CN108891498A - A kind of self-driving type barrier-surpassing robot - Google Patents
A kind of self-driving type barrier-surpassing robot Download PDFInfo
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- CN108891498A CN108891498A CN201811014816.4A CN201811014816A CN108891498A CN 108891498 A CN108891498 A CN 108891498A CN 201811014816 A CN201811014816 A CN 201811014816A CN 108891498 A CN108891498 A CN 108891498A
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D57/00—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track
- B62D57/02—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track with ground-engaging propulsion means, e.g. walking members
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Abstract
本发明实施例公开了一种自驱式越障机器人，包括：驱动装置、承载驱动装置的机器人底架、以及设置在机器人底架上的轮组；轮组至少包括驱动轮组；驱动装置通过向驱动轮组施加指定大小及方向的第一作用力，来控制驱动轮组与障碍物的接触面之间的第二作用力，以促使机器人越过障碍物。本发明实施例提供的技术方案，通过在自驱式越障机器人上设置驱动装置，在机器人遇到障碍物时向该机器人的驱动轮组提供第一作用力，以使驱动轮组与障碍物接触面的第二作用力发生相应变化，从而满足越过障碍所需的角度及其相应的动力，使得该机器人越过障碍物。
The embodiment of the present invention discloses a self-propelled obstacle-surmounting robot, comprising: a driving device, a robot chassis carrying the driving device, and a wheel set arranged on the robot chassis; the wheel set includes at least a driving wheel set; the driving device passes through A first acting force of a specified magnitude and direction is applied to the driving wheel set to control a second acting force between the contact surface of the driving wheel set and the obstacle, so as to urge the robot to cross the obstacle. In the technical solution provided by the embodiment of the present invention, by setting a driving device on the self-propelled obstacle-surpassing robot, when the robot encounters an obstacle, a first force is provided to the driving wheel set of the robot, so that the driving wheel set and the obstacle The second acting force on the contact surface changes accordingly, so as to meet the angle required for overcoming the obstacle and its corresponding power, so that the robot can surmount the obstacle.
Description
Technical Field
The invention relates to the technical field of robots, in particular to a self-driving obstacle crossing robot.
Background
With the rapid development of automation technology, robots are more and more present in the field of vision of people. A mobile robot is a device that intelligently controls movement to perform various tasks. For example, cleaning robots, robots for pulling goods in intelligent picking systems, etc. may move unobstructed indoors.
However, movement in an outdoor environment may require crossing obstacles. When the robot runs on the automobile road, no significant obstacle is encountered. However, in some cases it may be necessary to cross the motorway, for example when moving on a pedestrian walkway, which may require crossing a vertical obstacle such as a kerb.
At present, the existing robot cannot cross an obstacle with a steep gradient due to limited obstacle crossing capability, and does not have corresponding power required by obstacle crossing. Therefore, it is necessary to provide a robot that can travel on a pedestrian path and can climb an obstacle having a steep gradient outdoors.
Disclosure of Invention
The embodiment of the invention provides a self-driving obstacle crossing robot, which can enable the robot to cross an obstacle.
To achieve the object, an embodiment of the present invention provides a self-driving obstacle crossing robot, including: the robot comprises a driving device, a robot underframe for bearing the driving device and a wheel set arranged on the robot underframe; wherein,
the wheel set at least comprises a driving wheel set;
the driving device controls a second acting force between the driving wheel set and the contact surface of the obstacle by applying a first acting force with a specified size and direction to the driving wheel set so as to promote the robot to cross the obstacle.
Further, the wheel set further comprises a driven wheel set and a connecting member for connecting the wheel set and the robot chassis;
the driven wheel set comprises driven wheels which are arranged in pairs, each driven wheel is connected with the connecting member, and the driven wheels are arranged at the front end part, the middle part or the rear part of the robot underframe;
the driving wheel set comprises driving wheels which are arranged in pairs, each driving wheel is connected with the driving device, and the driving wheels are arranged at the front end part, the middle part or the rear part of the robot chassis.
Further, the connecting member includes a front shaft and a rear shaft, or a front shaft, an intermediate shaft, and a rear shaft;
the front shaft is arranged at the front end part of the robot underframe and is used for connecting driven wheels or driving wheels which are arranged in pairs and are respectively arranged at two sides of the robot underframe;
the middle shaft is arranged in the middle of the robot underframe and is used for connecting driven wheels or driving wheels which are arranged in pairs and are respectively arranged on two sides of the robot underframe;
the rear shaft is arranged at the rear part of the robot underframe and is used for connecting driven wheels or driving wheels which are arranged in pairs and are respectively arranged at two sides of the robot underframe.
