WO2020082719A1

WO2020082719A1 - Head, chest, and abdomen separated bionic hexapod robot

Info

Publication number: WO2020082719A1
Application number: PCT/CN2019/085605
Authority: WO
Inventors: 朱晓庆; 陈璐; 张超; 薛艾琳; 郭威; 余鹏程; 张家辉; 刘鹏飞; 李瑞莹
Original assignee: 北京工业大学
Priority date: 2018-10-26
Filing date: 2019-05-06
Publication date: 2020-04-30
Also published as: CN109367642A

Abstract

Disclosed are a head-chest-abdomen-separated type bionic hexapod robot, consisting of a robot body, a vision system (5), an LED lamp module, a positioning module (7), a control module, a comprehensive detection module (6), a power supply module, and a storage module, and specifically comprising a head (1), a chest (2), an abdomen (3), feet (4), the vision system (5), the comprehensive detection module (6), and the positioning module (7). The bionic hexapod robot can imitate walking of insects, and has the functions of walking, turning or the like under unstructured terrains, so as to realize the purpose of traveling through various dangerous terrains where humans cannot reach.

Description

Bionic hexapod robot with separated head, chest and abdomen

Technical field

The invention discloses a bionic hexapod robot with separated head, chest and abdomen, which can better imitate the ability of insects when walking and traversing complex terrain, and has a stronger ability to traverse unstructured terrain.

Background technique

With the rapid development of robot technology, robots are playing an increasingly important role in disaster recovery, agriculture, households and other fields, especially in environments that are unsafe or unreachable by humans. This requires the robot to have the ability to traverse different terrains, especially in rugged and dangerous areas. Many existing robot designs are capable of walking on unstructured terrain. Wheeled robots move fast, but their ability to cross obstacles is quite limited. Tracking robots are good at navigating in various environments, but heavy and slow robots are not practical in most cases. Leg-type robots have superior performance when crossing large obstacles. The split body design allows a higher degree of freedom when comparing other types of equivalents. In addition, the bionic hexapod robot, which mimics the behavior of insect movements, is the most capable of navigating unstructured terrain and completing multiple tasks. The bionic hexapod robot, as a representative of the multi-legged robot, can walk on unstructured terrain, and has stronger obstacle-crossing ability and environmental adaptability than conventional robots. The object of the present invention is to provide a bionic hexapod robot with separated head, chest and abdomen. The robot is divided into a head, a chest and an abdomen. This bionic structure can effectively improve the robot's flexibility and crawling ability, while reducing the robot's dependence on multiple degrees of freedom. Realize the function of traversing unstructured terrain flexibly.

The search for existing patents found that the patent application publication number: CN108340986A, the name of the invention: a wheel-legged bionic robot with a parallel structure, the invention obtains more freedom of movement and better motion at the same time with a compact structure through a parallel mechanism Flexibility and carrying capacity. Its shortcomings are: complex structure, can not meet the needs of work on unstructured terrain.

The search found that the patent application publication number: CN108297081A, the name of the invention: a bionic robot capable of turning flexibly, the invention is meandering through the scroll wheel installed on the abdomen, so that the earthworm-like creeping on the ground, the softness is good, It can move smoothly in complex and harsh terrains such as caves, pipelines, tiles, mountains and rocks. The disadvantage is that the rolling wheel under the abdomen often slips and the rolling wheel is blocked, so it cannot move smoothly, which affects the use effect.

The search found that the patent application publication number: CN102267509A, the name of the invention: a symmetrical bionic hexapod walking device, the invention uses two upper and lower sleeve structures with identical structures and a centrally symmetrical sleeve structure to realize a triangular support mechanism. The main disadvantages are: complex structure, long start-up time; large volume and weight.

The search found that the patent application publication number: CN205469364U, the name of the invention: a new type of hexapod robot structure and its control system, the invention controls the movement of the robot legs through eighteen servos. The disadvantages are: the degree of freedom of the legs is too high, it is difficult to achieve precise control; the robot load capacity is poor; the gait stability is low.

Summary of the invention

The purpose of the present invention is to propose a bionic hexapod robot with separated head, chest and abdomen, which has the functions of walking and turning under unstructured terrain, so as to achieve the purpose of walking in various dangerous and unreachable terrain.

In order to achieve the above purpose, the inventor team observed that the structure of hexapods was mainly composed of three parts: head, chest and abdomen. The head is mainly used for perception, the function of the chest cavity is movement and coordination, and the abdomen serves as an energy reserve. Therefore, the present invention designs a bionic hexapod robot with a head-chest-abdominal segment structure. The robot is divided into head, chest and abdomen. This bionic structure can effectively improve the flexibility and crawling ability of the robot. At the same time, it reduces the robot's dependence on multiple degrees of freedom.

