CN114104134A - Novel mobile vision robot for complex environment - Google Patents
Novel mobile vision robot for complex environment Download PDFInfo
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- CN114104134A CN114104134A CN202111259605.9A CN202111259605A CN114104134A CN 114104134 A CN114104134 A CN 114104134A CN 202111259605 A CN202111259605 A CN 202111259605A CN 114104134 A CN114104134 A CN 114104134A
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D57/00—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track
- B62D57/02—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track with ground-engaging propulsion means, e.g. walking members
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Abstract
The invention relates to a novel mobile vision robot facing to complex environment, comprising: a base plate (4); the motion mode adjusting units (5) are arranged at corresponding positions on the top of the bottom plate (4); the moving units are respectively connected with the motion mode adjusting units (5) and comprise a plurality of first moving assemblies (1) and a plurality of second moving assemblies (2); the auxiliary units (3) are respectively arranged at corresponding positions of the side walls of the bottom plate (4); a feedback unit (6) arranged on top of the base plate (4) for feeding back the robot state when the robot is moving; and the visual detection unit (7) is arranged at the top of the bottom plate (4) and is used for detecting road condition information in real time when the robot moves. The invention can reasonably switch the motion mode according to the road condition of the real environment, is suitable for various road conditions such as flat, flexible and steep, and can be applied to various fields such as rescue, military and the like.
Description
Technical Field
The invention relates to the technical field of mobile vision robots, in particular to a novel mobile vision robot for complex environments.
Background
With the development of science and technology, robots are more and more appeared in our lives. The motion module is used as a core component of the mobile robot, and the design of the motion mode of the motion module defines the application range of the robot. Wheel type, crawler type and walking type are taken as three common motion modes of the existing mobile robot, the advantages of the robot are shown in different road conditions, but the robot in a single motion mode is extremely challenged in the road conditions under the complex and changeable real environment; meanwhile, existing mobile devices lack visual functions capable of analyzing environments in the face of complex environments. Therefore, the design of the novel mobile robot which is provided with the visual camera and can analyze complex and variable environments such as mud, snow, steep and the like and flexibly switch the motion mode of the robot according to the environment has practical significance, and the novel mobile robot facing the complex environment is designed aiming at the problem.
Disclosure of Invention
Therefore, the invention provides a novel mobile vision robot facing a complex environment, which is used for solving the problem that the robot in the prior art cannot switch the motion mode of the robot to walk on complex and variable road conditions.
In order to achieve the above object, the present invention provides a novel mobile vision robot for complex environment, comprising:
a base plate (4);
the motion mode adjusting units (5) are respectively arranged at corresponding positions on the top of the bottom plate (4) and used for switching the operation mode of the mobile unit so as to change the motion mode of the robot;
the moving unit is respectively connected with each motion mode adjusting unit (5) and used for controlling the robot to walk, and comprises a plurality of first moving assemblies (1) and a plurality of second moving assemblies (2);
the auxiliary unit (3) comprises a plurality of auxiliary components, and each auxiliary component is arranged at a corresponding position on the side wall of the bottom plate (4) and used for assisting the moving unit when the moving unit controls the robot to walk;
a feedback unit (6) arranged on top of the base plate (4) for feeding back the robot state when the robot is moving;
and the visual detection unit (7) is arranged at the top of the bottom plate (4) and is used for detecting road condition information in real time when the robot moves.
Further, each first moving assembly (1) is arranged at the bottom of the corresponding motion mode adjusting unit (5) respectively to control the robot to walk.
Further, for a single said first mobile assembly (1), comprising:
a fixing frame (14) connected with the motion mode adjusting unit (5) and used for fixing components in the first moving assembly (1);
the first driving device is arranged at the top of the fixed frame (14) and comprises a first driving motor (12) and a belt pulley (11);
the Mecanum wheel (15) is arranged at the bottom of the fixing frame (14), the Mecanum wheel (15) penetrates through the fixing frame (14), a driven wheel is arranged on the outer wall of the fixing frame (14), the driven wheel is concentric with the Mecanum wheel (15), the driven wheel is connected with the belt wheel through a belt, and the driven wheel is used for receiving power output by the first driving motor (12).