Further, the motor drive device includes: the device comprises a first tilting rod, a second tilting rod, a lever bearing, a lever rotating shaft, a driving motor and a rotating motor;
the first inclined rod is used for connecting driving wheels positioned on the same side of the robot underframe;
one end of the second inclined rod penetrates through the lever bearing and is connected with the first inclined rod, and the other end of the second inclined rod is connected with the driving motor;
one end of the lever rotating shaft is connected to the lever bearing, and the other end of the lever rotating shaft is connected to the rotating motor.
Further, the driving motor drives the driving wheel to rotate, and provides driving force in the forward or backward direction for the driving wheel;
the rotating motor drives the lever rotating shaft to rotate, drives the first inclined rod connected with the lever rotating shaft to turn over, and is used for providing an acting force for pulling up or pressing down for the driving wheel.
Further, the first tilting lever is driven by the rotary motor to rotate clockwise or counterclockwise about the second tilting lever as a rotation axis, and a rotation surface formed by the first tilting lever is perpendicular to the second tilting lever.
Further, the robot further includes: a sensing device for sensing whether an obstacle exists in the forward movement direction of the robot.
The sensing means comprises at least one of the following:
infrared sensors, ultrasonic sensors, lidar sensors, optical flow sensors, stereo vision sensors, map-based positioning devices, collision sensors, odometer-based sensors and wheel slide sensors.
Further, the robot further includes: and a clutch for controlling engagement and disengagement between the rotation motor and the lever rotation shaft.
Further, the robot further includes: and the controller is used for receiving the detection signal sent by the sensing device and controlling the clutch based on the detection signal.
According to the self-driving obstacle crossing robot provided by the embodiment of the invention, the driving device is arranged on the self-driving obstacle crossing robot, and a first acting force is provided for the driving wheel set of the robot when the robot meets an obstacle, so that a second acting force of the contact surface of the driving wheel set and the obstacle is correspondingly changed, the angle and the corresponding power required by obstacle crossing are met, and the robot can cross the obstacle.
Drawings
Other features, objects and advantages of the invention will become more apparent upon reading of the detailed description of non-limiting embodiments made with reference to the following drawings:
fig. 1 is a schematic structural diagram of a self-propelled obstacle crossing robot provided in a first embodiment of the present invention;
fig. 2 is a schematic structural diagram of a self-propelled obstacle crossing robot according to a second embodiment of the present invention.
Detailed Description
The present invention will be described in further detail with reference to the accompanying drawings and examples. It is to be understood that the specific embodiments described herein are merely illustrative of the invention and are not limiting of the invention. It should be further noted that, for the convenience of description, only some but not all of the relevant aspects of the present invention are shown in the drawings.
The number and the positions of the driving wheels and the driven wheels of the self-driving obstacle crossing robot in the embodiment of the invention can be flexibly set according to different application scenes. Only a few arrangements will be described below.
Example one
Fig. 1 is a schematic structural diagram of a self-propelled obstacle crossing robot according to an embodiment of the present invention, which is suitable for a robot to autonomously or semi-autonomously move indoors or outdoors, and is particularly suitable for a robot moving in an outdoor complex environment. For example, the robot moves in an environment where an obstacle such as a curb or a ridge exists on an outdoor road.
Specifically, referring to fig. 1, the robot 100 includes: the robot comprises a driving device 1, a robot underframe 2 bearing the driving device and a wheel set arranged on the robot underframe 2;
the wheel set at least comprises a driving wheel set;
the driving device 1 controls a second acting force between the driving wheel set and the contact surface of the obstacle by applying a first acting force with a specified magnitude and direction to the driving wheel set, so as to prompt the robot 100 to cross the obstacle.
The robot chassis 2 refers to the entire frame of the robot 100, and may include a bottom chassis, side walls, and a top cover (not shown) of the bottom of the robot 100, and may have a rectangular or circular structure. The robot chassis can also be provided with a side wall and a cover body similar to a human shape; the cover body is provided with an actuating member (not shown in the figure) in the shape similar to the head, arms and the like of a human body.
Wheel sets are integrated on the robot chassis 2 for moving the robot 100. Optionally, the wheel set at least includes a driving wheel set, and the driving wheel set may be a pair of driving wheels or an individual driving wheel; preferably, in this embodiment, the driving wheel sets may be driving wheels arranged in pairs. The number of the driving wheel sets and the driving devices 1 can be selected according to actual conditions, and the robot 100 at least comprises one driving device 1.
