CN108340981B - All-terrain multipurpose mobile robot - Google Patents
All-terrain multipurpose mobile robot Download PDFInfo
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- CN108340981B CN108340981B CN201810217647.8A CN201810217647A CN108340981B CN 108340981 B CN108340981 B CN 108340981B CN 201810217647 A CN201810217647 A CN 201810217647A CN 108340981 B CN108340981 B CN 108340981B
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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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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J5/00—Manipulators mounted on wheels or on carriages
- B25J5/007—Manipulators mounted on wheels or on carriages mounted on wheels
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
- Y02T10/00—Road transport of goods or passengers
- Y02T10/60—Other road transportation technologies with climate change mitigation effect
- Y02T10/70—Energy storage systems for electromobility, e.g. batteries
Abstract
The invention relates to an all-terrain multipurpose mobile robot which comprises a chassis module, a combined vehicle body damping system module, a vehicle body and a sensing and control system module, wherein the chassis module is connected with the combined vehicle body damping system module; the chassis module comprises a chassis, a speed reducer, a servo motor, a coupler and wheels; the combined type vehicle body damping system module comprises a fixed support frame, a longitudinal connecting rod, a transverse support frame, a transverse connecting rod, a vehicle body mounting plate connecting rod, a plate spring and a damper; the sensing and control system module comprises an ultrasonic sensor, an RFID site card reader, a magnetic navigation sensor, a battery, a display screen, a laser radar, a vision sensor, a GPS antenna, an upper computer controller, a servo driver and a chassis controller. The invention has high damping performance, strong obstacle crossing capability, accurate positioning and high precision, is provided with a multi-information sensing channel, can walk indoors or outdoors, and can realize all-terrain movement.
Description
Technical Field
The invention relates to the technical field of mobile robots, in particular to an all-terrain multipurpose mobile robot.
Background
The mobile robot has the characteristics of strong activity capability, good controllability and the like, and along with the continuous development of scientific technology, the research of the all-terrain mobile robot is more and more focused by robot researchers, and the mobile robot is widely applied in the fields of military, industry, agricultural natural disaster relief, field scientific investigation operation and the like. At present, most of all-terrain mobile robots are crawler-type, the obstacle crossing performance is limited, the steering precision is low, and stable and accurate efficient operation in a complex ground environment is difficult.
As disclosed in chinese patent No. 200710158426.X, the all-terrain mobile robot comprises six sets of a carriage body, a leg structure and driving wheels, wherein the leg structure is respectively arranged in front of, in middle of and behind the carriage body, and is bilaterally symmetrical on both sides of the carriage body, and the driving wheels are respectively arranged at the tail ends of the leg structure; the transition flange of the leg structure is bolted with the output flange of the worm gear reduction box arranged in the box body of the car, and the transition flange arranged in the middle of the driving wheel is bolted with the transmission shaft arranged at the tail end of the leg structure. The damping effect of the robot body has certain limitation, when the robot walks in outdoor complex terrain, the jolting degree is high, the movement is severe, the internal devices of the robot are easy to damage, and the service life of the robot is shortened.
As disclosed in chinese patent No. 201710158756.2, an all-terrain mobile robot chassis includes a driving motor with a decelerator, two longitudinal beams, a cross beam, a side plate of a vehicle body, a wire protection ring and a driver mounting plate, a motor driver, a partition plate, a connecting angle, a battery pack fixing plate, a battery main frame, a supporting copper column connection, and a damping spring. The robot does not have a multi-information sensing channel, has low positioning precision, has limitation on the sensing capability of a complex environment, and is difficult to move to a target automatically accurately.
With the increasing labor costs and the transition of enterprises from labor-intensive to technology-intensive, intelligent robots are becoming a necessary trend to replace manual work. The intelligent mobile robot is one of robots, can sense the environment and the state of the robot through the sensor, and performs autonomous analysis, judgment and decision on the complex environment to realize autonomous movement facing the target, so as to complete a robot system with a certain operation function.
