CN115122306A - Rotationally symmetric reconfigurable robot platform and method thereof - Google Patents
Rotationally symmetric reconfigurable robot platform and method thereof Download PDFInfo
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- CN115122306A CN115122306A CN202210903533.5A CN202210903533A CN115122306A CN 115122306 A CN115122306 A CN 115122306A CN 202210903533 A CN202210903533 A CN 202210903533A CN 115122306 A CN115122306 A CN 115122306A
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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
- B25J9/0009—Constructional details, e.g. manipulator supports, bases
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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
- B25J9/08—Programme-controlled manipulators characterised by modular constructions
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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
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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
- B25J9/1674—Programme controls characterised by safety, monitoring, diagnostic
- B25J9/1676—Avoiding collision or forbidden zones
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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
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Abstract
The invention relates to a rotationally symmetric reconfigurable robot platform and a reconfiguration method thereof, wherein the rotationally symmetric reconfigurable robot platform comprises: a frame provided with an omnidirectional driving assembly; an identification component disposed on the rack; the butt joint assembly is arranged on the periphery of the rack and comprises a plurality of butt joint parts which are rotationally symmetrical along the circumferential direction of the rack, each butt joint part comprises an active part and a passive part, and the active part can be detachably connected with the passive part of the external reconfigurable robot platform. According to the invention, the number of the robot platforms can be freely reconstructed under the coordination of the reconstruction method according to the requirements of the use scene, so that the flexibility is strong and the adaptability is strong; the butt joint part matched with the electromagnet and the magnetic part ensures that the butt joint structure of the butt joint assembly is simple, the butt joint difficulty is low, quick and flexible automatic butt joint and separation can be realized by switching on and off, and external force assistance is not needed; the concave part and the convex part have large contact area during matching and butt joint, strong robustness and strong coordination capability.
Description
Technical Field
The invention relates to the technical field of robots, in particular to a rotationally symmetric reconfigurable robot platform and a method thereof.
Background
With the rapid improvement of the intelligent degree of the robot, the application field of the robot is jumped out from industrial scenes such as machining, automobile part manufacturing, flow line production and the like, and the robot is gradually developed to the commercial and civil fields. The complexity of the task completed by the robot is generally in proportion to the complexity of the structure of the robot. For some specific tasks, a single robot is not the best solution. However, there are some problems in practical applications of the multi-robot system. Under the condition that interference exists outside, the formation structure of the multiple robots is very easy to change, and the reliability is low. Meanwhile, the robots in formation are only connected with each other through virtual signals and are difficult to interact in a real environment, so that the application potential of the multi-robot system is limited to a certain extent. The problem of fluctuation of the formation can be effectively solved by adding physical connection between the robots. This physical connection must be instantly established and cancelled to ensure flexibility in the movements of the individual robots. The reconfigurable robot is a multi-robot system which can flexibly change the configuration according to the actual task requirement. The reconfigurable robot with the modular design has stronger adaptability to the environment and better robustness.
However, the current reconfigurable robot platform has the following problems: (1) the independent movement capability of a single robot platform is poor, and even the independent movement cannot be realized; (2) the connecting mechanism is complex and easy to damage, and the butt joint difficulty is large; (3) the butt joint automation degree is low, and auxiliary butt joint must be carried out through external force; (4) the butt joint mode and the butt joint direction are limited, and a specific configuration cannot be formed; (5) and the cooperative motion capability is poor, and multi-drive resolving is complex.
Disclosure of Invention
The invention provides a rotationally symmetric reconfigurable robot platform and a method thereof, and aims to at least solve one of the technical problems in the prior art.
In the technical scheme of the invention, the rotationally symmetric reconfigurable robot platform comprises: the rack is provided with an omnidirectional driving assembly; an identification component disposed on the chassis; the docking assembly is arranged on the periphery of the rack and comprises a plurality of docking portions which are rotationally symmetrical along the circumferential direction of the rack, each docking portion comprises an active part and a passive part, and the active part can be detachably connected with the passive part of the external reconfigurable robot platform.
Further, the butt joint assembly comprises a regular polygonal butt joint frame connected to the periphery of the rack, each butt joint part comprises a convex part and a concave part which are arranged on the outer side of each side of the butt joint frame, and the convex part is matched with the concave part in shape; the driving part comprises an electromagnet or a magnetic conduction part arranged on the convex part, and the driven part comprises a magnetic conduction part or an electromagnet arranged on the concave part.
Furthermore, the outside of convex part is uncovered and is provided with the electro-magnet mounting groove, the bottom of electro-magnet mounting groove is provided with the locking hole that communicates to the butt joint frame inner wall, the electro-magnet sets up in the electro-magnet mounting groove and is connected with the butt joint frame through the bolt that passes the locking hole.
Furthermore, the two sides of the convex part and the concave part are both provided with guide inclined planes, and the guide inclined planes of the convex part and the guide inclined planes of the concave part are mutually matched in a guiding way.
