CN108556938B - All-terrain robot - Google Patents
All-terrain robot Download PDFInfo
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- CN108556938B CN108556938B CN201810676790.3A CN201810676790A CN108556938B CN 108556938 B CN108556938 B CN 108556938B CN 201810676790 A CN201810676790 A CN 201810676790A CN 108556938 B CN108556938 B CN 108556938B
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D55/00—Endless track vehicles
- B62D55/04—Endless track vehicles with tracks and alternative ground wheels, e.g. changeable from endless track vehicle into wheeled vehicle and vice versa
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
- B25J19/02—Sensing devices
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J5/00—Manipulators mounted on wheels or on carriages
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J5/00—Manipulators mounted on wheels or on carriages
- B25J5/007—Manipulators mounted on wheels or on carriages mounted on wheels
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1656—Programme controls characterised by programming, planning systems for manipulators
- B25J9/1664—Programme controls characterised by programming, planning systems for manipulators characterised by motion, path, trajectory planning
- B25J9/1666—Avoiding collision or forbidden zones
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
- Y02T10/00—Road transport of goods or passengers
- Y02T10/60—Other road transportation technologies with climate change mitigation effect
- Y02T10/72—Electric energy management in electromobility
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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Robotics (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Transportation (AREA)
- Manipulator (AREA)
- Toys (AREA)
Abstract
The all-terrain robot adopts a wheeled structure to walk on a flat road surface, adopts a crawler-type structure to walk on a complex road surface, and comprises wheeled components, a vehicle body, a chassis system, a steering engine system, a controller, an environment detection system, a power supply system and a driving motor, wherein the vehicle body is positioned above the chassis system; the driving motor comprises a wheel type driving motor and a crawler type chassis driving motor; the chassis system comprises a crawler belt, a synchronous pulley, a chassis supporting frame and a crawler-type chassis driving motor, wherein the synchronous pulley comprises a driving wheel and a driven wheel, the crawler-type chassis driving motor is arranged on the chassis supporting frame, the driving wheel of the synchronous pulley is connected with an output shaft of the crawler-type chassis driving motor, and the crawler belt is meshed with the synchronous pulley to drive the crawler belt to move.
Description
Technical Field
The invention relates to the technical field of robots, in particular to an all-terrain robot.
Background
Currently, robotic chassis are commonly tracked or wheeled, where tracked machines have a strong throughput capacity for complex roadways, but they cannot quickly pass over flat roadways. While wheeled machines are capable of passing through flat surfaces quickly, they are only prohibitive for more complex surfaces, such as grass, gravel, swamps, etc. Therefore, the robot can autonomously detect unfamiliar environments and can climb or descend cliffs by virtue of self force on the premise of ensuring the safety of the robot, and the robot is a problem to be solved in the field of robots.
Disclosure of Invention
Aiming at the problems existing in the prior art, the invention aims to provide an all-terrain robot which adopts a mode of combining crawler type and wheel type, so that the all-terrain robot can complete the mutual switching from crawler type to wheel type, namely, the all-terrain robot adopts wheel type movement on a flat road surface, supports the whole body of the all-terrain robot through a front bracket and a rear bracket, and can realize fast and barrier-free passing; the method comprises the steps that a crawler-type structure is adopted on a complex road surface, road condition information is obtained by means of a sensor, the obtained information is analyzed by a singlechip system, obstacles which cannot be crossed are avoided according to analysis results, and proper actions are taken for crossing the obstacles which can be crossed; the all-terrain robot can raise or lower the self height and automatically restore the normal posture in the case of tipping over.
The technical scheme of the invention is as follows:
the all-terrain robot adopts a wheeled structure to walk on a flat road surface and adopts a crawler-type structure to walk on a complex road surface, and comprises wheeled components, a vehicle body, a chassis system, a steering engine system, a controller, an environment detection system, a power supply system and a driving motor, wherein the vehicle body is positioned above the chassis system; the driving motor comprises a wheel type driving motor and a crawler type chassis driving motor; the chassis system is positioned below the vehicle body, the wheel type component part comprises a first bracket, a second bracket, a first wheel and a second wheel, the first bracket and the second bracket are respectively positioned at two ends of the crawler-type vehicle body, the first bracket and the second bracket have preset lengths, the first bracket and the second bracket can rotate and are configured to support the crawler-type vehicle body, the first wheel is arranged at the end part of the first bracket, far away from the vehicle body, of the first bracket, the second wheel is arranged at the end part of the second bracket, far away from the vehicle body, the steering engine system comprises a first steering engine, a second steering engine, a third steering engine, a fourth steering engine, a fifth steering engine and a steering engine controller, and the steering engine controller controls the action of each steering engine; the environment detection system comprises ultrasonic ranging sensors and angle sensors.
Preferably, the number of the first wheels is two, which are respectively located at two sides of the first bracket, and the number of the second wheels is two, which are respectively located at two sides of the second bracket.
Preferably, the torsion of the fourth steering engine and the second steering engine is greater than the torsion of the third steering engine and the first steering engine.
Preferably, the included angle between the first wheel and the first bracket is adjusted through the fifth steering engine.
Preferably, when the all-terrain robot walks on a complex road surface by adopting a crawler type structure, the position of the first wheel type driving motor is used as the front part of the all-terrain robot, and when the all-terrain robot tilts to the first side in the advancing process, the angle sensor detects a first angle change value, and the main control board controls the first servo motor to rotate anticlockwise so as to realize turning so as to recover the normal posture of the all-terrain robot; when the all-terrain robot topples towards the second side, the angle sensor detects a second angle change value, and the main control board controls the first servo motor to rotate clockwise so as to realize turning over and recover the normal posture of the all-terrain robot.