Therefore, the mobile robot which is modularized, has four-wheel drive, high steering precision, is provided with the damping mechanism and is suitable for all terrain has great application prospect. The four-wheel drive all-terrain mobile robot has the advantages of flexibility, shock resistance, high obstacle crossing stability and the like.
The all-terrain multipurpose mobile robot is an intelligent mobile operation platform which effectively aims at complex environments and has autonomous decision making.
Disclosure of Invention
In order to avoid and solve the technical problems, the invention provides an all-terrain multipurpose mobile robot.
The technical problems to be solved by the invention are realized by adopting the following technical scheme:
the utility model provides an all-terrain multipurpose mobile robot, includes the chassis module that drives the robot walking, installs on the chassis module and be connected with the combination formula automobile body shock mitigation system module of automobile body, installs on automobile body and chassis module and provides the sensing and control system module of the complicated topography of multi-information perception passageway perception.
As a further improvement of the invention, the chassis module comprises a chassis and wheel driving devices arranged on the chassis, wherein the wheel driving devices are distributed on the left side and the right side of the chassis, and the combined type vehicle body damping system module is arranged on the chassis.
As a further improvement of the invention, the chassis comprises two symmetrically distributed L-shaped wheel fixing plates, two cross beams connected with the L-shaped wheel fixing plates and forming a rectangular frame, and a bottom plate arranged in the rectangular frame.
As a further improvement of the present invention, the number of the wheel driving devices is four, and the wheel driving devices are distributed at the left front, the left rear, the right front and the right rear of the vehicle body.
As a further improvement of the present invention, the wheel driving apparatus includes a decelerator installed inside the L-shaped wheel securing plate, a servo motor connected to the decelerator, a coupling installed outside the L-shaped wheel securing plate and connected to the decelerator, and wheels connected to the coupling. The coupling is connected with a coupling mounting flange connected with the L-shaped wheel fixing plate, and a bearing positioned on the inner side of the coupling mounting flange is mounted on the coupling.
As a further development of the invention, the bearings are two coaxially distributed.
As a further improvement of the invention, the wheel comprises a hub, a tire mounted on the hub, a hub end cap mounted on the hub, the hub and the hub end cap having bolts mounted thereon in common.
As a further improvement of the invention, a speed reducer flat key matched with the coupler is arranged on the speed reducer.
As a further improvement of the invention, the combined type vehicle body damping system module comprises a longitudinal damping component, a transverse damping component and a vehicle body damping component which are sequentially connected from bottom to top.
As a further improvement of the invention, the longitudinal shock absorption component comprises two fixed supporting frames which are symmetrically distributed, two longitudinal supporting frames which are positioned between the two fixed supporting frames, and a plurality of longitudinal connecting rods, one end of each longitudinal connecting rod is hinged to the corresponding longitudinal supporting frame, and the other end of each longitudinal connecting rod is hinged to the corresponding fixed supporting frame.
The transverse shock absorption assembly comprises a transverse supporting frame positioned above the longitudinal supporting frame, and a plurality of transverse connecting rods, one ends of which are hinged to the longitudinal supporting frame, and the other ends of which are hinged to the transverse supporting frame.
The automobile body damper comprises an automobile body mounting plate positioned above the transverse supporting frame, an automobile body mounting plate connecting rod with one end hinged on the automobile body mounting plate and the other end hinged on the transverse supporting frame, and leaf springs with two ends respectively hinged with the automobile body mounting plate connecting rod.
The combined type vehicle body damping system module further comprises a plurality of dampers, wherein two ends of each damper are respectively hinged with the fixed support frame, the longitudinal support frame, the transverse support frame, the adjacent longitudinal support frame, the transverse support frame and the vehicle body mounting plate.
As a further improvement of the invention, the longitudinal connecting rods are distributed at the front end and the rear end of the fixed support frame and the longitudinal support frame, and the longitudinal connecting rods at any one of the front end and the rear end are vertically distributed and obliquely arranged above the inner side.