The technical scheme adopted by the present invention is a bionic hexapod robot with separated head, chest and abdomen, which is composed of a robot body, a vision system 5, an LED lamp module, a positioning module 7, a control module, an integrated detection module 6, a power supply module, and a storage module. The robot body includes a head 1, a chest 2, an abdomen 3, and a foot 4. The head 1, chest 2 and abdomen 3 are connected in sequence by a pin to form an insect chest structure. The head 1, chest 2 and abdomen 3 are used to imitate the three bodies in the insect chest structure, and the robot body can be lifted and lowered. Movements such as head or abdomen. The head 1 is used to sense environmental information, the function of the chest cavity is movement and coordination, and the abdomen serves as an energy reserve.

Head 1, chest 2 and abdomen 3 are equipped with feet 4 on both sides. Vision system 5 is composed of camera, night vision device, LED light module, storage module, image processing module and wireless communication module. The camera and night vision device Arranged in parallel and connected to the storage module, the storage module, image processing module and wireless communication module are connected in sequence; the camera and night vision device form a dual camera fixed on the robot head 1, and the LED light module surrounds the dual camera to fill the light The storage module, image processing module and wireless communication module are embedded in the robot chest 2. The integrated detection module 6 is embedded in the head 1, the integrated detection module 6 is composed of a temperature sensor, a sound sensor, a smoke sensor, a collision sensor and an ultrasonic sensor, etc. The integrated detection module 6 is used for storing and transmitting each sensor to the host computer in real time. The detected information. The positioning module 7 is embedded in the abdomen 3. When the client has additional functions, the client can design a specific functional module to be installed in the chest 2. The abdomen 3 is composed of a controller, a motor driver, a motor, and a power module. The controller is connected to the motor driver, and the motor driver is connected to the motor. The power module is connected to and provides power to the controller, motor driver, and motor. The motor controls the head 1. Lift or lower the two parts of chest 2.

The vision system 5, the integrated detection module 6, and the positioning module 7 are respectively connected to the controller.

The bionic hexapod robot is used to achieve the purpose of traversing unstructured terrain. The foot 4 is a semi-circle (C-shaped) or a ring and the connection part with the hexapod robot body is located at one end or a circle of the semi-circle At any point on the ring, the driving and supporting functions of the foot 4 are realized, and thus the robot can better imitate insects when walking and traversing complex terrain, and has a stronger ability to traverse unstructured terrain.

In the above-mentioned vision system 5, the LED lamp module can supplement the light for the camera and night vision device at night, and the night vision device can collect images at night. In addition to collecting images, the camera also has a recording function and data backup , It can also transmit data in real time to the upper computer through the wireless communication module.

The head 1, chest 2 and abdomen 3 are made of carbon fiber material.

Compared with the prior art, the present invention has the following obvious advantages and beneficial effects:

1. Compared with conventional wheeled robots, it has the ability to traverse under unstructured terrain, and can climb stairs, cross small obstacles, ravines and other special terrain.

2. Compared with crawler robots, it has the advantages of light weight, simple structure and flexible movement.

3. The divided body design allows a higher degree of freedom.

4. The structural base of the robot is made of carbon fiber material, which is light and firm, and has a good strength to weight ratio compared with other materials.

BRIEF DESCRIPTION

Figure 1 Block diagram of a bionic hexapod robot system with separated head, chest and abdomen.

Figure 2 Schematic diagram of a bionic hexapod robot system with separated head, chest and abdomen.

In the picture: 1 head, 2 chest, 3 abdomen, 4 feet, 5 vision system, 6 comprehensive detection module, 7 positioning module

detailed description

Referring to FIG. 2, a bionic hexapod robot with separated head, chest and abdomen is characterized by a robot body, a vision system, an LED light module, a positioning module, a control module, an integrated detection module, a power supply module, and a storage module. Part 1, chest 2, abdomen 3, foot 4, vision system 5, integrated detection module 6, and positioning module 7.

The head 1, chest 2 and abdomen 3 of the hexapod robot are fixedly connected to the two feet 4 axially, and are used to imitate the three bodies in the chest cavity of an insect. A special mechanism is used to connect every two parts. This mechanism can provide two additional degrees of freedom, allowing the robot to perform actions such as raising and lowering the head or abdomen. The vision system 5 is composed of a camera, a night vision device, an LED light module, a storage module, an image processing module, and a wireless communication module. The camera and the night vision device form a dual camera fixed on the robot head 1, and the LED light module surrounds the dual camera The light supplement is performed at night, and the storage module, the image processing module and the wireless communication module are embedded in the robot chest 2. The integrated detection module 6 is embedded in the robot head 1 and includes temperature sensors, sound sensors, smoke sensors, collision sensors, ultrasonic sensors, etc. It can store and transmit the detected information to the host computer in real time. The positioning module 7 is embedded in the abdomen 2. When the client has additional functions, the client can design a specific functional module to be installed in the chest 2. The abdomen 3 is composed of a controller, a motor driver, a motor, and a power module, and controls the other two parts and provides energy for them.