Further, the magnetic conduction piece comprises a magnetic conduction plate connected to the outer side of the concave part; the guide inclined plane is respectively provided with clamping grooves for accommodating two edges of the magnetic conduction plate at two sides of the concave part.
Furthermore, a switch mounting groove is formed in one side, facing the top or the bottom of the butt joint frame, of the convex part; a switch seat is arranged in the switch mounting groove, and a switch fixing hole is formed in the switch seat; the butt joint frame is provided with a wiring hole for communicating the switch mounting groove, the switch fixing hole and the electromagnet mounting groove; the top of the bump is also provided with a limit switch mounting seat which can be connected with the top of the convex part in a sliding way along the radial direction of the rack through a sliding structure; the sliding structure comprises a mounting lug arranged at the top of the convex part, a first sliding groove arranged on the mounting lug along the radial direction of the rack and a second sliding groove arranged on the limit switch mounting seat along the radial direction of the rack, and the first sliding groove is in sliding fit with the second sliding groove through a locking bolt; and the limit switch mounting seat is provided with a limit switch fixing hole.
Further, the rack includes: the omnidirectional driving assembly is arranged on the periphery of the bottom of the chassis and positioned in the butt joint frame, and the butt joint frame is connected with the chassis through a connecting support; the bearing plate is arranged above the chassis through the connecting column, the distance from one side of the bearing plate, which is far away from the chassis, to the top of the chassis is larger than the distance from one side of the butt joint frame, which is far away from the chassis, to the top of the chassis, and the identification assembly is arranged at the top of the bearing plate; a top plate; the top plate is connected with the bearing plate through the connecting column and is arranged above the bearing plate and the identification component; the omnidirectional drive assembly includes: the motors are respectively connected to the bottom of the chassis in a rotating and symmetrical mode along the circumferential direction of the chassis through motor supports; the omnidirectional wheels are connected to the output shaft of each motor through a coupler; and the chassis is connected with a mudguard above each omnidirectional wheel through a mudguard support respectively.
Further, the identification assembly comprises a camera, and the camera is connected to the top of the bearing plate through a fixed support; the top of the bearing plate is also provided with a control assembly and a signal transmission assembly behind the camera, and the control assembly is electrically connected with the camera, the motor, the electromagnet and the signal transmission assembly respectively.
The reconfigurable robot platform is composed of at least two robots.
The reconfiguration method of the robot platform is used for the reconfigurable robot platform, wherein the reconfigurable robot platform comprises at least one active docking robot and at least one passive robot, and the method comprises the following steps:
a1, collecting two-dimensional code information on the passive robot through a camera of the active butt joint robot, wherein the two-dimensional code information is arranged on the surface of the passive robot in the direction of the non-installed camera;
a2, numbering each two-dimension code of the passive robot through a control component of the active butt joint robot, distributing the butt joint direction of the active butt joint robot and the passive robot by the control component according to the number, and sharing information of the two-dimension code number and the butt joint direction with the control components of the other active butt joint robots through a signal transmission component of the active butt joint robot;
a3, driving the active docking robot to carry out obstacle avoidance exploration through an omnidirectional driving component of the active docking robot, and identifying two-dimensional code information of a direction surface, on which a camera is not mounted, on the passive robot through the camera of the active docking robot so as to determine the relative pose information of the two-dimensional code of the docking part surface in the docking direction of the passive robot;
a4, controlling the omnidirectional driving component to work through the control component of the active butt joint robot according to the relative pose information of the two-dimensional code on the surface of the butt joint part in the butt joint direction of the passive robot, so that the active butt joint robot can avoid obstacles and move and is in butt joint with the passive robot;
and A5, completing butt joint to form a reconfigurable robot platform.
Another method for reconfiguring a robot platform is used for the reconfigurable robot platform, wherein the reconfigurable robot platform comprises at least one active docking robot and at least one passive robot, and the method comprises the following steps:
b1, acquiring two-dimensional code information on the passive robot through a camera of the active docking robot, wherein the two-dimensional code information is arranged on the surface of the passive robot in the direction of the non-installed camera;
b2, sharing two-dimensional code position and posture information with the control components of the other active butt robots through the signal transmission components of the active butt robots;
b3, numbering each two-dimension code of the passive robot through the control component of the active butt-joint robot, distributing the butt-joint direction of the active butt-joint robot and the passive robot by the control component according to the number, and sharing information of the two-dimension code number and the butt-joint direction with the control components of the other active butt-joint robots through the signal transmission component of the active butt-joint robot;
b4, driving the active docking robot to perform obstacle avoidance exploration through the omnidirectional driving component of the active docking robot, and identifying the two-dimensional code information of the direction surface of the passive robot, on which a camera is not mounted, through the camera of the active docking robot so as to determine the relative pose information of the two-dimensional code of the docking part surface in the docking direction of the passive robot;
b5, controlling the omnidirectional driving component to work through the control component of the active butt joint robot according to the relative pose information of the two-dimensional codes on the surfaces of the butt joint parts in the butt joint direction of the passive robot, so that the active butt joint robot avoids obstacles to move and is in butt joint with the passive robot;
b6, completing butt joint to form the reconfigurable robot platform.