As a further improvement of the invention, the transverse connecting rods are distributed on the left side and the right side of the vehicle body mounting plate, and the transverse connecting rods on any one of the left side and the right side are two arranged in a front-back distribution and oblique front-upper mode.
As a further improvement of the invention, the vehicle body mounting plate connecting rod is provided with two groups in the length direction of the transverse connecting rod, and each group is two.
As a further improvement of the invention, the number of the shock absorbers on the fixed support frame and the longitudinal support frame is two and the shock absorbers are arranged at the three-point positions of the fixed support frame and the longitudinal support frame.
As a further improvement of the invention, the shock absorber on the longitudinal support frame and the transverse support frame is one and is arranged at the middle of the longitudinal support frame and the transverse support frame.
As a further development of the invention, the number of dampers located on adjacent longitudinal supports is two and is mounted at the trisection of the longitudinal supports.
As a further improvement of the invention, the left side and the right side of the shock absorber on the transverse support frame and the vehicle body mounting plate are respectively provided with one shock absorber and are positioned in the middle of the transverse support frame and the vehicle body mounting plate.
As a further improvement of the invention, the vehicle body is connected to a vehicle body mounting plate.
As a further improvement of the invention, the sensing and control system module comprises a sensing device for sensing the external environment of the robot, and a control system connected with the sensing device and used for data processing and controlling the movement of the robot.
As a further improvement of the invention, the sensing device comprises a plurality of ultrasonic sensors arranged around the vehicle body, an RFID site card reader connected to the bottom of the chassis module, a magnetic navigation sensor connected to the front end of the chassis module, a battery arranged on the chassis module, and a display screen arranged at the front end of the vehicle body, wherein the front end of the vehicle body is provided with a laser radar, a vision sensor and a GPS antenna. The laser radar, the vision sensor and the GPS antenna are distributed in rows.
As a further improvement of the invention, the ultrasonic sensors are four and are respectively arranged on the front end, the rear end, the left side and the right side of the vehicle body. And forms an obstacle avoidance function block of the robot.
As a further improvement of the invention, a display screen mounting frame for mounting a display screen is fixed on the vehicle body, a vehicle body front end bracket is fixed on the front side of the vehicle body, a laser radar bracket for mounting a laser radar is connected on the left side of the vehicle body front end bracket, a vision sensor and a GPS antenna are respectively mounted on the middle and the right side of the vehicle body front end bracket, an RFID site card reader is mounted on the middle of the outer side of a bottom plate, a magnetic navigation sensor bracket for mounting a magnetic navigation sensor is connected on the front end surface of a cross beam positioned at the front end, and a battery is mounted on the middle of the inner side of the bottom plate.
As a further improvement of the invention, the control system comprises an upper computer controller, a servo driver connected with the chassis module and a chassis controller connected with the servo driver and the upper computer controller.
As a further improvement of the invention, the upper computer controller is fixed on the battery.
As a further improvement of the invention, the servo drives are connected with servo motors in the chassis module, and the four servo drives are respectively a left front servo drive connected with a left front servo motor, a left rear servo drive connected with a left rear servo motor, a right front servo drive connected with a right front servo motor and a right rear servo drive connected with a right rear servo motor in the wheel driving device.
The servo motor is also connected with a motor encoder which is connected to the servo driver to control the movement of the wheels.
The servo drivers are all positioned on the inner side of the bottom plate.
The laser radar, the GPS antenna and the vision sensor form an outdoor movement sensor of the robot, and the laser radar, the RFID site card reader and the magnetic navigation sensor form an indoor movement sensor of the robot.
The automobile body is also provided with a peripheral function component for controlling the start and stop of the robot, and the peripheral function component comprises a start button, a stop button and an emergency stop button.