Referring to FIG. 1, the vision system 5, the integrated detection module 6, and the positioning module 7 are respectively connected to the controller, and the power module supplies power to the controller, the motor driver, and the motor.

A bionic hexapod robot with separated head, chest and abdomen is also characterized in that the bionic hexapod robot is used to achieve the purpose of traversing unstructured terrain. The robot foot 4 may be semicircular (C-shaped) or complete The ring shape and the connection part with the hexapod robot body 1 are located at one end of the semicircle or at any point on the complete ring, so as to distinguish the axial fixed connection mode of the tire wheel center of the ordinary wheeled robot.

A bionic hexapod robot with separated head, chest and abdomen is also characterized in that in the vision system 5, the LED light module can supplement the light for the vision system at night, and the night vision device can better perform images at night In addition to collecting images, the camera not only has a recording function and can perform data backup, but also can transmit data in real time to a host computer through a wireless communication module.

Example: A bionic hexapod robot with a separated head, thorax and abdomen can be placed at an earthquake site to perform search tasks. Due to its small and flexible structure, it can work in complex and narrow terrain. During the search process, the robot's camera, ultrasonic sensor, gyroscope and other sensors enable the robot to complete the task well. In addition, the robot's excellent load-bearing capacity allows it to play a role in transportation. When the robot is damaged, its modular structure allows workers to remove the damaged module and install a new module. This process is very simple and fast, so that search and rescue personnel will not spend too much time to repair.

The specific embodiments described above further describe the purpose, technical solutions and beneficial effects of the present invention in detail. It should be understood that the above are only specific embodiments of the present invention and are not intended to limit the present invention. Any modification, equivalent replacement, and improvement made within the spirit and principle of the present invention should be included in the protection scope of the present invention.

Claims

A bionic hexapod robot with separated head, chest and abdomen is characterized by a robot body, a vision system (5), an LED lamp module, a positioning module (7), a control module, a comprehensive detection module (6), a power module, and a storage The module is composed of a robot body including a head (1), a chest (2), an abdomen (3), and a foot (4); the head (1), chest (2), and abdomen (3) are sequentially connected by a pin Insect chest structure, the head (1), chest (2) and abdomen (3) are used to imitate the three bodies of the insect chest structure, the robot body can realize the movement of lifting, lowering the head or the abdomen; the head (1 ) Used to sense environmental information, the function of the chest cavity is movement and coordination, and the abdomen serves as an energy reserve;

The head (1), the chest (2), and the abdomen (3) are provided with feet (4) on both sides. The vision system (5) consists of a camera, night vision device, LED light module, storage module, image processing module, and The wireless communication module is constituted. The camera and the night vision device are arranged side by side and connected to the storage module. The storage module, the image processing module and the wireless communication module are sequentially connected; the camera and the night vision device form a double camera fixed on the robot head (1), The LED light module surrounds the dual camera to fill the light, the storage module, image processing module and wireless communication module are embedded in the robot chest (2); the integrated detection module (6) is embedded in the head (1), integrated The detection module (6) is composed of temperature sensor, sound sensor, smoke sensor, collision sensor and ultrasonic sensor. The integrated detection module (6) is used to store and transmit the information detected by each sensor to the host computer in real time; the positioning module (7 ) Embedded in the abdomen (3); the abdomen (3) is composed of a controller, a motor driver, a motor, and a power module. The controller is connected to the motor driver, the motor driver is connected to the motor, and the power module is all connected to the control , A motor driver, a motor power connector and provide motor control head (1), the chest (2) to lift or lower two portions;

The vision system (5), the integrated detection module (6), and the positioning module (7) are respectively connected to the controller.
The bionic hexapod robot with separated head, thorax and abdomen according to claim 1, characterized in that: the foot (4) is a semi-circle or a ring and is connected to the body of the hexapod robot At any point on one end of the semi-circle or the ring, the driving and supporting functions of the foot (4) are realized, so that the robot imitates insects when walking and traversing complex terrain, and has the ability to traverse unstructured terrain.
The bionic hexapod robot with separated head, thorax and abdomen according to claim 1, characterized in that: in the vision system (5), the LED lamp module can supplement the light for the camera and the night vision device at night. The visual instrument can collect images at night. In addition to collecting images, the camera also has a video recording function and data backup. It can also transmit data in real time to a host computer through a wireless communication module.
The bionic hexapod robot with separated head, chest and abdomen according to claim 1, characterized in that the head (1), the chest (2) and the abdomen (3) are all made of carbon fiber material.