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CN109099898A - A kind of mobile service system based on self-stabilization platform - Google Patents

A kind of mobile service system based on self-stabilization platform Download PDF

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Publication number
CN109099898A
CN109099898A CN201810943036.1A CN201810943036A CN109099898A CN 109099898 A CN109099898 A CN 109099898A CN 201810943036 A CN201810943036 A CN 201810943036A CN 109099898 A CN109099898 A CN 109099898A
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China
Prior art keywords
mobile service
self
service robot
platform
stabilizing
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CN201810943036.1A
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Inventor
肖烜
王晨
覃梓雨
刘泾洋
杨毅
郑怀航
王春芃
曲绎伯
李家美
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Beijing Institute of Technology BIT
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Beijing Institute of Technology BIT
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Priority to CN201810943036.1A priority Critical patent/CN109099898A/en
Publication of CN109099898A publication Critical patent/CN109099898A/en
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    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
    • G01C19/00—Gyroscopes; Turn-sensitive devices using vibrating masses; Turn-sensitive devices without moving masses; Measuring angular rate using gyroscopic effects
    • G01C19/02—Rotary gyroscopes
    • G01C19/04—Details
    • G01C19/30—Erection devices, i.e. devices for restoring rotor axis to a desired position

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  • Physics & Mathematics (AREA)
  • Engineering & Computer Science (AREA)
  • General Physics & Mathematics (AREA)
  • Radar, Positioning & Navigation (AREA)
  • Remote Sensing (AREA)
  • Manipulator (AREA)
  • Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)

Abstract

本发明公开了一种基于自稳定平台的移动服务系统，属于移动服务机器人技术领域，包括：移动服务机器人和自稳定平台；所述自稳定平台包括：载物台面、底座、姿态传感器、加速度计、水平稳定单元和惯性缓冲单元；载物台面通过水平稳定单元安装在底座上，姿态传感器安装在移动服务机器人或载物台面上；水平稳定单元用于调整所述载物台面与水平面之间的夹角，使载物台面始终处于水平状态；底座通过惯性缓冲单元安装在移动服务机器人上，加速度计安装在移动服务机器人或自稳定平台上；惯性缓冲单元用于控制底座及载物台面沿所述移动服务机器人原有运动方向移动；本发明能够应用到复杂环境的载物运输等场景中，在生产生活方面都具有较高的应用价值。

The invention discloses a mobile service system based on a self-stabilizing platform, which belongs to the technical field of mobile service robots and includes: a mobile service robot and a self-stabilizing platform; the self-stabilizing platform includes: a loading table, a base, an attitude sensor, and an accelerometer , a horizontal stabilizing unit and an inertial buffer unit; the loading platform is installed on the base through the horizontal stabilizing unit, and the attitude sensor is installed on the mobile service robot or the loading platform; the horizontal stabilizing unit is used to adjust the distance between the loading platform and the horizontal plane The included angle keeps the loading table in a horizontal state; the base is installed on the mobile service robot through the inertial buffer unit, and the accelerometer is installed on the mobile service robot or self-stabilizing platform; the inertial buffering unit is used to control the base and the loading table along the The mobile service robot moves in the original direction of motion; the invention can be applied to scenarios such as cargo transportation in complex environments, and has high application value in production and life.

