CN211967524U - Active double-drive modularized multi-sensor fusion snake-shaped robot - Google Patents
Active double-drive modularized multi-sensor fusion snake-shaped robot Download PDFInfo
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- CN211967524U CN211967524U CN202020592218.1U CN202020592218U CN211967524U CN 211967524 U CN211967524 U CN 211967524U CN 202020592218 U CN202020592218 U CN 202020592218U CN 211967524 U CN211967524 U CN 211967524U
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Abstract
The utility model provides an initiative double-drive modularization multisensor fuses snake robot, this snake robot encapsulates the driftage steering wheel, every single move steering wheel and drive steering wheel three in a detachable lid jointly, compact structure to cooperate through the three and realize the straight line, around hindering and hinder the motion more, have very strong flexibility and maneuverability, especially be applicable to and use in narrow and small range of space such as mine, ruins, cable pit; meanwhile, the snake-head joints, the snake-tail joints and the snake-body joints of the utility model and the snake-body joint joints are detachably connected through the same joint connecting pieces, so that the length of the snake body can be increased or reduced at will, and the application range of the snake-shaped robot is expanded; and moreover, an orthogonal structure is adopted between the yaw connecting piece and the pitching connecting piece, the size is small, the movement is flexible, and the trafficability characteristic and the controllability of a complex environment are improved.
Description
Technical Field
The utility model belongs to the technical field of the robot that patrols and examines, concretely relates to snake robot is fused to two formula modularization multisensors that drive.
Background
The environment structure forms of mines, ruins, cable ducts and the like are complex and changeable, the working space is narrow, the environment is severe, the access is difficult, the accident risk exists, the routing inspection problem is difficult, the consumed time is long, and the potential safety hazard exists. In addition, construction waste, abandoned waste articles or artificial waste are common in the environment, and the difficulty of routing inspection and investigation is increased to different degrees aiming at the situation. The existing robots related to the work mostly adopt a wheel-free peristaltic design, and the working efficiency is low.
SUMMERY OF THE UTILITY MODEL
The utility model aims at providing an initiative double-drive formula modularization multisensor fuses snake robot, it fuses the system matched with mode through a plurality of steering wheel and multisensor and realizes sharp, around the barrier and hinder the motion more, has very strong flexibility and maneuverability, is particularly useful for using in the narrow and small scope in spaces such as mine, ruins, cable pit.
In order to achieve the above purpose, the utility model adopts the technical scheme that: the active double-drive modularized multi-sensor fusion snake-shaped robot comprises a snake head joint, a plurality of snake body joints and a snake tail joint which are sequentially connected end to end through a plurality of joint connecting pieces, wherein the snake head joint, the plurality of snake body joints and the snake tail joint respectively comprise a pitching steering engine for horizontal rotation output, a yawing steering engine for vertical rotation output and a driving steering engine for driving the snake body joints to walk, two sides of each driving steering engine are connected with driving wheels, and the front end of the snake head joint is also provided with a multi-sensor fusion system for detecting the environmental information of the snake-shaped robot;
the joint connecting piece comprises every single move connecting piece that sets up along the horizontal direction and the driftage connecting piece that sets up along vertical direction, and driftage connecting piece and every single move connecting piece are the U-shaped structure of being folded by the flat board, and wherein, driftage connecting piece installation and lock are at the both ends of driftage steering wheel, and every single move connecting piece installation and lock are at the both ends of every single move steering wheel, and driftage connecting piece and every single move connecting piece fixed connection and both constitute orthogonal structure.
Furthermore, the driftage steering wheel and the every single move steering wheel distribute in the preceding, the back both sides of drive steering wheel, and the outside of driftage steering wheel, every single move steering wheel and drive steering wheel three is provided with a detachable lid jointly.
Furthermore, the output ends of the yaw steering engine, the pitch steering engine and the driving steering engine are all provided with a steering wheel, and a connecting piece matched with the steering wheel is further arranged between the steering wheel and the driving wheel which are arranged on the output end of the driving steering engine.
Furthermore, the output directions of the yaw steering engine and the pitch steering engine are perpendicular and orthogonal in space.
