CN203306137U - Wheel-leg robot - Google Patents
Wheel-leg robot Download PDFInfo
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- CN203306137U CN203306137U CN2013203636378U CN201320363637U CN203306137U CN 203306137 U CN203306137 U CN 203306137U CN 2013203636378 U CN2013203636378 U CN 2013203636378U CN 201320363637 U CN201320363637 U CN 201320363637U CN 203306137 U CN203306137 U CN 203306137U
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Abstract
The utility model relates to a wheel-leg robot. The wheel-leg robot comprises a singlechip and a steering engine controller connected with the output of the singlechip, wherein the steering engine controller is in control connection with all steering engines on four legs which adopt the same structure and have wheel and foot functions. The wheel-leg robot further comprises an ultrasonic range measurement system used for detecting the ground clearance of the front part, the rear part, the left part and the right part of a baseplate of the robot. By adopting the wheel-leg robot, neither highly-precise hand and eye cooperation of operators nor real-time follow-up operation is required, and the robot can automatically achieve wheel-leg switching when encountering road condition changes in the marching process so as to successfully reach the stated destination. Therefore, the intelligence degree of the robot is improved.
Description
Technical field
The utility model belongs to the Robotics field, relates to a kind of wheel robot leg that can detect voluntarily road conditions.
Background technology
The advantage of legged mobile robot is can not only be on smooth ground up walks and can walking on rugged ground, can cross over gully, up/down steps, also can do nonslipping complete and one-way movement, and provide stable dynamic platform for the sensor on it, therefore has applicability widely, but legged mobile robot is more difficult, realize that its stable gait planning and stable equilibrium control, the utilization ratio of kinematic velocity and energy is lower, in addition, legged mobile robot is generally heavier, and complex structure.The wheeled robot advantage is that automatic operation is simple, having stable behavior, be particularly suitable for motion on smooth ground, larger kinematic velocity and energy utilization efficiency are arranged, and is a now widely used class robot.But wheeled robot is compared with legged mobile robot, its comformability to landform is poor, seldom can spanning height or stair climbing.
Along with social development, for solving complicated road surface walking problem, Chinese patent ZL201110089738.6 discloses a kind of robot leg of taking turns, this robot comprises micro controller system and the steering engine controller connected by its output, four structures of this steering engine controller control linkage are identical has wheel, the leg Shang Dege road steering wheel of foot double-purpose functional, this robot leg of taking turns possesses legged mobile robot landform strong adaptability and the high advantage of wheeled robot controllable velocity simultaneously, but the switching of the wheel leg of this robot is that the operator manually completes by the judgement to road conditions entirely, be operator's control wheeled walking about on smooth road surface, if running into obstacle or road conditions changes, M/C by the operator switches to the legged walking pattern by wheeled sliding-modes, if there is no operator's operation, robot will directly be intercepted and can't continue to advance or can not arrive fast set objective by obstacle so, this switch mode is manually had relatively high expectations to operator's operation precision, and need the operator to know very much the road conditions of robot ambulation, but it is unpractical that the understanding of all walking road conditions is especially carried out to pop-up mission to robot, this just be badly in need of to solve in the robot ambulation process problem according to road conditions automatic switchover walking mode.
The utility model content
The purpose of this utility model is to provide a kind of robot leg of taking turns, to solve the wheel robot leg, in traveling process, must there is the operator to participate in real time, otherwise robot can't arrive the problem of set objective, realize that robot carries out the switching of walking mode automatically according to road conditions.
For realizing goal of the invention, the robot leg of taking turns of the present utility model comprises micro controller system and the steering engine controller connected by its output, the leg Shang Dege road steering wheel with wheel, sufficient double-purpose functional that four structures of this steering engine controller control linkage are identical, also comprise for detection of the ultrasonic ranging system of robot base plate front, rear, left and right to ground clearance.
Further, ultrasonic generator after described ultrasonic ranging system comprises at least two front ultrasonic generators being located at side by side robot base plate the place ahead and is located at least one of robot base plate rear, and at least one in rear ultrasonic generator is arranged in the dead aft of of described front ultrasonic generator.
