CN106312997A - Laser radar type outdoor autonomously mobile robot provided with automatic stabilization device - Google Patents

Abstract

An outdoor autonomous mobile robot with a laser radar with an automatic stabilizing device disclosed by the invention is characterized in that it includes a crawler-type mobile robot chassis without a shock absorbing device, a four-degree-of-freedom mechanical arm arranged on the chassis, and a mechanical arm fixed on the The inertial measurement unit and lidar at the end of the four-degree-of-freedom robotic arm. The outdoor autonomous mobile robot with this structure can keep the attitude of the lidar stable when the attitude of the robot changes. In this way, the robot performs real-time positioning and map construction when it is running outdoors, and realizes the autonomous movement of the robot in the outdoor environment.

Description

An outdoor autonomous mobile robot with lidar with automatic stabilization

technical field

The invention relates to outdoor autonomous mobile robot technology, in particular to an outdoor autonomous mobile robot with a laser radar with an automatic stabilizing device.

Background technique

Real-time positioning and map construction are the key to the autonomous movement of mobile robots. The existing technology basically solves the real-time positioning and map construction of robots on indoor flat ground. Due to the flat indoor ground, lidar interferes in real-time positioning and map construction. It is small and has a high success rate of map construction, realizing the autonomous operation of mobile robots indoors.

However, in the outdoor environment, due to the complex ground environment, the mobile robot will produce large bumps and vibrations when it is running outdoors. When using lidar for real-time positioning and map construction, large changes in the attitude of the lidar will lead to map construction. Fail, the robot cannot move autonomously. The existing outdoor autonomous mobile robot can only perform real-time positioning and map construction in a bump-free environment, but cannot perform map construction in a complex terrain environment.

Contents of the invention

In order to solve the problem that the existing mobile robot has a low success rate of map construction in a vibration and bumpy environment, this invention proposes an outdoor autonomous mobile robot with a laser radar with an automatic stabilization device, which can make the laser The attitude of the radar remains stable. In this way, the robot performs real-time positioning and map construction when it is running outdoors, and realizes the autonomous movement of the robot in the outdoor environment.

The technical scheme that realizes the object of the present invention is:

An outdoor autonomous mobile robot with a laser radar with an automatic stabilizing device, including a crawler-type mobile robot chassis without a shock absorber, a four-degree-of-freedom mechanical arm arranged on the chassis, and an inertial robot fixed at the end of the four-degree-of-freedom mechanical arm Measuring unit and lidar.

The crawler-type mobile robot chassis without a shock absorber includes a mobile robot body and a robot chassis controller, a radio frequency antenna and a crawler unit arranged on the body. A drive motor, a motor driver and a lithium battery are arranged in the body, and the crawler unit Connected to control the normal movement of the track.

The four-degree-of-freedom robotic arm includes a robotic arm base, a first joint of the robotic arm, a first link of the robotic arm, a second joint of the robotic arm, a second link of the robotic arm, a third joint of the robotic arm, and a third link of the robotic arm , the fourth joint of the mechanical arm and the end support of the mechanical arm, one end of the base of the mechanical arm is fixedly arranged on the body of the mobile robot, and the other end is connected to the first joint of the mechanical arm;

The first joint of the mechanical arm is connected to the second joint of the mechanical arm through the first connecting rod of the mechanical arm;

The second joint of the mechanical arm is connected to the third joint of the mechanical arm through the second connecting rod of the mechanical arm;

The third joint of the robotic arm is connected to the fourth joint of the robotic arm through the third connecting rod of the robotic arm;

The fourth joint of the mechanical arm is connected with the support at the end of the mechanical arm.

The inertial measurement unit and the laser radar are respectively arranged on the upper end and the lower end of the end support of the mechanical arm, and are respectively connected with the robot chassis controller, and the inertial measurement unit is controlled by the robot chassis controller to measure the attitude of the robot body.

The present invention has the following advantages:

1. Lidar can be used to complete the real-time positioning and map construction of autonomous mobile robots in outdoor uneven road environments;

2. Stable operation: the attitude information is obtained by the robot itself and the inertial measurement unit at the end of the manipulator, and the manipulator is controlled to keep the lidar attitude stable;

3. Strong adaptability: general outdoor mobile robot platforms can only complete real-time positioning and map construction on flat roads, but the invention can enable robots to complete map construction in complex road environments.

