CN-121973146-A - Double-wheel omnidirectional humanoid robot and control method thereof

CN121973146ACN 121973146 ACN121973146 ACN 121973146ACN-121973146-A

Abstract

The invention discloses a double-wheel omnidirectional humanoid robot and a control method thereof, the device comprises a head display and sensing assembly, a body main body assembly, a left-right symmetrical mechanical arm assembly, an electric lifting support frame and a double-wheel inverted pendulum omnidirectional mobile chassis. The two-wheel inverted pendulum omnidirectional mobile chassis comprises a gear connecting rod cooperative steering mechanism, flexible posture adjustment of wheels is realized through linkage of a driving gear and a synchronous connecting rod, a main controller of a main body assembly of the machine body constructs a unified dynamic control frame, coupling angle compensation is introduced to solve the problem of moment projection attenuation, and an electric lifting support frame has a dead point self-locking function and ensures parking safety. The invention breaks through the traditional limitation, realizes the fusion of omnidirectional movement and anthropomorphic operation, and improves the adaptability, the gesture stability and the track tracking precision of complex scenes.

Inventors

LU ZHIGUO
ZHAO YIHENG
Ren Zean
KONG WANTING
WANG YU
SUN QI

Assignees

华动智行人工智能科技(苏州)有限公司

Dates

Publication Date: 20260505
Application Date: 20260319

Claims (10)

