CN208132950U - Overturning-preventing octagon foot intelligent barrier avoiding robot - Google Patents
Overturning-preventing octagon foot intelligent barrier avoiding robot Download PDFInfo
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- CN208132950U CN208132950U CN201820333357.5U CN201820333357U CN208132950U CN 208132950 U CN208132950 U CN 208132950U CN 201820333357 U CN201820333357 U CN 201820333357U CN 208132950 U CN208132950 U CN 208132950U
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Abstract
The utility model relates to robot field, specifically a kind of overturning-preventing octagon foot intelligent barrier avoiding robot.It includes control module, image and ultrasound information acquisition module, angle of bank measurement module, signal transmission module, the multiple degree of freedom arm mechanism of steering engine composition and multiple degrees of freedom leg walking mechanism, sufficient module, power supply module.The utility model detection aspect combines camera and ultrasonic sensor, realizes real-time scene and distance analysis, and reasonable arrangement action group realizes avoidance；Robot tilt angle information is obtained using gyroscope, and avoids tilt angle is excessive from toppling over by feedback control；Special eight sides type foot structure, center of gravity when can effectively reduce walking, the adjusting and accurate avoidance of disadvantage and gait that traditional walking humanoid robot walking can be overcome unstable.
Description
Technical field
The utility model relates to robot field, specifically a kind of overturning-preventing octagon foot intelligent barrier avoiding robot.
Background technique
At present, the production and research of humanoid robot relate generally to system bionics, control science, structural mechanics, photoelectricity
The multiple subjects such as information transmission, are applied in service trade more, also convertible in industry and military field.In actual production process, class
Robot people can replace labour of the mankind under high-risk environment, and scientific exploration and sampling point can be carried out in complex environment
Analysis.In daily life, humanoid robot has certain aesthstic ornamental value, and different types of robot sports have become blueness
Juvenile favorite Science activity, humanoid robot have incomparable superiority in this respect.
How humanoid robot reduces the center of gravity in walking process, guarantees in differently face ring in design, manufacturing process
Walking stability under border, and in the case where an emergency situation is encountered, how to take when robot will topple over and accordingly arrange in time
Applying prevents from toppling over, and protection robot assembly's damage becomes the core competitive power point of existing humanoid robot.Therefore robot
System structure and particularly important to the signal acquisition of different scenes, enables the adaptive varying environment of humanoid robot, no
With roughness ground, different working modes.
Utility model content
Purpose of the utility model is to solve rectangular sufficient structure humanoid robot walking center of gravity height in the prior art, rows
Shakiness is walked, the shortcomings that toppling over is easy, a kind of overturning-preventing octagon foot intelligent barrier avoiding robot is provided.
The utility model is achieved by the following technical solution：
A kind of overturning-preventing octagon foot intelligent barrier avoiding robot, including image acquisition device, multiple degree of freedom arm mechanism, upper body
Trunk bracket, signal transmission module, lower limb trunk bracket, multiple degrees of freedom leg walking mechanism, sufficient module, ultrasound information acquire mould
Block, power supply, angle of bank measurement module, control module.
Head of the image capture module as robot, upper body trunk bracket are arranged on lower limb trunk bracket, upper body
Trunk bracket both sides are respectively provided with multiple degree of freedom arm mechanism；Lower limb trunk bracket following settings multiple degrees of freedom leg walking mechanism；
Described image collector uses camera；
The angle of bank measurement module uses gyroscope；
The control module uses MCU；
The multiple degree of freedom arm mechanism by shoulder steering engine, ancon driving motor, hand lean on the finger connected by steering engine into
Action is made.
Multiple degrees of freedom leg walking mechanism is made of leg support frame and leg steering engine and is connected to lower limb trunk bracket
Lower section.
Multiple degree of freedom arm mechanism is made of arm support, shoulder steering engine, ancon driving motor and is connected to upper body trunk
Bracket two sides, ancon driving motor are mounted on the ancon of robot arm.
Packaging power module in lower limb trunk bracket, and connect with upper body trunk bracket；Multiple degrees of freedom leg walking mechanism
It is made of and is connected to below lower limb trunk bracket leg support frame and leg steering engine.
In robot kinematics, according to the information that image and ultrasound information acquisition module are fed back, under normal condition,
Robot hunting walking, while ultrasonic sensor identifies whether there is barrier, Angle Measurement Module carries out robot inclination angle
Degree monitoring.If detecting barrier, control system issues order, and multiple degrees of freedom leg walking mechanism executes action group realization and keeps away
Barrier, if detecting, machine upper part of human body tilt angle is greater than certain threshold value, by this signal by being transferred to control after filter and amplification
Module, control multiple degrees of freedom hand module cooperation shoulder complete support and movement of standing up, otherwise, continue hunting row under normal condition
It walks, until terminating.
