CN101492072A - A mobile robot and its method for overcoming obstacles - Google Patents
A mobile robot and its method for overcoming obstacles Download PDFInfo
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- CN101492072A CN101492072A CNA2008100101986A CN200810010198A CN101492072A CN 101492072 A CN101492072 A CN 101492072A CN A2008100101986 A CNA2008100101986 A CN A2008100101986A CN 200810010198 A CN200810010198 A CN 200810010198A CN 101492072 A CN101492072 A CN 101492072A
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Abstract
本发明涉及机器人工程，具体地说是一种需要越障碍的移动机器人及其越障碍方法，机器人包括箱体及安装在箱体两侧、通过履带连接的前、后带轮，箱体内的一端设有带轮电机，分别与该端箱体两侧的带轮相连接，在箱体的另一端设有摆腿回转轴，其由箱体及该端的后带轮穿过，摆腿回转轴位于箱体外的两端均设有摆腿；在该端的箱体内安装有与摆腿回转轴连接的摆腿电机。方法：摆腿旋转至机器人主体围绕摆腿回转轴翻转；摆腿电机反转驱动摆腿逆向旋转至主体脱离地面；带轮电机工作，使机器人向障碍物移动，至履带搭靠在障碍物上沿；摆腿继续逆向旋转，同时移动机器人至其重心超过障碍物的上沿，完成越上障碍物。本发明具有结构简单、易于操作等特点。
The present invention relates to robot engineering, specifically, a mobile robot that needs to cross obstacles and a method for crossing obstacles. The robot includes a box body and front and rear pulleys installed on both sides of the box body and connected by tracks. A pulley motor is provided at one end of the box body, which is respectively connected to the pulleys on both sides of the box body at this end. A swing leg rotating shaft is provided at the other end of the box body, which passes through the box body and the rear pulley at this end. Both ends of the swing leg rotating shaft outside the box body are provided with swing legs; a swing leg motor connected to the swing leg rotating shaft is installed in the box body at this end. Method: The swing leg rotates until the robot body flips around the swing leg rotating shaft; the swing leg motor reverses and drives the swing leg to rotate in the opposite direction until the body leaves the ground; the pulley motor works to move the robot toward the obstacle until the track rests on the upper edge of the obstacle; the swing leg continues to rotate in the opposite direction, and at the same time moves the robot until its center of gravity exceeds the upper edge of the obstacle, so as to complete crossing the obstacle. The present invention has the characteristics of simple structure and easy operation.
Description
Technical field
The present invention relates to robot engineering, specifically a kind of mobile robot and obstacle surmounting method thereof that needs obstacle detouring to hinder.
Background technology
At present, the more mobile robot of existing use has single-unit peddrail mobile robot and two-segment type peddrail mobile robot.
The single-unit peddrail mobile robot makes robot movement, climbs the building or gets over obstacle by the belt wheel and the crawler belt engaged transmission of driven by motor casing both sides.This single-unit peddrail mobile robot can only be crossed shorter obstacle (comparing with the volume weight of robot self) when getting over obstacle, and also not steady when stair activity, overturning easily.