Description

A kind of mobile service system based on self-stabilization platform
Technical field
The invention belongs to Information Mobile Service robotic technology fields, and in particular to a kind of Information Mobile Service based on self-stabilization platform System.
Background technique
Information Mobile Service robot in daily life using field more and more extensive, that people work for this kind of robot It closes and requires also higher and higher.The transport of Information Mobile Service robot application to article is transmitted into aspect, manpower can be greatlyd save Resource, convenience and high-efficiency.But it when Information Mobile Service robot works in some environment scene complicated and changeable, can be potentially encountered Situations such as Uneven road, climb and fall, emergency stop, how in such environment flexibly, smoothly complete task, become one be worth The direction of research.
Summary of the invention
In view of this, the present invention provides a kind of mobile service system based on self-stabilization platform, by commonly moving Increase self-stabilization platform on service robot, no matter which is able to maintain level always under which type of road environment, no There can be slope angle due to ground or the article that is uneven and carry that jolts is fallen, and start or emergency stop in Information Mobile Service robot In the case of can overcome contradiction between object inertia and Information Mobile Service robot acceleration, avoid article from toppling over or trickle down, protect The stabilization transportation function for demonstrate,proving Information Mobile Service robot, greatly improves its service ability, expands its application.
The present invention is achieved through the following technical solutions:
A kind of mobile service system based on self-stabilization platform, comprising: Information Mobile Service robot and be detachably arranged in Self-stabilization platform in Information Mobile Service robot；
The Information Mobile Service robot for realizing the system movement；
The self-stabilization platform includes: loading table top, pedestal, attitude transducer, accelerometer, horizontal stable unit and is used to Property buffer cell；
The loading table top is mounted on the base by horizontal stable unit, and the attitude transducer is mounted on movement On service robot or loading table top, for the folder between real-time monitoring Information Mobile Service robot or loading table top and horizontal plane Angle, and it is sent to the horizontal stable unit；The angle adjustment that the horizontal stable unit is monitored according to the attitude transducer Angle between the loading table top and horizontal plane makes the loading table top be in horizontality always；
The pedestal is mounted in Information Mobile Service robot by inertia buffer cell, and the accelerometer is mounted on movement On service robot or self-stabilization platform, for measuring size and the side of the acceleration of Information Mobile Service robot or self-stabilization platform To, and it is sent to the inertia buffer cell；The inertia buffer cell is for controlling the pedestal and being mounted on the pedestal On loading table top clothes are moved along described with acceleration identical as Information Mobile Service robot acceleration magnitude, contrary The original direction of motion of robot of being engaged in is mobile.
Further, the horizontal stable unit includes: pillar, universal shaft, connecting rod, executing agency and the first controller；
The pillar is connected between the bottom center and pedestal of loading table top, is used to support loading table top；Two connecting rods Bottom surface of the one end respectively with two adjacent sides of loading table top be correspondingly connected with, other end two-phase corresponding with pedestal is mounted on respectively The output end of the Liang Ge executing agency of adjacent side connects；And pillar, connecting rod and loading table top junction are mounted on universal shaft；
First controller is mounted in pedestal, and the input terminal of the first controller electrically connects with the attitude transducer It connects, output end and executing agency are electrically connected, for receiving the tilt angle information of attitude transducer transmission, and according to the inclination Angle information calculates the rotational angle of Liang Ge executing agency, is sent respectively to Liang Ge executing agency, Liang Ge executing agency is according to institute The rotation of rotational angle two connecting rods of corresponding control is stated, and then adjusts the tilt angle of loading table top, reaches horizontality.
Further, the inertia buffer cell includes linear guide slide unit and second controller；
The linear guide slide unit includes sliding rail, the sliding block being slidably matched with sliding rail and the sliding for driving sliding block mobile Motor, and the both ends of sliding rail are equipped with the limited block that anti-limited slip block slides；Linear guide slide unit is mounted in Information Mobile Service robot, Pedestal is mounted on sliding block；
