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Four-wheel type indoor mobile robot

A mobile robot and wheeled technology, applied in the field of robotics, can solve the problems of high noise, easy damage, slow commutation speed of DC brush motor, etc., and achieve the effect of reducing service life and increasing loss

Active Publication Date: 2015-03-11
HEBEI UNIV OF TECH
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

[0005] The technical problem to be solved by the present invention is to provide a four-wheeled indoor mobile robot, which is equipped with two independent drive wheels using hub-type brushless DC motors with Hall effect sensors as drive motors, and the drive wheels and drive motors constitute Integrated, its controller uses a full-bridge PWMDC / DC converter working in bipolar mode to drive a brushless DC motor, which overcomes the slow commutation speed, high noise and long-term wear of the brushed DC motor in the prior art Can lead to the disadvantage of being easily damaged

Method used

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  • Four-wheel type indoor mobile robot

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Embodiment 1

[0061] according to figure 1 , figure 2 and image 3 The shown embodiment installs the four-wheeled indoor mobile robot of this embodiment, the installation centers of its four wheels are located on the same circle on the horizontal plane, and the two drive wheels 2 are all independent 8-inch ones with Hall effect sensors The hub-type DC brushless motor is used as the driving wheel of the driving motor. The Hall effect sensor can detect the position information of the rotor in the motor and output the Hall position signal. The two universal wheels 3 are 3-inch polyurethane universal wheels , the controller 4 is a controller that uses a full-bridge PWMDC / DC converter operating in a bipolar mode to drive a brushless DC motor, and the lithium battery 5 is a 24V lithium battery. The controller 4 includes a hardware part and a software part, wherein the hardware part is composed of a signal acquisition / processing circuit and a drive circuit, and the software part includes a sign...

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Abstract

The invention provides a four-wheel type indoor mobile robot, and relates to a robot. The four-wheel type indoor mobile robot comprises a chassis, two driving wheels, two universal wheels, a controller and a lithium battery. The two driving wheels are two independent driving wheels adopting a wheel hub type DC brushless motor with a Hall effect sensor to act as a driving motor. The driving wheels and the driving motors are integrated. The controller adopts a full-bridge PWMDC / DC converter working in a bipolar mode to drive the DC brushless motors so that disadvantages in the prior art that DC brush motors are slow in commutation speed and high in noise, and the motors are liable to be damaged when the motors are in a wear and tear state for a long time can be overcome.

Description

technical field [0001] The technical solution of the invention relates to a robot, specifically a four-wheeled indoor mobile robot. Background technique [0002] Mobile robot technology is an important branch of robot technology. Its research began in the 1960s. Its main goal is to study the application of artificial intelligence technology to systematically autonomous reasoning, planning and control in complex environments. Autonomous mobile robot is a kind of intelligent robot with high self-planning, self-organization and self-adaptive ability, which is suitable for working in complex environment, which has model uncertainty, high nonlinearity of system and complexity of control. [0003] The unconstrained movement of ground mobile robots in the environment requires a mobile platform with excellent performance. The robot's motion mechanism is an important part of the robot's mobile platform, which directly affects the stability, flexibility and operability of the robot's ...

Claims

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Application Information

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IPC IPC(8): G05D1/02
Inventor 杨鹏杨淦韩雪晶孙昊陈萌
Owner HEBEI UNIV OF TECH
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