The beneficial effects of the invention are as follows:
1. the robot realizes that a single robot flexibly and autonomously moves on a plane in any direction through the arranged omnidirectional driving component;
2. the robot can freely reconstruct the number of the robot platforms under the coordination of the reconstruction method according to the requirements of a use scene, can realize the coupling of the robot platforms in a plurality of connection modes through the butt joint parts, and has strong flexibility and strong adaptability;
3. according to the robot, the electromagnet and the magnetic part are magnetically attracted and matched to form the butt joint part, so that the butt joint structure of the butt joint assembly is simple, the butt joint difficulty is low, quick and flexible automatic butt joint and separation can be realized by powering on and powering off, and external force assistance is not needed;
4. the five-fold-surface-shaped S-shaped butt joint part formed by matching the concave part and the convex part has large contact area during butt joint, strong robustness and strong coordination capability.
Drawings
Fig. 1 is a schematic perspective view of an embodiment of the present invention.
Fig. 2 is a schematic top view of an embodiment of the present invention.
Fig. 3 is a schematic perspective view of a docking assembly according to an embodiment of the present invention.
Fig. 4 is a perspective view of a concealed docking assembly according to an embodiment of the present invention.
Fig. 5 is an exploded schematic view of an embodiment of the present invention.
Fig. 6 is a diagram of two robots in accordance with an embodiment of the present invention in a docked state.
Fig. 7 is a rectangular docking state diagram of four robot platforms according to the embodiment of the present invention.
Fig. 8 is a diagram showing four linear docking states of the robot stages according to the embodiment of the present invention.
Fig. 9 is a cross-shaped docking state diagram of a plurality of robot platforms according to the embodiment of the present invention.
Fig. 10 is a flowchart of a reconfiguration method for a rotationally symmetric reconfigurable robot platform in the embodiment of the present invention.
Fig. 11 is a flowchart of another reconfiguration method for a rotationally symmetric reconfigurable robot platform according to an embodiment of the present invention.
In the above figures, 100, a frame; 110. a chassis; 111. mounting holes; 112. a wire passing hole; 113. a fixing hole; 120. a carrier plate; 130. a top plate; 140. connecting columns; 150. a fender; 151. a fender support; 160. a circuit support; 200. an omnidirectional drive component; 210. a motor; 220. a motor bracket; 230. a coupling; 240. an omni wheel; 300. a docking assembly; 310. a docking frame; 311. a convex portion; 312. an electromagnet mounting groove; 313. a locking hole; 314. a switch mounting groove; 315. mounting lugs; 316. a first chute; 317. a recess; 318. a card slot; 319. a wiring hole; 320. connecting a bracket; 330. an electromagnet; 340. a magnetic conductive plate; 350. a switch base; 351. a switch fixing hole; 360. a limit switch mounting base; 361. a second chute; 362. a limit switch fixing hole; 370. cushion blocks; 371. a through hole; 400. a control component; 500. identifying a component; 510. a camera; 520. a fixed support; 600. a signal transmission component.
Detailed Description
The conception, the specific structure and the technical effects of the present invention will be clearly and completely described in conjunction with the embodiments and the accompanying drawings to fully understand the objects, the schemes and the effects of the present invention. It should be noted that, in the present application, the embodiments and features of the embodiments may be combined with each other without conflict.
It should be noted that, unless otherwise specified, when a feature is referred to as being "fixed" or "connected" to another feature, it may be directly fixed or connected to the other feature or indirectly fixed or connected to the other feature. Furthermore, the descriptions of upper, lower, left, right, top, bottom, etc. used in the present invention are only relative to the positional relationship of the components of the present invention with respect to each other in the drawings.
Furthermore, unless defined otherwise, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art. The terminology used in the description herein is for the purpose of describing particular embodiments only and is not intended to be limiting of the invention. As used herein, the term "and/or" includes any combination of one or more of the associated listed items.
It will be understood that, although the terms first, second, third, etc. may be used herein to describe various elements, these elements should not be limited by these terms. These terms are only used to distinguish one element of the same type from another. For example, a first element could be termed a second element, and, similarly, a second element could be termed a first element, without departing from the scope of the present disclosure.
Referring to fig. 1, in some embodiments, a rotationally symmetric reconfigurable robotic platform according to aspects of the present disclosure includes: a frame 100 provided with an omnidirectional driving assembly 200; an identification component 500 disposed on the rack 100; the docking assembly 300 is arranged on the periphery of the rack 100, the docking assembly 300 comprises a plurality of docking portions which are rotationally symmetrical along the circumferential direction of the rack 100, each docking portion comprises an active part and a passive part, and the active part can be detachably connected with the passive part of the external reconfigurable robot platform. The rotationally symmetric reconfigurable robot platform realizes that a single rotationally symmetric reconfigurable robot platform can flexibly and autonomously move on a plane in any direction through the arranged omnidirectional driving component 200; the rotationally symmetric reconfigurable robot platform can freely reconfigure the number of the robot platforms according to the requirements of a use scene under the coordination of a reconfiguration method, can realize the coupling of the robot platforms in multiple connection modes through the butt joint parts, and has strong flexibility; the recognition assembly 500 provided on the gantry 100 enables the rotationally symmetric reconfigurable robot platform to recognize pose information of an adjacent rotationally symmetric reconfigurable robot platform for position adjustment and docking.
