CN203480308U - Autonomous wheel type mobile robot control system - Google Patents

本实用新型公开了一种轮式移动机器人控制系统，其特征在于包括了车载和上位控制系统。所述的车载控制系统由控制、定位、安全防撞、通讯以及电机驱动转向等模块组成。上位控制系统通过无线通讯下达任务信息给车载控制系统；车载控制系统通过定位模块得到机器人本体的当前位姿数据，再通过计算机控制模块按照一定的控制策略计算得到相应的控制输入量；驱动转向模块接收到控制输入后，完成给定的控制命令，实现移动机器人的运动。本实用新型轮式移动机器人控制系统不仅可以按用户需求定制产品模块，而且能够实现较高的移动机器人运动精度。

The utility model discloses a control system for a wheeled mobile robot, which is characterized in that it includes a vehicle-mounted and an upper control system. The vehicle-mounted control system is composed of modules such as control, positioning, safety collision avoidance, communication, and motor-driven steering. The upper control system sends task information to the vehicle control system through wireless communication; the vehicle control system obtains the current pose data of the robot body through the positioning module, and then calculates the corresponding control input through the computer control module according to a certain control strategy; the drive steering module After receiving the control input, complete the given control command to realize the movement of the mobile robot. The control system of the wheeled mobile robot of the utility model can not only customize product modules according to user requirements, but also realize higher motion precision of the mobile robot.

A kind of wheeled autonomous mobile robot control system

Technical field

The utility model relates to a kind of control system, relates in particular to a kind of wheeled autonomous mobile robot control system.

Background technology

In recent years, along with the develop rapidly of the technology such as computing machine, artificial intelligence, mechano-electronic and robotization, mobile robot's research has entered a brand-new stage, and its product is also widely used in the fields such as factory, post office, hospital, family.Yet existing a lot of wheeled mobile robot product functions are single, can not be by user's request tailor-made product, especially, aspect motion control precision, can not meet some has the occasion of special requirement to precision.

Summary of the invention

The related Control of Wheeled Mobile Robots system of the utility model is comprised of vehicle control syetem and upper control system, and wherein vehicle control syetem has comprised that again control module, locating module, anticollision module, communication module and motor drive steering module.

Described control module is the core of whole Mobile Robot Control System, selects motion control card as microcontroller.

Described locating module adopts laser navigation locator meams, selects the NAV200 laser navigation positioning system of German SICK company.

Described anticollision module, for preventing in real time the generation of collision, selects the German SICK S3000 of company laser scan type area protection device as the security system of infrared laser beam.

Described communication module adopts wireless local area network technology as the means of communication of wheeled mobile robot.

Described motor drives steering module to adopt front-wheel drive to turn to scheme, is controlled separately the driving of wheeled mobile robot and is turned to respectively by a servomotor.

The wheeled autonomous mobile robot control system that the utility model provides, has following beneficial effect: (1), owing to using motion control card as microcontroller, therefore can significantly improve the kinematic accuracy of wheeled mobile robot; (2) owing to adopting modular design, user can customize the software and hardware that is applicable to oneself, strong adaptability; (3) owing to adopting the vehicle-mounted control mode separated with upper control, user can monitor and process various data at upper control end, and especially in the place of some inclement conditions, user can remote control, practical.

Accompanying drawing explanation

Fig. 1 is the system construction drawing of the utility model embodiment;

Fig. 2 is the principle schematic of laser positioning module;

Fig. 3 is the principle schematic of anticollision module.

Embodiment

Below in conjunction with drawings and Examples, the utility model is described in further detail.

As shown in Figure 2, laser positioning module 5 of the present utility model comprises the laser head 9 being arranged on mobile apparatus human body 8 and is fixed on metope 11) on reflecting plate 10.In mobile apparatus human body 8 driving process, the laser head 9 of navigation positioning system constantly towards periphery environment carry out 360 ° of comprehensive scannings, launch sightless laser beam simultaneously, and detect the laser beam of returning by being vertically set in advance mobile robot's baffle reflection around, by measuring the geometric relationship of reflecting plate in reference frame, calculate position and the direction of laser sensor system in reference frame, provide in real time mobile robot's accurate posture information.

Above-described embodiment is most preferred embodiment of the present utility model, but not in order to limit the utility model.In the situation that not deviating from the utility model principle, those of ordinary skill in the art can make various corresponding changes and distortion according to the utility model, but these corresponding change and within distortion all should belong to the claim scope under the utility model.