The drive wheel is connected to a drive unit 1, as shown in fig. 1, the dashed box being indicated in part by the drive unit 1. The robot chassis 2 is provided with two pairs of driving wheel sets, namely a driving wheel set consisting of two symmetrically arranged driving wheels 20 and a driving wheel set consisting of two symmetrically arranged driving wheels 30, two driving devices 1 are symmetrically arranged along two sides of the central line of the robot chassis 2 in the length direction, and each driving device 1 is connected with one driving wheel 20 and one driving wheel 30.
In this embodiment, the first acting force is an acting force applied by the driving device 1 to the driving wheel set, and may include an acting force of pulling up or pressing down, and the acting force is mainly used for making the driving wheel set upwarp or bend down to make the robot 100 cross an obstacle when the robot 100 encounters the obstacle; a driving force in a forward or backward direction may be further included, and the force is mainly used to move the driving wheel set forward or backward so as to move the robot 100 forward or backward. The second acting force is the acting force between the driving wheel set and the contact surface of the obstacle.
For example, if the driving device 1 applies the upward pulling force of the first force to the driving wheel 20 to tilt up the driving wheel 20, the second force between the driving wheel 20 and the contact surface of the obstacle is reduced. For the force-based interaction, the drive device 1 will apply a pressing-down force of the first force to the drive wheel 30 to bend down the drive wheel 20, thereby increasing the second force between the contact surface of the drive wheel 30 and the obstacle.
For example, the wheel sets disposed on the robot chassis 2 may further include driven wheel sets, which may be driven wheels disposed in pairs or may be driven wheels individually. Preferably, in the present embodiment, the driven wheel sets may be driven wheels arranged in pairs. The driven wheel set is not connected with the driving device 1, and is not connected with the driving device 1 as shown in fig. 1, and the driven wheel set is composed of independent and symmetrical driven wheels 10.
It should be noted that, in the present embodiment, the driving wheel set and the driven wheel set are distinguished by whether the wheel set is connected to the driving device 1, but the driving wheel forming the driving wheel set and the driven wheel forming the driven wheel set are not different, and they may be identical wheels or different, and the driven wheel set and the driving wheel set may be selectively arranged according to actual situations. For example, in order to allow the robot 100 to turn, the driven wheels may be provided as universal wheels or omni-directional wheels, the driving wheels may be provided as ordinary wheels, and the like.
The robot 100 may further include: a connecting member connecting the wheel set (driving wheel set and driving wheel set) and the robot undercarriage 2; the connecting member may be a connecting rod, a connecting plate or a shaft or the like.
The driven wheel set comprises driven wheels 10 arranged in pairs, each driven wheel 10 is connected with a connecting member, and the driven wheels 10 can be arranged at the front end part, the middle part or the rear part of the robot underframe 2; the driving wheel set comprises driving wheels arranged in pairs, each driving wheel is connected with a driving device, and the driving wheels can be arranged at the front end part, the middle part or the rear part of the robot chassis 2.
It should be noted that the number of the driven wheel sets and the number of the driving wheel sets can be set according to actual requirements. As shown in fig. 1, the robot 100 includes a driven wheel set provided at a front end portion, and driving wheel sets provided at a middle portion and a rear portion. If the robot 100 includes two pairs of driven wheel sets and two pairs of driving wheel sets, one pair of driven wheel sets may be disposed at the front end of the robot undercarriage 2, the other pair of driven wheel sets may be disposed at the rear portion of the robot undercarriage 2, and the two pairs of driving wheel sets may be symmetrically disposed at the middle portion of the robot undercarriage 2, and the two pairs of driving wheel sets are connected through the driving device 1. Specifically, if a pair of driven wheel sets symmetrical to the driven wheel set composed of the driven wheels 10 is added to the right portion of the driving wheel set composed of the driving wheels 30 as shown in fig. 1, the driven wheel sets in the robot 100 are respectively disposed at the front end portion and the rear portion of the robot undercarriage 2, and the driving wheel set composed of the two symmetrically disposed driving wheels 20 and the driving wheel set composed of the two symmetrically disposed driving wheels 30 are both disposed at the middle portion of the robot undercarriage 2.
Preferably, the connecting member in this embodiment may be a shaft, which may include a front shaft and a rear shaft, or a front shaft, an intermediate shaft, and a rear shaft; if there are only two pairs of wheel sets in the robot 100, the connecting members may include a front axle and a rear axle; if at least three pairs of wheel sets are included in the robot 100, the connecting members may include a front axle, an intermediate axle, and a rear axle. The front shaft is arranged at the front end part of the robot underframe 2 and is used for connecting driven wheels or driving wheels which are arranged in pairs and are separated from two sides of the robot underframe 2; the middle shaft is arranged in the middle of the robot underframe 2 and is used for connecting driven wheels or driving wheels which are arranged in pairs and are separated from two sides of the robot underframe 2; and the rear shafts are arranged at the rear part of the robot underframe 2 and are used for connecting driven wheels or driving wheels which are arranged in pairs and are separated from two sides of the robot underframe 2.
