CN208132950U - Overturning-preventing octagon foot intelligent barrier avoiding robot - Google Patents

Abstract

The utility model relates to the field of robots, in particular to an intelligent obstacle-avoiding robot with an anti-dumping octagonal foot. It includes a control module, an image and ultrasonic information acquisition module, an inclination angle measurement module, a signal transmission module, a multi-degree-of-freedom arm mechanism composed of steering gear, a multi-degree-of-freedom leg walking mechanism, a foot module, and a power supply module. In terms of detection, the utility model combines a camera and an ultrasonic sensor to realize real-time scene and distance analysis, rationally arrange action groups, and realize obstacle avoidance; use a gyroscope to obtain information on the tilt angle of the robot, and use feedback control to prevent the tilt angle from being too large and topple over; special eight The side-shaped foot structure can effectively reduce the center of gravity when walking, which can not only overcome the shortcomings of traditional walking humanoid robots, but also facilitate the adjustment of gait and accurate obstacle avoidance.

Description

Anti-dumping octagonal foot intelligent obstacle avoidance robot

technical field

The utility model relates to the field of robots, in particular to an intelligent obstacle-avoiding robot with an anti-dumping octagonal foot.

Background technique

At present, the production and research of humanoid robots mainly involve multiple disciplines such as system bionics, control science, structural mechanics, photoelectric information transmission, etc. They are mostly used in the service industry, and can also be converted to industrial and military fields. In the actual production process, humanoid robots can replace human labor in high-risk environments, and can conduct scientific detection and sampling analysis in complex environments. In daily life, humanoid robots have a certain aesthetic value. Different types of robot competitions have become the favorite scientific activities of teenagers. Humanoid robots have incomparable advantages in this respect.

In the design and manufacturing process of humanoid robots, how to lower the center of gravity during walking to ensure the stability of walking in different ground environments, and how to take corresponding measures in time to prevent dumping when the robot is about to fall in case of emergency, Protecting robot components from damage has become the core competition point of existing humanoid robots. Therefore, the system structure of the robot and the signal acquisition of different scenes are particularly important, so that the humanoid robot can adapt to different environments, different roughness of the ground, and different working modes.

Utility model content

The purpose of the utility model is to provide an anti-tipping octagonal foot intelligent obstacle-avoiding robot in order to solve the shortcomings of the prior art, such as high walking center of gravity, unstable walking and easy toppling, of the humanoid robot with square foot structure.

The utility model is achieved through the following technical solutions:

An intelligent obstacle avoidance robot with anti-dumping octagonal feet, including an image collector, a multi-degree-of-freedom arm mechanism, an upper body backbone support, a signal transmission module, a lower limb backbone support, a multi-degree-of-freedom leg walking mechanism, a foot module, and ultrasonic information collection Module, power supply, tilt angle measurement module, control module.

The image acquisition module is used as the head of the robot, and the upper body trunk support is set above the lower limb trunk support. Both sides of the upper body trunk support are equipped with multi-degree-of-freedom arm mechanisms; the lower limb trunk support is provided with multi-degree-of-freedom leg walking mechanisms;

The image collector adopts a camera;

The tilt angle measurement module adopts a gyroscope;

The control module adopts MCU;

The multi-degree-of-freedom arm mechanism is operated by a shoulder steering gear, an elbow driving motor, and a hand by fingers connected with the steering gear.

The multi-degree-of-freedom leg walking mechanism is composed of a leg bracket and a leg steering gear, and is connected under the backbone bracket of the lower limbs.

The multi-degree-of-freedom arm mechanism consists of an arm bracket, a shoulder steering gear, and an elbow drive motor, and is connected to both sides of the upper body trunk support. The elbow drive motor is installed on the elbow of the robot arm.

The power supply module is packaged in the backbone bracket of the lower limbs and connected to the backbone bracket of the upper body; the multi-degree-of-freedom leg walking mechanism is composed of a leg bracket and a leg rudder and is connected under the backbone bracket of the lower limbs.

