CN112286208A - Wheeled cross-country robot - Google Patents
Wheeled cross-country robot Download PDFInfo
- Publication number
- CN112286208A CN112286208A CN202011292156.3A CN202011292156A CN112286208A CN 112286208 A CN112286208 A CN 112286208A CN 202011292156 A CN202011292156 A CN 202011292156A CN 112286208 A CN112286208 A CN 112286208A
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- motor driving
- legs
- rear long
- stepping motor
- wheel
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- 239000000523 sample Substances 0.000 claims description 5
- 238000004519 manufacturing process Methods 0.000 abstract description 5
- 238000011065 in-situ storage Methods 0.000 description 3
- 230000009194 climbing Effects 0.000 description 2
- 230000007547 defect Effects 0.000 description 2
- 210000000245 forearm Anatomy 0.000 description 2
- 238000000034 method Methods 0.000 description 1
- 239000004576 sand Substances 0.000 description 1
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0231—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means
- G05D1/0246—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means using a video camera in combination with image processing means
Abstract
The invention discloses a wheeled cross-country robot, the frame of the invention adopts the design of two front short legs and two rear long legs, wherein, the front short leg is hinged with a V-shaped front arm, the second wheel seats of the two front arms are respectively and independently provided with two stepping motor driving wheels, the first wheel seat of the rear long leg is respectively and independently provided with a stepping motor driving wheel, thus forming a six-wheel driven robot. The invention has the advantages of low manufacturing cost, good flexibility, high modularization degree and convenient assembly and upgrade.
Description
Technical Field
The invention relates to the technical field of intelligent robots, in particular to a wheeled cross-country robot.
Background
The cross-country robot can be operated in the field and in severe environment, and has attracted extensive attention and research in the fields of military affairs, agriculture, rescue and the like. The cross-country robot in the prior art mostly adopts a wheel type structure or a crawler type structure, and can be suitable for complicated terrains such as mud land and sand land. However, the turning capability of the conventional four-wheel drive off-road robot is still greatly limited, and the robot is particularly difficult to adapt to terraced terrains, so that it is necessary to update and modify the conventional off-road robot. In addition, the cross-country robot in the prior art also has the defects of high manufacturing cost, difficulty in reproduction, low modularization degree and inconvenience in assembly and upgrading.
Disclosure of Invention
The invention aims to provide a wheeled cross-country robot aiming at the defects of the prior art, a frame of the robot adopts the design of two front short legs and two rear long legs, wherein the front short legs are hinged with V-shaped front arms, two stepping motor driving wheels are respectively and independently arranged on second wheel seats of the two front arms, and one stepping motor driving wheel is respectively and independently arranged on a first wheel seat of the rear long leg to form a six-wheel driven robot. The invention has the advantages of low manufacturing cost, good flexibility, high modularization degree and convenient assembly and upgrade.
The specific technical scheme for realizing the purpose of the invention is as follows:
a wheeled cross-country robot is characterized by comprising a frame, a front arm, a control platform and a stepping motor driving wheel;
the frame consists of a fixed platform, two front short legs and two rear long legs, wherein the two front short legs and the two rear long legs are welded on the fixed platform;
the front arm is V-shaped, two ends of the V-shaped front arm are respectively provided with a second wheel seat, and the bottom of the V-shaped front arm is provided with a rotating shaft;
the front arms are hinged with the shaft seats of the front short legs on the frame through rotating shafts;
the stepping motor driving wheels are six and are respectively hinged on a first wheel seat of the rear long leg and a second wheel seat of the front arm;
the control platform consists of a monocular vision sensor, an edge computing terminal, a control coprocessor and an H-bridge motor drive board; the edge computing terminal is respectively connected with the monocular vision sensor and the control coprocessor, the control coprocessor (33) is connected with an H bridge motor driving plate, and the H bridge motor driving plate is respectively connected with six stepping motor driving wheels; the control platform is arranged on the fixed platform of the frame. The monocular vision sensor is provided with a rotary probe.
The frame of the invention adopts the design of two front short legs and two rear long legs, wherein, the front short legs are hinged with V-shaped forearms, the second wheel seats of the two forearms are respectively and independently provided with two stepping motor driving wheels, and the first wheel seats of the rear long legs are respectively and independently provided with one stepping motor driving wheel, thus forming a six-wheel driven robot. The invention has the advantages of low manufacturing cost, good flexibility, high modularization degree and convenient assembly and upgrade.
Drawings
Fig. 1 is a schematic structural view of the present invention.
