CN117022472B - Fire rescue robot capable of quickly crossing steps and control method - Google Patents
Fire rescue robot capable of quickly crossing steps and control method Download PDFInfo
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D55/00—Endless track vehicles
- B62D55/02—Endless track vehicles with tracks and additional ground wheels
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Abstract
The invention discloses a rapid-crossing step fire rescue robot and a control method thereof. A three-dimensional laser radar is fixed at the front end above the body, a five-degree-of-freedom mechanical arm is arranged in the middle of the upper part of the body for grabbing, and a camera is arranged at the tail end of the mechanical arm. The robot rotates and moves in any direction in the plane through the rotation speed difference of the crawler driving motor. The robot crawler and the rotatable wheel leg combined walking mechanism can quickly pass through obstacles such as common flat ground, small slopes, ditches and the like, and can quickly climb over steps or quickly climb stairs; the laser radar can be carried to identify the height and depth of the stair steps, and the length of the rotatable wheel leg can be actively adjusted, so that the environment adaptability is enhanced.
Description
Technical Field
The invention relates to the technical field of fire rescue, in particular to a fire rescue robot capable of quickly crossing a step and a control method.
Background
With the rapid development of intelligent robot technology, mobile robots are increasingly used in life. At present, a robot for firefighting rescue can move fast on a horizontal ground, but when encountering obstacles such as steps (stairs), the robot needs to slow down or stop to slowly climb the steps (stairs). While some researchers have made some attempts at rapid or fluent surmounting, none have been able to quickly (up to the maximum speed of planar movement). The "a fast obstacle-crossing robot (201911311415. X)" invented by Zhou Yong et al makes it possible to quickly cross a small-sized raised obstacle by automatically adjusting the angle of the driving wheel and adjusting the height of the robot, but the robot cannot realize such an obstacle as crossing a step (or stairs) by only using front wheel driving. Tian Huawei et al, an intelligent robot for comprehensive service in a park and a control method (202210179668.1) can smoothly cross a step through a threaded rod capable of moving up and down and left and right. However, due to structural limitations, the robot cannot quickly climb over steps, is limited to specific workplaces such as parks in design, and does not have the function of climbing stairs. In the field of fire rescue, the rescue time is very precious, and the rescue robot is often required to have good maneuvering performance on a flat ground and can quickly and stably climb over obstacles such as steps (stairs).
Disclosure of Invention
Aiming at the defects in the prior art, the invention provides a rapid step-crossing firefighting rescue robot and a control method.
In order to achieve the aim of the invention, the invention adopts the following technical scheme:
a rapid step-over firefighting rescue robot, comprising: the robot body, the left and right sides below the robot body respectively has a crawler-type action wheel and track driving motor, track driving motor passes through motor support rigid connection in the body below, track driving motor crisscross installation around, the track is fixed by fixed driving gear and driven gear on the track driving motor shaft through its self spacing hole, driven gear passes through support frame and body rigid connection, both sides respectively have two servo steering wheel driven rotatable wheel legs around the crawler-type action wheel, servo steering wheel passes through the support frame to be fixed in the body below, the support frame height is less than crawler-type action wheel height.
Further, the tail end of the rotatable wheel leg is provided with a small-sized driving wheel and a driving wheel driving motor, the driving wheel driving motor and the driving wheel are in transmission through a belt, a unidirectional ratchet wheel is arranged between the driving wheel and a rotating shaft of the driving wheel, and the driving wheel rotates by means of inertia or through the driving wheel driving motor.
Further, the edge of the rotatable wheel leg is provided with a transmission gear, the length of the rotatable wheel leg is adjusted through a meshed gear motor, and the inner side of the rotatable wheel leg is provided with a limiting chute to ensure the rigidity and smoothness of sliding of the rotatable wheel leg.
Further, be provided with five degrees of freedom robotic arms in the middle of the robot body top, the every joint department of five degrees of freedom robotic arms of machine all is fixed with the steering wheel, and wherein the steering wheel of joint department 1 can 360 rotatory, and the steering wheel of joint department 2,3,4 all parallel mount and can rotate around joint department 180, and the steering wheel of joint department 5 controls the switching angle of centre gripping paw.
