CN114683300A - Multifunctional barrier-free explosive-handling robot and obstacle-crossing explosive-handling method - Google Patents
Multifunctional barrier-free explosive-handling robot and obstacle-crossing explosive-handling method Download PDFInfo
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- CN114683300A CN114683300A CN202210234754.8A CN202210234754A CN114683300A CN 114683300 A CN114683300 A CN 114683300A CN 202210234754 A CN202210234754 A CN 202210234754A CN 114683300 A CN114683300 A CN 114683300A
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- crossing
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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
- B25J11/002—Manipulators for defensive or military tasks
- B25J11/0025—Manipulators for defensive or military tasks handling explosives, bombs or hazardous objects
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J5/00—Manipulators mounted on wheels or on carriages
- B25J5/005—Manipulators mounted on wheels or on carriages mounted on endless tracks or belts
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1656—Programme controls characterised by programming, planning systems for manipulators
- B25J9/1664—Programme controls characterised by programming, planning systems for manipulators characterised by motion, path, trajectory planning
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1694—Programme controls characterised by use of sensors other than normal servo-feedback from position, speed or acceleration sensors, perception control, multi-sensor controlled systems, sensor fusion
- B25J9/1697—Vision controlled systems
Abstract
The invention discloses a multifunctional barrier-free explosive-handling robot and a barrier-crossing explosive-handling method.A plurality of travelling mechanisms are arranged along the length direction of a chassis, each travelling mechanism comprises a support, a seat plate, a lifting power part, a chain wheel and a crawler belt, the upper end of the support is rotatably connected with the chassis, the lower end of the support is hinged with the seat plate, two ends of the lifting power part are respectively hinged with the seat plate and the support, the seat plates are provided with two chain wheel arrays side by side, and chain wheels of the two chain wheel arrays are respectively in transmission connection with corresponding travelling motors. The steering power part is respectively in transmission connection with the corresponding support, and the steering power part, the lifting power part and the traveling motor are all electrically connected with the controller and the power supply part. The flexibility of the robot is greatly expanded, the climbing capability and the obstacle-surmounting capability of the crawler-type obstacle-surmounting robot are improved, the robot can turn around without obstacles in a limited space to adjust the posture, and the stability of a chassis of the obstacle-surmounting robot is improved; the intelligent level and the obstacle crossing capability of the obstacle crossing robot are improved, and the all-terrain trafficability of the robot is improved.
Description
Technical Field
The invention relates to a walking transportation machine, in particular to an obstacle-crossing and explosion-removing robot and an obstacle-crossing and explosion-removing method.
Background
The special explosion-removing robot has a wide market prospect in recent years, has obvious economic benefits, and is safe and stable in society for driving and protecting navigation, so that the explosion-removing robot is more and more concerned.
Compared with the operation of an explosive ordnance disposal worker, the existing crawler explosive ordnance disposal robot has certain differences in the aspects of flexibility, continuous working time, obstacle crossing capability and the like, and particularly when a user needs to turn in a limited space, the actual requirements of obstacle crossing explosive ordnance disposal are difficult to meet.
Disclosure of Invention
The present invention is directed to solving at least one of the problems of the prior art. Therefore, the invention provides an obstacle crossing robot which can improve the flexibility of the obstacle crossing robot.
An obstacle crossing robot according to an embodiment of a first aspect of the present invention includes a chassis, at least two traveling mechanisms, at least two steering power members, one or more CCD cameras, a manipulator, a controller, and a power source member, the at least two travelling crane mechanisms are arranged along the length direction of the chassis, each travelling crane mechanism comprises a support, a seat plate, a lifting power part, a chain wheel and a crawler belt, the upper end of the bracket is rotatably connected with the chassis, the lower end of the bracket is hinged with the seat board, the two ends of the lifting power part are respectively hinged with the seat board and the bracket, the seat board is provided with two chain wheel queues side by side, the chain wheel arrays comprise at least two chain wheels, the at least two chain wheels of the chain wheel arrays are wound by the corresponding tracks, and the chain wheels of the two chain wheel arrays are respectively in transmission connection with the corresponding travelling crane motors; the at least two steering power parts are respectively in transmission connection with the corresponding supports, and the steering power parts are suitable for driving the supports to rotate; the one or more CCD cameras are distributed on the chassis and are suitable for shooting road conditions; the manipulator installation end is connected with the chassis, the steering power part, the lifting power part, the traveling crane motor, the CCD camera and the manipulator are electrically connected with the controller and the power part.
According to the obstacle crossing robot in the embodiment of the first aspect of the invention, at least the following beneficial effects are achieved: a plurality of steerable travelling mechanisms are designed, each travelling mechanism is designed into a double-independent crawler travelling structure, and two groups of independent crawler travelling structures can execute differential speed or same-speed rotation; the robot can only rotate by a single travelling mechanism, so that the self-rotating travelling mechanism stably stands on the corresponding ground or on an obstacle; or each travelling mechanism can respectively rotate, so that the robot can take the end part as a bypassing center (the first/last travelling mechanism as the bypassing center, the travelling mechanism of the bypassing center bypasses a small circle, and other travelling mechanisms bypass a large circle); the robot can flexibly rotate in a limited space to adjust the posture by taking other point positions as rotation centers, and the mechanical mechanisms improve the all-terrain trafficability of the robot; the invention solves the flexibility problem of the crawler-type obstacle-surmounting robot, greatly expands the flexibility of the robot, improves the climbing capability and obstacle-surmounting capability of the crawler-type obstacle-surmounting robot, and can turn around without obstacle in a limited space to adjust the posture, thereby improving the stability of the chassis of the obstacle-surmounting robot; the intelligent level and the obstacle crossing capability of the obstacle crossing robot are improved, and the all-terrain trafficability of the robot is improved; the dangerous goods such as explosive devices or weapons are automatically detected, transferred, disassembled and destroyed, and the safety of workers is improved.
