CN113830195A - Multifunctional foot-variable robot - Google Patents
Multifunctional foot-variable robot Download PDFInfo
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- CN113830195A CN113830195A CN202111159579.2A CN202111159579A CN113830195A CN 113830195 A CN113830195 A CN 113830195A CN 202111159579 A CN202111159579 A CN 202111159579A CN 113830195 A CN113830195 A CN 113830195A
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- foot
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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
- B62D57/028—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 having wheels and mechanical legs
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J11/00—Manipulators not otherwise provided for
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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
- B62D57/032—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 with alternately or sequentially lifted supporting base and legs; with alternately or sequentially lifted feet or skid
Abstract
The invention discloses a multifunctional variable-foot robot, which takes raspberry pi 4B as a main control board and is divided into three forms, namely a six-foot form, a four-foot form and a wheel form. The image is acquired through the COMS camera, the high-voltage bus steering engine controls the robot joint, the wheel type to foot type conversion of the robot is finally achieved, and a QT upper computer is developed to carry out movement control and remote image transmission on the multi-foot robot. The number of the feet of the robot can be changed in the process of judging the terrain and the task condition so as to adapt to different environments, the remaining two feet are changed into the states of the mechanical arms when the hexapod state is changed into the quadruped or wheel type state, complex sampling and carrying work can be carried out, and the adaptability and the stability of the robot under different environments are improved. The multi-legged robot has strong capability of adapting to a hostile terrain environment, and can replace people to work autonomously in dangerous or unreachable extreme environments, such as post-disaster rescue, interstellar exploration, military reconnaissance, volcano monitoring, riot prevention, anti-terrorism and other occasions.
Description
Technical Field
The invention relates to the field of robots, in particular to a multifunctional variable-foot robot.
Background
The disaster relief robot is mainly used for cleaning disaster sites and has the functions of investigation, communication and the like. In disaster relief, rescuers have very little time (about 48 hours) to find survivors in the collapsed ruins, otherwise the chance of finding survivors is almost zero. In such an emergency and dangerous environment, the rescue robot can provide assistance to the rescue workers. Therefore, the use of disaster relief robots with autonomous intelligence for "search and rescue" (SAR) survivors in hazardous and complex disaster environments is an emerging and challenging area in robotics.
In China, the research of the disaster robot is just started, but the progress is fast. A snake-shaped robot is developed in 2002 by Shenyang Automation institute of Chinese academy of sciences, and comprises 16 single-degree-of-freedom joint modules, a snake head and a snake tail, can realize various actions such as winding forward, backward, side shifting, rolling and the like under the wireless control of a monitoring system, and can transmit a field image back to the monitoring system through a miniature camera mounted on the snake head. The national defense science and technology university also develops a snake-shaped robot in 2001.
However, the existing robot has insufficient carrying capacity and less functions, or adapts to variable environments and has limited actions.
Disclosure of Invention
In order to overcome the defects of the prior art, the multifunctional variable-foot robot has strong adaptability and stability in different environments and can perform complex sampling and carrying work.
The technical scheme adopted by the invention for solving the technical problems is as follows:
a multifunctional variable-foot robot comprises a main body, six mechanical legs and four Mecanum wheels, wherein the main body is in the shape of an octagon with a symmetrical central shaft, three adjacent sides of the octagon and the other three symmetrical sides of the octagon are respectively provided with one mechanical leg, and each mechanical leg comprises a first high-voltage steering engine, a second high-voltage steering engine, a third high-voltage steering engine and a bionic foot structure; the main body comprises an upper plate and a lower plate which are connected with each other; the first high-voltage steering engine is fixed between the upper plate and the lower plate, and the second high-voltage steering engine is rotationally connected with the first high-voltage steering engine; the third high-voltage steering engine is rotationally connected with the second high-voltage steering engine, and the third high-voltage steering engine is rotationally connected with the foot releasing structure.
Further, the mechanical leg further comprises a first supporting plate, a second supporting plate and a reinforcing plate; the first high-voltage steering engine is connected with the first supporting plate through screws; the second high-voltage steering engine is positioned between the second supporting plate and the reinforcing plate and is connected with the second supporting plate through screws; the third high-voltage steering engine is located between the reinforcing plate and the bionic foot structure, is connected with the second high-voltage steering engine through the reinforcing plate, and is connected with the bionic foot structure through screws.