Further, a camera is installed at the 5 th joint, and real-time pictures of the camera are displayed on the base station through wireless image transmission.
Further, a three-dimensional laser radar is fixed at the front end above the robot body and used for detecting steps or obstacles.
Further, when the robot moves in the common terrain, the front rotatable wheel leg is in a forward folding state, the rear rotatable wheel leg is in a backward folding state, and the robot rotates and moves in any direction in a plane through the rotation speed difference of the crawler drive motor.
A control method of a fire rescue robot capable of quickly crossing steps comprises the following steps:
s1, acquiring point cloud data scanned by a laser radar, clustering and dividing the point cloud data in the advancing direction, extracting line-plane characteristics of the divided data, and fitting potential step height and depth parameters according to the line-plane characteristics;
s2, judging the relation between the height and depth of the step or the obstacle in the travelling direction and the extension limit range of the rotatable wheel leg of the robot, and executing different crossing strategies according to the judging result.
S3, enabling the rotatable wheel legs to synchronously rotate through a PID control algorithm before the robot body is overturned, and guaranteeing that the gravity center of the robot body stably moves upwards and the movement mode is smoothly converted.
The invention has the following beneficial effects:
1. when the laser radar carried on the robot detects that the height and depth of the step in the travelling direction are smaller than the extension limit range of the rotatable wheel leg of the robot, the controller outputs instructions to control the gear motor to adjust the length of the gear motor to adapt to the height of the step, meanwhile, the rotatable wheel leg driven by the 4 servo steering engines synchronously rotates downwards by 90 degrees, and the rotation process comprises angle negative feedback, so that the stable upward movement of the gravity center of the robot body is ensured.
2. As the whole process of the robot is not required to be decelerated or stopped, the robot is close to the plane moving speed in the process of the whole robot, and the robot can quickly turn over.
Drawings
Fig. 1 is a schematic perspective view of a fire rescue robot capable of quickly crossing a step.
Fig. 2 is a schematic diagram of a rotatable wheel leg structure of a rapid-crossing step fire rescue robot according to an embodiment of the invention.
Fig. 3 is a flowchart of a robot step-over strategy according to an embodiment of the present invention.
Fig. 4 is a schematic view of a robot walking on a level ground according to an embodiment of the present invention.
Fig. 5 is a schematic diagram of a robot in an embodiment of the invention, in which the front and rear rotatable legs of the robot rotate simultaneously to shift the center of gravity of the robot body upwards.
Fig. 6 is a schematic view showing a folded state of a front rotatable wheel leg of the front end of the crawler belt of the robot contacting the step.
Fig. 7 is a schematic diagram of a folding state of a rotatable wheel leg after the robot turns over a step according to an embodiment of the present invention.
Fig. 8 is a schematic diagram of the action state of the front rotatable wheel leg when the robot of the embodiment of the invention turns over the multi-stage steps.
Fig. 9 is a schematic diagram of a body state when the robot of the embodiment of the invention turns over multiple steps.
Fig. 10 is a schematic diagram showing a resetting state of the rotatable wheel leg when the robot turns over the multi-stage steps according to the embodiment of the invention.
Reference numerals illustrate: 1. a robot body; 2. a rotatable wheel leg; 3. a three-dimensional laser radar; 4. a track; 5. a track drive motor; 6. a five degree of freedom mechanical arm; 7. clamping the paw; 8. a camera; 21. a driving wheel; 22. a driving wheel driving motor; 23. a speed reducing motor; 24. a servo motor; 25. limiting sliding groove.
Detailed Description
The following description of the embodiments of the present invention is provided to facilitate understanding of the present invention by those skilled in the art, but it should be understood that the present invention is not limited to the scope of the embodiments, and all the inventions which make use of the inventive concept are protected by the spirit and scope of the present invention as defined and defined in the appended claims to those skilled in the art.
A rapid-crossing step fire rescue robot, as shown in fig. 1, comprising: the robot body 1, the left and right sides of robot body 1 below respectively has a crawler-type action wheel and track 4 driving motor, track driving motor 5 passes through motor support rigid connection in the body below, crisscross installation around track driving motor 5, track 4 is fixed by fixed driving gear and driven gear on the track driving motor 5 axle through its self spacing hole, driven gear passes through support frame and body rigid connection, both sides respectively have two servo steering engine driven rotatable wheel legs 2 around the crawler-type action wheel, servo steering engine passes through the support frame to be fixed in the body below, the support frame height is less than crawler-type action wheel height.