As shown in fig. 1, the robot 100 includes a pair of driven wheel sets connected to the front axle 11 and two pairs of driving wheel sets connected to the intermediate axle 21 and the rear axle 31, respectively. Specifically, the front shaft 11 is arranged at the front end part of the robot underframe 2 and is used for connecting driven wheels 10 which are arranged in pairs and are separated from two sides of the robot underframe 2; the intermediate shaft 21 is arranged in the middle of the robot underframe 2 and is used for connecting driving wheels 20 which are arranged in pairs and are separated from two sides of the robot underframe 2; and a rear shaft 31 provided at the rear of the robot base frame 2 for connecting the driving wheels 30 provided in pairs and separated from both sides of the robot base frame 2.
For example, the wheel set disposed at the front end of the robot chassis 2 may be referred to as a front wheel, the wheel set disposed at the middle of the robot chassis 2 may be referred to as a middle wheel, and the wheel set disposed at the rear of the robot chassis 2 may be referred to as a rear wheel. The driven wheel 10 in fig. 1 is the front wheel 10, and correspondingly, the driving wheel 20 is the middle wheel 20, and the driving wheel 30 is the rear wheel 30. For ease of understanding and distinction, the present embodiment will be described later with reference to the front wheel 10, the intermediate wheel 20, and the rear wheel 30.
Note that the front wheels 10 may be rotatable and may protrude slightly in front of the robot undercarriage 2. Preferably, the intermediate wheel 20 may be located behind the center of mass of the robot 100. The front wheels 10 may be connected by a common front axle (not shown) or may be connected by a single axle 11. Correspondingly, the intermediate wheels 20 can be connected by a common intermediate shaft 21, or by separate shafts (not shown in the figures); the rear wheels 30 may be connected by a common rear axle 31 or may be connected by a separate axle (not shown).
As shown in fig. 1, two driving devices 1 are symmetrically disposed along both sides of a center line in a length direction of a robot undercarriage 2, and the driving devices 1 are fixedly disposed between an intermediate shaft 21 connected to an intermediate wheel 20 and a rear shaft 31 connected to a rear wheel 30, and are used for providing a pulling-up or pressing-down force to the intermediate wheel 20 and the rear wheel 30 when the robot 100 encounters a vertical obstacle along a moving direction, so as to urge the robot 100 to vertically pass over the obstacle.
Illustratively, the driving device 1 may include: a first tilting lever 41, a second tilting lever 42, a lever bearing 43, a lever rotating shaft 51, a driving motor 40, and a rotating motor 50; wherein the first tilting lever 41 is used to connect the driving wheels (the middle wheel 20 and the rear wheel 30) located on the same side of the robot chassis 2; one end of the second tilting lever 42 penetrates the lever bearing 43 and is connected with the first tilting lever 41, and the other end is connected with the driving motor 40; one end of the lever rotating shaft 51 is connected to the lever bearing 43, and the other end is connected to the rotating motor 50; the driving motor 40 drives the driving wheel to rotate, and provides driving force in the forward or backward direction for the driving wheel; the rotating motor 50 rotates the lever rotating shaft 51, and rotates the first tilting lever 41 connected to the lever rotating shaft 51 to turn, so as to provide a pulling-up or pressing-down force to the driving wheel, thereby causing the robot 100 to pass over an obstacle.
Wherein, the lever bearing 43 may be a sleeve with a gear, one end of which is fixedly connected with the first tilting rod 41, the other end of which is connected with the lever rotating shaft 51, and the other end of the lever rotating shaft 51 is connected with the rotating motor 50; the lever rotating shaft 51 may be a chain or a pulley, etc.; rotation of the first tilting lever 41 will cause the intermediate wheel 20 and the rear wheel 30 to tilt up or down.
The first tilting lever 41 may be driven by the rotation motor 50 to rotate clockwise or counterclockwise about the second tilting lever 42 as a rotation axis, and a rotation plane formed by the rotation surface may be perpendicular to the second tilting lever 42. And the first tilting lever 41 can be rotated 0 to plus or minus 90 degrees so as to enable the robot 100 to vertically cross a curb, a tilting obstacle, a raised obstacle, or the like. The 0 degree refers to the state that the first inclined rod does not rotate and is parallel to the ground; the positive 90 degrees means that the first tilting lever takes the second tilting lever 42 as a rotating shaft and rotates clockwise to be vertical to the ground under the driving of the rotating motor 50; correspondingly, the negative 90 degrees means that the first tilting lever rotates counterclockwise to be perpendicular to the ground by using the second tilting lever 42 as a rotating shaft and driving the rotating motor 50.