According to the second aspect of the invention, the obstacle crossing and explosion removing method comprises a recognition work, a b obstacle crossing work and a c explosion removing work;
a, identifying work, shooting the environment of the robot by a CCD camera, transmitting a signal to a controller, and judging the road condition in front of the robot by the controller;
b, obstacle crossing work, wherein the controller judges that an obstacle in front of the robot is an obstacle block or an obstacle strip;
b1, when the obstacle is an obstacle block or an obstacle strip extending along the running direction, each running mechanism rotates relative to the chassis to adjust the direction, and the robot runs by bypassing the running track of the obstacle;
b2, when the obstacle is a horizontal obstacle bar, the controller calculates the height and width of the obstacle bar;
b21, if the height of the barrier strip is less than h and the width is less than a1, the vehicle mechanisms move forward and keep the pitching swinging end of the seat plate backward, and the vehicle mechanisms are intermittently lifted and lowered, so that the vehicle mechanisms sequentially cross the barrier strip;
b22, if the height of the barrier strip is less than h and a1< the width of the barrier strip < a2, b221, the front running mechanism keeps the pitching swinging end of the seat plate facing backwards, runs and lifts the front running mechanism, so that the front running mechanism steps on the barrier; b222, when the front driving mechanism is positioned on the barrier, the robot takes the front driving mechanism as a winding center, and the rear driving mechanism is lifted and wound to enable the rear driving mechanism to wind to the upper end of the barrier; b223, taking the front driving mechanism as a bypassing center, gradually descending and bypassing the rear driving mechanism, and enabling the rear driving mechanism to be separated from the barrier and to be changed into a new front driving mechanism; b224, after the original rear driving mechanism detours to complete obstacle crossing, each driving mechanism advances and the original front driving mechanism gradually descends, so that the original front driving mechanism is separated from the obstacle;
b23, if the height of the barrier strip is less than h and the width of the barrier strip is greater than a2, the robot sequentially finishes the straight upper barrier of the b221 front mechanism, the bypassing upper barrier of the b222 rear mechanism, the parallel operation, the bypassing lower barrier of the b223 rear mechanism and the bypassing lower barrier of the b224 original front mechanism; in the parallel process, the running mechanisms are parallel, and the robot on the obstacle runs to the front edge position of the obstacle;
c, explosive disposal work is carried out, the controller judges that dangerous goods exist in front of the robot, the manipulator transfers the dangerous goods to the chassis, or the dangerous goods are arranged and removed, and the dangerous goods are started and removed, or the dangerous goods are split.
According to the obstacle-crossing and explosion-removing method of the embodiment of the third aspect of the invention, b24 replaces the aforementioned b 23;
b24, if the height of the barrier strip is less than h and the width of the barrier strip is greater than a2, the vehicle mechanisms move forwards, and the vehicle mechanisms intermittently lift and retract, so that the vehicle mechanisms sequentially cross the barrier strip.
According to a barrier-crossing explosion-removing method of the fourth embodiment of the invention, b25 replaces the aforementioned b 22;
b25, if the height of the barrier strip is less than h and a1< the width of the barrier strip < a2, obstacle crossing is executed;
b251, keeping the pitching swing end of the seat board backward by each traveling mechanism, and advancing and lifting each traveling mechanism to enable the front traveling mechanism to step on the barrier; b252, when the front driving mechanism is positioned on the obstacle, the front driving mechanism rotates automatically to enable the pitching swinging end of the seat plate of the front driving mechanism to face forwards; b253, enabling the front driving mechanism to get away from the barrier and the rear driving mechanism to step on the barrier when the front driving mechanism moves forwards and the driving mechanism is lifted; b254, each travelling mechanism advances, the front travelling mechanism is lifted, and the rear travelling mechanism is descended, so that the rear travelling mechanism is separated from the barrier.
According to some embodiments of the present invention, a level detector is disposed on the chassis, the level detector is adapted to detect a levelness of the chassis, and the level detector is electrically connected to the controller; and in obstacle crossing work, the chassis is kept horizontal.
According to some embodiments of the invention, further comprising d hill climbing; when the inclination of the slope body is smaller than alpha, climbing work is carried out:
the d1 robot moves to the front of the slope, the front driving mechanism rotates, and the pitching swinging end of the seat plate of the front driving mechanism faces forwards (towards the slope);
d2, advancing the front running mechanism, and gradually descending the front running mechanism to enable the front running mechanism to step on the slope body;
d3, when the rear driving mechanism starts to step on the uphill body, the driving mechanisms continue to move, and the rear driving mechanism gradually rises to enable the rear driving mechanism to step on the uphill body.
A barrier-crossing and explosion-removing method as claimed in claim 6, wherein the climbing operation is followed by climbing the top and descending:
d4, the pitching oscillating end of the front driving mechanism holding seat plate faces forward, the pitching oscillating end of the rear driving mechanism holding seat plate faces backward, and the front driving mechanism gradually climbs over the top of the slope;
d5, when the middle part of the seat plate of the front driving mechanism corresponds to the top of the slope, the front driving mechanism continues to move, and gradually descends to enable the front driving mechanism to cross the top of the slope;
d6, in the process that the rear driving mechanism climbs over the top of the slope, the driving mechanisms continue to advance, the rear driving mechanism gradually descends and the front driving mechanism gradually ascends.
