CN114802519B - Robot with wheel leg structure and control method thereof - Google Patents
Robot with wheel leg structure and control method thereof Download PDFInfo
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- CN114802519B CN114802519B CN202210572972.2A CN202210572972A CN114802519B CN 114802519 B CN114802519 B CN 114802519B CN 202210572972 A CN202210572972 A CN 202210572972A CN 114802519 B CN114802519 B CN 114802519B
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D57/00—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track
- B62D57/02—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track with ground-engaging propulsion means, e.g. walking members
- B62D57/028—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track with ground-engaging propulsion means, e.g. walking members having wheels and mechanical legs
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Abstract
The invention discloses a robot with a wheel leg structure and a control method thereof. The robot comprises a robot body, wherein a rotary connecting shaft is arranged on the robot body and connected with wheels, a rotary loop bar is arranged on the robot body, a clutch is arranged between the connecting shaft and the loop bar, and the loop bar is connected with mechanical legs. In the control method, when the robot normally runs, the connecting shaft and the wheels are driven to move by the independent driving mechanism; when the robot encounters an obstacle which is difficult to cross, the clutch is controlled to be closed, and at the moment, the mechanical legs rotate along with the connecting shaft, so that the rotating motion of the mechanical legs is realized, and the obstacle crossing behavior is completed through the cooperation of the mechanical legs and the wheels. The invention has the beneficial effects that: the leg structure is utilized to cooperate with the wheels to surmount the obstacle when facing the obstacle; when the gravity center of the robot shifts, the robot body is blocked or turns on one's side, the normal running posture is recovered in time by adjusting the telescopic push rod of the supporting mechanism; when the vehicle is on a relatively flat road surface, the vehicle wheels are used for realizing high-speed running, so that the working efficiency is improved.
Description
Technical Field
The invention belongs to the technical field of robots, and particularly relates to a robot with a wheel leg structure and a control method thereof.
Background
With the development of science and technology, robots play an increasingly important role in various fields. Currently, a common complex terrain operation robot is a wheeled robot, a crawler robot and a leg robot. The wheeled robot has the advantages of high speed, high efficiency, low motion noise and the like. But has poor obstacle surmounting capability, poor terrain adaptability and large turning radius, and is difficult to run in complex environments. Compared with a wheeled robot, the crawler robot has stronger obstacle crossing capability and strong terrain adaptability, and can turn in situ. But is slow, inefficient, and motion noise is excessive. The adaptability of leg robot to the topography is stronger, and the leg has a plurality of degrees of freedom, and the flexibility of motion is also stronger, can adjust focus through the length adjustment of adjusting the leg, consequently be difficult for tipping over, stability is higher. But the leg robot has complex structural design and control system and slower movement speed. Wheel-legged robots, which are common in the market at present, generally combine wheels with legs, and have complex and unstable structures.
Because of the severe environment of the job site, the precise operation and maintenance of the teleoperated robot in the extreme environment faces a plurality of difficulties. The teleoperation robot has severely limited resources such as calculation, storage and the like, and is difficult to provide strong calculation power support; the remote centralized operation and maintenance means cannot achieve a fast response.
In order to effectively solve the outstanding contradiction of small calculation power and big data as well as slow transmission and quick response, a cloud-edge cooperative distributed operation and maintenance technology system can be constructed, the characteristics of rich cloud computing resources and real-time edge computing response are fully exerted, and complementary advantages are realized. The aims of accurate operation and maintenance and accurate control are achieved. How to control the wheel-leg robot to execute tasks and master the state information of the robot parts in complex terrains is a problem to be solved at present.
Disclosure of Invention
The invention aims at: the invention provides a robot with a wheel leg structure and a control method thereof, which solve the problems of complex and unstable structure of the existing wheel leg type robot.
According to the invention, the mechanical legs and the wheels are respectively arranged, independent control of the mechanical legs and the wheels is realized through the clutch, the wheels are used for moving on a flat road, the mechanical legs and the wheels are matched to cross the obstacle when the robot encounters the obstacle, and meanwhile, the telescopic push rod is arranged in the connecting shaft of the mechanical legs and the wheels, so that the robot can be supported under the conditions that the wheel-legged robot loses the center of gravity or turns over, and the robot can return to a normal running state. Aiming at the problem of insufficient resource allocation under complex terrain, reasonable development and application of limited resources can be realized through cloud edge cooperative technology.
