RU2764910C1 - Basic platform of the autonomous intelligent robotic complex (airc) - Google Patents

Abstract

FIELD: robotics industry.SUBSTANCE: invention relates to robotic and mechatronic systems and can be used as a universal autonomous robotic complex or a multifunctional self-propelled device. The basic platform of the autonomous intelligent robotic complex (AIRC) contains a housing on four wheels, batteries, a battery management module, infrared and ultrasonic distance sensors, environmental sensors, end sensors, a computational graphics module to which video cameras are connected, the main control unit. The main control unit includes an industrial computer, a GPS receiver, an autopilot control, a lidar, a depth camera and supports the connection of microcontrollers. The main control unit is equipped with a database of images of obstacles, an image recognition algorithm, a terrain map, and an algorithm for choosing the optimal trajectory. The platform makes it possible to transport documents in offices, accompany visitors to hotels, carry out cargo transportation at airports, train stations and warehouses, and also be used to launch small-sized unmanned aerial vehicles.EFFECT: small size of the platform makes it possible to use it in areas with complex geometry.10 cl, 5 dwg

Description

The base platform of the Autonomous Intelligent Robotic Complex (AIRTK) is the main module, on which additional blocks/modules can be subsequently installed, necessary to expand the functions of the Autonomous Intelligent Robotic Complex (AIRTK). The invention relates to robotic and mechatronic systems and can be used as a universal autonomous robotic complex or a multifunctional self-propelled device. The configuration of a mobile autonomous robotic platform suggests the possibility of changing its structure due to replaceable modules that determine the scope of AIRTK. In particular, the device is capable of transporting documents in offices, accompanying visitors to hotels and hotels, transporting goods at airports, railway stations and warehouses, as well as being used to launch small-sized unmanned aerial vehicles. The robotic platform is capable of towing semi-trailers and trailers, supports the installation of a module for clearing the area from snow and leaves, and can also be used in agricultural work, provided that appropriate modular equipment is used.

An invention is known, RF patent No. 2632342 “Autonomous mobile robotic complex” (AMRK), including a sealed housing and superstructure, power, transmission installations and propulsion, hardware and a control unit of the complex. The hardware part contains environmental monitoring devices, navigation equipment and ground surface patency control devices located on the vehicle superstructure. Navigation equipment consists of a high-precision mobile receiver with feedback from the base station. Ground surface patency control devices contain rangefinders that control the track depth on each side of the vehicle, a flexible console, at the free end of which a soil hardness tester is fixed with the possibility of transmitting readings to the control unit. Environmental monitoring devices include a weather station, a ship radar station, a laser scanner and video cameras connected to a control unit. The AMRK is made with the possibility of changing the propulsion unit, a retractable rotating platform, a retractable mast and remote-controlled hatches are made on the superstructure of the vehicle, navigation equipment consists of a high-precision mobile receiver installed on the AMRK and having feedback from the base station. The invention provides for remote operation in difficult terrain, carrying out the necessary measurements and surveys, reliable protection and automated adjustment of the position of its measuring equipment. The autonomous mobile robotic complex is designed to monitor the coastal zone and predict marine natural disasters. Monitoring of the natural environment is necessary, first of all, in an environment that is inaccessible (inaccessible and dangerous) for humans, on the eastern and northern coasts of Russia, where it is necessary to constantly collect information about natural processes occurring on the coasts and in the seas.

The disadvantage of this device is the need for a remote control that provides communication with the base station control, there is no possibility of autonomous operation.

An invention is known, patent of the Russian Federation No. 2730666 “Autonomous mobile robotic platform for snow clearing”, consisting of a self-propelled wheeled vehicle, on which a battery, running motors and a bucket are placed. The platform contains a control unit, which includes an industrial computer to which video cameras, microcontrollers are connected, to which distance sensors are connected, sensors for registering the angle of rotation of the wheels. The device has an automatic battery recharging system, a computer vision system. The device is able to work in standalone mode. There are 9 motors in the robotic platform, of which 4 motors are drive motors, 4 motors are rotary motors, and one motor is installed to adjust the bucket of the snow blower robot. The maximum turning angle of each of the four wheels of the autonomous mobile robotic platform is 130 degrees. EFFECT: invention provides improved maneuverability of the snow blower robot and its autonomous operation around the clock under any weather conditions. The snow blower wireless control system of this invention is mounted on a vehicle and includes a remote control, a bucket control module mounted on the snow blower and containing an appropriate transceiver.