Two-segment type peddrail mobile robot, prosthomere crawler belt can individual drive as swinging kick.Robot is moved by main drive wheel control, by swinging kick drive motor control swinging kick upset, realizes the advancing of robot, retreats, climbs, obstacle etc. more.But, be difficult to make robot to stand up because the prosthomere crawler belt is shorter; Even robot is stood up, also be that standing up after being used for robot and toppling over saved oneself.And, when robot is used in the more complex environment of obstacle, will exist obstacle detouring and hinder height and robot self size is compared, the robot obstacle detouring hinders scarce capacity problem.In addition, also because swinging kick is a crawler type, and crawler belt and strut member thereof will certainly increase the overall weight of robot, and then cause driving power to increase, in-fighting is big, has influenced moving velocity, the hill climbing ability of robot.As shown in Figure 1, the weight of crawler belt and strut member thereof also make the whole center of gravity G of robot to the prosthomere crawler belt, be the skew of swinging kick end, and then cause robot to stand up the obstacle 11 that obstacle detouring hinders highly reducing.As shown in Figure 2, when robot stands up obstacle detouring when hindering, the center of gravity G end of robot rides against on the obstacle 11, and robot center of gravity end is lifted in the rotation of prosthomere crawler belt; Because the robot swinging kick is a crawler type, when the robot body obstacle detouring hindered, the support end that the prosthomere crawler belt contacts with ground was rolling friction, coefficient of friction is little, under the effect of robot self gravitation, robot glides easily, has increased the difficulty of robot manipulation's control.If as shown in Figure 3, robot does not adopt and stands up obstacle detouring and hinder, but adopts single-unit peddrail mobile robot obstacle detouring to hinder mode, and 11 the maximum height of clearing the jumps stands up the obstacle height that obstacle detouring hinders mode to cross much smaller than employing.Single-unit peddrail mobile robot obstacle detouring hinders height similar with it.Have, the two-segment type peddrail mobile robot is owing to having increased the prosthomere crawler belt, because of crawler belt manufacturing expense height, so cost is higher again.
Summary of the invention
In order to solve the problem that existing robot obstacle detouring hinders scarce capacity, the object of the present invention is to provide a kind of mobile robot and obstacle surmounting method thereof that obstacle detouring hinders height, easy operating control that improve.
The objective of the invention is to be achieved through the following technical solutions:
The present invention includes casing and be installed in the casing both sides, by the forward and backward belt wheel of crawler belt bonded assembly, end in the casing is provided with belt wheel motor, belt wheel with these end casing both sides is connected respectively, the other end at casing is provided with the swinging kick axis of revolution, its back belt wheel by casing and this end passes, and the swinging kick axis of revolution is positioned at the outer two ends of casing and is equipped with swinging kick; In the casing of this end, be equipped with and swinging kick axis of revolution bonded assembly swinging kick motor.
Wherein: the output shaft of swinging kick motor and swinging kick axis of revolution are perpendicular, are respectively equipped with the finishing bevel gear cuter of the transmission that is meshing with each other on the output shaft of swinging kick motor and the swinging kick axis of revolution; The swinging kick motor rotates by the bevel gear driving swinging kick; The horizontal projection length of swinging kick is greater than the horizontal projection length of swinging kick axis of revolution to the robot center of gravity; The robot body is made up of crawler belt and casing, and the robot center of gravity is on the robot body; Be respectively equipped with the bearing that is enclosed within on the swinging kick axis of revolution between swinging kick axis of revolution and the casing and between swinging kick axis of revolution and the back belt wheel; Belt wheel motor is two, is connected with the preceding belt wheel of both sides by output shaft respectively, driven rotary before driving.
Obstacle surmounting method:
The swinging kick of swinging kick motor-driven rotates to the robot body around the upset of swinging kick axis of revolution; When casing upper end with after ground contacts, swinging kick motor inversion driving swinging kick retrograde rotation breaks away from ground to main body, the stall of swinging kick motor; Belt wheel motor driving pulley and crawler belt make robot move to the obstacle direction, ride against the obstacle upper edge to crawler belt; The swinging kick motor is task again, drives swinging kick and continues retrograde rotation, and the mobile robot surpasses the upper edge of obstacle to the robot center of gravity simultaneously; The stall of swinging kick motor, belt wheel motor drive machines people moves, and finishes and goes up obstacle more; Pack up swinging kick.
Ride against on the obstacle back to robot center of gravity at crawler belt and surpass that swinging kick and ground are sliding friction in the process of obstacle upper edge, utilize swinging kick that the robot body at center of gravity place is served obstacle; The horizontal projection length of swinging kick is greater than the horizontal projection length of swinging kick axis of revolution to the robot center of gravity, and in the process of swinging kick motor-driven swinging kick rotation, the robot body can be lifted, around the upset of swinging kick axis of revolution; When following obstacle, can be earlier with swinging kick near ground, belt wheel motor works, mobile robot also cooperate the rotation swinging kick, make the robot grease it in.
