CN106864617B - A self-balancing robot system - Google Patents

Abstract

The invention provides a self-balancing robot system, and relates to the technical field of robots. The robot body is an integral frame with a four-column eight-beam structure, and the bottom of the robot body is connected with the load assembly through columns; the three driving wheel sets which are annularly and uniformly distributed are connected with the load-carrying assembly through bolts, and the rims of the driving wheel sets are contacted with the spherical surface; the load assembly is connected with the spherical surface through a universal ball bearing, one end of the load arm is overlapped with one end of the annular support and is provided with a through hole, and the lower end of the upright post penetrates through the through hole of the overlapped part and is fixed through a nut; the other end of the bearing arm is fixed with the spring steel sheet, one end of the limiting claw is fixed with the spring steel sheet through a bolt, and the other end of the limiting claw is provided with a universal ball bearing; the other end of the annular support is fixed with the fixed arm through a bolt, and an output shaft of the speed reducer is connected with the omnidirectional wheel through a key and a key slot; the motor support passes through the fixed arm and is connected with the motor module; the linear shaft passes through the linear bearing and is connected with the fixed arm. The robot balancing device is mainly used for robot balancing.

Description

A self-balancing robot system

technical field

The invention relates to the technical field of robots.

Background technique

With the rise of labor costs, the application of mobile robots in various industries has become more extensive. The robots that are widely used now are mainly wheeled, crawler, footed and other statically balanced robots, which have disadvantages such as insufficient flexibility in steering and need to occupy a large space to maintain their own stability. Although the appearance of the inner spherical robot has solved the above problems to a certain extent, it has the disadvantages of large volume and weak environmental perception ability due to the movement mechanism, sensor, controller and other components placed inside the spherical body. There are relatively mature inner-spherical robot applications.

The outer-ball type self-balancing robot uses the ball as a driving wheel, and places the parts above the sphere, which solves the problems of inflexible steering and large space occupation. The outer spherical self-balancing robot is a kind of dynamic balancing robot. Compared with the static balancing robot, it has better stability. It can move in any direction on the ground without turning radius, and is suitable for use in narrow and crowded spaces. Chinese patent CN 102991600 A proposes an outer spherical self-balancing robot structure, but due to the sliding friction between the ball and the driving wheel during motion, the stability is still insufficient, and there is no independent load-bearing structure, the robot's load-bearing capacity is poor . At present, this type of outer spherical self-balancing robot has yet to be perfected.

Contents of the invention

The purpose of the present invention is to provide a self-balancing robot system, which can effectively solve the problem of dynamic balancing of the robot under load conditions.

The object of the present invention is achieved through the following technical solutions: a self-balancing robot system, including a robot body, a remote monitoring auxiliary computer, a power supply, and a binocular depth camera. The robot body is an integral frame with four columns and eight beams. The bottom of the frame is connected to the load-bearing assembly through columns; the three ring-shaped evenly distributed driving wheel sets are connected to the load-bearing assembly through bolts, and their rims are all in contact with the spherical surface; the load-bearing assembly is connected to the spherical surface through universal ball bearings. One end of the load-bearing arm overlaps with one end of the ring support and is provided with a through hole. The lower end of the column passes through the through hole of the overlapping part and is fixed by a nut; the other end of the load-bearing arm is fixed with a spring steel sheet, and a universal ball bearing is provided in the middle. One end of the limit claw is fixed with a spring steel sheet by a bolt, and the other end is provided with a universal ball bearing; the other end of the ring support is fixed with a fixed arm by a bolt, and the output shaft of the reducer is connected with the omnidirectional wheel through a key and a keyway; the motor The support is connected to the motor module through the fixed arm; the linear shaft is connected to the fixed arm through the linear bearing; the spring is sleeved on the linear shaft and located between the fixed arm and the motor support.

A control system and a power supply are arranged on the shelf in the overall frame, and a binocular depth camera is arranged outside the middle part of the beam below.

The control system includes a microcomputer, a motor controller, an inertial sensor and an indoor positioning module, and the motor controller, the inertial sensor and the indoor positioning module are all connected to the microcomputer through cables.

The control system and the drive wheel set are connected to the power supply through cables; the binocular depth camera is connected to the control system through cables.

The robot body and the remote monitoring auxiliary computer are connected by cables.

The motor module includes an encoder, a DC servo motor and a reducer, the encoder is connected to the DC servo motor, and the reducer is connected to the output shaft of the DC motor.

The driving wheel set is composed of a motor module, a wheel set suspension and an omnidirectional wheel. The motor module includes an encoder, a DC servo motor and a reducer. The encoder is connected to the DC servo motor and rotates synchronously with the motor to detect the actual speed of the motor; The reducer is connected to the output shaft of the DC motor to reduce the output speed and increase the output torque; the output shaft of the reducer is connected to the omnidirectional wheel through the key and the keyway, and the rotation of the output shaft is converted into the rotation of the omnidirectional wheel; the reducer and the wheel The groups are linked by suspension.

