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

Head, chest, and abdomen separated bionic hexapod robot Download PDF

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Publication number
WO2020082719A1
WO2020082719A1 PCT/CN2019/085605 CN2019085605W WO2020082719A1 WO 2020082719 A1 WO2020082719 A1 WO 2020082719A1 CN 2019085605 W CN2019085605 W CN 2019085605W WO 2020082719 A1 WO2020082719 A1 WO 2020082719A1
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module
abdomen
head
chest
robot
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PCT/CN2019/085605
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French (fr)
Chinese (zh)
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朱晓庆
陈璐
张超
薛艾琳
郭威
余鹏程
张家辉
刘鹏飞
李瑞莹
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北京工业大学
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Publication of WO2020082719A1 publication Critical patent/WO2020082719A1/en

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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
    • B62D57/032—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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  • the invention discloses a bionic hexapod robot with separated head, chest and abdomen, which can better imitate the ability of insects when walking and traversing complex terrain, and has a stronger ability to traverse unstructured terrain.
  • robots are playing an increasingly important role in disaster recovery, agriculture, households and other fields, especially in environments that are unsafe or unreachable by humans. This requires the robot to have the ability to traverse different terrains, especially in rugged and dangerous areas. Many existing robot designs are capable of walking on unstructured terrain. Wheeled robots move fast, but their ability to cross obstacles is quite limited. Tracking robots are good at navigating in various environments, but heavy and slow robots are not practical in most cases. Leg-type robots have superior performance when crossing large obstacles. The split body design allows a higher degree of freedom when comparing other types of equivalents.
  • the bionic hexapod robot which mimics the behavior of insect movements, is the most capable of navigating unstructured terrain and completing multiple tasks.
  • the bionic hexapod robot as a representative of the multi-legged robot, can walk on unstructured terrain, and has stronger obstacle-crossing ability and environmental adaptability than conventional robots.
  • the object of the present invention is to provide a bionic hexapod robot with separated head, chest and abdomen. The robot is divided into a head, a chest and an abdomen. This bionic structure can effectively improve the robot's flexibility and crawling ability, while reducing the robot's dependence on multiple degrees of freedom. Realize the function of traversing unstructured terrain flexibly.
  • the disadvantage is that the rolling wheel under the abdomen often slips and the rolling wheel is blocked, so it cannot move smoothly, which affects the use effect.
  • the purpose of the present invention is to propose a bionic hexapod robot with separated head, chest and abdomen, which has the functions of walking and turning under unstructured terrain, so as to achieve the purpose of walking in various dangerous and unreachable terrain.
  • the inventor team observed that the structure of hexapods was mainly composed of three parts: head, chest and abdomen.
  • the head is mainly used for perception, the function of the chest cavity is movement and coordination, and the abdomen serves as an energy reserve. Therefore, the present invention designs a bionic hexapod robot with a head-chest-abdominal segment structure.
  • the robot is divided into head, chest and abdomen. This bionic structure can effectively improve the flexibility and crawling ability of the robot. At the same time, it reduces the robot's dependence on multiple degrees of freedom.
  • the technical scheme adopted by the present invention is a bionic hexapod robot with separated head, chest and abdomen, which is composed of a robot body, a vision system 5, an LED lamp module, a positioning module 7, a control module, an integrated detection module 6, a power supply module, and a storage module.
  • the robot body includes a head 1, a chest 2, an abdomen 3, and a foot 4.
  • the head 1, chest 2 and abdomen 3 are connected in sequence by a pin to form an insect chest structure.
  • the head 1, chest 2 and abdomen 3 are used to imitate the three bodies in the insect chest structure, and the robot body can be lifted and lowered. Movements such as head or abdomen.
  • the head 1 is used to sense environmental information, the function of the chest cavity is movement and coordination, and the abdomen serves as an energy reserve.
  • Vision system 5 is composed of camera, night vision device, LED light module, storage module, image processing module and wireless communication module.
  • the camera and night vision device Arranged in parallel and connected to the storage module, the storage module, image processing module and wireless communication module are connected in sequence; the camera and night vision device form a dual camera fixed on the robot head 1, and the LED light module surrounds the dual camera to fill the light
  • the storage module, image processing module and wireless communication module are embedded in the robot chest 2.