The upper computer controller includes: the system comprises a 4G network service module for 4G or wireless WIFI communication with an external mobile phone APP, an outdoor mobile control module connected with an outdoor mobile sensor, an indoor mobile control module connected with an indoor mobile sensor, a basic peripheral functional module connected with a peripheral functional module and a serial port communication module for realizing communication with a chassis controller.
The invention has the means of realizing autonomous walking and intelligent operation; the strength and deflection matched frame optimizes the strength and damping effect of the frame and the vehicle body; the application range of the universal standard interface and the communication protocol is widened, and the modules such as information sensing and intelligent operation tools can be flexibly configured; the intelligent agricultural equipment provides an application platform for application fields such as flexible manufacturing systems, intelligent agricultural equipment, compound operation tools thereof, fire rescue and the like.
The beneficial effects of the invention are as follows:
1. the invention has a modularized vehicle body structure and a damping system, adopts a frame with strength and deflection matched, and enhances the obstacle surmounting capability of the robot; under the action of external force, the vibration of the vehicle body can be greatly reduced, the walking capacity of the robot on the complex ground is improved, the overall stability of the robot is high, the positioning is accurate, the precision is high, and the robot is easy to install and detach.
2. The invention has the sensing and control system module, so that the robot has a multi-information sensing channel, can select indoor and outdoor positioning modes, is matched with an outdoor map, can autonomously walk in indoor and outdoor environments, and can realize all-terrain movement.
Drawings
The invention will be further described with reference to the drawings and examples.
FIG. 1 is a perspective view of the present invention;
FIG. 2 is a schematic view of a three-dimensional mounting structure of a chassis module and a modular body vibration reduction system module according to the present invention;
FIG. 3 is a schematic perspective view of a chassis module and a portion of a sensor and control system module according to the present invention;
FIG. 4 is a cross-sectional view of the mounting structure of the wheel drive unit in the chassis module of the present invention;
FIG. 5 is a schematic view of an exploded view of a wheel drive assembly in a chassis module according to the present invention;
FIG. 6 is a schematic view of a three-dimensional mounting structure of a vehicle body and a portion of a sensor and control system module according to the present invention;
FIG. 7 is a schematic perspective view of a modular body vibration reduction system module according to the present invention;
FIG. 8 is a front view of a modular body vibration damping system module according to the present invention;
FIG. 9 is a right side view of the modular body restraint system module of the present invention;
FIG. 10 is a top view of a modular body vibration reduction system module according to the present invention;
FIG. 11 is a control block diagram of a sensor and control system module according to the present invention.
Detailed Description
The present invention will be further described in the following to make the technical means, the creation characteristics, the achievement of the purpose and the effect of the present invention easy to understand.
As shown in fig. 1 to 11, an all-terrain multipurpose mobile robot includes a chassis module 1 driving the robot to walk, a combined body damping system module 2 mounted on the chassis module 1 and connected with a body 3, and a sensing and control system module 4 mounted on the body 3 and the chassis module 1 and providing a multi-information sensing channel to sense complex terrain. The modularized design of the chassis module, the vehicle body damping system module, the vehicle body and the sensing and control system module is adopted, so that the vehicle body damping system is convenient to install and detach, the jolt of the vehicle body caused by the vibration of wheels due to complex terrain can be relieved, and meanwhile, the stability of the vehicle body when the mobile robot turns is improved.
The chassis module 1 comprises a chassis 11 and wheel driving devices 12 arranged on the chassis 11, the wheel driving devices 12 are distributed on the left side and the right side of the chassis 11, and the combined type vehicle body damping system module 2 is arranged on the chassis 11.
The chassis 11 includes two symmetrically distributed L-shaped wheel securing plates 111, two cross beams 112 connected to the L-shaped wheel securing plates 111 and constituting a rectangular frame, and a bottom plate 113 installed in the rectangular frame.
The number of the wheel driving devices 12 is four, and the wheel driving devices are distributed at the left front, the left rear, the right front and the right rear of the vehicle body 3.