Referring to fig. 2 and 3, in order to improve the docking accuracy of the adjacent rotationally symmetric reconfigurable robot platforms, so as to enable the multiple rotationally symmetric reconfigurable robot platforms to be capable of co-directionally displacing with high accuracy after being docked, further, the docking assembly 300 includes a docking frame 310 of a regular polygon shape connected to the periphery of the rack 100, each docking portion includes a convex portion 311 and a concave portion 317 disposed outside each side of the docking frame 310, and the convex portion 311 is adapted to the shape of the concave portion 317; the driving part comprises an electromagnet 330 or a magnetic conduction part arranged on the convex part 311, and the driven part comprises a magnetic conduction part or an electromagnet 330 arranged on the concave part 317. According to the rotationally symmetric reconfigurable robot platform, the electromagnet 330 and the magnetic part are magnetically attracted and matched to form the butt joint part, so that the butt joint structure of the butt joint assembly 300 is simple, the butt joint difficulty is low, quick and flexible automatic butt joint and separation can be realized through power on and power off, external force assistance is not needed, and the electromagnet 330 and the magnetic part can be quickly aligned through matching of the concave part 317 and the convex part 311, so that the magnetically attracted connection strength of the rotationally symmetric reconfigurable robot platform in all directions is uniform.
Referring to fig. 3 and 5, an electromagnet mounting groove 312 is formed in an opening of the outer side of the convex portion 311, a larger electromagnet 330 is favorably arranged in the space of the convex portion 311, so that the magnetic attraction strength is enhanced, a locking hole 313 communicated to the inner wall of the docking frame 310 is formed in the bottom of the electromagnet mounting groove 312, the electromagnet 330 is arranged in the electromagnet mounting groove 312 and connected with the docking frame 310 through a bolt penetrating through the locking hole 313, the electromagnet 330 is fastened in the electromagnet mounting groove 312 through the bolt matching with the locking hole 313, and the phenomenon that the electromagnet 330 is loosened and falls off due to collision of the rotationally symmetric reconfigurable robot platform in the moving process can be avoided.
In addition, referring to fig. 5, in order to avoid the bolt of the locking electromagnet 330 from loosening, a cushion block 370 is further provided, the cushion block 370 is in a step shape, the narrow end of the cushion block 370 penetrates into the locking hole 313, the bolt penetrates through the through hole 371 of the cushion block 370 and is screwed with the electromagnet 330, one side of the wide end of the cushion block 370, which is close to the inner wall of the docking frame 310, is abutted against the inner wall of the docking frame 310, one side of the wide end of the cushion block 370, which is far away from the inner wall of the docking frame 310, is abutted against the head of the bolt, and the effects of suppressing vibration and preventing loosening are achieved.
Referring to fig. 3, the two sides of the convex portion 311 and the concave portion 317 are provided with guiding inclined surfaces, and the guiding inclined surfaces of the convex portion 311 and the concave portion 317 are in guiding fit with each other. Specifically, the recess 317 and the protrusion 311 cooperate to form a five-fold-surface-shaped S-shaped butt joint portion, the folded surfaces where the electromagnet mounting groove 312 and the magnetic conduction plate 340 are located at the outermost side of the protrusion 311 and the innermost side of the recess 317, respectively, and the other three inclined surfaces provide good guiding and guiding capabilities during butt joint, so that alignment of the electromagnet 330 and the magnetic conduction member is realized, the contact area of the guiding inclined surfaces during butt joint is large, the robustness is strong, and the improvement of the synergy is strong.
Referring to fig. 2, 3 and 5, in order to increase the magnetic conductive area of the magnetic conductive member and improve the magnetic strength, the magnetic conductive member includes a magnetic conductive plate 340 connected to the outer side of the concave portion 317; the guide inclined plane is respectively provided with clamping grooves 318 for accommodating two edges of the magnetic conducting plate 340 at two sides of the concave part 317, and the clamping grooves 318 can prevent the two edges of the magnetic conducting plate 340 from being exposed in the concave part 317, so that the smoothness of the guide inclined plane is improved.