Alternatively, a front drive motor 12, which is a corresponding drive motor provided with the front wheel 10, is connected to the front wheel 10 via a front shaft 11 in order to allow the front wheel 10 to move forward.
Specifically, in the whole process that the robot 100 climbs the obstacle, the first tilting lever 41 is driven by the rotating motor 50 to rotate clockwise or counterclockwise by taking the second tilting lever 42 as a rotating shaft, and includes two parts: when the front wheel 10 contacts a vertical or inclined surface of an obstacle, the upward rotation of the first inclined bar 41 will provide an upward pulling force to the intermediate wheel 20 and a downward pushing force to the rear wheel 30, assisting the front wheel 10 in maintaining contact with the surface to assist the front wheel 10 in climbing the obstacle; preferably, the relative movement of the intermediate wheels 20 and the other wheels further assists in causing the front wheels 10 and the robot 100 to climb an obstacle and/or maintain traction of the front wheels 10 above and/or behind the obstacle.
The second part, the downward rotation of the first tilting lever 41, provides a downward pressing force to the intermediate wheel 20, tilting the robot 100 about the first tilting lever 41 perpendicular to the traveling direction, and also provides an upward pulling force to the rear wheel 30 to assist the front wheel 10 to pass over an obstacle.
Further, the first tilting lever 41 can also rotate freely when the turning motor 50 is in the off state, that is, the unbraked state, so that the rotation of the first tilting lever 41 is prevented by its resistance.
The second tilting lever 42 has one end fixed to the first tilting lever 41 through the lever bearing 43 and the other end connected to the driving motor 40 to provide a driving force in a forward or backward direction to the intermediate wheel 20 and the rear wheel 30. Illustratively, the second tilting lever 42 may also be free to rotate itself by a rotating mechanism (not shown) for transmitting and/or transmitting a rotational movement, for example by means of a gear, pulley(s), a chain, etc., or a combination thereof.
Alternatively, the rotation motor 50 rotates the lever rotation shaft 51 to rotate the first tilting lever 41 connected to the lever rotation shaft 51, thereby turning the first tilting lever to provide a force for pulling up or pressing down the driving wheel to move the robot 100 over an obstacle.
Specifically, after the rotating motor 50 is turned on, the lever rotating shaft 51 is driven to rotate, the lever rotating shaft 51 rotates to drive the lever bearing 43 to rotate, the lever bearing 43 rotates to enable the first inclined rod 41 to rotate clockwise or counterclockwise around the second inclined rod 42, and a formed rotating surface is perpendicular to the second inclined rod 42. Rotation of the first tilting lever 41 will cause a corresponding pull-up or push-down force to be applied to the intermediate wheel 20 and the rear wheel 30, thereby enabling the robot 100 to get over the obstacle.
In order to reduce the power consumption of the rotation motor 50 to extend the life span thereof, when the robot 100 is about to pass over an obstacle, the rotation motor 50 may be disconnected from the lever rotation shaft 51, thereby causing the robot 100 to push down over the obstacle based on inertia. Illustratively, the robot 100 may further include: a clutch for controlling engagement and disengagement between the rotating motor 50 and the lever rotating shaft 51; and the controller is used for receiving the detection signal sent by the sensing device and controlling the clutch based on the detection signal.
Wherein, the clutch can be a switch circuit; the controller is a single chip or a processor integrated with various chips, and is used to control each unit or component in the robot 100. The detection signal may be a level signal, a pulse signal or a signal composed of different frequencies according to the size, shape and the like of the obstacle.
Illustratively, the robot 100 may further include: a sensing device for sensing whether an obstacle exists in the forward movement direction of the robot 100; if the obstacle crossing operation exists, sending a detection signal to the controller, so that the controller controls the rotating motor 50 to be started after receiving the detection signal, and then driving the lever rotating shaft 51 to rotate to realize the obstacle crossing operation; if not, no action may be taken or a safety signal may be periodically sent to the controller. Specifically, at least one of an infrared sensor, an ultrasonic sensor, a laser radar sensor, an optical flow sensor, a stereoscopic vision sensor, a map-based positioning device, a collision sensor, a odometer-based sensor, and a wheel slide sensor may be used.