The disadvantage of this device is the limited functionality among the tasks to be solved, since the device is designed only for cleaning the area from snow/leaves.

An invention is known, RF patent No. 2701592 “Robotic transport platform”, containing an on-board power source in the form of a battery or an internal combustion engine (ICE) with a generator, traction motors for driving tracks or wheels, on-board sensors, generator controllers, a digital computer that monitors the environment , determining the current location of the platform by processing the output signals of the onboard sensors, as well as generating control signals for the controllers. The platform can be equipped with water jets. Its traction motors are made of inductor reactive or transverse magnetic flux and ensure the implementation of the maximum possible traction force of caterpillars or drive wheels in terms of adhesion in an extended speed range.

This device has significant dimensions, does not have the ability to analyze obstacles and build a map of the area. It also does not have a remote control, which is why it loses significantly in its functionality.

Known modular robots (patents US20040168837A1, US5100286), allowing you to assemble robotic mechanisms on an individual basis, which allows them to be used in solving complex problems.

Known invention CN111972127A for the collection of vegetables and fruits. The patent presents an intelligent moving platform. The device allows you to harvest fruits and vegetables in automatic mode, for this, air injection pipelines, transport pipelines and air compressors are installed in the platform body.

CN109676624A presents an intelligent robotic platform that uses a vision system based on deep learning to analyze information about field crops and weeds.

Patent WO2021019383A1 presents a modular platform that serves to install handling devices, includes a monolithic running gear; the top plate includes a plurality of racks for mounting handling devices built into the top of the platform. The load is transferred from the handling devices through the struts and the top plate to the monolithic undercarriage. This device has a rather complex design, while it does not have the ability to analyze obstacles and build a map of the area, there is no processing of visual information through convolutional neural networks in real time.

The closest is the invention No. 2704048 "Mobile autonomous robotic platform with block variable structure". This device consists of base and hinged blocks. The base unit is made in the form of a lower level, an upper level and a sublevel for a laser rangefinder located between them. The bottom layer includes the main base frame, chassis module, power supply, wireless charger receiver, and laser rangefinder reference module. At the same time, a chassis module is attached to the lower part of the lower level, which includes three wheels, three wheel shafts with the mentioned wheels mounted on them, three wheel forks, two electric motors, a first wheel rotation angle sensor, a second wheel rotation angle sensor, a rotation speed sensor of the first wheels, second wheel speed sensor. The upper level is fixed to the lower level of the base unit with support legs and includes a computer network and a gyroscope.

The disadvantage of this device is low maneuverability, the impossibility of working offline. The design of the device is imperfect, the location of the wheels can cause problems with patency. This device does not have the ability to drive offline with the ability to use machine learning technology.

The objective of this invention is to develop a basic platform for an autonomous intelligent robotic complex (AIRTK). The AIRTK base platform should be universal in purpose and control, small in size with the ability to install replaceable modules on the AIRTK base platform that perform various types of tasks in a controlled and automatic mode. The main tasks of the AIRTK base platform are autonomous operation inside and outside the premises, building a map of the surrounding space, choosing the optimal route, functioning in conditions that are not protected from atmospheric influences, and working in the daytime and at night. The operation of the AIRTK base platform in a controlled mode should be carried out via a Wi-Fi network. Autonomous operation of the AIRTK base platform should be implemented based on the technology of the machine learning system and artificial intelligence, and include video stream recognition algorithms.