  • the integrated detection module 6 is embedded in the head 1, the integrated detection module 6 is composed of a temperature sensor, a sound sensor, a smoke sensor, a collision sensor and an ultrasonic sensor, etc.
  • the integrated detection module 6 is used for storing and transmitting each sensor to the host computer in real time.
  • the positioning module 7 is embedded in the abdomen 3.
  • the abdomen 3 is composed of a controller, a motor driver, a motor, and a power module.
  • the controller is connected to the motor driver, and the motor driver is connected to the motor.
  • the power module is connected to and provides power to the controller, motor driver, and motor.
  • the motor controls the head 1. Lift or lower the two parts of chest 2.
  • the vision system 5, the integrated detection module 6, and the positioning module 7 are respectively connected to the controller.
  • the bionic hexapod robot is used to achieve the purpose of traversing unstructured terrain.
  • the foot 4 is a semi-circle (C-shaped) or a ring and the connection part with the hexapod robot body is located at one end or a circle of the semi-circle At any point on the ring, the driving and supporting functions of the foot 4 are realized, and thus the robot can better imitate insects when walking and traversing complex terrain, and has a stronger ability to traverse unstructured terrain.
  • the LED lamp module can supplement the light for the camera and night vision device at night, and the night vision device can collect images at night.
  • the camera also has a recording function and data backup , It can also transmit data in real time to the upper computer through the wireless communication module.
  • the head 1, chest 2 and abdomen 3 are made of carbon fiber material.
  • the divided body design allows a higher degree of freedom.
  • the structural base of the robot is made of carbon fiber material, which is light and firm, and has a good strength to weight ratio compared with other materials.
  • Figure 1 Block diagram of a bionic hexapod robot system with separated head, chest and abdomen.
  • FIG. 2 Schematic diagram of a bionic hexapod robot system with separated head, chest and abdomen.
  • a bionic hexapod robot with separated head, chest and abdomen is characterized by a robot body, a vision system, an LED light module, a positioning module, a control module, an integrated detection module, a power supply module, and a storage module.
  • Part 1 chest 2, abdomen 3, foot 4, vision system 5, integrated detection module 6, and positioning module 7.
  • the head 1, chest 2 and abdomen 3 of the hexapod robot are fixedly connected to the two feet 4 axially, and are used to imitate the three bodies in the chest cavity of an insect.
  • a special mechanism is used to connect every two parts. This mechanism can provide two additional degrees of freedom, allowing the robot to perform actions such as raising and lowering the head or abdomen.
  • the vision system 5 is composed of a camera, a night vision device, an LED light module, a storage module, an image processing module, and a wireless communication module.
  • the camera and the night vision device form a dual camera fixed on the robot head 1, and the LED light module surrounds the dual camera
  • the light supplement is performed at night, and the storage module, the image processing module and the wireless communication module are embedded in the robot chest 2.
  • the integrated detection module 6 is embedded in the robot head 1 and includes temperature sensors, sound sensors, smoke sensors, collision sensors, ultrasonic sensors, etc. It can store and transmit the detected information to the host computer in real time.
  • the positioning module 7 is embedded in the abdomen 2. When the client has additional functions, the client can design a specific functional module to be installed in the chest 2.
  • the abdomen 3 is composed of a controller, a motor driver, a motor, and a power module, and controls the other two parts and provides energy for them.
  • the vision system 5, the integrated detection module 6, and the positioning module 7 are respectively connected to the controller, and the power module supplies power to the controller, the motor driver, and the motor.
  • a bionic hexapod robot with separated head, chest and abdomen is also characterized in that the bionic hexapod robot is used to achieve the purpose of traversing unstructured terrain.
  • the robot foot 4 may be semicircular (C-shaped) or complete
  • the ring shape and the connection part with the hexapod robot body 1 are located at one end of the semicircle or at any point on the complete ring, so as to distinguish the axial fixed connection mode of the tire wheel center of the ordinary wheeled robot.
