CN110757465A

CN110757465A - Control system of climbing and obstacle-crossing crawler-type mobile robot

Info

Publication number: CN110757465A
Application number: CN201911152092.4A
Authority: CN
Inventors: 刘为峰
Original assignee: Jiangsu Fangshiyuanlue Technology Consulting Co Ltd
Current assignee: Jiangsu Fangshiyuanlue Technology Consulting Co Ltd
Priority date: 2019-11-22
Filing date: 2019-11-22
Publication date: 2020-02-07

Abstract

A control system of a climbing and obstacle-crossing crawler-type mobile robot comprises a computer command system and a mobile robot control system; the mobile robot control system comprises a source module, a function module, a main controller module, a wireless communication module and a camera. The robot control system and the computer command system perform data wireless bidirectional transmission through WIFI, on one hand, the robot sends the obtained environmental information and the motion state of the robot to the computer command system through a wireless channel for processing and analysis, on the other hand, the computer command system sends the processing information and the command to the robot through the wireless channel, and the robot performs corresponding motion adjustment according to the command. Through the mutual cooperation of each module group, the crawler-type mobile robot can climb a slope and cross obstacles to complete a surveying task.

Description

Control system of climbing and obstacle-crossing crawler-type mobile robot

Technical Field

The invention relates to the field of robots, in particular to a control system of a crawler-type mobile robot capable of climbing and crossing obstacles.

Background

After disasters such as earthquake, fire, mine disaster and the like occur, survivors are searched in ruins, necessary medical assistance is provided, and trapped people are saved as soon as possible, so that the rescue personnel face urgent tasks. Practical experience has shown that the probability of survivors trapped in the ruin becomes lower and lower beyond 48 hours. Due to the complex situation of the disaster site, the safety of the rescue workers can not be ensured, and the rescue workers and even rescue dogs can not enter the narrow space formed in the ruins. The disaster rescue robot can well solve the problems, finds trapped people through the life detector and transmits disaster environment information to the rescue command center, so that rescue workers can safely and quickly rescue survivors.

The existing rescue robot has the following problems: when the investigation is carried out, due to the complex road conditions in the ruins, the robot cannot move forward continuously due to the fact that roadblocks cannot climb over or topple over due to gullies, and therefore rescue time is missed.

Disclosure of Invention

The purpose of the invention is as follows: the invention aims to provide a control system of a climbing and obstacle-crossing crawler-type mobile robot, which solves the problems of a rescue robot in road investigation.

The technical scheme is as follows: the invention provides a control system of a climbing and obstacle-crossing crawler-type mobile robot, which comprises a computer command system and a mobile robot control system; the mobile robot control system comprises a source module, a function module, a main controller module, a wireless communication module and a camera. The robot control system and the computer command system perform data wireless bidirectional transmission through WIFI, on one hand, the robot sends the obtained environmental information and the motion state of the robot to the computer command system through a wireless channel for processing and analysis, on the other hand, the computer command system sends the processing information and the command to the robot through the wireless channel, and the robot performs corresponding motion adjustment according to the command. Through the mutual cooperation of each module group, the crawler-type mobile robot can climb a slope and cross obstacles to complete a surveying task. The power module supplies power to other modules in the robot control system, and the main controller coordinates and commands the operation of the whole control system.

Furthermore, the functional modules comprise a motor driving module, a code disc detection module, an infrared obstacle avoidance module, a falling prevention detection module and a posture recognition sensor module.

Further, the code wheel detection module comprises a three-channel optical incremental encoder. The three-channel optical incremental encoder comprises an LED light source with a lens, an integrated circuit with a detector and an output circuit, and a code disc rotating between an emitter and the detector through a motor, wherein the three-channel optical incremental encoder comprises two orthogonal square waves CHA and CHB and an index channel CHI, the index output is electronic degree, and each circle of the code disc rotates to generate high-level action index pulse. And the positive and negative rotation of the motor is determined by the phase relation of the CHA and the CHB.

