CN109079746A - Four-wheel and six-foot deformable practical training robot device and control method - Google Patents
Four-wheel and six-foot deformable practical training robot device and control method Download PDFInfo
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- CN109079746A CN109079746A CN201811301200.5A CN201811301200A CN109079746A CN 109079746 A CN109079746 A CN 109079746A CN 201811301200 A CN201811301200 A CN 201811301200A CN 109079746 A CN109079746 A CN 109079746A
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- 238000012549 training Methods 0.000 title claims abstract description 108
- 238000000034 method Methods 0.000 title claims abstract description 13
- 230000033001 locomotion Effects 0.000 claims description 40
- 238000009434 installation Methods 0.000 claims description 35
- 238000010276 construction Methods 0.000 claims description 25
- 241000380131 Ammophila arenaria Species 0.000 claims description 20
- 238000004891 communication Methods 0.000 claims description 17
- 230000004888 barrier function Effects 0.000 claims description 12
- WHXSMMKQMYFTQS-UHFFFAOYSA-N Lithium Chemical compound [Li] WHXSMMKQMYFTQS-UHFFFAOYSA-N 0.000 claims description 11
- 229910052744 lithium Inorganic materials 0.000 claims description 11
- 230000009005 motor signaling Effects 0.000 claims description 7
- 230000011664 signaling Effects 0.000 claims description 6
- 229910000838 Al alloy Inorganic materials 0.000 claims description 3
- RYGMFSIKBFXOCR-UHFFFAOYSA-N Copper Chemical compound [Cu] RYGMFSIKBFXOCR-UHFFFAOYSA-N 0.000 claims description 3
- 239000000956 alloy Substances 0.000 claims description 3
- 229910052802 copper Inorganic materials 0.000 claims description 3
- 239000010949 copper Substances 0.000 claims description 3
- 230000006698 induction Effects 0.000 claims description 3
- 230000000087 stabilizing effect Effects 0.000 claims description 3
- 238000007689 inspection Methods 0.000 claims 1
- 210000002683 foot Anatomy 0.000 description 51
- 238000013461 design Methods 0.000 description 4
- 238000010586 diagram Methods 0.000 description 4
- 230000007613 environmental effect Effects 0.000 description 4
- 230000005484 gravity Effects 0.000 description 3
- 239000002131 composite material Substances 0.000 description 2
- 238000001514 detection method Methods 0.000 description 2
- 230000000694 effects Effects 0.000 description 2
- 230000005611 electricity Effects 0.000 description 2
- 239000000463 material Substances 0.000 description 2
- 241000238631 Hexapoda Species 0.000 description 1
- 206010033799 Paralysis Diseases 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 238000006243 chemical reaction Methods 0.000 description 1
- 230000007423 decrease Effects 0.000 description 1
- 230000007812 deficiency Effects 0.000 description 1
- 238000011161 development Methods 0.000 description 1
- 238000005265 energy consumption Methods 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 210000003414 extremity Anatomy 0.000 description 1
- 239000007769 metal material Substances 0.000 description 1
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 description 1
Classifications
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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
- B25J5/007—Manipulators mounted on wheels or on carriages mounted on wheels
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D57/00—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track
- B62D57/02—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track with ground-engaging propulsion means, e.g. walking members
- B62D57/028—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track with ground-engaging propulsion means, e.g. walking members having wheels and mechanical legs
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D57/00—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track
- B62D57/02—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track with ground-engaging propulsion means, e.g. walking members
- B62D57/032—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track with ground-engaging propulsion means, e.g. walking members with alternately or sequentially lifted supporting base and legs; with alternately or sequentially lifted feet or skid
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- G—PHYSICS
- G09—EDUCATION; CRYPTOGRAPHY; DISPLAY; ADVERTISING; SEALS
- G09B—EDUCATIONAL OR DEMONSTRATION APPLIANCES; APPLIANCES FOR TEACHING, OR COMMUNICATING WITH, THE BLIND, DEAF OR MUTE; MODELS; PLANETARIA; GLOBES; MAPS; DIAGRAMS
- G09B25/00—Models for purposes not provided for in G09B23/00, e.g. full-sized devices for demonstration purposes
- G09B25/02—Models for purposes not provided for in G09B23/00, e.g. full-sized devices for demonstration purposes of industrial processes; of machinery
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- Business, Economics & Management (AREA)
- Educational Technology (AREA)
- General Physics & Mathematics (AREA)
- Theoretical Computer Science (AREA)
- Educational Administration (AREA)
- Physics & Mathematics (AREA)
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Abstract
The invention discloses a four-wheel and six-foot deformable practical training robot device and a control method, the device comprises a four-wheel chassis, two groups of tire groups which are distributed in the front and back are arranged on the four-wheel chassis, each tire group comprises tires which are symmetrically arranged in the left and right, a driving motor is arranged on the lower surface of the four-wheel chassis between the two tires at the back, a motor driving circuit board, a six-foot mounting lower plate, a six-foot mounting upper plate, a steering engine control circuit board and a main control circuit board are sequentially arranged on the upper surface of the four-wheel chassis from bottom to top, intervals exist among the board layers, a six-foot mounting area is formed between the six-foot mounting lower plate and the six-foot mounting upper plate, and six foldable and lifted mechanical legs with six foot type structures are arranged on the periphery of the six-foot mounting. The invention can give consideration to the problems of speed and stability, and the practical training robot can walk in a wheel type under the flat ground environment, so that the speed is high; under the non-structural environment, the practical training robot is deformed into a foot type walking mode, and the stability is stronger.