The wheel driving apparatus 12 includes a decelerator 121 installed inside the L-shaped wheel securing plate 111, a servo motor 122 connected to an input end of the decelerator 121, a coupling 123 installed outside the L-shaped wheel securing plate 111 and connected to the decelerator 121, and wheels 124 connected to the coupling 123. The coupling 123 is connected with a coupling mounting flange 125 connected with the L-shaped wheel fixing plate 111, and a bearing 126 positioned inside the coupling mounting flange 125 is mounted on the coupling 123. When the wheel drive device is used, the coupling mounting flange 125 is matched with the coupling 123, so that the connection resistance between the servo motor 122 and the wheel 124 is reduced, the power loss can be reduced, the flexibility of the movement of the wheel 124 is improved, and the service life of the whole wheel drive device 12 is prolonged.
The bearings 126 are two coaxially distributed.
The wheel 124 includes a hub 1241, a tire 1242 mounted on the hub 1241, a hub end cap 1243 mounted on the hub 1241, the hub 1241 and the hub end cap 1243 having bolts 1244 mounted thereon in common.
The decelerator 121 is provided with a decelerator flat key 127 which is engaged with the coupling 123.
Based on the chassis module 1, the cross-country capability of the robot is enhanced by adopting a four-wheel drive mode so as to adapt to the complex route movement under different conditions. In use, the robot is controlled by the wheel driving device 12 at the left front, the left rear, the right front and the right rear of the vehicle body 3 through the sensing and control system module 4, and after the servo motor 122 is started, the robot is output to the wheels 124 through the coupler 123 at a proper rotating speed through the speed reducer 121, so as to provide the power for the movement of the robot and realize the running on the road surface.
The combined type vehicle body damping system module 2 comprises a longitudinal damping component, a transverse damping component and a vehicle body damping component which are sequentially connected from bottom to top.
The longitudinal shock absorbing assembly comprises two fixed support frames 21 symmetrically distributed, two longitudinal support frames 22 positioned between the two fixed support frames 21, and a plurality of longitudinal connecting rods 23 with one ends hinged on the longitudinal support frames 22 and the other ends hinged on the fixed support frames 21.
The transverse shock absorbing assembly comprises a transverse support frame 24 positioned above the longitudinal support frame 22, and a plurality of transverse connecting rods 25 with one ends hinged on the longitudinal support frame 22 and the other ends hinged on the transverse support frame 24.
The vehicle body damping component comprises a vehicle body mounting plate 26 arranged above the transverse supporting frame 24, a vehicle body mounting plate connecting rod 27 with one end hinged on the vehicle body mounting plate 26 and the other end hinged on the transverse supporting frame 24, and a plate spring 29 with two ends respectively hinged with the vehicle body mounting plate connecting rod 27.
The combined vehicle body damping system module 2 further comprises a damper 28 with two ends respectively hinged with the fixed support frame 21 and the longitudinal support frame 22, the longitudinal support frame 22 and the transverse support frame 24, and the adjacent longitudinal support frame 22, the transverse support frame 24 and the vehicle body mounting plate 26.
The longitudinal connecting rods 23 are distributed at the front end and the rear end of the fixed supporting frame 21 and the longitudinal supporting frame 22, and the longitudinal connecting rods 23 at any one of the front end and the rear end are vertically distributed and obliquely arranged above the inner side. When in use, the connecting strength between the fixed support frame 21 and the longitudinal support frame 22 is ensured, and the fixed support frame has certain flexibility and is used for eliminating partial acting force on the ground.
The transverse connection rods 25 are distributed on the left side and the right side of the vehicle body mounting plate 26, and the transverse connection rods 25 on any one of the left side and the right side are two in front-back distribution and in an inclined front-upper mode.
The vehicle body mounting plate connecting rods 27 are provided with two groups in the length direction of the transverse connecting rods 25, and each group is two.