Further, each motion mode adjusting unit (5) is respectively corresponding to the first moving assembly (1) and used for adjusting the relative height of the Mecanum wheels (15) and the bottom plate (4) so as to switch the motion mode of the robot.
Further, for a single said movement pattern adjustment unit (5), comprising:
a positioning frame (56) connected with the bottom plate (4) and used for fixing components in the movement mode adjusting unit (5);
the guide rods (54) respectively penetrate through the positioning frames (56) and are respectively fixedly connected with the fixed frame (14) and used for guiding the first moving assembly (1) when the motion mode adjusting unit (5) moves the first moving assembly (1);
the fourth driving motor (51) is arranged on the positioning frame (56), the output end of the fourth driving motor (51) is provided with a driving wheel (52), and the driving wheel (52) is arranged on the positioning frame (56) and is connected with the fourth driving motor (51) through a belt;
and the lead screw (53) sequentially penetrates through the positioning frame (56) and the driving wheel (52) and is used for ascending or descending when the driving wheel (52) rotates so as to adjust the relative height of the Mecanum wheel (15) and the bottom plate (4).
Further, for a single said second mobile assembly (2), comprising:
a support plate (28) connected to the bottom of the base plate (4) for fixing the components in the second moving assembly (2);
a second driving device arranged on the top of the bottom plate (4) and comprising a second driving motor (21) and a gear (23);
the central shaft (24) penetrates through the supporting plate (28) and is connected with the bottom plate (4) to bear a crawler wheel (25), and a first driven wheel is arranged on one side, close to the supporting plate (28), of the central shaft (24) and is used for receiving power output by the second driving motor (21);
a crawler wheel (25) arranged on the central shaft (24) and used for driving the second moving assembly to walk.
Further, for a single said auxiliary component, comprising:
a side plate (34) arranged on the side wall of the bottom plate (4) for fixing the auxiliary assembly;
a third driving motor (30) connected with the side plate (34) and arranged on the fixed shaft for providing power;
and the second driven wheel (31) is connected with the third driving motor (30) and is used for receiving the power output by the third driving motor (30).
Further, the fixed shaft is coaxial with the central shaft (24).
Further, the feedback unit (6) is a feedback lamp for feeding back the state of the robot.
Further, the vision detection unit (7) is a vision camera for detecting the current moving road condition of the robot. .
Compared with the prior art, the mobile vision robot has the advantages that the visual detection unit and the motion mode adjusting unit are arranged in the mobile vision robot, when the robot walks, the mobile road conditions of the robot are detected in real time through the visual detection unit, complex road conditions can be analyzed, the motion mode of the robot can be reasonably switched through analysis of the visual camera, the robot can walk under different road conditions, the mobile vision robot is suitable for various road conditions such as flatness, flexibility and steepness, and can be applied to various fields such as rescue, military affairs and the like.
Drawings
FIG. 1 is a schematic structural diagram of a novel mobile vision robot facing a complex environment according to the present invention;
FIG. 2 is a schematic structural diagram of a first moving component of the novel mobile vision robot facing a complex environment according to the invention;
FIG. 3 is a schematic structural diagram of a second moving component of the novel mobile vision robot facing a complex environment according to the present invention;
fig. 4 is a schematic structural diagram of an auxiliary component of the novel mobile vision robot facing a complex environment.
