Modular all-directional mobile robot used for environmental perception

Abstract

The invention provides a modular all-directional mobile robot used for environmental perception. The modular all-directional mobile robot comprises a robot body, a Mecanum wheel-type moving module, a sensing module, an interactive module and a controller. The Mecanum wheel-type moving module supports the robot body. The sensing module includes a posture estimation submodule, a three-dimensional environmental perception submodule and a power management module. The controller is used for receiving sensing module signals, and a motion control instruction is sent to the Mecanum wheel-type moving module after data processing so that the robot body can move. The interactive module includes a wireless router and a mobile phone terminal and is used for achieving motion control and state monitoring of the robot body by the mobile phone terminal. The modular all-directional mobile robot used for environmental perception solves the problem of unilateral wheel suspension happening to a mobile robot with Mecanum wheels in the obstacle crossing process, and the problem of accelerated wearing of the wheels caused accordingly is avoided.

Description

technical field [0001] The invention belongs to the technical field of robots, in particular to a modular omnidirectional mobile robot for environment perception. Background technique [0002] Mobile robots working in environments with narrow and crowded spaces and many obstacles require better flexibility. At present, most mobile robots use two-wheel differential speed to achieve zero turning radius to ensure the flexibility of the robot. However, this method can only achieve two degrees of freedom of rotation and forward and backward movement, and cannot realize the full range of movement with three degrees of freedom in the true sense. The mobile robot platform based on mecanum wheels can realize the function of all-round movement, but because the mecanum wheels are made of hard rubber material, it is not easy to deform. There will be a single wheel hanging in the air, which will cause the robot's movement to deviate, and will cause severe pressure on one side of the whe...

AI Technical Summary

Problems solved by technology

[0004] The purpose of the present invention is to overcome the shortcomings and deficiencies of the prior art, and provide a modular omni-directional mobile robot for environmental perception, which adopts a modular design concept to solve the problem of the mobile robot with Mecanum wheels in overcoming obstacles. The problem of unilateral wheel suspension that exists at the time, avoids the problem of accelerated wear and tear of the wheel, and also solves the problems of cumbersome operation and poor convenience that exist in the interaction between computers and robots

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