The second controller is mounted in pedestal；The input terminal and accelerometer of second controller are electrically connected, output End is electrically connected with the sliding motor on linear guide slide unit, for receiving acceleration magnitude and the direction of accelerometer transmission, And revolving speed and direction according to the acceleration magnitude and direction calculating sliding motor, be sent to sliding motor, sliding motor according to The revolving speed control sliding block is moved along the sliding rail of linear guide slide unit, the acceleration for keeping sliding block mobile and Information Mobile Service robot Acceleration magnitude is identical, contrary, so that loading is moved playing surface.
Further, the attitude transducer uses any one of gyroscope, accelerometer, angel measuring instrument.
Further, the executing agency uses any one of steering engine, stepper motor+screw rod, push-rod electric machine.
Further, first controller uses microcontroller.
Further, the second controller uses microcontroller.
The utility model has the advantages that (1) is of the invention by the way that self-stabilization platform to be carried in Information Mobile Service robot, in Information Mobile Service machine Device people through jolting uneven or inclined road surface when, the effect of loading table top above in executing agency, connecting rod and universal shaft Under, it is able to carry out automatic adjustment, keeps loading table top horizontal stable；When Information Mobile Service robot due to avoidance etc. emergency stop or When person is again started up, self-stabilization platform moves loading table top under the drive of sliding block along sliding rail, can be to a certain extent The influence for offsetting the acceleration of Information Mobile Service robot, avoids toppling over, falling for article, and transportational process stablizes smooth, guarantee The safety of conveying articles, improves the performance of Information Mobile Service robot.
(2) self-stabilization platform of the invention is detachably installed with Information Mobile Service robot, can be according to application demand not Function is realized with being mounted in different Information Mobile Service robots.
(3) present invention is applicable in the scenes such as the loading transport of complex environment, is such as applied to the short distance of precision equipment In the scenes such as transport, unmanned express transportation, dining room room service, the application value all with higher in terms of production and living.
Detailed description of the invention
Fig. 1 is structure composition figure of the invention；
Fig. 2 is the working principle of the invention figure；
Fig. 3 is the present invention state diagram mobile on inclination angle road surface；
Wherein, 1- loading table top, 2- pillar, 3- universal shaft, 4- connecting rod, 5- executing agency, 6- pedestal, 7- linear guide are sliding Platform, 8- Information Mobile Service robot.
Specific embodiment
The present invention will now be described in detail with reference to the accompanying drawings and examples.
Present embodiments provide a kind of mobile service system based on self-stabilization platform, comprising: self-stabilization platform and movement Service robot 8；
The Information Mobile Service robot 8 is used to carry self-stabilization platform and realize the movement of the system；
Referring to attached drawing 1, the self-stabilization platform is detachably arranged in Information Mobile Service robot 8, comprising: linear guide Slide unit 7, pillar 2, pedestal 6, universal shaft 3, connecting rod 4, attitude transducer, the first controller, executing agency 5, adds loading table top 1 Speedometer and second controller；The self-stabilization platform can automatically adjust horizontal stable and the front and back traveling side of loading table top 1 Upward stationarity.
The linear guide slide unit 7 includes sliding rail, the sliding block being slidably matched with sliding rail and the cunning for driving sliding block mobile Dynamic motor, and the both ends of sliding rail are equipped with the limited block that anti-limited slip block slides；Linear guide slide unit 7 is mounted on Information Mobile Service robot On 8, pedestal 6 is fixed on the sliding block of linear guide slide unit 7；The bottom center of the loading table top 1 is mounted on bottom by pillar 2 On seat 6, the one end of the bottom surface of two adjacent sides of loading table top 1 respectively with two connecting rods 4 is correspondingly connected with, two connecting rods 4 it is another One end respectively the Liang Ge executing agency 5 of two adjacent sides corresponding with pedestal 6 is mounted on output end connection；And pillar 2, connecting rod 4 Universal shaft 3 is mounted on 1 junction of loading table top；Wherein, executing agency 5 is used for the rotation of controls connecting rod 4, and then adjusts and carry The tilt angle of object table top 1；When initial, the table top of loading table top 1 is parallel with the upper surface of Information Mobile Service robot 8；
The attitude transducer is mounted on Information Mobile Service robot 8 or loading table top 1, for measuring Information Mobile Service machine People 8 or it is initial when loading table top 1 tilt angle；