The dampers 28 on the fixed support frame 21 and the longitudinal support frame 22 are two and installed at the three-division points of the fixed support frame 21 and the longitudinal support frame 22. When in use, the shock absorbers 28 are uniformly distributed, and the fixed support frame 21 and the longitudinal support frame 22 can be ensured to be capable of effectively absorbing shock everywhere.
The damper 28 on the longitudinal support 22 and the lateral support 24 is one and is installed at the middle of the longitudinal support 22 and the lateral support 24.
The dampers 28 on adjacent longitudinal support frames 22 are two and mounted at the three-point of the longitudinal support frames 22. In use, the dampers 28 are evenly distributed, ensuring effective damping everywhere between the longitudinal support frames 22.
The shock absorbers 28 are provided one on each of the left and right sides of the lateral support frame 24 and the vehicle body mounting plate 26 and are located at the middle of the lateral support frame 24 and the vehicle body mounting plate 26.
The body 3 is connected to a body mounting plate 26.
Based on the above, in the vehicle body damping system module 2, the acting force from the ground received by the robot is transferred to the fixed support frame 21 through the chassis 11, the acting force from the ground in the left-right direction can be buffered and eliminated through the shock absorber 28 and the longitudinal connecting rod 23, meanwhile, the acting force in the front-back direction can be buffered and eliminated through the cooperation of the shock absorber 28 and the transverse connecting rod 25 by the longitudinal support frame 22 and the transverse support frame 24, the acting force received by the vehicle body 3 can be buffered and eliminated under the action of the vehicle body mounting plate connecting rod 27 and the shock absorber 28, the damping action to the robot is realized to the greatest extent in three aspects, the vehicle frame with the matched strength and deflection is formed, the effect is remarkable, and the obstacle crossing performance is greatly improved.
The sensing and control system module 4 comprises a sensing device for sensing the external environment of the robot and a control system which is connected with the sensing device and used for processing data and controlling the movement of the robot.
The sensing device comprises a plurality of ultrasonic sensors 410 arranged around a vehicle body, an RFID site card reader 411 connected to the bottom of the chassis module 1, a magnetic navigation sensor 412 connected to the front end of the chassis module 1, a battery 413 arranged on the chassis module 1, and a display screen 414 arranged on the front end of the vehicle body, wherein a laser radar 415, a visual sensor 416 and a GPS antenna 417 are arranged on the front end of the vehicle body 3. The lidar 415, vision sensor 416, GPS antenna 417 are distributed in rows.
The ultrasonic sensors 410 are four and are respectively mounted on the front end, the rear end, the left side and the right side of the vehicle body 3. And forms an obstacle avoidance function block of the robot.
The display screen mounting frame 421 for mounting the display screen 414 is fixed on the vehicle body 3, the front side of the vehicle body 3 is fixed with a vehicle body front end support 422, the left side of the vehicle body front end support 422 is connected with a laser radar support 423 for mounting the laser radar 415, the middle part and the right side of the vehicle body front end support 422 are respectively provided with the vision sensor 416 and the GPS antenna 417, the RFID site card reader 411 is mounted in the middle of the outer side of the bottom plate 113, the front end face of the beam 112 positioned at the front end is connected with a magnetic navigation sensor support 424 for mounting the magnetic navigation sensor 412, and the battery 413 is mounted in the middle of the inner side of the bottom plate 113.
The control system comprises an upper computer controller 418, a servo driver 419 connected with the chassis module 1 and a chassis controller 420 connected with the servo driver 419 and the upper computer controller 418.
The upper computer controller 418 is fixed on the battery 413.
The servo drivers 419 are connected with the servo motors 122 in the chassis module 1, and the four servo drivers 419 are respectively a front left servo driver connected with a front left servo motor, a rear left servo driver connected with a rear left servo motor, a front right servo driver connected with a front right servo motor and a rear right servo driver connected with a rear right servo motor in the wheel driving device 12.
The servo motor 122 is also coupled to a motor encoder which is in turn coupled to a servo driver 419 to control the movement of the wheel 124.