Reference numerals 1-first moving assembly, 2-second moving assembly, 3-auxiliary unit, 4-base plate, 5-motion mode adjusting unit, 6-feedback unit, 7-visual detection unit, 11-belt pulley, 12-first driving motor, 13-first belt, 14-fixed frame, 15-Mecanum wheel, 21-second driving motor, 22-chain, 23-gear, 24-central shaft, 25-track wheel, 26-coupler, 27-differential, 28-supporting plate, 30-third driving motor, 31-second driven wheel, 32-second belt, 33-auxiliary wheel, 34-side plate, 51-fourth driving motor, 52-driving wheel, 53-lead screw, 54-guide rod, 55-shaft sleeve and 56-positioning frame.
Detailed Description
In order that the objects and advantages of the invention will be more clearly understood, the invention is further described below with reference to examples; it should be understood that the specific embodiments described herein are merely illustrative of the invention and are not intended to limit the invention.
Preferred embodiments of the present invention are described below with reference to the accompanying drawings. It should be understood by those skilled in the art that these embodiments are only for explaining the technical principle of the present invention, and do not limit the scope of the present invention.
It should be noted that in the description of the present invention, the terms of direction or positional relationship indicated by the terms "upper", "lower", "left", "right", "inner", "outer", etc. are based on the directions or positional relationships shown in the drawings, which are only for convenience of description, and do not indicate or imply that the device or element must have a specific orientation, be constructed in a specific orientation, and be operated, and thus, should not be construed as limiting the present invention.
Furthermore, it should be noted that, in the description of the present invention, unless otherwise explicitly specified or limited, the terms "mounted," "connected," and "connected" are to be construed broadly, and may be, for example, 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.
Referring to fig. 1, a schematic structural diagram of a novel mobile vision robot for complex environments according to an embodiment of the present invention is shown, including:
a base plate 4;
a plurality of motion mode adjusting units 5 respectively arranged at corresponding positions on the top of the bottom plate 4 for switching the operation mode of the mobile unit to change the motion mode of the robot;
the moving unit is respectively connected with each motion mode adjusting unit 5 and used for controlling the robot to walk, and comprises a plurality of first moving assemblies 1 and a plurality of second moving assemblies 2;
the auxiliary unit 3 comprises a plurality of auxiliary components, and each auxiliary component is arranged at a corresponding position on the side wall of the bottom plate 4 and used for assisting the mobile unit when the mobile unit controls the robot to walk;
a feedback unit 6 arranged on top of the base plate 4 for feeding back the robot state when the robot moves;
and the visual detection unit 7 is arranged on the top of the bottom plate 4 and is used for detecting road condition information in real time when the robot moves.
Specifically, when the robot is walking, the visual inspection unit7And detecting road condition information in real time and selecting a reasonable motion mode according to the road conditions such as flat, flexible and steep, so that the robot can walk under the complex road conditions.
As shown in fig. 1, the feedback unit 6 is disposed on the top of the bottom plate 4 for visually feeding back the fault condition of the vehicle body or the alarm of environmental hazard, and it can be understood by those skilled in the art that the feedback unit may be a lamp or other devices capable of feeding back the state of the robot, such as a voice broadcast device, as long as the state of the robot can be fed back. In this embodiment, the feedback unit is preferably a feedback lamp, and a user can determine the state of the robot according to the color of the feedback lamp, and when the feedback lamp displays green, it indicates that the current vehicle and environment are normal; yellow indicates that the vehicle itself has a fault when the feedback lamp displays green; red indicates an environmental anomaly when the feedback light is green.
As shown in fig. 1, the vision detecting unit 7 is rotatably disposed on the top of the bottom plate 4 for detecting the current walking traffic information of the robot in real time and reasonably switching the motion mode of the robot according to the traffic information. Preferably, the visual detection unit is a visual camera, and those skilled in the art can understand that the visual detection unit can also be a high-definition camera or other devices capable of detecting the current robot walking road condition information in real time as long as the requirement for detecting the current robot walking road condition information in real time can be met. The visual camera can analyze complex and varied environments such as mud, snow, and steep.