During the movement of the robot, according to the image and the information fed back by the ultrasonic information acquisition module, under normal conditions, the robot searches for lines and walks. At the same time, the ultrasonic sensor identifies whether there are obstacles, and the angle measurement module monitors the tilt angle of the robot. If an obstacle is detected, the control system issues a command, and the multi-degree-of-freedom leg walking mechanism executes an action group to realize obstacle avoidance. If the tilt angle of the upper body of the robot is detected to be greater than a certain threshold, the signal is amplified by filtering and then transmitted to the control module to control multiple The degree-of-freedom hand module cooperates with the shoulder to complete the support and stand-up action, otherwise, continue to search and walk in the normal state until the end.

As a preferred technical solution, the foot module structure is an octagonal structure, considering the factors that the robot needs to have a large contact area with the ground and the center of gravity as low as possible, the preliminary design internal angles are 145° and 125° respectively, and they are distributed in sequence; The ultrasonic sensor fixing bracket is installed on the top and distributed in a fan shape; the bottom is covered with a shock-absorbing structure to adapt to terrains of different roughness, and can increase the contact area with the ground. During walking, due to the structure, the foot module needs to change the center of gravity from left to right, so that the foot module is no longer parallel to the ground, but tilted at a certain angle. Compared with the ordinary square foot toe structure, it can effectively reduce the lift of the foot movement As shown in Figure 4, there will be no collision with the ground or obstacles in the stepping action group, which is convenient to lower the center of gravity of the robot, facilitates obstacle avoidance, and makes the entire system have high stability in different ground environments , to ensure the stability of the system under different action groups and the free walking under different environments.

As a preferred technical solution, the image and ultrasonic information acquisition modules are respectively installed on the two-degree-of-freedom turntable of the head and on the fixed bracket of the ultrasonic sensor of the foot module, wherein the image acquisition module adopts a camera, which can be 90 degrees up and down and 180 degrees left and right Rotation; the ultrasonic information acquisition module adopts ultrasonic sensors, which are fixed on the foot module bracket and distributed in a fan shape, which can effectively increase the detection range and determine the distance of obstacles, and the two transmit signals to the control module.

As a preferred technical solution, the angle measurement module is packaged in the upper body trunk bracket, and the elbow drive motor is installed on the elbow of the multi-degree-of-freedom arm; the angle measurement module uses a gyroscope, which can detect the inclination angle of the robot body, front, rear, left, right When the tilt exceeds a certain threshold, it is determined that the robot is about to fall.

The threshold setting uses the Lagrange equation to establish the dynamic equation of the joint robot, as shown in Figure 5, where p- the distance between the center of gravity and the fulcrum, θ -the inclination angle, and ( x , y ) the coordinates of the center of gravity.

kinetic energy:

Potential energy:

Build Lagrangian function

then the joint moment

The multi-degree-of-freedom hand module, according to the tilting direction fed back by the gyroscope module, rotates the hand joints and takes a supporting action. When the robot is tilted in the left and right directions, it rotates the hand joints on one side, and when the robot tilts in the front and rear directions, it rotates the hand joints on both sides. Support the ground; then run the elbow drive motor to extend the arm, and at the same time cooperate with the shoulder servo to perform the stand-up action, prevent the robot from falling down and return to upright, and return to the normal working state.

As a preferred technical solution, the control module uses a single-chip microcomputer control circuit to process data according to the signals from the image and ultrasonic information acquisition module and the tilting angle measurement module. When it is detected that the robot is about to fall in an emergency, it controls the hand joints and the elbow drive motors, performs ground support and stand-up actions, and controls the robot's posture.

As a preferred technical solution, the wireless transmission module adopts wireless communication to remotely turn on/off the robot and communicate with the host computer in real time to effectively monitor the working environment and movement of the robot and increase system visibility.

As a preferred technical solution, the multi-degree-of-freedom arm movement module and the multi-degree-of-freedom leg walking mechanism execute different movement groups according to commands issued by the control system.

The utility model has real-time scene signal transmission and processing, a multi-sensor-based anti-dumping octagonal foot intelligent obstacle avoidance robot, adopts camera, ultrasonic sensor and gyroscope to collect signals, predicts the posture of the robot in time, prevents the robot from falling, and ensures the stability of the robot. The stability of the walking process adopts the wireless transmission module to communicate with the upper computer in real time, and adopts the octagonal foot structure to increase the stability of the system and the adaptability to different environments and different modes.