The aim of the invention is achieved by the following technical scheme:
the utility model provides a robot of wheel leg structure, includes the fuselage, is equipped with rotatory connecting axle on the fuselage, and the connecting axle is connected with the wheel, is equipped with rotatory loop bar on the fuselage, is equipped with the clutch between connecting axle and the loop bar, and the loop bar is connected with the mechanical leg.
Further, wheels, mechanical legs and connecting shafts are arranged at four corners of the machine body.
Furthermore, the tail ends of the mechanical legs are bent, and the middle parts of the mechanical legs are provided with hollow structures.
Further, the connecting shaft is connected with an independent driving mechanism.
Further, the independent driving mechanism is a driving motor, and the output end of the driving motor is connected with the connecting shaft.
Further, the sleeve rod is sleeved on the connecting shaft.
Further, the clutch comprises an inner contact plate and an outer contact plate, wherein the inner contact plate is arranged on the connecting shaft, the outer contact plate is arranged on the loop bar, the inner contact plate is arranged opposite to the outer contact plate, and the outer contact plate is connected with the electromagnetic valve.
Further, the connecting shaft is connected with the axial telescopic mechanism.
Further, the axial telescopic mechanism comprises a telescopic motor, the telescopic motor is connected with a telescopic push rod, and two ends of the telescopic push rod are respectively connected with connecting shafts on two sides.
According to the control method of the robot with the wheel leg structure, when the robot runs normally, the independent driving mechanism drives the connecting shaft and the wheels to move, the clutch is disengaged at the moment, and the mechanical legs are in a retracted state and are parallel to two sides of the robot body and do not rotate along with the connecting shaft; when the robot encounters an obstacle which is difficult to cross, the clutch is controlled to be closed, and at the moment, the mechanical legs rotate along with the connecting shaft, so that the rotating motion of the mechanical legs is realized, and the obstacle crossing behavior is completed through the cooperation of the mechanical legs and the wheels.
Further, firstly, environment and component information are collected through various sensors, secondly, parameters required by analysis of various component states are calculated locally, the calculated parameters are uploaded to a cloud end, the component states are further analyzed to obtain specific state information of the components, real-time monitoring of the running states of the components is achieved, and finally, follow-up operation of the robot is controlled according to the actual state information of the components and the conditions of surrounding environments.
The invention has the beneficial effects that:
and better adaptability is achieved when the device faces complex terrains. When facing to the ground obstacle, the robot can not lose the moving capability because the wheels of the wheeled robot are blocked or blocked by the obstacle; when facing an obstacle with larger vertical drop, the robot can cooperatively run with the wheels to cross the obstacle by utilizing the leg structure of the robot; when the gravity center of the robot shifts, the body is blocked or turned over, the robot can recover the normal running posture in time by adjusting the telescopic push rod of the supporting mechanism, so that the stability of the robot in the operation process is ensured; when the robot is on a relatively flat road surface, the wheels can be independently used for realizing high-speed running, so that the working efficiency is improved.
The robot can be provided with the camera, the laser radar and other sensors, so that the dynamic capture of the environment is realized, an operator is assisted to operate, and the judgment capability of the operator on strange complex environments and the safety of the body under unmanned environments are improved.
The control method combining cloud edge cooperative technology and teleoperation is adopted, so that the accuracy of controlling the wheel-leg type robot is improved, the resource allocation requirement of the wheel-leg type robot on self state analysis is reduced, the real-time monitoring of the self state is realized, the load capacity is reduced, and more functional modules can be carried. The wheel leg type robot can be accurately controlled and accurately operated and maintained.
The foregoing inventive subject matter and various further alternatives thereof may be freely combined to form a plurality of alternatives, all of which are employable and claimed herein; and the invention can be freely combined between the (non-conflicting choices) choices and between the choices and other choices. Various combinations will be apparent to those skilled in the art from a review of the present disclosure, and are not intended to be exhaustive or all of the present disclosure.
Drawings
Fig. 1 is a schematic view of the structure of the present invention (mechanical leg retracted).
Fig. 2 is a schematic view of the structure of the present invention (mechanical leg deployment).
Fig. 3 is a schematic structural view of the mechanical leg of the present invention.
Fig. 4 is a top view of the structure of the present invention.
Fig. 5 is a partial enlarged view of fig. 4.
Fig. 6 is a front cross-sectional view of the present invention.
Fig. 7 is a schematic view of the present invention across an obstacle.
Fig. 8 is a flowchart of the cloud edge cooperative control method of the present invention.