The problem is solved by the fact that the basic platform of an autonomous intelligent robotic complex (AIRTK) contains a body, batteries, a battery controller, four motor wheels, motor wheel control modules, a computing graphic module for working with images, video cameras, a depth camera, a main a control unit with a computer and an autopilot, a laser rangefinder, distance sensors, environmental sensors, a bumper with limit switches installed inside. part of the AIRTK base platform there are upper ultrasonic distance sensors, which can be located at an angle and lower ultrasonic distance sensors with a fixed position, units with ultrasonic and infrared sensors for far distance stations, blocks with ultrasonic and infrared sensors for short distances are fixed on the front and back parts, on the right and left sides of the AIRTK base platform there are additional blocks with ultrasonic and infrared sensors for medium distances, to register obstacles on the right and left sides of the AIRTK base platform. Ultrasonic and infrared distance sensors on the AIRTK base platform are selected in such a way that their measurement areas overlap each other. Environmental sensors for determining temperature, humidity and pressure are located in the body of the AIRTK base platform. Inside the housing of the AIRTK base platform there is a main control unit, which contains an industrial computer, a GPS receiver, an autopilot control, and a lidar. Microcontrollers are connected to the main control unit, which collect data from distance sensors, environmental sensors and end sensors located on the bumpers of the AIRTK base platform, capable of registering the collision of the robotic platform with obstacles. The travel motors (motor-wheels) are controlled independently by wheel control modules. The wheel formula of the base platform AIRTK 4x4. In the invention, the type of single-sided control of the motor-wheels of the AIRTK base platform was chosen, such control is called a "tank move", since it is often used in the design of tanks. In this type of undercarriage, the wheel motors on the right side and the motor wheels on the left side are driven separately. These wheels are fixed in the forward/backward position and are not steered. The rotation control of the AIRTK base platform is provided by changing the rotation speed of each side of the drive. This type of undercarriage can perform a zero radius turn when the robot turns in place without moving forward. When performing a zero radius turn, the pivot point is at the center of the robot.

The body of the AIRTK base platform is made in the form of a parallelepiped with flat surfaces, which allows installing replaceable modules on it that are capable of performing the selected type of tasks in automatic mode, and the replaceable modules can be located on the upper part of the AIRTK base platform body. The AIRTK base platform has the function of controlling movement remotely using a control panel with the possibility of video recording the path of the robot. The base platform AIRTK has the function of automatic movement on the ground or site, not specially adapted for the movement of robots. The base platform AIRTK has the function of automatically adjusting the path of movement depending on the presence of obstacles or objects that are in close proximity to it. The AIRTK basic platform has the function of autonomous movement with the possibility of self-learning, building a map of the area, determining the distance to obstacles, choosing the optimal trajectory to the destination, and contains a database of images of obstacles.

In FIG. 1 shows a general view and external elements of the base platform of an autonomous intelligent robotic complex (AIRTC): a) side view, b) front view, c) top view. The design has symmetry, which is marked by the axial line in the figure of Fig. 1 (a, b). The figure shows the main elements of the design, which includes: (1) - body of the AIRTK base platform, (2) - aluminum profile, (3) - motor-wheels of the AIRTK base platform, (4) - bumper of the AIRTK base platform, (5) - trays for cargo, (6) - video camera, (7) - depth camera, (8) - front central upper ultrasonic sensor (US-TC), which can be located at an angle, (9) - front central lower ultrasonic sensor (US- ПЦ), (10) - front right / central / left end sensors (KD-PP / PC / PL) installed directly in the AIRTK bumper, which are necessary to control collisions with obstacles, (11) - a unit with ultrasonic and infrared sensors for long distances (IK-PD, UZ-PV) on the right and left side of the body, (12) - a block with ultrasonic and infrared sensors for short distances (IK-PB, UZ-PN) on the right and left sides of the body, (13 ) - block with side ultrasonic and infrared sensors for medium distances (IR-PS, UZ-PB), for registration and distances to obstacles located on the right and left sides of the AIRTK base platform, (14) - a laser rangefinder that allows you to build a map of the surrounding space of the AIRTK.

