All-terrain mobile robot controller based on 5G cloudization and scheduling system thereof

Abstract

The invention relates to the technical field of robot control, in particular to an all-terrain mobile robot controller based on 5G cloudization and a scheduling system of the all-terrain mobile robot controller. Comprising four wheels, and a GPS positioning sensor, a laser radar sensor, a binocular vision sensor, a gyroscope sensor, a magnetic navigation sensor and an operation platform which are arranged on the all-terrain mobile robot, the mobile robot controller is arranged on the all-terrain mobile robot; and the 5G communication processing controller is arranged on the all-terrain mobile robot. The all-terrain mobile robot has the characteristics of high communication speed, stable signal and the like, the all-terrain mobile robot can realize indoor and outdoor navigation control through three navigation modes, and the adaptability is higher; in order to solve the problem that when the all-terrain mobile robot moves, wheel torque distribution is unbalanced due to external factors, a control strategy is provided, and the problem of jumping caused by wheel torque distribution imbalance is effectively solved.

Description

technical field [0001] The invention relates to the technical field of robot control, in particular to a 5G cloud-based all-terrain mobile robot controller and a scheduling system thereof. Background technique [0002] At present, all-terrain mobile robots involve many application fields. Four-wheel differential sliding steering is a commonly used structure for all-terrain independent mobile robots. Due to its simple and reliable structure, flexible and stable operation, wide adaptation to terrain, and simple control, it is widely used in All-terrain mobile robot. However, the four-wheel differential sliding-steering all-terrain independent mobile robot requires the torque distribution of the four wheels after the vibration reduction mechanism is added, so the all-terrain mobile robot control system needs to coordinately control the four-wheel torque. [0003] For example, the Chinese patent application number is 201910899794.2, which proposes "an all-terrain mobile robot w...

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Problems solved by technology

[0003] For example, the Chinese patent application number is 201910899794.2, which proposes "a mobile robot with all-terrain independent suspension for farms based on ROS dispatching system". In this patent, an independent suspension structure is used to alleviate the vibration of the vehicle body, but the suspension adjustment problem It is only applicable to a single terrain, and the suspension stiffness cannot be changed due to the terrain; when the mobile robot is driving on complex roads, especially when it is turning, due to vibration, the friction between the four wheels and the ground is different, and the output torque of the motor is different, which cannot be achieved. Coordinated control of the rotational torque of the four wheels

[0004] Another example is the Chinese Patent Publication No. CN107314770B, which proposes "a mobile robot and its main controller, positioning system and method". Motion controller, but it cannot be based on terrain changes and body suspension self-adaptive attitude changes. The design of motion controller based on dynamic parameter compensation and the realization of scheduling system cannot realize high-precision positioning and multi-positioning in unknown terrain. car job scheduling

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