Furthermore, the Mecanum wheels are symmetrically distributed on two sides of the main body, the lower plate is connected with four motors, and the Mecanum wheels are connected with the motors one by one.
Furthermore, a control system is installed on the upper plate, and the control system is selectively embedded.
Further, the plate materials of the upper plate and the lower plate are made of aluminum alloy materials.
Further, the control system consists of LPC546 and raspberry pi 4B; wherein the LPC546 is used as a motion control system; the raspberry pi 4B serves as a server and sends or receives data to or from a client.
Further, still include STM32F4ARM control panel, power module, temperature and humidity sensor on the main part, MPU6050 six sensors, 2.4G module nRF24L01, steering wheel control panel, motor drive module, camera and transmitter.
Further, the driving scheme of the motor comprises one of a MOS transistor, MC33886, BTS7960 and BTN 7971B.
Further, the driving scheme of the motor is an MOS tube.
Further, the control system is also provided with face recognition, color recognition and visual line patrol algorithms; python3.5 and Python-OpenCV libraries are integrated.
Compared with the prior art, the invention has the beneficial effects that:
1. the multi-terrain variable-foot robot has the characteristics of comprehensiveness of information environment sensing and acquisition, standardization of image processing, rapidness of information transmission, high efficiency of working efficiency and the like; 2. the multi-terrain foot-variable robot can change the number of feet in the judgment process of the terrain and task conditions so as to adapt to different environments, and when the hexapod form is changed into the quadruped or wheeled form, the remaining two feet are changed into the manipulator form, so that complicated sampling and carrying work can be carried out; 3. the multi-terrain variable-foot robot improves adaptability and stability under different environments, has extremely strong capability of adapting to harsh terrain environments, and can replace people to independently work in dangerous or unreachable extreme environments, such as post-disaster rescue, interplanetary exploration, military reconnaissance, volcano monitoring, riot prevention, anti-terrorism and other occasions.
Drawings
FIG. 1 is a block diagram of a multi-functional variable foot robot according to the present application;
fig. 2 and 3 are structural diagrams of a mechanical leg of the multifunctional foot-changing robot according to the present application;
FIG. 4 is a schematic diagram of leg movement of a mechanical leg of a multifunctional foot-varying robot according to the present application;
FIG. 5 is a system block diagram of a multifunctional variable foot robot according to the present application;
FIG. 6 is a block diagram of a motor driving module of the multifunctional foot-varying robot of the present application;
FIG. 7 is a diagram of an upper computer interface of the multifunctional foot-varying robot according to the present application;
FIG. 8 is a flow chart of a control system of the multifunctional foot-varying robot of the present application;
wherein 1-a first high-voltage steering engine; 2-a second high-voltage steering engine; 3-a third high-voltage steering engine; 4-upper plate; 5-lower plate; 6-Mecanum wheels; 7-a first support plate; 8-a second support plate; 9-a reinforcing plate; 10-bionic foot structure, 11-camera; 12-motor.
Detailed Description
In order to further illustrate the technical means and effects of the present invention adopted to achieve the predetermined purpose, a multifunctional foot-varying robot according to the present invention will be described in detail.
It is noted that, herein, relational terms such as first and second, and the like may be used solely to distinguish one entity or action from another entity or action without necessarily requiring or implying any actual such relationship or order between such entities or actions. Also, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that an article or device that comprises a list of elements does not include only those elements but may include other elements not expressly listed. Without further limitation, an element defined by the phrase "comprising an … …" does not exclude the presence of additional like elements in the article or device comprising the element.
Example 1
The multifunctional foot-variable robot body of the embodiment is composed of three parts: a main body, six mechanical legs and four mecanum wheels 6, as shown in fig. 1. The appearance of the main body of the trolley is exactly like an H-shaped trolley chassis and is formed by connecting an upper hexagonal plate and a lower hexagonal plate which are in an up-down and left-right symmetrical structure. The main body is used for connecting and bearing. On the upper plate 4, the surfaces for installing the control panel and fixing the battery are also six installation connecting positions of the first high-voltage steering engine 1 between the two plates. And four Mecanum wheels 6 are hidden at the bottom of the main body, are symmetrically distributed and are connected to four motors 12 connected and installed on the lower plate, and the motors are fixed below the lower plate through bolts.