Advantage of the present invention and good effect are:
1. machine people of the present invention is a swinging kick formula single-unit peddrail mobile robot, is provided with belt wheel motor and swinging kick motor, driving pulley, crawler belt and swinging kick, simple in structure, easy operating respectively at the two ends of robot casing.
Robot swinging kick length greater than swinging kick axis of revolution center to the robot center of gravity in the length of horizontal surface projection, when swinging kick being rotated to contact, the robot body can be lifted with ground, the robot body rotates and can stand up around the swinging kick axis of revolution.
3. swinging kick and ground are sliding friction, and coefficient of friction is big, are standing up obstacle detouring when hindering, and robot is difficult for gliding, easy operating control.
4. by increasing swinging kick length, can increase the robot obstacle detouring and hinder height.
5. the obstacle detouring that robot obstacle surmounting method of the present invention can improve robot hinders ability.
Description of drawings
Fig. 1 stands up one of schematic diagram that obstacle detouring hinders for existing two-segment type peddrail mobile robot;
Fig. 2 stands up two of schematic diagram that obstacle detouring hinders for existing two-segment type peddrail mobile robot;
Fig. 3 does not stand up the schematic diagram that obstacle detouring hinders for existing two-segment type peddrail mobile robot does not adopt;
Fig. 4 is mobile robot's of the present invention structural representation;
Fig. 5 is the A-A cutaway view among Fig. 4;
One of schematic diagram that Fig. 6 hinders for mobile robot's obstacle detouring of the present invention;
Two of the schematic diagram that Fig. 7 hinders for mobile robot's obstacle detouring of the present invention;
Three of the schematic diagram that Fig. 8 hinders for mobile robot's obstacle detouring of the present invention;
Wherein: 1 is belt wheel motor, and 2 is casing, and 3 is preceding belt wheel, and 4 is crawler belt, and 5 are the swinging kick motor, and 6 is bearing, and 7 is the back belt wheel, and 8 are swinging kick, and 9 are the swinging kick axis of revolution, and 10 is finishing bevel gear cuter.
The specific embodiment
The invention will be further described below in conjunction with accompanying drawing.
As Fig. 4, shown in Figure 5, the artificial oscillating rod type single-unit of mobile apparatus of the present invention peddrail mobile robot, the robot center of gravity is on the casing that crawler belt supports, and fork is also referred to as swinging kick, specifically comprise casing 2 and be installed in casing 2 both sides, by the forward and backward belt wheel 3,7 of crawler belt 4 bonded assemblys.Front end in the casing 2 is provided with two belt wheel motor 1, is connected by the preceding belt wheel 3 of output shaft with these end casing both sides respectively, drives 3 rotations before driving.Rotation for belt wheel 3 before helping is equipped with bearing between two preceding belt wheels 3 and 1 output shaft of belt wheel motor separately, be enclosed within on the motor output shaft.Be provided with swinging kick axis of revolution 9 in the rear end of casing 2, its back belt wheel 7 by casing 2 and this end passes, and swinging kick axis of revolution 9 is positioned at casing 2 outer two ends and is equipped with swinging kick 8.In the casing 2 of this end, swinging kick motor 5 is installed, the output shaft of swinging kick motor 5 and swinging kick axis of revolution 9 are perpendicular, be respectively equipped with the finishing bevel gear cuter 10 of the transmission that is meshing with each other on the output shaft of swinging kick motor 5 and the swinging kick axis of revolution 9, swinging kick motor 5 drives swinging kick 8 by finishing bevel gear cuter 10 and rotates.The horizontal projection length L of swinging kick 8 is greater than the horizontal projection length L 1 of swinging kick axis of revolution 9 to robot center of gravity G.The robot body is made up of crawler belt 4 and casing 2, and G is on the robot body for the robot center of gravity.Be respectively equipped with bearing 6 between swinging kick axis of revolution 9 and the casing 2 and between swinging kick axis of revolution 9 and the back belt wheel 7, be set on the swinging kick axis of revolution 9, help the rotation of swinging kick axis of revolution 9.