Preferably, the specific steps when the all-terrain robot performs climbing operation are as follows:
when the first ultrasonic ranging sensor detects that the front distance is smaller than a first set value, the main control board judges that an obstacle exists in front according to the information acquired by the first ultrasonic ranging sensor, meanwhile, the distance between the all-terrain robot and the obstacle is obtained, and the main control board sends out a control signal to control the all-terrain robot to execute a preset action group crossing the obstacle to climb.
Preferably, the height of the obstacle has a plane, so that the vehicle can travel completely onto the plane,
when the all-terrain robot performs climbing operation on a high place, the specific steps are as follows:
driving a first bracket to rotate through a fourth steering engine, namely through a fourth servo motor, so as to lift a first wheel, and stopping lifting action after the height of the first wheel reaches a height exceeding the highest point of the obstacle;
step two, the all-terrain robot advances a preset distance through a crawler chassis, and a fourth steering engine, namely a fourth servo motor, drives a first bracket to rotate so that a first wheel falls on a plane at the high position of an obstacle;
Step three, a second steering engine, namely a second servo motor, rotates to drive a second bracket, and supports the vehicle body through the second bracket; adjusting the included angle between the first wheel and the first bracket along with the supporting of the vehicle body by the second bracket so as to support the chassis to avoid the obstacle;
and step four, the all-terrain robot advances through the first wheel and the second wheel, so that the whole vehicle body is on a high plane, and the climbing action is completed.
Preferably, when the all-terrain robot works across a gully or cliff, the specific steps are as follows:
when the second ultrasonic ranging sensor detects that the distance below the all-terrain robot is larger than a second set value, the main control board judges that the front part is cliff or gully according to the information monitored by the second ultrasonic ranging sensor, the main control board sends out a control signal to control the all-terrain robot to execute a preset action group for crossing the obstacle to lower,
the specific steps of the cliff crossing action are as follows:
step one, a fourth steering engine, namely a fourth servo motor, drives a first bracket to rotate so that a first wheel falls on a first plane;
step two, a second steering engine, namely a second servo motor drives a second bracket to rotate so that a second wheel falls on a second plane, wherein the height of the first plane is lower than that of the second plane;
Step three, the all-terrain robot continuously advances through the first wheel and the second wheel until the vehicle body completely falls on a first plane;
in the step three, in the continuous advancing process of the all-terrain robot, the fifth steering engine, namely the fifth servo motor, continuously adjusts the position of the first wheel;
in the continuous advancing process of the all-terrain robot in the third step, the first steering engine, namely the first servo motor, continuously adjusts the position of the second wheel;
preferably, the all-terrain robot spans a ravine, the vehicle body spans from a third plane to a fourth plane, and the ravine is arranged between the third plane and the fourth plane, and the specific steps are as follows:
the first steering engine drives the first bracket to rotate through a fourth steering engine, namely a fourth servo motor, so that a first wheel spans a gully and falls onto a fourth plane;
step two, driving a second bracket to rotate through a second steering engine, namely a second servo motor, so that a second wheel falls on a third plane;
and thirdly, continuously advancing the all-terrain robot through the first wheel and the second wheel until the body spans the gully from above the gully to reach a fourth plane.
Preferably, the all-terrain robot walks on a flat road surface by adopting a wheel type structure, walks on a complex road surface by adopting a crawler type structure, and the specific steps of the process of switching from crawler type to wheel type are as follows:
the all-terrain robot is in a crawler form, and the first wheel and the second wheel are separated from the ground;
when the first steering engine rotates to the second wheel to land, the fifth steering engine and the fourth steering engine rotate to the first wheel to land, the first bracket and the second bracket jointly act to support the vehicle body so as to ensure the vehicle body to be horizontal, and the series of actions complete the switching of the all-terrain robot from the crawler form to the wheel form; on the basis of the above, the reverse action is performed, and the switching from the wheel type form to the track type form of the all-terrain robot is completed.
The beneficial effects of the invention are as follows:
compared with the prior art, the all-terrain robot has the advantages that the combined movement mode of the crawler belt and the wheel type is designed according to the bionics, so that the all-terrain robot can cope with the situations of flat ground and complex terrains, meanwhile, the all-terrain robot can be converted into a movable working platform according to the needs, particularly, two long feet can easily raise and lower the height of the vehicle body, the vehicle body can further move after the height is raised, the robot is used as the movable working platform, the height of the robot is optionally raised and lowered through the cooperation action of the two feet to perform exploration and operation, and a simple bridge can be built by partially reforming to span a river or a cliff; the construction function of the mobile working platform can provide great convenience for information acquisition of various resource acquisition facilities and exploration sensors additionally arranged on the robot in actual exploration, so that information collected by the robot is more accurate in place.
The all-terrain robot has the obstacle information detection function, can take specific decisions according to the conditions of the obstacles, and is more intelligent compared with the traditional obstacle avoidance trolley and the obstacle avoidance robot.
The all-terrain robot can realize autonomous attitude recovery, and can autonomously take measures to cope with the situation of turning over in the using process so as to get rid of dilemma.
Meanwhile, because a great deal of work is done in the aspects of controller, sensor, driver model selection and the like, the invention has stable performance and greatly reduces the cost. The obstacle information detection, obstacle crossing, autonomous posture recovery, moving of the working platform and other functions are realized.
Drawings
Fig. 1 is a first structural schematic diagram of an all-terrain robot according to the present invention.