The sufficient modular structure is eight side type structures as a preferred technical solution, and comprehensively considering robot need to be with ground
Face contact area is big and the alap factor of center of gravity, Preliminary design interior angle are respectively 145 °, 125 °, is sequentially distributed；Pacify thereon
It fills the fixed bracket of ultrasonic sensor and is distributed at sector；Its lower covering shock-damping structure can to adapt to the landform of different degree of roughness
To increase the contact area with ground.In the process of walking, since structure causes sufficient module that left and right is needed to change center of gravity, sufficient mould is caused
Block is no longer parallel to the ground, but has certain angle tilt, compared to common rectangular whole sharp structure, can effectively reduce foot-up
The rising height of movement without generating the collision with ground or barrier in action group of taking a step, is convenient for as shown in Fig. 4
The center of gravity of robot is reduced, avoidance is conducive to, makes whole system that all there is higher stability under Different Ground environment, is guaranteed different
Freely walking under the system stability and varying environment under action group.
Described image and ultrasound information acquisition module are separately mounted to be mounted on head two certainly as a preferred technical solution,
, can be 90 degree upper and lower by degree turntable and on the fixed bracket of sufficient module ultrasonic sensor, wherein image capture module uses camera,
The rotation of left and right 180 degree；Ultrasound information acquisition module uses ultrasonic sensor, is fixed on sufficient module carrier and at sector point
Cloth, can effectively increase investigative range and determine at a distance from barrier, and the two transmits a signal to control module.
The Angle Measurement Module is packaged in upper body trunk bracket as a preferred technical solution, ancon driving electricity
Machine is installed on multiple degree of freedom arm ancon；Wherein Angle Measurement Module uses gyroscope, can detecte robot body inclination angle
Degree when tilting after current more than certain threshold value, determines that robot will topple over.
The kinetics equation that articulated robot is established using Lagrange's equation is arranged in threshold value, as shown in Fig. 5, whereinp-
Center of gravity and pivot distance,θ-Tilt angle,（x , y）Barycentric coodinates.
Kinetic energy：
Potential energy：
Construct Lagrangian
Then joint moment
Multiple degrees of freedom hand module rotates hand joint, takes branch racking according to the toppling direction that gyro module is fed back
Make, unilateral hand joint rotated when robot left and right directions is toppled over, two sides hand joint is rotated when robot front-rear direction is toppled over,
Support ground simultaneously；Then ancon driving motor is run, arm is extended, while cooperating with shoulder steering engine, executes movement of standing up, prevent machine
Device people topples over and restores upright, returns to normal operating conditions.
The control module as a preferred technical solution, is believed using single chip machine controlling circuit according to image and ultrasound
The signal that breath acquisition module, dump angle measurement module transmit carries out data processing.When monitoring robot in case of emergency
When will topple over, hand joint and ancon driving motor are controlled, support ground and movement of standing up is executed, controls robot pose.
The wireless transport module as a preferred technical solution, is remotely controlled unlatching/closing machine people using wireless telecommunications,
Real-time host computer communication, effective monitoring robot working environment and motion conditions are carried out, it is visual to increase system.
A kind of described multiple degree of freedom arm action module and multiple degrees of freedom leg vehicle with walking machine as a preferred technical solution,
Structure executes different action groups according to the order that control system issues.
A kind of overturning-preventing octagon based on multisensor that there is the utility model real-time scene signal to transmit and handle
Sufficient intelligent barrier avoiding robot acquires signal using camera and ultrasonic sensor and gyroscope, prejudges robot appearance in time
State prevents from toppling over, and guarantees the stability of robot ambulation process, is communicated using the real-time host computer of wireless transport module, takes eight
Side shape foot structure increases the adaptability under system stability and varying environment, different mode.
For the utility model compared with traditional square foot constructed machine people, weight in walking process can be effectively reduced in the utility model
The heart, while can in case of emergency prevent robot from toppling over, it can be extended to industry and military field, realize complex environment monitoring.
Detailed description of the invention
Fig. 1 is robot three-dimensional schematic perspective view.
Fig. 2 is eight type foot overlooking structure diagrams.
Fig. 3 is that arm support is stood up action schematic diagram.
Fig. 4 is that the special octagon lumping weight heart reduces schematic diagram.
Fig. 5 robot dump angle threshold calculations schematic diagram
Fig. 6 is robot program's flow diagram.
