技术领域technical field
本发明涉及一种移动机器人定位技术领域，特别涉及一种移动机器人用定位装置及定位方法。The invention relates to the technical field of mobile robot positioning, in particular to a positioning device and a positioning method for a mobile robot.
背景技术Background technique
移动机器人在人类生产、生活中得到越来越广泛的应用，如各类竞赛机器人、车间搬运机器人、清洁机器人及各种服务机器人。移动机器人的定位系统是备受关注、富有挑战性的一个重要研究课题，所谓定位是要确定机器人在环境中的实时位姿。根据移动机器人的底盘结构主要包括以下移动机器人：履带式、差动轮式、全向轮式。传统的编码器定位技术是通过在各种移动机器人的底盘主动轮上安装编码器，以获得轮子转动的圈数，进而获得机器人相对于上一采样时刻位置和姿态的改变量，通过位移量的累积就可估算机器人的位置。但这种技术具有较大的局限性：由于编码器安装在主动轮上，以测电机转速即主动轮的转数获得数据来进一步求解机器人所在的位置，但是，当遇到崎岖不平或者倾斜的路面时，会改变机器人的加速度，因此受到惯性和地面摩擦阻力等因素影响，安装有编码器的机器人主动轮在运动过程中常会出现打滑或测滑现象，在主动轮未发生运动变化下机器人位置可能已经发生变化的时候，所以该编码器所测的数据会引起较大的机器人位置定位误差；同时，轮子越多，在将编码器主动轮上时也会因为偏轴误差，引起较大的定位误差，严重影响了移动机器人的定位精度和控制；当然，在主动轮打滑时，机器人的从动轮虽然可能不会打滑而保持原状，但是，如果将编码器安装在从动轮上，一方面考虑从动轮的承重问题需要改变从动轮与底盘的连接结构，比较麻烦，二是从动轮本身也不具备减震功能，在遇到崎岖不平的路面时，从动轮也不能很好的适应路面的情况而发生震动，也会产生较大的误差。Mobile robots are more and more widely used in human production and life, such as various competition robots, workshop handling robots, cleaning robots and various service robots. The positioning system of mobile robots is an important research topic that has attracted much attention and is full of challenges. The so-called positioning is to determine the real-time pose of the robot in the environment. According to the chassis structure of the mobile robot, it mainly includes the following mobile robots: crawler type, differential wheel type, and omnidirectional wheel type. The traditional encoder positioning technology is to install encoders on the active wheels of the chassis of various mobile robots to obtain the number of rotations of the wheels, and then obtain the change in position and attitude of the robot relative to the previous sampling time. Cumulatively, the position of the robot can be estimated. But this technology has great limitations: since the encoder is installed on the driving wheel, the data obtained by measuring the motor speed, that is, the number of revolutions of the driving wheel, is used to further solve the position of the robot. However, when encountering rough or inclined On the road, the acceleration of the robot will be changed. Therefore, affected by factors such as inertia and ground frictional resistance, the active wheel of the robot equipped with an encoder will often slip or measure slip during motion. It may have changed, so the data measured by the encoder will cause a large robot position positioning error; at the same time, the more wheels, the larger the off-axis error will be caused when the encoder is put on the driving wheel. The positioning error seriously affects the positioning accuracy and control of the mobile robot; of course, when the driving wheel slips, the driven wheel of the robot may not slip and remain the same, but if the encoder is installed on the driven wheel, on the one hand, consider The load-bearing problem of the driven wheel needs to change the connection structure between the driven wheel and the chassis, which is more troublesome. Second, the driven wheel itself does not have the function of shock absorption. When encountering rough roads, the driven wheels cannot adapt well to the road conditions. The vibration will also produce a large error.
发明内容Contents of the invention
本发明的目的在于克服现有技术中所存在的传统技术中将编码器定位于移动机器人的主动轮或从动轮上时，在遇到崎岖不平或倾斜路面时，机器人在移动过程中发生打滑或侧滑，从而引起较大定位误差的不足，提供一种移动机器人用定位装置，本发明还提供了该定位装置的定位方法。The purpose of the present invention is to overcome the traditional technology existing in the prior art when the encoder is positioned on the driving wheel or the driven wheel of the mobile robot. The invention provides a positioning device for a mobile robot, and the invention also provides a positioning method for the positioning device.
为了实现上述发明目的，本发明提供了以下技术方案：In order to realize the above-mentioned purpose of the invention, the present invention provides the following technical solutions:
一种移动机器人用定位装置，包括支架，所述支架上设有至少两个全向轮，相邻两个所述全向轮旋转轴之间的夹角为大于0°同时小于180°，每个全向轮相对所述支架可沿竖直方向滑动；所述定位装置还包括能够采集每个所述全向轮线速度的线速度采集装置，能够采集所述支架旋转角度的角速度采集装置，以及处理系统，所述线速度采集装置的数据输出接口、角速度采集装置的数据输出接口分别与所述处理系统通讯连接。A positioning device for a mobile robot, comprising a bracket, the bracket is provided with at least two omnidirectional wheels, and the included angle between the rotation axes of two adjacent omnidirectional wheels is greater than 0° and less than 180°, each Two omnidirectional wheels can slide vertically relative to the support; the positioning device also includes a linear velocity acquisition device capable of collecting the linear velocity of each omnidirectional wheel, an angular velocity acquisition device capable of collecting the rotation angle of the support, As well as a processing system, the data output interface of the linear velocity acquisition device and the data output interface of the angular velocity acquisition device are respectively connected in communication with the processing system.
