CN110282045A - Uneven section and/or avoidance robot and control method can be passed through - Google Patents

Abstract

The invention relates to a robot and method capable of passing through uneven road sections and/or obstacle avoidance, comprising a chassis, an upper cover arranged on the chassis, a level walking device installed on the chassis, and a bionic leg device arranged on the chassis. As a further improvement of the above technical solution: a controller for controlling the leveling device and the bionic leg device is installed on the chassis or the upper cover; sensors/monitors, which are electrically connected to the remote control terminal, are installed on the chassis or the upper cover. A GPS positioning module electrically connected to the remote control terminal, a guide and/or a battery pack electrically connected to the controller. The guide is a gyroscope or a gravity sensor and/or a remote control terminal is wirelessly connected with the controller; the present invention has reasonable design, compact structure and convenient use.

Description

A robot capable of traversing uneven road sections and/or obstacle avoidance and its control method

technical field

The present invention relates to a robot capable of passing through uneven road sections and/or obstacle avoidance and a control method.

Background technique

At present, due to the large number of components carried in the existing robot, the robot has poor adaptability to uneven road sections, and it is easy to cause damage to the components, especially when encountering steps or obstacles, the existing robot can only pass the crawler robot. It can pass a certain height of steps, but the crawler tracks are slow, and the emergency ability when encountering obstacles is poor.

SUMMARY OF THE INVENTION

In general, the technical problem to be solved by the present invention is to provide a robot and method that can pass through uneven road sections and/or obstacle avoidance; the technical problems to be solved in detail and the beneficial effects obtained are described in detail in the following content and in conjunction with the specific embodiments. .

In order to solve the above problems, the technical scheme adopted by the present invention is:

A robot capable of passing through uneven road sections and/or obstacle avoidance includes a chassis, an upper cover disposed on the chassis, a level walking device installed on the chassis, and a bionic leg device disposed on the chassis.

As a further improvement of the above technical solution:

A controller for controlling the leveling device and the bionic leg device is installed on the chassis or the upper cover;

A sensor/monitor electrically connected to the remote control terminal, a GPS positioning module electrically connected to the remote control terminal, a guide and/or a battery pack electrically connected to the controller are installed on the chassis or the upper cover.

The guide is a gyroscope or a gravity sensor and/or a remote control terminal is wirelessly connected to the controller.

The flat-ground walking device includes a walking track or a walking wheel arranged on the chassis; the bionic leg device includes a walking track arranged on the chassis.

The bionic leg device includes three or more walking foot groups arranged at the corners of the chassis;

The walking foot group includes a hip joint steering gear arranged on the chassis, a thigh frame hinged with the hip joint steering gear, a knee joint steering gear arranged at the end of the thigh frame, a calf frame hinged on the knee joint steering gear at the root, and a The ankle joint servo at the end of the calf frame, and the foot assembly hinged on the ankle joint servo at the root.

A ground-contacting arc-shaped foot is arranged at the cantilever end of the foot assembly, a process opening corresponding to the ankle joint steering gear is arranged at the root end of the foot assembly, and an outer shield covering the ankle joint steering gear is arranged at the root end of the foot assembly.

The flat-ground walking device includes three or more than four omnidirectional wheel assemblies arranged around the chassis; a motor frame is arranged on the chassis, and a driving motor connected to the omnidirectional wheel assembly is installed on the motor frame.

The omnidirectional wheel assembly includes a horizontally arranged transmission shaft that is drive-connected to the drive motor, two or more omnidirectional wheel mounting parts sleeved on the transmission shaft at different angles, and an intermediate connection rotating sleeve installed between the omnidirectional wheel installation parts .

The omnidirectional wheel mounting part includes an inner cage sleeved on the transmission shaft, a positioning notch provided on the inner cage and used for coaxially embedding the intermediate connection rotating sleeve, process protrusions distributed on the inner cage, distribution A wheel installation gap arranged between adjacent process protrusions, an olive-shaped roller located at the wheel installation gap and used for the outer side to contact the ground, an axle roller inserted in the olive-shaped roller, and another an outer connecting plate on the side, a technological notch arranged on the outer connecting plate and used for accommodating the olive-shaped roller, and an outer buckle cover arranged on the outer side of the outer connecting plate;

The end of the axle roller is rotatably installed between the outer connecting plate and the process protrusion;

An intermediate pad is arranged inside the outer connecting plate.