As shown in fig. 2, the end of the rotatable leg 2 is provided with a small driving wheel 21 and a driving wheel driving motor 22, the driving wheel driving motor 22 and the driving wheel 21 are transmitted by a belt, a unidirectional ratchet wheel is arranged between the driving wheel 21 and a rotating shaft thereof, and the driving wheel 21 can rotate by means of inertia or through the driving wheel driving motor 22. The inner side of the rotatable wheel leg 2 is provided with transmission teeth, the length of the rotatable wheel leg is adjusted through a meshed gear motor 23, and the inner side of the rotatable wheel leg 2 is provided with a limiting chute 25 to ensure the rigidity and smoothness of sliding of the rotatable wheel leg 2. The front end above the body is fixed with a three-dimensional laser radar 3, so that the detection of obstacles such as steps (stairs) can be realized. There is five degrees of freedom robotic arm 6 in the middle of the body top, and each joint department of arm all is fixed with the steering wheel, and 1 st joint department steering wheel can 360 rotations, and 2,3,4 joint steering wheels all parallel mount and can rotate around joint department 180, and 5 th joint department steering wheel control clamping paw 7's switching angle. And a camera 8 is arranged at the 5 th joint, and a real-time picture of the camera 8 is displayed on the base station through a wireless picture transmission. The base station operator can control the robot to move towards any direction and execute actions such as grabbing and throwing materials by the paw through wireless data transmission by the remote control handle.
A control method of a fire rescue robot capable of quickly crossing steps is shown in fig. 3, and comprises the following steps:
s1, acquiring point cloud data scanned by a laser radar, clustering and dividing the point cloud data in the advancing direction, extracting line-plane characteristics of the divided data, and fitting potential step height and depth parameters according to the line-plane characteristics;
s2, the robot judges the relation between the height and depth of the step or the obstacle in the advancing direction and the extension limit range of the rotatable wheel leg of the robot, and executes operation according to the judging result;
specifically, when the robot moves on the flat ground without barriers or steps, the front and rear rotatable wheel legs of the robot are in a forward and backward folded state, as shown in fig. 4, when the laser radar carried on the robot detects that the height and depth of the steps in the travelling direction are smaller than the extension limit range of the rotatable wheel legs of the robot, the controller outputs instructions to control the gear motor to adjust the length of the gear motor to adapt to the height of the steps, meanwhile, the rotatable wheel legs driven by the 4 servo steering engines synchronously rotate downwards by 90 degrees, and the rotation process comprises angle negative feedback, so that the gravity center of the robot body is ensured to stably move upwards.
The specific implementation method comprises the following steps: the mixture was equally divided into N portions (N is 4,10]Between) to obtain the rotation target angle of the rotatable wheel leg，m= {1,2 · N is the same as the original value of the first-order code, the controller steps up from 1 to a maximum value N by timing the value of m, thereby ensuring that the target angle is gradually changed from 0 to 90 degrees; real-time angles of four rotatable wheel legs can be obtained through angle sensorsB t ，t= {1,2,3,4}, it can be derived that:
the calculation formula of the angle deviation of the four rotatable wheel legs is as followsE t =B t －A m I.e. the angular deviation of the four rotatable legs isE 1 ，E 2 ，E 3 ，E 4 The magnitude of the steering engine control quantity can be determined through a PID control algorithm. Determining the PWM wave high-level pulse width of the No. 1 rotatable wheel leg according to the formula (1):
(1)
wherein,H 1 the PWM size is controlled by a steering engine with a rotatable wheel leg No. 1;E 1 (k)represents the K-th deviation of the number 1 rotatable wheel leg,E 1 (k-1)represents the K-1 deviation;Kp 1 、Ki 1 、Kd 1 the proportional coefficient, the integral coefficient and the differential coefficient respectively represent the rotatable wheel leg 1, and are required to be properly adjusted according to the rotation synchronization condition of the steering engine.