该移动机器人用定位装置包括至少两个全向轮，相邻两个全向轮的夹角大于0°且小于180°，定位装置上的线速度采集装置可以分别测得每个全向轮的变量，如线速度和进行轨迹增量，角速度采集装置能够采集定位装置相对地面旋转角度的增量，将原始数据传入处理系统，处理系统则可以计算出定位装置的坐标位置，如世界坐标系中的横坐标和纵坐标，以及旋转角度；由于该定位装置不需要设于移动机器人的主动轮或从动轮上使用，而是直接可以固设在移动机器人底盘上，任意位置，所得到的定位装置的坐标即可相应得到整个移动机器人的位置，并不会因为在遇到崎岖不平或倾斜路面时，主动轮打滑或侧移情况而对移动机器人定位产生影响，因为该定位装置上的全向轮能够相对支架沿竖直方向滑动，能够灵活适应路面情况，起到减震作用，响应迅速；由于该定位装置是整体化装于移动机器人底盘上，能有效避免装配后的偏轴误差对定位的影响，其结构简单，易于控制，定位快速精确。The positioning device for the mobile robot includes at least two omnidirectional wheels, the angle between two adjacent omnidirectional wheels is greater than 0° and less than 180°, and the linear speed acquisition device on the positioning device can measure the speed of each omnidirectional wheel respectively. Variables, such as linear velocity and trajectory increment, the angular velocity acquisition device can collect the increment of the rotation angle of the positioning device relative to the ground, and transmit the original data to the processing system, and the processing system can calculate the coordinate position of the positioning device, such as the world coordinate system The abscissa and ordinate, and the angle of rotation; since the positioning device does not need to be used on the driving wheel or driven wheel of the mobile robot, but can be directly fixed on the chassis of the mobile robot, at any position, the obtained positioning The coordinates of the device can be used to obtain the position of the entire mobile robot, and it will not affect the positioning of the mobile robot due to the slippage or sideways movement of the driving wheel when encountering rough or inclined roads, because the omnidirectional The wheel can slide in the vertical direction relative to the bracket, which can flexibly adapt to the road conditions, play a role in shock absorption, and respond quickly; since the positioning device is integrally assembled on the chassis of the mobile robot, it can effectively avoid the impact of off-axis errors on positioning after assembly. Impact, its structure is simple, easy to control, fast and accurate positioning.
优选地，所述支架上设有两个大小相同、相互垂直的全向轮。Preferably, two omnidirectional wheels of the same size and perpendicular to each other are provided on the support.
该支架上包括两个大小相同、相互垂直的全向轮，相互垂直的意思是即两个全向轮的自转轴相对垂直设置，每个全向轮不仅能够沿进行方向的滚动，还能沿垂直于每个全向轮的行进方向滑动，所以两个全向轮的同时旋转运动合成运动可以是沿其他任意方向的运动，因此两个相互垂直的全向轮已经能够实现任意的方向的滚动或滑动。The bracket includes two omnidirectional wheels of the same size and perpendicular to each other, which means that the rotation axes of the two omnidirectional wheels are relatively vertically arranged, and each omnidirectional wheel can not only roll along the direction of travel, but also Sliding perpendicular to the direction of travel of each omnidirectional wheel, so the simultaneous rotational motion of the two omnidirectional wheels can be combined with movement in any other direction, so two mutually perpendicular omnidirectional wheels can already achieve rolling in any direction or swipe.
优选地，所述支架上设有顶盖，每个所述全向轮装于轮架上，每个所述轮架与所述顶盖之间还设有伸缩部件，所述伸缩部件包括竖直连接在所述顶盖、所述轮架之间的减震轴，所述减震轴外套设有减震弹簧。Preferably, the bracket is provided with a top cover, each of the omnidirectional wheels is mounted on a wheel frame, and a telescopic part is also provided between each of the wheel frames and the top cover, and the telescopic part includes a vertical The shock absorbing shaft directly connected between the top cover and the wheel frame is provided with a shock absorbing spring outside the shock absorbing shaft.
由于现有移动机器人上的主动轮或从动轮一般都不具备减震功能，所以在遇到崎岖不平的路面时，移动机器人震动较大，影响其稳定性；通过在每个全向轮的轮架和顶盖上设置伸缩部件，选用常见的减震轴和减震弹簧，在遇到崎岖不平的路面时，该定位装置能够根据路面的情况进行伸缩，能始终与路面相接触，并不会发生打滑现象，进一步提高了定位装置的定位准确性，同时也能改进移动机器人运动的平稳性。Because the driving wheel or the driven wheel on the existing mobile robot generally does not have the shock absorption function, so when encountering the rough road surface, the mobile robot vibrates greatly, which affects its stability; The telescopic parts are set on the frame and the top cover, and common damping shafts and damping springs are selected. When encountering rough roads, the positioning device can expand and contract according to the road conditions, and can always be in contact with the road without The occurrence of slippage further improves the positioning accuracy of the positioning device, and at the same time improves the stability of the movement of the mobile robot.
优选地，每个所述轮架上设有至少一个沿竖直方向的滑块，所述支架上对应设有与所述滑块适配的滑槽。Preferably, each of the wheel frames is provided with at least one vertical sliding block, and the bracket is correspondingly provided with a sliding slot adapted to the sliding block.
两个全向轮的轮架和支架分别均通过沿竖直方向的滑块、滑槽配合，使连接在两个轮架和顶盖之间设置的伸缩部件，始终保持在同一竖直方向伸缩，全向轮也不会发生径向滑动。The wheel frames and brackets of the two omnidirectional wheels are respectively matched by the sliders and chute along the vertical direction, so that the telescopic parts connected between the two wheel frames and the top cover are always kept in the same vertical direction. , Omni-directional wheels will not slip radially.
优选地，所述支架包括中间板以及垂直连接在所述中间板端部的侧板一和侧板二，形成Z字形状，两个所述全向轮分别位于所述中间板两侧。Preferably, the support includes a middle plate and side plates 1 and 2 vertically connected to the ends of the middle plate to form a Z-shape, and the two omnidirectional wheels are respectively located on both sides of the middle plate.
该侧板一、中间板、侧板二还可以为一体成型体，能够有效增加支架的结构强度和装配的精准度。The first side plate, the middle plate, and the second side plate can also be integrally formed, which can effectively increase the structural strength and assembly accuracy of the bracket.
优选地，所述滑槽包括四个，其中两个滑槽分别设在所述中间板两侧，另外两个滑槽分别设在所述侧板一、侧板二上，每个所述全向轮的轮架上对应位置设有两个滑块与对应所述滑槽适配。Preferably, the chute includes four, two of which are respectively arranged on both sides of the middle plate, and the other two chute are respectively arranged on the side plate 1 and the side plate 2, each of the full Two sliders are arranged at corresponding positions on the wheel frame of the steering wheel to fit the corresponding chute.