Include the following steps;

Step 1: First, the GPS positioning module sends the coordinates of the robot to the remote control terminal, and the sensor/monitor sends the real-time road conditions to the remote control terminal; then, the remote control terminal sets the path of the robot to the end of the journey;

Step 2, first, the path in the first step of robot installation is forward; then,

When walking on flat ground, the controller controls the steering gear. First, the arc-shaped feet of the walking foot group rise and separate from the ground, and the omnidirectional wheel assembly contacts the ground; then, the drive motor drives the omnidirectional wheel assembly forward;

When it is possible to walk through uneven roads and/or avoid obstacles, the controller controls the steering gear. First, the curved feet of the walking foot group descend and contact the ground, and the omnidirectional wheel assembly is separated from the ground; then, the steering gear drives the foot assembly walk. The invention designs a mobile obstacle avoidance robot that can pass through uneven road sections, can pass and avoid obstacles and can pass through uneven roads

Instructions for use: This mobile obstacle avoidance robot can adapt to the overwhelming number of obstacles on the road surface, has a wide range of application prospects in military and civilian applications, and can replace people to work in areas that are dangerous or difficult for people to enter.

The designed robot can move stably on rough roads. When encountering obstacles that can be crossed, such as steps, it can complete the leaping action, and when encountering obstacles that cannot be crossed, it can complete the obstacle avoidance action. And it has excellent speed, stability and flexibility on smooth roads. Can adapt to most indoor and outdoor environments.

The robot is equipped with visual sensors to collect obstacle information, make judgments on the path, and choose the way to avoid obstacles or overcome obstacles.

The robot adopts two moving modes, wheeled and footed. The footed type can pass through almost all uneven road sections, and the wheeled structure can make up for the shortcoming of the slow moving speed of the footed type. In this product, omnidirectional wheels are used to complete the It moves in all directions and maintains the balance of the fuselage. It avoids the shortcomings of the traditional wheel-leg compound mobile robot that the legs are too heavy and the movement is unstable and the wheel-type movement position is limited.

The beneficial effects of the present invention are not limited to this description, and for better understanding, a more detailed description is given in the detailed description section.

Description of drawings

Figure 1 is a schematic structural diagram of the present invention.

FIG. 2 is a schematic structural diagram of a process opening of the present invention.

FIG. 3 is a schematic structural diagram of an omnidirectional wheel mounting member of the present invention.

FIG. 4 is a schematic diagram of the control flow of the present invention.

Among them: 1. Chassis; 2. Upper cover; 3. Guide; 4. Battery pack; 5. Walking foot group; 6. Omnidirectional wheel assembly; 7. Hip joint steering gear; 8. Thigh frame; 9. Knee Joint servo; 10, calf frame; 11, ankle joint servo; 12, foot assembly; 13, sensor/monitor; 14, arc foot; 15, process opening; 16, outer shield; 17, motor frame ;18, drive motor; 19, omnidirectional wheel mounting part; 20, middle connection rotating sleeve; 21, outer buckle cover; 22, outer connecting plate; 23, middle pad; 24, inner cage; 25, axle roller; 26 , Olive roller; 27, Positioning stop; 28, Process gap; 29, Process protrusion.

Detailed ways

As shown in Figures 1-4, each scheme can be reasonably combined or used alone. The robot that can pass through uneven road sections and/or obstacle avoidance in this embodiment includes a chassis 1, an upper cover 2 disposed on the chassis 1, and a robot installed on the chassis 1. The flat-ground walking device on the chassis 1, and the bionic leg device arranged on the chassis 1. Therefore, the bionic legs are used to achieve climbing and obstacle avoidance, and the flat ground walking device is used to achieve fast forward movement, thereby greatly expanding the adaptability of the robot and realizing high-speed walking.