  • a bionic hexapod robot with separated head, chest and abdomen is also characterized in that in the vision system 5, the LED light module can supplement the light for the vision system at night, and the night vision device can better perform images at night
  • the camera not only has a recording function and can perform data backup, but also can transmit data in real time to a host computer through a wireless communication module.
  • a bionic hexapod robot with a separated head, thorax and abdomen can be placed at an earthquake site to perform search tasks. Due to its small and flexible structure, it can work in complex and narrow terrain. During the search process, the robot's camera, ultrasonic sensor, gyroscope and other sensors enable the robot to complete the task well. In addition, the robot's excellent load-bearing capacity allows it to play a role in transportation. When the robot is damaged, its modular structure allows workers to remove the damaged module and install a new module. This process is very simple and fast, so that search and rescue personnel will not spend too much time to repair.

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  • Engineering & Computer Science (AREA)
  • Chemical & Material Sciences (AREA)
  • Combustion & Propulsion (AREA)
  • Transportation (AREA)
  • Mechanical Engineering (AREA)
  • Manipulator (AREA)
  • Toys (AREA)

Abstract

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

Description

一种头胸腹分离式仿生六足机器人Bionic hexapod robot with separated head, chest and abdomen 技术领域Technical field
本发明公开了一种头胸腹分离式仿生六足机器人，在行走和穿越复杂地形时可以更好地模仿昆虫的能力，具有更强的穿越非结构化地形的能力。The invention discloses a bionic hexapod robot with separated head, chest and abdomen, which can better imitate the ability of insects when walking and traversing complex terrain, and has a stronger ability to traverse unstructured terrain.
背景技术Background technique
随着机器人技术的飞速发展，机器人在灾后恢复、农业、家庭等诸多领域发挥着越来越重要的作用，尤其广泛应用于不安全或人类无法触及的环境中。这就要求机器人具备穿越不同地形的能力，尤其是在崎岖和危险地区。现有的许多机器人设计都能够在非结构化地形中行走。轮式机器人移动速度很快，但它们跨越障碍的能力相当有限。跟踪机器人擅长在各种环境中导航，但重量大、速度慢的机器人在大多数情况下并不实用。腿型机器人在跨越大型障碍物时具有优越的性能。分割的车身设计允许更高的自由度，当比较其他类型的对等物。此外，仿生六足机器人，模仿昆虫运动的行为，是最有能力在非结构化的地形中导航，并完成多项任务。仿生六足机器人，作为多足机器人的代表，可在非结构化地形上行走，较常规机器人具有很强的越障能力与环境适应性。本发明的目的在于提供一种头胸腹分离式仿生六足机器人，机器人分为头部、胸部和腹部。这种仿生结构可以有效地提高机器人的灵活性和爬行能力，同时减少了机器人对多自由度足的依赖。实现灵活穿越非结构化地形的功能。With the rapid development of robot technology, robots are playing an increasingly important role in disaster recovery, agriculture, households and other fields, especially in environments that are unsafe or unreachable by humans. This requires the robot to have the ability to traverse different terrains, especially in rugged and dangerous areas. Many existing robot designs are capable of walking on unstructured terrain. Wheeled robots move fast, but their ability to cross obstacles is quite limited. Tracking robots are good at navigating in various environments, but heavy and slow robots are not practical in most cases. Leg-type robots have superior performance when crossing large obstacles. The split body design allows a higher degree of freedom when comparing other types of equivalents. In addition, the bionic hexapod robot, which mimics the behavior of insect movements, is the most capable of navigating unstructured terrain and completing multiple tasks. The bionic hexapod robot, as a representative of the multi-legged robot, can walk on unstructured terrain, and has stronger obstacle-crossing ability and environmental adaptability than conventional robots. The object of the present invention is to provide a bionic hexapod robot with separated head, chest and abdomen. The robot is divided into a head, a chest and an abdomen. This bionic structure can effectively improve the robot's flexibility and crawling ability, while reducing the robot's dependence on multiple degrees of freedom. Realize the function of traversing unstructured terrain flexibly.