每个轮架通过两个滑块与支架上的滑槽适配，两个滑槽且相互垂直，不仅便于轮架对准支架安装，还可以进一步增加轮架在相对支架上下滑动时的稳定性，不易发生摆动。Each wheel frame is adapted to the chute on the bracket through two sliders, and the two chute are perpendicular to each other, which not only facilitates the alignment of the wheel frame to the bracket installation, but also further increases the stability of the wheel frame when sliding up and down relative to the bracket , not easy to swing.
优选地，所述线速度采集装置为分别设于每个所述全向轮轮轴上的增量式编码器，所述角速度采集装置为陀螺仪。Preferably, the linear velocity acquisition device is an incremental encoder respectively provided on each of the omni-directional wheel axles, and the angular velocity acquisition device is a gyroscope.
每个全向轮上的增量式编码器都可以增量式光电编码器，采集数据准确，反应灵敏；而角速度采集装置可以采用MEMS陀螺仪；另外相应的处理系统中进行数据运算处理的处理器平台可以采用STM32系列微处理器。The incremental encoder on each omnidirectional wheel can be an incremental photoelectric encoder, which collects data accurately and responds sensitively; while the angular velocity acquisition device can use a MEMS gyroscope; in addition, the corresponding processing system performs data calculation processing The processor platform can use STM32 series microprocessors.
优选地，所述支架底部还设有底盖，所述底盖相应位置设有能够穿过两个所述全向轮的开槽，所述支架、顶盖、底盖之间还设有封板，能够将所述全向轮、轮架、伸缩部件、线速度采集装置封装；所述处理系统设于所述顶盖表面，包括底板、处理器平台和上壳，所述上壳设有所述处理器平台的数据传输接口。Preferably, the bottom of the bracket is also provided with a bottom cover, and the corresponding position of the bottom cover is provided with slots that can pass through the two omnidirectional wheels, and there is a seal between the bracket, the top cover, and the bottom cover. plate, capable of encapsulating the omnidirectional wheels, wheel frames, telescopic parts, and linear speed acquisition device; the processing system is arranged on the surface of the top cover, including a bottom plate, a processor platform and an upper shell, and the upper shell is provided with The data transmission interface of the processor platform.
支架上设有底盖和封板，其作用是可以遮挡和保护全向轮，能有效减少地面的杂质或灰尘进入全向轮，防止全向轮被杂物缠绕卡死，增强该定位装置的使用安全，也提高全向轮的使用寿命。另外，同时也将线速度采集装置、角速度采集装置、处理器平台封装成一体化模块，只需要将模块外壳设置一个数据传输接口，便能将定位装置的位置信息传输到移动机器人主控装置中，操作方便。There is a bottom cover and a sealing plate on the bracket, which can cover and protect the omnidirectional wheel, effectively reduce the impurities or dust on the ground from entering the omnidirectional wheel, prevent the omnidirectional wheel from being entangled and stuck by debris, and enhance the positioning device. It is safe to use and also improves the service life of the omnidirectional wheel. In addition, the linear velocity acquisition device, angular velocity acquisition device, and processor platform are packaged into an integrated module at the same time. Only a data transmission interface needs to be provided on the module shell to transmit the position information of the positioning device to the main control device of the mobile robot. , easy to operate.
本发明还提供了一种移动机器人用定位装置的定位方法，使用如上所述的移动机器人用定位装置，包括以下步骤：The present invention also provides a positioning method for a positioning device for a mobile robot, using the positioning device for a mobile robot as described above, comprising the following steps:
步骤一、将所述定位装置固设于移动机器人底盘下方，调整所述定位装置的两个全向轮与移动机器人其他车轮为同一水平面；Step 1. Fix the positioning device under the chassis of the mobile robot, and adjust the two omnidirectional wheels of the positioning device to be on the same level as the other wheels of the mobile robot;
步骤二、测量两个全向轮分别相对于移动机器人车体中心的垂直距离l1、l2；Step 2. Measure the vertical distancesl1 andl2 of the two omnidirectional wheels relative to the center of the mobile robot body;
步骤三、移动机器人运动，所述线速度采集装置同时采集两个全向轮的参数，分别获得单位时间内每个全向轮的线速度V1、V2，所述角速度采集装置采集所述定位装置的参数，获得单位时间内所述定位装置的相对地面旋转角度的增量；Step 3, the mobile robot moves, the linear velocity acquisition device collects the parameters of two omnidirectional wheels at the same time, respectively obtains the linear velocityV1 andV2 of each omnidirectional wheel per unit time, and the angular velocity acquisition device acquires the The parameters of the positioning device, to obtain the increment of the rotation angle of the positioning device relative to the ground per unit time ;
步骤四、将所述线速度采集装置和角速度采集装置所采集的参数传输至所述处理系统，所述处理系统输出移动机器人的当前位置参数，包括位于世界坐标系XOY的平面坐标x、y和旋转角度θ。Step 4. The parameters collected by the linear velocity acquisition device and the angular velocity acquisition device are transmitted to the processing system, and the processing system outputs the current position parameters of the mobile robot, including the plane coordinatesx, y and Rotation angleθ .