Fig. 9 is a schematic diagram of a cloud edge cooperative control method according to the present invention.
In the figure: the device comprises a machine body, 2-wheels, 3-mechanical legs, 4-connecting shafts, a 5-driving motor, a 6-electromagnetic valve, a 7-clutch, an 8-telescopic motor, a 9-telescopic push rod, a 10-loop bar, an 11-inner contact plate, a 12-outer contact plate and a 13-sensor module.
Detailed Description
The following non-limiting examples illustrate the invention.
First, terms designed in the embodiments of the present invention will be described:
wheel leg robot: the wheel-leg robot is a robot structure for controlling the movement of the robot through a wheel-leg structure and is divided into two parts, namely a mechanical leg and a wheel.
The clutch mechanism comprises: the clutch is controlled through the electromagnetic valve, and the connecting shaft of the mechanical leg and the wheel is driven by the selectable control driving motor, so that the mechanism for independently moving the mechanical leg and the wheel is realized.
Axial supporting mechanism: the robot is composed of a telescopic motor and a telescopic push rod, and lateral support is provided when the robot loses the center of gravity or is in a rollover condition, so that the robot can recover to a normal running posture.
The embodiment illustrates that the invention can be used in nuclear accident handling or nuclear environment operation scene to complete tasks such as environment exploration. In case of nuclear leakage accident in some place, the robot needs to enter the place where nuclear accident happens to perform exploration operation. After nuclear accident, the robot running environment has the characteristics of complex physical space obstacle, unknown radiation distribution, large uncertainty in the operation process and the like, and the robot needs to have strong obstacle crossing capability, radiation resistance capability and data transmission capability.
Example 1:
referring to fig. 1 to 6, a robot of a wheel leg structure includes a body 1, wheels 2, a mechanical leg 3, a connecting shaft 4, an independent driving mechanism including a driving motor 5, a clutch 7 including a telescopic motor 8 and a telescopic push rod 9, an axial telescopic mechanism including a solenoid valve 6, an inner contact plate 11 and an outer contact plate 12, and a sleeve rod 10.
The fuselage 1 is the box structure of cuboid, and four directions all have the trompil before fuselage 1 top, back, left and right, inside mountable camera gathers the visual information of four directions simultaneously.
Four corners of the machine body 1 correspond to four groups of wheels 2, mechanical legs 3, connecting shafts 4, independent driving mechanisms, clutches 7 and loop bars 10, and the front and back of the machine body 1 correspond to two groups of axial telescopic mechanisms, namely a group of axial telescopic mechanisms are arranged between the connecting shafts 4 on two sides.
The machine body 1 is provided with a rotary connecting shaft 4, meanwhile, the connecting shaft 4 can axially move relative to the machine body 1, the outer end of the connecting shaft 4 is connected with the wheels 2, and normal walking on a flat ground is realized by utilizing the wheels 2 at four corners. The inner end of the connecting shaft 4 and the driving motor 5 can realize independent control of each wheel 2 through an independent driving connection mode, and the overall travelling capacity is improved.
After nuclear accident, the robot has complex operation environment, and obstacles such as building remains, cables, steps and the like are visible everywhere. In order to reduce mechanical structure of the robot, reduce complexity and improve stability, wheels and mechanical legs on one side are controlled by the same motor, and the function is realized by a clutch mechanism.
The machine body 1 is provided with a rotary loop bar 10, meanwhile, the loop bar 10 can axially move relative to the machine body 1, the loop bar 10 is sleeved on the connecting shaft 4, a clutch 7 is arranged between the connecting shaft 4 and the loop bar 10, and the loop bar 10 is connected with the mechanical leg 3. The clutch 7 is disengaged or closed, so that the connection shaft 4 and the loop bar 10 are disengaged or driven, and when an obstacle is met, the mechanical leg 3 can be driven to rotate, and the obstacle is crossed by matching with the wheel 2.
The connecting shafts 4 are independently controlled, so that the mechanical legs 3 are also independently controlled, the crossing capacity is high, and the independent control of the wheels and the mechanical legs is realized. The inside of the body 1 can be provided with sensor modules 13 which are required to work under different environments.
The tail end of the mechanical leg 3 is in a bent shape, and the hollow structure is arranged in the middle of the mechanical leg 3, so that the material is saved and the bearing capacity of the mechanical leg is improved. When the robot works on a gentle road surface, the mechanical legs on two sides can rotate to be parallel to the machine body and fold, so that the normal running of the robot is not affected; when encountering an obstacle, the mechanical legs can be controlled to rotate, and the obstacle surmounting capability is provided for the robot.