The method that mobile robot's obstacle detouring of the present invention hinders is:
Robot state as shown in Figure 4, swinging kick 8 is overlapping with the robot body, moves from left to right.When running into higher obstacle 11, swinging kick motor 5 drives swinging kicks 8 and presses right-hand revolution among the figure.When swinging kick 8 landed, swinging kick motor 5 worked on, drives swinging kick 8.Because the horizontal projection length L of swinging kick 8 is greater than the horizontal projection length L 1 of swinging kick axis of revolution 9 to robot center of gravity G among Fig. 4, the robot body is lifted, and is turned to position shown in Figure 6 around swinging kick axis of revolution 9.When casing 2 upper ends with after ground contacts, swinging kick motor 5 reverse drive, i.e. the anticlockwise direction rotation among Fig. 6 is pressed in swinging kick 8, makes the robot body break away from ground, is raised up to position shown in Figure 7, swinging kick motor 5 quits work.Then, belt wheel 3 and by crawler belt 4 and forward and backward belt wheel 3,7 engaged transmission before belt wheel motor 1 drives makes robot move to obstacle 11 directions, rides against obstacle 11 upper edges to crawler belt 4.Swinging kick motor 5 is task again, and driving swinging kick 8 continues to press the anticlockwise direction rotation among Fig. 7, and the mobile robot reaches position shown in Figure 8 to the upper edge that robot center of gravity G surpasses obstacle 11 simultaneously.5 stalls of swinging kick motor, belt wheel motor 1 drive machines people move, and finishes and go up obstacle more.At last, pack up swinging kick 8.Ride against on the obstacle 11 back at crawler belt 4 and surpass to robot center of gravity G that swinging kick 8 is a sliding friction with ground in the process of obstacle 11 upper edges, coefficient of friction is far longer than the coefficient of friction of rolling friction, and robot is difficult for gliding, and is convenient to operation control.Utilize swinging kick 8 that the robot body at center of gravity G place is served obstacle 11.Robot when following obstacle 11, can be earlier with swinging kick 8 near ground, belt wheel motor 1 work, mobile robot also cooperate rotation swinging kick 8, make the robot grease it in.
The present invention can adapt under complex environments such as fire-fighting, scouting, dangerous operation and works.
Claims (10)
1. mobile robot, comprise casing and be installed in the casing both sides, by the forward and backward belt wheel of crawler belt bonded assembly, end in the casing is provided with belt wheel motor, belt wheel with these end casing both sides is connected respectively, it is characterized in that: the other end at casing (2) is provided with swinging kick axis of revolution (9), its back belt wheel (7) by casing (2) and this end passes, and swinging kick axis of revolution (9) is positioned at the outer two ends of casing (2) and is equipped with swinging kick (8); In the casing (2) of this end, be equipped with and swinging kick axis of revolution (9) bonded assembly swinging kick motor (5).
2. by the described mobile robot of claim 1, it is characterized in that: the output shaft of described swinging kick motor (5) and swinging kick axis of revolution (9) are perpendicular, are respectively equipped with the finishing bevel gear cuter (10) of the transmission that is meshing with each other on the output shaft of swinging kick motor (5) and the swinging kick axis of revolution (9); Swinging kick motor (5) drives swinging kick (8) by finishing bevel gear cuter (10) and rotates.
3. by the described mobile robot of claim 1, it is characterized in that: the horizontal projection length (L) of described swinging kick (8) is greater than the horizontal projection length (L1) of swinging kick axis of revolution (9) to robot center of gravity (G).
4. by the described mobile robot of claim 3, it is characterized in that: the robot body is made up of crawler belt (4) and casing (2), and robot center of gravity (G) is on the robot body.
5. by the described mobile robot of claim 1, it is characterized in that: be respectively equipped with the bearing (6) that is enclosed within on the swinging kick axis of revolution (9) between described swinging kick axis of revolution (9) and the casing (2) and between swinging kick axis of revolution (9) and the back belt wheel (7).