Furthermore, the cover body is composed of an upper cover and a lower cover, and a gyroscope sensor for detecting the three-dimensional posture is arranged at the top of the upper cover.
Further, multisensor fuses the system including the vision sensor module that is used for gathering environment image information at space range, be used for detecting the infrared sensor of the bright dark degree information of place ahead environment, be used for detecting the laser radar sensor of place ahead barrier distance information, be used for detecting the temperature and humidity sensor of the temperature and humidity information of the environment that this snake robot locates and be used for monitoring the smoke density information's of smoke in the environment that this snake robot locates, the front end of snake head joint still is provided with luminance adjustable and is used for supplementing the LED lamp of illumination intensity for the vision sensor module, infrared sensor, laser radar sensor, temperature and humidity sensor, smoke sensor and LED lamp all be connected with a control module electricity that encapsulates in snake tail joint inside.
Further, control module includes raspberry group, Arduino control panel, bluetooth module, wiFi module and is used for the power module to this control module power supply, wherein, the raspberry group is connected with drive steering wheel, every single move steering wheel, driftage steering wheel, LED lamp and gyroscope sensor electricity respectively through the Arduino control panel, vision sensor module, infrared sensor, laser radar sensor, temperature and humidity sensor and smoke transducer all directly be connected with the raspberry group electricity, the raspberry group is connected with remote terminal electricity through the wiFi module, remote terminal passes through bluetooth module and is connected with the Arduino control panel electricity.
Furthermore, the temperature and humidity sensor is arranged at the top of the front end of the snake head joint and positioned between the upper closing cover and the yaw steering engine, and the smoke sensor is positioned on the side wall of the yaw steering engine.
Compared with the prior art, the beneficial effects of the utility model are that:
1. the snake-head joint and the snake-body joint, the snake-tail joint and the snake-body joint of the utility model are detachably connected through the same joint connecting pieces, so that the length of the snake body can be arbitrarily increased or reduced, and the application range of the snake-shaped robot is expanded;
2. the utility model discloses encapsulate driftage steering wheel, every single move steering wheel and drive steering wheel three in a detachable lid jointly, compact structure to realize straight line, obstacle detouring and obstacle surmounting movement through the three cooperation, have very strong flexibility and maneuverability, especially be applicable to and use in narrow and small ranges in spaces such as mine, ruins, cable pit;
3. an orthogonal structure is adopted between a yaw connecting piece and a pitching connecting piece in the joint connecting piece, so that the joint connecting piece is small in size and flexible in movement, and the trafficability and the controllability of a complex environment are improved;
4. the snake head joints, the plurality of snake body joints and the snake tail joints in the utility model all adopt bodies composed of a plurality of steering engines, when one of the joints is damaged, the replacement and the maintenance can be conveniently carried out, and the structures of the joint connecting pieces used for connecting different joints are completely the same, thereby further reducing the cost and the difficulty in maintenance;
5. the utility model discloses an automatic and artifical operational mode that combines together, wherein, detect the operational environment in the pit in real time through multisensor fusion system to through raspberry group and Arduino control panel automatic response, when the condition in the pit is more complicated, the staff also can judge and manual control the operational environment in the pit through remote terminal the utility model discloses moving in the pit, degree of automation is high, can replace the staff to carry out work such as patrolling and examining in the pit, has liberated the manpower, and has reduced the degree of difficulty and the risk when working in the pit;
6. the utility model discloses all be provided with a gyroscope sensor that is used for detecting three-dimensional gesture at the top of each joint, then adjust the organism gesture through raspberry group and Arduino control panel to prevent that the organism from toppling.