Fig. 2 is a second structural schematic diagram of the all-terrain robot according to the present invention.
Fig. 3 is a third structural schematic diagram of the all-terrain robot according to the present invention.
Fig. 4 is a fourth structural schematic diagram of the all-terrain robot according to the present invention.
Fig. 5 is a fifth structural schematic diagram of the all-terrain robot according to the present invention.
Fig. 6 is a sixth structural schematic diagram of the all-terrain robot according to the present invention.
Fig. 7 is a schematic composition diagram of an all-terrain robot according to the present invention.
Detailed Description
Embodiments of the present invention are described in detail below with reference to the accompanying drawings.
The all-terrain robot adopts a wheeled structure to walk on a flat road surface and adopts a crawler-type structure to walk on a complex road surface, and comprises wheeled components, a vehicle body, a chassis system, a steering engine system, a controller, an environment detection system, a power supply system and a driving motor, wherein the vehicle body is positioned above the chassis system. The driving motor comprises a wheel type driving motor and a crawler type chassis driving motor. The chassis system is located below the vehicle body, and the chassis system adopts a crawler chassis as a crawler-type component part of the robot.
The crawler-type chassis driving motor is a direct-current gear motor, namely the crawler-type chassis is driven by the direct-current gear motor, so that the all-terrain robot has the complex road surface passing capability.
The crawler chassis is driven by two direct-current speed reducing motors.
Preferably, the rotation direction and speed of the two direct current gear motors are controlled to control the forward, backward, stop and left and right steering of the all terrain robot.
The wheel type component comprises a first bracket, a second bracket, a first wheel and a second wheel, wherein the first bracket and the second bracket are respectively positioned at two ends of the crawler-type vehicle body, the first bracket and the second bracket have preset lengths, the first bracket and the second bracket can rotate and are configured to support the crawler-type vehicle body, the heights of the first bracket and the second bracket can be selected according to practical application occasions, the first wheel is arranged at the end part of the first bracket, far away from the vehicle body, of the first bracket, and the second wheel is arranged at the end part of the second bracket, far away from the vehicle body, of the second bracket; preferably, the number of the first wheels is 2, which are respectively located at two sides of the first bracket, and the number of the second wheels is two, which are respectively located at two sides of the second bracket.
Preferably, the first wheel is a driving wheel, and the first wheel is driven by means of a first wheel type driving motor and a second wheel type driving motor.
The steering engine system comprises a first steering engine, a second steering engine, a third steering engine, a fourth steering engine, a fifth steering engine and a steering engine controller (not shown), wherein the steering engine controller controls the action of each steering engine, and the torsion of the fourth steering engine and the torsion of the second steering engine are larger than those of the third steering engine and the first steering engine.
And the included angle between the first wheel and the first bracket is adjusted through the fifth steering engine. And the fifth steering engine is a fifth servo motor. The first bracket includes a first portion including a first component and a second component, a second portion having a bottom and two sides, and a third portion. The first bracket third portion has a bottom and two sides.
Preferably, a fourth steering engine, for example, a digital steering engine is arranged at a main stress part of the mechanical heel part of the first bracket, so that the rotation position of the first bracket is adjusted, the fourth steering engine is a fourth servo motor, and the fourth steering engine has large torsion and good stability. And a third steering engine is adopted at the movable part at the topmost end of the mechanical heel of the first bracket, and the third steering engine is a third servo motor. Preferably, the third steering engine is a digital steering engine. The third steering engine is configured to adjust a rotational position of the first wheel on the first support around the first support shaft and a position of the first ultrasonic ranging sensor.
Preferably, at the mechanical heel portion of the second support, further, a second steering engine, for example, a digital steering engine is arranged at a main stress portion of the mechanical heel portion of the second support, so that adjustment of the rotation position of the second support is achieved, the second steering engine is a second servo motor, and the second steering engine is large in torsion and good in stability.
The movable part at the topmost end of the mechanical heel of the second bracket adopts a first steering engine, and the first steering engine is a first servo motor. Preferably, the first steering engine is a digital steering engine, and the first steering engine is configured to adjust a position of the second wheel on the second support around the second support shaft and a position of the angle sensor.
Steering engine controllers, such as 32 paths of steering engine controllers, are used for controlling the angles of a plurality of groups of steering engines.
The controller is a singlechip; preferably, the steering engine controller is an AVR single-chip microcomputer, so that the all-terrain robot can autonomously complete the set work, analyze signals transmitted by the ultrasonic ranging sensor and the angle sensor, and control the executing element according to the result, such as a crawler chassis driving motor, a wheel driving motor and a steering engine.
The environment detection system includes a number of ultrasonic sensors and angle sensors configured to assist the robot in detecting unfamiliar environments.
According to an embodiment of the invention, the environment detection system comprises a first ultrasonic ranging sensor, a second ultrasonic ranging sensor and a third ultrasonic ranging sensor, wherein the first ultrasonic ranging sensor is arranged at the joint of a first bracket and a first wheel; preferably, the first ultrasonic ranging sensors are disposed in front of the wheel, and further, the number of the first ultrasonic ranging sensors is two. The second ultrasonic ranging sensor and the third ultrasonic ranging sensor are respectively arranged below the vehicle body and close to the first bracket, preferably, the number of the second ultrasonic ranging sensors is two, and the number of the third ultrasonic ranging sensors is two.
The angle sensor is disposed inside the vehicle body and includes a gyroscope and an accelerometer configured to detect an angle of the vehicle body relative to a horizontal plane.