According to some embodiments of the invention, the hinge shaft between the bracket and the seat plate is in transmission connection with an encoder, the encoder is suitable for detecting the rotation angle of the seat plate relative to the bracket, and the encoder is electrically connected with the controller.
According to some embodiments of the invention, the robot further comprises an in-situ rotation work, the CCD camera shoots the environment where the robot is located, the controller judges that the robot is located in a narrow space or a narrow platform, and each traveling mechanism rotates and turns and travels relative to the chassis, so that the robot rotates in situ with the middle part as a rotation center.
According to some embodiments of the invention, the method further comprises the step of working over the ditch, the controller judges that the front of the robot is a ditch pit, when the width of the ditch pit is half of the length of the robot, the controller executes the working over the ditch, the robot moves straight, and the running mechanisms sequentially cross over the ditch pit.
Additional aspects and advantages of the invention will be set forth in part in the description which follows and, in part, will be obvious from the description, or may be learned by practice of the invention.
Drawings
The above and/or additional aspects and advantages of the present invention will become apparent and readily appreciated from the following description of the embodiments, taken in conjunction with the accompanying drawings of which:
FIG. 1 is a front view of a robot according to an embodiment of the present invention;
FIG. 2 is a side view of the robot shown in FIG. 1 after hiding the robot arm, with the seat pan sectioned at a step for better showing the articulation between the bracket and the seat pan, and showing the connection between the sprocket and the seat pan;
FIG. 3 is a schematic diagram of a trajectory of a robot bypassing an obstacle block;
FIG. 4a is a schematic diagram of a track of a robot crossing a narrow obstacle bar (top view angle, obstacle bar width<a1) In turn has V1-W1-V2；
Fig. 4b is a schematic diagram of the operation flow of the robot crossing the narrow barrier bars (barrier bar width < a 1);
FIG. 5a is a schematic diagram of the trajectory of the robot across the middle obstacle bar (top view, a1)<Width of barrier strip<a2) In turn has V3-W2-V4；
Fig. 5b is a schematic diagram of the operation flow of the robot crossing the middle-sized barrier strip (a1< barrier strip width < a 2);
FIG. 6 is a schematic diagram illustrating the operation flow of the robot across a slope;
FIG. 7 is a schematic diagram of the trajectory of the robot across a narrow space, with V in sequence5-W3-V6；
Fig. 8 is a schematic diagram of a robot crossing a trench.
A chassis 100, a base plate 110, a flexible member 120;
the traveling mechanism 200, the bracket 210, the seat plate 220, the lifting power part 230, the chain wheel 240, the crawler 250 and the traveling motor 260;
a steering power member 300;
a robot 400.
Detailed Description
Reference will now be made in detail to embodiments of the present invention, examples of which are illustrated in the accompanying drawings, wherein like reference numerals refer to the same or similar elements or elements having the same or similar functions throughout. The embodiments described below with reference to the accompanying drawings are illustrative only for the purpose of explaining the present invention, and are not to be construed as limiting the present invention.
In the description of the present invention, it should be understood that the orientation or positional relationship referred to in the description of the orientation, such as the upper, lower, front, rear, left, right, etc., is based on the orientation or positional relationship shown in the drawings, and is only for convenience of description and simplification of description, but does not indicate or imply that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and thus, should not be construed as limiting the present invention.
In the description of the present invention, the meaning of a plurality of means is one or more, the meaning of a plurality of means is two or more, and more than, less than, more than, etc. are understood as excluding the number, and more than, less than, etc. are understood as including the number. If any, the description to the first and second is only for the purpose of distinguishing technical features, and cannot be understood as indicating or implying relative importance or implicitly indicating the number of indicated technical features or implicitly indicating the precedence of the indicated technical features.
In the description of the present invention, unless explicitly defined otherwise, terms such as setting, installing, connecting and the like should be understood in a broad sense, and those skilled in the art can reasonably determine the specific meanings of the above terms in the present invention by combining the specific contents of the technical solutions.
Referring to fig. 1 and 2, an obstacle detouring robot according to an embodiment of a first aspect of the present invention includes a chassis 100, at least two traveling mechanisms 200, at least two power steering members 300, a controller, and a power supply member. The at least two traveling crane mechanisms 200 are arranged along the length direction of the chassis 100, each traveling crane mechanism 200 comprises a support 210, a seat plate 220, a lifting power piece 230, chain wheels 240 and a crawler belt 250, the upper end of each support 210 is rotatably connected with the chassis 100, the lower end of each support 210 is hinged with the seat plate 220, two ends of each lifting power piece 230 are respectively hinged with the seat plate 220 and the corresponding support 210, the seat plates 220 are provided with two chain wheel arrays side by side, each chain wheel array comprises at least two chain wheels 240, at least two chain wheels 240 of each chain wheel array are wound by the corresponding crawler belts 250, and the chain wheels 240 of the two chain wheel arrays are respectively in transmission connection with the corresponding traveling crane motors 260. The at least two steering power members 300 are respectively in transmission connection with the corresponding bracket 210, the steering power members 300 are suitable for driving the bracket 210 to rotate, and the steering power members 300, the lifting power members 230 and the traveling motor 260 are all electrically connected with the controller and the power source.