Further, described ultrasonic ranging system comprises at least one left ultrasonic generator of being located at robot base plate left side and at least one right ultrasonic generator of being located at right side on the robot base plate, and at least one in right ultrasonic generator is arranged in the front-right of of described left ultrasonic generator.
Further, described ultrasonic ranging system comprises at least one left ultrasonic generator of being located at robot base plate left side and at least one right ultrasonic generator of being located at right side on the robot base plate.
Further, also comprise the read-out that micro controller system output connects.
The robot leg of taking turns of the present utility model utilizes ultrasonic ranging system to record base plate to be uploaded to micro controller system to the distance on ground, micro controller system is processed according to the distance of uploading, analyze, if need switching, just to steering engine controller, send wheel leg switching command, steering engine controller is controlled each corresponding steering wheel action according to instruction and is realized wheeled, the switching of legged walking mode, thus, robot is by the detection voluntarily to road conditions and analyze judgement, automatically take turns the leg switching, realize intelligence wheel leg handoff functionality, without operator's trick height, coordinate accurately, also without real-time tracking, operate, if and robot runs into road conditions in traveling process change can be taken turns the switching of leg automatically, arrive smoothly set objective, improved the intellectuality of robot.
The accompanying drawing explanation
Fig. 1 is the control principle drawing of wheel robot leg embodiment;
Fig. 2 is the lateral plan of wheel robot leg embodiment;
Fig. 3 is the block diagram of wheel robot leg embodiment;
Fig. 4 is the birds-eye view of wheel robot leg embodiment.
The specific embodiment
Wheel robot leg as shown in Figure 1, this base plate of taking turns robot leg is divided into upper plate and lower shoe, two base plates are fixedly connected with, on lower shoe, be provided with four structures identical have a wheel, the leg of leg double-purpose functional, and on leg, be provided with a plurality of steering wheels and control the switching that realizes the wheel leg, this takes turns on robot leg LCD1602 read-out and the 32 road steering engine controllers that are provided with the STC89C52 micro controller system and connected by micro controller system output, four leg Shang Dege road steering wheels of this steering engine controller control linkage, this is taken turns robot leg and is provided with ultrasonic ranging system, before the robot base plate, after, left, the dextrad ground clearance, this ultrasonic ranging system comprises is located at first of robot base plate the place ahead side by side, the second ultrasonic generator and be located at the 3rd of robot base plate rear, the 4th ultrasonic generator, and first, the 3rd ultrasonic generator is over against arranging, second, the 4th ultrasonic generator is over against arranging, what is called is namely the dead aft that the 3rd ultrasonic generator is positioned at the first ultrasonic generator over against arranging, the 4th ultrasonic generator is positioned at the dead aft of the second ultrasonic generator, but difference first, the ground clearance of the second ultrasonic generator obtains the left and right range difference, but difference first, the ground clearance of the 3rd ultrasonic generator or difference second, it is poor that the ground clearance of the 4th ultrasonic generator obtains longitudinal separation.Setting about ultrasonic generator also can be located at the left and right sides of base plate, as long as it is poor to calculate left and right, the longitudinal separation of robot by difference.
This intelligence switching wheel robot leg, under reset mode, be in wheeled quiescence, now, ultrasonic ranging system 13 is along with the pulse of STC89C52 Singlechip clock, find range at set intervals circularly, and constantly enter Interruption, before and after trying to achieve respectively, the left and right range difference, and show on the LCD1602 Liquid Crystal Display, the STC89C52 micro controller system can probably estimate according to this difference the situation that ground, if difference is in setting slant range, robot is just given 32 road steering engine controllers command by serial communication, control again each road steering wheel and carry out wheeled sliding, if difference exceeds this, set slant range, Zai You 32 road steering engine controllers are controlled each road steering wheel and are carried out the leg formula and walk about.Thus, by the detection voluntarily to road conditions, robot brain device people takes turns the leg switching, realizes wheel leg switch transition function.