With reference to fig. 2, a schematic structural diagram of a first moving assembly 1 of the novel mobile vision robot facing a complex environment provided by the embodiment of the present invention is shown, the moving assembly includes two parts, namely a first moving assembly 1 and a second moving assembly 2, wherein the number of the first moving assemblies 1 is 4 and is disposed around the bottom of the bottom plate 4, and the first moving assembly includes: a fixing frame 14 connected with the motion mode adjusting unit 5 for fixing the components in the first moving assembly 1; the first driving device is arranged at the top of the fixed frame 14 and comprises a first driving motor 12 and a belt pulley 11; and the Mecanum wheel 15 is arranged at the bottom of the fixing frame 14, the Mecanum wheel 15 penetrates through the fixing frame 14, a driven wheel is arranged on the outer wall of the fixing frame 14, the driven wheel is concentric with the Mecanum wheel 15, the driven wheel is connected with the belt pulley 11 through a belt, and the driven wheel is used for receiving power output by the first driving motor 12. When the first moving assembly is used for walking, the first driving motor 12 controls the belt pulley 11 to be connected with the mecanum wheel 15 through a belt so as to drive the mecanum wheel to rotate and control the robot to move.
With reference to fig. 2, the motion pattern adjusting unit 5 is connected to the first moving assembly 1 through a bottom plate and is oppositely disposed around the top of the bottom plate 4, the number of the motion pattern adjusting units 5 is the same as that of the first moving assembly 1, so as to change the lifting and lowering of the mecanum wheel 15 to switch the motion pattern of the robot, and the motion pattern adjusting unit 5 includes: a positioning frame 56 connected to the base plate 4 to fix components in the movement pattern adjusting unit 5; a plurality of guide rods 54 respectively penetrating through the positioning frames 56 and respectively fixedly connected with the fixed frame 14 for guiding the first moving assembly 1 when the motion mode adjusting unit 5 moves the first moving assembly 1; a fourth driving motor 51 disposed on the positioning frame 56, a driving wheel 52 disposed at an output end of the fourth driving motor 51, the driving wheel 52 disposed on the positioning frame 56 and connected to the fourth driving motor 51 by a belt; a lead screw 53, which in turn extends through the positioning frame 56 and the driving wheel 52, for ascending or descending when the driving wheel 52 rotates to adjust the relative height of the mecanum wheel 15 and the bottom plate 4. It will be appreciated by those skilled in the art that the number of guide rods 54 may be more than one as long as the fixing effect is satisfied. In the present embodiment, it is preferable to set the number of the guide rods 54 to two in each movement pattern adjustment unit.
Referring to fig. 3, a schematic structural diagram of a second moving assembly of the novel mobile vision robot facing a complex environment according to the embodiment of the present invention is shown, where two second moving assemblies 2 are provided, including: a supporting plate 28 connected to the bottom of the base plate 4 for fixing the components of the second moving assembly 2; a second driving means, provided on the top of the base plate 4, comprising a second driving motor 21 and a gear 23; a central shaft 24 penetrating through the supporting plate 28 and connected to the base plate 4 for carrying a track wheel, wherein a first driven wheel is disposed on one side of the central shaft 24 close to the supporting plate 28 for receiving the power output by the second driving motor 21; and a crawler wheel 25 arranged on the central shaft 24 for driving the second moving assembly to walk.
With continued reference to fig. 3, the central axle between the track wheels 25 of the two second moving assemblies is connected to a differential 27 through a coupling 26 to adjust the moving speed between the track wheels 25, and the differential 27 is fixed to the middle and lower side of the bottom plate.
With continued reference to fig. 3, the second driving device is disposed on the top of the bottom plate 4, and includes: a second driving motor 21 and a gear 23, wherein when the second moving assembly is used for walking, the second driving motor 21 controls the gear 23 to drive the first driven wheel to rotate through the chain 22, and the first driven wheel is used for controlling the central shaft 24 to drive the track wheel 25 to rotate so as to control the robot to walk.
