CN209938770U - Robot motion system for complex terrain - Google Patents
Robot motion system for complex terrain Download PDFInfo
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- CN209938770U CN209938770U CN201920295755.7U CN201920295755U CN209938770U CN 209938770 U CN209938770 U CN 209938770U CN 201920295755 U CN201920295755 U CN 201920295755U CN 209938770 U CN209938770 U CN 209938770U
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Abstract
The utility model relates to a robot motion system for complicated topography belongs to the robotechnology field. The robot motion system adopts a multi-foot structure, and the driving wheels are arranged at the tips of the multi-foot structure and are in contact with the ground, so that different motion modes are adopted according to different road conditions, the high-speed motion of a flat road surface under a complex terrain is met, the rapid passing of a rugged road surface and an obstacle walking space is met, and the action speed and the obstacle crossing performance are obviously improved. The utility model discloses can wide application in the complicated, environmental hazard of topography such as chemical industry, policeman, forest, fire control, rescue, need the trade and the field of quick response and autonomous working simultaneously.
Description
Technical Field
The utility model belongs to the technical field of the robot, a robot motion system for complicated topography is related to.
Background
The bionic robot is a robot which simulates biological perception and action mechanism and works according to biological characteristics. With the continuous development of scientific technology and the popularization and generalization of industrial application, robots, particularly intelligent robots which automatically advance and automatically execute operation, play an important role in various occasions such as security, inspection, emergency rescue and the like. The robot greatly reduces the labor cost while realizing all-weather, high-risk and high-traffic work, and has incomparable advantages in many dangerous regions and complex terrains.
The wheel type structure is the most structure adopted by the autonomous walking robot, namely the advancing, steering and posture adjustment are realized by adopting a multi-wheel driving mode at the bottom, the mode has the advantages of high running speed, high flexibility and high stability, but the obstacle crossing mainly depends on the diameter of wheels and the power of a driving motor, and the conditions of slipping, wheel clamping, tipping and the like easily occur to a rugged road surface and an obstacle walking space, so that the obstacle crossing cannot pass or even causes body faults.
The crawler-type self-propelled robot has certain climbing and obstacle crossing capabilities, but the crawler structure has the defects of relatively complex structure, large volume and weight, large abrasion to a road surface, short crawler maintenance period and the like, and the crawler-type self-propelled robot is slow in advancing speed, high in energy consumption, difficult to accurately control and low in advancing efficiency in different walking environments.
In order to work under the conditions of rough road surfaces and obstacle walking space, a multi-legged robot similar to animal walking is designed according to the principle of bionics, and wheels are replaced by C-shaped four-limb structures or multi-limb structures. The foot structure of common multi-legged robots, such as spider robots, insect robots and the like, mostly needs to use a multi-axis motor to meet the walking requirement, but the structure is too complex, so that the feet of the robots cannot move quickly and accurately, the stability of an electromechanical system is insufficient, and the operation and maintenance are difficult.
The RHEx robot is a passive and stable six-legged robot with high maneuverability, the height of the robot is 14 cm, the weight of the robot is 12 kg, the effective load of the robot is 2 kg, the traveling speed of the robot is 2.25m/s, each leg is in a half-circle shape and has elasticity, and an outer layer is provided with anti-skidding concave-convex rubber, so that the robot can rapidly walk in various environments. Rhex, as a hexapod robot, may have excellent maneuverability over rough terrain. The independently controlled legs create a specialized gait that propels it over rough terrain with minimal operational input. Rhex can traverse rocks, earth, sand, vegetation, rails, poles, and stairs.
The utility model discloses improve on current robot technical basis, provide a robot motion system advances at a high speed of complicated topography, use special C shape structure to accomplish the action mechanism of robot foot. The upper end of the C-shaped foot part is connected with the motor, and the lower end of the C-shaped foot part is contacted with the ground, so that each foot can independently rotate in 360 degrees at variable speed clockwise and anticlockwise, and the robot can move forwards in a periodic and mutual convolution mode. The C-shaped foot has great elasticity and toughness, and the robot can still keep good stability and high-speed breakthrough performance even on rugged roads. The robot is provided with driving wheels at the tips of multiple feet to be contacted with the ground, so that the problems of rapid and stable running on a flat road and low power consumption running are solved. The system adopts different motion modes according to different road conditions, so that the high-speed motion of a flat road surface and the rapid passing of a rugged obstacle space under a complex terrain are met, and the action speed and the obstacle crossing performance are obviously improved.