The main body is in an octagonal shape with a symmetrical central axis, a machine leg is arranged at the middle point of each side of the main body on the left side and the right side, and each leg consists of three high-voltage steering engines, a first supporting plate 7, a second supporting plate 8 and a fixing plate 9. The six legs are symmetrically distributed on two sides. The front, middle and rear two high-voltage steering engines rotate to control the six-foot robot to move forwards, backwards, rotate and move left and right, and the six feet can be positioned at any positions by controlling the rotation angles of the high-voltage steering engines. Each leg is connected with each other, but one leg is not. And the mode of the hexapod robot can be selected according to the change of the road surface during traveling, and when the road surface is rugged, six mechanical legs are adopted for traveling. When the road surface lies flat, four Mecanum wheels 6 are adopted for travelling, and the movement is quick as a trolley. The conversion of the two modes depends on the gait planning of six mechanical legs, namely, in the running process of the leg wheel type hexapod robot, the legs are contracted on the main body according to the set motion sequence through the processes of data receiving and data transmitting, and the functional conversion is completed. The overall hexapod machine dimensions were 300 x 400x120 mm. The maximum extension length of the single leg is 250 mm. In order to prevent the legs from interfering with each other during movement, the angle of rotation of each leg needs to be set in advance. The six-foot robot comprises an upper plate, a lower plate, a high-pressure steering engine, a control board, a driving force, a hole and a connecting wire, wherein the upper plate and the lower plate are made of aluminum alloy materials, unnecessary materials are removed from the upper plate and the lower plate, the driving force of the high-pressure steering engine can be guaranteed to be driven mainly by reducing the weight of the whole robot, and according to the characteristics of a triangular gait, the driving force of three feet is guaranteed to be enough to support the weight of the six-foot robot, so that the holes must be drilled in positions of non-working areas properly to achieve the purpose of reducing weight, and the holes are also holes through which the connecting wire of the steering engine and the control board passes, so that the connecting wire is not disordered.
The leg structure of the robot is shown in figures 2 and 3, three high-voltage steering engines are adopted to control the motion of the robot, the force is transmitted through a steering wheel, and a reinforcing plate 9 is added in the middle of the robot to reinforce the rigidity of the legs. The first high-voltage steering engine 1 is connected with the upper plate 4 and the lower plate 5 to control the forward and backward rotation angle of the steering engine; the second high-voltage steering engine 2 controls the rotation angle of the joint when the steering engine moves left and right; the third high-pressure rudder machine 3 is used for retracting the feet thereof to realize function conversion. Through the cooperation of three high-pressure steering gears, make six sufficient walking all around to and the conversion of function realize. The steering wheel is fixed by bolts, a reinforcing plate 9 is arranged between the second high-voltage steering wheel 2 and the third high-voltage steering wheel 3, the plate is too long and easy to deform, control is not accurate, and after the reinforcing plate 9 is arranged, deformation of the middle part can be prevented, so that the requirement on strength during operation is met.
The movement method comprises the following steps: the method for foot type conversion has the advantage that the leg wheels are mixed to be sufficient, and the mode conversion can be carried out according to the characteristics of the ground. It has two modes: one is walking on the ground with complex road conditions by six feet, and the walking is divided into two steps. Firstly, the six mechanical legs in the folding state are controlled to synchronously rotate down through a preset program, and the rotation angle of each mechanical leg is the same, the main body is slowly supported by gait adjustment, then the main body is moved according to the received instruction by triangular gait, the other one is that the main body is supported by six mechanical legs firstly, then the main body is slowly folded upwards by adjusting the gait to ensure that the four wheels are gradually contacted with the ground, after the wheels are contacted with the ground, the six mechanical legs are contracted on the upper surface according to the originally set program, at the moment, the six feet are in a retracted state and move by four wheels, just like a trolley, the four motors 12 are adopted for driving, so that the six mechanical legs can quickly move on a flat road surface, and the turning of the six mechanical legs is completed by the revolution difference of the motors. Just because the leg wheel type hexapod robot has the two modes, the leg wheel type hexapod robot has the characteristics of flexibility and quick driving, can be more suitable for the condition of a road surface, and has high efficiency for completing exploration tasks.