Please refer to fig. 4, which is a schematic structural diagram of auxiliary components of the novel mobile vision robot facing a complex environment according to an embodiment of the present invention, wherein the auxiliary components are 4 and are disposed on the side wall of the bottom plate to assist the robot in walking, and the auxiliary components include: a side plate 34 disposed on a side wall of the bottom plate 4 for fixing the auxiliary assembly; a third driving motor 30 connected to the side plate 34 and disposed on the fixed shaft to provide power; and a second driven wheel 31 connected to the third driving motor 30 for receiving the power output from the third driving motor 30. As shown in fig. 4, a plurality of auxiliary wheels 33 for transmitting power are further disposed between the third driving motor 30 and the second driven wheel 31, and the fixed shaft is disposed on the sidewall of the bottom plate 4 and coaxial with the central shaft 24. When the auxiliary assembly is in operation, the third driving motor 30 controls the auxiliary assembly to rotate around the fixed shaft, so that the auxiliary assembly raises the robot, and controls the second driven wheel 31 to rotate through the second belt 32, so that the robot climbs over an obstacle when the second driven wheel contacts the ground, so as to assist the robot to walk.
Specifically, when the robot walks, the visual detection unit detects current road condition information and the feedback unit gives a feedback signal, and the visual detection unit controls the motion mode adjusting unit to reasonably switch the motion mode by judging the road conditions such as flatness, flexibility, steepness and the like; the movement mode adjusting unit switches the movement mode through lifting control of the Mecanum wheels, starts a road mode when the Mecanum wheels are lowered to the ground, enters a mud land mode when the Mecanum wheels are lifted, and uses the crawler wheel assembly as a movement assembly, wherein the auxiliary assembly can cross an obstacle in the road mode or the mud land mode as an obstacle crossing auxiliary mechanism.
Specifically, the mobile vision robot is provided with a vision detection unit and a motion mode adjusting unit, when the robot walks, the mobile road condition of the robot is detected in real time through the vision detection unit, the complex road condition can be analyzed, and the motion mode of the robot is reasonably switched through the analysis of a vision camera, so that the robot can walk under different road conditions.
Particularly, the novel visual mobile robot for the complex environment can analyze the road condition of the real environment according to the visual camera and the visual algorithm, reasonably switch the motion mode according to the road condition of the real environment so that the robot can walk on different road conditions, is suitable for various road conditions such as flat, flexible and steep, and can be applied to various fields such as rescue, military and the like.
So far, the technical solutions of the present invention have been described in connection with the preferred embodiments shown in the drawings, but it is easily understood by those skilled in the art that the scope of the present invention is obviously not limited to these specific embodiments. Equivalent changes or substitutions of related technical features can be made by those skilled in the art without departing from the principle of the invention, and the technical scheme after the changes or substitutions can fall into the protection scope of the invention.
The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention; various modifications and alterations to this invention will become apparent to those skilled in the art. Any modification, equivalent replacement, or improvement made within the spirit and principle of the present invention should be included in the protection scope of the present invention.
Claims (10)
1. A novel mobile vision robot facing complex environments, comprising:
a base plate (4);
the motion mode adjusting units (5) are respectively arranged at corresponding positions on the top of the bottom plate (4) and used for switching the operation mode of the mobile unit so as to change the motion mode of the robot;
the moving unit is respectively connected with each motion mode adjusting unit (5) and used for controlling the robot to walk, and comprises a plurality of first moving assemblies (1) and a plurality of second moving assemblies (2);
the auxiliary unit (3) comprises a plurality of auxiliary components, and each auxiliary component is arranged at a corresponding position on the side wall of the bottom plate (4) and used for assisting the moving unit when the moving unit controls the robot to walk;
a feedback unit (6) arranged on top of the base plate (4) for feeding back the robot state when the robot is moving;
and the visual detection unit (7) is arranged at the top of the bottom plate (4) and is used for detecting road condition information in real time when the robot moves.
