CN114355922A - Intelligent sky rail system applied to walking protection of foot type robot - Google Patents
Intelligent sky rail system applied to walking protection of foot type robot Download PDFInfo
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- CN114355922A CN114355922A CN202111622684.5A CN202111622684A CN114355922A CN 114355922 A CN114355922 A CN 114355922A CN 202111622684 A CN202111622684 A CN 202111622684A CN 114355922 A CN114355922 A CN 114355922A
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Abstract
The application discloses be applied to intelligent sky rail system of sufficient robot walking protection, a serial communication port, including removal module and driver, the removal module includes: the longitudinal guide rail is arranged at the top of the foot type robot testing space; the transverse guide rail is arranged on the longitudinal guide rail and is driven by the longitudinal movement driving unit to move along the longitudinal guide rail; the sliding trolley is arranged on the transverse guide rail and driven by the transverse movement driving unit to move along the transverse guide rail; the sliding trolley is provided with a traction rope driving unit, a rotary table driven to rotate by the traction rope driving unit, a traction rope connected with the rotary table and a pulley, and the traction rope penetrates through the pulley to be connected with the legged robot. The application provides an intelligence sky rail system, overall mechanical structure reasonable in design for the motion of sky rail system on all directions is independent, and work is more stable, reliable.
Description
Technical Field
The application relates to an intelligent sky rail system applied to foot type robot walking protection, and belongs to the technical field of robot testing equipment.
Background
The traditional wheeled robot and the tracked robot have large limitation in use scenes, and the traditional wheeled robot has poor obstacle crossing capability, poor terrain adaptability and low turning efficiency, or has large turning radius, is easy to slip and is not stable enough. The crawler-type robot has high requirements on terrains, cannot be used for terrains with large height difference, and is not as flexible and convenient as a foot-type robot.
The foot robot can almost adapt to various complex terrains, can cross obstacles and has good freedom degree and flexible, free and stable motion. However, in the process of developing and debugging the foot robot, the foot robot may fall down under the influence of external conditions such as programs, environments, human beings and the like, which may cause damage to equipment such as a mechanical structure, a controller, a sensor and the like of the robot, and cause high loss. Therefore, a walking protection device for a foot type robot is needed to prevent the robot from contacting the ground after falling down and protect the safety of foot type robot facility equipment.
In the prior art, a patent application document with publication number CN111546374A provides an active traction protection system applied to a walking test of a legged robot, which can perform follow-up protection according to the position of the legged robot, but the system structure design is complex, when the protected robot moves in one direction, four traction protection modules must work simultaneously and the protection range of the system is limited; in addition, patent application publication No. CN108001552A provides a walking protection device for a foot robot, which can realize walking protection over a large range, but the mechanical structure is bulky, and a specially-assigned person is required to perform follow-up operation on the protection device during the test. And none of these solutions can meet the objective of foot robot test automation.
Disclosure of Invention
The technical problem to be solved by the application is how to more effectively protect the foot type robot under test.
In order to solve the technical problem, the technical solution of the present application is to provide an intelligent sky rail system applied to walking protection of a legged robot, which is characterized by comprising a moving module and a driver, wherein the moving module comprises: the longitudinal guide rail is arranged at the top of the foot type robot testing space; the transverse guide rail is arranged on the longitudinal guide rail and is driven by the longitudinal movement driving unit to move along the longitudinal guide rail; the sliding trolley is arranged on the transverse guide rail and driven by the transverse movement driving unit to move along the transverse guide rail;
the sliding trolley is provided with a traction rope driving unit, a rotary table driven to rotate by the traction rope driving unit, a traction rope connected with the rotary table and a pulley, and the traction rope penetrates through the pulley and is connected with the legged robot; the driver includes a longitudinally moving drive unit, a transversely moving drive unit, and a pull-cord drive unit.