Compared with the traditional square-foot structure robot, the utility model can effectively lower the center of gravity during walking, and at the same time prevent the robot from toppling over in emergency situations, and can be extended to industrial and military fields to realize complex environment monitoring.

Description of drawings

Figure 1 is a schematic diagram of the three-dimensional structure of the robot.

Figure 2 is a schematic diagram of the top view of the eight-shaped foot.

Fig. 3 is a schematic diagram of an arm support standing action.

Fig. 4 is a schematic diagram of lowering the center of gravity of a special octagonal foot.

Figure 5 Schematic diagram of calculation of robot dumping angle threshold

Figure 6 is a flow chart of the robot program.

In the figure, 1-camera, 2-multi-degree-of-freedom arm mechanism, 2-1-big arm, 2-2-elbow drive motor, 2-3-small arm, 2-4-finger, 3-upper body backbone bracket, 4-wireless transmission module, 5-lower limb backbone support, 6-multi-degree-of-freedom leg walking mechanism, 6-1-thigh, 6-2-knee, 6-3-calf, 7-foot module, 7-1- Fixed connection frame, 7-2-foot support block, 7-3-sensor fixing bracket, 8-ultrasonic sensor group, 9-power supply, 10-gyroscope, 11-MCU control unit (MCS-51 series MCU).

Detailed ways

An intelligent obstacle avoidance robot with anti-dumping octagonal feet, including an image acquisition module, a multi-degree-of-freedom arm mechanism, an upper body backbone support, a signal transmission module, a lower limb backbone support, a multi-degree-of-freedom leg walking mechanism, a foot module, and ultrasonic information collection module, a power supply module, an inclination angle measurement module, and a control module.

The image acquisition module (that is, the camera) is used as the head of the robot. The upper body trunk bracket is set on the lower limb trunk bracket. The upper body trunk bracket is equipped with multi-degree-of-freedom arm mechanisms on both sides; the lower limb trunk bracket is equipped with multi-degree-of-freedom leg walking mechanisms.

As shown in Figure 1, the camera 1 is installed on the head of the robot and connected to the upper end of the upper body backbone bracket 3; the upper body backbone bracket 3 is packaged with an MCU control unit 11, a wireless transmission module 4 and a gyroscope angle measurement module 10;

The multi-degree-of-freedom arm mechanism 2 is composed of an arm support, a shoulder steering gear, and an elbow drive motor 2-2 and is connected to both sides of the upper body backbone support 3, wherein the elbow drive motor 2-2 for performing the standing action is installed on the arm of the robot arm. elbow.

The arm support includes a large arm 2-1, a small arm 2-3 and fingers 2-4.

Between the big arm 2-1 and the elbow drive motor 2-2, the elbow drive motor 2-2 and the forearm 2-3, the forearm 2-3 and the finger 2-4 are all connected by a steering gear.

The power supply module 9 is encapsulated in the lower limb backbone bracket 4 and connected to the upper body backbone bracket 3 ; the multi-degree-of-freedom leg walking mechanism 6 is composed of a leg bracket and a leg rudder and is connected below the lower limb backbone bracket 4 .

The leg brace consists of a thigh, knee, and calf.

The thighs and knees, knees and calves are connected by servos, and the calves and foot modules are also connected by servos.

The foot module 7 includes a fixed connection frame 7-1 connected to the calf, a foot support block 7-2, an ultrasonic sensor fixed bracket 7-3, and the fixed connection frame 7-1 and the ultrasonic sensor fixed bracket 7-3 are fixedly installed On the top of the foot support block 7-2, a shock-absorbing pad is provided below the foot support block 7-2; the foot support block 7-2 is an octagonal plate, and the inner angles of the octagonal plate are respectively 145° , 125°, 145°, 125°, 145°, 125°, 145°, 125° are distributed in sequence.