Description
Technical field
It unites technical field the present invention relates to robot practice-training teaching, and in particular to a kind of four-wheel and the six deformable real trainings of foot
Robot device.
Background technique
With the fast development of science and technology, robot can reduce the work of the mankind, apply in all trades and professions, obtains
It is widely applied.In order to cultivate the largely talent relevant to robot, many colleges and universities and R&D institution increase robot religion
Learn course.
Currently, the type of sports of common real training robot has the forms such as wheeled, sufficient formula, crawler type, aircraft, Dan Doushi
Using single type of sports structure, range of imparting knowledge to students is limited, and more single, use occasion is limited, has the following disadvantages, specifically such as
Under:
(1) existing wheeled real training robot, the structure of a universal wheel is added using four-wheel or two-wheeled, is walked in flat road
Smoothly, still, when encountering uneven or roughness pavement, stability is not strong, is easy to overturn.
(2) existing Zu Shi real training robot common are biped, four-footed, six foots, since six foots have enough redundancies
Extremity body structures can walk in complicated landform environment, and environmental suitability is very strong, still, six full instruction robot ambulation speed
It is relatively slow, in flat road surface walking, speed advantage is just lost compared with wheeled real training robot.
(3) the real training robot that wheel combines enough, the real training robot which combines enough are occurred in the prior art
It is that wheel is placed on vola, if foot damage, wheel are not available yet, causes entire robot to be paralysed, the practicability is poor.
Therefore, through the above description, real training robot (wheeled robot or the sufficient formula of the existing single method of operation
Robot) it cannot be considered in terms of speed and stable problem, it is not very practical, wherein wheeled robot encounters unstructured moving grids and stablizes
Property it is not strong, be easy overturn；Hexapod robot environmental suitability is strong, but encounters flat road surface, and the speed of travel is slow, work effect
Rate is low；Simply by two kinds of folded structures of wheeled and sufficient formula, if sufficient formula damage, will lead to driving capability deficiency, real training robot without
Method works normally and walking, is not easy to carry out real training.Moreover, existing Zu Shi real training robot chassis is not high, can not across compared with
Wheel is placed in the wheel legged type robot in legged type robot vola by high obstacle, once foot is bad, wheel is not available yet, entirely
Real training robot just damages.
Therefore, how to overcome the problems of above-mentioned real training robot, be current problem to be solved.
Summary of the invention
In order to overcome the problems of existing real training robot.Four-wheel of the invention and the six deformable real training machines of foot
People's device can take into account speed and stable problem when demonstrating walking, and real training robot carries out wheeled under the environment of level land
Walking, speed are fast；Under non-structure environment (such as uneven ground or stair), real training robot is deformed into sufficient formula row
It walks, stability is stronger, structure novel, and it is easy to accomplish, it has a good application prospect.
In order to achieve the above object, the technical scheme adopted by the invention is that:
A kind of four-wheel and the six deformable real training robot devices of foot, including four wheeled chassis install on the four wheeled chassis
There are two groups of tire groups in forward and backward distribution, each tire group includes in left and right symmetrically arranged tire, and two be located behind take turns
Four wheeled chassis lower surface between tire is equipped with driving motor, two tires that the driving motor driving is located behind it
Between.