The servo drives 419 are all located inside the base plate 113.
The lidar 415, the GPS antenna 417, the vision sensor 416 constitute an outdoor movement sensor of the robot, and the lidar 415, the RFID site reader 411, and the magnetic navigation sensor 412 constitute an indoor movement sensor of the robot.
The automobile body 3 is also provided with a peripheral function component for controlling the start and stop of the robot, and the peripheral function component comprises a start button, a stop button and an emergency stop button.
The upper computer controller 418 includes: the system comprises a 4G network service module for 4G or wireless WIFI communication with an external mobile phone APP, an outdoor mobile control module connected with an outdoor mobile sensor, an indoor mobile control module connected with an indoor mobile sensor, a basic peripheral functional module connected with a peripheral functional module and a serial port communication module for realizing communication with a chassis controller 420.
The working principle of the invention is further described below:
when the robot works, the robot is in wireless connection with an external mobile phone terminal through the 4G network service module.
When the robot is in indoor work and the route is identified and calculated through detection of the indoor movement sensor, the upper computer controller 418 and the chassis controller 420 are in data communication, the wheel driving devices 12 at four positions on the bottom plate 113 are started to move, the trolley is driven to install and calculate the route to walk, and meanwhile the upper computer controller 418 receives signals of the ultrasonic sensors 410 at all positions to avoid obstacles timely.
When the robot is outdoors, the outdoor mobile sensor detects the position of the robot and identifies an external route, the upper computer controller 418 is in data communication with the chassis controller 420, the wheel driving devices 12 at four positions on the bottom plate 113 are started to move, the trolley is driven to install and calculate the route to walk, and meanwhile, the upper computer controller 418 receives signals of the ultrasonic sensors 410 at all positions to avoid obstacles timely.
The mobile phone APP can display the state of the robot and various data information in real time, so that the robot is convenient for an operator to observe.
The invention can adapt to the motions in various indoor and outdoor environments, realizes all-terrain multipurpose movement, and greatly improves the application range and performance of the robot.
The foregoing has shown and described the basic principles, principal features and advantages of the invention. It will be understood by those skilled in the art that the present invention is not limited to the embodiments described above, and that the above embodiments and descriptions are merely illustrative of the principles of the present invention, and various changes and modifications may be made without departing from the spirit and scope of the invention, which is defined in the appended claims. The scope of the invention is defined by the appended claims and equivalents thereof.
Claims (7)
1. An all-terrain multipurpose mobile robot, characterized in that: the robot comprises a chassis module (1) for driving the robot to walk, a combined type vehicle body damping system module (2) which is arranged on the chassis module (1) and connected with a vehicle body (3), and a sensing and control system module (4) which is arranged on the vehicle body (3) and the chassis module (1) and provides a multi-information sensing channel for sensing complex terrains; the combined type vehicle body damping system module (2) comprises a longitudinal damping component, a transverse damping component and a vehicle body damping component which are sequentially connected from bottom to top;
the longitudinal shock absorption assembly comprises two fixed support frames (21) which are symmetrically distributed, two longitudinal support frames (22) which are positioned between the two fixed support frames (21), and a plurality of longitudinal connecting rods (23) with one ends hinged on the longitudinal support frames (22) and the other ends hinged on the fixed support frames (21);
the transverse shock absorption assembly comprises a transverse supporting frame (24) positioned above the longitudinal supporting frame (22), and a plurality of transverse connecting rods (25) with one ends hinged on the longitudinal supporting frame (22) and the other ends hinged on the transverse supporting frame (24);