优选地，所述移动机器人的位于世界坐标系XOY的当前位置坐标值x、y、θ根据以下步骤得到：Preferably, the current position coordinate valuesx, y, and θ of the mobile robot located in the world coordinate system XOY are obtained according to the following steps:
步骤a、在水平面车体坐标系IOJ中，其中以车体中心为中心点O、OA方向位于移动机器人进行方向、OJ方向为移动机器人行进的垂直方向，通过所述线速度采集装置获得单位时间内每个全向轮的线速度V1、V2，和所述角速度采集装置获得的单位时间内所述定位装置的相对地面旋转角度的增量，以及结合两个全向轮分别相对于移动机器人车体中心的垂直距离l1、l2，得到移动机器人在车体坐标系IOJ中沿I方向和J方向的瞬时速度Vi，Vj如下:Step a, in the vehicle body coordinate system IOJ on the horizontal plane, wherein the center point O and the direction of OA are located in the direction of the mobile robot, and the direction of OJ is the vertical direction of the mobile robot, and the unit time is obtained by the linear velocity acquisition device The linear velocityV1 ,V2 of each omnidirectional wheel, and the increment of the relative ground rotation angle of the positioning device per unit time obtained by the angular velocity acquisition device , and combined with the vertical distancesl1 andl2 of the two omnidirectional wheels relative to the center of the mobile robot body, the instantaneous velocityViand Vj of the mobile robot along the I direction and J direction in the vehicle body coordinate system IOJ are obtained as follows :
步骤b、将步骤a中的公式进行积分，得到移动机器人在车体坐标系IOJ中单位时间内定位装置在车体坐标系IOJ中的移动距离di、dj如下：Step b. Integrate the formula in step a to obtain the moving distancesdi and dj of the positioning device in the vehicle body coordinate system IOJ per unit time of the mobile robot in the vehicle body coordinate system IOJ as follows:
步骤c、通过世界坐标系XOY和车体坐标系IOJ中的换算，结合所述步骤a、步骤b的公式，得到所述移动机器人的位于世界坐标系XOY的当前位置坐标值x、y、θ如下：Step c, through the conversion in the world coordinate system XOY and the vehicle body coordinate system IOJ, combined with the formulas of the steps a and b, obtain the current position coordinatesx, y, θ of the mobile robot located in the world coordinate system XOY as follows:
， ,
其中上述公式中的各个参数表示的含义如下：The meanings of the parameters in the above formula are as follows:
V1、V2：分别为根据所述线速度采集装置采集的信息获得的两个全向轮的瞬时线速度；V1 ,V2 : are respectively the instantaneous linear speeds of the two omnidirectional wheels obtained according to the information collected by the linear speed acquisition device;
Vi，Vj：分别为所述定位装置在车体坐标系IOJ中沿I方向和J方向的瞬时速度；Vi, Vj : are respectively the instantaneous speeds of the positioning device along the I direction and the J direction in the vehicle body coordinate system IOJ;
、分别为根据所述线速度采集装置测得的在单位时间内两个全向轮旋转轨迹的增量； , are respectively the increments of the two omni-directional wheel rotation trajectories in unit time measured according to the linear velocity acquisition device;
为所述角速度采集装置测得的定位装置在单位时间内相对地面转动角度的增量； is the increment of the rotation angle of the positioning device relative to the ground within a unit time measured by the angular velocity acquisition device;
l1、l2分别为两个全向轮与移动机器人车体中心的垂直距离；l1 andl2 are the vertical distances between the two omnidirectional wheels and the center of the mobile robot body;
di、dj分别为单位时间内定位装置在车体坐标系IOJ中的移动距离。di and dj are respectively the moving distance of the positioning device in the vehicle body coordinate system IOJ per unit time.
与现有技术相比，本发明的有益效果：Compared with prior art, the beneficial effect of the present invention:
1、本发明所述一种移动机器人用定位装置，通过在支架上设置至少两个全向轮，其线速度采集装置可以分别测得每个全向轮的变量，角速度采集装置能够采集定位装置的角度的增量，处理系统则可以计算出定位装置的坐标位置，由于该定位装置不需要设于移动机器人的主动轮或从动轮上使用，而是直接可以固设在移动机器人底盘上任意位置，所得到的定位装置的坐标即可相应得到整个移动机器人的位置；同时该定位装置上的全向轮能够相对支架沿竖直方向滑动，能够灵活适应路面情况，起到减震作用，响应迅速，并不会因为崎岖不平或倾斜路面发生打滑或侧移情况而对移动机器人定位产生影响；该定位装置是整体化装于移动机器人底盘上，能有效避免装配后的偏轴误差对定位的影响，其结构简单，易于控制，定位快速精确；1. A positioning device for a mobile robot according to the present invention, by arranging at least two omnidirectional wheels on the support, its linear velocity acquisition device can measure the variable of each omnidirectional wheel respectively, and the angular velocity acquisition device can collect the position of the positioning device The processing system can calculate the coordinate position of the positioning device, because the positioning device does not need to be set on the driving wheel or driven wheel of the mobile robot, but can be directly fixed at any position on the chassis of the mobile robot , the obtained coordinates of the positioning device can correspondingly obtain the position of the entire mobile robot; at the same time, the omni-directional wheels on the positioning device can slide in the vertical direction relative to the support, which can flexibly adapt to the road conditions, play a shock-absorbing role, and respond quickly , and will not affect the positioning of the mobile robot due to slipping or sideways movement on rough or inclined roads; the positioning device is integrally assembled on the chassis of the mobile robot, which can effectively avoid the impact of off-axis errors on positioning after assembly. Its structure is simple, easy to control, fast and accurate positioning;
2、该定位装置符合相对式定位法原理，进行定位时，无需参照物位置等己知的参照信息，也无需计算移动机器人与参照信息之间的相互关系，此定位装置将机械结构设计部分和电路控制部分集于一体，集成为一体化定位装置，拆装方便，控制简便；2. The positioning device conforms to the principle of relative positioning method. When positioning, it does not need known reference information such as the position of the reference object, and does not need to calculate the relationship between the mobile robot and the reference information. This positioning device combines the mechanical structure design part and The circuit control part is integrated into an integrated positioning device, which is easy to disassemble and control;
3、该定位装置上除了底盖只留下能够穿过全向轮空间外，分别实现了对每个全向轮的封装，能够有效遮挡和保护全向轮，减少杂质或灰尘进入全向轮，增强了该组件的使用安全性，提高了全向轮的使用寿命；3. In addition to the bottom cover, only the space that can pass through the omni-directional wheel is left on the positioning device, and the packaging of each omni-directional wheel is realized separately, which can effectively cover and protect the omni-directional wheel, and reduce impurities or dust from entering the omni-directional wheel , which enhances the safety of the component and improves the service life of the omnidirectional wheel;
4、该定位装置将将线速度采集装置、角速度采集装置、处理器系统封装成一体化模块，只需要将模块外壳设置一个数据传输接口，便能将定位装置的位置信息传输到移动机器人主控装置中，操作方便；4. The positioning device will package the linear velocity acquisition device, angular velocity acquisition device, and processor system into an integrated module. It only needs to set a data transmission interface on the module shell to transmit the position information of the positioning device to the main control of the mobile robot. The device is easy to operate;
5、该定位装置适合于任意底盘结构的移动机器人定位，如履带式移动机器人、差动轮式移动机器人、全向轮式移动机器人，直接设于底盘上，而不是履带、差动轮或全向轮上，避免了移动机器人轮子打滑情况对移动机器人定位的影响，具有很高的定位精度。5. The positioning device is suitable for the positioning of mobile robots with any chassis structure, such as crawler mobile robots, differential wheel mobile robots, and omnidirectional wheel mobile robots. It avoids the influence of the wheel slippage of the mobile robot on the positioning of the mobile robot, and has high positioning accuracy.