A controller for controlling the leveling device and the bionic leg device is installed on the chassis 1 or the upper cover 2; it may be a conventional control such as a single-chip microcomputer or a processor.

A sensor/monitor 13 electrically connected to the remote control terminal is installed on the chassis 1 or the upper cover 2 to realize real-time uploading of road conditions, so as to facilitate background monitoring, the GPS positioning module electrically connected to the remote control terminal to achieve precise location positioning, and to be electrically connected to the controller. The connected guides 3 enable balance control to prevent overturning and/or the battery pack 4 to provide power.

The guide 3 is a gyroscope; a gravity sensor and/or a remote control terminal are wirelessly connected to the controller.

The flat-ground walking device includes solutions such as walking tracks or walking wheels arranged on the chassis 1; the bionic leg device includes the walking tracks arranged on the chassis 1, but the efficiency is low.

The bionic leg device includes three or more walking foot groups 5 arranged at one corner of the chassis, preferably four, so as to have good balance and better adaptability to complex road conditions.

Specifically, the walking foot group 5 includes a hip joint steering gear 7 arranged on the chassis 1 , a thigh frame 8 hinged with the hip joint steering gear 7 at the root, a knee joint steering gear 9 arranged at the end of the thigh frame 8 , and the root hinged The lower leg frame 10 on the knee joint steering gear 9 , the ankle joint steering gear 11 arranged at the end of the lower leg frame 10 , and the foot assembly 12 hinged on the ankle joint steering gear 11 at the root. Thus achieving high freedom of control.

A ground-contacting arc-shaped foot 14 is arranged at the cantilever end of the foot assembly 12, and the design is reasonable. The root end of the foot assembly 12 is provided with a process opening 15 corresponding to the ankle joint steering gear 11, and the root end of the foot assembly 12 is provided with a cover on the ankle The outer shield 16 on the joint steering gear 11 has a reasonable design, is easy to install, and prevents debris from entering.

The leveling device includes three or four omnidirectional wheel assemblies 6 arranged around the chassis 1; a motor frame 17 is provided on the chassis 1, and a motor frame 17 is installed with a transmission connection with the omnidirectional wheel assembly 6. Drive motor 18 . Thereby realizing multi-drive, free steering and good flexibility.

The omnidirectional wheel assembly 6 includes a transmission shaft arranged horizontally and drivingly connected with the drive motor 18 , two or more omnidirectional wheel mounting parts 19 sleeved on the transmission shaft at different angles, and a transmission shaft installed between the omnidirectional wheel installation parts 19 The rotating sleeve 20 is connected in the middle. Good stability. Through the staggered angle design, when the motor rotates, there are always rollers in contact with the ground.

The omnidirectional wheel mounting member 19 includes an inner cage 24 sleeved on the transmission shaft, a positioning stop 27 arranged on the inner cage 24 and used for coaxially inserting the intermediate connection rotating sleeve 20 , distributed on the inner cage 24 The process protrusions 29, the wheel installation gaps distributed between the adjacent process protrusions 29, the olive-shaped rollers 26 located at the wheel installation gaps and used for the outer side to contact the ground, inserted in the olive-shaped rollers 26 The axle roller 25, the outer connecting plate 22 arranged on the other side of the axle roller 25, the technological gap 28 arranged on the outer connecting plate 22 and used to accommodate the olive-shaped roller 26, and the outer buckle cover 21 arranged on the outer side of the outer connecting plate 22;

The end of the axle roller 25 is rotatably installed between the outer connecting plate 22 and the process protrusion 29;

An intermediate pad 23 is provided inside the outer connecting plate 22 . Its structure is sturdy, easy to disassemble and assemble, and has strong adaptability to road conditions.

The control robot method includes the following steps;

Step 1, first, the GPS positioning module sends the coordinates of the robot to the remote control terminal, and the sensor/monitor 13 sends the real-time road conditions to the remote control terminal; then, the remote control terminal sets the path of the robot to the end of the journey;

Step 2, first, the path in the first step of robot installation is forward; then,

When walking on flat ground, the controller controls the steering gear. First, the arc-shaped feet 14 of the walking foot group 5 rise and separate from the ground, and the omnidirectional wheel assembly 6 is in contact with the ground; then, the drive motor 18 drives the omnidirectional wheel assembly. Go forward into 6;

When it is possible to walk through uneven roads and/or avoid obstacles, the controller controls the steering gear. First, the arc-shaped feet 14 of the walking foot group 5 descend and contact the ground, and the omnidirectional wheel assembly 6 is separated from the ground; then, the steering gear The driving foot assembly 12 travels.