Detailed Description
Referring to fig. 1, the invention comprises a frame 1, a front arm 2, a control platform 3 and a stepping motor driving wheel 5;
the frame 1 comprises a fixed platform 13, two front short legs 11 and two rear long legs 12 which are welded on the fixed platform 13, wherein the two front short legs 11 incline towards the front of the fixed platform 13, the two rear long legs 12 incline towards the rear of the fixed platform 13, the front short legs 11 and the rear long legs 12 are symmetrically arranged at the left side and the right side of the fixed platform 13, the end head of the front short leg 11 is provided with a shaft seat 111, and the end head of the rear long leg 12 is provided with a first wheel seat 121;
the front arm 2 is V-shaped, two ends of the V-shaped front arm are respectively provided with a second wheel seat 21, and the bottom of the V-shaped front arm is provided with a rotating shaft 22;
the front arm 2 is hinged with the axle seat 111 of the front short leg 11 on the frame 1 through a rotating shaft 22;
the stepping motor driving wheels 5 are six and are respectively hinged on the first wheel seat 121 of the rear long leg 12 and the second wheel seat 21 of the front arm 2;
the control platform 3 consists of a monocular vision sensor 31, an edge computing terminal 32, a control coprocessor 33 and an H-bridge motor drive board 34; the edge computing terminal 32 is respectively connected with the monocular vision sensor 31 and the control coprocessor 33, the control coprocessor 33 is connected with an H-bridge motor driving plate 34, and the H-bridge motor driving plate 34 is respectively connected with six stepping motor driving wheels 5; the control platform 3 is arranged on a fixed platform 13 of the vehicle frame 1.
The monocular vision sensor 31 is provided with a rotary probe.
The invention works as follows:
referring to fig. 1, the present invention is suitable for a wheeled cross-country robot in a rugged field environment, the frame 1 of the present invention adopts a design of two front short legs 11 and two rear long legs 12, the frame 1 is driven by six wheels, wherein the front short legs 11 are hinged with a V-shaped front arm 2, the second wheel seats 21 of the front arms 2 are respectively and independently provided with two stepping motor driving wheels 5, and the first wheel seats 121 of the rear long legs 12 are respectively and independently provided with one stepping motor driving wheel 5.
Referring to fig. 1, in the present invention, a monocular vision sensor 31 is arranged on a control platform 3, RGB image information of a road condition environment in front is acquired through a rotary probe arranged on the monocular vision sensor 31, the information is identified and judged through an edge computing terminal 32, the edge computing terminal 32 sends a control instruction to a control coprocessor 33, the control coprocessor 33 sends a driving signal to an H-bridge motor driving board 34, the H-bridge motor driving board 34 respectively controls six stepping motor driving wheels 5, and a decision of crossing an obstacle or avoiding an obstacle in real time is implemented. The invention has the advantages of low manufacturing cost, good flexibility, high modularization degree and convenient assembly and upgrade.
Referring to fig. 1, when the present invention travels straight, the edge computing terminal 32 sends a control instruction to the control coprocessor 33, the control coprocessor 33 sends a driving signal to the H-bridge motor driving board 34, the H-bridge motor driving board 34 controls the rotating speed of the six stepping motor driving wheels 5, and the purpose of the present invention of traveling straight is achieved by controlling the rotating direction or the rotating speed of each stepping motor driving wheel 5.
Referring to fig. 1, when the invention turns to advance or turns around in situ, the edge computing terminal 32 sends a control instruction to the control coprocessor 33 according to the turning radius, the control coprocessor 33 sends a driving signal to the H-bridge motor driving board 34, and the H-bridge motor driving board 34 respectively controls different rotating speeds of the stepping motor driving wheels 5 on the left side and the right side of the frame 1, so as to realize the purpose of turning during advancing; when the vehicle turns around in situ, the edge computing terminal 32 sends a turning control instruction, the control coprocessor 33 sends a driving signal to the H-bridge motor driving plate 34, and the H-bridge motor driving plate 34 respectively controls the different steering directions of the stepping motor driving wheels 5 on the left side and the right side of the vehicle frame 1, so that the aim of turning around in situ is fulfilled.
Referring to fig. 1, when the vehicle climbs over an obstacle or climbs up a step, under the action of the obstacle, the counter forces applied to the stepping motor driving wheels 5 independently arranged on the second wheel seats 21 of the front arms 2 are different, so that the stepping motor driving wheels 5 on the V-shaped front arms 2 are driven to generate a height difference, the rotating shafts 22 of the front arms 2 are forced to swing relative to the shaft seats 111 on the vehicle frame 1, the two stepping motor driving wheels 5 at the forefront move over the obstacle, and then the rotating shafts 22 of the front arms 2 swing in opposite directions, so that the two stepping motor driving wheels 5 in the middle of the front arms 2 move over the obstacle, and the purpose of the vehicle climbing over the obstacle or climbing up the step is achieved.