附图说明：Description of drawings:
图1是本发明所述一种移动机器人用定位装置的结构示意图；Fig. 1 is a structural representation of a positioning device for a mobile robot according to the present invention;
图2为图1中定位装置的爆炸图；Fig. 2 is an exploded view of the positioning device in Fig. 1;
图3为图1中不含封板的定位装置的示意图；Fig. 3 is a schematic diagram of a positioning device without a sealing plate in Fig. 1;
图4为图1中不含顶盖、处理系统的定位装置的俯视图；Fig. 4 is the top view of the positioning device without top cover and processing system in Fig. 1;
图5为支架的结构示意图；Fig. 5 is the structural representation of support;
图6为图5的俯视图；Figure 6 is a top view of Figure 5;
图7为图2中轮架的结构示意图；Fig. 7 is a schematic structural view of the wheel frame in Fig. 2;
图8为图7的后视轴测图；Fig. 8 is the rear view axonometric view of Fig. 7;
图9为图2中伸缩部件的结构示意图；Fig. 9 is a schematic structural view of the telescopic component in Fig. 2;
图10为图2中轮架、全向轮、伸缩部件与支架配合的结构示意图；Fig. 10 is a schematic diagram of the structure of the wheel frame, omnidirectional wheels, telescopic parts and brackets in Fig. 2;
图11为图10的俯视图；Figure 11 is a top view of Figure 10;
图12为图2中顶盖的结构示意图；Fig. 12 is a schematic structural view of the top cover in Fig. 2;
图13为图2中底盖的结构示意图；Fig. 13 is a schematic structural view of the bottom cover in Fig. 2;
图14为图2中处理系统的爆炸图；Figure 14 is an exploded view of the processing system in Figure 2;
图15为本发明所述定位装置设于移动机器人底盘上的示意图；Fig. 15 is a schematic diagram of the positioning device according to the present invention being arranged on the chassis of the mobile robot;
图16为设有定位装置的移动机器人位于两个坐标系下运动到某一位置时的示意图；Fig. 16 is a schematic diagram of a mobile robot provided with a positioning device when it moves to a certain position under two coordinate systems;
图17为本发明所述定位装置的处理系统工作流程图。Fig. 17 is a flow chart of the processing system of the positioning device of the present invention.
图中标记：Marked in the figure:
1、支架，11、侧板一，12、中间板，13、侧板二，14、滑槽，2、全向轮，3、轮架，31、轴孔，32、滑块，33、凹槽，4、伸缩部件，41、减震轴，42、减震弹簧，5、顶盖，51、轴孔，52、固定孔，6、底盖，61、凸台，62、开槽，7、封板，8、增量式编码器，9、处理系统，91、上壳，92、处理器平台，93、底板，94、陀螺仪底座，95、陀螺仪，96、数据传输接口。1, bracket, 11, side plate one, 12, middle plate, 13, side plate two, 14, chute, 2, omnidirectional wheel, 3, wheel frame, 31, shaft hole, 32, slide block, 33, concave Slot, 4, telescopic part, 41, damping shaft, 42, damping spring, 5, top cover, 51, shaft hole, 52, fixing hole, 6, bottom cover, 61, boss, 62, slotting, 7 , sealing plate, 8, incremental encoder, 9, processing system, 91, upper shell, 92, processor platform, 93, bottom plate, 94, gyroscope base, 95, gyroscope, 96, data transmission interface.
具体实施方式detailed description
下面结合试验例及具体实施方式对本发明作进一步的详细描述。但不应将此理解为本发明上述主题的范围仅限于以下的实施例，凡基于本发明内容所实现的技术均属于本发明的范围。The present invention will be further described in detail below in conjunction with test examples and specific embodiments. However, it should not be understood that the scope of the above subject matter of the present invention is limited to the following embodiments, and all technologies realized based on the content of the present invention belong to the scope of the present invention.
如图1所示，一种移动机器人用定位装置，其外形图，可见支架1、顶盖5、封板7，顶盖5上设有处理系统9，其余部件，如两个全向轮2，以及线速度采集装置和角速度采集装置均内设于内。As shown in Figure 1, a positioning device for a mobile robot, its outline view shows a bracket 1, a top cover 5, a sealing plate 7, a processing system 9 is arranged on the top cover 5, and other components, such as two omnidirectional wheels 2 , and the linear velocity acquisition device and the angular velocity acquisition device are all set inside.
如图2所示为该定位装置的爆炸图，从图中可以看出，除了支架1、顶盖5、封板7和底盖6构成的外壳外，内设有两个的全向轮2，每个全向轮2通过轮架3滑动连接在支架1上，每个轮架3上还设有伸缩部件4和线速度采集装置（如增量式编码器8）。Figure 2 is an exploded view of the positioning device. It can be seen from the figure that, in addition to the shell formed by the bracket 1, the top cover 5, the sealing plate 7 and the bottom cover 6, there are two omnidirectional wheels 2 inside. , each omnidirectional wheel 2 is slidably connected to the bracket 1 through a wheel frame 3, and each wheel frame 3 is also provided with a telescopic component 4 and a linear speed acquisition device (such as an incremental encoder 8).
如图3所示为该定位装置去掉封板后的示意图，从图中可以看出其内部的结构示意图，除了支架1、顶盖5、底盖6、封板7，其他结构，如全向轮2、轮架3、伸缩部件4、连接在全向轮2轮轴上的增量式编码器8均设于内部，这种封装结构，能够有效遮挡和保护全向轮2，减少杂质或灰尘进入全向轮2，增强了该组件的使用安全性，提高了全向轮2的使用寿命。As shown in Figure 3, it is a schematic diagram of the positioning device after removing the sealing plate. From the figure, it can be seen that its internal structure schematic diagram, except for the bracket 1, the top cover 5, the bottom cover 6, and the sealing plate 7, other structures, such as omnidirectional The wheel 2, the wheel frame 3, the telescopic part 4, and the incremental encoder 8 connected to the axle of the omnidirectional wheel 2 are all located inside. This packaging structure can effectively cover and protect the omnidirectional wheel 2 and reduce impurities or dust Entering the omnidirectional wheel 2, the use safety of the assembly is enhanced, and the service life of the omnidirectional wheel 2 is improved.