It can be understood that the bracket 210, the seat plate 220 and the lifting power member 230 form a crank-slider mechanism, the seat plate 220 becomes a crank member capable of pitching and swinging, and two sets of independent crawler traveling structures are arranged on the seat plate 220, and the two sets of independent crawler traveling structures can perform differential or same-speed rotation.
The chassis 100 may be a plate, a frame, or the like. Common controllers include single-chip microcomputers, PLCs, dsps, FPGAs, personal computers, and the like. Common power supply elements include batteries and storage batteries.
The connection of the track 250 to the sprocket 240 is conventional, and a single track 250 corresponds to a plurality of aligned sprockets 240, the track 250 surrounds the plurality of sprockets 240, and at least one sprocket 240 is drivingly connected to a travel motor 260, that is: in a single sprocket train, only one sprocket 240 may be directly drivingly connected to the travel motor 260, and the other sprockets 240 are drivingly connected by the track 250. It is understood that the motor includes an electric motor (electric motor), a hydraulic motor, and a pneumatic motor. The steering power member 300 may be an electric motor, a hydraulic motor, a pneumatic motor, or a combination of a transmission structure such as a gear train and a motor. The lifting power member 230 may be directly an air cylinder, a hydraulic cylinder or an electric cylinder, or may be a combination of a motor and a screw nut pair.
The chassis 100 may be equipped with a robot 400, a controller, and the like described below as a table, may store the removed dangerous goods, and may be provided with a passenger compartment.
Referring to fig. 1 and 2, in the above mechanical structure designed by the present invention, there are a plurality of steerable traveling mechanisms 200, and each traveling mechanism 200 is designed as a dual independent crawler type traveling structure, and two independent crawler type traveling structures can perform differential or same speed rotation; referring to fig. 5a, 5b and 6, the robot may rotate only a single traveling mechanism 200, so that the rotating traveling mechanism 200 stably stands on the corresponding ground/obstacle; referring to fig. 4a and 4b, each traveling mechanism 200 may rotate independently, so that the robot may use the end as the bypassing center (the first/last traveling mechanism 200 as the bypassing center, the traveling mechanism 200 at the bypassing center bypasses a small circle, and the other traveling mechanisms 200 bypass a large circle); referring to fig. 7, each traveling mechanism 200 may also rotate separately, so that the robot may rotate around the middle as a circle (the whole robot rotates in place, the middle traveling mechanism 200 circles around a small circle, and the end traveling mechanism 200 circles around a large circle), or may rotate around other points as a rotation center in a limited space to adjust the posture, and the above mechanical mechanisms improve the all-terrain trafficability of the robot. In the operation control, a CCD camera described below may be added, and the controller recognizes the road condition by the CCD camera and controls the traveling mechanism 200 to complete the autonomous traveling and work of the robot. The controller can also be in signal connection with a remote controller, and a worker can visually identify road conditions and remotely control the traveling crane within a certain distance; preferably, the chassis 100 is further provided with a communication module electrically connected to the controller, and the communication module is suitable for signal connection to a remote controller, such as a conventional computer. The communication module can be a common mobile phone GSM module, a CDMA module, a GPRS module and an EDGE module; the controller sends the road conditions shot by the CCD camera to the remote control machine through the communication module, and the working personnel control the driving, the explosion elimination and the like of the robot in the remote control machine.
According to the obstacle crossing robot in the embodiment of the first aspect of the invention, at least the following beneficial effects are achieved: the invention solves the flexibility problem of the crawler 250 type obstacle-surmounting robot, greatly expands the flexibility of the robot, improves the climbing capability and obstacle-surmounting capability of the crawler type obstacle-surmounting robot, and can turn around without obstacle in a limited space to adjust the posture, thereby improving the stability of the chassis 100 of the obstacle-surmounting robot; the intelligent level and the obstacle crossing capability of the obstacle crossing robot are improved, and the all-terrain trafficability of the robot is improved.
Referring to fig. 1, in some embodiments of the present invention, the chassis 100 includes at least two base plates 110 connected in series, at least two travelling mechanisms 200 are respectively connected to the corresponding base plates 110, and two adjacent base plates 110 are connected by a flexible member 120. That is, in the present invention, each of the brackets 210 is rotatably coupled to the corresponding base plate 110. With respect to the flexible member 120, it can be understood that: when the vehicle travels in a bumpy manner, the two adjacent base plates 110 can be twisted and deformed in a certain range, so that the vehicle can adapt to bumpy terrain, the flexible members 120 can be springs, rubber members, plastic members and the like, the connection and stability maintaining strength is guaranteed, the vehicle can be twisted in a certain range, and the vehicle is elastic and self-restoring.
In some embodiments of the present invention, one or more CCD cameras are distributed on the chassis 100, the CCD cameras are adapted to capture road conditions, and the CCD cameras are electrically connected to the controller. In autonomous driving of the robot, the imaged road condition picture is suitable for comparing a road condition gallery stored by the controller, and the controller judges whether the road condition is flat, slope, barrier block, barrier strip, ditch pit, dangerous goods to be eliminated and the like according to the imaged road condition picture; based on the high-definition function and the proportion reference function of the CCD camera, the controller also calculates the sizes of the obstacles/the ditches/the dangerous goods to be eliminated, and when the sizes of the obstacles and the ditches exceed the driving capacity of the robot, the robot passes through the obstacles and the ditches. When the CCD camera is in a style with lower required voltage, the controller directly provides a working power supply. The C CD camera is a prior art, has higher photographing frequency, strong self-scanning function and good image definition, can capture images at any time, achieves higher sensitivity and conversion effect, and determines the form and size of an imaged object.