The fifth steering engine drives the ultrasonic emission port of the first ultrasonic ranging sensor to face forward, and the ultrasonic emission port and the rest steering engine cooperate to support the robot chassis for climbing, obstacle crossing and other actions.
The main control board of the controller judges environmental information such as obstacles, cliffs and ravines by receiving the distance information fed back by the ultrasonic sensor, so that a series of actions are completed to span the obstacles; the main control board judges the self posture of the robot by receiving the angle information fed back by the angle sensor, so that the automatic recovery of the self normal posture is completed.
The power supply system is a step-down power supply system comprising a battery configured to provide electrical energy for the all-terrain robotic system according to the present invention. Preferably, the battery comprises a first battery and a second battery, and the first battery and the second battery are model plane batteries of 11.1V, wherein the first battery reduces the voltage to the highest voltage range allowed by each steering engine through a first voltage reduction module, and ensures that each wheel motor and each steering engine have sufficient driving current, so that all steering engines can be ensured to have sufficient torque to rotate a first bracket and a second bracket, and the whole vehicle body can be supported when the all-terrain robot is in a wheeled state. The second battery reduces the voltage to the highest voltage allowed by the driving motor, such as a wheel type driving motor for driving wheels and a main control board, through the second voltage reduction module, preferably, the second battery is used for supplying power to the driving motor of the chassis system so as to solve the problem of high power consumption of the crawler chassis.
When the all-terrain robot walks on a complex road surface by adopting a crawler type structure, taking the position of a first wheel type driving motor as the front part of the all-terrain robot, and when the all-terrain robot tilts to the first side in the advancing process, detecting a first angle change value by an angle sensor, and controlling a first servo motor to rotate anticlockwise by a main control board so as to realize turning over and recover the normal posture of the all-terrain robot; when the all-terrain robot topples towards the second side, the angle sensor detects a second angle change value, and the main control board controls the first servo motor to rotate clockwise so as to realize turning over and recover the normal posture of the all-terrain robot.
The specific process when the all-terrain robot performs climbing operation at a high place is as follows:
when the first ultrasonic ranging sensor detects that the front distance is smaller than a first set value, the main control board judges that an obstacle exists in front according to the information acquired by the first ultrasonic ranging sensor, meanwhile, the distance between the all-terrain robot and the obstacle is obtained, and the main control board sends out a control signal to control the all-terrain robot to execute a preset action group crossing the obstacle to climb.
Preferably, the height of the obstacle has a plane so that the vehicle can travel completely onto the plane.
When the all-terrain robot performs climbing operation on a high place, the specific steps are as follows:
driving a first bracket to rotate through a fourth steering engine, namely through a fourth servo motor, so as to lift a first wheel, and stopping lifting action after the height of the first wheel reaches a height exceeding the highest point of the obstacle;
step two, the all-terrain robot advances a preset distance through a crawler chassis, and a fourth steering engine, namely a fourth servo motor, drives a first bracket to rotate so that a first wheel falls on a plane at the high position of an obstacle;
step three, a second steering engine, namely a second servo motor, rotates to drive a second bracket, and supports the vehicle body through the second bracket; with the second bracket supporting the vehicle body, the included angle between the first wheel and the first bracket is adjusted so as to support the chassis to avoid the obstacle.
And step four, the all-terrain robot advances through the first wheel and the second wheel, so that the whole vehicle body is on a high plane, and the climbing action is completed.
When the all-terrain robot works across a gully or cliff, the specific steps are as follows:
When the second ultrasonic ranging sensor detects that the distance below the all-terrain robot is larger than a second set value, the main control board judges that the front part is cliff or gully according to the information monitored by the second ultrasonic ranging sensor, and the main control board sends a control signal to control the all-terrain robot to execute a preset action group crossing the obstacle to lower.
The specific steps of the cliff crossing action are as follows:
step one, a fourth steering engine, namely a fourth servo motor, drives a first bracket to rotate so that a first wheel falls on a first plane;
step two, a second steering engine, namely a second servo motor drives a second bracket to rotate so that a second wheel falls on a second plane, wherein the height of the first plane is lower than that of the second plane;
step three, the all-terrain robot continuously advances through the first wheel and the second wheel until the vehicle body completely falls on a first plane;
preferably, in the step three, during the continuous advancing process of the all-terrain robot, the fifth steering engine, that is, the fifth servo motor continuously adjusts the position of the first wheel.
Preferably, in the continuous advancing process of the all-terrain robot in the third step, the first steering engine, that is, the first servo motor continuously adjusts the position of the second wheel.
The all-terrain robot moves across a gully, the vehicle body spans from a third plane to a fourth plane, and the gully is arranged between the third plane and the fourth plane, and the method comprises the following specific steps:
the first steering engine drives the first bracket to rotate through a fourth steering engine, namely a fourth servo motor, so that a first wheel spans a gully and falls onto a fourth plane;
step two, driving a second bracket to rotate through a second steering engine, namely a second servo motor, so that a second wheel falls on a third plane;
and thirdly, continuously advancing the all-terrain robot through the first wheel and the second wheel until the body spans the gully from above the gully to reach a fourth plane.
The all-terrain robot walks on a flat road surface by adopting a wheel type structure, walks on a complex road surface by adopting a crawler type structure, and comprises the following specific steps of the process of switching from crawler type to wheel type:
the all-terrain robot is in a crawler form, and the first wheel and the second wheel are separated from the ground.
When the first steering engine rotates to the second wheel to land, the first steering engine and the fourth steering engine rotate to the first wheel to land, the first bracket and the second bracket support the vehicle body under the combined action to ensure the vehicle body to be horizontal, and the series of actions complete the switching of the all-terrain robot from the crawler form to the wheel form. On the basis of the above, the reverse action is performed, and the switching from the wheel type form to the track type form of the all-terrain robot is completed.