如图4为去掉顶盖5后的定位装置俯视图，从图中可以看出，支架1、顶盖5、底盖6和封板7分别构成两个空腔，每个空腔设有一个全向轮2，全向轮2连接在支架1上，两个全向轮2的旋转轴相互垂直，为了便于加工和装配该在定位装置，其两个空腔的大小相同，两个全向轮2的大小相同，每个空腔的轮架3的大小也相同，底盖6上设有与两个全向轮2相对应的开槽62，开槽62的大小能够穿过全向轮2部分体积。Figure 4 is a top view of the positioning device after removing the top cover 5, as can be seen from the figure, the bracket 1, the top cover 5, the bottom cover 6 and the sealing plate 7 form two cavities respectively, each cavity is provided with a full Omni-directional wheel 2, omni-directional wheel 2 is connected on the support 1, the rotating shafts of two omni-directional wheels 2 are perpendicular to each other, in order to facilitate processing and assembling the positioning device, the size of the two cavities is the same, the two omni-directional wheels 2 have the same size, and the size of the wheel frame 3 of each cavity is also the same. The bottom cover 6 is provided with a slot 62 corresponding to the two omni-directional wheels 2, and the size of the slot 62 can pass through the omni-directional wheel 2. Portion volume.
如图5所示为支架1的结构示意图，该支架1包括侧板一11、侧板二13和中间板12，相互垂直连接形成Z字形状，在侧板一11、侧板二13内壁上均设有一个沿竖直方向的滑槽14，在中间板12两侧也分别设有沿竖直方向的滑槽14。As shown in Figure 5, it is a schematic structural view of the bracket 1. The bracket 1 includes a side plate 11, a side plate 2 13 and a middle plate 12, which are vertically connected to each other to form a Z shape, and on the inner walls of the side plate 11 and the side plate 2 13. Each is provided with a chute 14 along the vertical direction, and the two sides of the middle plate 12 are respectively provided with chute 14 along the vertical direction.
如图6所示，支架1设有四个滑槽14，其结构相对于侧板一11、侧板二13和中间板12的表面向外凸出形成凹字体形状，位于中间板12两侧的两个滑槽14相互垂直，且分别沿中间板12成中心对称结构，便于两个轮架3上的滑块32快速的对准装入，保证两个全向轮2正交垂直，还可以增加轮架3在相对支架1滑槽14上下滑动时的稳定性，不易发生摆动；侧板一11、中间板12、侧板二13以及四个滑槽14为一体成型体，通过模具成型再精加工，能够有效减少支架1的加工时间，也能增加结构强度和装配精度。As shown in Figure 6, the bracket 1 is provided with four slide grooves 14, and its structure protrudes outward with respect to the surface of the side plate 11, the side plate 2 13 and the middle plate 12 to form a concave font shape, and is located on both sides of the middle plate 12. The two slide grooves 14 are perpendicular to each other, and respectively form a symmetrical structure along the middle plate 12, which facilitates the rapid alignment and loading of the sliders 32 on the two wheel frames 3, ensures that the two omnidirectional wheels 2 are orthogonal and vertical, and also It can increase the stability of the wheel frame 3 when it slides up and down relative to the bracket 1 chute 14, and it is not easy to swing; the side plate 11, the middle plate 12, the side plate 2 13 and the four chute 14 are integrally formed body, formed by mold Further finishing machining can effectively reduce the processing time of the bracket 1 and also increase the structural strength and assembly accuracy.
如图7所示为轮架3的结构示意图，该轮架3为U型结构，为三面体，其中的两侧面设有与支架1上两个滑槽14适配的长条状滑块32，轮架3顶部还设有便于伸缩部件4安装的轴孔31，全向轮2设于轮架3上，该轮架3还设有若干个凹槽33，可以在不影响结构强度情况下，减轻重量。为了便于加工，该轮架3可以是两个部件在顶部拼凑固定而成。As shown in Figure 7, it is a structural schematic diagram of the wheel frame 3. The wheel frame 3 is a U-shaped structure, which is a trihedron, and the two sides thereof are provided with strip-shaped sliders 32 adapted to the two slide grooves 14 on the bracket 1. , the top of the wheel frame 3 is also provided with a shaft hole 31 for easy installation of the telescopic part 4, the omnidirectional wheel 2 is arranged on the wheel frame 3, and the wheel frame 3 is also provided with several grooves 33, which can be used without affecting the structural strength. ,reduce weight. In order to facilitate processing, the wheel frame 3 can be assembled and fixed by two parts at the top.
如图8为图7中轮架3的后方轴测图，从图中可以清楚的看出两个滑块32分别位于轮架3的两个侧面，沿竖直方向的长条状，其截面为T形状。Figure 8 is a rear axonometric view of the wheel frame 3 in Figure 7. From the figure, it can be clearly seen that the two sliders 32 are respectively located on the two sides of the wheel frame 3, and are strip-shaped along the vertical direction. It is T shape.
如图9所示为伸缩部件4的结构示意图，该伸缩部件4包括减震轴41和减震弹簧42，均为常见的结构，其中减震轴41连接在顶盖5和轮架3之间，减震弹簧42套设在减震轴41外面，配合轮架3、支架1之间的滑块32和滑槽14的限位，实现轮架3相对顶盖5只能沿竖直方向上下运动，如图4所示。As shown in Figure 9, it is a structural schematic diagram of the telescopic part 4, the telescopic part 4 includes a shock absorbing shaft 41 and a shock absorbing spring 42, all of which are common structures, wherein the shock absorbing shaft 41 is connected between the top cover 5 and the wheel frame 3 , the damping spring 42 is sleeved outside the damping shaft 41, and cooperates with the limit position of the slider 32 and the chute 14 between the wheel frame 3 and the bracket 1, so that the wheel frame 3 can only go up and down in the vertical direction relative to the top cover 5 movement, as shown in Figure 4.