Drawings
Fig. 1 is a schematic diagram of the overall structure of an active dual-drive modular multisensor fusion snake robot of the present invention;
FIG. 2 is a schematic structural diagram of a snake head joint in an active dual-drive modular multi-sensor fusion snake-shaped robot;
FIG. 3 is a schematic view of the connection of a single snake body joint to the articulation joint;
fig. 4 is a schematic block diagram of a control module according to the present invention;
the labels in the figure are: 1. snake head joint, 2 snake body joint, 3 snake tail joint, 4 pitching steering engine, 5 yawing steering engine, 6 driving steering engine, 7 driving wheel, 8 joint connecting piece, 801 pitching connecting piece, 802 yawing connecting piece, 803 rudder disc, 804 connecting piece, 9 cover body, 901 cover, top cover, 902 cover, bottom cover, 10 gyroscope sensor, 11 vision sensor module, 12 infrared sensor, 13 laser radar sensor, 14 temperature and humidity sensor, 15 smoke sensor, 16 LED lamp.
Detailed Description
In order to make the purpose, technical solution and advantages of the embodiments of the present invention clearer, the following will combine the drawings in the present invention to clearly and completely describe the technical solution in the embodiments of the present invention, and obviously, the described embodiments are some embodiments of the present invention, rather than all embodiments, based on the embodiments in the present invention, all other embodiments obtained by a person of ordinary skill in the art without creative work belong to the protection scope of the present invention.
Active double-drive formula modularization multisensor fuses snake robot, as shown in figure 1, include a snake head joint 1, a plurality of snake body joints 2 and a snake tail joint 3 through a plurality of joint connection spare 8 end to end connection in proper order, snake body joint 2 is the major structure who realizes this robot action, is the carrier of snake head joint 1 and snake tail joint 3, the utility model discloses a between snake head joint and the snake body joint, between snake tail joint and the snake body joint and between each snake body joint all realize dismantling the connection through the same joint connection spare to can increase wantonly or reduce the length of snake body, expand the range of application of snake robot.
The snake head joint 1, the plurality of snake body joints 2 and the snake tail joint 3 respectively comprise a pitching steering engine 4 for horizontal rotation output, a yawing steering engine 5 for vertical rotation output and a driving steering engine 6 for driving the snake body joints 2 to walk, two sides of each driving steering engine 6 are respectively connected with a driving wheel 7, and as shown in figure 2, the front end of the snake head joint 1 is also provided with a multi-sensor fusion system for detecting the environmental information of the snake-shaped robot;
as shown in fig. 3, the joint connector 8 is composed of a pitching connector 801 arranged along the horizontal direction and a yawing connector 802 arranged along the vertical direction, both the yawing connector 802 and the pitching connector 801 are U-shaped structures formed by folding flat plates, wherein the yawing connector 802 is installed and fastened at two ends of the yawing steering engine 5, the pitching connector 801 is installed and fastened at two ends of the pitching steering engine 4, the yawing connector 802 is fixedly connected with the pitching connector 801, and the yawing connector 802 and the pitching connector 801 form an orthogonal structure, so that the size is small, the movement is flexible, and the trafficability and the controllability of a complex environment are improved.
Further optimize this scheme, driftage steering wheel 5 and every single move steering wheel 4 distribute in the front of drive steering wheel 6, back both sides, and driftage steering wheel 5, every single move steering wheel 4 and drive steering wheel 6 three's outside is provided with a detachable lid 9 jointly, the utility model discloses encapsulate driftage steering wheel 5, every single move steering wheel 4 and drive steering wheel 6 three in a detachable lid 9 jointly, compact structure to cooperate through the three and realize sharp, around hindering and obstacle surmounting motion, have very strong flexibility and maneuverability, especially be applicable to and use in narrow and small ranges in space such as mine, ruins, cable pit; in this embodiment, two driving steering engines 6 are provided, and the ends of the two driving steering engines 6 far away from the output shaft are attached to each other, and the output shaft is matched with the rudder disk 803 with teeth, so as to improve the stability of the system.
Further optimize this scheme, the output of driftage steering wheel 5, every single move steering wheel 4 and drive steering wheel 6 three all be provided with steering wheel 803, and still be provided with between steering wheel 803 that sets up on the output of drive steering wheel 6 and the drive wheel 7 with steering wheel 803 matched with connecting piece 804, the both ends of connecting piece 804 cooperate with steering wheel 803 and drive wheel 7 respectively.
According to the scheme, the output directions of the yaw steering engine 5 and the pitch steering engine 4 are perpendicular and orthogonal in space.