6. by the described mobile robot of claim 1, it is characterized in that: described belt wheel motor (1) is two, is connected with the preceding belt wheel (3) of both sides by output shaft respectively, drives (3) rotation before driving.
7. by the described mobile robot's of claim 1 obstacle surmounting method, it is characterized in that: swinging kick motor (5) drives swinging kick (8) and rotates to the robot body around swinging kick axis of revolution (9) upset; When casing (2) upper end with after ground contacts, swinging kick motor (5) inversion driving swinging kick (8) retrograde rotation breaks away from ground to main body, swinging kick motor (5) stall; Belt wheel motor (1) driving pulley and crawler belt make robot move to obstacle (11) direction, ride against obstacle (11) upper edge to crawler belt (4); Swinging kick motor (5) is task again, drives swinging kick (8) and continues retrograde rotation, and the mobile robot surpasses the upper edge of obstacle (11) to robot center of gravity (G) simultaneously; Swinging kick motor (5) stall, belt wheel motor (1) drive machines people moves, and finishes and goes up obstacle more; Pack up swinging kick (8).
8. by the described method of claim 7, it is characterized in that: ride against obstacle (11) at crawler belt (4) and go up back to robot center of gravity (G) and surpass that swinging kick (8) is a sliding friction with ground in the process of obstacle (11) upper edge, utilize swinging kick that the robot body at center of gravity (G) place is served obstacle (11).
9. by the described method of claim 7, it is characterized in that: the horizontal projection length (L) of described swinging kick (8) is greater than the horizontal projection length (L1) of swinging kick axis of revolution (9) to robot center of gravity (G), drive in the process of swinging kick (8) rotation at swinging kick motor (5), the robot body can be lifted, around swinging kick axis of revolution (9) upset.
10. by the described method of claim 7, it is characterized in that: when obstacle (11) down, can be earlier with swinging kick (8) near ground, belt wheel motor (1) work, mobile robot also cooperate rotation swinging kick (8), make the robot grease it in.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
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| CNA2008100101986A CN101492072A (en) | 2008-01-23 | 2008-01-23 | A mobile robot and its method for overcoming obstacles |
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| CNA2008100101986A CN101492072A (en) | 2008-01-23 | 2008-01-23 | A mobile robot and its method for overcoming obstacles |
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Cited By (15)
| Publication number | Priority date | Publication date | Assignee | Title |
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| EP2482024A3 (en) * | 2011-01-27 | 2013-05-22 | Todd M. Meaney | Small unmanned ground vehicle |
| WO2012170081A3 (en) * | 2011-01-27 | 2013-08-22 | Irobot Corporation | Small unmanned ground vehicle |
| CN103303381A (en) * | 2013-05-03 | 2013-09-18 | 新乡学院 | Search and rescue robot and moving pattern thereof |
| CN104608834A (en) * | 2015-01-22 | 2015-05-13 | 马鞍山纽泽科技服务有限公司 | Intelligent climbing crawler |
| CN104647343A (en) * | 2015-03-13 | 2015-05-27 | 北京理工大学 | Micro-miniature overturning stair-climbing robot |
| US9522595B2 (en) | 2011-01-27 | 2016-12-20 | Irobot Defense Holdings, Inc. | Small unmanned ground vehicle |
| CN106667383A (en) * | 2016-12-30 | 2017-05-17 | 肇庆市小凡人科技有限公司 | Climbing driving device of glass curtain wall cleaning robot |