对现有专利检索发现，专利申请公开号：CN108340986A，发明名称：一种具有并联结构的轮腿仿生机器人，该发明通过并联机构在结构紧凑的同时获得较多的运动自由度和较好的运动灵活性及承载能力。其缺点为：结构复杂，不能很好的满足非结构化地形上的工作需要。The search for existing patents found that the patent application publication number: CN108340986A, the name of the invention: a wheel-legged bionic robot with a parallel structure, the invention obtains more freedom of movement and better motion at the same time with a compact structure through a parallel mechanism Flexibility and carrying capacity. Its shortcomings are: complex structure, can not meet the needs of work on unstructured terrain.
检索发现，专利申请公开号：CN108297081A，发明名称：一种可灵活转向的蚯蚓仿生机器人，该发明通过腹部安装的滚动轮蜿蜒前行，从而在地面上进行类似蚯蚓的蠕动，柔软性好，能够在山洞、管道、瓦墟、山石等复杂恶劣的地形环境下顺畅移动。其缺点为：腹部下面的滚动轮时常会出现打滑以及滚动轮发生堵塞的情况，因此无法达到顺畅移动，影响了使用效果。The search found that the patent application publication number: CN108297081A, the name of the invention: a bionic robot capable of turning flexibly, the invention is meandering through the scroll wheel installed on the abdomen, so that the earthworm-like creeping on the ground, the softness is good, It can move smoothly in complex and harsh terrains such as caves, pipelines, tiles, mountains and rocks. The disadvantage is that the rolling wheel under the abdomen often slips and the rolling wheel is blocked, so it cannot move smoothly, which affects the use effect.
检索发现，专利申请公开号：CN102267509A，发明名称：对称式仿生六足行走装置，该发明采用两个结构完全一致、中心对称的上、下层套筒结构实现三角支撑机构。其缺点主要有：结构复杂，启动时间长；体积及重量较大。The search found that the patent application publication number: CN102267509A, the name of the invention: a symmetrical bionic hexapod walking device, the invention uses two upper and lower sleeve structures with identical structures and a centrally symmetrical sleeve structure to realize a triangular support mechanism. The main disadvantages are: complex structure, long start-up time; large volume and weight.
检索发现，专利申请公开号：CN205469364U，发明名称：一种新型的六足机器人结构及其控制***，该发明通过十八个舵机控制机器人腿的活动。其缺点为：腿部自由度过高，很难实现精密控制；机器人负载能力差；步态稳定性低。The search found that the patent application publication number: CN205469364U, the name of the invention: a new type of hexapod robot structure and its control system, the invention controls the movement of the robot legs through eighteen servos. The disadvantages are: the degree of freedom of the legs is too high, it is difficult to achieve precise control; the robot load capacity is poor; the gait stability is low.
发明内容Summary of the invention
本发明的目的在于提出一种头胸腹分离式仿生六足机器人，具备在非结构化地形下行走，转弯等功能，从而达到在各种危险、人类无 法到达的地形中穿行的目的。The purpose of the present invention is to propose a bionic hexapod robot with separated head, chest and abdomen, which has the functions of walking and turning under unstructured terrain, so as to achieve the purpose of walking in various dangerous and unreachable terrain.
为实现上述目的，发明团队通过观察六足动物的身体结构，发现它们主要由三部分组成:头部、胸部和腹部。头部主要用于感知，胸腔的功能是运动和协调，腹部充当能量储备。因此，本发明设计了头-胸-腹分段结构的仿生六足机器人。机器人分为头部、胸部和腹部。这种仿生结构可以有效地提高机器人的灵活性和爬行能力。同时减少了机器人对多自由度足的依赖。In order to achieve the above purpose, the inventor team observed that the structure of hexapods was mainly composed of three parts: head, chest and abdomen. The head is mainly used for perception, the function of the chest cavity is movement and coordination, and the abdomen serves as an energy reserve. Therefore, the present invention designs a bionic hexapod robot with a head-chest-abdominal segment structure. The robot is divided into head, chest and abdomen. This bionic structure can effectively improve the flexibility and crawling ability of the robot. At the same time, it reduces the robot's dependence on multiple degrees of freedom.