SUMMERY OF THE UTILITY MODEL
In view of this, the utility model aims at providing a robot motion system for complicated topography adopts the motion system that many feet and wheeled combined together, takes different motion under different road conditions, improves the velocity of motion and hinders the ability more, improves the high-speed motion performance of robot under the complicated road conditions that flat road conditions and rugged road obstacle space are constituteed, solves the high-speed operation of flat road, and the adaptability that the obstacle that more of unstructured road crawls improves more and hinders, speed, comprehensive properties such as controllability.
In order to achieve the above purpose, the utility model provides a following technical scheme:
a robot motion system for complex terrains comprises a robot body, C-shaped feet, a driving wheel, a motor and a terrain detection device;
a terrain detection device is arranged on the robot body and used for detecting terrain conditions and body position and posture information and determining a traveling mode;
the left side and the right side of the robot body are symmetrically provided with motors for driving the C-shaped feet at the outer side of the robot body;
and driving wheels are arranged on the C-shaped feet positioned at the head end and the tail end of the robot body.
Furthermore, the robot motion system also comprises driven wheels which are symmetrically arranged on the left side and the right side of the robot body and are positioned on the C-shaped feet in the middle of the robot body.
Furthermore, a self-locking buckle is arranged on the driven wheel.
Further, the outer rings of the driving wheel and the driven wheel are provided with pattern tires.
Further, the robot motion system further comprises a laser radar and a depth camera sensor; and a robot body position and posture detection sensor provided with an encoder, a GPS and a gyroscope is used for processing information through a central control unit in the robot body and transmitting motion instructions to each motor controller to realize the control of a motion system.
Further, the motors are speed reducing motors, and the number of the speed reducing motors is 2 or 4 or 6.
Further, the driving wheel is a wheel provided with a wheel hub motor or other walking motors.
The beneficial effects of the utility model reside in that:
(1) the complex terrain adaptability is strong, and the road surface paving machine is suitable for various road conditions such as jungle road surfaces, pavement road surfaces, rock road surfaces, multi-step road surfaces and the like.
(2) The pavement traveling speed is high.
(3) Light in weight, the drive wheel mainly adopts wheel hub motor or takes turns to install the motor, and the structure is nimble, and it is convenient to dismantle.
(4) The maintenance is simple, and the motion subassembly is open installation, easy dismantlement and change.
(5) The automatic traveling mode selection is carried out according to different road surfaces, so that the energy consumption is low and the efficiency is high.
Drawings
In order to make the purpose, technical scheme and beneficial effect of the utility model clearer, the utility model provides a following figure explains:
fig. 1 is a side view of the present invention;
fig. 2 is a top view of the present invention;
fig. 3 is a front view of the present invention;
FIG. 4 is a schematic structural view of the present invention;
FIG. 5 is a schematic diagram of the posture representation and coordinate system of the present invention;
fig. 6 is a schematic view showing the turning posture and the position coordinate of the present invention;
fig. 7 is a flow chart of the present invention.
Reference numerals: the method comprises the following steps of 1-a robot body, 2-C-shaped feet, 3-driving wheels, 4-driven wheels, 5-motors and 6-a terrain detection device.
Detailed Description
The preferred embodiments of the present invention will be described in detail below with reference to the accompanying drawings.
As shown in FIGS. 1-4, a high-speed robot motion system structure schematic diagram for complicated topography, the utility model discloses the motion system that describes installs on a robot automobile body 1, installs topography detection device 6 on the automobile body, and topography detection device can detect topography situation and automobile body position gesture information, decides to select suitable mode of marcing. 2 to 6 speed reducing motors 5 or other motors are symmetrically arranged on the left side and the right side in the vehicle body and are used for driving the C-shaped feet 2 on the two outer sides of the vehicle body. The tail ends of two pairs of C-shaped feet (the tail ends of each foot if the robot is a quadruped robot) are provided with driving wheels 3, and the driving wheels are wheels provided with hub motors or other walking motors. A pair of C-shaped feet in the middle is provided with a driven wheel 4 with a self-locking function. The outer rings of the driving wheel 3 and the driven wheel 4 are pattern tires with large friction force.