In some embodiments of the invention, the CCD camera is arranged along the perimeter wall of the chassis 100.
In some embodiments of the invention, one or more CCD cameras are provided, the CCD cameras being rotatable through 360 degrees.
Referring to fig. 1, in some embodiments of the present invention, the robot 400 is further included, the mounting end of the robot 400 is connected to the chassis 100, and the robot 400 is electrically connected to the controller and the power supply. It is understood that the manipulator 400 is a conventional one, and the manipulator 400 is a multi-joint mechanism similar to an arm of an animal, and a motor adapted to rotate joints is provided between adjacent joints. The robot 400 is electrically connected to the controller and the power source, so it will be appreciated that all of the motors of the robot 400 are electrically connected to the controller and the power source provides operating power/electricity. The invention improves the autonomous operation capability of the obstacle-crossing explosion-removing robot, autonomously performs reconnaissance, transfer, disassembly and destruction on dangerous goods such as explosion devices or weapons and the like, and improves the safety of workers.
During autonomous driving and explosive disposal of the robot, the controller also stores a dangerous article drawing library such as various weapon drawings, various flammable and explosive article drawings and various toxic article drawings. Based on the high-definition function and the proportion reference function of the CCD camera, the controller also calculates the size of the dangerous goods. When the size of the dangerous goods exceeds the holding capacity of the manipulator 400, the robot gives up the danger and explosion removing work.
In some scenes, workers predict a target land without pits and slopes in advance; for example, the target is a small area, and the worker visually determines that a trench or a slope is not present. A method for obstacle crossing and explosion elimination comprises a recognition work, a obstacle crossing work and a c explosion elimination work.
a, identifying work, shooting the environment of the robot by a CCD camera, transmitting a signal to a controller, and judging road conditions in front of the robot by the controller, such as flat roads, obstacles, ditches, slopes or objects to be eliminated. It can be understood that after the robot is started, the CCD camera can shoot the environment of the robot when the robot is in a standing or walking process. The common objects to be eliminated include toxic gas emitting objects, radiation objects, weapons, inflammable and explosive objects, etc.
And b, obstacle crossing work, and judging that the obstacle in front of the robot is an obstacle block or an obstacle strip by the controller.
Referring to fig. 3, b1, when the obstacle is an obstacle block or an obstacle bar extending in the traveling direction, each traveling mechanism 200 rotates and turns with respect to the chassis 100, and the robot travels along the trajectory of the obstacle. As shown in fig. 3, the robot bypasses the obstacle block; and the robot bypasses the end part of the barrier strip and then runs parallel to the barrier strip.
b2, when the obstacle is a horizontal obstacle bar, the controller calculates the height and width of the obstacle bar.
b21, if the height of the barrier strip is less than h (i.e. after the traveling mechanism 200 is lifted, the higher position of the crawler 250 can still step on the upper end of the barrier strip), and the width is less than a predetermined width a1 (i.e. after the front traveling mechanism 200 directly crosses the barrier strip, the rear traveling mechanism 200 still does not start to step on the barrier strip), the traveling mechanisms 200 travel and keep the pitching swinging end of the seat plate 220 facing backward, and the traveling mechanisms 200 intermittently lift and retract, so that the traveling mechanisms 200 sequentially cross the barrier strip. Referring to fig. 4a and 4b, specifically: b211, keeping the pitching end of the seat plate 220 backward by each travelling mechanism 200, and enabling each travelling mechanism 200 to advance and gradually lift up, so that the front travelling mechanism 200 steps on an obstacle; b212, the driving mechanisms 200 continuously move forwards, so that the driving mechanisms 200 start to get away from the barrier strips, and the driving mechanisms 200 gradually shrink downwards during moving, so that the driving mechanisms 200 get away from the barrier strips; b 213, each travelling mechanism 200 advances and gradually lifts, so that the rear travelling mechanism 200 steps on the barrier; b214, the travelling mechanisms 200 continue to move forwards, so that the rear travelling mechanism 200 starts to separate from the barrier strip, and the travelling mechanism 200 gradually reduces in the process of moving forwards, so that the rear travelling mechanism 200 separates from the barrier strip.
It can be understood that the obstacle crossing robots with different specifications have the travelling mechanisms 200 with different sizes, so that the obstacle crossing robots with different specifications can cross obstacles with different heights; the obstacle-surmounting robots with different specifications have different wheelbases (the distance between two adjacent travelling mechanisms 200), so that the obstacle-surmounting robots with different specifications can move straight to cross obstacles with different widths.