Referring to fig. 2, 3 and 5, in order to effectively utilize the internal space of the protrusion 311 and reduce the material cost of the docking frame 310, the protrusion 311 is provided with a switch installation groove 314 at one side of the electromagnet installation groove 312, the switch installation groove 314 is open towards the top or the bottom of the docking frame 310, and in order to avoid the switch seat 350 falling, in the embodiment of the invention, the installation groove is open towards the top; a switch seat 350 is arranged in the switch mounting groove 314, a switch fixing hole 351 is formed in the switch seat 350, and specifically, a switch of the control electromagnet 330 is fixed in the switch fixing hole 351; the butt joint frame 310 is provided with wiring holes 319 which are communicated with the switch mounting groove 314, the switch fixing hole 351 and the electromagnet mounting groove 312, and lines between the electromagnet 330 and the electromagnet 330 switch and between the electromagnet 330 switch and the inside of the rack 100 are arranged through the wiring holes 319, so that the assembly difficulty is effectively reduced; the top of the bump is further provided with a limit switch mounting seat 360, and the limit switch mounting seat 360 can be connected with the top of the convex part 311 in a sliding manner along the radial direction of the rack 100 through a sliding structure; the sliding structure comprises a mounting lug 315 arranged at the top of the convex part 311, a first sliding groove 316 arranged on the mounting lug 315 along the radial direction of the rack 100, and a second sliding groove 361 arranged on the limit switch mounting seat 360 along the radial direction of the rack 100, wherein the first sliding groove 316 is in sliding fit with the second sliding groove 361 through a locking bolt; be provided with limit switch fixed orifices 362 on the limit switch mount pad 360, specific limit fixed switch passes through screw cooperation limit switch fixed orifices 362 and fixes on limit switch seat 350 to screw through loosening and passing in first spout 316 and the second spout 361 makes limit switch can radially adjust, with finely tune limit switch's position according to actual conditions, so that when two robot platform butt joints successfully, limit switch can effectively be closed, realize realizing the outage of electro-magnet 330 after the joint of two rotational symmetry's restructural robot platform, with the saving electric energy.
Referring to fig. 4 and 5, the rack 100 includes: the omnidirectional driving assembly 200 is arranged around the bottom of the chassis 110 and is located in the docking frame 310, the docking frame 310 is connected with the chassis 110 through a connecting bracket 320, specifically, in order to facilitate flexible docking of a plurality of rotationally symmetric reconfigurable robot platforms, the docking frame 310 is in a quadrilateral form, the connecting bracket 320 is in a cross shape respectively connecting each inner side of the quadrilateral docking frame 310, and the connecting bracket is connected with the top of the chassis 110 through a mounting hole 111 which is arranged in a screw matching manner on the chassis 110 in a redundant manner; the carrying plate 120 is disposed above the chassis 110 through the connection column 140, a distance from one side of the carrying plate 120 far away from the chassis 110 to the top of the chassis 110 is greater than a distance from one side of the docking frame 310 far away from the chassis 110 to the top of the chassis 110, and the identification assembly 500 is disposed on the top of the carrying plate 120, so that the identification device is prevented from being shielded by the docking frame 310; a top plate 130; the top plate 130 is connected with the bearing plate 120 through the connecting column 140 and is arranged above the bearing plate 120 and the identification component 500, and the arrangement of the top plate 130 can realize the flatness of the top of the rack 100, which is beneficial to supporting objects; the omni-directional driving assembly 200 includes: the motors 210 are respectively connected to the bottom of the chassis 110 in a rotational symmetry manner along the circumferential direction of the chassis 110 through motor brackets 220; a plurality of omni wheels 240, each of the omni wheels 240 being connected to an output shaft of each of the motors 210 through a coupling 230; the fender 150 is connected to the upper side of each omni wheel 240 of the chassis 110 through a fender support 151, and the fender 150 effectively prevents the omni wheels 240 from being thrown up by impurities such as soil driven by the motor 210 to contaminate electrical equipment on the rack 100.
Specifically, in order to ensure the accuracy, rapidity and stability of the docking of the robot in the docking process, the omnidirectional wheels are controlled in an omnidirectional manner by the Mecanum wheels. The motors are four servo motors which become actuators, and four Mecanum wheels are controlled objects. The process of controlling the robot motion at this time is as follows: the control module is programmed to communicate with the development board, a motion control instruction is sent to a serial port of the development board, then the servo motor is controlled through the development board and a drive, the servo motor drives the Mecanum wheel to move, and the robot can be controlled to carry out expected motion.
In addition, the connection column 140 is a hexagonal copper column, the edges of the bottom plate 110, the loading plate 120 and the top plate 130 are all provided with a plurality of fixing holes 113, and the end portion of the hexagonal copper column is in threaded fit with the fixing holes 113 to realize the fastening connection of the bottom plate 110, the loading plate 120 and the top plate 130.
Further, the identification assembly 500 comprises a camera 510, wherein the camera 510 is connected to the top of the bearing plate 120 through a fixing support 520; the top of the bearing plate 120 is further provided with a control assembly 400 and a signal transmission assembly 600 at the rear of the camera 510, and the control assembly 400 is electrically connected with the camera 510, the motor 210, the electromagnet 330 and the signal transmission assembly 600 respectively.
It should be noted that the control unit 400 includes an upper computer, and the signal transmission unit 600 preferably employs a bluetooth receiving module.