Foot analysis, when the robot is in a hexapod crawling state, any motion that can be performed as forward, backward, left turn, right turn involves the robot leaning to the right or left and then moving the leg lifted by the leaning. The movement diagram is shown in fig. 4 (the grey colour on the leg means that the weight of the robot is on the leg).
Example 2:
the embodiment is a multifunctional variable-foot robot control system design, and the control system design of the leg-wheel hybrid hexapod robot selects an embedded type as a main processing system. The hardware part comprises an STM32F4ARM control board, a power supply module, a temperature and humidity sensor, an MPU6050 six-axis sensor, a 2.4G module nRF24L01, a motor, a steering engine control board, a motor driving module, a camera 11 and a transmitter. The overall framework of the hardware portion of the control system is shown in fig. 5.
The master control system consists of LPC546 and raspberry pi 4B: LPC546 serves as a motion control system; the raspberry pi is used as a server to send or receive data to the client.
1) Master control chip
The project selects Raspberry Pi series as a core development platform. The raspberry pie is a miniature card type computer, the size of the raspberry pie is only the size of a bank card, a Linux system and a windows IOT system can be operated, application programs on the systems can be operated, the raspberry pie can be applied to the fields of embedded type and internet of things, and the raspberry pie can also be used as a small server to finish certain functions. Compared with an embedded microcontroller (such as a 51-series single chip microcomputer and an STM32), the raspberry pi can complete the same I/O pin control, and can support the development of upper-layer application while completing more complex task management and scheduling because the raspberry pi can run a corresponding operating system, thereby providing a wider application space for developers. For example, the selection of the development language is not only limited to the C language, the bottom-layer hardware and the upper-layer application are connected, cloud control and cloud management of the Internet of things can be achieved, I/O control of the raspberry group can be omitted, a small network server is built by the raspberry group, and small test development and services are performed.
2) Steering engine module
Each steering engine controller interface is provided with three interfaces S, plus and minus which respectively correspond to three connecting wires of the steering engine, wherein S is a signal wire and is used as a control signal output of the steering engine controller to the steering engine; each steering engine corresponds to a corresponding steering engine interface, so that the action of the robot can be controlled more effectively. The steering wheel is as the main power device of robot, and is unified to allocate through the steering wheel controller, therefore the connection of steering wheel is through the corresponding steering wheel interface of steering wheel control panel is connected to the steering wheel connecting wire, and the signal line is paid attention to with the positive negative pole wiring of power, prevents to lead to the steering wheel to burn out because of the wiring error.
3) Motor module
The driving scheme of the motor comprises three main schemes of an MOS tube, MC33886, BTS7960 or BTN 7971B. The MC33886 has the disadvantages of large internal resistance, obvious heat generation, large chip, more pins and more occupied space, and finally results in the density of the PCB. And peripheral circuits of BTN and BTS series driving chips are simple, but the internal integration level is high, the heating of the chips is more serious, and one BTN and BTS series driving chip is very expensive, and the cost is more than 4 times that of a MOS (metal oxide semiconductor) transistor and MC 33886. The MOS tube is high in building efficiency, large in driving current, and only the voltage of the driving chip is required to meet the working voltage of the MOS tube. Because the voltage of MOS conduction is 12V, the half-bridge driving chip used by the group is IR2184S, the input voltage of the half-bridge driving chip can reach 60V and completely meet the working voltage, and a control bridge circuit diagram is shown in FIG. 6.
4) Camera 11 module
The Raspberry Pi is a Linux card computer and supports most of the USB drive-free cameras. Also, the number of Raspberry Pi interfaces is very large, Raspberry Pi provides 4 USB interfaces, although it is sufficient for the present design that these several USB interfaces share a broadband bus.
In order to conveniently control the variable-foot robot and acquire a visual image of the robot, a QT5.12 is adopted to design an upper computer, and the interface of the upper computer is shown in FIG. 7.