Further optimize this scheme, lid 9 closes lid 901 by last and closes lid 902 down and constitute, the top of closing lid 901 on is provided with the gyroscope sensor 10 that is used for detecting the three-dimensional gesture, gyroscope sensor 10 is used for gathering the three-dimensional space gesture information of each joint to give Arduino control panel with information transmission, judge by Arduino control panel whether exceed the threshold value, if exceed the threshold value, Arduino control panel send instruction control every single move steering wheel 4, drive steering wheel 6, the action of driftage steering wheel 5, and then adjust the organism gesture, in order to prevent that the organism from toppling.
Further optimize this scheme, multisensor fuses the system including the vision sensor module 11 that is used for gathering environment image information in space range, the infrared sensor 12 that is used for detecting the bright dark degree information of place ahead environment, the lidar sensor 13 that is used for detecting place ahead barrier apart from information, the temperature and humidity sensor 14 that is used for detecting the temperature and the humidity information of the environment that this snake robot is located and the smoke transducer 15 that is used for monitoring smoke concentration information in the environment that this snake robot is located.
The vision sensor module 11 comprises a vision sensor and an orthogonal mechanism, and the vision sensor module 11 realizes orthogonal rotation in the horizontal direction and the vertical direction by means of the orthogonal mechanism to drive the vision sensor to acquire environment image information in a space range.
Temperature and humidity sensor 14 gathers the organism ambient temperature, humidity information to give raspberry group with temperature, humidity information transmission, the wireless transmission of rethread wifi module gives remote terminal, and remote terminal in this embodiment can adopt cell-phone and PC end.
Simultaneously through raspberry group judge above-mentioned temperature, humidity information, smog concentration whether exceed the threshold value, if exceed the threshold value, give Arduino control panel "stop" instruction, the organism stops the action, automatic switch to manual mode this moment, transmit control instruction at cell-phone, PC end through bluetooth module and give Arduino control panel by the manual work, and then control every single move steering wheel 4, drive steering wheel 6, the action of driftage steering wheel 5, realize the artifical manual control of organism.
The front end of the snake head joint 1 is also provided with an LED lamp 16 with adjustable brightness and used for supplementing illumination intensity for the vision sensor module 11, the LED lamp 16 is used for illuminating the advancing environment, meanwhile, dark brightness data detected by the infrared sensor 12 are processed by the control system, and the brightness and the darkness of the LED lamp 16 are controlled, so that the illumination intensity is supplemented for the vision sensor, and meanwhile, the electric energy of the machine body is saved. The vision sensor module 11, the infrared sensor 12, the laser radar sensor 13, the temperature and humidity sensor 14, the smoke sensor 15 and the LED lamp 16 are all electrically connected with a control module packaged inside the snake tail joint 3.
As shown in fig. 4, control module includes raspberry group, Arduino control panel, bluetooth module, wiFi module and is used for the power module to this control module power supply, wherein, the raspberry group is connected with drive steering wheel 6, every single move steering wheel 4, driftage steering wheel 5, LED lamp 16 and gyroscope sensor 10 electricity respectively through Arduino control panel, vision sensor module 11, infrared sensor 12, laser radar sensor 13, temperature and humidity sensor 14 and smoke transducer 15 all directly send the electricity with the raspberry and be connected, the raspberry group is connected with remote terminal electricity through the wiFi module, remote terminal passes through bluetooth module and Arduino control panel electricity and is connected.
According to the scheme, the temperature and humidity sensor 14 is arranged at the top of the front end of the snake head joint 1 and located between the upper closing cover 901 and the yawing steering engine 5, and the smoke sensor 15 is located on the side wall of the yawing steering engine 5, so that the influence of external environmental factors on a detection result can be reduced.
The utility model discloses an automatic and artifical operational mode that combines together, wherein, fuse the system through the multisensor and detect the operational environment in the pit in real time to send and the automatic reaction of making of Arduino control panel through the raspberry, when the condition in the pit is more complicated, the staff also can judge and manual control the operational environment in the pit through remote terminal the utility model discloses at the downhole movement, degree of automation is high, and fungible staff carries out work such as patrolling and examining in the pit, has liberated the manpower to degree of difficulty and risk when having reduced the downhole operation.