As shown in Figure 2, the octagonal foot module 7 is connected to the lower end of the multi-degree-of-freedom leg walking mechanism 6 through the foot module and the foot and leg fixed connection frame 7-1; the ultrasonic sensor group 8 is installed on the ultrasonic sensor fixed bracket On 7-3, the octagonal foot module 7 covers the shock-absorbing structure below. Within the effective detection range, the signal detected by the ultrasonic sensor, the image detected by the camera, and the angle measurement signal of the gyroscope are input to the MCU control unit through signal transmission, and the MCU control unit performs corresponding data processing to realize the function of multi-functional movement.

The specific implementation process: as shown in Figure 6, turn on the power of the robot, and the gyroscope monitors the tilt angle of the robot. In the specific implementation case, the distance p between the center of gravity and the fulcrum of the robot is 0.15m. According to the formula for calculating the tilting angle: , and the angular acceleration term in the actual process The larger the value is, the easier it is for the robot to fall over, so set the critical angular acceleration item of the robot is 20°/s ² , that is, when the inclination angle θ is greater than 18°, it is considered that the robot is about to fall. In order to predict in advance, the gyroscope angle measurement module is set to monitor that the inclination angle is 15°, that is, the robot is controlled to perform the anti-dumping action group operation . If it is detected that the tilt angle of the upper body of the robot is greater than 15°, the signal is amplified by filtering and then transmitted to the MCU control unit to control the fingers of the multi-degree-of-freedom hand to open to complete the support action, and then control the elbow to drive the motor to elongate. The internal steering gear cooperates to support the robot body to complete the stand-up action, and then returns to continue monitoring the inclination angle; if it is detected that the inclination angle of the upper body of the robot is less than 15°, the MCU control unit controls the scene signal detection by the camera, and the ultrasonic sensor identifies whether there is an obstacle. If an obstacle is detected, execute the action group to avoid the obstacle, and then return to continue monitoring the tilt angle; if no obstacle is detected, it will search and walk, and the cycle will repeat until the end. After the scene signal analysis is completed, the wireless transmission module communicates with the host computer in real time, and transmits the real-time images detected by the camera to realize the monitoring of the host computer. If an emergency occurs, the robot can be stopped manually. After receiving the image, the MCU control unit judges the next action in time, and controls the robot to complete different action groups.

Claims (3)

1. An intelligent obstacle-avoiding robot with an anti-tipping octagonal foot, which is characterized by comprising: an image acquisition module (1), a multi-degree-of-freedom arm mechanism (2), a multi-degree-of-freedom leg walking mechanism (6), and an upper body backbone Bracket (3), main body lower limb bracket (5), ultrasonic information acquisition module (8), power supply module (9), tilt angle measurement module (10), control module (11); the multi-degree-of-freedom arm mechanism ( 2) Including big arm (2-1), elbow drive motor (2-2), small arm (2-3) and fingers (2-4), big arm (2-1) and small arm (2-3 ) is connected through the elbow drive motor (2-2); the multi-degree-of-freedom leg walking mechanism (6) includes thigh (6-1), knee (6-2), calf (6-3), foot module (7). 2. An intelligent obstacle avoidance robot with anti-dumping octagonal feet as claimed in claim 1, characterized in that: the foot module (7) includes a fixed connection frame (7-1) connected to the lower leg, a foot The support block (7-2), the ultrasonic sensor fixing bracket (7-3), the fixed connection frame (7-1), and the ultrasonic sensor fixing bracket (7-3) are fixedly installed on the foot support block (7-2) , the bottom of the foot support block (7-2) is provided with a shock absorber; the foot support block (7-2) is an octagonal plate, and the inner angles of the octagonal plate are 145°, 125°, and 145° respectively , 125°, 145°, 125°, 145°, 125° are distributed in sequence. 3. A kind of anti-toppling octagonal foot intelligent obstacle avoidance robot as claimed in claim 1, is characterized in that: described inclination angle measuring module (10) is encapsulated in the upper body trunk support (3), and described elbow The internal driving motor (2-2) is installed on the elbow of the multi-degree-of-freedom arm mechanism (2). When the robot is about to fall, it cooperates with the shoulder servo to take support and stand up actions to realize the anti-dumping function.