The upper surface on the four wheeled chassis is disposed with motor driven wiring board from top to bottom, six foots install lower plates,
Six foot installation upper plates, helm control circuit plate, main control wiring board, and there are spacing between each plate layer,
Six sufficient installation regions, the border of described six sufficient installation regions are formed between the six foots installation lower plate, six foot installation upper plates
The sufficient formula construction machine leg of foldable six lifted, the driving input terminal difference of each item foot formula construction machine leg are installed at equal intervals
It is electrically connected with helm control circuit plate,
The driving input terminal and motor driven circuit board electrical connection of the driving motor, the motor driven wiring board, steering engine control
Circuit board processed is electrically connected with the corresponding ports of main control wiring board respectively,
Serial communication interface is installed, being also equipped with above the six foots installation upper plate can water on the motor driven wiring board
Square to 360 ° rotate WIFI camera, IR evading obstacle sensors, it is described can 360 ° of horizontal direction rotation WIFI cameras
Shooting direction, IR evading obstacle sensors induction direction along operating path be arranged, the signal of the IR evading obstacle sensors
Output end is electrically connected with the corresponding ports of main control wiring board respectively, it is described can 360 ° of horizontal direction rotation WIFI cameras with
Remote terminal carries out wireless communication.
A kind of four-wheel above-mentioned and the six deformable real training robot devices of foot, the middle part of described six sufficient installation regions are also pacified
Equipped with lithium battery box, the lithium battery box gives driving motor, motor driven wiring board, steering engine control electricity by Voltage stabilizing module respectively
Road plate, main control wiring board, can 360 ° of horizontal direction rotation WIFI camera, IR evading obstacle sensors provide operating voltage.
A kind of four-wheel above-mentioned and the six deformable real training robot devices of foot, there are spacing between each plate layer, and pass through
More support copper posts being distributed between each plate layer are supported fixation.
A kind of four-wheel above-mentioned and the six deformable real training robot devices of foot, each foot formula construction machine leg includes fixing
Connector, the first linking arm, the second linking arm, the one end of the fixedly connected part are hinged on six foots by third steering engine and install
The other end of the corresponding position in region, the fixedly connected part is connected by one end activity of the first steering engine and the first linking arm
It connects, the other end of first linking arm is flexibly connected by the second steering engine with the second linking arm, first steering engine, second
Steering engine, third steering engine are connected with the corresponding ports of helm control circuit plate respectively, and second linking arm is arranged diagonally downward,
Form sufficient formula construction machine leg.
A kind of four-wheel above-mentioned and the six deformable real training robot devices of foot, under the four wheeled chassis, six foot installations
Plate, six foot installation upper plates are all made of aluminum alloy materials and are made.
A kind of four-wheel above-mentioned and six foot deformable real training robot devices are provided with list in the main control wiring board
Piece machine, serial communication driving circuit, signal acquisition circuit, servo driving signaling interface group, driving motor signaling interface, it is described red
Outer obstacle avoidance sensor is connected by signal acquisition circuit with single-chip microcontroller, and the single-chip microcontroller passes through serial communication driving circuit and string
Port communications interface is connected, and the single-chip microcontroller is electrically connected by servo driving signaling interface group with helm control circuit plate, described
Single-chip microcontroller passes through driving motor signaling interface and motor driven circuit board electrical connection.
A kind of four-wheel above-mentioned and the six deformable real training robot devices of foot, the chassis height on the four wheeled chassis exist
Between 8-12cm.
A kind of four-wheel above-mentioned and six foot deformable real training robot devices are provided with charging on the lithium battery box
Mouthful.