The utility model discloses drive method of initiative double-drive formula modularization multisensor amalgamation snake robot is as follows, including following step:
s1, setting threshold: presetting a distance threshold, a temperature and humidity threshold and a smoke concentration threshold in a raspberry pie;
s2, linear motion: the laser radar sensor 13 collects the distance of the obstacle in the moving direction, the collected distance information is transmitted to the raspberry pie in real time, if the collected distance information is not within the range of the set distance threshold value, the raspberry pie is judged to be free of the obstacle, the snake-shaped robot continues to keep straight running, if the distance is within the range of the set distance threshold value, the raspberry pie is judged to be provided with the obstacle, the control of the drive steering engine 6 is carried out through the Arduino control panel, the operation is stopped, and the operation is carried out in the step S3;
s3, the raspberry pie further judges the distance between obstacles on two sides of the movement direction, if the left side and the right side of the movement direction both have obstacles, the step S5 is skipped, otherwise, the step S4 is skipped;
s4, obstacle-detouring movement: the raspberry group controls a yaw steering engine 5 on the snake head joint 1 to drive a laser radar sensor 13 to move in the horizontal direction through an Arduino control panel, selects one barrier-free direction according to distance information detected by the laser radar sensor 13, controls a driving steering engine 6 to work through the Arduino control panel, sequentially controls the yaw steering engines 5 on the snake head joints 1, the snake body joints 2 and the snake tail joints 3 to move while driving the steering engine 6 to work, and sequentially controls the yaw steering engines 5 on the snake head joints 1, the snake body joints 2 and the snake tail joints 3 to move after completely avoiding barriers, and restores to original linear motion;
s5, obstacle crossing movement: raspberry group drives laser radar sensor 13 through Arduino control panel control every single move steering wheel 4 and moves in vertical direction, the raspberry group is according to the distance information that laser radar sensor 13 detected, judge whether there is the barrier in the preceding top of direction of motion, if there is not the barrier, then through Arduino control panel control drive steering wheel 6 work, in drive steering wheel 6 work, every single move steering wheel 4 on a plurality of snake body joints 2 and the snake tail joint 3 moves in proper order, after crossing the barrier completely, resume original rectilinear motion.
Further optimize this scheme, at the in-process of this snake robot motion, the raspberry group is higher than the threshold value of setting for in advance in the raspberry group through temperature and humidity sensor 14 and smoke transducer 15 real-time environmental information to this snake robot and is located, then the raspberry group is through Arduino control panel control drive steering wheel 6 stop work.
The previous description of the disclosed embodiments is provided to enable any person skilled in the art to make or use the present invention. Various modifications to these embodiments will be readily apparent to those skilled in the art, and the generic principles defined herein may be applied to other embodiments without departing from the spirit or scope of the invention. Thus, the present invention is not intended to be limited to the embodiments shown herein but is to be accorded the widest scope consistent with the principles and novel features disclosed herein.
Claims (8)
1. Active double-drive modularization multisensor fuses snake robot, includes a snake head joint (1), a plurality of snake body joint (2) and a snake tail joint (3) through a plurality of joint connecting piece (8) end to end connection in proper order, its characterized in that: the snake head joint (1), the snake body joints (2) and the snake tail joint (3) comprise a pitching steering engine (4) for horizontal rotation output, a yawing steering engine (5) for vertical rotation output and a driving steering engine (6) for driving the snake body joints (2) to walk, two sides of each driving steering engine (6) are connected with driving wheels (7), and the front end of the snake head joint (1) is further provided with a multi-sensor fusion system for detecting the environmental information of the snake-shaped robot;
the joint connecting piece (8) is composed of a pitching connecting piece (801) arranged in the horizontal direction and a yawing connecting piece (802) arranged in the vertical direction, the yawing connecting piece (802) and the pitching connecting piece (801) are of U-shaped structures formed by folding flat plates, the yawing connecting piece (802) is installed and buckled at two ends of a yawing steering engine (5), the pitching connecting piece (801) is installed and buckled at two ends of a pitching steering engine (4), and the yawing connecting piece (802) and the pitching connecting piece (801) are fixedly connected and form an orthogonal structure.