1. The double-wheel omnidirectional humanoid robot is characterized by comprising a head display and sensing assembly, a body main body assembly, a left-right symmetrical mechanical arm assembly, an electric lifting support frame and a double-wheel inverted pendulum omnidirectional mobile chassis; The two-wheel inverted pendulum omnidirectional mobile chassis is positioned at the bottommost part of the robot, the main body component of the robot is fixedly arranged at the center position of the top of the two-wheel inverted pendulum omnidirectional mobile chassis, the mechanical arm components are symmetrically hinged at two sides of the main body component of the robot through shoulder joint driving components, the head display and sensing assembly is rotationally connected to the top of the main body assembly of the machine body through the head pitching-yawing composite driving assembly, and the electric lifting support frame is arranged in the main body assembly of the machine body and is fixedly connected with the omnidirectional mobile chassis of the double-wheel inverted pendulum; The double-wheel inverted pendulum omnidirectional mobile chassis comprises a top frame assembly, a rotary actuating mechanism assembly and left and right symmetrical tire assemblies, wherein the rotary actuating mechanism assembly is integrated between the top frame assembly and the tire assemblies and comprises an active steering driving unit, a synchronous power distribution transmission unit, a synchronous constraint linkage unit and left and right symmetrical rotation shaft assemblies, the left and right symmetrical rotation shaft assemblies are fixedly connected with the tire assemblies on corresponding sides respectively and comprise a stress driving end and a driven linkage end, the active steering driving unit is in transmission connection with the stress driving ends of the rotation shaft assemblies on the two sides through the synchronous power distribution transmission unit, and two ends of the synchronous constraint linkage unit are connected with the stress driving ends and the driven linkage ends of the rotation shaft assemblies on the left and right sides respectively.
2. The robot of claim 1, wherein a rigid space frame structure is arranged in the body main body assembly, a mounting plate for mounting a shoulder driving motor of the mechanical arm is arranged at the upper part of the rigid space frame structure, the lower part of the rigid space frame structure is fixed with the omnidirectional mobile chassis of the double-wheel inverted pendulum through a bottom fixing piece, a shell is arranged at the outer side of the rigid space frame structure to form a closed cavity, and a main controller, a power management module and a communication module are arranged in the rigid space frame structure.
3. The robot of claim 2, wherein the mechanical arm assembly comprises a shoulder assembly, a big arm assembly and a small arm assembly, the shoulder assembly is provided with a shoulder rotating driving motor and a shoulder left-right swinging motor, the big arm assembly is provided with an elbow joint rotating motor and a front-back swinging motor, the front end of the small arm assembly is fixedly provided with a tail clamping jaw, each motor is electrically connected with a main controller, the front side of the head display and perception assembly is provided with a man-machine interaction display screen, the top of the head display and perception assembly is provided with a camera assembly, and the head pitching-yawing composite driving assembly comprises a head yawing driving motor with a vertically arranged output shaft and a head pitching driving motor with a horizontally arranged output shaft.
4. The robot of claim 1 wherein the electric lift support frame comprises a slider-crank mechanism assembly and two-section retractable support linkages symmetrically disposed on both sides of the frame; The crank sliding block mechanism assembly comprises a lifting support driving motor, a motor fixing support, a sliding rail fixing support, a sliding block and a sliding rail, wherein the motor fixing support is fixedly connected with the sliding rail fixing support through a plurality of aluminum posts and is fixedly connected with a double-wheel inverted pendulum omnidirectional moving chassis; The two-section type retractable support connecting rod mechanism comprises a tail end supporting rod, a plurality of middle rods and a middle support hinge piece, wherein the middle support hinge piece is fixedly arranged on a sliding rail fixing support and corresponds to the middle positions of the middle rods, one ends of the middle rods are hinged with a sliding block fixing long rod piece, the middle parts are hinged with the middle support hinge piece, and the other ends of the middle rods are hinged with the tail end supporting rod.
5. The robot of claim 1, wherein the tire assembly comprises an upper wheel axle support, a lower wheel axle support and two driving wheels of the integrated wheel hub motor, the driving wheels of the integrated wheel hub motor are clamped and fixed by the upper wheel axle support and the lower wheel axle support, and the upper wheel axle support and the lower wheel axle support are fixedly connected with the stressed driving end and the driven linkage end of the corresponding rotating shaft assembly respectively.
6. The robot of claim 1, wherein the top frame assembly of the two-wheeled inverted pendulum omnidirectional mobile chassis comprises a closed structure formed by a chassis top upper cover plate, a chassis top lower cover plate, at least one top vertical support and a middle vertical support, wherein a battery pack, a power management circuit and a balance control board are arranged inside the closed structure, the rotary actuator assembly further comprises a rotary mechanism upper mounting plate, a rotary mechanism lower mounting plate and a front-rear rotary mechanism support, the rotary mechanism upper mounting plate is fixed with the middle vertical support, and the upper mounting plate and the lower mounting plate are fixedly connected through the front-rear rotary mechanism support.
7. The robot of claim 6, wherein the driving steering driving unit is a driving gear rotary driving motor, the synchronous power distribution transmission unit is a driving pinion, the forced driving end is a driven gear wheel, the driven linkage end is a gear lower rotating plate, the synchronous constraint linkage unit is a synchronous connecting rod, the rotating shaft assembly further comprises a rotating shaft, an upper bearing seat, a lower bearing seat, an upper angular contact bearing, a lower bearing seat, a gear lower rotating plate, a supporting shaft sleeve between the gear and the rotating plate and a fastening nut, the lower bearing seat is fixedly arranged on a lower mounting plate of the rotating mechanism, an inner hole of the lower bearing seat is matched with an outer ring of the lower angular contact bearing, the rotating shaft is vertically arranged, the lower end of the rotating shaft is matched with an inner ring of the lower angular contact bearing, the rotating shaft is sequentially sleeved with the lower bearing seat, the gear lower rotating plate, the supporting shaft sleeve between the gear and the rotating plate and the driven gear wheel in a circumferential direction, the upper portion of the rotating shaft is sequentially sleeved with an upper bearing seat, an upper bearing seat outer ring is matched with the upper bearing seat, the upper bearing seat is fixedly connected with the upper mounting plate through a key slot, and the upper mounting plate is fixedly connected with the upper mounting plate through the fastening nut.
8. A control method for a robot according to any one of claims 1 to 7, wherein the robot adopts a feed-forward compensation and variable parameter state feedback composite closed-loop control architecture to run a unified dynamics control algorithm based on a non-coaxial inverted pendulum model, and the specific steps include: S1, constructing a unified mapping relation from a steering configuration to an inverted pendulum equivalent driving channel based on geometrical positional relation of a mass center of a machine body, a steering shaft center of a wheel and a wheel grounding point aiming at a non-coaxial inverted pendulum system with actively steering wheels, and representing the influence of the steering attitude change of the wheel on a balance control channel as a configuration parameter; S2, calculating the geometrical deviation angle between the actual motion direction of the wheel and the pitching control direction of the machine body in real time, defining the geometrical deviation angle as a coupling angle, compensating the driving moment through the coupling angle, and introducing one or two of the coupling angle and the configuration parameters into at least one of a system driving matrix, a control gain, a feedforward compensation item and a feedback adjustment item to compensate the projection attenuation problem of the driving moment during omni-directional steering, inhibit the drift of dynamic parameters caused by the steering of the wheel and ensure the stable posture of the robot in the configuration changing process; S3, performing comparison and calculation one by one with real-time state data of the robot fed back in real time by the inertial sensor, the angle sensor and the motor encoder synchronously acquired by receiving a speed control target instruction of the robot, an attitude balance control target instruction and a motion control target instruction of a driving execution mechanism of the robot, so as to obtain error signals of each control dimension; And S4, dynamically generating a driving moment instruction according to the error signal by combining a feedforward compensation and variable parameter state feedback algorithm, and driving each actuating mechanism to act through the driving moment instruction so as to realize system posture correction and omnidirectional track tracking, wherein the driving moment instruction at least comprises one of a speed instruction and a moment instruction of a driving wheel and a position instruction and an angle instruction of a chassis steering actuating mechanism.
9. The control method according to claim 8, wherein in the feed-forward compensation and variable parameter state feedback composite closed-loop control architecture, a feed-forward compensation term pre-calculates a compensation torque based on a coupling angle and configuration parameters for counteracting driving torque projection attenuation of omni-directional steering, a variable parameter state feedback term dynamically adjusts a control gain and an output quantity based on a real-time error signal for correcting the attitude deviation of the robot in real time, and control parameters of the feed-forward compensation and variable parameter state feedback composite closed-loop control architecture are dynamically and adaptively adjusted along with the steering configuration of wheels, so that a non-coaxial inverted pendulum system keeps a balance margin and a dynamic response characteristic similar to those of a coaxial configuration in omni-directional motion modes such as forward motion, transverse motion and oblique motion.
10. The control method according to claim 8, wherein in step S2, the coupling angle is an angle between a wheel movement direction axis Zr and a body pitch control axis Zc, and the analytical expression is Wherein, the method comprises the steps of, Representing the geometric offset distance from the center of mass of the body to the axis of the steering shaft of the wheel, Representing the structural outer distance of the steering axis of the wheel to the center of mass of the wheel, The dynamic parameter drift is drift of at least one parameter of equivalent driving parameters, moment of inertia and moment transfer coefficients of the inverted pendulum, which is caused by dynamic change of geometrical relations among the mass center of the body, the steering shaft and the grounding point of the wheels in the steering process of the wheels.

