CN109572855B - Climbing robot - Google Patents
Climbing robot Download PDFInfo
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- CN109572855B CN109572855B CN201811524005.9A CN201811524005A CN109572855B CN 109572855 B CN109572855 B CN 109572855B CN 201811524005 A CN201811524005 A CN 201811524005A CN 109572855 B CN109572855 B CN 109572855B
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D61/00—Motor vehicles or trailers, characterised by the arrangement or number of wheels, not otherwise provided for, e.g. four wheels in diamond pattern
- B62D61/10—Motor vehicles or trailers, characterised by the arrangement or number of wheels, not otherwise provided for, e.g. four wheels in diamond pattern with more than four wheels
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06V—IMAGE OR VIDEO RECOGNITION OR UNDERSTANDING
- G06V20/00—Scenes; Scene-specific elements
- G06V20/10—Terrestrial scenes
Abstract
The invention discloses a climbing robot, which comprises a base, a bracket arranged at the bottom of the base, and a plurality of groups of wheel set assemblies arranged on the bracket, wherein each group of wheel set assembly comprises a herringbone wheel carrier, a corner motor arranged at the top of the tip of the herringbone wheel carrier, two wheels arranged at the bottom of the herringbone wheel carrier, a servo motor connected with each wheel and a servo motor driver connected with each servo motor, a controller is arranged in the base, each servo motor driver is in communication connection with the controller, the base is provided with an electric pan-tilt, the electric pan-tilt is provided with a camera, the electric pan-tilt and the camera are both in communication connection with the controller, still be provided with the battery in the base, the battery provides operating voltage for corner motor, servo motor, electronic cloud platform and camera through the controller. The climbing robot can run on a flat ground and can climb on a stepped slope, and the inspection comprehensiveness is improved.
Description
Technical Field
The invention relates to the field of inspection robots, in particular to a climbing robot.
Background
A robot is a machine device that automatically performs work. It can accept human command, run the program programmed in advance, and also can operate according to the principle outline action made by artificial intelligence technology. The task of which is to assist or replace human work, such as production, construction, or dangerous work.
An inspection robot is a machine device which helps people to inspect. The inspection robot can encounter walking obstacles when encountering non-planar road surfaces in the working process, so that the conventional inspection robot can only walk on the planar road surface and can not stop when encountering the slope surface of a step. For this reason, it is necessary to provide a climbing robot.
Disclosure of Invention
The present invention has been made in view of the above-described problems, and an object of the present invention is to provide a climbing robot capable of climbing a slope while traveling on a flat ground.
In order to solve the technical problems, the following technical scheme is adopted:
a climbing robot comprises a base, a bracket arranged at the bottom of the base and a plurality of groups of wheel set assemblies arranged on the bracket, wherein each group of wheel set assembly comprises a herringbone wheel frame, a corner motor arranged at the top of the pointed end of the herringbone wheel frame, two wheels arranged at the bottom of the herringbone wheel frame, a servo motor connected with each wheel and a servo motor driver connected with each servo motor, a controller is arranged in the base, each servo motor driver is in communication connection with the controller, the base is provided with an electric pan-tilt, the electric pan-tilt is provided with a camera, the electric pan-tilt and the camera are both in communication connection with the controller, the base is internally provided with a storage battery, and the storage battery provides working voltage for the corner motor, the servo motor, the electric pan-tilt and the camera through the controller;
the controller (6) receives an external scene image acquired by the camera (5), performs obstacle recognition on the external scene image, outputs a control signal to the servo motor driver (34) according to a result of the obstacle recognition, and enables the servo motor driver (34) to drive the servo motor (33) to operate;
wherein the control signal is obtained by calculation through the following steps:
the method comprises the steps that firstly, an external scene image p (X, Y) collected by a camera (5) is received, X is larger than or equal to 1 and smaller than or equal to X, Y is larger than or equal to 1 and smaller than or equal to Y, the pixel quantity of the external scene image is X multiplied by Y, feature points representing the edges of obstacles are extracted, and the coordinates of the feature points are T (X, Y);
secondly, calculating the position of an image area surrounded by the characteristic points T (x, y) in the external scene image;
thirdly, acquiring each characteristic point T '(x', y ') in the last external scene image p' (x ', y') acquired by the camera (5), and calculating the displacement of each characteristic point T (x, y) in the second step relative to each characteristic point T '(x', y ') in the last external scene image p' (x ', y')
Fourthly, calculating the duty ratio of the control signal according to the displacement delta tRatio of
Generating said control signal in accordance with the duty cycle pwm (t); wherein the proportionality coefficient KpIntegral coefficient KiDifferential coefficient, average KdObtained from prior training, or set by experience;
fifthly, when the image area surrounded by the characteristic points T (x, y) occupies the position of the external scene image and is deviated to the left side of the external scene image, the control signal is output to the servo motor driver (34) corresponding to the left wheel; and when the image area surrounded by the characteristic points T (x, y) occupies the position of the external scene image and is deviated to the right side of the external scene image, outputting the control signal to the servo motor driver (34) corresponding to the right wheel.