In concrete handoff procedure, various variations are elaborated In Figure 2-4.
When the current walk of robot or quiescence are the legged walking mode, slant range is set to the leg formula all around of setting respectively apart from difference in the current all around calculated to be compared, if, continue to advance in the legged walking mode all in slant range is set in corresponding leg formula all around apart from difference in current all around; If current all around, is controlled each steering wheel action by steering engine controller and is switched to the running on wheels mode and advance apart from any in difference not in slant range is set in corresponding leg formula all around.
The process that the wheeled action of wheel robot leg switches to the leg formula is as follows: micro controller system is passed to 32 road steering engine controllers by the pwm signal of each steering wheel by serial communication, after 32 road steering engine controllers receive pwm signal, the second steering wheel 2 outwards overturns 90 °, make the first steering wheel 1, the second steering wheel 2 place straight lines and the second steering wheel 2, the 3rd steering wheel 3 place straight lines are mutually vertical, make simultaneously the first steering wheel 1 with certain rotational speed, due to the first steering wheel 1 and wheel shaft interference fit, wheel also can and then rotate, article four, leg is controlled simultaneously in the manner described above, robot can change into wheeled by the leg formula within very short time, and reach state of equilibrium, then move ahead smoothly.Control the pwm signal of the first steering wheel 1 of four legs and can realize moving forward and backward of robot, then adjust the mutual alignment of tiller room, the left/right rotation that can realize robot to.
When the current walk of robot or quiescence are the running on wheels mode, slant range is set to the wheeled all around of setting respectively apart from difference in the current all around calculated to be compared, if current all around is all set in slant range in the wheeled all around of correspondence apart from difference, continue to advance in the running on wheels mode; If current all around is not set in slant range in the wheeled all around of correspondence apart from any in difference, by steering engine controller, control each steering wheel action and switch to the legged walking mode and advance.
Wheel robot leg leg formula course of action is as follows: each steering wheel state In Figure 2-4, robot is in reset mode, carry out the leg formula while moving ahead, micro controller system is passed to 32 road steering engine controllers by the pwm signal of each steering wheel by serial communication, after 32 road steering engine controllers receive pwm signal, at first, instruction one is controlled the 6th steering wheel 6 and is rotated counterclockwise certain angle, control simultaneously the 5th steering wheel 5, the 9th steering wheel 9, the tenth steering wheel 10 also rotates a small amount of angle, now article one leg of robot is lifted, the roughly distribution triangular in shape of other three legs, the whole body weight of stable support, keep whole machine balancing, instruction two is controlled the 7th steering wheel 7 and is clockwise rotated certain angle, thereby makes article one leg of robot step forward a step, instruction three is controlled the 8th steering wheel 8 and is rotated counterclockwise certain angle, control simultaneously the 5th steering wheel 5, the 7th steering wheel 7, the tenth steering wheel 10 and also rotate a small amount of angle, now the second leg of robot is lifted, other three leg distributions triangular in shape, the whole body weight of stable support, keep whole machine balancing, instruction four is controlled the 9th steering wheel 9 and is clockwise rotated certain angle, thereby makes the second leg of robot step forward a step, instruction five is controlled the 4th steering wheel 4 and is clockwise rotated certain angle, while the 7th steering wheel 7, the 9th steering wheel 9, the tenth steering wheel 10 be a small amount of angle of a little rotation also, and now the third leg of robot is lifted, other three leg distributions triangular in shape, the whole body weight of stable support, keep whole machine balancing, instruction six is controlled the 5th steering wheel 5 and is rotated counterclockwise certain angle, thereby makes the third leg of robot step forward a step, instruction seven is controlled the 11 steering wheel 11 and is clockwise rotated certain angle, while the 5th steering wheel 5, the 7th steering wheel 7, the 9th steering wheel 9 be a small amount of angle of a little rotation also, and now the 4th of robot the leg is lifted, other three leg distributions triangular in shape, the whole body weight of stable support, keep whole machine balancing, instruction eight is controlled the tenth steering wheel 10 and is rotated counterclockwise certain angle, thereby makes the 4th leg of robot step forward a step, the angle that the 7th steering wheel 7, the 9th steering wheel 9 rotate counterclockwise reset mode is controlled in instruction nine simultaneously, and the 5th steering wheel 5, the tenth steering wheel 10 clockwise rotate the angle of reset mode, and base plate 12 is along with whole body moves forward and complete homing action.Finally, above nine instructions form a circulation of this robot leg formula motion.