In addition, the chassis 110, the carrier plate 120 and the top plate 130 are provided with wire holes 112 at opposite positions, so as to facilitate the wiring between the components and the camera 510, the motor 210, the electromagnet 330 and the signal transmission component 600, respectively.
One of the reconfigurable robot platforms, referring to fig. 6 to 9, is composed of at least two of the robots, and the configuration shape of the reconfigurable robot platform can be changed according to the shape of an object to be carried, such as a rectangle, a straight line or a cross.
Specifically, label plates (not shown in the figure) are arranged on the surfaces of the other three directions, which are not the directions of the camera 510, of the robot body, and the camera 510 of the active docking robot can acquire the ID information of the two-dimensional code in real time and the position and the posture of the camera 510 of the active docking robot in the two-dimensional code coordinate system by detecting the two-dimensional code of the passive robot in real time, so that the relative poses of the active docking robot and the passive robot can be known.
When the reconfigurable robot platform is formed by butt joint of two robots, one robot is an active butt joint robot, and the other robot is a passive robot. When the camera 510 of the active docking robot can observe a certain two-dimensional code of the passive robot in the visual field range, the relative pose of the passive robot can be obtained through real-time detection, that is, the plane position coordinates (x, y) and the yaw angle theta of the active docking robot are obtained under a three-dimensional coordinate system taking the passive docking robot as the origin. At this time, the active docking robot can be docked with the passive robot by controlling the motion of the active docking robot through a control algorithm designed in the control component 400 on the active docking robot, so that the active docking robot moves to the expected plane position coordinates (x, y) and the yaw angle theta.
When the reconfigurable robot platform is composed of at least 3 robots in a butt joint mode, the following reconfiguration method is preferably adopted:
referring to fig. 10, a reconfigurable method of a robot platform is provided for the reconfigurable robot platform, wherein the reconfigurable robot platform comprises at least two active docking robots and at least one passive robot, and the method comprises the following steps:
a1, acquiring two-dimensional code information on the passive robot through the camera 510 of the active docking robot, wherein the two-dimensional code information is arranged on the surface of the passive robot in the direction of the non-mounted camera 510;
a2, numbering each two-dimension code of the passive robot through the control component 400 of the active docking robot, distributing the docking direction of the active docking robot and the passive robot by the control component 400 according to the number, and sharing the information of the two-dimension code numbering and the docking direction with the control components 400 of the other active docking robots through the signal transmission component 600 of the active docking robot;
a3, driving the active docking robot to perform obstacle avoidance exploration through an omnidirectional driving component of the active docking robot, and identifying two-dimensional code information of a direction surface of a non-installed camera 510 on the passive robot through the camera 510 of the active docking robot so as to determine the relative pose information of the two-dimensional code of the docking part surface in the docking direction of the passive robot;
a4, controlling the omnidirectional driving component to work through the control component 400 of the active docking robot according to the relative pose information of the two-dimensional code of the surface of the docking part in the docking direction of the passive robot, so that the active docking robot can avoid obstacles and move and dock with the passive robot;
and A5, completing butt joint to form a reconfigurable robot platform.
Specifically, the robot reconstruction method is adopted, two-dimension code number information of a global robot is provided in advance, each active butt joint robot is sequentially numbered, meanwhile, each active butt joint robot knows the two-dimension code number information of the passive robot needing butt joint combination, a target two-dimension code of the passive robot is searched in an active butt joint robot obstacle avoidance searching mode, meanwhile, collision searching is also considered, when a camera 510 of the active butt joint robot identifies the target two-dimension code of the passive robot, the two robots carry out relative pose detection and motion control under the butt joint condition until the last active butt joint robot searches the target two-dimension code of the passive robot and completes butt joint, and expected combination forms are completed.
Referring to fig. 11, another reconfigurable method of a robot platform is provided for the reconfigurable robot platform, wherein the reconfigurable robot platform comprises at least two active docking robots and at least one passive robot, the method comprising the steps of:
b1, acquiring two-dimensional code information on the passive robot through the camera 510 of the active docking robot, wherein the two-dimensional code information is arranged on the surface of the passive robot in the direction of the non-mounted camera 510;
b2, sharing two-dimensional code position and posture information with the control assemblies 400 of the rest active docking robots through the signal transmission assembly 600 of the active docking robot;
b3, numbering each two-dimension code of the passive robot through the control component 400 of the active docking robot, distributing the docking direction of the active docking robot and the passive robot by the control component 400 according to the number, and sharing the information of the two-dimension code numbering and the docking direction with the control components 400 of the other active docking robots through the signal transmission component 600 of the active docking robot;
b4, driving the active docking robot to perform obstacle avoidance exploration through the omnidirectional driving component of the active docking robot, and identifying the two-dimensional code information of the direction surface of the non-installed camera 510 on the passive robot through the camera 510 of the active docking robot so as to determine the relative pose information of the two-dimensional code of the docking part surface in the docking direction of the passive robot;
b5, controlling the omnidirectional driving component to work through the control component 400 of the active docking robot according to the relative pose information of the two-dimensional code of the surface of the docking part in the docking direction of the passive robot, so that the active docking robot can avoid obstacles and move and dock with the passive robot;
b6, completing butt joint to form the reconfigurable robot platform.