The all-terrain robot as shown in fig. 1 to 7, which travels on a flat road surface using a wheel type structure and on a complex road surface using a crawler type structure, comprises a wheel type component part, a vehicle body 3, a chassis system, a steering engine system, a controller, an environment detection system, a power supply system and a driving motor, wherein the vehicle body is positioned above the chassis system.
The driving motor comprises a wheel type driving motor and a crawler type chassis driving motor.
The chassis system is located below the vehicle body, the chassis system adopts a crawler chassis as a crawler-type component part of the robot, and the chassis system comprises a crawler 2, a synchronous belt pulley, a chassis support frame and a crawler-type chassis driving motor 1.
Preferably, the crawler chassis driving motor 1 includes a first crawler chassis driving motor 11 and a second crawler chassis driving motor 12, where each crawler chassis driving motor is a direct current gear motor, that is, the crawler chassis is driven by adopting the direct current gear motor, so that the all-terrain robot has a complex road surface passing capability.
The crawler chassis is driven by two direct-current speed reducing motors. The track 2 comprises a first track 21 and a second track 22.
The track chassis is an integrated chassis of a track-type vehicle frame, as shown in fig. 1, and the chassis support frame 4 includes a first chassis support frame 41 and a second chassis support frame 42, which are respectively located at two sides below the vehicle body 3. The chassis support frames are respectively located at the inner sides of the tracks, the two crawler-type chassis driving motors are respectively installed on the respective chassis support frames, and the respective chassis support frames are connected to the lower portion of the vehicle body 3 through fasteners, such as L-shaped connecting pieces.
The synchronous pulleys comprise a first synchronous pulley 51 and a second synchronous pulley 52, the first synchronous pulley comprises a first driving wheel 511 and a first driven wheel 512, the first crawler belt 21 is arranged between the first driving wheel 511 and the first driven wheel 512 of the first synchronous pulley, and the first crawler belt 21 is provided with a hole 6 which is meshed with teeth on the first synchronous pulley.
The second synchronous pulley comprises a second driving wheel 521 and a second driven wheel 522, the second crawler belt 22 is arranged between the second driving wheel 521 and the second driven wheel 522 of the second synchronous pulley, and the second crawler belt 22 is provided with a hole 6 which is meshed with teeth on the second synchronous pulley.
The first driving wheel 511 of the first synchronous pulley is mounted on the output shaft of the first crawler chassis driving motor 11, that is, the first direct current gear motor, and the first driven wheel 512 of the first synchronous pulley is mounted on the first chassis supporting frame 41, and when the first direct current gear motor rotates, the first crawler 21 is driven to rotate.
The second driving wheel 521 of the second synchronous pulley is mounted on the output shaft of the second crawler chassis driving motor 12, that is, the second direct current gear motor, and the second driven wheel 522 of the second synchronous pulley is mounted on the second chassis supporting frame 42, and when the second direct current gear motor rotates, the second crawler 22 is driven to rotate.
The first driving wheel 511 of the first synchronous pulley 51 is disposed opposite to the second driven wheel 522 of the second synchronous pulley 52, that is, the first driven wheel 512 of the first synchronous pulley 51 is disposed opposite to the second driving wheel 521 of the second synchronous pulley 52.
Preferably, the rotation directions and speeds of the first and second direct current gear motors are controlled to control the forward, backward, stop, and left and right steering of the all terrain robot.
The wheel type component part comprises a first bracket 7, a second bracket 8, a first wheel 9 and a second wheel 10, wherein the first bracket 7 and the second bracket 8 are respectively positioned at two end parts of the crawler-type vehicle body 3, the first bracket 7 and the second bracket 8 have preset lengths, the first bracket 7 and the second bracket 8 can rotate, the height of the first bracket 7 and the second bracket 8 can be selected according to practical application, the first wheel 9 is arranged at the end part of the first bracket 7 away from the first bracket 7 of the vehicle body 3, and the second wheel 10 is arranged at the end part of the second bracket 8 away from the second bracket 8 of the vehicle body 3; preferably, the number of first wheels 9 is 2, which are respectively located at two sides of the first bracket 7, and the number of second wheels 10 is two, which are respectively located at two sides of the second bracket 8.
The wheel drive motors are a first wheel drive motor 100, a second wheel drive motor 101, a third wheel drive motor 102 and a fourth wheel drive motor 103. Preferably, each wheel type driving motor is a direct current gear motor.
The end part of the first bracket 7, which is far away from the first bracket 7 of the vehicle body 3, is rotatably connected with a first connecting frame 13, the first wheel type driving motor 100 and the second wheel type driving motor 101 are respectively arranged on the outer sides of two sides of the first connecting frame, and each first wheel 9 is respectively connected with the output shafts of the first wheel type driving motor 100 and the second wheel type driving motor 101. The first ultrasonic ranging sensor is disposed at the outer side of the first link 13 away from the vehicle body 3 when the first wheel is grounded.
The first connecting frame 13 is connected through the first columnar supporting member 131 and the U-shaped supporting member 132, the first columnar supporting member 131 is disposed below the connection position of the first connecting frame 13 and the first bracket 7, and the first connecting frame is configured to maintain the width of the first bracket, so as to prevent the width of the first connecting frame 13 from narrowing, and influence the rotational flexibility between the first connecting frame and the first bracket. Meanwhile, the first columnar supporting frame 131 plays a role in supporting and limiting the movement of the third part of the first support.