The accelerometer is mounted on the sliding block of Information Mobile Service robot 8 or linear guide slide unit 7, and accelerometer It is consistent with the length direction of the sliding rail of linear guide slide unit 7 to measure axis, for measuring the acceleration or cunning of Information Mobile Service robot 8 The size and Orientation of the acceleration of block；
Referring to attached drawing 2, first controller and second controller are installed in pedestal 6, the input of the first controller End is electrically connected with attitude transducer, and output end and executing agency 5 are electrically connected, for receiving the inclination of attitude transducer transmission Angle information, and the rotational angle according to tilt angle information calculating Liang Ge executing agency 5, are sent respectively to two execution machines Structure 5, Liang Ge executing agency 5 adjust loading table top 1 according to the corresponding rotation for controlling two connecting rods 4 of the rotational angle Tilt angle reaches horizontality；The input terminal and accelerometer of second controller are electrically connected, and output end is led with straight line Sliding motor on rail slide unit 7 is electrically connected, the size and Orientation of the acceleration for receiving accelerometer transmission, and according to this The size and Orientation of acceleration calculates revolving speed and the steering of sliding motor, is sent to sliding motor, and sliding motor turns according to described Speed and course changing control sliding block are moved along the sliding rail of linear guide slide unit 7, the acceleration and Information Mobile Service robot 8 for keeping sliding block mobile Acceleration magnitude it is identical, it is contrary so that loading table top 1 is mobile, offset Information Mobile Service machine to a certain extent The influence of the acceleration of people 8 maintains the stabilization of loading table top 1 in the direction of travel；
The attitude transducer uses any one of gyroscope, accelerometer, angel measuring instrument, adopts in the present embodiment Use gyroscope；
The executing agency 5 uses any one of steering engine, stepper motor+screw rod, push-rod electric machine, adopts in the present embodiment Use steering engine；
First controller and second controller are all made of microcontroller.
Working principle: when mobile service system at the uniform velocity moves in the horizontal plane, loading table top 1 keeps original state, carries The table top of object table top 1 is parallel with the upper surface of Information Mobile Service robot 8, and the table top of loading table top 1 is able to maintain abswolute level；
Referring to attached drawing 3, when mobile service system mobile execution task on the road surface with inclination angle, attitude transducer is first The differential seat angle between loading table top 1 or Information Mobile Service robot 8 and absolute horizon is first measured, and tilt angle information is transmitted To the first controller, the first controller calculates the rotational angle of two steering engines according to the tilt angle information, is sent respectively to two A steering engine, two steering engines adjust inclining for loading table top 1 according to the corresponding rotation for controlling two connecting rods 4 of the rotational angle Rake angle, the angle for rotating loading table top 1 can just compensate the inclination angle as caused by Uneven road, to make loading table top 1 Reach horizontality；In the attitude transducer of suitable accuracy and under the action of possessing the first controller of higher position reason efficiency, from The response speed of stabilized platform can satisfy actual demand, keep its adjusting quick, coherent, loading table top 1 remains water steadying It is fixed.
When mobile service system unexpected emergency stop due to avoidance etc., accelerometer can measure Information Mobile Service robot 8 acceleration magnitude and direction, and the size and Orientation of acceleration is passed into second controller, second controller foundation should add The size and Orientation of speed calculates revolving speed and the steering of sliding motor, is sent to sliding motor, sliding motor is according to the revolving speed Sliding rail with course changing control sliding block along linear guide slide unit 7 moves, the acceleration for keeping sliding block mobile and Information Mobile Service robot 8 Acceleration magnitude is identical, contrary, and then self-stabilization platform is driven to continue a distance of advancing along the original direction of motion, avoids Article on loading table top 1 causes to trickle down, falls, damages since inertia leans forward, and improves the smoothness of self-stabilization platform movement Property, it is ensured that the stability on 8 direction of travel of Information Mobile Service robot.
In conclusion the above is merely preferred embodiments of the present invention, being not intended to limit the scope of the present invention. All within the spirits and principles of the present invention, any modification, equivalent replacement, improvement and so on should be included in of the invention Within protection scope.