2. The new mobile visual robot facing complex environment according to claim 1, characterized in that each of said first mobile assemblies (1) is respectively arranged at the bottom of the corresponding motion pattern adjusting unit (5) to control the robot to walk.
3. The new mobile visual robot facing complex environments, according to claim 2, characterized by comprising, for a single said first mobile assembly (1):
a fixing frame (14) connected with the motion mode adjusting unit (5) and used for fixing components in the first moving assembly (1);
the first driving device is arranged at the top of the fixed frame (14) and comprises a first driving motor (12) and a belt pulley (11);
the Mecanum wheel (15) is arranged at the bottom of the fixing frame (14), the Mecanum wheel (15) penetrates through the fixing frame (14), a driven wheel is arranged on the outer wall of the fixing frame (14), the driven wheel is concentric with the Mecanum wheel (15), the driven wheel is connected with the belt pulley (11) through a belt, and the driven wheel is used for receiving power output by the first driving motor (12).
4. The new mobile vision robot facing complex environment according to claim 1, characterized in that each motion mode adjusting unit (5) is respectively associated with the corresponding first moving assembly (1) for adjusting the relative height of the mecanum wheel (15) and the base plate (4) to switch the motion mode of the robot.
5. Complex environment-oriented new mobile vision robot according to claim 4, characterized by comprising, for a single said motion pattern adjustment unit (5):
a positioning frame (56) connected with the bottom plate (4) and used for fixing components in the movement mode adjusting unit (5);
the guide rods (54) respectively penetrate through the positioning frames (56) and are respectively fixedly connected with the fixed frame (14) and used for guiding the first moving assembly (1) when the motion mode adjusting unit (5) moves the first moving assembly (1);
the fourth driving motor (51) is arranged on the positioning frame (56), the output end of the fourth driving motor (51) is provided with a driving wheel (52), and the driving wheel (52) is arranged on the positioning frame (56) and is connected with the fourth driving motor (51) through a belt;
and the lead screw (53) sequentially penetrates through the positioning frame (56) and the driving wheel (52) and is used for ascending or descending when the driving wheel (52) rotates so as to adjust the relative height of the Mecanum wheel (15) and the bottom plate (4).
6. The new mobile visual robot facing complex environments, according to claim 1, characterized by comprising, for a single said second mobile assembly (2):
a support plate (28) connected to the bottom of the base plate (4) for fixing the components in the second moving assembly (2);
a second driving device arranged on the top of the bottom plate (4) and comprising a second driving motor (21) and a gear (23);
the central shaft (24) penetrates through the supporting plate (28) and is connected with the bottom plate (4) to bear a crawler wheel (25), and a first driven wheel is arranged on one side, close to the supporting plate (28), of the central shaft (24) and is used for receiving power output by the second driving motor (21);
a crawler wheel (25) arranged on the central shaft (24) and used for driving the second moving assembly to walk.
7. The complex environment-oriented novel mobile vision robot as claimed in claim 1, characterized by comprising, for a single said auxiliary component:
a side plate (34) arranged on the side wall of the bottom plate (4) for fixing the auxiliary assembly;
a third driving motor (30) connected with the side plate (34) and arranged on the fixed shaft for providing power;
and the second driven wheel (31) is connected with the third driving motor (30) and is used for receiving the power output by the third driving motor (30).
8. The new mobile vision robot facing complex environments, according to claim 7, characterized in that said fixed axis is coaxial with said central axis (24).
9. The new mobile vision robot facing complex environments, as claimed in claim 1, characterized by the fact that the feedback unit (6) is a feedback light to feedback the robot status.
10. The novel mobile vision robot facing complex environment as claimed in claim 1, characterized in that said vision detection unit (7) is a vision camera for detecting the current moving road condition of said robot.
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