The hexapod robot can be provided with sensor systems such as a laser radar or a depth camera and is provided with a robot body position and posture detection sensor such as an encoder, a GPS (global positioning system), a gyroscope and the like, and the control of a motion system is realized by carrying out information processing through a central control unit in a robot body and transmitting motion instructions to each motor controller.
For low-gradient and obstacle roads composed of grass, stones and the like, the robot needs to be capable of passing through quickly, so that the driving wheel on the C-shaped foot is used as a traveling tire, the C-shaped foot is perpendicular to the ground and is in a complete locking position, the driving wheel on the C-shaped foot can be in full contact with the road surface, the driving wheel is driven by a hub motor, and the driven wheel is in a free motion state. The driving wheels on the two sides move in the same direction and at the same speed to realize high-speed forward and backward movement, the driving wheels on the two sides move in the same direction and at different speeds to realize steering in the movement, and the driving wheels on the two sides rotate in situ in the reverse direction and at the same speed. The driving wheel mode can realize the running speed of 0-40 km/h, and can realize the rapid passing of obstacles with the gradient of 0-20 degrees and the height of less than 10 cm.
The robot is required to efficiently pass through large obstacles and uneven road surfaces formed by various rocks, trees and soil blocks, the C-shaped foot is used as a traveling tire, the driving wheel and the driven wheel are kept self-locked, rolling cannot occur and is used as a ground contact end, the C-shaped foot realizes rotation of large torque through the speed reducer motor, the movement mode is calculated through road condition detection and an industrial personal computer, and six feet rotate alternately to realize crossing of various obstacles and up and down of step road surfaces. The device can cross the obstacle with the radius of the C-shaped foot 2/3 to the maximum extent, and meets the passing requirement of the forest complex pavement.
The motion system of the robot can realize autonomous or remote control switching motion modes under the forest complex environment, meets the requirements of various road conditions, improves the execution efficiency, has a simple structure and reduces the maintenance cost.
The utility model discloses motion system comprises C type limbs, self-driving wheel, state sensor, machine controller, central control module etc.. The utility model discloses a motion system includes two kinds of motion states, the high-speed of smooth surface advances and the obstacle crossing in rugged obstacle space passes through, adopt different motion forms respectively under the motion state of difference, smooth surface's motion adopts the rolling friction mode in order to reduce the resistance, consequently at C type limbs (polypody) end installation drive wheel and ground contact, under the circumstances that keeps polypody stable, adopt the drive wheel autogyration to realize advancing and retreating, both sides wheel differential motion realizes turning to in the motion that is less than 40 kilometer per hour speed, both sides wheel counter rotation realizes the rotatory turn to in situ under the quiescent condition. When the robot runs in a rugged obstacle space, the driving wheels are kept locked to form feet with friction, the robot can independently rotate and crawl clockwise and anticlockwise at 360 degrees through the C-shaped feet on the two sides of the C-shaped limbs, and the robot can move forwards and cross obstacles in a periodic and interactive backspin mode.
No matter the robot travels by rolling the self-driven wheels or crawling C-shaped feet, the wheels on the same side of the robot always rotate at the same direction and speed in the moving process, and the wheels on the same side can be combined into one wheel to realize difference between two sides of the robotA speed wheel connecting line is taken as a robot coordinate system YR axis, the direction which passes through the center of the robot and is vertical to the YR axis is taken as the X axis direction of the robot coordinate system, the robot coordinate origin R is taken as a robot position reference point, and the pose of the robot in a world coordinate system 0XY at any moment is expressed as xi0＝(x yθ)TAs shown in FIG. 5, let the radius of the driving wheel of the robot be r, the distance between two wheels be l, and the rotation speeds of the two driving wheels be n respectively1And n2According to the differential principle, the robot follows the coordinate XRThe linear velocity v of the direction and the rate of change ω of the attitude angle are respectively:
v＝πrn2+πrn1
according to the rigid body translation principle, the motion of the robot at any time can be regarded as the rotation around the instantaneous center P of the vehicle body, and the rotation radius R is as follows:
The motion equation of the robot can be expressed as
According to the formula, the motion system of the differential drive machine is a global controllable system, and the rotation speed n of two wheels of the robot is controlled1And n2The linear velocity v and the angular velocity omega of the robot are indirectly controlled, and the robot can move at any pose.