Claims (7)

1.一种基于自稳定平台的移动服务系统，其特征在于，包括：移动服务机器人(8)及可拆卸的安装在移动服务机器人(8)上的自稳定平台；1. A mobile service system based on a self-stabilizing platform, comprising: a mobile service robot (8) and a detachable self-stabilizing platform installed on the mobile service robot (8); 所述移动服务机器人(8)用于实现所述系统的移动；The mobile service robot (8) is used to realize the movement of the system; 所述自稳定平台包括：载物台面(1)、底座(6)、姿态传感器、加速度计、水平稳定单元和惯性缓冲单元；The self-stabilizing platform includes: a loading table (1), a base (6), an attitude sensor, an accelerometer, a horizontal stabilizing unit and an inertial buffer unit; 所述载物台面(1)通过水平稳定单元安装在所述底座(6)上，所述姿态传感器安装在移动服务机器人(8)或载物台面(1)上，用于实时监测移动服务机器人(8)或载物台面(1)与水平面之间的夹角，并发送给所述水平稳定单元；所述水平稳定单元依据所述姿态传感器监测的角度调整所述载物台面(1)与水平面之间的夹角，使所述载物台面(1)始终处于水平状态；The loading platform (1) is installed on the base (6) through a horizontal stabilizing unit, and the attitude sensor is installed on the mobile service robot (8) or the loading platform (1) for real-time monitoring of the mobile service robot (8) or the angle between the loading table surface (1) and the horizontal plane, and send it to the horizontal stabilization unit; the horizontal stabilization unit adjusts the loading table surface (1) and the horizontal plane according to the angle monitored by the attitude sensor The included angle between the horizontal planes keeps the loading platform (1) in a horizontal state all the time; 所述底座(6)通过惯性缓冲单元安装在移动服务机器人(8)上，所述加速度计安装在移动服务机器人(8)或自稳定平台上，用于测量移动服务机器人(8)或自稳定平台的加速度的大小和方向，并发送给所述惯性缓冲单元；所述惯性缓冲单元用于控制所述底座(6)及安装在所述底座(6)上的载物台面(1)以与所述移动服务机器人(8)加速度大小相同，方向相反的加速度沿所述移动服务机器人(8)原有运动方向移动。The base (6) is installed on the mobile service robot (8) through an inertia buffer unit, and the accelerometer is installed on the mobile service robot (8) or the self-stabilizing platform for measuring the mobile service robot (8) or the self-stabilizing platform. The magnitude and direction of the acceleration of the platform are sent to the inertial buffer unit; the inertial buffer unit is used to control the base (6) and the loading table (1) installed on the base (6) to communicate with the The mobile service robot (8) has the same acceleration, and the acceleration in opposite direction moves along the original motion direction of the mobile service robot (8). 2.如权利要求1所述的一种基于自稳定平台的移动服务系统，其特征在于，所述水平稳定单元包括：支柱(2)、万向轴(3)、连杆(4)、执行机构(5)和第一控制器；2. A kind of mobile service system based on self-stabilizing platform as claimed in claim 1, is characterized in that, described horizontal stabilizing unit comprises: pillar (2), cardan shaft (3), connecting rod (4), executive Mechanism (5) and first controller; 所述支柱(2)连接在载物台面(1)的底面中心和底座(6)之间，用于支撑载物台面(1)；两个连杆(4)的一端分别与载物台面(1)的两相邻侧边的底面对应连接，另一端分别与安装在底座(6)对应两相邻侧面的两个执行机构(5)的输出端连接；且支柱(2)、连杆(4)与载物台面(1)连接处均安装有万向轴(3)；The pillar (2) is connected between the center of the bottom surface of the loading table (1) and the base (6), and is used to support the loading table (1); one end of the two connecting rods (4) is respectively connected to the loading table ( The bottom surfaces of the two adjacent sides of 1) are correspondingly connected, and the other ends are respectively connected with the output ends of the two actuators (5) installed on the base (6) corresponding to the two adjacent sides; and the pillar (2), connecting rod ( 4) Cardan shafts (3) are installed at the joints with the loading platform (1); 所述第一控制器安装在底座(6)内，第一控制器的输入端与所述姿态传感器电性连接，输出端与执行机构(5)电性连接，用于接收姿态传感器发送的倾斜角度信息，并依据该倾斜角度信息计算两个执行机构(5)的转动角度，分别发送给两个执行机构(5)，两个执行机构(5)根据所述转动角度对应控制两个连杆(4)的转动，进而调整载物台面(1)的倾斜角度，使其达到水平状态。The first controller is installed in the base (6), the input end of the first controller is electrically connected to the attitude sensor, and the output end is electrically connected to the actuator (5), for receiving the tilt sent by the attitude sensor angle information, and calculate the rotation angles of the two actuators (5) according to the tilt angle information, and send them to the two actuators (5) respectively, and the two actuators (5) control the two connecting rods according to the rotation angles (4) to adjust the inclination angle of the loading table surface (1) to make it reach a horizontal state. 