The working process of the control platform of the invention is as follows:
referring to fig. 1, a monocular vision sensor 31 is arranged on a control platform 3, RGB image information of a road condition environment in front is acquired through a rotary probe arranged on the monocular vision sensor 31, the information is identified and judged through a YOLO target identification network of an edge computing terminal 32, the edge computing terminal 32 sends a control instruction to a control coprocessor 33, the control coprocessor 33 sends a driving signal to an H-bridge motor driving board 34, the H-bridge motor driving board 34 respectively controls six stepping motor driving wheels 5, and a decision of crossing an obstacle or avoiding an obstacle in real time is implemented.
Claims (2)
1. A wheeled cross-country robot is characterized by comprising a frame (1), a front arm (2), a control platform (3) and a stepping motor driving wheel (5);
the frame (1) is composed of a fixed platform (13), two front short legs (11) and two rear long legs (12), wherein the two front short legs (11) and the two rear long legs (12) are welded on the fixed platform (13), the two front short legs (11) incline towards the front of the fixed platform (13), the two rear long legs (12) incline towards the rear of the fixed platform (13), the front short legs (11) and the rear long legs (12) are symmetrically arranged on the left side and the right side of the fixed platform (13), the end of each front short leg (11) is provided with a shaft seat (111), and the end of each rear long leg (12) is provided with a first wheel seat (121);
the front arm (2) is V-shaped, two ends of the V-shaped front arm are respectively provided with a second wheel seat (21), and the bottom of the V-shaped front arm is provided with a rotating shaft (22);
the two front arms (2) are hinged with a shaft seat (111) of the upper front short leg (11) of the frame (1) through a rotating shaft (22);
the six stepping motor driving wheels (5) are respectively hinged to a first wheel seat (121) of the rear long leg (12) and a second wheel seat (21) of the front arm (2);
the control platform (3) is composed of a monocular vision sensor (31), an edge computing terminal (32), a control coprocessor (33) and an H-bridge motor driving board (34); the edge computing terminal (32) is respectively connected with the monocular vision sensor (31) and the control coprocessor (33), the control coprocessor (33) is connected with the H-bridge motor driving plate (34), and the H-bridge motor driving plate (34) is respectively connected with six stepping motor driving wheels (5); the control platform (3) is arranged on a fixed platform (13) of the frame (1).
2. A wheeled off-road robot as claimed in claim 1, characterised in that the monocular vision sensor (31) is provided with a rotating probe.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202011292156.3A CN112286208A (en) | 2020-11-18 | 2020-11-18 | Wheeled cross-country robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202011292156.3A CN112286208A (en) | 2020-11-18 | 2020-11-18 | Wheeled cross-country robot |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN112286208A true CN112286208A (en) | 2021-01-29 |
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202011292156.3A Pending CN112286208A (en) | 2020-11-18 | 2020-11-18 | Wheeled cross-country robot |
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| Country | Link |
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| CN (1) | CN112286208A (en) |
Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102135766A (en) * | 2011-01-04 | 2011-07-27 | 北京林业大学 | Autonomous operation forestry robot platform |
| CN103129640A (en) * | 2013-03-18 | 2013-06-05 | 哈尔滨工业大学 | Novel six-foot robot |
| CN107139709A (en) * | 2017-05-31 | 2017-09-08 | 福州大学 | A kind of universal wheel robot |
| CN110154049A (en) * | 2019-05-24 | 2019-08-23 | 北京深醒科技有限公司 | A kind of wheeled workshop patrol robot |
-
2020
- 2020-11-18 CN CN202011292156.3A patent/CN112286208A/en active Pending
Patent Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102135766A (en) * | 2011-01-04 | 2011-07-27 | 北京林业大学 | Autonomous operation forestry robot platform |
| CN103129640A (en) * | 2013-03-18 | 2013-06-05 | 哈尔滨工业大学 | Novel six-foot robot |
| CN107139709A (en) * | 2017-05-31 | 2017-09-08 | 福州大学 | A kind of universal wheel robot |
| CN110154049A (en) * | 2019-05-24 | 2019-08-23 | 北京深醒科技有限公司 | A kind of wheeled workshop patrol robot |
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Application publication date: 20210129 |
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| WD01 | Invention patent application deemed withdrawn after publication |