b22, if the height of the barrier strip is less than h, and a1< the width of the barrier strip < a2 (i.e. if the robot moves straight, when the rear driving mechanism 200 starts to step on the barrier strip, the front driving mechanism 200 does not completely separate from the barrier strip or just separates from the barrier strip), the robot completes the straight upper barrier of the b221 front mechanism, the bypassing upper barrier of the b222 rear mechanism, the bypassing lower barrier of the b223 rear mechanism and the bypassing lower barrier of the b224 original front mechanism in sequence. Specifically, the method comprises the following steps: b221, the various traveling mechanisms 200 keep the pitching ends of the seat plates 220 facing backwards, the various traveling mechanisms 200 travel and the forward traveling mechanism 200 rises, so that the forward traveling mechanism 200 steps on the obstacle; b222, when the front driving mechanism 200 is positioned on the barrier, the robot takes the front driving mechanism 200 as a bypassing center, and the rear driving mechanism 200 is lifted and bypassed, so that the rear driving mechanism 200 bypasses to the upper end of the barrier; b223, continuing to use the front driving mechanism 200 as a bypassing center, gradually descending and bypassing the rear driving mechanism 200, so that the rear driving mechanism 200 is separated from the barrier and is changed into a new front driving mechanism 200; b224, after the original rear driving mechanism 200 detours to complete obstacle crossing, each driving mechanism 200 advances and the original front driving mechanism 200 gradually descends, so that the original front driving mechanism 200 is separated from the obstacle.
b23, if the height of the barrier strip is less than h and the width of the barrier strip is greater than a2, the robot sequentially finishes the straight upper barrier of the b221 front mechanism, the bypassing upper barrier of the b222 rear mechanism, the parallel operation, the bypassing lower barrier of the b223 rear mechanism and the bypassing lower barrier of the b224 original front mechanism; in the parallel process, the respective traveling mechanisms 200 are parallel to each other, and the robot on the obstacle travels to the front edge position of the obstacle.
The obstacle crossing robot can stably cross obstacles, the chassis 100 keeps a relatively horizontal stable state in the obstacle crossing process, and electrical parts, dangerous goods and the like on the chassis 100 are ensured to be in a relatively stable and safe state; the driving mechanism 200 stepping on the obstacle does not need to rotate to adjust the direction, and the driving mechanism 200 is prevented from being clamped on a narrow barrier strip (the driving mechanism 200 rides on the barrier strip). Therefore, the obstacle crossing robot can flexibly cross obstacle strips with various widths.
Generally, after each traveling mechanism 200 crosses the barrier strip, each traveling mechanism 200 is lowered to a normal height, so that the crawler 250 is fully contacted with the ground, and the traveling capacity of the robot on the flat ground is enhanced.
In some embodiments of the present invention, a level detector is disposed on the chassis 100, the level detector is adapted to detect a levelness of the chassis 100, and the level detector is electrically connected to the controller. During obstacle crossing operation, the chassis 100 remains horizontal. Common horizontal detection parts include a gyroscope, an inclination angle sensor, a vacuole type horizontal sensor and the like.
c, explosive disposal work, wherein the controller judges that dangerous goods exist in front of the robot, and the manipulator 400 transfers the dangerous goods to the chassis 100; or arranging danger removing substances and starting danger removing substances, such as arranging a lead and igniting the lead; or to disassemble hazardous materials, such as to disassemble weapons.
A barrier-crossing explosion-removing method, wherein b24 replaces the b 23; b24, if the height of the barrier strip is less than h and the width of the barrier strip is greater than a2, the running mechanisms 200 run, and the running mechanisms 200 are intermittently lifted and lowered, so that the running mechanisms 200 sequentially cross the barrier strip.
Referring to fig. 5a and 5b, a barrier-crossing and explosion-removing method, b25 replaces the b 22. b25, if the height of the barrier strip is less than h, and a1< the width of the barrier strip < a2, the robot sequentially completes the straight barrier up of the b251 front mechanism, the turning of the b252 front mechanism, the synchronous front-down-back-up of the b253 and the descending of the b254 back mechanism. Specifically, the method comprises the following steps: b251, the front running mechanism 200 keeps the pitching end of the seat plate 220 facing backwards, and the front running mechanism 200 runs and lifts, so that the front running mechanism 200 steps on an obstacle; b252, when the front traveling mechanism 200 is located above the obstacle, the front traveling mechanism 200 rotates, and the luffing end of the seat plate 220 of the front traveling mechanism 200 faces forward; b253, enabling the front driving mechanism 200 to get away from the obstacle and the rear driving mechanism 200 to step on the obstacle when the front driving mechanism 200 advances and the driving mechanism 200 is lifted; b254, the traveling mechanisms 200 travel, the front traveling mechanism 200 is lifted, and the rear traveling mechanism 200 is lowered, so that the rear traveling mechanism 200 is separated from the obstacle.
In some scenarios, the robot needs to walk for a long distance, and a slope may exist in the target area. Referring to fig. 6, the obstacle-crossing and explosion-removing method further includes d climbing work, the controller determines that the front of the robot is an uphill road section, and when the inclination of a slope body is smaller than alpha, the climbing work is executed. For the slope of the slope body is smaller than alpha, the robot is completely positioned on the slope body, the front driving mechanism 200 is contracted to the limit, and when the rear driving mechanism 200 is lifted to the limit, the front end of the robot is not the highest point (namely, the robot can be horizontal, and even has the ability of tilting the rear end). The obstacle-surmounting robots with different specifications have driving mechanisms 200 with different sizes and can climb slope bodies with different slopes.
The d1 robot moves to the front of the slope, the front driving mechanism 200 rotates, the pitching swing end of the seat plate 220 of the front driving mechanism 200 faces forward (towards the slope);
d2, advancing the front driving mechanism 200, and gradually descending the front driving mechanism 200 to enable the front driving mechanism 200 to step on the slope body;
d3, when the rear driving mechanism 200 starts to step on the uphill body, the driving mechanisms 200 continue to advance, and the rear driving mechanism 200 gradually rises, so that the rear driving mechanism 200 steps on the uphill body.