当移动机器人在崎岖不平的路面运动时，车轮的抖动或滑移产生的偏差也会带动定位装置的抖动或滑移，但是该伸缩部件4带动全向轮的相对抖动伸缩，能够始终使全向轮2与地面充分接触，该定位装置作为随动机构安装在移动机器人上，不会出现打滑，避免了地面不平整的情况产生的定位误差。When the mobile robot is moving on a rough road, the deviation caused by the shaking or slipping of the wheels will also drive the shaking or slipping of the positioning device, but the telescopic part 4 drives the relative shaking and stretching of the omnidirectional wheels, which can always make the omnidirectional The wheel 2 is in full contact with the ground, and the positioning device is installed on the mobile robot as a follower mechanism, so that no slippage occurs, and positioning errors caused by uneven ground are avoided.
如图10为轮架3、全向轮2、伸缩部件4与支架1配合的结构示意图，先将伸缩部件4固定在两个轮架3上，然后在两个轮架3上分别装配两个全向轮2，最后再将其装配在支架1两侧，形成两个相互垂直的全向轮2。Figure 10 is a schematic diagram of the structure of the wheel frame 3, the omnidirectional wheel 2, the telescopic part 4 and the bracket 1. First, the telescopic part 4 is fixed on the two wheel frames 3, and then two wheel frames 3 are respectively assembled Omnidirectional wheels 2 are finally assembled on both sides of the bracket 1 to form two mutually perpendicular omnidirectional wheels 2 .
如图11所示图10中的俯视图，装配好之后，是轮架3上的两个滑块32分别装入支架1两侧的两个滑槽14，此时两个全向轮2只能沿着支架1上的滑槽14竖直上下运动；不过需要说明的是，两个轮架3并不完全一样，与支架1滑槽14适配的两个轮架3上的的滑块32所在在轮架3上的位置略有不同，需要与支架1滑槽14的位置相互对应。As shown in Figure 11, the top view in Figure 10, after assembly, the two sliders 32 on the wheel frame 3 are respectively installed into the two slide grooves 14 on both sides of the bracket 1, and now the two omnidirectional wheels 2 can only Move up and down vertically along the chute 14 on the bracket 1; however, it should be noted that the two wheel frames 3 are not exactly the same, and the sliders 32 on the two wheel frames 3 that are compatible with the chute 14 of the bracket 1 The position on the wheel frame 3 is slightly different, and needs to correspond to the position of the chute 14 of the bracket 1.
如图12所示为顶盖5的结构示意图，为矩形盖体，表面设有两个便于安装两个伸缩部件4的轴孔51，以及固定盖体与支架1、封板7、封板7的若干个固定孔52，该顶盖5可以直接安装在移动工具上。As shown in Figure 12, it is a structural schematic diagram of the top cover 5, which is a rectangular cover body, and the surface is provided with two shaft holes 51 for installing two telescopic parts 4, and fixing the cover body and the bracket 1, the sealing plate 7, and the sealing plate 7 Several fixing holes 52, the top cover 5 can be directly installed on the mobile tool.
如图13为底盖6的结构示意图，为了便于连接在支架1和封板7，底盖6设有凸台61和螺栓孔，底盖6与顶盖5对应且大小相同，在底盖6上还设有长条状开槽62，便于全向轮2穿过。Figure 13 is a schematic structural view of the bottom cover 6. In order to facilitate the connection between the bracket 1 and the sealing plate 7, the bottom cover 6 is provided with bosses 61 and bolt holes. The bottom cover 6 corresponds to the top cover 5 and has the same size. Also be provided with elongated groove 62 on it, be convenient to omnidirectional wheel 2 to pass through.
如图14为处理系统9的爆炸图，该处理系统包括设于顶盖5上的底板93，底板93内设有处理器平台92，外套设有上壳91，另外，为了更好的实现封装和通讯连接，将陀螺仪95也设于底板93内，具体是在底板93上固定陀螺仪底座94，陀螺仪底座94内设有陀螺仪95，陀螺仪底座94上层设置处理器平台92，处理器平台92上方用上壳91封好，留有一个数据传输接口96，能方便的将定位装置处理系统9处理后的的位置信息传输到移动机器人主控装置中，操作方便。Figure 14 is an exploded view of the processing system 9, the processing system includes a base plate 93 arranged on the top cover 5, a processor platform 92 is arranged inside the base plate 93, and an upper shell 91 is provided on the outer cover. In addition, in order to better realize packaging and communication connection, the gyroscope 95 is also located in the base plate 93, specifically the gyroscope base 94 is fixed on the base plate 93, the gyroscope base 94 is provided with a gyroscope 95, and the upper layer of the gyroscope base 94 is provided with a processor platform 92 for processing The top of the device platform 92 is sealed with an upper shell 91, leaving a data transmission interface 96, which can easily transmit the position information processed by the positioning device processing system 9 to the main control device of the mobile robot, and is easy to operate.
如图15所示，该定位装置固设在移动机器人底盘上，其固定的位置可以是任意位置，即不一定定位装置内的全向轮2与移动机器人的车轮处于平行或垂直状态，可以成任意角度夹角；设移动机器人车体中心为O，可以测量两个全向轮2的进行方向与车体中心O的垂直距离分别为l1、l2，图中的V1、V2分别为根据线速度采集装置采集的信息获得的两个全向轮2的瞬时线速度。As shown in Figure 15, the positioning device is fixed on the chassis of the mobile robot. Any included angle; if the center of the mobile robot body is O, the vertical distances between the direction of the two omnidirectional wheels 2 and the center O of the car body can be measured asl1 andl2 respectively, andV1 andV2 in the figure are respectively is the instantaneous linear velocity of the two omnidirectional wheels 2 obtained according to the information collected by the linear velocity acquisition device.