Further, in the first step, the coordinates T (x, y) of the feature points are calculated by:
step a1, performing Gaussian filtering on the external scene image p (x, y), wherein the scale of the Gaussian filtering is sigma;
step a2, calculating a feature matrix corresponding to each pixel point corresponding to the external scene image after Gaussian filtering
Wherein D isxx、Dxy、DxyAnd DyyRespectively carrying out Gaussian difference operation on pixel points p (x, y) in the external scene image;
step a3, searching a feature matrix H (x, y, sigma) corresponding to each pixel point p (x, y) in the external scene image, and judging whether the feature matrix H (x, y, sigma) meets Dxx(x,y,σ)Dyy(x,y,σ)-eσ(Dxy(x,y,σ)2>0, if the pixel point p (x, y) is satisfied, the pixel point p (x, y) is recorded as an alternative point; otherwise, continuously searching the rest pixel points p (x) in the external scene image,y)；
A step a4, constructing a multi-scale space corresponding to the external scene image p (x, y) according to the external scene image p (x, y);
step a5, in the multi-scale space, comparing each alternative point and the 26 points corresponding to the alternative point in the neighborhood of the multi-scale space, and when the alternative point is judged to be the minimum or maximum extreme point in the neighborhood of the multi-scale space, marking the alternative point as one feature point T (x, y).
Furthermore, the support is composed of a rectangular bottom plate and four bent rods welded to four corners of the rectangular bottom plate respectively, the base is fixedly connected with the rectangular bottom plate through a plurality of fasteners, the bottom of each bent rod is fixedly provided with a corner motor, a motor shaft of each corner motor is fixedly connected with the top of the tip of the herringbone wheel carrier, and each corner motor is in communication connection with the controller through a motor driver.
Furthermore, an obstacle sensor is arranged on the outer side of each bent rod and connected with the controller.
Furthermore, in each group of wheel set assembly, two wheels are respectively installed at the tail ends of two branches of the herringbone wheel frame through bearings, the tail ends of the two branches of the herringbone wheel frame are respectively and fixedly provided with a servo motor, and a motor shaft of the servo motor is in transmission connection with the wheels installed at the tail ends of the branches of the herringbone wheel frame.
Further, the base comprises a base and a cover plate arranged on the base, a plurality of radiating holes are formed in the four walls of the base, a dustproof net is magnetically adsorbed on the inner wall of a radiating hole distribution area, a charging interface is further arranged on the side wall of the base corresponding to the storage battery arrangement position, and the charging interface is connected with the storage battery; the cover plate is provided with a round opening, and the round opening is extended from the top of the electric holder and used for fixing the camera.
Further, the top of electronic cloud platform still install an auxiliary lighting shot-light, auxiliary lighting shot-light and controller electric connection.
Further, a remote communication device is arranged in the base, and the controller is communicated with the network layer through the remote communication device.