| CN106828647A (en) * | 2017-03-29 | 2017-06-13 | 西南大学 | Combination driving method is driven in a kind of timesharing point |
| CN107235086A (en) * | 2017-06-02 | 2017-10-10 | 赵雪虎 | A kind of full topographical steps climbing robot |
| CN107932473A (en) * | 2012-07-27 | 2018-04-20 | 工程服务公司 | Mobile robot with flexible deployable afterbody |
| CN109109995A (en) * | 2018-11-06 | 2019-01-01 | 南京林业大学 | A kind of crawler-type wall climbing robot of two-stage structure |
| CN109178140A (en) * | 2018-09-30 | 2019-01-11 | 荆门它山之石电子科技有限公司 | A kind of wheel type barrier-crossing robot |
| CN111409083A (en) * | 2020-03-31 | 2020-07-14 | 陈盛泉 | Multifunctional rescue robot |
| CN114769978A (en) * | 2022-06-21 | 2022-07-22 | 昆山圣翰智能机械科技有限公司 | Intelligent robot automatic assembly device |
| CN115056868A (en) * | 2022-05-16 | 2022-09-16 | 王维 | Obstacle crossing method of traveling device and traveling device applying same |
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2008
- 2008-01-23 CN CNA2008100101986A patent/CN101492072A/en active Pending
Cited By (22)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| EP2482024A3 (en) * | 2011-01-27 | 2013-05-22 | Todd M. Meaney | Small unmanned ground vehicle |
| WO2012170081A3 (en) * | 2011-01-27 | 2013-08-22 | Irobot Corporation | Small unmanned ground vehicle |
| US10611418B2 (en) | 2011-01-27 | 2020-04-07 | Flir Detection, Inc. | Small unmanned ground vehicle |
| US11472299B2 (en) | 2011-01-27 | 2022-10-18 | Teledyne Flir Detection, Inc. | Small unmanned ground vehicle |
| US9346499B2 (en) | 2011-01-27 | 2016-05-24 | Irobot Corporation | Resilient wheel assemblies |
| US9522595B2 (en) | 2011-01-27 | 2016-12-20 | Irobot Defense Holdings, Inc. | Small unmanned ground vehicle |
| US10059388B2 (en) | 2011-01-27 | 2018-08-28 | Irobot Defense Holdings, Inc. | Resilient wheels assemblies |
| CN107932473A (en) * | 2012-07-27 | 2018-04-20 | 工程服务公司 | Mobile robot with flexible deployable afterbody |
| CN103303381A (en) * | 2013-05-03 | 2013-09-18 | 新乡学院 | Search and rescue robot and moving pattern thereof |
| CN103303381B (en) * | 2013-05-03 | 2015-10-07 | 新乡学院 | A kind of search and rescue robot and move mode thereof |
| CN104608834A (en) * | 2015-01-22 | 2015-05-13 | 马鞍山纽泽科技服务有限公司 | Intelligent climbing crawler |
| CN104647343A (en) * | 2015-03-13 | 2015-05-27 | 北京理工大学 | Micro-miniature overturning stair-climbing robot |
| CN106667383A (en) * | 2016-12-30 | 2017-05-17 | 肇庆市小凡人科技有限公司 | Climbing driving device of glass curtain wall cleaning robot |
| CN106828647A (en) * | 2017-03-29 | 2017-06-13 | 西南大学 | Combination driving method is driven in a kind of timesharing point |
| CN107235086A (en) * | 2017-06-02 | 2017-10-10 | 赵雪虎 | A kind of full topographical steps climbing robot |
| CN107235086B (en) * | 2017-06-02 | 2019-01-18 | 天津市龙眼机器人科技有限公司 | A kind of full topographical steps climbing robot |
| CN109178140A (en) * | 2018-09-30 | 2019-01-11 | 荆门它山之石电子科技有限公司 | A kind of wheel type barrier-crossing robot |
| CN109109995A (en) * | 2018-11-06 | 2019-01-01 | 南京林业大学 | A kind of crawler-type wall climbing robot of two-stage structure |
| CN109109995B (en) * | 2018-11-06 | 2023-10-27 | 南京林业大学 | A two-stage crawler wall-climbing robot |
| CN111409083A (en) * | 2020-03-31 | 2020-07-14 | 陈盛泉 | Multifunctional rescue robot |
| CN115056868A (en) * | 2022-05-16 | 2022-09-16 | 王维 | Obstacle crossing method of traveling device and traveling device applying same |
| CN114769978A (en) * | 2022-06-21 | 2022-07-22 | 昆山圣翰智能机械科技有限公司 | Intelligent robot automatic assembly device |
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Open date: 20090729 |