Inside the body of the AIRTK base platform are located:

- rechargeable batteries. LiitoKala batteries can be used as rechargeable batteries;

- BMS controller required for charging and balancing a multi-cell battery, which also implements the functions of monitoring the current state of the battery and protection against exceeding the maximum allowable current, including short circuit protection;

- an on-board computer system based on an industrial computer that provides solutions to the problems of interaction with the operator and high-level control (trajectory planning, obstacle avoidance);

- a graphical computing module that provides real-time image processing tasks required for projects with artificial intelligence;

- an open source autopilot system that provides a solution to the problems of direct control of the platform and determining its spatial position. To determine the position of the AIRTK base platform on the ground, a GPS receiver is connected to the autopilot;

- microprocessor control modules for motor-wheels, which provide direct control of the switching keys of the windings of the motor-wheels, take readings of the winding currents, calculate the electric drive model in real time and thus implement the vector control of the motor-wheels;

- additional microcontrollers that solve the problems of working with primary converters and controlling actuators.

A key role in the development of the AIRTK basic platform is assigned to the use of machine vision technology. This technology makes it possible to implement the possibility of autonomous movement of the robot, indoors and outdoors, not specially adapted for the movement of robots. For this purpose, a video camera (6) and a depth camera (7) are used.

Figure 2 shows the general layout of the main elements of the base platform AIRTK. The AIRTK base platform control system consists of batteries, a BMS controller, an imaging module (contains a computing module and a video camera), a main control unit (contains a GPS receiver, an autopilot, an industrial computer as an onboard computer complex, a lidar, a depth camera), microcontrollers associated with distance and environmental sensors, as well as motor-wheel control modules.

Power from the batteries is supplied to the battery BMS controller, after which power is supplied to the imaging module, the main robot control unit, to the motor wheel control modules (MU-PP, MU-PL, MU-ZP, MU-ZL).

The imaging module interacts with the main control unit and includes a high-performance graphics computing module used to process visual information through real-time convolutional neural networks. The graphic computing module receives data from video cameras. Jetson AGX Xavier can be used as a graphics computing module.

The main control unit includes an industrial computer to which the autopilot, data from the lidar and data from the depth camera are connected. To determine the position of the AIRTK on the ground, a GPS receiver is connected to the autopilot. The CUAV X7 can be used as an autopilot. The main control unit interacts with microcontrollers, which receive information received from various types of sensors. The power of an industrial computer must be sufficient to control the robotic platform, process information from sensors and microcontrollers.

Microcontrollers provide control over the processing of signals from sensors located on the AIRTK base platform. Each microcontroller is responsible for working with its own group of sensors.

The first microcontroller processes data from 8 front central / upper / lower / side ultrasonic sensors (UZ-PC, UZ-PV, UZ-PN, UZ-PB), 6 front right and left infrared sensors to determine the distance at far / medium / short distances (IR-PD, IR-PS, IR-PB) and 6 front right / central / left end sensors (KD-PP, KD-PC, KD-PL).

The second microcontroller processes data from 8 rear central / upper / lower / side ultrasonic sensors (UZ-ZTs, UZ-ZV, UZ-ZN, UZ-ZB), 6 rear right and left infrared sensors to determine the distance at far / medium / short distances (IK-ZD, IK-ZS, IK-ZB) and 6 rear right / central / left end sensors (KD-ZP, KD-ZTs, KD-ZL).

The third microcontroller processes data from environmental sensors, such as temperature, humidity, pressure, and controls the operation of the side lights of the AIRTK base platform.

The operation of the right/left front engines of the AIRTK base platform (motor-wheels DH-PP, DH-PL) and the right/left rear engines (motor-wheels DH-ZP, DH-ZL) is controlled using front right/left engine control modules and rear right/left respectively (MU-PP, MU-PL, MU-ZP, MU-ZL) for each motor-wheel separately.

A prototype of the AIRTK base platform has been developed. In FIG. 3 shows the power frame of the base platform of the Autonomous Intelligent Robotic Complex (AIRTC). In FIG. 4 shows a dimensional drawing of the base platform of the Autonomous Intelligent Robotic Complex (AIRTC). It can be seen from the drawing that the total height of the AIRTK base platform is 0.73 m, the overall length is 0.79 m, the overall width is 0.55 m.