Due to the adoption of the technical scheme, the method has the following beneficial effects:
the invention relates to a climbing robot, wherein each bent rod is connected with a herringbone wheel carrier through a corner motor, when a front obstacle is encountered in the driving process, the herringbone wheel carrier is driven by the corner motor to rotate, so that the purpose of crossing the obstacle is achieved, the herringbone wheel carrier is adopted, and wheels at the tail ends of two branches of the herringbone wheel carrier are respectively driven by a servo motor, so that the situation that one wheel always works effectively in the rotating process of the herringbone wheel carrier is ensured, a camera monitors and shoots in real time in the walking process, the collected data is sent to a controller and is sent to an internet cloud end through a remote communication device, and the inspection condition can be observed in the cloud end after terminal equipment is networked.
Drawings
The invention will be further described with reference to the accompanying drawings in which:
FIG. 1 is a front view of a climbing robot according to the present invention;
FIG. 2 is a schematic structural diagram of a climbing robot according to the present invention;
FIG. 3 is a schematic view of the structure of FIG. 2;
fig. 4 is a schematic view showing the dust screen of the present invention mounted on the inner wall of the base.
In the figure: the system comprises a base 1, a base 11, a base 111, radiating holes 111, a cover plate 12, a round opening 121, a dust screen 13, a charging interface 14, a support 2, a rectangular bottom plate 21, a bent rod 22, a wheel set assembly 3, a herringbone wheel carrier 31, a wheel 32, a servo motor 33, a servo motor driver 34, a corner motor 35, a motor driver 36, an electric pan tilt 4, a camera 5, a controller 6, a storage battery 7, an auxiliary lighting spotlight 8, a remote communication device 9 and an obstacle sensor 10.
Best mode for carrying out the invention
In order to make the objects, technical solutions and advantages of the present invention more apparent, the present invention is further described in detail below with reference to the accompanying drawings and examples. It should be understood, however, that the description herein of specific embodiments is only intended to illustrate the invention and not to limit the scope of the invention. Moreover, in the following description, descriptions of well-known structures and techniques are omitted so as to not unnecessarily obscure the concepts of the present invention.
As shown in fig. 1 to 4, a climbing robot includes a base 1, a support 2 installed at the bottom of the base 1, and a plurality of sets of wheel set assemblies 3 installed on the support 2, where each set of wheel set assembly 3 includes a herringbone wheel carrier 31, a corner motor 35 installed at the top of the herringbone wheel carrier 31, two wheels 32 installed at the bottom of the herringbone wheel carrier 31, a servo motor 33 connected to each wheel 32, and a servo motor driver 34 connected to each servo motor 33, a controller 6 is installed in the base 1, each servo motor driver 34 is in communication connection with the controller 6, an electric pan/tilt 4 is installed on the base 1, a camera 5 is installed on the electric pan/tilt 4, the electric pan/tilt 4 and the camera 5 are in communication connection with the controller 6, a storage battery 7 is further installed in the base 1, the storage battery 7 provides working voltage for the corner motor 35, the servo motor 33, the electric holder 4 and the camera 5 through the controller 6;
the controller 6 receives an external scene image acquired by the camera 5, performs obstacle recognition on the external scene image, and outputs a control signal to the servo motor driver 34 according to a result of the obstacle recognition, so that the servo motor driver 34 drives the servo motor 33 to operate;
wherein the control signal is obtained by calculation through the following steps:
the method comprises the steps that firstly, an external scene image p (X, Y) collected by a camera 5 is received, X is more than or equal to 1 and less than or equal to X, Y is more than or equal to 1 and less than or equal to Y, the pixel quantity of the external scene image is X multiplied by Y, feature points representing the edges of obstacles in the external scene image are extracted, and the coordinates of the feature points are T (X, Y);
secondly, calculating the position of an image area surrounded by the characteristic points T (x, y) in the external scene image;
thirdly, acquiring the last external scene image p' (x) acquired by the camera 5', y ') of the external scene image p ' (x ', y '), calculating the displacement amount of the characteristic point T (x, y) in the second step from the characteristic point T ' (x ', y ') in the previous external scene image p ' (x ', y '))
Fourthly, calculating the duty ratio of the control signal according to the displacement delta t
Generating said control signal in accordance with the duty cycle pwm (t); wherein the proportionality coefficient KpIntegral coefficient KiDifferential coefficient, average KdObtained from prior training, or set by experience;
a fifth step of outputting the control signal to the servo motor driver 34 corresponding to the left wheel when the image area surrounded by the feature points T (x, y) occupies the position of the external scene image and is deviated to the left side of the external scene image; when the image area surrounded by the feature points T (x, y) occupies a position of the external scene image and is biased to the right side of the external scene image, the control signal is output to the servo motor driver 34 corresponding to the right wheel.