2. The active dual-drive modular multi-sensor fusion snake robot of claim 1, wherein: the yaw steering engine (5) and the pitch steering engine (4) are distributed on the front side and the rear side of the driving steering engine (6), and a detachable cover body (9) is arranged on the outer sides of the yaw steering engine (5), the pitch steering engine (4) and the driving steering engine (6) together.
3. The active dual-drive modular multi-sensor fusion snake robot of claim 2, wherein: the output ends of the yaw steering engine (5), the pitch steering engine (4) and the driving steering engine (6) are respectively provided with a rudder disc (803), and a connecting piece (804) matched with the rudder disc (803) is further arranged between the rudder disc (803) arranged on the output end of the driving steering engine (6) and the driving wheel (7).
4. The active dual-drive modular multi-sensor fusion snake robot of claim 3, wherein: and the output directions of the yaw steering engine (5) and the pitching steering engine (4) are vertically orthogonal in space.
5. The active dual-drive modular multi-sensor fusion snake robot of claim 4, wherein: the cover body (9) is composed of an upper closing cover (901) and a lower closing cover (902), and a gyroscope sensor (10) for detecting a three-dimensional posture is arranged at the top of the upper closing cover (901).
6. The active dual-drive modular multi-sensor fusion snake robot of claim 1, wherein: the multi-sensor fusion system comprises a visual sensor module (11) for collecting environment image information in a space range, an infrared sensor (12) for detecting the brightness degree information of the front environment, a laser radar sensor (13) for detecting the distance information of a front obstacle, a temperature and humidity sensor (14) for detecting the temperature and humidity information of the environment where the snake-shaped robot is located and a smoke sensor (15) for monitoring the smoke concentration information in the environment where the snake-shaped robot is located, the front end of the snake head joint (1) is also provided with an LED lamp (16) with adjustable brightness and used for supplementing illumination intensity for the vision sensor module (11), the vision sensor module (11), the infrared sensor (12), the laser radar sensor (13), the temperature and humidity sensor (14), the smoke sensor (15) and the LED lamp (16) are all electrically connected with a control module packaged inside the snake tail joint (3).
7. The active dual-drive modular multi-sensor fusion snake robot of claim 6, wherein: control module includes raspberry group, Arduino control panel, bluetooth module, wiFi module and is used for the power module to this control module power supply, wherein, the raspberry group is connected with drive steering wheel (6), every single move steering wheel (4), driftage steering wheel (5), LED lamp (16) and gyroscope sensor (10) electricity respectively through Arduino control panel, vision sensor module (11), infrared sensor (12), laser radar sensor (13), temperature and humidity sensor (14) and smoke transducer (15) all directly be connected with the raspberry group electricity, the raspberry group is connected with the remote terminal electricity through the wiFi module, the remote terminal passes through bluetooth module and is connected with Arduino control panel electricity.
8. The active dual-drive modular multi-sensor fusion snake robot of claim 7, wherein: the temperature and humidity sensor (14) is arranged at the top of the front end of the snake head joint (1) and located between the upper closing cover (901) and the yaw steering engine (5), and the smoke sensor (15) is located on the side wall of the yaw steering engine (5).
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112917514A (en) * | 2021-01-20 | 2021-06-08 | 云南电网有限责任公司电力科学研究院 | Cable temperature detection device based on snake-shaped robot |
| CN113830196A (en) * | 2021-09-26 | 2021-12-24 | 山东大学 | Biped robot capable of being spliced autonomously, multi-configuration robot and control method of multi-configuration robot |
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2020
- 2020-04-20 CN CN202020592218.1U patent/CN211967524U/en active Active
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112917514A (en) * | 2021-01-20 | 2021-06-08 | 云南电网有限责任公司电力科学研究院 | Cable temperature detection device based on snake-shaped robot |
| CN113830196A (en) * | 2021-09-26 | 2021-12-24 | 山东大学 | Biped robot capable of being spliced autonomously, multi-configuration robot and control method of multi-configuration robot |
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