The U-shaped support 132 is disposed at the lower end of the inner side of the first connecting frame 13, two sides of the U-shaped support 132 are parallel to the bottom edges of the first connecting frame, so that the bottom edges of the U-shaped support 132 are perpendicular to the first connecting frame 13, a first support plate 133 is connected to the bottom edges of the U-shaped support 132, and a first ultrasonic ranging sensor 90 is disposed on the first support plate 133.
The first end of the second connecting frame 14 is rotatably connected to the end of the second bracket 8 remote from the vehicle body 3 by means of a first aluminum column, preferably two in number.
The second end of the second connecting frame 14 is provided with a second cylindrical support 142, and the second cylindrical support 142 is configured to maintain the width of the second bracket, so as to prevent the width of the second connecting frame 13 from narrowing, and influence the rotational flexibility between the second connecting frame and the second bracket.
The third wheel drive motor 102 and the fourth wheel drive motor 103 are respectively arranged outside the two sides of the second connecting frame 14, and each second wheel 10 is respectively connected with the output shafts of the third wheel drive motor 102 and the fourth wheel drive motor 103.
Preferably, the first wheel 9 is an active wheel, which is driven by means of a first wheel type drive motor and a second wheel type drive motor.
The steering engine system comprises a first steering engine 201, a second steering engine 202, a third steering engine 203, a fourth steering engine 204, a fifth steering engine 205 and a steering engine controller (not shown), wherein the steering engine controller controls the action of each steering engine, and the torsion of the fourth steering engine 204 and the second steering engine 202 is larger than that of the third steering engine 203 and the first steering engine 201.
And the included angle between the first wheel and the first bracket is adjusted through the fifth steering engine. And the fifth steering engine is a fifth servo motor. The first bracket includes a first portion including a first component and a second component, a second portion having a bottom and two sides, and a third portion. The first bracket third portion has a bottom and two sides.
After the third steering engine 203 is fixed on the first support first part second part through the aluminum column at the top of the third steering engine, the first support first part second part is arranged on the first support first part, after the first support first part and the first support first part second part are overlapped, a first overlapped side part of the first support first part is rotationally connected with the vehicle body, a first rotating connecting part is arranged between the first support first part and the first support second part, and further, the first rotating connecting part is fixedly connected with the other side part of the first support first part which is not connected with the vehicle body. The first rotating connecting part is of a U-shaped structure, the bottom edge of the U-shaped structure of the first rotating connecting part is fixedly connected with the first part of the first bracket, and the top end of the U-shaped structure of the first rotating connecting part is respectively connected with the side part of the second part of the first bracket in a rotating way.
The fourth steering engine is fixed to two side parts of the second part of the first bracket through aluminum columns positioned on two sides of the fourth steering engine.
The first bracket second part and the first bracket third part are connected in pairs through second rotating connecting parts, and each second rotating connecting part is respectively connected with the first bracket second part and the first bracket third part in a rotating way so as to realize relative movement between the first bracket second part and the first bracket third part. The fifth steering engine is fixed to two side parts of the third part of the first bracket through aluminum columns positioned on two sides of the fifth steering engine.
Preferably, at the mechanical heel portion of the first bracket 7, further, a fourth steering engine 204, for example, a digital steering engine, is disposed at a main stress portion of the mechanical heel portion of the first bracket, so as to adjust the rotation position of the first bracket 7, and the fourth steering engine 204 is a fourth servo motor, and has large torsion and good stability. And a third steering engine 203 is adopted at the movable part at the topmost end of the mechanical heel of the first bracket, and the third steering engine is a third servo motor. Preferably, the third steering engine is a digital steering engine. The third steering engine is configured to adjust a rotational position of the first wheel 9 on the first bracket 7 around the first bracket axis and a position of the first ultrasonic ranging sensor.
The second bracket includes a first portion including a first member and a second member, and a second portion having a bottom and two sides. After the first steering engine 201 is fixed on the second part of the first support through the aluminum column at the top of the first steering engine, the second part of the first support is arranged on the first part of the first support, so that the first overlapped side part of the first part of the second support is rotationally connected with the vehicle body after the first part of the first support and the second part of the first support are overlapped, a third rotational connecting part is arranged between the first part of the second support and the second part of the second support, and further, the third rotational connecting part is fixedly connected with the other side part of the first part of the second support which is not connected with the vehicle body. The third rotates connecting portion and is U type structure, the base of the U type structure of third rotation connecting portion and the first partial rigid coupling of second support, the top of the U type structure of third rotation connecting portion rotates with the lateral part of second support second portion respectively and is connected.
The fourth steering engine is fixed to two side parts of the second part of the first bracket through aluminum columns positioned on two sides of the fourth steering engine.
Preferably, at the mechanical heel portion of the second support 8, further, a second steering engine 202, for example, a digital steering engine, is disposed at a main stress portion of the mechanical heel portion of the second support, so as to adjust a rotation position of the second support, and the second steering engine is a second servo motor, and has a large torsion and good stability.
The movable part at the topmost end of the mechanical heel of the second bracket adopts a first steering engine, and the first steering engine is a first servo motor. Preferably, the first steering engine 201 is a digital steering engine, and the first steering engine is configured to adjust the position of the second wheel on the second support around the second support shaft and the position of the angle sensor.
Steering engine controllers, such as 32 paths of steering engine controllers, are used for controlling the angles of a plurality of groups of steering engines.
The controller is a singlechip; preferably, the steering engine controller is an AVR single-chip microcomputer, so that the all-terrain robot can autonomously complete the set work, analyze signals transmitted by the ultrasonic ranging sensor and the angle sensor, and control the executing element according to the result, such as a crawler chassis driving motor, a wheel driving motor and a steering engine.