A kind of control method of four-wheel and the six deformable real training robot devices of foot, comprising the following steps:
Step (A) opens real training robot device, and real training robot device is located at original state, and four on four wheeled chassis
Tire lands, and six sufficient formula construction machine legs are folded and lifted, and original state is wheel type movement state；
Step (B), real training robot device using can 360 ° of horizontal direction rotation WIFI cameras acquire environmental information in real time,
Remote terminal is radioed to, remote terminal realizes effective avoidance movement according to real time environment information, and judges real training robot
Environment locating for device is structural environment or non-structure environment, and the structural environment refers to smooth road surface, the non-knot
Structure environment refers to situations such as uneven ground or stair, executes step (C) if structural environment, no to then follow the steps
(D)；
Step (C), remote terminal send wheel type movement control instruction, and real training robot device receives wheel type movement control and refers to
It enables, keeps the wheel type movement form of original state；
Step (D), remote terminal send sufficient formula motion control instruction, and real training robot device receives wheel type movement control and refers to
It enables, by six sufficient formula construction machine leg expansion, four on four wheeled chassis tires is set vacantly, wheel type movement state is turned
It is changed to sufficient formula motion state；
Step (E), real training robot device using can 360 ° of horizontal direction rotation WIFI camera shooting heads acquire in real time environment letter
Breath repeats step (B)-step (D), completes the control of real training robot device proper motion.
The control method of a kind of four-wheel above-mentioned and the six deformable real training robot devices of foot, it is characterised in that: also wrap
Step (F) is included, in real training robot device's normal course of operation, opens IR evading obstacle sensors detection front with the presence or absence of barrier
Hinder object, when IR evading obstacle sensors discovery has more than the barrier of maximum height threshold value, stop motion；When infrared obstacle avoidance senses
Device find clear or lower than minimum altitude threshold value barrier when, real training robot device is converted to wheel type movement state
Operation；When the height of IR evading obstacle sensors discovery barrier is between maximum height threshold value, minimum altitude threshold value, training machine
Device people's device is converted to sufficient formula motion state operation, and the maximum height threshold value is 30cm, and the minimum altitude threshold value is 10cm.
The beneficial effects of the present invention are: four-wheel of the invention and the six deformable real training robot devices of foot, go in demonstration
When walking, speed and stable problem can be taken into account, real training robot carries out running on wheels under the environment of level land, and speed is fast；?
Under non-structure environment (such as uneven ground or stair), real training robot is deformed into sufficient formula walking, and stability is stronger；It is real
Four wheels and the six leg structures for instructing robot are relatively independent, in the case where any one structural failure, the real training machine
People can still be worked with normal walking；Moreover, robot chassis design is high, encountering low obstacle can be directly across；The real training
The torque of motor and steering engine that robot uses is larger, and load-bearing capacity is strong, can complete to transport goods and materials and search and rescue under disaster environment
Groundwork, structure novel is easy to accomplish, has a good application prospect.
Detailed description of the invention
Fig. 1 is the structural schematic diagram of four-wheel and the six deformable real training robot devices of foot of the invention；
Fig. 2 is the structural schematic diagram on four wheeled chassis of the invention；
Fig. 3 is the structural schematic diagram of sufficient formula construction machine leg of the invention；
Fig. 4 is the system block diagram of main control wiring board of the invention.
Attached meaning marked in the figure is as follows:
1: four wheeled chassis；2: tire；3: driving motor；4: motor driven wiring board；5: six foot installation lower plates；6: six foot installations
Upper plate；7: helm control circuit plate；8: main control wiring board；9: sufficient formula construction machine leg；901: fixedly connected part；902: the first
Linking arm；903: the second linking arms；904: the first steering engines；905: the second steering engines；906: third steering engine；10: serial communication interface；
11: can 360 ° of the horizontal direction WIFI cameras rotated；12: IR evading obstacle sensors；13: lithium battery box.
Specific embodiment
Below in conjunction with Figure of description, the present invention is further illustrated.
As shown in Figure 1, Figure 2 and Figure 3, four-wheel of the invention and the six deformable real training robot devices of foot, including four-wheel
Formula chassis 1, two groups of tire groups in forward and backward distribution are equipped on the four wheeled chassis 1, and each tire group includes in left and right right
Claim the tire 2 of setting, 1 lower surface of four wheeled chassis between two tires 2 being located behind is equipped with driving motor 3, described
Driving motor 3 drives between two tires 2 being located behind.
The upper surface on the four wheeled chassis 1 is disposed with 4, six foot installation lower plate of motor driven wiring board from top to bottom
5, six foot installation upper plate 6, helm control circuit plate 7, main control wiring board 8, and there are spacing between each plate layer, wherein motor
The realization of driver circuit plate 4, helm control circuit plate 7 passes through those skilled in the art's conventional control driving motor, the hand of steering engine
Section.
Six sufficient installation regions, described six sufficient installation regions are formed between six foots installation lower plate, 5, the six foot installation upper plate 6
Border the sufficient formula construction machine leg 9 of foldable six lifted is installed at equal intervals, the driving of each item foot formula construction machine leg 9 is defeated
Enter end to be electrically connected with helm control circuit plate 7 respectively.