The inner contact plate 11 is fixed on the connecting shaft 4, the outer contact plate 12 is fixed on the loop bar 10, the inner contact plate 11 is arranged opposite to the outer contact plate 12, and the outer contact plate 12 is connected with the electromagnetic valve 6. When the clutch is disengaged, the inner contact plate and the outer contact plate are not contacted, and the connecting shaft 4 can not drive the mechanical leg 3 to rotate. When the clutch is closed, the sleeve rod 10 is driven to axially move by the electromagnetic valve 6, the inner contact plate and the outer contact plate are tightly attached together, and the connecting shaft 4 can drive the mechanical leg 3 to rotate.
When the robot runs normally, the driving motor 5 and the connecting shaft 4 drive the wheels 2 to move. The mechanical legs are in a retracted state and parallel to the two sides of the machine body and do not rotate along with the connecting shaft 4. When the robot encounters an obstacle which is difficult to cross, the electromagnetic valve 6 is controlled to close the clutch 7, and the mechanical leg 3 rotates along with the connecting shaft 4 at the moment, so that the rotary motion of the mechanical leg is realized. Through the cooperation of each mechanical leg and the wheel, the obstacle crossing behavior is completed.
After nuclear accident, the robot has complex operation environment, and when the robot runs on a complex road surface, the robot can possibly shift the center of gravity or turn over. At the moment, the robot can restore the gravity center or the normal running posture from the side turning condition through the axial supporting mechanism.
The telescopic motor 8 is fixed in the middle of the machine body 1, the telescopic motor 8 is connected with the telescopic push rod 9, the telescopic push rod 9 is driven to axially stretch, and two ends of the telescopic push rod 9 are respectively connected with the connecting shafts 4 on two sides. The inside of the connecting shaft 4 is hollow, and a telescopic push rod 9 is arranged in the hollow connecting shaft. When the center of gravity of the robot is shifted or rollover occurs, the telescopic push rod 9 in the connecting shaft 4 can be controlled by the telescopic motor 8 to extend to the left side or the right side, so that lateral support is provided for the robot, and the robot is enabled to recover to a normal running state.
As shown in fig. 7, when the robot moves by using wheels, the mechanical legs are in a suspended state, and the robot can quickly move on a flatter road section, and when the robot encounters an obstacle in the moving process, the mechanical legs on the front side of the robot can be controlled to be put on the obstacle; controlling the mechanical legs to rotate, lifting the front half part of the machine body, and driving the robot to move forwards to approach the obstacle through the rear wheels; at the moment, the rear mechanical leg is controlled to rotate anticlockwise, and the machine body of the rear half part is lifted to a proper height; then the front wheels and the rear legs work cooperatively to enable the robot to move to the obstacle; the front half part of the robot body moves from an obstacle to a flat ground through the cooperative movement of the wheels and the front legs, and meanwhile, the front mechanical legs are retracted; the wheels are controlled to enable the robot to continuously move forwards, the robot completely falls to the ground, and the rear mechanical legs are retracted; the final robot can finish the operation of crossing the obstacle and can continue to work on flat terrain.
Example 2:
referring to fig. 1 to 7, in the control method of the robot with the wheel leg structure, when the robot runs normally, the independent driving mechanism drives the connecting shaft 4 and the wheels 2 to move, the clutch 7 is disengaged, and the mechanical legs 3 are in a retracted state and are parallel to two sides of the machine body 1 and do not rotate along with the connecting shaft 4.
When the robot encounters an obstacle which is difficult to cross, the clutch 7 is controlled to be closed, the mechanical legs 3 rotate along with the connecting shafts 4, the rotating motion of the mechanical legs 3 is realized, and obstacle crossing behaviors are completed through the cooperation of the mechanical legs 3 and the wheels 2.
Because the robot has limited internal space and limited resource allocation, each part of the robot is easy to fail in a nuclear emergency environment, the wheel leg robot related to the invention can also analyze the state information of each part by using a cloud-edge cooperative control method. The flow chart is shown in fig. 8, environment and component information are collected through various sensors, parameters required by analysis of various component states are calculated locally, the calculated parameters are uploaded to a cloud end, the component states are further analyzed to obtain specific state information of the components, real-time monitoring of the running states of the components is achieved, and finally follow-up operation of the robot is controlled according to the actual state information of the components and the conditions of surrounding environments.