The wheel set suspension includes a motor support, a fixed arm, a linear bearing, a spring and a linear shaft, the fixed arm is connected to the annular support; the motor support is connected to the motor module through the fixed arm; the linear bearing is connected to the motor support; the linear The shaft passes through the linear bearing and is connected with the fixed arm, which limits the displacement direction of the motor support; the spring is sleeved on the linear shaft and is located between the fixed arm and the motor support. The wheel set suspension ensures real-time contact between the omnidirectional wheel and the ball, so that the omnidirectional wheel can always drive the rotation of the ball.

The binocular depth camera can obtain real-time three-dimensional information of the robot's environment, realize the three-dimensional map construction and real-time positioning of the robot's environment, and provide a basic map for the robot's autonomous path planning and navigation.

The control system is composed of a high-performance microcomputer, a motor controller, an inertial sensor and an indoor high-precision positioning module, and the motor controller, the inertial sensor and the indoor high-precision positioning module are all electrically connected to the high-performance microcomputer. Among them, the inertial sensor is used to collect the attitude information of the robot in real time, the indoor high-precision positioning module is used to collect the precise position information of the robot in real time, and the high-performance microcomputer converts the collected real-time attitude information and position information into control signals and transmits them to The motor controller is converted into the control signal of the DC servo motor by the motor controller to control the rotation of the servo motor to realize the balance control and motion control of the robot.

Both the control system and the remote monitoring auxiliary computer are equipped with ROS (Robot Operating System) robot operating system, which is a distributed secondary operating system, which can realize data transmission between different devices and message transmission between different processes, so that external The data processing and control process of the spherical self-balancing robot system can run on different computers, which improves the working efficiency of the robot system and improves the scalability of the robot system.

Compared with prior art, the advantages of the present invention are as follows:

1. The invention is thin and tall as a whole, maintains its own stability through dynamic balance, and has a strong ability to restore balance under the action of external force, so that it will not fall over, and uses balls instead of traditional wheels to realize the non-radius of the robot Steering and all-round movement, it has strong maneuverability even in narrow and crowded environments.

2. The present invention adopts the omnidirectional wheel as the driving wheel for driving the ball to rotate, which reduces the sliding friction between the ball and the driving wheel and enhances the stability of the robot. The robot has a load-bearing structure, which increases the contact area with the ball without affecting the free rotation of the ball, so that the robot can carry heavier loads.

3. The present invention uses various sensors such as a high-precision indoor positioning module and a binocular depth camera, and uses a high-performance microcomputer as the main on-board controller, so that the robot can independently realize map establishment, real-time positioning, and path planning, and the robot system is intelligent. higher degree.

4. The present invention adopts ROS as the main control system, realizes efficient and stable data transmission between different controllers and computers, and reasonably distributes different tasks to different computers or controllers in the same network, and can monitor in real time The state of the robot and the auxiliary data processing can improve the working efficiency of the robot system and improve the scalability of the robot system.

Description of drawings

Fig. 1 is the structural representation of robot body;

Fig. 2 is a top view structural schematic diagram of the driving wheel set, the load-bearing assembly and the ball;

Fig. 3 is the sectional view of the A-A direction of Fig. 2;

Fig. 4 is a structural schematic diagram of wheel set suspension;

Fig. 5 is a schematic diagram of the basic control principle of the present invention;

Fig. 6 is a control architecture diagram of the present invention.

Detailed ways

The present invention will be further described below in conjunction with the accompanying drawings and specific embodiments.

As shown in FIG. 1 and FIG. 2 , the present invention relates to a self-balancing robot system, including a robot body and a remote monitoring auxiliary computer 22 . The robot body has an overall frame 2, a load-bearing component, a driving wheel set 14, a ball 20, a control system, a power supply 1, and a binocular depth camera 21; the overall frame 2 with four columns and eight beams is composed of aluminum profiles, corner connectors, and aluminum plates , aluminum profiles and aluminum plates are fixedly connected through corner connectors; the control system, binocular depth camera 21 and power supply 1 are all installed on the overall frame 2, and the overall frame 2 is connected to the load-bearing component through a column 7; the three driving The wheel sets 14 are all connected to the load-bearing assembly by bolts, and the three driving wheel sets 14 are evenly distributed in a ring shape, and all are in contact with the ball 20, and the ball 20 is driven to rotate by friction; the load-bearing assembly connects the ball 20 through the universal ball bearing 9 connected to each other, without affecting the free rotation of the ball 20 while ensuring that the position of the center of the ball remains unchanged; the control system and the drive wheel set 14 are electrically connected to the power supply 1; the control system is electrically connected to the drive wheel set 14; the binocular depth camera 21 and the control The system is electrically connected; information is transmitted between the robot body and the remote monitoring auxiliary computer 22 through wireless communication.

As shown in Figure 3, the load-bearing assembly is composed of a column 7, an annular support 8, a universal ball bearing 9, a spring steel sheet 10, a load-bearing arm 11 and a limit claw 12, and the load-bearing arm 11 is fixed on the On the annular support 8; the limit claw 12 is connected with the load-bearing arm 11 by the spring steel sheet 10, so that the limit claw 12 can compress the ball 20, and it is guaranteed that the ball 20 does not deviate from the robot body; both the load-bearing arm 11 and the limit claw 12 Universal ball bearing 9 is installed, and universal ball bearing 9 contacts with ball 20, does not affect the free rotation of ball 20 while the gravity of robot body is transmitted to ball 20.