The specific operation process is as follows: when the robot 100 moves, the controller will control the driving motor 40 to be turned on to provide a driving force for the forward movement of the robot 100. When the sensing device detects that an obstacle exists in the forward movement direction of the robot, a level signal or a pulse signal is sent to the controller, and after the controller receives the level signal or the pulse signal, the controller controls the rotating motor 50 to be started, so that the lever rotating shaft 51 is driven to rotate. The lever rotating shaft 51 rotates to drive the lever bearing 43 to rotate, the lever bearing 43 rotates to enable the first inclined rod 41 to rotate clockwise or anticlockwise around the second inclined rod 42, and the rotation of the first inclined rod 41 can enable the middle wheel 20 and the rear wheel 30 to generate corresponding upward pulling or downward pressing acting force, so that the robot 100 can get over obstacles. When the controller detects that the robot 100 will cross an obstacle, the controller controls the clutch to be opened, and after the clutch is opened, the controller controls the rotating motor 50 to be disconnected from the lever rotating shaft 51, so that the robot 100 can be pressed downwards without any resistance to move along the moving direction of the robot, and meanwhile, the controller controls the rotating motor 50 to be closed. When the controller detects that the robot 100 passes over an obstacle, it controls the clutch to be closed so that the rotation motor 50 is re-connected to the lever rotation shaft 51.
It should be noted that, in this embodiment, by providing the driven wheel set, it may be avoided that the driving device 1 is directly and fixedly disposed between the two pairs of driving wheel sets disposed along the moving direction of the robot chassis 2, and the first inclined rod 41 is too long, so that the acting force provided by the motor driving device 1 may not satisfy the phenomenon of the pulling-up or pressing-down acting force required by the robot 100 to climb the obstacle.
According to the self-driving obstacle crossing robot provided by the embodiment of the invention, the driving device is arranged on the self-driving obstacle crossing robot, and when the robot meets an obstacle, a pull-up acting force or a push-down acting force is provided for a driving wheel of the robot, so that a second acting force of a contact surface of a driving wheel set and the obstacle is correspondingly changed, and the angle and the corresponding power required by obstacle crossing are met, and the robot can cross the obstacle.
Example two
Fig. 2 is a schematic structural diagram of a self-propelled obstacle crossing robot according to a second embodiment of the present invention, in this embodiment, based on the first embodiment, based on a lever principle, if a length of the first inclined rod 41 can bear a force provided by the driving device 1, so as to pull up or press down the driving wheel, so as to enable the robot to cross an obstacle, only a driving wheel set may be provided in the robot. Referring to fig. 2, the robot 200 includes: the robot comprises a driving device 1, a robot underframe 2 bearing the driving device and a wheel set arranged on the robot underframe 2;
the wheel set comprises two pairs of driving wheel sets;
the driving device 1 controls a second acting force between the driving wheel set and the contact surface of the obstacle by applying a first acting force of a designated magnitude and direction to the driving wheel set, so as to urge the robot 200 to pass the obstacle.
As shown in fig. 2, a dotted frame is marked as a driving device 1, and two driving devices 1 are symmetrically arranged on both sides of a center line in the length direction of the robot chassis 2; the robot chassis 2 is provided with two pairs of driving wheel sets, the driving wheel sets are arranged at four bottom corners of the robot chassis 2 and respectively comprise two driving wheel sets formed by two symmetrically arranged driving wheels 60 and two driving wheel sets formed by two symmetrically arranged driving wheels 30, and each driving device 1 is connected with one driving wheel 60 and one driving wheel 30. A driving wheel group consisting of two symmetrically arranged driving wheels 60 is arranged at the front end part of the robot underframe 2, and a driving wheel group consisting of two symmetrically arranged driving wheels 30 is arranged at the rear part of the robot underframe 2; each pair of driving wheel sets is connected with each other through a connecting component, and in the embodiment, the connecting component is a shaft.
For example, the wheel set disposed at the front end of the robot undercarriage 2 may be referred to as a front wheel, and the wheel set disposed at the rear of the robot undercarriage 2 may be referred to as a rear wheel. The driving wheel 60 in fig. 2 is the front wheel 60, and correspondingly, the driving wheel 30 is the rear wheel 30. For ease of understanding and distinction, the present embodiment will be described later with respect to the front wheels 60 and the rear wheels 30. Correspondingly, the connecting member connecting the two front wheels 60 is the front axle 61, and the connecting member connecting the two rear wheels 30 is the rear axle 31.
As shown in fig. 2, the driving device 1 is fixedly disposed between the front wheels 60 and the rear wheels 30, and is connected with the front wheels 60 and the rear wheels 30, for providing a force of pulling up or pressing down to the front wheels 60 and the rear wheels 30 when the robot encounters a vertical obstacle along its moving direction, so as to urge the robot 200 to vertically cross the obstacle.