Furthermore, the infrared obstacle avoidance module comprises a position sensitive detector, an infrared light emitting diode and a distance measurement integrated circuit. The position sensitive detector is a light energy/position converter, can detect the continuous position of the light spot on the surface of the detector, output different voltages according to different positions of the incident light spot on the surface of the photosensitive device, the measuring distance and the voltage are in inverse proportion; the infrared transmitting tube emits light beams, the light beams are reflected back when encountering an obstacle and fall on the position sensitive detector, and the three points form an isosceles triangle, so that the distance is calculated.

Furthermore, the effective measuring distance range of the infrared obstacle avoidance module is 10-80 cm. The relation between the measuring distance and the voltage is not monotonous, and the relation is in inverse proportion between the effective measuring distance and 10-80 cm.

Furthermore, the anti-falling detection module comprises four anti-falling sensors which are respectively arranged at the front and the rear four corners of the robot. When the robot executes a task and encounters a large gully or a step, the problem of overturning occurs, the anti-drop sensors are arranged at the extension positions of the front corner and the rear corner of the robot, and the anti-drop detection module outputs different voltage signals to the main controller module according to different distances, so that a corresponding control instruction is sent, the motion state of the robot is adjusted, and the anti-drop function is realized.

Further, the installation height of the falling-prevention sensor is not more than 10cm away from the ground. When the distance between the sensor and the ground is less than 10cm, the falling prevention detection module outputs a low level; when the distance between the sensor and the ground is more than 10cm, the falling prevention detection module outputs a high level.

Further, the gesture recognition sensor module is a nine-axis motion processing sensor. The XY plane is a horizontal plane, the positive direction of the Z axis is a vertical direction, and when the robot rotates around the X axis, the robot performs left-right tilting motion which is rolling motion; when the robot rotates around the Z axis, the moving direction of the robot is changed and the robot moves along the course; when the robot rotates around the Y axis, the robot can tilt forwards and backwards, and the pitching motion is realized. And the attitude sensor performs corresponding dynamic adjustment by detecting the state of the robot.

The technical scheme shows that the invention has the following beneficial effects: according to the control system of the crawler-type mobile robot capable of climbing and crossing obstacles, disclosed by the invention, rescue workers remotely control the robot through a computer control system, the robot is remotely controlled through the control system, the climbing and crossing obstacles can be smoothly realized by changing a circuit and a motion posture, and detected road information is returned through videos, so that the rescue workers can conveniently make rescue plans; the rescue robot is small in size, light in weight, capable of adapting to various complex terrains, light in action in the climbing process and free of the situation that the disaster area collapses again, so that the rescue situation is influenced, and the rescue robot is wide in application prospect.

Drawings

Fig. 1 is a block diagram of a control system of the present invention.

In the figure: the system comprises a computer command system 1, a mobile robot control system 2, a source module 21, a motor driving module 221, a code disc detection module 222, an infrared obstacle avoidance module 223, a falling prevention detection module 224, a posture identification sensor module 225, a function module 22, a main controller module 23, a wireless communication module 24 and a camera 25.

Detailed Description

Reference will now be made in detail to embodiments of the present invention, examples of which are illustrated in the accompanying drawings, wherein like or similar reference numerals refer to the same or similar elements or elements having the same or similar function throughout. The embodiments described below with reference to the drawings are illustrative and intended to be illustrative of the invention and are not to be construed as limiting the invention.

In the description of the present invention, it is to be understood that the terms "center", "longitudinal", "lateral", "length", "width", "thickness", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "clockwise", "counterclockwise", and the like, indicate orientations and positional relationships based on those shown in the drawings, and are used only for convenience of description and simplicity of description, and do not indicate or imply that the device or element being referred to must have a particular orientation, be constructed and operated in a particular orientation, and thus, are not to be considered as limiting the present invention.

Furthermore, the terms "first", "second" and "first" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include one or more of that feature. In the description of the present invention, unless otherwise specified, "a plurality" means two or more unless explicitly defined otherwise.