Description of drawings

Fig. 1 is the structural representation of the embodiment of the present invention;

Fig. 2 is an embodiment of the present invention: a schematic diagram of an outdoor autonomous mobile robot on a flat road;

Fig. 3 is an embodiment of the present invention: a schematic diagram of an outdoor autonomous mobile robot in a longitudinal bump state;

Fig. 4 is a schematic diagram of an embodiment of the present invention: an outdoor autonomous mobile robot in a state of lateral bumping.

detailed description

As shown in Figure 1, the present invention has the outdoor autonomous mobile robot of the lidar of band automatic stabilizer, by the crawler type mobile robot chassis of no damping device, four-degree-of-freedom mechanical arm, the inertial measurement unit that is fixed on the end of mechanical arm and Composition of lidar. in:

The crawler-type mobile robot chassis without damping device is made up of robot chassis controller 12, radio frequency antenna 13, mobile robot body 14, right crawler unit 15, and left crawler unit 16. Wherein the robot chassis controller 12 includes a robot controller and an inertial measurement unit for measuring the attitude of the robot body; the mobile robot body 14 includes the parts of a general mobile robot, including metal structural parts, drive motors, motor drivers, lithium batteries, etc. Make the track move normally. The right side crawler unit 15 and the left side crawler unit 16 respectively comprise a rubber crawler, a crawler drive wheel, a guide wheel, conventional rubber crawler units such as some support wheels and connecting structural parts.

The structure of the four-degree-of-freedom mechanical arm includes a base 11 of the mechanical arm, a first joint 10 of the mechanical arm, a first connecting rod 1 of the mechanical arm, a second joint 2 of the mechanical arm, a second connecting rod 3 of the mechanical arm, and a third joint 4 of the mechanical arm. The third link 5 of the mechanical arm, the fourth joint 6 of the mechanical arm, and the support 8 at the end of the mechanical arm. The four-degree-of-freedom mechanical arm is fixed on the mobile robot body 14 in the mobile robot chassis through the mechanical arm base 11 . The other end of the mechanical arm base 11 is connected to the first joint of the mechanical arm;

The first joint 10 of the mechanical arm is connected to the second joint 2 of the mechanical arm through the first connecting rod 1 of the mechanical arm;

The second joint 2 of the mechanical arm is connected to the third joint 4 of the mechanical arm through the second connecting rod 3 of the mechanical arm;

The third joint 4 of the mechanical arm is connected to the fourth joint 6 of the mechanical arm through the third connecting rod 5 of the mechanical arm;

The fourth joint 6 of the mechanical arm is connected to the bracket 8 at the end of the mechanical arm.

The inertial measurement unit fixed at the end of the mechanical arm is that the inertial measurement unit 7 is installed on the end support 8 of the mechanical arm in the four-degree-of-freedom mechanical arm.

The laser radar 9 is installed under the end support 8 of the mechanical arm in the four-degree-of-freedom mechanical arm.

When the robot first needs to initialize the attitude of the robot before running, the robot is placed on a level ground, and the initial position of the mechanical arm is set at the angle A of the first joint 10 of the mechanical arm relative to the vertical rotation when the chassis of the robot is in a horizontal state, so that the first joint 10 of the mechanical arm A connecting rod 1 forms an angle A with the vertical direction; the second joint 2 of the mechanical arm rotates at an angle B relative to the direction pointed by the first connecting rod 1 of the mechanical arm, and the second connecting rod 3 of the mechanical arm and the pointing direction of the first connecting rod 1 of the mechanical arm The direction is an angle B; the third joint 4 of the mechanical arm is rotated by an angle C relative to the direction pointed by the second connecting rod 3 of the mechanical arm, so that the third connecting rod 5 of the mechanical arm and the direction pointed by the second connecting rod 3 of the mechanical arm form an angle C; The fourth joint 6 of the mechanical arm rotates at an angle D relative to the third connecting rod 5 of the mechanical arm, and the initial state D is 0; at this time, the longitudinal distance of the end bracket 8 of the mechanical arm relative to the rotation center of the mobile robot chassis is h, and the distance from the ground is d, as shown in Figure 2.