The driving input terminal of the driving motor 3 is electrically connected with motor driven wiring board 4, the motor driven wiring board 4,
Helm control circuit plate 7 is electrically connected with the corresponding ports of main control wiring board 8 respectively.
Serial communication interface 10 is installed, the top of the six foots installation upper plate 6 is also pacified on the motor driven wiring board 4
Equipped with can 360 ° of horizontal direction rotation WIFI camera 11, IR evading obstacle sensors 12, it is described can 360 ° of horizontal direction rotation
WIFI camera 11 shooting direction horizontal direction as needed rotation, the induction direction edge of the IR evading obstacle sensors 12
Operating path setting, the signal output end of the IR evading obstacle sensors 12 are electric with the corresponding ports of main control wiring board 8 respectively
Connection, it is described can 360 ° of horizontal direction rotation WIFI cameras 11 carried out wireless communication with remote terminal.
It is also equipped with lithium battery box 13 in the middle part of described six sufficient installation regions, the lithium battery box 13 passes through Voltage stabilizing module point
Not Gei driving motor 3, motor driven wiring board 4, helm control circuit plate 7, main control wiring board 8, can 360 ° of horizontal direction rotation
WIFI camera 11, the IR evading obstacle sensors 12 turned provide operating voltage.
Preferably, there are spacing between each plate layer, and more by being distributed between each plate layer support copper posts 14 carry out
Support is fixed, can guarantee 5, six foot installation upper plate 6 of the foot installation of motor driven wiring board 4, six lower plate, helm control circuit plate 7,
Fastness between main control wiring board 8.
As shown in figure 3, each foot formula construction machine leg 9 includes fixedly connected part 901, the connection of the first linking arm 902, second
Arm 903, the one end of the fixedly connected part 901 are hinged on the corresponding position of six sufficient installation regions by third steering engine 906
The other end at place, the fixedly connected part 901 is flexibly connected by the first steering engine 904 with one end of the first linking arm 902, institute
The other end for stating the first linking arm 902 is flexibly connected by the second steering engine 905 with the second linking arm 903, first steering engine
904, the second steering engine 905, third steering engine 906 are connected with the corresponding ports of helm control circuit plate 7 respectively, second connection
Arm 903 is arranged diagonally downward, forms sufficient formula construction machine leg, wherein the first steering engine 904 controls the upper and lower of the first linking arm 902
It lifts and perhaps declines folding or stretching, extension that the second steering engine 905 controls the second linking arm 903, the control of third steering engine 906 is fixed to be connected
The adjustment of corresponding sufficient 9 present position of formula construction machine leg is realized in the autorotation of fitting 901, by the first steering engine 904 of control,
The rotation of second steering engine 905 can be realized the folding of the second linking arm 903 and lift, in order to realize the four of four wheeled chassis
Wheel movement；It can also be rotated by the opposite direction of the first steering engine 904 of control, the second steering engine 905, can be realized the second linking arm
903 stretching, extension and decline, thus the six foot movement of realization of sufficient formula construction machine leg 9, sufficient formula construction machine leg 9 after deployment, energy
Enough guarantee that all tire 2 on four wheeled chassis 1 is vacantly arranged, to realize the conversion moved from wheel type movement to sufficient formula.
Preferably, 1, six foot installation lower plate of four wheeled chassis, 5, the six foot installation upper plate 6 is all made of aluminum alloy materials system
At, it is at low cost and light-weight, it is easy to implement.