In the present invention, unless otherwise expressly specified or limited, the terms "mounted," "connected," "secured," and the like are to be construed broadly and can, for example, be fixedly connected, detachably connected, or integrally connected; can be mechanically or electrically connected; they may be connected directly or indirectly through intervening media, or they may be interconnected between two elements. The specific meanings of the above terms in the present invention can be understood by those skilled in the art according to specific situations.

In the present invention, unless otherwise expressly stated or limited, "above" or "below" a first feature means that the first and second features are in direct contact, or that the first and second features are not in direct contact but are in contact with each other via another feature therebetween. Also, the first feature being "on," "above" and "over" the second feature includes the first feature being directly on and obliquely above the second feature, or merely indicating that the first feature is at a higher level than the second feature. A first feature being "under," "below," and "beneath" a second feature includes the first feature being directly under and obliquely below the second feature, or simply meaning that the first feature is at a lesser elevation than the second feature.

Example one

Fig. 1 is a structural diagram of a control system of the present invention, which includes a computer command system 1 and a mobile robot control system 2; the mobile robot control system 2 includes a source module 21, a function module 22, a main controller module 23, a wireless communication module 24, and a camera 25.

The functional module 22 comprises a motor driving module 221, a code disc detection module 222, an infrared obstacle avoidance module 223, a falling prevention detection module 224 and a posture identification sensor module 225.

The code wheel detection module 222 includes a three-channel optical incremental encoder.

The infrared obstacle avoidance module 223 comprises a position sensitive detector, an infrared light emitting diode and a distance measurement integrated circuit.

The effective measurement distance range of the infrared obstacle avoidance module 223 is 10-80 cm.

The anti-falling detection module 224 comprises four anti-falling sensors, which are respectively located at the front and the rear four corners of the robot.

The distance between the installation height of the anti-falling sensor and the ground is not more than 10 cm.

The gesture recognition sensor module 225 is a nine-axis motion processing sensor. The foregoing is only a preferred embodiment of the present invention, and it should be noted that modifications can be made by those skilled in the art without departing from the principle of the present invention, and these modifications should also be construed as the protection scope of the present invention.

Claims

1. The utility model provides a but control system of climbing obstacle-surmounting crawler-type mobile robot which characterized in that: comprises a computer command system (1) and a mobile robot control system (2); the mobile robot control system (2) comprises a power module (21), a functional module (22), a main controller module (23), a wireless communication module (24) and a camera (25).

2. The control system of the climbing and obstacle crossing crawler type mobile robot according to claim 1, characterized in that: the function module (22) comprises a motor driving module (221), a code wheel detection module (222), an infrared obstacle avoidance module (223), a falling prevention detection module (224) and a posture recognition sensor module (225).

3. The control system of the climbing and obstacle crossing crawler type mobile robot according to claim 2, characterized in that: the code wheel detection module (222) includes a three-channel optical incremental encoder.

4. The control system of the climbing and obstacle crossing crawler type mobile robot according to claim 2, characterized in that: the infrared obstacle avoidance module (223) comprises a position sensitive detector, an infrared light emitting diode and a distance measurement integrated circuit.

5. The control system of the climbing and obstacle crossing crawler type mobile robot according to claim 4, characterized in that: the effective measuring distance range of the infrared obstacle avoidance module (223) is 10-80 cm.

6. The control system of the climbing and obstacle crossing crawler type mobile robot according to claim 2, characterized in that: the anti-falling detection module (224) comprises four anti-falling sensors which are respectively arranged at the front and the rear four corners of the robot.

7. The control system of the climbing and obstacle crossing crawler type mobile robot according to claim 6, characterized in that: the distance between the installation height of the anti-falling sensor and the ground is not more than 10 cm.

8. The control system of the climbing and obstacle crossing crawler type mobile robot according to claim 2, characterized in that: the gesture recognition sensor module (225) is a nine-axis motion processing sensor.