The intelligent sky rail system also comprises a power module, a controller, a communication module, a remote controller for controlling by a tester and a camera for detecting the position of the legged robot; the controller is arranged on the sliding trolley; the power module comprises a power supply, a power supply sliding rail and a carbon brush current collector; the power supply sliding rail is arranged in parallel with the longitudinal guide rail and is connected with the carbon brush current collector; the carbon brush current collector is arranged at one end of the transverse guide rail close to the power supply slide rail; the carbon brush current collector supplies power to the transverse movement driving unit and the longitudinal movement driving unit through cables, and supplies power to the traction rope driving unit and the controller on the sliding trolley through the caterpillar track; the controller is connected with the transverse movement driving unit, the longitudinal movement driving unit and the traction rope driving unit through communication cables, and sends signals to control the movement of the sliding trolley and the retraction and release of the traction ropes.
The controller receives the state information of the foot robot, the position information provided by the camera and the control information of the remote controller provided by the communication module, calculates the target position of each driver motor, and packages the position information into a data frame to be sent to the driver; the driver analyzes the position signal to drive the sliding trolley to move to the target position and retract and release the traction rope.
Preferably, the following modes settable by the remote controller include:
command control mode: the foot type robot sends a position command to the controller through the communication module to control the target position of the sliding trolley;
visual tracking mode: the foot robot sends a vision tracking mode command to the controller through the communication module, the controller receives position data of the foot robot sent by the camera, and the controller controls the movement of the sliding trolley according to the position data, so that the sliding trolley is always positioned right above the biped robot.
When the legged robot walks for testing, the sliding trolley follows the walking track in a command control mode or a visual tracking mode; the foot type robot detects the falling tendency, sends back to the initial position instruction to the controller, and the sliding trolley moves to the initial position and retracts the traction rope to lift the foot type robot.
Preferably, the number of the longitudinal guide rails is at least two, and the longitudinal guide rails are arranged in parallel.
Preferably, the sliding trolley comprises a frame, the rotary table is arranged on the frame, the rotary table is a double-layer rotary table and comprises an input layer and an output layer, the input layer is driven by the traction rope driving unit through a belt, and the output layer is wound on the traction rope.
Preferably, the actuators adopted by the transverse movement driving unit, the longitudinal movement driving unit and the traction rope driving unit are all direct current motors.
The application provides an intelligence sky rail system, overall mechanical structure reasonable in design for the motion of sky rail system on all directions is independent, and work is more stable, reliable. The control algorithm of the sky-rail system meets the requirements of 3 different control modes, namely a system remote controller control mode, an instruction control mode and a visual tracking control mode. The camera module is creatively added, and the visual tracking control is introduced, so that the system is more intelligent.
Drawings
Fig. 1 is a schematic structural diagram of a moving module of an intelligent sky-rail system provided in an embodiment;
FIG. 2 is a schematic bottom view of the structure of the mobile module;
FIG. 3 is a schematic structural front view of a mobile module;
FIG. 4 is a functional module relationship diagram of the intelligent sky-rail system;
reference numerals: 1-connecting fixed unit vertical bar, 2-supplying slide rail, 3-carbon brush current collector, 4-transverse movement driving unit, 5-longitudinal guide rail, 6-longitudinal movement driving unit, 7-transverse guide rail, 8-sliding trolley, 9-crawler belt, 10-hauling cable, 11-vehicle frame, 12-rotary table, 13-pulley, 14-belt, 15-hauling cable driving unit and 16-camera.
Detailed Description
In order to make the present application more comprehensible, preferred embodiments are described in detail below with reference to the accompanying drawings.
Examples
The embodiment provides an intelligent sky rail system, which comprises a mobile module, a power supply module, a controller, a driver, a communication module, a remote controller and a camera; for protecting the legged robot under test;
as shown in fig. 1, the mobile module comprises a vertical bar 1 of a connecting and fixing unit, wherein the upper end of the vertical bar 1 of the connecting and fixing unit is fixedly connected with a ceiling, and the lower end of the vertical bar 1 of the connecting and fixing unit is fixedly connected with a longitudinal guide rail 5; the longitudinal guide rail 5 is provided with a longitudinal movement driving unit 6 which moves longitudinally along the longitudinal guide rail 5, the transverse guide rail 7 is connected with the longitudinal movement driving unit 6, and the transverse guide rail 7 is driven by the longitudinal movement driving unit 6 to move longitudinally along the longitudinal guide rail 5; a sliding trolley 8 is arranged on the transverse guide rail 7, and the sliding trolley 8 is driven by the transverse movement driving unit 4 to move along the transverse guide rail 7; the longitudinal movement driving unit 6 and the transverse movement driving unit 4 are matched to realize the two-degree-of-freedom movement of the sliding trolley 8; the sliding trolley 8 is provided with a traction rope 10 which is connected with the robot.