As shown in figure 4, be provided in the main control wiring board 8 single-chip microcontroller (may be selected STM32 single-chip microcontroller, it is low in energy consumption, and
It is low in cost), serial communication driving circuit, signal acquisition circuit, servo driving signaling interface group, driving motor signaling interface,
The IR evading obstacle sensors 12 are connected by signal acquisition circuit with single-chip microcontroller, and the single-chip microcontroller is driven by serial communication
Circuit is connected with serial communication interface 10, and the single-chip microcontroller passes through servo driving signaling interface group and helm control circuit plate 7
Electrical connection, the single-chip microcontroller are electrically connected by driving motor signaling interface with motor driven wiring board 4, it can be seen that master control line
Road plate 8 is control centre, specific control method are as follows:
Step (A) opens real training robot device, and real training robot device is located at original state, and four wheeled the One On The Chassis four
Tire 2 lands, and six sufficient formula construction machine legs are folded and lifted, and original state is wheel type movement state；
Step (B), real training robot device utilizes can the real-time acquisition environment letter of 360 ° of the horizontal direction WIFI cameras 11 rotated
Breath, radios to remote terminal, remote terminal judges that environment locating for real training robot device is according to real time environment information
Structural environment or non-structure environment, the structural environment refer to smooth road surface, and the non-structure environment refers to bumps
Situations such as uneven ground or stair, executes step (C) if structural environment；It is no to then follow the steps (D)；
Step (C), remote terminal send wheel type movement control instruction, and real training robot device receives wheel type movement control and refers to
It enables, keeps the wheel type movement form of original state；
Step (D), remote terminal send sufficient formula motion control instruction, and real training robot device receives wheel type movement control and refers to
It enables, by six sufficient formula construction machine leg expansion, four wheeled the One On The Chassis four tires 2 is set vacantly, by wheel type movement state
Be converted to sufficient formula motion state；
Step (E), real training robot device using can horizontal direction rotation WIFI camera 11 in real time acquisition environmental information, weight
Multiple step (B)-step (D) completes the control of real training robot device proper motion.
Preferably, further include step (F), in real training robot device's normal course of operation, open infrared obstacle avoidance sensing
Whether there are obstacles in the detection of device 12 front, when the discovery of IR evading obstacle sensors 12 has more than the barrier of maximum height threshold value
When, stop motion；When IR evading obstacle sensors 12 find clear or when lower than the barrier of minimum altitude threshold value, real training
Robot device is converted to the operation of wheel type movement state；When IR evading obstacle sensors 12 find the height of barrier in maximum height
When between threshold value, minimum altitude threshold value, real training robot device is converted to sufficient formula motion state operation, the maximum height threshold value
For 30cm, the minimum altitude threshold value is 10cm.
The structural environment be smooth road surface or the barrier lower than minimum altitude threshold value, it is described non-structural
Under environment, such as uneven ground or stair or obstacle height are between maximum height threshold value, minimum altitude threshold value
The case where.
Preferably, the chassis height on the four wheeled chassis 1 increases the height on four wheeled chassis 1 between 8-12cm,
Encountering low obstacle can be directly across, guarantees in the case where barrier is located at 10cm minimum altitude threshold condition, be able to achieve quickly through.
Preferably, charging interface is provided on the lithium battery box 13, realization charges to lithium battery box 13.
Above-mentioned control process belongs to the conventional means of those skilled in the art, including single-chip microcontroller, serial communication driving electricity
Road, signal acquisition circuit, servo driving signaling interface group, driving motor signaling interface, IR evading obstacle sensors, can horizontal direction
The type selecting of the WIFI cameras of 360 ° of rotations, driving motor, motor driven wiring board, the hardware such as helm control circuit plate is all
It can choose purchase, four-wheel of the invention and the six deformable real training robot devices of foot, be claimed four-wheel and six foots
The specific structural features of deformable real training robot device, essential features are four wheeled chassis, six sufficient formula structures
The positional relationship and specific structure of pedipulator.
Through the above description, four-wheel of the invention and the six deformable real training robot devices of foot, relative to existing
Single structure real training robot, has the following advantages that, specific as follows:
(1) existing single structure real training robot (wheeled real training robot or Zu Shi real training robot) cannot be considered in terms of speed
And stable problem, practical not strong, solution of the invention is by wheeled real training robot and sufficient formula real training robot architecture
It combines, the lower layer chassis of Zu Shi real training robot is become vehicle structure chassis, to realize that four-wheel and six foot drivings are independent
Operation.
(2) the sufficient composite construction of existing wheel, is placed in Zu Shi real training robot vola for wheel, once there is bad, the wheel of foot
Also it can not work normally, real training robot damage, solution of the invention fully considers two ways work when being structure composite
Six foots when operating mode starting is wheeled, are placed in the fuselage crown by the independence of work；Sufficient formula real training machine man-hour, design
Fuselage height is got higher, and the wheeled chassis for becoming Zu Shi real training robot completely does not influence work.
(3) two kinds of structures are combined, entire machine weight is caused to become weight, traditional drives are short of power, the present invention
Solution be that fuselage selects lightweight high-hardness metal material, and the motor of high-torque is chosen, to ensure real training robot just
Often work.