Claims (5)
1. wheel robot leg, comprise micro controller system and the steering engine controller connected by its output, the leg Shang Dege road steering wheel with wheel, sufficient double-purpose functional that four structures of this steering engine controller control linkage are identical, is characterized in that: also comprise for detection of the ultrasonic ranging system of robot base plate front, rear, left and right to ground clearance.
2. the robot leg of taking turns according to claim 1, it is characterized in that, ultrasonic generator after described ultrasonic ranging system comprises at least two front ultrasonic generators being located at side by side robot base plate the place ahead and is located at least one of robot base plate rear, and at least one in rear ultrasonic generator is arranged in the dead aft of of described front ultrasonic generator.
3. the robot leg of taking turns according to claim 1, it is characterized in that, described ultrasonic ranging system comprises at least one left ultrasonic generator of being located at robot base plate left side and at least one right ultrasonic generator of being located at right side on the robot base plate, and at least one in right ultrasonic generator is arranged in the front-right of of described left ultrasonic generator.
4. the robot leg of taking turns according to claim 2, is characterized in that, described ultrasonic ranging system comprises at least one left ultrasonic generator of being located at robot base plate left side and at least one right ultrasonic generator of being located at right side on the robot base plate.
5. according to the described robot leg of taking turns of any one in claim 1-4, it is characterized in that: also comprise the read-out that micro controller system output connects.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN2013203636378U CN203306137U (en) | 2013-06-24 | 2013-06-24 | Wheel-leg robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN2013203636378U CN203306137U (en) | 2013-06-24 | 2013-06-24 | Wheel-leg robot |
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|---|---|
| CN203306137U true CN203306137U (en) | 2013-11-27 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN2013203636378U Expired - Fee Related CN203306137U (en) | 2013-06-24 | 2013-06-24 | Wheel-leg robot |
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Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103373407A (en) * | 2013-06-24 | 2013-10-30 | 河南科技大学 | Wheel-legged robot and intelligent wheel-legged switching method |
| CN105997447A (en) * | 2016-04-27 | 2016-10-12 | 绍兴文理学院 | Blind guiding robot with wheel leg structure and utilization method for same |
| CN109434795A (en) * | 2018-10-29 | 2019-03-08 | 华中科技大学 | A kind of loading stair climbing robot with target following and automatic obstacle-avoiding |
| CN110282045A (en) * | 2019-05-30 | 2019-09-27 | 温州大学 | Uneven section and/or avoidance robot and control method can be passed through |
-
2013
- 2013-06-24 CN CN2013203636378U patent/CN203306137U/en not_active Expired - Fee Related
Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103373407A (en) * | 2013-06-24 | 2013-10-30 | 河南科技大学 | Wheel-legged robot and intelligent wheel-legged switching method |
| CN103373407B (en) * | 2013-06-24 | 2015-11-18 | 河南科技大学 | The intelligent switch method of wheel robot leg and wheel leg |
| CN105997447A (en) * | 2016-04-27 | 2016-10-12 | 绍兴文理学院 | Blind guiding robot with wheel leg structure and utilization method for same |
| CN109434795A (en) * | 2018-10-29 | 2019-03-08 | 华中科技大学 | A kind of loading stair climbing robot with target following and automatic obstacle-avoiding |
| CN110282045A (en) * | 2019-05-30 | 2019-09-27 | 温州大学 | Uneven section and/or avoidance robot and control method can be passed through |
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20131127 Termination date: 20160624 |
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| CF01 | Termination of patent right due to non-payment of annual fee |