Determining the PWM wave high-level pulse width of the No. 2 rotatable wheel leg according to the formula (2):
(2)
wherein,H 2 the PWM size is controlled by a steering engine with a rotatable wheel leg No. 2;E 2 (k)represents the K-th deviation of the number 2 rotatable wheel leg,E 2 (k-1)represents the K-1 deviation;Kp 2 、Ki 2 、Kd 2 the proportional coefficient, the integral coefficient and the differential coefficient respectively representing the number 2 rotatable wheel leg are required to be properly adjusted according to the rotation synchronization condition of the steering engine.
Determining the PWM wave high-level pulse width of the No. 3 rotatable wheel leg according to the formula (3):
(3)
wherein,H 3 the steering engine control PWM of the rotatable wheel leg of the No. 3 is shown;E 3 (k)represents the K-th deviation of the number 3 rotatable wheel leg,E 3 (k-1)represents the K-1 deviation;Kp 3 、Ki 3 、Kd 3 the proportional coefficient, the integral coefficient and the differential coefficient respectively representing the number 3 rotatable wheel leg are required to be properly adjusted according to the rotation synchronization condition of the steering engine.
Determining the PWM wave high-level pulse width of the No. 4 rotatable wheel leg according to the formula (4):
(4)
wherein,H 4 the PWM size is controlled by a steering engine with a rotatable wheel leg 4;E 4 (k)represents the K-th deviation of the number 4 rotatable wheel leg,E 4 (k-1)represents the K-1 deviation;Kp 4 、Ki 4 、Kd 4 the proportional coefficient, the integral coefficient and the differential coefficient respectively representing the number 4 rotatable wheel leg are required to be properly adjusted according to the rotation synchronization condition of the steering engine.
For a mobile robot, the change of the center of gravity caused by morphological changes during movement has a great influence on the stability of the robot. The independent angle feedback control is used in the rotating process of the rotatable wheel leg, and the stable upward movement of the gravity center of the robot body is ensured.
The robot slides to the step by utilizing own inertia and closes the crawler driving motor when rotating the rotatable wheel legs, if the sliding speed is obviously reduced due to ground resistance, the driving wheel rotation speed is compensated by the driving motor, and when the step is detected on the advancing path of the robot, the front and rear rotatable wheel legs respectively rotate inwards by 90 degrees to lift the gravity center of the robot body upwards, as shown in fig. 5. When the front end of the crawler belt contacts the step and the driving motor is started again, the front rotatable wheel leg rotates backwards by 90 degrees to be in a folded state, as shown in fig. 6. When the infrared sensor detects that the gravity center of the robot body enters the edge of the step, the rear rotatable wheel leg rotates backwards by 90 degrees to be in a folded state, and the robot turns over the step, as shown in fig. 7. As the whole process of the turndown is not required to be decelerated or stopped, the turndown speed of the robot is not obviously reduced by utilizing the rotatable wheel leg for transition, and the rapid turndown is realized.
When the laser radar detects that the step height and depth in the travelling direction are smaller than the contraction limit range of the rotatable wheel leg of the robot, the controller outputs an instruction to control the gear motor to adjust the length of the rotatable wheel leg so as to adapt to the step height, and meanwhile, the rotatable wheel leg driven by the servo steering engine synchronously rotates by 45 degrees, as shown in fig. 8. When the front end of the robot body is tilted, the gravity center steadily moves upwards, and the robot crawler continues to contact with the ground and pushes the robot to move towards the step, as shown in fig. 9. When the rear end of the crawler contacts the step, the rotatable wheel leg is reset, and the robot quickly climbs over the step by using the crawler drive, as shown in fig. 10. As the whole process of the robot is not required to be decelerated or stopped, the robot is close to the plane moving speed in the process of the whole robot, and the robot can quickly turn over.
When the laser radar detects that the height and depth of the step in the travelling direction are larger than the extension limit range of the rotatable wheel leg of the robot, the robot cannot pass through the obstacle, and the controller limits the moving speed in the travelling direction and sends out an acousto-optic warning to the base station through wireless communication.