(4) wheel undercarriage gravity center instability, wheel undercarriage uses four wheel constructions in solution distressed structure of the invention, protects
Center of gravity is demonstrate,proved in the position of centre of gravity of real training robot, convenient for the control of real training robot.
(5) the man-machine body chassis of distressed structure mesopodium formula real training machine is low, causes leaping over obstacles difficult: solution party of the invention
Method be design Zu Shi real training robot when, chassis height is got higher, the height of C.G. of sufficient formula is got higher, with facilitate real training robot across
Obstacle-overpass.
In conclusion four-wheel of the invention and the six deformable real training robot devices of foot, when demonstrating walking, energy
Speed and stable problem are enough taken into account, real training robot carries out running on wheels under the environment of level land, and speed is fast；Under non-structure environment
(such as uneven ground or stair), real training robot are deformed into sufficient formula walking, and stability is stronger；The four of real training robot
A wheel and six leg structures are relatively independent, and in the case where any one structural failure, which still can be just
Often walking work；Moreover, robot chassis design is high, encountering low obstacle can be directly across；What the real training robot used
The torque of motor and steering engine is larger, and load-bearing capacity is strong, can complete the groundwork that goods and materials and search and rescue are transported under disaster environment, knot
Structure is novel, easy to accomplish, has a good application prospect.
Basic principles and main features and advantage of the invention have been shown and described above.The technical staff of the industry should
Understand, the present invention is not limited to the above embodiments, and the above embodiments and description only describe originals of the invention
Reason, without departing from the spirit and scope of the present invention, various changes and improvements may be made to the invention, these changes and improvements
It all fall within the protetion scope of the claimed invention.The claimed scope of the invention is by appended claims and its equivalent circle
It is fixed.
Claims (10)
1. a kind of four-wheel and the six deformable real training robot devices of foot, it is characterised in that: described including four wheeled chassis (1)
Two groups of tire groups in forward and backward distribution are installed, each tire group includes in left and right symmetrically arranged wheel on four wheeled chassis (1)
Tire (2), four wheeled chassis (1) lower surface between two tires (2) being located behind are equipped with driving motor (3), the drive
Between two tires (2) that dynamic motor (3) driving is located behind,
The upper surface of the four wheeled chassis (1) is disposed with motor driven wiring board (4), six foot installation lower plates from top to bottom
(5), six foot installation upper plate (6), helm control circuit plate (7), main control wiring board (8), and there are spacing between each plate layer,
Six sufficient installation regions, described six sufficient installation regions are formed between six foot installation lower plate (5), six foot installations upper plate (6)
Border the sufficient formula construction machine leg (9) of foldable six lifted, the drive of each item foot formula construction machine leg (9) are installed at equal intervals
Dynamic input terminal is electrically connected with helm control circuit plate (7) respectively,
The driving input terminal of the driving motor (3) is electrically connected with motor driven wiring board (4), the motor driven wiring board
(4), helm control circuit plate (7) is electrically connected with the corresponding ports of main control wiring board (8) respectively,
It is equipped with serial communication interface (10) on the motor driven wiring board (4), the top of six foot installation upper plate (6) is also
Be equipped with can 360 ° of horizontal direction rotation WIFI camera (11), IR evading obstacle sensors (12), it is described can horizontal direction
The shooting direction of WIFI camera (11) of 360 ° of rotations, the induction direction of IR evading obstacle sensors (12) are set along operating path
It sets, the signal output end of the IR evading obstacle sensors (12) is electrically connected with the corresponding ports of main control wiring board (8) respectively, institute
State can 360 ° of horizontal direction rotation WIFI cameras carried out wireless communication with remote terminal.
2. a kind of four-wheel according to claim 1 and the six deformable real training robot devices of foot, it is characterised in that: described
It is also equipped with lithium battery box (13) in the middle part of six sufficient installation regions, the lithium battery box (13) gives driving by Voltage stabilizing module respectively
Motor (3), motor driven wiring board (4), helm control circuit plate (7), main control wiring board (8), can 360 ° of horizontal direction rotation
WIFI camera (11), the IR evading obstacle sensors (12) turned provide operating voltage.
3. a kind of four-wheel according to claim 1 and the six deformable real training robot devices of foot, it is characterised in that: each plate
There are spacing between layer, and more by being distributed between each plate layer support copper posts (14) are supported fixation.