the automobile body damping component comprises an automobile body mounting plate (26) positioned above the transverse supporting frame (24), an automobile body mounting plate connecting rod (27) with one end hinged on the automobile body mounting plate (26) and the other end hinged on the transverse supporting frame (24) which are symmetrically arranged, and a plate spring (29) with two ends respectively hinged with the automobile body mounting plate connecting rod (27);
the combined type vehicle body damping system module (2) further comprises a plurality of dampers (28) with two ends respectively hinged with the fixed support frame (21) and the longitudinal support frame (22), the longitudinal support frame (22) and the transverse support frame (24), the adjacent longitudinal support frame (22) and the transverse support frame (24) and the vehicle body mounting plate (26);
two groups of vehicle body mounting plate connecting rods (27) are arranged along the length direction of the transverse connecting rods (25), and each group is two; the number of the shock absorbers (28) on the fixed support frame (21) and the longitudinal support frame (22) is two, and the shock absorbers are arranged at the trisection points of the fixed support frame (21) and the longitudinal support frame (22); the shock absorber (28) on the longitudinal support frame (22) and the transverse support frame (24) is one and is arranged in the middle of the longitudinal support frame (22) and the transverse support frame (24); the number of the shock absorbers (28) positioned on the adjacent longitudinal support frames (22) is two, and the shock absorbers are arranged at the trisection points of the longitudinal support frames (22); the shock absorber (28) on the transverse support frame (24) and the vehicle body mounting plate (26) is arranged on the left side and the right side of the shock absorber respectively and is positioned in the middle of the transverse support frame (24) and the vehicle body mounting plate (26).
2. An all-terrain multi-purpose mobile robot as recited in claim 1, wherein: the chassis module (1) comprises a chassis (11) and a wheel driving device (12) arranged on the chassis (11), and the combined type vehicle body damping system module (2) is arranged on the chassis (11).
3. An all-terrain multi-purpose mobile robot as recited in claim 2, wherein: the chassis (11) comprises two symmetrically distributed L-shaped wheel fixing plates (111), two cross beams (112) which are connected with the L-shaped wheel fixing plates (111) and form a rectangular frame, and a bottom plate (113) arranged in the rectangular frame.
4. An all-terrain multi-purpose mobile robot as recited in claim 3, wherein: the wheel driving device (12) comprises a speed reducer (121) arranged on the inner side of an L-shaped wheel fixing plate (111), a servo motor (122) connected with the speed reducer (121), a coupler (123) arranged on the outer side of the L-shaped wheel fixing plate (111) and connected with the speed reducer (121), and wheels (124) connected with the coupler (123).
5. An all-terrain multi-purpose mobile robot as recited in claim 1, wherein: the sensing and control system module (4) comprises a sensing device for sensing the external environment of the robot and a control system which is connected with the sensing device and used for processing data and controlling the movement of the robot.
6. An all-terrain multi-purpose mobile robot as recited in claim 5, wherein: the sensing device comprises a plurality of ultrasonic sensors (410) arranged around a vehicle body (3), an RFID site card reader (411) connected to the bottom of a chassis module (1), a magnetic navigation sensor (412) connected to the front end of the chassis module (1), a battery (413) arranged on the chassis module (1), and a display screen (414) arranged at the front end of the vehicle body (3), wherein a laser radar (415), a vision sensor (416) and a GPS antenna (417) are arranged at the front end of the vehicle body (3).
7. An all-terrain multi-purpose mobile robot as recited in claim 5, wherein: the control system comprises an upper computer controller (418), a servo driver (419) connected with the chassis module, and a chassis controller (420) connected with the servo driver (419) and the upper computer controller (418).
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| CN109357573A (en) * | 2018-09-26 | 2019-02-19 | 中国人民解放军总参谋部第六十研究所 | Intelligent robot tactics target vehicle platform |
| CN109243207A (en) * | 2018-10-17 | 2019-01-18 | 安徽工程大学 | A kind of mobile device used for SLAM teaching demonstration |
| CN109436090A (en) * | 2018-11-16 | 2019-03-08 | 重庆大学 | A kind of novel Omni-mobile platform |
| CN109682379A (en) * | 2019-01-03 | 2019-04-26 | 北京计算机技术及应用研究所 | A kind of motion control device for the intelligent AGV towards critical equipment manufacturing |
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