Further, in the first step, the coordinates T (x, y) of the feature points are calculated by:
step a1, performing Gaussian filtering on the external scene image p (x, y), wherein the scale of the Gaussian filtering is sigma;
step a2, calculating a feature matrix corresponding to each pixel point corresponding to the external scene image after Gaussian filtering
Wherein D isxx、Dxy、DxyAnd DyyRespectively carrying out Gaussian difference operation on pixel points p (x, y) in the external scene image;
step a3, searching a feature matrix H (x, y, sigma) corresponding to each pixel point p (x, y) in the external scene image, and judging whether the feature matrix H (x, y, sigma) meets Dxx(x,y,σ)Dyy(x,y,σ)-eσ(Dxy(x,y,σ)2>0, if the pixel point p (x, y) is satisfied, the pixel point p (x, y) is recorded as an alternative point; otherwise, continuously searching the rest pixel points p (x, y) in the external scene image;
a step a4, constructing a multi-scale space corresponding to the external scene image p (x, y) according to the external scene image p (x, y);
step a5, in the multi-scale space, comparing each alternative point and the 26 points corresponding to the alternative point in the neighborhood of the multi-scale space, and when the alternative point is judged to be the minimum or maximum extreme point in the neighborhood of the multi-scale space, marking the alternative point as one feature point T (x, y).
According to the method, different wheels are controlled to run according to the external scene image acquired by the camera 5 and the output control signal corresponding to the position change relation of the edge of the obstacle in the external scene image, so that the obstacle can be intelligently identified, and the wheels are correspondingly driven to cross the obstacle by the specific duty ratio signal, so that the robot can climb the slope autonomously.
Particularly, when the obstacle edge in the external scene image is extracted, the screening condition of the alternative point is specifically screened according to the scale of the Gaussian difference, so that the accuracy of the obtained alternative point is higher, and the characteristic point obtained by further screening based on the alternative point can reflect the real situation of the external scene image better.
In the embodiment of the present invention, the wiring situation is not shown, the bracket 2 is composed of a rectangular bottom plate 21 and four bending rods 22 welded at four corners of the rectangular bottom plate 21, the base 1 is fixedly connected with the rectangular bottom plate 21 through a plurality of fasteners, the bottom of each bending rod 22 is fixed with one of the corner motors 35, the motor shaft of each corner motor 35 is fixedly connected with the top of the tip of the herringbone frame 31, and each corner motor 35 is in communication connection with the controller 6 through a motor driver 36.
Further, an obstacle sensor 10 is mounted on the outer side of each bent rod 22, and the obstacle sensors 10 are connected with the controller 6; in each group of wheel set assembly 3, two wheels 32 are respectively mounted at the tail ends of two branches of the herringbone wheel carrier 31 through bearings, a servo motor 33 is further fixedly mounted at each tail end of the two branches of the herringbone wheel carrier 31, and a motor shaft of the servo motor 33 is in transmission connection with the wheels 32 mounted at the tail ends of the branches of the herringbone wheel carrier 31.
In the embodiment of the invention, the base 1 comprises a base 11 and a cover plate 12 arranged on the base 11, wherein a plurality of heat dissipation holes 111 are formed in four walls of the base 11, a dustproof net 13 is magnetically adsorbed on the inner wall of the distribution area of the heat dissipation holes 111, a charging interface 14 is arranged on the side wall of the base 11 corresponding to the arrangement position of the storage battery 7, and the charging interface 14 is connected with the storage battery 7; a round opening 121 is formed in the cover plate 12, and the round opening 121 is extended from the top of the electric holder 4 and used for fixing the camera 5; an auxiliary lighting spot lamp 8 is further installed at the top of the electric holder 4, and the auxiliary lighting spot lamp 8 is electrically connected with the controller 6; the base 1 is also internally provided with a remote communication device 9, and the controller 6 is communicated with a network layer through the remote communication device 9.