The connecting and fixing unit vertical bars 1 are at least two and vertically fixed below a ceiling, the longitudinal guide rails 5 are the same in number as the connecting and fixing unit vertical bars 1 and fixed below the connecting and fixing unit vertical bars 1, the longitudinal guide rails 5 are parallel to each other, the transverse guide rails 7 are one and perpendicular to the longitudinal guide rails 5, and the transverse guide rails 5 move along the longitudinal guide rails 5 under the driving of the longitudinal movement driving unit 6.
As shown in fig. 2, the sliding trolley 8 comprises a frame 11, a turntable 12 fixed on the frame 11, and a traction rope 10 connected to the turntable 12, wherein the traction rope 10 passes through a pulley 13 and is connected to the robot, and the rotation of the turntable 12 is controlled to control the traction rope 10 to be tightened, so that the robot is prevented from falling down; the carousel 12 is double-deck carousel, and the input layer is driven by haulage rope drive unit 15, and output layer winding haulage rope 10, haulage rope drive unit 15 are a driving motor, and driving motor passes through the belt 14 and drives the input layer of carousel 12, and the belt 14 is carried out the transmission by haulage rope drive unit 15 control and is driven carousel 12 rotatory to receive and release haulage rope 10. The controller is arranged on the sliding trolley 8.
As shown in fig. 1 and fig. 3, the power module includes a power supply, a power supply slide rail 2, and a carbon brush current collector 3, the power supply slide rail 2 is arranged in parallel with the longitudinal guide rail 5, the power supply slide rail 2 is connected with the carbon brush current collector 3, the carbon brush current collector 3 is arranged at one end of the transverse guide rail 7, the carbon brush current collector 3 supplies power to the transverse movement driving unit 4 and the longitudinal movement driving unit 6 through cables, and supplies power to the sliding trolley 8 through a crawler 9; the controller is connected with the transverse movement driving unit 4, the longitudinal movement driving unit 6 and the traction rope driving unit 15 through communication cables, and sends signals to control the movement of the sliding trolley 8 and the retraction and release of the traction rope 10.
The drivers include drivers provided at the transverse movement driving unit 4, the longitudinal movement driving unit 6, and the traction rope driving unit 15; the devices used by the driving unit are all direct current motors.
The module schematic diagram of the intelligent sky rail system is shown in fig. 4, wherein a thick solid line is a power line, a thin solid line is a signal line, a dotted line is wireless communication, and the direction of an arrow indicates the signal flow direction.
The power supply of the power supply module directly supplies power for the foot type robot, the power supply sliding rail 2 and the carbon brush current collector 3 are used for supplying power for the driver and the controller arranged on the sliding trolley 8, and the controller controls the driver through a wire.
The communication module is used for communicating with a control system of the foot type robot body, a camera for detecting the position of the foot type robot and a remote controller for controlling a tester, acquiring state information of the robot, position information of the camera and control information of the remote controller and sending the state information, the position information and the control information to the controller, the controller is used for receiving the state information of the robot, the position information of the camera and the control information of the remote controller, the control algorithm is operated to obtain target positions of motors of all drivers, and the position information is packaged into data frames to be sent to the drivers. The driver is connected with the power supply module to obtain power supply, and is connected with the controller to obtain a position control signal, and the driver analyzes the position signal and converts the position signal into voltage pulses to control the rotation of the direct current motor. The output shaft of the direct current motor drives the driving unit to move through the transmission device, and finally the whole intelligent sky rail device moves to a target position.
The description of the intelligent sky-rail device is completed, and the whole control algorithm and the specific implementation flow are described below by taking a foot type robot walking test as an example.