In figure, 1- camera, 2- multiple degree of freedom arm mechanism, 2-1- large arm, 2-2- ancon driving motor, 2-3- forearm,
2-4- finger, 3- upper body trunk bracket, 4- wireless transport module, 5- lower limb trunk bracket, 6- multiple degrees of freedom leg walking mechanism,
6-1- thigh, 6-2- knee, 6-3- shank, 7- foot module, 7-1- fixed connecting frame, 7-2- foot supports block, 7-3- sensor
Fixed bracket, 8- ultrasonic sensor group, 9- power supply, 10- gyroscope, 11-MCU control unit（MCS-51 Series MCU）.
Specific embodiment
A kind of overturning-preventing octagon foot intelligent barrier avoiding robot, including image capture module, multiple degree of freedom arm mechanism, on
Body trunk bracket, signal transmission module, lower limb trunk bracket, multiple degrees of freedom leg walking mechanism, sufficient module, ultrasound information acquisition
Module, power supply module, angle of bank measurement module, control module.
Image capture module（That is camera）As the head of robot, upper body trunk bracket is arranged in lower limb trunk bracket
Above, upper body trunk bracket both sides are respectively provided with multiple degree of freedom arm mechanism；Lower limb trunk bracket following settings multiple degrees of freedom leg
Walking mechanism.
Shown in Fig. 1, camera 1 is mounted on robot head and is connected with 3 upper end of upper body trunk bracket；Upper body trunk branch
Encapsulation MCU control unit 11, wireless transport module 4 and gyroscope Angle Measurement Module 10 in frame 3；
Multiple degree of freedom arm mechanism 2 is made of arm support, shoulder steering engine, ancon driving motor 2-2 and is connected to upper body
3 two sides of trunk bracket, wherein the ancon driving motor 2-2 for executing movement of standing up is mounted on the ancon of robot arm.
Arm support includes large arm 2-1, forearm 2-3 and finger 2-4 composition.
Between large arm 2-1 and ancon driving motor 2-2, ancon driving motor 2-2 and forearm 2-3, forearm 2-3 and finger 2-
4 are connected by steering engine.
Packaging power module 9 in lower limb trunk bracket 4, and connect with upper body trunk bracket 3；Multiple degrees of freedom leg vehicle with walking machine
Structure 6 is made of leg support frame and leg steering engine and is connected to 4 lower section of lower limb trunk bracket.
Leg support frame is made of thigh, knee, shank.
Between thigh and knee, between knee and shank connected by steering engine, be also logical between shank and sufficient module
Cross steering engine connection.
The sufficient module 7 includes that the fixed connecting frame 7-1 connecting with shank, foot supports block 7-2, ultrasonic sensor are solid
Fixed rack 7-3, fixed connecting frame 7-1, the fixed bracket 7-3 of ultrasonic sensor are fixedly mounted on the upper surface of foot supports block 7-2, foot
Resilient cushion is equipped with below portion supporting block 7-2；The foot supports block 7-2 is octagon plate, and octagon plate interior angle is respectively
145 °, 125 °, 145 °, 125 °, 145 °, 125 °, 145 °, 125 ° are sequentially distributed.
Shown in Fig. 2, octagonal foot module 7 and 6 lower end of multiple degrees of freedom leg walking mechanism pass through sufficient module and foot with
Leg fixed connecting frame 7-1 is connected；Ultrasonic sensor group 8 is installed on the fixed bracket 7-3 of ultrasonic sensor, octagonal
Sufficient module 7 covers shock-damping structure below.In effective detection range, the signal and camera detection of ultrasonic sensor detection
Picture and gyroscope angle measurement signal by signal be input to MCU control unit, MCU control unit progress phase
Data processing is answered, realizes the function of multifunctional movement.
Specific implementation process：As shown in fig. 6, opening robot power supply, gyroscope carries out the monitoring of robot tilt angle, tool
Robot center of gravity and pivot distance in body case study on implementationpFor 0.15m, according to dump angle calculation formula：, and angular acceleration item in real processBigger, robot is easier to be toppled over, therefore machine is arranged
People's critical angle acceleration itemFor 20 °/s2, i.e. tilt angleθWhen greater than 18 °, it is believed that robot will topple over, and be pre- in advance
Sentence, when setting gyroscope Angle Measurement Module monitors that tilt angle is 15 °, i.e., control robot executes overturning-preventing action group behaviour
Make.If detecting, machine upper part of human body tilt angle is greater than 15 °, this signal is single by being transferred to MCU control after filter and amplification
Member, the finger of control multiple degrees of freedom hand, which opens, completes support part, then controls the elongation of ancon driving motor, while and shoulder
Steering engine cooperation, support machine human body complete movement of standing up, then return and continue to monitor to tilt angle；If detecting robot
For upper body tilt angle less than 15 °, MCU control unit control carries out scene signals detection, ultrasonic sensor identification by camera
Whether barrier is had.If detecting barrier, executes action group and realize avoidance, then return and tilt angle is continued to monitor；
If not detecting barrier, hunting walking moves in circles, until terminating.After completing scene signals analysis, by wireless
Transmission module and host computer carry out real-time communication, by camera detection to realtime graphic transmit, realize ipc monitor,
If emergency occurs, robotic movement can be stopped manually.MCU control unit upon receiving the image, carries out in next step in time
Movement judgement, control robot complete different action groups.