A prototype of the AIRTK base platform, contains an on-board computer system based on an Intel Core i5 computer with 16 GB of RAM and a 512 GB SSD hard drive, a Jetson AGX Xavier computing module, a CUAV X7 GPS receiver and autopilot, LiitoKala rechargeable batteries (3.2V, 100Ah 16 pieces). The power of an industrial computer must be sufficient to control the robotic platform, process information from sensors and microcontrollers.

As a result, a prototype of the AIRTK base platform delivered small loads over a given distance (more than 200 m). The speed of movement of the prototype of the AIRTK base platform was at least 5 km/h. The prototype carried out the task in a controlled/autonomous mode on an area of more than 30 sq.m. The maximum signal transmission distance from the operator to the prototype and back was at least 500 m. The radius of scanning the area for obstacles or other objects was more than 3 m. The carrying capacity of the AIRTK base platform was more than 20 kg; the battery life of the prototype was about 3 hours and depended on the operating conditions. The mass of the AIRTK base platform does not exceed 200 kg. The dimensions of the AIRTK base platform are no more than 1x1x1 m.

In FIG. 5 shows a general view of the base platform of the Autonomous Intelligent Robotic Complex (AIRTC). The optimal location of the main components and assemblies is given.

Claims (10)

1. The basic platform for an autonomous intelligent robotic complex (AIRTK), containing a body, four wheels, batteries, a battery management module (BMS), infrared and ultrasonic distance sensors, environmental sensors, end sensors, a computing graphic module, to which connection of video cameras, the main control unit, characterized in that the main control unit includes an industrial computer, a GPS receiver, an autopilot control, a lidar, a depth camera and supports the connection of microcontrollers, while the main control unit is equipped with a database of obstacle images, an image recognition algorithm, building terrain maps, an algorithm for selecting the optimal trajectory, the main control unit is configured to collect information from distance sensors, environmental sensors and end sensors located on the AIRTK bumpers, capable of registering a collision th robotic platform with obstacles, while the base platform AIRTK has the function of controlling the running motors using control modules and the autopilot system for controlling the AIRTK, while the wheel formula of the base platform AIRTK is 4 × 4 and the type of single-board control is used as a way to control the motor-wheels motor-wheels, the AIRTK base platform has the ability to install replaceable modules on the upper part of the body, which are capable of performing the selected type of tasks in automatic mode, the AIRTK base platform has a remote control function with the ability to video record the robot’s path, has the function of automatic movement on the ground or site, not specially adapted for the movement of robots, it has the function of automatically adjusting the path of movement depending on the presence of obstacles, while the AIRTK base platform has the function of automatically recharging the battery in an autonomous ohm mode. 2. The AIRTK base platform according to claim 1, characterized in that it has the function of delivering small-sized cargoes to a predetermined distance of more than 200 m. 3. The base platform AIRTK according to claim 1, characterized in that the speed of movement of the platform is at least 5 km/h. 4. The basic platform of AIRTK according to claim 1, characterized in that it performs the task in offline mode on an area of more than 30 sq.m. 5. The base platform AIRTC according to claim 1, characterized in that the distance of signal transmission from the operator to AIRTC and back is more than 500 m. 6. The AIRTK base platform according to claim 1, characterized in that the area scanning radius for obstacles or other objects is more than 3 m. 7. The base platform AIRTK according to claim 1, characterized in that the load capacity is more than 20 kg. 8. The base platform AIRTK according to claim 1, characterized in that the battery life of the experimental sample AIRTK is about 3 hours and depends on the operating conditions. 9. The AIRTK base platform according to claim 1, characterized in that the mass of the AIRTK base platform does not exceed 200 kg. 10. AIRTK base platform according to claim 1, characterized in that the dimensions of the AIRTK base platform are no more than 1 × 1 × 1 m.

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