The environment detection system includes a number of ultrasonic sensors and angle sensors configured to assist the robot in detecting unfamiliar environments.
According to an embodiment of the present invention, the environment detection system includes a first ultrasonic ranging sensor 90 and a second ultrasonic ranging sensor 91 and a third ultrasonic ranging sensor 92, the first ultrasonic ranging sensor being disposed at a junction of a first bracket and a first wheel; preferably, the first ultrasonic ranging sensors are disposed in front of the wheel, and further, the number of the first ultrasonic ranging sensors is two. The second ultrasonic ranging sensor and the third ultrasonic ranging sensor are respectively arranged below the vehicle body and close to the first bracket, preferably, the number of the second ultrasonic ranging sensors is two, and the number of the third ultrasonic ranging sensors is two.
The angle sensor 93 is disposed inside the vehicle body, and includes a gyroscope and an accelerometer configured to detect an angle of the vehicle body with respect to a horizontal plane.
The fifth steering engine 205 drives the ultrasonic emission port of the first ultrasonic ranging sensor 90 to face forward, and the ultrasonic emission port is matched with the rest steering engine to support the robot chassis, so that actions such as climbing up and obstacle crossing are performed.
The main control board of the controller judges environmental information such as obstacles, cliffs and ravines by receiving the distance information fed back by the ultrasonic sensor, so that a series of actions are completed to span the obstacles; the main control board judges the self posture of the robot by receiving the angle information fed back by the angle sensor, so that the automatic recovery of the self normal posture is completed.
The power supply system is a step-down power supply system comprising a battery configured to provide electrical energy for the all-terrain robotic system according to the present invention. Preferably, the battery comprises a first battery and a second battery, and the first battery and the second battery are model plane batteries of 11.1V, wherein the first battery reduces the voltage to the highest voltage range allowed by each steering engine through a first voltage reduction module, and ensures that each wheel motor and each steering engine have sufficient driving current, so that all steering engines can be ensured to have sufficient torque to rotate a first bracket and a second bracket, and the whole vehicle body can be supported when the all-terrain robot is in a wheeled state. The second battery reduces the voltage to the highest voltage allowed by the driving motor, such as a wheel type driving motor for driving wheels and a main control board, through the second voltage reduction module, preferably, the second battery is used for supplying power to the driving motor of the chassis system so as to solve the problem of high power consumption of the crawler chassis.
Optimization, extension and substitution of the present invention:
A. the mechanical structure is optimized so that the robot can cross various barriers with different heights, such as cliffs or ravines;
B. replacing lighter materials to reduce the overall weight of the robot;
C. the crawler chassis of the robot is further optimized, for example, the material and the width of the crawler are changed, so that the power consumption of the robot is reduced, and the passing speed is higher;
D. the motor and the steering engine with faster rotating speed and torque are selected, so that the movement efficiency of the robot is faster, and the longer the task in the execution is more powerful and stable.
Finally, it should be noted that: the embodiments described above are only for illustrating the technical solution of the present invention, and are not limiting; although the invention has been described in detail with reference to the foregoing embodiments, it will be understood by those of ordinary skill in the art that: the technical scheme described in the foregoing embodiments can be modified or some or all of the technical features thereof can be replaced with equivalents; such modifications and substitutions do not depart from the spirit of the invention.
Claims (9)
1. All-terrain robot adopts wheeled structure to walk on flat road surface, adopts crawler-type structure to walk on complex road surface, its characterized in that: the system comprises a wheel type component, a vehicle body, a chassis system, a steering engine system, a controller, an environment detection system, a power supply system and a driving motor, wherein the vehicle body is positioned above the chassis system; the driving motor comprises a wheel type driving motor and a crawler type chassis driving motor; the chassis system is positioned below the vehicle body,
The wheel type component part comprises a first bracket, a second bracket, a first wheel and a second wheel, wherein the first bracket and the second bracket are respectively positioned at two ends of the crawler type vehicle body, the first bracket and the second bracket have preset lengths, and can rotate, and are configured to support the crawler type vehicle body, the first wheel is arranged at the end part of the first bracket, far away from the vehicle body, of the first bracket, and the second wheel is arranged at the end part of the second bracket, far away from the vehicle body, of the second bracket;
the steering engine system comprises a first steering engine, a second steering engine, a third steering engine, a fourth steering engine, a fifth steering engine and a steering engine controller, wherein the steering engine controller controls the actions of the steering engines;
the environment detection system comprises ultrasonic ranging sensors and angle sensors;
the included angle between the first wheel and the first bracket is adjusted through the fifth steering engine; a fourth steering engine is arranged at the main stress part of the mechanical heel part of the first bracket; a third steering engine is adopted at the movable part at the topmost end of the mechanical heel of the first bracket; the third steering engine adjusts the rotation position of the first wheel on the first bracket around the first bracket shaft and the position of the first ultrasonic ranging sensor; a second steering engine is arranged at a main stress part of a mechanical heel part of the second bracket, a first steering engine is adopted at a movable part at the topmost end of the mechanical heel of the second bracket, and the first steering engine adjusts the position of a second wheel on the second bracket rotating around a second bracket shaft and the position of an angle sensor;
When the all-terrain robot walks on a complex road surface by adopting a crawler type structure, taking the position of a first wheel type driving motor as the front part of the all-terrain robot, and when the all-terrain robot tilts to the first side in the advancing process, detecting a first angle change value by an angle sensor, and controlling a first servo motor to rotate anticlockwise by a main control board so as to realize turning over and recover the normal posture of the all-terrain robot; when the all-terrain robot topples towards the second side, the angle sensor detects a second angle change value, and the main control board controls the first servo motor to rotate clockwise so as to realize turning over and recover the normal posture of the all-terrain robot.