The principles and embodiments of the present invention have been described in detail with reference to specific examples, which are provided to facilitate understanding of the method and core ideas of the present invention; meanwhile, as those skilled in the art will have variations in the specific embodiments and application scope in accordance with the ideas of the present invention, the present description should not be construed as limiting the present invention in view of the above.
Those of ordinary skill in the art will recognize that the embodiments described herein are for the purpose of aiding the reader in understanding the principles of the present invention and should be understood that the scope of the invention is not limited to such specific statements and embodiments. Those of ordinary skill in the art can make various other specific modifications and combinations from the teachings of the present disclosure without departing from the spirit thereof, and such modifications and combinations remain within the scope of the present disclosure.
Claims (6)
1. The utility model provides a quick step fire rescue robot that climbs, its characterized in that includes: the robot comprises a robot body (1), wherein a three-dimensional laser radar (3) is fixed at the front end above the robot body (1) and used for detecting steps or obstacles, a crawler-type driving wheel and crawler-type driving motors (5) are respectively arranged on the left side and the right side below the robot body (1), the crawler-type driving motors (5) are rigidly connected below the body through motor brackets, the crawler-type driving motors (5) are installed in a front-back staggered mode, a crawler (4) is fixed through limiting holes of the crawler-type driving motors by driving gears and driven gears fixed on shafts of the crawler-type driving motors (5), the driven gears are rigidly connected with the body through supporting frames, two rotatable wheel legs (2) driven by servo steering engines are respectively arranged on the front side and the rear side of the crawler-type driving wheels, the servo steering engines are fixed below the body through the supporting frames, and the heights of the supporting frames are lower than the heights of the crawler-type driving wheels;
the specific control mode of the rapid-crossing step fire rescue robot is as follows:
s1, acquiring point cloud data scanned by a laser radar (3), clustering and dividing the point cloud data in the advancing direction, extracting line-plane characteristics of the divided data, and fitting potential step height and depth parameters according to the line-plane characteristics;
s2, judging the relation between the height and depth of the steps or barriers in the advancing direction and the extension limit range of the rotatable wheel leg (2) of the robot, and executing operation according to the judging result;
s3, enabling the rotatable wheel legs (2) to synchronously rotate through a PID control algorithm before the robot body is overturned, and guaranteeing that the gravity center of the robot body stably moves upwards and the movement mode is smoothly converted.
2. The rapid-crossing step fire rescue robot according to claim 1, wherein the tail end of the rotatable wheel leg (2) is provided with a driving wheel (21) and a driving wheel driving motor (22), the driving wheel driving motor (22) and the driving wheel (21) are in belt transmission, a unidirectional ratchet wheel is arranged between the driving wheel (21) and a rotating shaft thereof, and the driving wheel (21) rotates by means of inertia or through the driving wheel driving motor (22).
3. The rapid-crossing step fire rescue robot as claimed in claim 1, wherein the inner side of the rotatable wheel leg (2) is provided with transmission teeth, the length of the rotatable wheel leg is adjusted by a meshed gear motor (23), and the inner side of the rotatable wheel leg (2) is provided with a limiting chute (25) to ensure the rigidity and smoothness of sliding of the rotatable wheel leg (2).
4. The rapid-crossing step fire rescue robot according to claim 1, wherein a five-degree-of-freedom mechanical arm (6) is arranged in the middle of the upper part of the robot body (1), steering gears are fixed at all joints of the mechanical arm, the steering gears at the 1 st joint can rotate by 360 degrees, the steering gears at the 2 nd joint, the 3 rd joint and the 4 th joint are arranged in parallel and can rotate 180 degrees around the joints, and the steering gears at the 5 th joint control the opening and closing angles of the clamping claws (7).
5. The rapid-crossing step fire rescue robot as claimed in claim 4, wherein a camera (8) is installed at the 5 th joint, and real-time pictures of the camera (8) are displayed on the base station through wireless image transmission.
6. The rapid-crossing step fire rescue robot as claimed in claim 1, wherein the robot is in a forward folded state of the front rotatable wheel leg (2) and in a backward folded state of the rear rotatable wheel leg (2) when moving on a common terrain, and the robot is rotated and moved in any direction in a plane by a rotational speed difference of the track driving motor (5).
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