connecting plate 6 can directly pacify
On through-hole 511 loaded on bottom plate 51, alternatively, can also be set up directly on the through-hole 13 of platform hull 1, such bottom plate 51 can not have to
Through-hole 511 is set,
Above-described embodiment and schema and non-limiting product form and style of the invention, any technical field it is common
The appropriate changes or modifications that technical staff does it all should be regarded as not departing from patent category of the invention.
Claims (10)
1. a kind of general omnidirectional's robot developing platform, it is characterised in that: including platform hull, omni-directional moving mechanism, radar,
Sensor expands objective table, expands connecting plate, control system and operating system, and the omni-directional moving mechanism is arranged in platform
The lower part of shell is used to support mobile entire platform and connects control system and is controlled by it, and the radar is arranged in platform hull
For scanning ambient enviroment, the sensor is arranged in platform hull to be monitored for avoidance, and the expansion objective table setting exists
Equipment is expanded for disposing in platform hull, the expansion connecting plate, which is arranged in platform hull, to be connected for disposing for expanding equipment
The connecting component connect, action control of the control system for each equipment in control platform, the operating system is for managing
With the robot for controlling entire platform and developing on the platform.
2. a kind of general omnidirectional's robot developing platform as described in claim 1, it is characterised in that: the operating system uses
ROS robot operating system.
3. a kind of general omnidirectional's robot developing platform as described in claim 1, it is characterised in that: the sensor is ultrasound
Wave sensor.
4. a kind of general omnidirectional's robot developing platform as described in claim 1, it is characterised in that: the radar is laser thunder
It reaches.
5. a kind of general omnidirectional's robot developing platform as described in claim 1, it is characterised in that: the sensor is along platform
Surrounding's different angle of shell is laid multiple.
6. a kind of general omnidirectional's robot developing platform as described in claim 1, it is characterised in that: the expansion objective table packet
It includes the bottom plate being arranged in platform hull and the fixation aluminum profile on bottom plate for expanding equipment installation connection is set.
7. a kind of general omnidirectional's robot developing platform as described in claim 1, it is characterised in that: the expansion connecting plate is set
It sets on expanding objective table or platform hull, offers on the expansion objective table and platform hull and worn for connecting component respectively
The through-hole crossed.
8. a kind of general omnidirectional's robot developing platform as described in claim 1-7 any one, it is characterised in that: described complete
Orientation mobile mechanism includes the preceding mobile mechanism and rear mobile mechanism being mainly made of the Mecanum wheel group independently driven, described
The Mecanum wheel group opposed platforms shell of preceding mobile mechanism is not swingable, sets in the Mecanum wheel group of the rear mobile mechanism
There is an installation set, the installation set is towards being equipped with suspension mechanism, the installation set between one end and platform hull of Mecanum wheel
The other end and platform hull between connected by shaft bearing component.
9. a kind of general omnidirectional's robot developing platform as claimed in claim 8, it is characterised in that: the platform hull is corresponding
Preceding mobile mechanism is front end, and mobile mechanism is rear end after corresponding to, and the radar is arranged on the front end of platform hull.
10. a kind of general omnidirectional's robot developing platform as claimed in claim 9, it is characterised in that: the platform hull
It is laid with sensor in front end side wall respectively on front, left front and the direction of right front three, the two of the platform hull
Sensor is respectively equipped on side wall and rear end side wall.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810758946.2A CN108995739A (en) | 2018-07-11 | 2018-07-11 | A kind of general omnidirectional's robot developing platform |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810758946.2A CN108995739A (en) | 2018-07-11 | 2018-07-11 | A kind of general omnidirectional's robot developing platform |
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| CN108995739A true CN108995739A (en) | 2018-12-14 |
Family
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| CN201810758946.2A Withdrawn CN108995739A (en) | 2018-07-11 | 2018-07-11 | A kind of general omnidirectional's robot developing platform |
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Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109703652A (en) * | 2019-02-26 | 2019-05-03 | 安徽理工大学 | A kind of Omni-mobile platform of foundry robot |
| CN110058518A (en) * | 2019-04-04 | 2019-07-26 | 江苏大学 | A kind of screw-pushing type mobile platform and its control method based on automatically controlled electricity drive |
| CN110293017A (en) * | 2019-05-27 | 2019-10-01 | 张家港江苏科技大学产业技术研究院 | A kind of Omni-mobile house ornamentation spray robot |
| CN111099522A (en) * | 2019-12-30 | 2020-05-05 | 杭州锐冠科技有限公司 | AGV dolly |
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| US20040019406A1 (en) * | 2002-07-25 | 2004-01-29 | Yulun Wang | Medical tele-robotic system |
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| CN109703652A (en) * | 2019-02-26 | 2019-05-03 | 安徽理工大学 | A kind of Omni-mobile platform of foundry robot |
| CN110058518A (en) * | 2019-04-04 | 2019-07-26 | 江苏大学 | A kind of screw-pushing type mobile platform and its control method based on automatically controlled electricity drive |
| CN110293017A (en) * | 2019-05-27 | 2019-10-01 | 张家港江苏科技大学产业技术研究院 | A kind of Omni-mobile house ornamentation spray robot |
| CN111099522A (en) * | 2019-12-30 | 2020-05-05 | 杭州锐冠科技有限公司 | AGV dolly |
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