Robot legs: used for the robot's foot-like walking; steering gear: installed at the joints of the robot's legs, responsible for the speed of the angle of the joint movement. Omnidirectional wheel: used for the wheeled movement of the robot to realize the omnidirectional movement of the robot on the road; Body: install the motor, receive, transmit, and control the controller; Motor: responsible for the movement of the omnidirectional wheel; battery pack: for the steering gear and motor to provide energy; controller: to control the movement direction and speed of the motor and steering gear; image monitor, sensor: to provide image information for the remote monitor.

Robot motion process: place the robot on the ground, and the remote control terminal gives a GPS coordinate that is actually the destination, and the robot will move in this direction. In the process of moving forward, the impact information in front of the robot can be synchronized throughout the whole process through the camera. If it is advancing on flat ground, use wheeled movement. If the road is bumpy and it is difficult for the wheeled mechanism to keep moving forward steadily, make the robot's legs touch the ground, lift the body, and use the footed movement to move forward. If encountering an obstacle that cannot be crossed, if If the obstacle is on the left, control the robot to move to the right to bypass the obstacle and go to the coordinate. If the obstacle is on the right, control the robot to move to the left to bypass the obstacle and go to the coordinate. If it encounters obstacles that can be crossed, such as steps, it can complete the crossing.

When using the present invention, the chassis 1, the upper cover 2, the guide 3, the battery pack 4, the walking foot group 5, the omnidirectional wheel assembly 6, the hip joint steering gear 7, the thigh frame 8, the knee joint steering gear 9, the calf frame 10, Ankle Joint Servo 11, Foot Assembly 12, Sensor/Monitor 13, Arc Foot 14, Process Opening 15, Outer Shield 16, Motor Frame 17, Drive Motor 18, Omni Wheel Mount 19, Intermediate Connection Rotating sleeve 20, outer buckle cover 21, outer connecting plate 22, intermediate pad 23, inner cage 24, axle roller 25, olive roller 26, positioning stop 27, process gap 28, process protrusion 29,

The invention has the advantages of reasonable design, low cost, strong durability, safety and reliability, simple operation, saving time and labor, saving money, compact structure and convenient use.

The present invention is fully described for the purpose of clearer disclosure, and the prior art will not be exemplified one by one.

Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention, but not to limit them; although the present invention has been described in detail with reference to the foregoing embodiments, those of ordinary skill in the art should understand that it can still be Modify the technical solutions described in the foregoing embodiments, or perform equivalent replacements on some of the technical features; it is obvious for those skilled in the art to combine multiple technical solutions of the present invention. However, these modifications or substitutions do not make the essence of the corresponding technical solutions deviate from the spirit and scope of the technical solutions of the embodiments of the present invention.

Claims (10)