The cloud edge cooperative control method is shown in fig. 9, the cloud edge cooperative control method adopts a cloud edge structure for operation and maintenance, and an edge side adopts an edge cluster form for local end data acquisition, processing and transmission, and the cloud edge cooperative control method consists of a plurality of edge nodes 103 and an edge server 102.
Edge cluster: the wheel leg robots 104 communicate with the edge nodes 103, and the edge nodes 103 communicate with the main nodes of the edge servers 102 to form an edge cluster. Cloud edge cooperation: the main node of the edge server 102 communicates with the cloud server 101, and the edge, the main node and the cloud server form a cloud edge cooperative system.
Cloud edge cooperation flow: and for complex calculation tasks, a cloud edge cooperative mode is adopted to finish. After the on-site wheel-leg robot 104 submits the real-time data to the edge nodes 103, the edge nodes 103 analyze the real-time data to obtain corresponding models, and the model data are transmitted to the main node of the edge server 102. The master node of the edge server 102 gathers the models, merges the models into a new model, submits the new model to the cloud server 101 for analysis, and returns the analyzed data to the on-site legged robot in sequence to perform related operations.
The foregoing basic embodiments of the invention, as well as other embodiments of the invention, can be freely combined to form numerous embodiments, all of which are contemplated and claimed. In the scheme of the invention, each selection example can be arbitrarily combined with any other basic example and selection example.
The foregoing description of the preferred embodiments of the invention is not intended to be limiting, but rather is intended to cover all modifications, equivalents, and alternatives falling within the spirit and principles of the invention.
Claims (5)
1. Robot of wheel leg structure, including fuselage (1), its characterized in that: the machine body (1) is provided with a rotary connecting shaft (4), the connecting shaft (4) is connected with the wheels (2), the machine body (1) is provided with a rotary loop bar (10), a clutch (7) is arranged between the connecting shaft (4) and the loop bar (10), and the loop bar (10) is connected with the mechanical legs (3);
the loop bar (10) is sleeved on the connecting shaft (4), and the clutch (7), the loop bar (10), the mechanical leg (3) and the wheel (2) are sequentially arranged from inside to outside;
the clutch (7) comprises an inner contact plate (11) and an outer contact plate (12), wherein the inner contact plate (11) is arranged on the connecting shaft (4), the outer contact plate (12) is arranged on the sleeve rod (10), the inner contact plate (11) and the outer contact plate (12) are arranged opposite to each other, the outer contact plate (12) is closer to the wheel (2) than the inner contact plate (11), the outer contact plate (12) is connected with the electromagnetic valve (6), and the electromagnetic valve (6) drives the mechanical leg (3) to axially move through the sleeve rod (10);
the connecting shaft (4) is connected with the axial telescopic mechanism; the connecting shaft (4) can axially move relative to the machine body (1); the loop bar (10) can axially move relative to the machine body (1);
the axial telescopic mechanism comprises a telescopic motor (8), the telescopic motor (8) is connected with a telescopic push rod (9), and two ends of the telescopic push rod (9) are respectively connected with connecting shafts (4) on two sides.
2. The robot of claim 1, wherein the wheel leg structure comprises: four corners of the machine body (1) are respectively provided with wheels (2), mechanical legs (3) and connecting shafts (4).
3. The robot of a wheel leg structure according to claim 1 or 2, characterized in that: the tail end of the mechanical leg (3) is curved, and a hollow structure is arranged in the middle of the mechanical leg (3).
4. The robot of a wheel leg structure according to claim 1 or 2, characterized in that: the connecting shaft (4) is connected with an independent driving mechanism.
5. A control method of a robot with a wheel leg structure, comprising the robot with a wheel leg structure according to any one of claims 1 to 4, characterized in that: when the robot runs normally, the connecting shaft (4) and the wheels (2) are driven to move by the independent driving mechanism connected with the connecting shaft (4), at the moment, the clutch (7) is disengaged, and the mechanical legs (3) are in a retracted state and are parallel to two sides of the machine body (1) and do not rotate along with the connecting shaft (4);
when the robot encounters an obstacle which is difficult to cross, the clutch (7) is controlled to be closed, and at the moment, the mechanical legs (3) rotate along with the connecting shaft (4), so that the rotating motion of the mechanical legs (3) is realized, and obstacle crossing behaviors are completed through the cooperation of the mechanical legs (3) and the wheels (2).
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| CN114802519B true CN114802519B (en) | 2023-07-11 |
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