Firstly, the power module supplies power to the whole device, and after a control algorithm runs, a user sets an initial position for the sky rail system by using the remote controller, namely, the initial position is set for the motor of each driving unit. Generally, the position of the sliding trolley is arranged in the middle, and the traction rope tensioning force, namely the foot type robot is hoisted in the middle position to be set as the initial zero point of the sky rail system. At the moment, the intelligent sky-rail system works in a remote controller control mode. After the initial zero point of the system is set, the intelligent sky rail system can work in a foot type robot control mode, after the foot type robot finishes initialization work, the motion control system of the foot type robot can send position information to the intelligent sky rail system, the sky rail system can control each driving unit according to the position information, and the driving units drive the executing mechanism to move to place the foot type robot at a target position. At the moment, the foot type robot can be placed on the ground, the traction rope is in a loose state, and the walking of the foot type robot cannot be interfered. Under the control mode of the foot type robot, the intelligent sky rail system has two following modes which can be selected:
1) command control mode: the foot type robot sends a position instruction to the intelligent sky rail system to control the target position of the sky rail system.
2) Visual tracking mode: the foot type robot sends a vision tracking mode instruction to the intelligent sky rail system, the sky rail system can receive position data of the foot type robot transmitted by the camera, and the horizontal and longitudinal target positions of the sky rail system are controlled according to the position data, so that the sliding trolley is always positioned right above the foot type robot.
Before the foot type robot walks, a visual tracking mode instruction is sent to the intelligent sky rail system. The intelligent sky rail system will be in a visual tracking mode. The foot type robot starts to walk, and the sliding trolley is moved by the sky rail system to follow. The IMU of the legged robot, if prone to a fall, sends back to the home position command. At this moment, the intelligent sky rail system can move to the initial position set by the user, and the foot type robot is also lifted to avoid falling. And after the foot type robot reaches the initial position, the initialization is completed again, and the foot type robot is placed on the ground to carry out walking test. Thus, the effect of automatic test can be achieved.
By adopting the technical scheme provided by the embodiment, compared with the existing walking test protection device, the beneficial effects brought by the protection device are mainly embodied in the following aspects:
1. according to the technical scheme provided by the embodiment, the system is ingenious in structural design, and the motor drive design is adopted, so that the foot type robot can be prevented from contacting the ground after falling down, and the safety of the robot and other subsystems in the experiment and debugging process is effectively guaranteed; the robot is suitable for various robots and has strong universality.
2. The technical scheme provided by the application has 3 different working modes, and the sky rail system achieves a fully automatic working effect by combining the 3 working modes; the intelligent control system does not need manual operation and achieves the purpose of intellectualization.
3. The camera module is added in the technical scheme provided by the application, and the visual tracking control is added in the control algorithm of the system, so that the system has quicker tracking response and more obvious protection effect.
Claims (8)
1. An intelligent sky rail system applied to walking protection of a legged robot is characterized by comprising a moving module and a driver, wherein the moving module comprises: the longitudinal guide rail is arranged at the top of the foot type robot testing space; the transverse guide rail is arranged on the longitudinal guide rail and is driven by the longitudinal movement driving unit to move along the longitudinal guide rail; the sliding trolley is arranged on the transverse guide rail and driven by the transverse movement driving unit to move along the transverse guide rail;
the sliding trolley is provided with a traction rope driving unit, a rotary table driven to rotate by the traction rope driving unit, a traction rope connected with the rotary table and a pulley, and the traction rope penetrates through the pulley and is connected with the legged robot; the driver includes a longitudinally moving drive unit, a transversely moving drive unit, and a pull-cord drive unit.
2. The intelligent sky rail system applied to walking protection of the legged robot as claimed in claim 1, further comprising a power module, a controller, a communication module, a remote controller for controlling a tester and a camera for detecting the position of the legged robot; the controller is arranged on the sliding trolley; the power module comprises a power supply, a power supply sliding rail and a carbon brush current collector; the power supply sliding rail is arranged in parallel with the longitudinal guide rail and is connected with the carbon brush current collector; the carbon brush current collector is arranged at one end of the transverse guide rail close to the power supply slide rail; the carbon brush current collector supplies power to the transverse movement driving unit and the longitudinal movement driving unit through cables, and supplies power to the traction rope driving unit and the controller on the sliding trolley through the caterpillar track; the controller is connected with the transverse movement driving unit, the longitudinal movement driving unit and the traction rope driving unit through communication cables, and sends signals to control the movement of the sliding trolley and the retraction and release of the traction ropes.