The drive wheel group 14 is composed of a motor module 13, a wheel group suspension 16 and an omnidirectional wheel 19. The motor module 13 includes an encoder, a DC servo motor and a reducer. The encoder is connected to the DC servo motor and rotates synchronously with the motor. Detect the actual speed of the motor; the reducer is connected to the output shaft of the DC motor to reduce the output speed and increase the output torque; the output shaft of the reducer is connected to the omnidirectional wheel 19 through a key and a keyway, and the rotation of the output shaft is converted into an omnidirectional wheel The rotation of 19; Speed reducer links to each other with wheel group suspension 16.

As shown in Figure 4, described wheel set suspension 16 comprises motor support 14, fixed arm 15, linear bearing 16, spring 17 and linear shaft 18, and fixed arm 15 links to each other with annular support 8; The arm 15 is connected to the motor module 13; the linear bearing 16 is connected to the motor support 14; the linear shaft 18 passes through the linear bearing 16 and is connected to the fixed arm 15, limiting the displacement direction of the motor support 14; the spring 17 is sleeved on the linear shaft 18 , and located between the fixed arm 15 and the motor support 14. The wheel set suspension 16 ensures the real-time contact between the omnidirectional wheel 19 and the ball 20, so that the omnidirectional wheel 19 can always drive the rotation of the ball 20.

As shown in Fig. 5, described control system is made up of high-performance microcomputer 3, motor controller 6, inertial sensor 4 and indoor high-precision positioning module 5, motor controller 6, inertial sensor 4 and indoor high-precision positioning module 5 All are electrically connected with the high-performance microcomputer 3. Among them, the inertial sensor 4 is used to collect the attitude information of the robot in real time, the indoor high-precision positioning module 5 is used to collect the precise position information of the robot in real time, and the high-performance microcomputer 3 converts the collected real-time attitude information and position information into a control system. The signal is transmitted to the motor controller 6, and then converted into a control signal of the DC servo motor by the motor controller 6 to control the rotation of the servo motor, so as to realize the balance control and motion control of the robot.

As shown in FIG. 6 , it is a diagram of the overall control architecture of the present invention. The overall control system is mainly composed of a high-performance microcomputer installed on the robot body and a remote monitoring auxiliary computer. Both the high-performance microcomputer and the remote monitoring computer use the ROS system. The high-performance microcomputer collects and fuses data from inertial sensors, encoders, high-precision indoor positioning modules, and binocular depth cameras. Communication, data processing assisted by a remote auxiliary computer, and finally map construction, real-time positioning, autonomous path planning and motor drive control are realized on a high-performance microcomputer.

Claims (3)

1. A self-balancing robot system, comprising a robot body and a remote monitoring auxiliary computer (22), a power supply (1), and a binocular depth camera (21), characterized in that the remote monitoring auxiliary computer (22) is connected by a cable The body of the robot is an integral frame (2) with four columns and eight beams. The bottom of the overall frame (2) is connected to the load-bearing component through an upright column (7). The control system and power supply ( 1), a binocular depth camera (21) is provided on the outside of the middle part of the lower beam; both the control system and the driving wheel set are connected to the power supply (1) through cables; the binocular depth camera (21) is connected to the control system through cables; three The driving wheel set and the load-bearing assembly formed by the motor module (13), the wheel set suspension and the omnidirectional wheel (19), which are evenly distributed in a ring shape, are all connected by bolts, and the rims of the wheels are all in contact with the surface of the ball (20); The load-bearing assembly is connected to the surface of the ball (20) through a universal ball bearing (9), and one end of the load-bearing arm (11) overlaps with one end of the ring support (8) and has a through hole, and the lower end of the column (7) passes through the overlapping The through hole in the upper part is fixed by a nut; the other end of the load-bearing arm (11) is fixed to the spring steel sheet (10), the middle part is provided with a universal ball bearing (9), and one end of the limit claw (12) is connected to the spring steel sheet by a bolt. (10) is fixed, and the other end is provided with a universal ball bearing (9); the other end of the ring support (8) is fixed with the fixed arm (15) by bolts, and the output shaft of the reducer is connected to the omnidirectional wheel (19) through a key and a keyway ) is connected; the motor support (14) is connected to the motor module (13) through the fixed arm (15); the linear shaft (18) is connected to the fixed arm (15) through the linear bearing (16); the spring (17) is set on On the linear shaft (18), and between the fixed arm (15) and the motor support (14). 2. A self-balancing robot system according to claim 1, characterized in that: the control system includes a microcomputer (3), a motor controller (6), an inertial sensor (4) and an indoor positioning module (5 ), the motor controller (6), the inertial sensor (4) and the indoor positioning module (5) are all connected to the microcomputer (3) through cables. 3. A self-balancing robot system according to claim 1, characterized in that: the motor module (13) includes an encoder, a DC servo motor and a reducer, the encoder is connected to the DC servo motor, and the reducer is connected to the DC The output shaft of the motor is connected.

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