Fig. 6 shows the steering attitude and position coordinates of the robot, the linear and steering motions of the robot are realized by a path control algorithm, if the robot is required to move in a linear mode, under the condition of ensuring that the attitude of the robot is consistent with the linear direction, the omega is 0, and v can move at a set speed, for example, the robot is made to move from a starting point S (x) in fig. 60y0θ0) Move to G (x)1y1θ1) The robot algorithm is as follows, firstly, the dip angle of the straight line segment SG is calculated
And measuring the current azimuth angle theta of the robot according to the detection module2. By passing
Control to realize the in-situ rotation (theta) of the robot2-θ1) Angle, making the posture of robot consistent with the direction movement, then controlling left and right side wheels of robot to make it implement
Is rotated along theta1Direction movementDistance.
As shown in fig. 7, the motion system receives the destination location information, detects the current road condition, selects different motion modes according to different road conditions, detects the current location and posture of the motion system after completing the motion mode selection, plans the forward route according to the mathematical model, sends the motion control signal, drives the robot to move forward to the target location, returns to the motion mode selection process when detecting the road condition change in the travel process, and ends the process after reaching the target location.
Finally, it is noted that the above-mentioned preferred embodiments illustrate rather than limit the invention, and that, although the invention has been described in detail with reference to the above-mentioned preferred embodiments, it will be understood by those skilled in the art that various changes in form and details may be made therein without departing from the scope of the invention as defined by the appended claims.
Claims (7)
1. A robotic movement system for complex terrain, characterized by: the robot comprises a robot body, a C-shaped foot, a driving wheel, a motor and a terrain detection device;
the robot comprises a robot body, a terrain detection device, a control device and a control device, wherein the robot body is provided with the terrain detection device and is used for detecting terrain conditions, acquiring body position and posture information and determining a traveling mode;
the left side and the right side of the robot body are symmetrically provided with motors for driving the C-shaped feet at the outer side of the robot body;
and driving wheels are arranged on the C-shaped feet positioned at the head end and the tail end of the robot body.
2. A robotic movement system for complex terrain as claimed in claim 1, wherein: the robot motion system further comprises driven wheels, wherein the driven wheels are symmetrically arranged on the left side and the right side of the robot body and are positioned on the C-shaped feet in the middle of the robot body.
3. A robotic movement system for complex terrain as claimed in claim 2, characterized in that: and a self-locking buckle is arranged on the driven wheel.
4. A robotic movement system for complex terrain as claimed in claim 3, characterized in that: and pattern tires are arranged on the outer rings of the driving wheel and the driven wheel.
5. A robotic movement system for complex terrain as claimed in claim 4, characterized in that: the robot motion system further comprises a laser radar and a depth camera sensor; and a robot body position and posture detection sensor provided with an encoder, a GPS and a gyroscope is used for processing information through a central control unit in the robot body and transmitting motion instructions to each motor controller to realize the control of a motion system.
6. A robotic movement system for complex terrain as claimed in claim 1, wherein: the motors are speed reducing motors, and the number of the motors is 2 or 4 or 6.
7. A robotic movement system for complex terrain as claimed in claim 1, wherein: the driving wheel is a wheel provided with a hub motor or other walking motors.
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| CN201920295755.7U CN209938770U (en) | 2019-03-08 | 2019-03-08 | Robot motion system for complex terrain |
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| CN201920295755.7U CN209938770U (en) | 2019-03-08 | 2019-03-08 | Robot motion system for complex terrain |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111806590A (en) * | 2020-07-17 | 2020-10-23 | 上海布鲁可科技有限公司 | Crawling robot |
| CN112098636A (en) * | 2020-09-15 | 2020-12-18 | 吕阳 | Device convenient to move for detecting damage degree inside road |
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2019
- 2019-03-08 CN CN201920295755.7U patent/CN209938770U/en active Active
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111806590A (en) * | 2020-07-17 | 2020-10-23 | 上海布鲁可科技有限公司 | Crawling robot |
| CN112098636A (en) * | 2020-09-15 | 2020-12-18 | 吕阳 | Device convenient to move for detecting damage degree inside road |
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