Further, base 1 still is provided with low-power indicator at the side of the interface 14 that charges, and low-power indicator and controller 6 communication connection, in case 7 electric quantities of battery are low excessively, low-power indicator shows red, and the suggestion charges, and when battery 7 was full of electricity, low-power indicator showed green, and the suggestion charges to be full.
The working principle of the climbing robot of the invention is as follows:
during the straight driving, the controller 6 controls each wheel 32 to rotate synchronously through the servo motor driver 34 to keep straight driving, and during the forward driving, when the obstacle sensor 10 in front of the driving direction senses an obstacle, the controller 6 controls the rotation of the angle motor 35 through the motor driver 36 to enable the herringbone wheel frame 31 to rotate forwards along the angle motor 35, when the herringbone wheel frame crosses the obstacle and the obstacle sensor 10 does not sense the obstacle, the angle motor 35 rotates reversely to restore the horizontal direction of the herringbone wheel frame 31.
When a right turn is required, the controller 6 controls the right servo motor 33 to rotate at a lower speed than the left servo motor 33.
When a left turn is required, the controller 6 controls the left servo motor 33 to rotate at a lower speed than the right servo motor 33.
In the driving process, the camera 5 carries out monitoring shooting in real time, in the shooting process, the camera 5 can be driven to rotate through the electric pan-tilt 4 to inspect the peripheral conditions and send the acquired data to the controller 6, the controller 6 converts the acquired data into digital signals and sends the digital signals to the internet cloud through the remote communication device 9, and the inspection conditions can be inspected at the cloud after the terminal equipment is networked; the terminal equipment can also send an execution command to the controller 6 through the internet for remote control.
The climbing robot can run on a flat ground and can climb on a stepped slope, and inspection comprehensiveness is improved.
The above is only a specific embodiment of the present invention, but the technical features of the present invention are not limited thereto. Any simple changes, equivalent substitutions or modifications made on the basis of the present invention to solve the same technical problems and achieve the same technical effects are all covered in the protection scope of the present invention.
Claims (7)
1. A climbing robot, its characterized in that: the device comprises a base, a support arranged at the bottom of the base and a plurality of groups of wheel set assemblies arranged on the support, wherein each group of wheel set assembly comprises a herringbone wheel carrier, a corner motor arranged at the top of the tip of the herringbone wheel carrier, two wheels arranged at the bottom of the herringbone wheel carrier, a servo motor respectively connected with each wheel and a servo motor driver respectively connected with each servo motor, a controller is arranged in the base, each servo motor driver is in communication connection with the controller, an electric cradle head is arranged on the base, a camera is arranged on the electric cradle head, the electric cradle head and the camera are in communication connection with the controller, a storage battery is further arranged in the base, and the storage battery provides working voltage for the corner motor, the servo motor, the electric cradle head and the camera through the controller;
the controller receives an external scene image acquired by the camera, performs obstacle identification on the external scene image, and outputs a control signal to the servo motor driver according to an obstacle identification result to enable the servo motor driver to drive the servo motor to operate;
wherein the control signal is obtained by calculation through the following steps:
the method comprises the steps that firstly, an external scene image p (X, Y) collected by a camera is received, X is more than or equal to 1 and less than or equal to X, Y is more than or equal to 1 and less than or equal to Y, the pixel quantity of the external scene image is X multiplied by Y, feature points representing the edges of obstacles in the external scene image are extracted, and the coordinates of the feature points are T (X, Y);
secondly, calculating the position of an image area surrounded by the characteristic points T (x, y) in the external scene image;
thirdly, acquiring each characteristic point T '(x', y ') in the last external scene image p' (x ', y') acquired by the camera, and calculating the displacement of each characteristic point T (x, y) in the second step relative to each characteristic point T '(x', y ') in the last external scene image p' (x ', y')