Specifically, the robot reconfiguration method is adopted to sequentially number each active docking robot under the condition that the two-dimension code number information of the global robot is unknown, each sequentially numbered active docking robot does not know the two-dimension code number of the surface of the docking part of the robot which needs to be docked and combined, the two-dimension code number information of the surface of the passive robot which needs to be docked next can be found out through the communication record and calculation estimation of every two successfully docked active docking robots and passive robots, the target two-dimension code of the passive robot is searched through the obstacle avoidance and exploration of the active docking robots, meanwhile, collision search is also considered, when the camera 510 of the active docking robot identifies the target two-dimension code of the passive robot, the relative pose detection and motion control are carried out under the docking condition of the two robots to realize docking, relative to the driven robot, the number of the relative two-dimensional code can be known when the two-dimensional code is arranged, and it should be mentioned that relative means that two parallel surfaces in one driven robot are supposed to be called as a label pair in the application, such as 1-3, 24. Namely, as shown in the following examples, the robot platform with three robots spliced into a straight line or a triangle has a passive robot number one tag pair of 1-3, 24, an active docking robot number two tag pair of 57, 68, and an active docking robot number three tag pair of 911, 1012; assuming that the first robot and the second robot are successfully docked, the docking success plane is 1 × 5. Therefore, by recording the successful surface to be docked and deducing the information of the tag pair, when the third docking surface 3 or 7 of the active docking robot is a straight line, the docking surfaces 2, 4, 6, 8 are triangles. For more situations, by recording information and self information, it is able to deduce a certain docking surface to which the active docking robot needs to dock through calculation, and when the last active docking robot completes docking, it realizes the desired combination form.
The present invention is not limited to the above embodiments, and any modifications, equivalent substitutions, improvements, etc. within the spirit and principle of the present disclosure should be included in the scope of the present disclosure as long as the technical effects of the present invention are achieved by the same means. Are intended to fall within the scope of the present invention. The invention is capable of other modifications and variations in its technical solution and/or its implementation, within the scope of protection of the invention.
Claims (10)
1. A mobile robot, comprising:
a frame (100) provided with an omnidirectional drive assembly (200);
an identification assembly (500) disposed on the chassis (100);
the docking assembly (300) is arranged on the periphery of the rack (100), the docking assembly (300) comprises a plurality of docking portions which are rotationally symmetrical along the circumferential direction of the rack (100), each docking portion comprises an active part and a passive part, and the active part can be detachably connected with the passive part of the external reconfigurable robot.
2. Mobile robot as claimed in claim 1,
the docking assembly (300) comprises a docking frame (310) which is connected to the periphery of the rack (100) and is in a regular polygon shape, each docking part comprises a convex part (311) and a concave part (317) which are arranged on the outer side of each side of the docking frame (310), and the convex part (311) is matched with the shape of the concave part (317);
the driving part comprises an electromagnet (330) or a magnetic conduction part arranged on the convex part (311), and the driven part comprises a magnetic conduction part or an electromagnet (330) arranged on the concave part (317).
3. Mobile robot according to claim 2,
an electromagnet mounting groove (312) is formed in the opening of the outer side of the convex portion (311), a locking hole (313) communicated with the inner wall of the butt joint frame (310) is formed in the bottom of the electromagnet mounting groove (312), and the electromagnet (330) is arranged in the electromagnet mounting groove (312) and connected with the butt joint frame (310) through a bolt penetrating through the locking hole (313).
4. Mobile robot as claimed in claim 2 or 3,
the two sides of the convex part (311) and the concave part (317) are respectively provided with a guide inclined plane, and the guide inclined plane of the convex part (311) is in guide fit with the guide inclined plane of the concave part (317).
5. Mobile robot as claimed in claim 4,
the magnetic conduction piece comprises a magnetic conduction plate (340) connected to the outer side of the concave part (317);
the guide inclined plane is respectively provided with clamping grooves (318) for accommodating two edges of the magnetic conduction plate (340) at two sides of the concave part (317).
6. The mobile robot according to claim 3, wherein the protrusion (311) is provided with a switch mounting groove (314) at one side of the electromagnet mounting groove (312), the switch mounting groove (314) being open toward the top or bottom of the docking frame (310);
a switch seat (350) is arranged in the switch mounting groove (314), and a switch fixing hole (351) is formed in the switch seat (350);
a wiring hole (319) communicated with the switch mounting groove (314), the switch fixing hole (351) and the electromagnet mounting groove (312) is formed in the butt joint frame (310);
the top of the bump is also provided with a limit switch mounting seat (360), and the limit switch mounting seat (360) can be in sliding connection with the top of the convex part (311) along the radial direction of the rack (100) through a sliding structure;
the sliding structure comprises an installation lug (315) arranged at the top of the convex part (311), a first sliding groove (316) arranged on the installation lug (315) along the radial direction of the rack (100) and a second sliding groove (361) arranged on the limit switch installation seat (360) along the radial direction of the rack (100), and the first sliding groove (316) is in sliding fit with the second sliding groove (361) through a locking bolt;
and the limit switch mounting seat (360) is provided with a limit switch fixing hole (362).