1. A robot capable of passing through uneven road sections and/or obstacle avoidance, characterized in that: comprising a chassis (1), an upper cover (2) arranged on the chassis (1), and a flat-ground walking device installed on the chassis (1) , and a bionic leg device arranged on the chassis (1). 2. can pass through uneven road section and/or obstacle avoidance robot according to claim 1, it is characterized in that: on chassis (1) or upper cover (2), be installed with the control that is used to control level ground walking device and bionic leg device device; A sensor/monitor (13) electrically connected to the remote control terminal, a GPS positioning module electrically connected to the remote control terminal, and a guide (3) electrically connected to the controller are installed on the chassis (1) or the upper cover (2). ) and/or battery pack (4). 3. can pass through rough road section and/or obstacle avoidance robot according to claim 2, it is characterized in that: guide (3) is that gyroscope or gravity sensor and/or remote control terminal are wirelessly connected with controller. 4. can pass through uneven road section and/or obstacle avoidance robot according to claim 1, it is characterized in that: level ground running device comprises the walking crawler or the walking wheel that is arranged on the chassis (1); (1) on the walking track. 5. can pass through uneven road section and/or obstacle avoidance robot according to claim 1, it is characterized in that: bionic leg device comprises three or more than four walking foot groups (5) that are arranged at the corner of chassis (1) ; The walking foot group (5) comprises a hip joint steering gear (7) arranged on the chassis (1), a thigh frame (8) hinged with the hip joint steering gear (7) at the root, and a thigh frame (8) arranged at the end of the thigh frame (8). A knee joint steering gear (9), a lower leg frame (10) hinged on the knee joint steering gear (9) at the root, an ankle steering gear (11) arranged at the end of the lower leg frame (10), and the root hinged on the ankle joint The foot assembly (12) on the steering gear (11). 6. can pass through uneven road section and/or obstacle avoidance robot according to claim 5, it is characterized in that: be provided with the arc-shaped foot (14) of ground contact at foot assembly (12) cantilever end, in foot assembly (12) The root end is provided with a process opening (15) corresponding to the ankle joint steering gear (11), and an outer shield (16) covering the ankle joint steering gear (11) is arranged at the root end of the foot assembly (12). 7. can pass through rough road section and/or obstacle avoidance robot according to any one of claim 1-6, it is characterized in that: level ground running gear comprises three or more than four omnidirectional wheels that are arranged on the periphery of chassis (1) An assembly (6); a motor frame (17) is arranged on the chassis (1), and a drive motor (18) that is drive-connected to the omnidirectional wheel assembly (6) is installed on the motor frame (17). 8. can pass through rough road section and/or obstacle avoidance robot according to claim 7, it is characterized in that: omnidirectional wheel assembly (6) comprises the transmission shaft that is arranged horizontally and is drive-connected with drive motor (18), two The above omnidirectional wheel mounting pieces (19) fitted on the transmission shaft at different angles, and the intermediate connection rotating sleeve (20) mounted between the omnidirectional wheel mounting pieces (19). 9. can pass through uneven road section and/or obstacle avoidance robot and method according to claim 8, it is characterized in that: omnidirectional wheel mounting part (19) comprises the inner cage (24) that is sleeved on the transmission shaft, is arranged on A positioning stop (27) on the inner cage (24) and used for coaxially inserting the intermediate connection rotating sleeve (20), process protrusions (29) distributed on the inner cage (24), and distributed on the phase The wheel installation gap between the adjacent process protrusions (29), the olive-shaped roller (26) located at the wheel installation gap and used for the outer side to contact the ground, the wheel axle roller (26) inserted in the olive-shaped roller (26) 25), an outer connecting plate (22) arranged on the other side of the axle roller (25), a technological gap (28) arranged on the outer connecting plate (22) and used for accommodating the olive-shaped roller (26), and a process gap (28) arranged on the outer connecting plate (22) Outer snap cover (21) on the outside; The end of the axle roller (25) is rotatably installed between the outer connecting plate (22) and the process protrusion (29); An intermediate pad (23) is arranged inside the outer connecting plate (22). 10. robot control method according to any one of claim 1-9, is characterized in that: comprise the following steps; Step 1, first, the GPS positioning module sends the coordinates of the robot to the remote control terminal, and the sensor/monitor (13) sends the real-time road conditions to the remote control terminal; then, the remote control terminal sets the path of the robot to the end of the journey; Step 2, first, the path in the first step of robot installation is forward; then, When walking on flat ground, the controller controls the steering gear. First, the arc-shaped feet (14) of the walking foot group (5) rise and separate from the ground, and the omnidirectional wheel assembly (6) contacts the ground; then, the drive motor (18) Drive the omnidirectional wheel assembly (6) forward; When it is possible to walk through uneven roads and/or avoid obstacles, the controller controls the steering gear. First, the curved feet (14) of the walking foot group (5) descend and contact the ground, and the omnidirectional wheel assembly (6) is connected to the ground. Separate; then, the steering gear drive foot assembly (12) walks.