Fourthly, calculating the duty ratio of the control signal according to the displacement delta t
Generating said control signal in accordance with the duty cycle pwm (t); wherein the proportionality coefficient KpIntegral coefficient KiDifferential coefficient, average KdObtained from prior training, or set by experience;
fifthly, when the image area surrounded by the characteristic points T (x, y) occupies the position of the external scene image and is deviated to the left side of the external scene image, outputting the control signal to the servo motor driver corresponding to the left wheel; when the image area surrounded by the characteristic points T (x, y) occupies the position of the external scene image and is deviated to the right side of the external scene image, outputting the control signal to the servo motor driver corresponding to the right wheel;
in the first step, the coordinates T (x, y) of the feature points are calculated by:
step a1, performing Gaussian filtering on the external scene image p (x, y), wherein the scale of the Gaussian filtering is sigma;
step a2, calculating a feature matrix corresponding to each pixel point corresponding to the external scene image after Gaussian filtering
Wherein D isxx、Dxy、DxyAnd DyyRespectively carrying out Gaussian difference operation on pixel points p (x, y) in the external scene image;
step a3, searching a feature matrix H (x, y, sigma) corresponding to each pixel point p (x, y) in the external scene image, and judging whether the feature matrix H (x, y, sigma) meets Dxx(x,y,σ)Dyy(x,y,σ)-eσ(Dxy(x,y,σ)2>0, if the pixel point p (x, y) is satisfied, the pixel point p (x, y) is recorded as an alternative point; otherwise, continuously searching the rest pixel points p (x, y) in the external scene image;
a step a4, constructing a multi-scale space corresponding to the external scene image p (x, y) according to the external scene image p (x, y);
step a5, in the multi-scale space, comparing each alternative point and the 26 points corresponding to the alternative point in the neighborhood of the multi-scale space, and when the alternative point is judged to be the minimum or maximum extreme point in the neighborhood of the multi-scale space, marking the alternative point as one feature point T (x, y).
2. A climbing robot according to claim 1, characterized in that: the bracket is composed of a rectangular bottom plate and four bent rods welded at four corners of the rectangular bottom plate respectively, the base is fixedly connected with the rectangular bottom plate through a plurality of fasteners, the bottom of each bent rod is fixedly provided with a corner motor, a motor shaft of each corner motor is fixedly connected with the top of the tip of the herringbone wheel carrier, and each corner motor is in communication connection with the controller through a motor driver.
3. A climbing robot according to claim 2, characterized in that: and the outer side of each bent rod is provided with an obstacle sensor which is connected with the controller.
4. A climbing robot according to claim 1, characterized in that: in each group of wheel set assembly, two wheels are respectively arranged at the tail ends of two branches of the herringbone wheel frame through bearings, the tail ends of the two branches of the herringbone wheel frame are respectively and fixedly provided with a servo motor, and a motor shaft of the servo motor is in transmission connection with the wheels arranged at the tail ends of the branches of the herringbone wheel frame.
5. A climbing robot according to claim 1, characterized in that: the base comprises a base and a cover plate arranged on the base, wherein a plurality of radiating holes are formed in the four walls of the base, a dustproof net is magnetically adsorbed on the inner wall of a radiating hole distribution area, a charging interface is further arranged on the side wall of the base corresponding to the storage battery arrangement position, and the charging interface is connected with the storage battery; the cover plate is provided with a round opening, and the round opening is extended from the top of the electric holder and used for fixing the camera.
6. A climbing robot according to claim 1, characterized in that: the top of the electric pan-tilt is also provided with an auxiliary lighting spot lamp, and the auxiliary lighting spot lamp is electrically connected with the controller.
7. A climbing robot according to claim 1, characterized in that: the base in still be provided with remote communication device, the controller pass through remote communication device and network layer communication.
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| CN112455203B (en) * | 2019-04-26 | 2022-02-08 | 杭州申昊科技股份有限公司 | Two-drive differential wheel driving unit structure for robot driving |
| CN113147953B (en) * | 2021-04-26 | 2023-11-10 | 合肥工业大学 | Inspection robot with self-adaptive chassis |
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