In some embodiments of the invention, the climbing work is followed by the top and down hill climbing:
d4, the front driving mechanism 200 keeps the pitching oscillating end of the seat plate 220 facing forward, the rear driving mechanism 200 keeps the pitching oscillating end of the seat plate 220 facing backward, and the front driving mechanism 200 gradually climbs over the top of the slope;
d5, when the middle part of the seat plate 220 of the front travelling mechanism 200 corresponds to the top of the slope, the front travelling mechanism 200 continues to travel, and the front travelling mechanism 200 gradually reduces to enable the front travelling mechanism 200 to cross the top of the slope;
d6, when the rear driving mechanism 200 climbs over the top of the slope, the driving mechanisms 200 continue to move, the rear driving mechanism 200 gradually descends, and the front driving mechanism 200 gradually ascends.
In some embodiments of the present invention, the hinge shaft between the bracket 210 and the seat plate 220 is drivingly connected with an encoder, the encoder is adapted to detect the rotation angle of the seat plate 220 relative to the bracket 210, and the encoder is electrically connected with the controller. Referring to fig. 1, the hinge axis B1 between the bracket 210 and the seat plate 220 and the hinge axis B2 between the bracket 210 and the elevating power member 230 may not be collinear with the straight line B1B2 no matter whether the elevating power member 230 is in an extended or contracted state; that is, the elevating power member 230 cannot be aligned with the line B1B2 when the angle of rotation of the seat plate 220 with respect to the bracket 210 is ensured to be large.
Referring to fig. 7, the obstacle-crossing and explosion-removing method further includes rotating in situ, the CCD camera photographs the environment where the robot is located, the controller determines that the robot is located in a narrow space or a narrow platform, and the traverse mechanisms 200 rotate and turn and advance relative to the chassis 100, so that the robot rotates in situ with the middle as a rotation center; after the robot rotates in place, the CCD camera recognizes the object to be removed, and the manipulator 400 starts to perform explosion removing work.
In some scenarios, the robot needs to walk a long distance, and a trench or pit may exist in the target area. Referring to fig. 8, the traveling crane 200 is provided with at least 3, and the obstacle-crossing and explosion-removing method further comprises a ditch-crossing work. The controller judges that the front of the robot is a groove pit, and when the width of the groove pit is half of the length of the robot, the controller executes the work of crossing the groove, the robot moves straight, and the running mechanisms 200 sequentially cross the groove pit.
The embodiments of the present invention have been described in detail with reference to the accompanying drawings, but the present invention is not limited to the above embodiments, and various changes can be made within the knowledge of those skilled in the art without departing from the gist of the present invention.
Claims (10)
1. The utility model provides a robot is exploded to multi-functional accessible row which characterized in that includes:
a chassis (100);
the travelling crane comprises at least two travelling crane mechanisms (200), the travelling crane mechanisms (200) are arranged along the length direction of the chassis (100), each travelling crane mechanism (200) comprises a support (210), a seat plate (220), a lifting power part (230), chain wheels (240) and a crawler (250), the upper end of each support (210) is rotatably connected with the chassis (100), the lower end of each support (210) is hinged with the seat plate (220), the two ends of each lifting power part (230) are respectively hinged with the seat plate (220) and the corresponding support (210), the seat plate (220) is provided with two chain wheel arrays side by side, each chain wheel array comprises at least two chain wheels (240), the at least two chain wheels (240) of each chain wheel array are wound by the corresponding crawler (250), and the chain wheels (240) of the two chain wheel arrays are respectively in transmission connection with corresponding travelling crane motors (260);
at least two steering power parts (300) which are respectively in transmission connection with the corresponding brackets (210), wherein the steering power parts (300) are suitable for driving the brackets (210) to rotate;
one or more CCD cameras distributed on the chassis (100), the CCD cameras being adapted to photograph road conditions;
the installation end of the mechanical arm is connected with the chassis (100);
the steering power part (300), the lifting power part (230), the traveling motor (260), the CCD camera and the manipulator are all electrically connected with the controller and the power part.
2. A method for crossing obstacles and removing explosion is characterized by comprising a recognition work, b crossing obstacles work and c removing explosion work;
a, identifying work, shooting the environment of the robot by a CCD camera, transmitting a signal to a controller, and judging the road condition in front of the robot by the controller;
b, obstacle crossing work, wherein the controller judges that an obstacle in front of the robot is an obstacle block or an obstacle strip;
b1, when the obstacle is an obstacle block or an obstacle strip extending along the running direction, each running mechanism (200) rotates relative to the chassis (100) to adjust the direction, and the robot runs by bypassing the running track of the obstacle;
b2, when the obstacle is a horizontal obstacle bar, the controller calculates the height and width of the obstacle bar;
b21, if the height of the barrier strip is less than h and the width is less than a1, the vehicle mechanisms (200) move forward and keep the pitching end of the seat plate (220) facing backwards, and the vehicle mechanisms (200) intermittently lift and retract, so that the vehicle mechanisms (200) sequentially cross the barrier strip;
b22, if the height of the barrier strip is less than h and a1< the width of the barrier strip < a2, b221, the front traveling mechanism (200) keeps the pitching end of the seat plate (220) facing backwards, the front traveling mechanism (200) travels and the front traveling mechanism (200) is lifted, so that the front traveling mechanism (200) steps on the barrier; b222, when the front driving mechanism (200) is positioned above the barrier, the robot takes the front driving mechanism (200) as a bypassing center, and the rear driving mechanism (200) is lifted and bypassed, so that the rear driving mechanism (200) bypasses to the upper end of the barrier; b223, continuing to take the front driving mechanism (200) as a bypassing center, gradually descending and bypassing the rear driving mechanism (200) to enable the rear driving mechanism (200) to be separated from the barrier and to be changed into a new front driving mechanism (200); b224, after the original rear driving mechanism (200) detours to complete obstacle crossing, the driving mechanisms (200) advance and the original front driving mechanism (200) gradually descends, so that the original front driving mechanism (200) is separated from the obstacle;
b23, if the height of the barrier strip is less than h and the width of the barrier strip is greater than a2, the robot sequentially finishes b221 front mechanism straight barrier ascending, b222 rear mechanism detouring barrier ascending and parallel, b223 rear mechanism detouring barrier descending and b224 original front mechanism barrier descending; in the parallel process, the running mechanisms (200) are parallel, and the robot on the obstacle runs to the front edge position of the obstacle;
c, explosive disposal, wherein the controller judges that dangerous goods exist in front of the robot, and the manipulator (400) transfers the dangerous goods to the chassis (100), or arranges and starts to remove the dangerous goods, or separates the dangerous goods.