Description

Double-wheel omnidirectional humanoid robot and control method thereof Technical Field The invention relates to the technical field of double-wheel humanoid robots, in particular to a double-wheel omnidirectional humanoid robot and a control method thereof. Background With the wide application of service robots and intelligent mobile equipment in the fields of industry, warehouse, medical treatment, public service and the like, the efficient maneuvering demands of mobile robots in complex, dynamic and narrow spaces are increasingly prominent. Among the mobile robot types, the wheeled mobile robot is the most widely applied type by virtue of the remarkable advantages of simple structure, high energy efficiency, convenient control and the like, and forms a mature technical system in the directions of multi-wheel differential speed, independent steering, omnidirectional movement and the like. The omnidirectional movement technology is particularly critical, can realize movement in any direction without changing the direction of the machine body, greatly improves the mobility of the robot in a limited space, and provides powerful support for the application of the robot in various complex scenes. Among various configurations of the wheeled mobile robot, the two-wheeled inverted pendulum robot has received attention because of its unique advantages. The self-balancing steering mechanism has dynamic balancing capability, compact structure, small occupied area and flexible movement, adopts a double-wheel parallel structure, and can realize basic actions such as self-balancing control, forward, backward, in-situ steering and the like by adjusting pitching gesture and wheel speed of a machine body in real time. For example, a double-wheel balance car with a frame structure disclosed by Chinese patent publication No. CN203698533U adopts a frame structure and a three-dimensional coordinate stereo design, the balance car is divided into three systems to form an organic whole matched with each other, the capability of the balance car against external obstacles is improved, as well as a double-wheel coupling type omnidirectional inverted pendulum moving platform is proposed by Chinese patent No. CN209467267U, steering shafts of left and right wheels are rigidly and synchronously connected by utilizing a parallel four-bar mechanism, the steering angles of the two wheels are kept to be strictly and uniformly changed, steering assistance is realized through differential speed under the condition that only two driving motors are configured, and the omnidirectional moving capability of the double-wheel inverted pendulum robot in a plane is realized. However, the steering mechanism of the steering mechanism lacks active driving force constraint, and the steering of the wheels is easily affected by external impact, load change and other factors, so that the track holding capability and the anti-interference performance are poor. In addition, the double-wheel inverted pendulum chassis and the multi-degree-of-freedom mechanical arm are deeply fused, and the construction of the wheel type inverted pendulum humanoid robot capable of executing operation tasks in a dynamic balance state becomes an important development direction. For example, a dual-wheel distribution robot disclosed in chinese patent CN108466250B improves the cruising maneuverability and immunity of the robot under complex working conditions, but the degree of freedom of wheel movement is limited by using a traditional dual-wheel differential driving mode, and the robot does not have omni-directional maneuverability, and is restricted in space adaptability and operation flexibility in narrow space and dense obstacle environments. At present, the whole field of the domestic double-wheel inverted pendulum humanoid robot is still in an early exploration stage, the technical maturity and scene suitability are still to be improved, and the double-wheel inverted pendulum humanoid robot capable of simultaneously having the omnidirectional movement capability and the humanoid upper limb operation function has no public mature technical achievements in the domestic and foreign fields, and the related technical combination and integration implementation scheme belongs to the clear research blank of the field. Disclosure of Invention In order to solve the technical problems, the invention aims to provide the double-wheel omnidirectional humanoid robot and the control method thereof, which can flexibly switch the chassis movement mode, break the incomplete constraint limit, initiate a unified dynamic control frame and solve the problem of omnidirectional steering driving moment projection attenuation. In order to achieve the above purpose, the present invention provides the following technical solutions: A double-wheel omnidirectional humanoid robot comprises a head display and sensing assembly, a body main body assembly, a left-right symmetrical mechanical arm assembly, an ele