Claims (3)
1. a kind of overturning-preventing octagon foot intelligent barrier avoiding robot, it is characterized in that including：Image capture module（1）, multiple degrees of freedom
Arm mechanism（2）, multiple degrees of freedom leg walking mechanism（6）, upper body trunk bracket（3）, body lower limb trunk bracket（5）,
Ultrasound information acquisition module（8）, power supply module（9）, angle of bank measurement module（10）, control module（11）；It is described more
Freedom degree arm mechanism（2）Including large arm（2-1）, ancon driving motor（2-2）, forearm（2-3）And finger（2-4）, large arm
（2-1）With forearm（2-3）Pass through ancon driving motor（2-2）Connection；The multiple degrees of freedom leg walking mechanism（6）Including big
Leg（6-1）, knee（6-2）, shank（6-3）, sufficient module（7）.
2. a kind of overturning-preventing octagon foot intelligent barrier avoiding robot as described in claim 1, it is characterized in that:The sufficient mould
Block（7）Including the fixed connecting frame being connect with shank（7-1）, foot supports block（7-2）, the fixed bracket of ultrasonic sensor（7-3）,
Fixed connecting frame（7-1）, the fixed bracket of ultrasonic sensor（7-3）It is fixedly mounted on foot supports block（7-2）The upper surface of, foot branch
Bracer（7-2）Below be equipped with resilient cushion；The foot supports block（7-2）For octagon plate, octagon plate interior angle is respectively
145 °, 125 °, 145 °, 125 °, 145 °, 125 °, 145 °, 125 ° are sequentially distributed.
3. a kind of overturning-preventing octagon foot intelligent barrier avoiding robot as described in claim 1, it is characterized in that:The inclination angle
Spend measurement module（10）It is packaged in upper body trunk bracket（3）Interior, described ancon driving motor（2-2）It is installed on multiple degrees of freedom hand
Arm mechanism（2）Ancon takes support and movement of standing up with the cooperation of shoulder steering engine when robot will topple over, realizes overturning-preventing function
Energy.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201820333357.5U CN208132950U (en) | 2018-03-12 | 2018-03-12 | Overturning-preventing octagon foot intelligent barrier avoiding robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201820333357.5U CN208132950U (en) | 2018-03-12 | 2018-03-12 | Overturning-preventing octagon foot intelligent barrier avoiding robot |
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| CN208132950U true CN208132950U (en) | 2018-11-23 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN201820333357.5U Expired - Fee Related CN208132950U (en) | 2018-03-12 | 2018-03-12 | Overturning-preventing octagon foot intelligent barrier avoiding robot |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111113377A (en) * | 2019-12-11 | 2020-05-08 | 桂林凯歌信息科技有限公司 | Humanoid robot with attitude calibration system and control method thereof |
| CN114488165A (en) * | 2022-02-11 | 2022-05-13 | 山东省地质矿产勘查开发局第一地质大队（山东省第一地质矿产勘查院） | Survey and drawing geographic information field inspection auxiliary device based on unmanned aerial vehicle |
-
2018
- 2018-03-12 CN CN201820333357.5U patent/CN208132950U/en not_active Expired - Fee Related
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111113377A (en) * | 2019-12-11 | 2020-05-08 | 桂林凯歌信息科技有限公司 | Humanoid robot with attitude calibration system and control method thereof |
| CN111113377B (en) * | 2019-12-11 | 2023-03-14 | 桂林凯歌信息科技有限公司 | Humanoid robot with attitude calibration system and control method thereof |
| CN114488165A (en) * | 2022-02-11 | 2022-05-13 | 山东省地质矿产勘查开发局第一地质大队（山东省第一地质矿产勘查院） | Survey and drawing geographic information field inspection auxiliary device based on unmanned aerial vehicle |
| CN114488165B (en) * | 2022-02-11 | 2022-10-25 | 山东省地质矿产勘查开发局第一地质大队（山东省第一地质矿产勘查院） | Survey and drawing geographic information field inspection auxiliary device based on unmanned aerial vehicle |
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| GR01 | Patent grant | ||
| GR01 | Patent grant | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20181123 Termination date: 20210312 |
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| CF01 | Termination of patent right due to non-payment of annual fee |