4. a kind of four-wheel according to claim 1 and the six deformable real training robot devices of foot, it is characterised in that: each foot
Formula construction machine leg (9) includes fixedly connected part (901), the first linking arm (902), the second linking arm (903), the fixation
The one end of connector (901) is hinged on the corresponding position of six sufficient installation regions by third steering engine (906), and the fixation is even
The other end of fitting (901) is flexibly connected by the first steering engine (904) with one end of the first linking arm (902), and described first
The other end of linking arm (902) is flexibly connected by the second steering engine (905) with the second linking arm (903), first steering engine
(904), the second steering engine (905), third steering engine (906) are connected with the corresponding ports of helm control circuit plate (7) respectively, described
Second linking arm (903) is arranged diagonally downward, forms sufficient formula construction machine leg.
5. a kind of four-wheel according to claim 1 and the six deformable real training robot devices of foot, it is characterised in that: described
Four wheeled chassis (1), six foot installations lower plate (5), six foot installations upper plate (6) are all made of aluminum alloy materials and are made.
6. a kind of four-wheel according to claim 1 and the six deformable real training robot devices of foot, it is characterised in that: described
Single-chip microcontroller, serial communication driving circuit, signal acquisition circuit, servo driving signaling interface are provided in main control wiring board (8)
Group, driving motor signaling interface, the IR evading obstacle sensors (12) are connected by signal acquisition circuit with single-chip microcontroller, described
Single-chip microcontroller is connected by serial communication driving circuit with serial communication interface (10), and the single-chip microcontroller passes through servo driving signal
Interface group is electrically connected with helm control circuit plate (7), and the single-chip microcontroller passes through driving motor signaling interface and motor driven route
Plate (4) electrical connection.
7. a kind of four-wheel according to claim 1 and the six deformable real training robot devices of foot, it is characterised in that: described
The chassis height of four wheeled chassis (1) is 12cm.
8. a kind of four-wheel according to claim 2 and the six deformable real training robot devices of foot, it is characterised in that: described
Lithium battery box is provided with charging interface on (13).
9. the control method of a kind of four-wheel and the six deformable real training robot devices of foot, it is characterised in that: the following steps are included:
Step (A) opens real training robot device, and real training robot device is located at original state, and four on four wheeled chassis (1)
A tire (2) lands, and six sufficient formula construction machine legs are folded and lifted, and original state is wheel type movement state；
Step (B), real training robot device using can 360 ° of horizontal direction rotation WIFI cameras (11) acquire environment in real time
Information radios to remote terminal, and remote terminal realizes effective avoidance movement according to real time environment information, and judges real training
Environment locating for robot device is structural environment or non-structure environment, and the structural environment refers to smooth road surface, institute
Situations such as non-structure environment refers to uneven ground or stair is stated, executes step (C) if structural environment；Otherwise it executes
Step (D)；
Step (C), remote terminal send wheel type movement control instruction, and real training robot device receives wheel type movement control and refers to
It enables, keeps the wheel type movement form of original state；
Step (D), remote terminal send sufficient formula motion control instruction, and real training robot device receives wheel type movement control and refers to
It enables, by six sufficient formula construction machine leg expansion, four tires (2) on four wheeled chassis (1) is set vacantly, by wheel type movement
State is converted to sufficient formula motion state；
Step (E), real training robot device using can 360 ° of horizontal direction rotation WIFI cameras (11) acquire environment in real time
Information repeats step (B)-step (D), completes the control of real training robot device proper motion.
10. the control method of a kind of four-wheel according to claim 9 and the six deformable real training robot devices of foot, special
Sign is: further including step (F), in real training robot device's normal course of operation, opens IR evading obstacle sensors (12) inspection
Surveying front, whether there are obstacles, when IR evading obstacle sensors (12) discovery has more than the barrier of maximum height threshold value, stops
Only move；When IR evading obstacle sensors (12) find clear or when lower than the barrier of minimum altitude threshold value, training machine
Device people's device is converted to the operation of wheel type movement state；When the height of IR evading obstacle sensors (12) discovery barrier is in maximum height
When between threshold value, minimum altitude threshold value, real training robot device is converted to sufficient formula motion state operation, the maximum height threshold value
For 30cm, the minimum altitude threshold value is 10cm.
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