The multi-terrain variable-foot robot consists of LPC546 and a raspberry pie, wherein the LPC546 is used as a motion control system; the raspberry pi acts as a server, sending or receiving data to the client, as shown in fig. 8.
Simultaneously, this design has still carried on for many topography variable foot robot: human face recognition, color recognition, visual line patrol and other algorithms; python3.5 and Python-OpenCV libraries are integrated, and various powerful computer vision libraries of OpenCV can be directly used.
The multi-terrain variable-foot robot has the characteristics of comprehensiveness of information environment sensing acquisition, standardization of image processing, rapidness of information transmission, high efficiency of working efficiency and the like.
The foregoing is a more detailed description of the invention in connection with specific preferred embodiments and it is not intended that the invention be limited to these specific details. For those skilled in the art to which the invention pertains, several simple deductions or substitutions can be made without departing from the spirit of the invention, and all shall be considered as belonging to the protection scope of the invention.
Claims (10)
1. A multi-functional variable foot robot which characterized in that: comprises a main body, six mechanical legs and four Mecanum wheels, wherein
The main body is in an octagon shape with a symmetrical central axis, three adjacent sides of the octagon and the other three symmetrical sides of the octagon are respectively provided with one mechanical leg, and each mechanical leg comprises a first high-voltage steering engine, a second high-voltage steering engine, a third high-voltage steering engine and a bionic foot structure; the main body comprises an upper plate and a lower plate which are connected with each other; the first high-voltage steering engine is fixed between the upper plate and the lower plate, and the second high-voltage steering engine is rotationally connected with the first high-voltage steering engine; the third high-voltage steering engine is rotationally connected with the second high-voltage steering engine, and the third high-voltage steering engine is rotationally connected with the foot releasing structure.
2. The multifunctional variable-foot robot according to claim 1, characterized in that:
the mechanical leg further comprises a first supporting plate, a second supporting plate and a reinforcing plate; the first high-voltage steering engine is connected with the first supporting plate through screws; the second high-voltage steering engine is positioned between the second supporting plate and the reinforcing plate and is connected with the second supporting plate through screws; the third high-voltage steering engine is located between the reinforcing plate and the bionic foot structure, is connected with the second high-voltage steering engine through the reinforcing plate, and is connected with the bionic foot structure through screws.
3. The multifunctional variable-foot robot according to claim 1, characterized in that: the mecanum wheels are symmetrically distributed on two sides of the main body, the lower plate is connected with four motors, and the mecanum wheels are connected with the motors one by one.
4. The multifunctional variable-foot robot according to claim 1, characterized in that: the upper plate is provided with a control system, and the control system adopts a selective embedded type.
5. The multifunctional variable-foot robot according to claim 1, characterized in that: the plate materials of the upper plate and the lower plate are made of aluminum alloy materials.
6. The multifunctional variable-foot robot according to claim 4, characterized in that: the control system consists of LPC546 and raspberry pi 4B; wherein the LPC546 is used as a motion control system; the raspberry pi 4B serves as a server and sends or receives data to or from a client.
7. The multifunctional variable-foot robot according to claim 1, characterized in that: still include STM32F4ARM control panel, power module, temperature and humidity sensor on the main part, MPU6050 six sensors, 2.4G module nRF24L01, steering wheel control panel, motor drive module, camera and transmitter.
8. The multifunctional foot-variable robot according to any one of claims 3 to 7, characterized in that: the driving scheme of the motor comprises one of a MOS transistor, MC33886, BTS7960 and BTN 7971B.
9. The multifunctional variable-foot robot according to claim 8, wherein: the driving scheme of the motor is an MOS tube.
10. The multifunctional variable-foot robot according to claim 6, wherein the control system is further loaded with face recognition, color recognition and visual line patrol algorithms; python3.5 and Python-OpenCV libraries are integrated.
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| CN202111159579.2A CN113830195A (en) | 2021-09-30 | 2021-09-30 | Multifunctional foot-variable robot |
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| CN202111159579.2A CN113830195A (en) | 2021-09-30 | 2021-09-30 | Multifunctional foot-variable robot |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN116198628A (en) * | 2023-05-06 | 2023-06-02 | 太原科技大学 | Post-disaster reconnaissance hexapod robot based on multi-sensor fusion |
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