2. The all-terrain robot of claim 1, wherein: the number of the first wheels is two, the first wheels are respectively positioned on two sides of the first bracket, and the number of the second wheels is two, and the second wheels are respectively positioned on two sides of the second bracket.
3. The all-terrain robot of claim 1, wherein: the torsion of the fourth steering engine and the second steering engine is larger than that of the third steering engine and the first steering engine.
4. The all-terrain robot of claim 1, wherein: and the included angle between the first wheel and the first bracket is adjusted through the fifth steering engine.
5. The all-terrain robot of claim 4, wherein: the specific steps when the all-terrain robot performs climbing operation at a high place are as follows:
when the first ultrasonic ranging sensor detects that the front distance is smaller than a first set value, the main control board judges that an obstacle exists in front according to the information acquired by the first ultrasonic ranging sensor, meanwhile, the distance between the all-terrain robot and the obstacle is obtained, and the main control board sends out a control signal to control the all-terrain robot to execute a preset action group crossing the obstacle to climb.
6. The all-terrain robot of claim 5, wherein: the height of the obstacle has a plane so that the vehicle can travel completely onto the plane,
when the all-terrain robot performs climbing operation on a high place, the specific steps are as follows:
driving a first bracket to rotate through a fourth steering engine, namely through a fourth servo motor, so as to lift a first wheel, and stopping lifting action after the height of the first wheel reaches a height exceeding the highest point of the obstacle;
Step two, the all-terrain robot advances a preset distance through a crawler chassis, and a fourth steering engine, namely a fourth servo motor, drives a first bracket to rotate so that a first wheel falls on a plane at the high position of an obstacle;
step three, a second steering engine, namely a second servo motor, rotates to drive a second bracket, and supports the vehicle body through the second bracket; adjusting the included angle between the first wheel and the first bracket along with the supporting of the vehicle body by the second bracket so as to support the chassis to avoid the obstacle;
and step four, the all-terrain robot advances through the first wheel and the second wheel, so that the whole vehicle body is on a high plane, and the climbing action is completed.
7. The all-terrain robot of claim 6, wherein:
when the all-terrain robot works across a gully or cliff, the specific steps are as follows:
when the second ultrasonic ranging sensor detects that the distance below the all-terrain robot is larger than a second set value, the main control board judges that the front part is cliff or gully according to the information monitored by the second ultrasonic ranging sensor, the main control board sends out a control signal to control the all-terrain robot to execute a preset action group for crossing the obstacle to lower,
The specific steps of the cliff crossing action are as follows:
step one, a fourth steering engine, namely a fourth servo motor, drives a first bracket to rotate so that a first wheel falls on a first plane;
step two, a second steering engine, namely a second servo motor drives a second bracket to rotate so that a second wheel falls on a second plane, wherein the height of the first plane is lower than that of the second plane;
step three, the all-terrain robot continuously advances through the first wheel and the second wheel until the vehicle body completely falls on a first plane;
in the step three, in the continuous advancing process of the all-terrain robot, the fifth steering engine, namely the fifth servo motor, continuously adjusts the position of the first wheel;
in the continuous advancing process of the all-terrain robot in the third step, the first steering engine, namely the first servo motor, continuously adjusts the position of the second wheel.
8. The all-terrain robot of claim 7, wherein: the all-terrain robot moves across a gully, the vehicle body spans from a third plane to a fourth plane, and the gully is arranged between the third plane and the fourth plane, and the method comprises the following specific steps:
the first steering engine drives the first bracket to rotate through a fourth steering engine, namely a fourth servo motor, so that a first wheel spans a gully and falls onto a fourth plane;
Step two, driving a second bracket to rotate through a second steering engine, namely a second servo motor, so that a second wheel falls on a third plane;
and thirdly, continuously advancing the all-terrain robot through the first wheel and the second wheel until the vehicle body spans the gully from above the gully to reach a fourth plane.
9. The all-terrain robot of claim 8, wherein: the all-terrain robot walks on a flat road surface by adopting a wheel type structure, walks on a complex road surface by adopting a crawler type structure, and comprises the following specific steps of the process of switching from crawler type to wheel type:
the all-terrain robot is in a crawler form, and the first wheel and the second wheel are separated from the ground;
when the first steering engine rotates to the second wheel to land and then stops, the fifth steering engine and the fourth steering engine rotate to the first wheel to land, the first bracket and the second bracket support the vehicle body under the combined action to ensure the vehicle body to be horizontal, the series of actions complete the switching of the all-terrain robot from the track form to the wheel form, and the opposite actions are performed on the basis, so that the switching of the all-terrain robot from the wheel form to the track form is completed.
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| CN110304141A (en) * | 2019-03-28 | 2019-10-08 | 常州机电职业技术学院 | A kind of full ground anthropomorphic robot |
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| CN112356632A (en) * | 2020-11-20 | 2021-02-12 | 哈尔滨学院 | Multi-foot intelligent obstacle crossing robot |
| CN112643904B (en) * | 2020-12-02 | 2023-01-20 | 吉林省建设集团有限公司 | Portable environment-friendly concrete cutting machine |
| CN113513657A (en) * | 2021-05-10 | 2021-10-19 | 北京化工大学 | A track type robot hinders running gear more for metal pipeline |
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