Due to the complexity of the outdoor ground environment, the robot will encounter bumps during its travel. If obstacles cause the robot to tilt longitudinally, as shown in Figure 3. The robot needs to cross the longitudinal obstacle O during the traveling process, resulting in the longitudinal inclination angle of the robot chassis relative to the ground being Q. 12 The inertial measurement unit in the robot chassis controller installed on the mobile robot chassis and the inertial measurement unit fixed at the end of the mechanical arm are the inertial measurement unit 7, which can detect the end bracket of the robot arm in the robot chassis and the four-degree-of-freedom mechanical arm 8 attitude change, the control command is calculated by the correction algorithm, the robot chassis controller 12 controls and adjusts the rotation angle of each joint in the manipulator, so that the attitude of the end support 8 of the manipulator remains stable, so that the distance between the laser radar 9 and the original ground is d and the longitudinal distance h from the center of rotation of the mobile robot chassis remain constant.

As shown in Figure 4, if an obstacle causes the robot to tilt laterally, one side of the crawler of the robot needs to cross the longitudinal obstacle O1 while the other side of the crawler does not need to climb over the obstacle, resulting in a lateral tilt of the robot chassis relative to the ground The angle is Q1. 12 The inertial measurement unit in the robot chassis controller installed on the mobile robot chassis and the inertial measurement unit fixed at the end of the mechanical arm are the inertial measurement unit 7, which can detect the end bracket of the robot arm in the robot chassis and the four-degree-of-freedom mechanical arm 8 attitude change, the control command is calculated by the correction algorithm, the robot chassis controller 12 controls and adjusts the rotation angle of each joint in the manipulator, so that the attitude of the end support 8 of the manipulator remains stable, so that the distance between the laser radar 9 and the original ground is d and the longitudinal distance h from the center of rotation of the mobile robot chassis remain constant.

The ground obstacles encountered by the robot when running outdoors are usually complex irregular obstacles, and the resulting tilt of the robot chassis can be divided into longitudinal tilt and lateral tilt. Through the combination of the above two examples, the robot can ensure The vertical distance h of the lidar 9 relative to the original ground distance d and the center of rotation of the mobile robot chassis remains unchanged. So that the robot can stabilize real-time positioning and map construction.

Claims (4)

1. there is an outdoor autonomous mobile robot for the laser radar of band built-in stabilizers, it is characterized in that: include without subtracting Shake the caterpillar mobile robot chassis of device, the four-degree-of-freedom mechanical arm being arranged on this chassis and be fixed on four-degree-of-freedom machine The Inertial Measurement Unit of mechanical arm end and laser radar.

Outdoor autonomous mobile robot the most according to claim 1, is characterized in that: the described crawler type without damping device is moved Mobile robot chassis includes mobile machine human organism and the robot chassis controller, radio-frequency antenna and the shoe that are arranged on this body Tape cell, is provided with driving motor, motor driver and lithium battery, is connected with track unit, control crawler belt proper motion in body.

Outdoor autonomous mobile robot the most according to claim 1, is characterized in that: described four-degree-of-freedom mechanical arm includes machine Mechanical arm base, mechanical arm the first joint, mechanical arm first connecting rod, mechanical arm second joint, mechanical arm second connecting rod, mechanical arm Three joints, mechanical arm third connecting rod, mechanical arm the 4th joint and mechanical arm tail end support, mechanical arm base one end is fixedly installed on On mobile machine human organism, the other end is connected with mechanical arm the first joint；

Mechanical arm the first joint is connected with mechanical arm second joint by mechanical arm first connecting rod；

Mechanical arm second joint is connected with mechanical arm the 3rd joint by mechanical arm second connecting rod；

Mechanical arm the 3rd joint is connected with mechanical arm the 4th joint by mechanical arm third connecting rod；

Mechanical arm the 4th joint is connected with mechanical arm tail end support.

Outdoor autonomous mobile robot the most according to claim 1, is characterized in that: described Inertial Measurement Unit and laser thunder Reach and be separately positioned on mechanical arm tail end support upper and lower end, and be connected, by robot chassis with robot chassis controller respectively Controller controls Inertial Measurement Unit robot measurement body attitude.