3.如权利要求1所述的一种基于自稳定平台的移动服务系统，其特征在于，所述惯性缓冲单元包括直线导轨滑台(7)和第二控制器；3. a kind of mobile service system based on self-stabilizing platform as claimed in claim 1, is characterized in that, described inertia buffer unit comprises linear guide rail slide table (7) and second controller; 所述直线导轨滑台(7)包括滑轨、与滑轨滑动配合的滑块及用于驱动滑块移动的滑动电机，且滑轨的两端设有防止滑块滑落的限位块；直线导轨滑台(7)安装在移动服务机器人(8)上，底座(6)安装在滑块上；The linear guide rail slide table (7) includes a slide rail, a slide block that is slidably matched with the slide rail, and a sliding motor for driving the slide block to move, and the two ends of the slide rail are provided with limit blocks that prevent the slide block from slipping; The guide rail slide table (7) is installed on the mobile service robot (8), and the base (6) is installed on the slider; 所述第二控制器安装在底座(6)内；第二控制器的输入端与加速度计电性连接，输出端与直线导轨滑台(7)上的滑动电机电性连接，用于接收加速度计发送的加速度大小和方向，并依据该加速度大小和方向计算滑动电机的转速和方向，发送给滑动电机，滑动电机根据所述转速控制滑块沿直线导轨滑台(7)的滑轨移动，使滑块移动的加速度与移动服务机器人(8)的加速度大小相同，方向相反，进而使得载物台面(1)移动。The second controller is installed in the base (6); the input end of the second controller is electrically connected to the accelerometer, and the output end is electrically connected to the sliding motor on the linear guide slide (7) for receiving acceleration The magnitude and direction of the acceleration sent by the meter, and calculate the rotational speed and direction of the sliding motor according to the magnitude and direction of the acceleration, and send it to the sliding motor, and the sliding motor controls the slider to move along the slide rail of the linear guide rail slide table (7) according to the rotational speed, The acceleration of moving the slider is the same as that of the mobile service robot (8), but opposite in direction, thereby causing the loading platform (1) to move. 4.如权利要求1所述的一种基于自稳定平台的移动服务系统，其特征在于，所述姿态传感器采用陀螺仪、加速度计、角度测量仪中的任一种。4. A mobile service system based on a self-stabilizing platform as claimed in claim 1, wherein the attitude sensor adopts any one of a gyroscope, an accelerometer, and an angle measuring instrument. 5.如权利要求2所述的一种基于自稳定平台的移动服务系统，其特征在于，所述执行机构(5)采用舵机、步进电机+丝杆、推杆电机中的任一种。5. A mobile service system based on a self-stabilizing platform as claimed in claim 2, wherein the actuator (5) adopts any one of a steering gear, a stepping motor+screw, and a push rod motor . 6.如权利要求2所述的一种基于自稳定平台的移动服务系统，其特征在于，所述第一控制器采用微控制器。6. A mobile service system based on a self-stabilizing platform as claimed in claim 2, wherein the first controller is a microcontroller. 7.如权利要求3所述的一种基于自稳定平台的移动服务系统，其特征在于，所述第二控制器采用微控制器。7. A mobile service system based on a self-stabilizing platform as claimed in claim 3, wherein the second controller is a microcontroller.
CN201810943036.1A 2018-08-17 2018-08-17 A kind of mobile service system based on self-stabilization platform Pending CN109099898A (en)

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CN112486167A (en) * 2020-11-09 2021-03-12 北京爱笔科技有限公司 Autonomous obstacle avoidance robot, anti-toppling mobile platform and anti-toppling control method
CN113157009A (en) * 2021-04-13 2021-07-23 普华鹰眼科技发展有限公司 Intelligent robot chassis motor rotating speed control method
CN113146619A (en) * 2021-03-16 2021-07-23 行星算力(深圳)科技有限公司 Self-stabilization objective table control method, objective table and mobile device
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CN113146619B (en) * 2021-03-16 2023-12-29 行星算力(深圳)科技有限公司 Self-stabilization objective table control method, objective table and moving device
CN113157009A (en) * 2021-04-13 2021-07-23 普华鹰眼科技发展有限公司 Intelligent robot chassis motor rotating speed control method
CN113352108A (en) * 2021-06-16 2021-09-07 海门市创豪工业设计有限公司 Automatic change cross slip table for machine tool
WO2023130824A1 (en) * 2022-01-07 2023-07-13 腾讯科技（深圳）有限公司 Motion control method for under-actuated system robot, and under-actuated system robot

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Application publication date: 20181228