The front wheels 60 may be connected by a common front axle 61 or by separate axles (not shown). The rear wheels 30 may be connected by a common rear axle 31 or may be connected by a separate axle (not shown).
For example, the motor drive apparatus 1 may include: a first tilting lever 41, a second tilting lever 42, a lever bearing 43, a lever rotating shaft 51, a driving motor 40, and a rotating motor 50; wherein the first tilting lever 41 is used to connect the driving wheels (front wheel 60 and rear wheel 30) located on the same side of the robot chassis 2; one end of the second tilting lever 42 penetrates the lever bearing 43 and is connected with the first tilting lever 41, and the other end is connected with the driving motor 40; one end of the lever rotating shaft 51 is connected to the lever bearing 43, and the other end is connected to the rotating motor 50; the driving motor 40 drives the driving wheel to rotate, and provides driving force in the forward or backward direction for the driving wheel; the rotating motor 50 drives the lever rotating shaft 51 to rotate, and drives the first tilting rod 41 connected to the lever rotating shaft 51 to turn over, so as to provide a pulling-up or pressing-down force to the driving wheel, so that the robot 200 passes over an obstacle.
Specifically, in the whole process that the robot 200 climbs the obstacle, the first tilting lever 41 is driven by the rotating motor 50 to rotate clockwise or counterclockwise by taking the second tilting lever 42 as a rotating shaft, and includes two parts: first, when front wheel 60 contacts a vertical or inclined surface of an obstacle, the upward rotation of first tilting lever 41 will provide an upward pulling force on front wheel 60 and a downward pushing force on rear wheel 30, assisting front wheel 60 in maintaining contact with the surface to assist front wheel 60 in climbing the obstacle.
Second, the downward rotation of the first tilting lever 41 provides a downward pressing force to the front wheels 60 to tilt the robot 200 about the first tilting lever 41 perpendicular to the traveling direction, and also provides an upward pulling force to the rear wheels 30 to assist the front wheels 60 to pass over obstacles.
Optionally, the robot 200 may further include: and a sensing device for sensing whether an obstacle exists in the forward movement direction of the robot 200. And the sensing means may be: at least one of an infrared sensor, an ultrasonic sensor, a lidar sensor, an optical flow sensor, a stereo vision sensor, a map-based positioning device, a collision sensor, a odometer-based sensor, and a wheel slip sensor.
Illustratively, the robot 200 may further include: a clutch for controlling engagement and disengagement between the rotating motor 50 and the lever rotating shaft 51; and the controller is used for receiving the detection signal sent by the sensing device and controlling the clutch based on the detection signal.
The specific operation process is as follows: when the robot 200 moves, the controller will control the driving motor 40 to be turned on to provide a driving force for the forward movement of the robot 200. When the sensing device detects that an obstacle exists in the forward movement direction of the robot, a detection signal is sent to the controller, and after the controller receives the detection signal, the controller controls the rotating motor 50 to be started, so that the lever rotating shaft 51 is driven to rotate. The rotation of the lever rotating shaft 51 will drive the lever bearing 43 to rotate, the rotation of the lever bearing 43 will make the first tilting rod 41 rotate clockwise or counterclockwise around the second tilting rod 42, and the rotation of the first tilting rod 41 will make the front wheel 60 and the rear wheel 30 generate corresponding upward pulling or downward pressing force, thereby realizing the obstacle crossing of the robot 200. When the controller monitors that the robot 200 will cross the obstacle, the controller controls the clutch to be opened, and after the clutch is opened, the controller controls the rotating motor 50 to be disconnected from the lever rotating shaft 51, so that the robot 200 can be pressed downwards without any resistance to move along the moving direction of the robot, and meanwhile, the controller controls the rotating motor 50 to be closed. When the controller detects that the robot 200 passes over an obstacle, it controls the clutch to be closed so that the rotation motor 50 is reconnected to the lever rotation shaft 51.
According to the self-driving obstacle crossing robot provided by the embodiment of the invention, the driving device is arranged on the self-driving obstacle crossing robot and is specially used for providing a pull-up acting force or a push-down acting force for the driving wheel of the robot when the robot meets an obstacle, so that the second acting force of the contact surface of the driving wheel set and the obstacle is correspondingly changed, the angle and the corresponding power required by obstacle crossing are met, and the robot can cross the obstacle.
The above example numbers are for description only and do not represent the merits of the examples.
The embodiments in the present specification are described in a progressive manner, each embodiment focuses on differences from other embodiments, and the same or similar parts in the embodiments are referred to each other.
The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention, and various modifications and changes may be made by those skilled in the art. Any modification, equivalent replacement, or improvement made within the spirit and principle of the present invention should be included in the protection scope of the present invention.