3. The intelligent sky-rail system applied to walking protection of the legged robot as claimed in claim 2, wherein the communication module is used for communicating with a control system of the legged robot body, a camera for detecting the position of the legged robot and a remote controller for controlling a tester, acquiring state information of the legged robot, position information provided by the camera and control information of the remote controller and sending the state information, the position information and the control information to the controller, the controller receives the state information of the legged robot, the position information and the control information of the remote controller, the state information, the position information and the control information are provided by the communication module, the target position of each driver motor is calculated, and the position information is packed into a data frame to be sent to the driver; the driver analyzes the position signal to drive the sliding trolley to move to the target position and retract and release the traction rope.
4. The intelligent sky rail system applied to foot robot walking protection according to claim 3, wherein the passive following mode which can be set by the intelligent sky rail system comprises:
command control mode: the foot type robot sends a position command to the controller through the communication module to control the target position of the sliding trolley;
visual tracking mode: the foot robot sends a vision tracking mode command to the controller through the communication module, the controller receives position data of the foot robot sent by the camera, and the controller controls the movement of the sliding trolley according to the position data, so that the sliding trolley is always positioned right above the biped robot.
5. The intelligent sky rail system applied to foot robot walking protection according to claim 4, wherein the sliding trolley follows according to a command control mode or a visual tracking mode during walking test of the foot robot; the foot type robot detects the falling tendency, sends back to the initial position instruction to the controller, and the sliding trolley moves to the initial position and retracts the traction rope to lift the foot type robot.
6. The intelligent sky rail system applied to foot type robot walking protection as claimed in claim 1, wherein the number of the longitudinal guide rails is at least two and the longitudinal guide rails are arranged in parallel.
7. The intelligent sky rail system applied to walking protection of foot-type robots as claimed in claim 1, wherein the sliding trolley comprises a frame, the turntable is arranged on the frame, the turntable is a double-layer turntable and comprises an input layer and an output layer, the input layer is driven by the traction rope driving unit through a belt, and the output layer is wound with the traction rope.
8. The intelligent sky rail system applied to foot robot walking protection as claimed in claim 1, wherein the actuators adopted by the transverse movement driving unit, the longitudinal movement driving unit and the traction rope driving unit are all direct current motors.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202111622684.5A CN114355922A (en) | 2021-12-28 | 2021-12-28 | Intelligent sky rail system applied to walking protection of foot type robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
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| CN202111622684.5A CN114355922A (en) | 2021-12-28 | 2021-12-28 | Intelligent sky rail system applied to walking protection of foot type robot |
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| CN114355922A true CN114355922A (en) | 2022-04-15 |
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| CN202111622684.5A Pending CN114355922A (en) | 2021-12-28 | 2021-12-28 | Intelligent sky rail system applied to walking protection of foot type robot |
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| CN107389054A (en) * | 2017-07-12 | 2017-11-24 | 重庆邮电大学 | Robot testing's platform |
| CN108001552A (en) * | 2017-10-16 | 2018-05-08 | 中国北方车辆研究所 | A kind of legged type robot walking protective device |
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2021
- 2021-12-28 CN CN202111622684.5A patent/CN114355922A/en active Pending
Patent Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104616526A (en) * | 2015-01-12 | 2015-05-13 | 江苏省交通规划设计院股份有限公司 | Vehicle positioning and reverse vehicle searching system and method |
| CN105549614A (en) * | 2015-12-17 | 2016-05-04 | 北京猎鹰无人机科技有限公司 | Target tracking method of unmanned plane |
| CN105430092A (en) * | 2015-12-20 | 2016-03-23 | 深圳步步汇通科技有限公司 | Intelligent bus station |
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