如图16所示，处理系统9在对设有定位装置的移动机器人进行定位计算的时候，采用了两个坐标系，其中XOY为世界坐标系，即移动机器人的位置信息（x、y、θ），即是我们需要得到的信息；而IOJ为相对于移动机器人车体中心O’的车体坐标系。图中的虚线方框表示移动机器人处于初始状态时的在世界坐标系XOY中的位置，实线方框是运动了一定时间后位于世界坐标系中的位置，实现方框里面的两个小方框分别代表两个正交全向轮2。图中的dx、dy分别为移动机器人相对于初始位置在移动一定时间后在世界坐标系中X方向、Y方向的移动距离，而di、dj则分别代表移动机器人相对于初始位置在移动一定时间后相对车体坐标系IOJ中的在I方向、J方向的移动距离。As shown in Figure 16, when the processing system 9 performs positioning calculations on the mobile robot equipped with a positioning device, two coordinate systems are used, wherein XOY is the world coordinate system, that is, the position information of the mobile robot (x, y, θ ), that is, the information we need to obtain; and IOJ is the body coordinate system relative to the center O' of the mobile robot body. The dotted box in the figure indicates the position of the mobile robot in the world coordinate system XOY when it is in the initial state, and the solid line box is the position in the world coordinate system after moving for a certain period of time, realizing the two small squares in the box The boxes represent two orthogonal omnidirectional wheels 2 respectively. In the figure,dx and dy are the moving distances of the mobile robot in the X direction and Y direction in the world coordinate system after moving for a certain period of time relative to the initial position, whiledi and dj respectively represent the movement distance of the mobile robot relative to the initial position for a certain period of time. The moving distance in the I direction and the J direction in the rear relative vehicle body coordinate system IOJ.
如图17所述，该定位装置的处理系统工作流程图，首先由MEMS陀螺仪95采集得到的角速度值经ADC采样转换得到数字信号输入STM32微处理器，两个正交全向轮2上的增量式光电编码器8采集得到的线速度值经RS485标准接口输入的STM32微处理器平台92，STM32微处理器经过处理输入的角速度和线速度信息，通过CAN总线输出移动机器人的位置信息（x、y、θ）。As shown in Figure 17, the working flow chart of the processing system of the positioning device, first the angular velocity value collected by the MEMS gyroscope 95 is sampled and converted by the ADC to obtain a digital signal input to the STM32 microprocessor, and the two orthogonal omnidirectional wheels 2 The linear velocity value collected by the incremental photoelectric encoder 8 is input to the STM32 microprocessor platform 92 through the RS485 standard interface, and the STM32 microprocessor processes the input angular velocity and linear velocity information, and outputs the position information of the mobile robot through the CAN bus (x,y,theta ).
具体地，该移动机器人用定位装置的定位方法，包括以下步骤：Specifically, the positioning method of the positioning device for the mobile robot includes the following steps:
步骤一、将定位装置固设于移动机器人底盘下方，调整定位装置的两个全向轮2与移动机器人其他车轮为同一水平面；Step 1. Fix the positioning device under the chassis of the mobile robot, and adjust the two omnidirectional wheels 2 of the positioning device to be on the same level as the other wheels of the mobile robot;
步骤二、测量两个全向轮2分别相对于移动机器人车体中心的垂直距离；Step 2, measuring the vertical distances of the two omnidirectional wheels 2 relative to the center of the mobile robot body;
步骤三、移动机器人运动，两个增量式光电编码器8分别采集两个全向轮2的参数，获得单位时间内每个全向轮2的线速度增量，MEMS陀螺仪95采集定位装置的参数，获得单位时间内定位装置的角度的增量；Step 3, the mobile robot moves, two incremental photoelectric encoders 8 collect the parameters of two omnidirectional wheels 2 respectively, and obtain the linear velocity increment of each omnidirectional wheel 2 per unit time, and the MEMS gyroscope 95 collects the positioning device Parameters to obtain the increment of the angle of the positioning device per unit time;
步骤四、将两个增量式光电编码器8和MEMS陀螺仪95的参数传输至所述处理系统9，所述处理系统9输出移动机器人的当前位置参数，包括平面坐标和旋转角度。Step 4, transmit the parameters of the two incremental photoelectric encoders 8 and the MEMS gyroscope 95 to the processing system 9, and the processing system 9 outputs the current position parameters of the mobile robot, including plane coordinates and rotation angles.
通过微元法，把机器人在平面上的运动轨迹分为无数段直线进行处理，即可实现机器人坐标到地面坐标的转换。在单位时间内，假设两个全向轮2在在车体坐标系IOJ的两个方向的移动距离分别为di、dj，移动机器人相对于初始位置在移动一定时间后在世界坐标系中XOY的两个方向的移动距离分别为dx、dy，定位装置在单位时间内相对地面转动角度的增量为，两个增量式光电编码器的测得的在单位时间内两个全向轮2旋转轨迹的增量为、。则移动机器人在世界坐标系（又称地面坐标系）中x和y方向的增量计算公式和角度θ表达式为Through the micro-element method, the trajectory of the robot on the plane is divided into countless straight lines for processing, and the transformation from the robot coordinates to the ground coordinates can be realized. In unit time, assuming that the moving distances of the two omnidirectional wheels 2 in the two directions of the car body coordinate system IOJ aredi and dj respectively, the mobile robot moves relative to the initial position for a certain period of time in the world coordinate system XOY The moving distances in the two directions aredx and dy respectively, and the increment of the rotation angle of the positioning device relative to the ground in unit time is , the increment of the rotation track of two omnidirectional wheels 2 measured by two incremental photoelectric encoders per unit time is , . Then the incremental calculation formula and angleθ expression of the mobile robot in the world coordinate system (also known as the ground coordinate system) in thex andy directions are
（1） (1)
另外，两个全向轮2的瞬时线速度大小为V1、V2，定位装置在车体坐标系IOJ中沿I方向和J方向的瞬时速度为Vi，Vj，对其线速度进行积分可以反向得到增量、，分别为：In addition, the instantaneous linear velocities of the two omnidirectional wheels 2 areV1 ,V2 , and the instantaneous velocities of the positioning device along the I direction and J direction in the vehicle body coordinate system IOJ areVi, Vj . Integral can be reversed to get increment , , respectively:
（2） (2)
将每段直线的dx和dy积分，可得到机器人的地面坐标：The ground coordinates of the robot can be obtained by integrating thedx anddy of each straight line:
（3） (3)
因此可得到移动机器人相对于世界坐标系（又称地面坐标系）的位置信息（x、y、θ）。Therefore, the position information (x, y,θ ) of the mobile robot relative to the world coordinate system (also known as the ground coordinate system) can be obtained.
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