Claims (10)
1. A self-propelled obstacle-surmounting robot, comprising: the robot comprises a driving device, a robot underframe for bearing the driving device and a wheel set arranged on the robot underframe;
the wheel set at least comprises a driving wheel set;
the driving device controls a second acting force between the driving wheel set and the contact surface of the obstacle by applying a first acting force with a specified size and direction to the driving wheel set so as to promote the robot to cross the obstacle.
2. The robot of claim 1, further comprising:
the wheel set further comprises a driven wheel set and a connecting member for connecting the wheel set and the robot chassis;
the driven wheel set comprises driven wheels which are arranged in pairs, each driven wheel is connected with the connecting member, and the driven wheels are arranged at the front end part, the middle part or the rear part of the robot underframe;
the driving wheel set comprises driving wheels which are arranged in pairs, each driving wheel is connected with the driving device, and the driving wheels are arranged at the front end part, the middle part or the rear part of the robot chassis.
3. A robot according to claim 2, wherein the connecting members comprise a front axle and a rear axle, or a front axle, an intermediate axle and a rear axle;
the front shaft is arranged at the front end part of the robot underframe and is used for connecting driven wheels or driving wheels which are arranged in pairs and are respectively arranged at two sides of the robot underframe;
the middle shaft is arranged in the middle of the robot underframe and is used for connecting driven wheels or driving wheels which are arranged in pairs and are respectively arranged on two sides of the robot underframe;
the rear shaft is arranged at the rear part of the robot underframe and is used for connecting driven wheels or driving wheels which are arranged in pairs and are respectively arranged at two sides of the robot underframe.
4. A robot according to any of claims 1-3, characterized in that said driving means comprise: the device comprises a first tilting rod, a second tilting rod, a lever bearing, a lever rotating shaft, a driving motor and a rotating motor;
the first inclined rod is used for connecting driving wheels positioned on the same side of the robot underframe;
one end of the second inclined rod penetrates through the lever bearing and is connected with the first inclined rod, and the other end of the second inclined rod is connected with the driving motor;
one end of the lever rotating shaft is connected to the lever bearing, and the other end of the lever rotating shaft is connected to the rotating motor.
5. Robot according to claim 4,
the driving motor drives the driving wheel to rotate and provides driving force in the forward or backward direction for the driving wheel;
the rotating motor drives the lever rotating shaft to rotate, drives the first inclined rod connected with the lever rotating shaft to turn over, and is used for providing an acting force for pulling up or pressing down for the driving wheel.
6. The robot according to claim 4, wherein the first tilting lever is driven by the rotation motor to rotate clockwise or counterclockwise about the second tilting lever as a rotation axis, and a rotation plane formed by the rotation motor is perpendicular to the second tilting lever.
7. A robot as claimed in any of claims 1-3, further comprising:
a sensing device for sensing whether an obstacle exists in the forward movement direction of the robot.
8. A robot according to claim 7, characterized in that said sensing means comprise at least one of the following:
infrared sensors, ultrasonic sensors, lidar sensors, optical flow sensors, stereo vision sensors, map-based positioning devices, collision sensors, odometer-based sensors and wheel slide sensors.
9. The robot of claim 4, further comprising:
and a clutch for controlling engagement and disengagement between the rotation motor and the lever rotation shaft.
10. The robot of claim 7, further comprising:
and the controller is used for receiving the detection signal sent by the sensing device and controlling the clutch based on the detection signal.
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811014816.4A CN108891498A (en) | 2018-08-31 | 2018-08-31 | A kind of self-driving type barrier-surpassing robot |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811014816.4A CN108891498A (en) | 2018-08-31 | 2018-08-31 | A kind of self-driving type barrier-surpassing robot |
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| CN108891498A true CN108891498A (en) | 2018-11-27 |
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| CN201811014816.4A Pending CN108891498A (en) | 2018-08-31 | 2018-08-31 | A kind of self-driving type barrier-surpassing robot |
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| CN111845335A (en) * | 2020-06-24 | 2020-10-30 | 江苏汇智高端工程机械创新中心有限公司 | Wheel-side transmission mechanism that can realize adaptive obstacle surmounting |
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Address after: 100020 No. 1 Building, No. 36 Chuangyuan Road, Chaoyang District, Beijing 101 Applicant after: Beijing jizhijia Technology Co.,Ltd. Address before: 100020 No. 1 Building, No. 36 Chuangyuan Road, Chaoyang District, Beijing 101 Applicant before: Beijing Geekplus Technology Co.,Ltd. |
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Application publication date: 20181127 |