3. A method for obstacle-crossing explosion venting, wherein b24 replaces b23 of claim 2;
b24, if the height of the barrier strip is less than h and the width of the barrier strip is more than a2, the running mechanisms (200) run, and the running mechanisms (200) intermittently rise and fall, so that the running mechanisms (200) sequentially cross the barrier strip.
4. A method for obstacle-crossing explosion venting, wherein b25 replaces b22 of claim 2;
b25, if the height of the barrier strip is less than h and a1< the width of the barrier strip < a2, obstacle crossing is executed;
b251, keeping the pitching end of the seat plate (220) backward by each travelling mechanism (200), and advancing and lifting each travelling mechanism (200) to enable the front travelling mechanism (200) to step on the obstacle; b252, when the front running mechanism (200) is located above the obstacle, the front running mechanism (200) rotates to enable the pitching end of the seat plate (220) of the front running mechanism (200) to face forwards; b253, enabling the travelling mechanism (200) to travel and the travelling mechanism (200) to lift, so that the front travelling mechanism (200) starts to be separated from the obstacle and the rear travelling mechanism (200) starts to step on the obstacle; b254, the travelling mechanisms (200) advance, the front travelling mechanism (200) is lifted, and the rear travelling mechanism (200) is descended, so that the rear travelling mechanism (200) is separated from the barrier.
5. The obstacle-crossing and explosion-venting method according to any one of claims 2 to 4, wherein a level detector is arranged on the chassis (100), the level detector is suitable for detecting the levelness of the chassis (100), and the level detector is electrically connected with a controller; during obstacle crossing work, the chassis (100) is kept horizontal.
6. A barrier-crossing and explosion-venting method as claimed in any one of claims 2 to 4, further comprising d climbing work; when the inclination of the slope body is smaller than alpha, executing climbing work:
d1 before the robot moves to the slope, the forward moving mechanism (200) rotates to lead the pitching end of the seat plate (220) of the forward moving mechanism (200) to face forwards;
d2, advancing each traveling mechanism (200), and gradually descending the front traveling mechanism (200) to enable the front traveling mechanism (200) to step on the uphill body;
d3, when the rear driving mechanism (200) starts to step on the uphill body, the driving mechanisms (200) continue to move, and the rear driving mechanism (200) gradually rises to enable the rear driving mechanism (200) to step on the uphill body.
7. A barrier-crossing and explosion-removing method as claimed in claim 6, wherein the climbing operation is followed by climbing the top and descending:
d4, the front driving mechanism (200) keeps the pitching end of the seat plate (220) facing forward, the rear driving mechanism (200) keeps the pitching end of the seat plate (220) facing backward, and the front driving mechanism (200) gradually climbs over the top of the slope;
d5, when the middle part of the seat plate (220) of the front driving mechanism (200) corresponds to the top of the slope, the front driving mechanism (200) continues to move, and the front driving mechanism (200) gradually descends to enable the front driving mechanism (200) to cross the top of the slope;
d6, when the rear driving mechanism (200) climbs over the top of the slope, the driving mechanisms (200) continue to move, the rear driving mechanism (200) gradually reduces, and the front driving mechanism (200) gradually rises.
8. The obstacle-crossing and explosion-venting method according to claim 2, wherein an encoder is in transmission connection with a hinge shaft between the bracket (210) and the seat plate (220), the encoder is suitable for detecting the rotation angle of the seat plate (220) relative to the bracket (210), and the encoder is electrically connected with a controller.
9. The obstacle-crossing and explosion-removing method according to claim 2, further comprising an in-situ rotation operation, wherein a CCD camera photographs the environment where the robot is located, the controller judges that the robot is located in a narrow space or a narrow platform, and each traveling mechanism (200) rotates and turns and travels relative to the chassis (100) so that the robot rotates in situ with the middle part as a rotation center.
10. The obstacle-crossing and explosion-removing method according to claim 2, further comprising a ditch-crossing work, wherein the controller judges that the front of the robot is a ditch pit, when the width of the ditch pit is half of the length of the robot, the ditch-crossing work is executed, the robot moves straight, and each row vehicle mechanism (200) sequentially crosses the ditch pit.
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