7. Mobile robot according to claim 2, characterized in that the frame (100) comprises:
the omnidirectional driving assembly (200) is arranged around the bottom of the chassis (110) and positioned in the butt joint frame (310), and the butt joint frame (310) is connected with the chassis (110) through a connecting bracket (320);
the bearing plate (120) is arranged above the chassis (110) through the connecting column (140), the distance from one surface of the bearing plate (120), which is far away from the chassis (110), to the top of the chassis (110) is greater than the distance from one surface of the docking frame (310), which is far away from the chassis (110), to the top of the chassis (110), and the identification component (500) is arranged on the top of the bearing plate (120);
a top plate (130); the top plate (130) is connected with the bearing plate (120) through the connecting column (140) and is arranged above the bearing plate (120) and the identification component (500);
the omni-directional drive assembly (200) comprises:
the plurality of motors (210) are respectively connected to the bottom of the chassis (110) in a rotational symmetry manner along the circumferential direction of the chassis (110) through a motor support (220);
a plurality of omni wheels (240), each omni wheel (240) being connected to an output shaft of each motor (210) by a coupling (230);
wherein a mudguard (150) is respectively connected to the chassis (110) above each omni wheel (240) through a mudguard support (151).
8. Mobile robot as claimed in claim 7,
the identification assembly (500) comprises a camera (510), and the camera (510) is connected to the top of the bearing plate (120) through a fixed support (520);
the top of loading board (120) still is provided with control assembly (400) and signal transmission subassembly (600) at the rear of camera (510), control assembly (400) respectively with camera (510), motor (210), electro-magnet (330) and signal transmission subassembly (600) electric connection.
9. A reconfigurable robotic platform consisting of at least two robots as claimed in any one of claims 1 to 8.
10. A reconstruction method of a robot platform for the reconfigurable robot platform according to claim 9,
wherein the reconfigurable robot platform comprises at least one active docking robot and at least one passive robot,
characterized in that the method comprises the following steps:
a1, collecting two-dimensional code information on the passive robot through a camera (510) of the active butt joint robot, wherein the two-dimensional code information is arranged on the surface of the passive robot in the direction of the camera (510) which is not installed;
a2, numbering each two-dimension code of the passive robot through the control component (400) of the active butt-joint robot, distributing the butt-joint direction of the active butt-joint robot and the passive robot by the control component (400) according to the number, and sharing the information of the two-dimension code number and the butt-joint direction with the control components (400) of the other active butt-joint robots through the signal transmission component (600) of the active butt-joint robot;
a3, driving the active docking robot to carry out obstacle avoidance exploration through the omnidirectional driving component (200) of the active docking robot, and identifying the two-dimensional code information of the direction surface of the non-installed camera (510) on the passive robot through the camera (510) of the active docking robot so as to determine the relative position and orientation information of the two-dimensional code of the docking part surface in the docking direction of the passive robot;
a4, controlling an omnidirectional driving assembly (200) to work through a control assembly (400) of an active docking robot according to the relative pose information of the two-dimensional code of the surface of the docking part in the docking direction of the passive robot, so that the active docking robot avoids obstacles to move and is docked with the passive robot;
or comprises the following steps:
b1, acquiring two-dimensional code information on the passive robot through a camera (510) of the active docking robot, wherein the two-dimensional code information is arranged on the surface of the passive robot in the direction of the non-mounted camera (510);
b2, sharing two-dimensional code position and posture information with the control components (400) of the rest active docking robots through the signal transmission components (600) of the active docking robots;
b3, numbering each two-dimension code of the passive robot through the control component (400) of the active butt joint robot, distributing the butt joint direction of the active butt joint robot and the passive robot by the control component (400) according to the number, and sharing information of the two-dimension code number and the butt joint direction with the control components (400) of the other active butt joint robots through the signal transmission component (600) of the active butt joint robot;
b4, driving the active docking robot to carry out obstacle avoidance exploration through the omnidirectional driving component (200) of the active docking robot, and identifying the two-dimensional code information of the direction surface of the non-installed camera (510) on the passive robot through the camera (510) of the active docking robot so as to determine the relative position and orientation information of the two-dimensional code of the docking part surface in the docking direction of the passive robot;
b5, controlling the omnidirectional driving assembly (200) to work through the control assembly (400) of the active butt joint robot according to the relative pose information of the two-dimensional codes of the surfaces of the butt joint parts in the butt joint direction of the passive robot, so that the active butt joint robot avoids obstacles to move and is in butt joint with the passive robot;
b6, completing butt joint to form the reconfigurable robot platform.
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