本发明采用的技术方案为一种头胸腹分离式仿生六足机器人，由机器人本体、视觉***5、LED灯模块、定位模块7、控制模块、综合检测模块6、电源模块、存储模块构成，机器人本体包括头部1、胸部2、腹部3和足部4。头部1、胸部2和腹部3通过销轴顺次连接组成昆虫胸腔结构，头部1、胸部2和腹部3分别用来模仿昆虫胸腔结构中的三个躯体，机器人本体能够实现抬起、低下头部或腹部等动作。头部1用于感知环境信息，胸腔的功能是运动和协调，腹部充当能量储备。The technical scheme adopted by the present invention is a bionic hexapod robot with separated head, chest and abdomen, which is composed of a robot body, a vision system 5, an LED lamp module, a positioning module 7, a control module, an integrated detection module 6, a power supply module, and a storage module. The robot body includes a head 1, a chest 2, an abdomen 3, and a foot 4. The head 1, chest 2 and abdomen 3 are connected in sequence by a pin to form an insect chest structure. The head 1, chest 2 and abdomen 3 are used to imitate the three bodies in the insect chest structure, and the robot body can be lifted and lowered. Movements such as head or abdomen. The head 1 is used to sense environmental information, the function of the chest cavity is movement and coordination, and the abdomen serves as an energy reserve.
头部1、胸部2、腹部3的两侧均设有足部4，视觉***5由摄像头、夜视仪、LED灯模块、存储模块、图像处理模块以及无线通讯模块构成，摄像头和夜视仪并列布设并与存储模块连接，存储模块、图像处理模块和无线通讯模块顺次连接；摄像头以及夜视仪组成双摄固定在机器人头部1上，LED灯模块围绕在双摄周围用以补光，存储模块、图像处理模块以及无线通讯模块内嵌在机器人胸部2内。综合检测模块6内嵌于头部1内，综合检测模块6由温度传感器、声音 传感器、烟雾传感器、碰撞传感器和超声波传感器等组成，综合检测模块6用以存储以及实时向上位机传送各个传感器所检测到的信息。定位模块7内嵌于腹部3中，当客户端有额外的功能时，客户端可以设计特定的功能模块安装到胸部2内。腹部3由控制器、电机驱动器、电机、电源模块构成，控制器与电机驱动器连接，电机驱动器与电机连接，电源模块均与控制器、电机驱动器、电机连接并为其提供动力，电机控制头部1、胸部2两部分的抬起或者低下。Head 1, chest 2 and abdomen 3 are equipped with feet 4 on both sides. Vision system 5 is composed of camera, night vision device, LED light module, storage module, image processing module and wireless communication module. The camera and night vision device Arranged in parallel and connected to the storage module, the storage module, image processing module and wireless communication module are connected in sequence; the camera and night vision device form a dual camera fixed on the robot head 1, and the LED light module surrounds the dual camera to fill the light The storage module, image processing module and wireless communication module are embedded in the robot chest 2. The integrated detection module 6 is embedded in the head 1, the integrated detection module 6 is composed of a temperature sensor, a sound sensor, a smoke sensor, a collision sensor and an ultrasonic sensor, etc. The integrated detection module 6 is used for storing and transmitting each sensor to the host computer in real time. The detected information. The positioning module 7 is embedded in the abdomen 3. When the client has additional functions, the client can design a specific functional module to be installed in the chest 2. The abdomen 3 is composed of a controller, a motor driver, a motor, and a power module. The controller is connected to the motor driver, and the motor driver is connected to the motor. The power module is connected to and provides power to the controller, motor driver, and motor. The motor controls the head 1. Lift or lower the two parts of chest 2.
视觉***5、综合检测模块6、定位模块7分别与控制器相连。The vision system 5, the integrated detection module 6, and the positioning module 7 are respectively connected to the controller.
利用仿生六足机器人达到穿越非结构化地形上的目的，所述的足部4是半圆形(C型)或圆环且与所述的六足机器人本体连接部位位于半圆形一端或圆环上任意一点，由此实现足部4的驱动及支撑作用，进而实现机器人在行走和穿越复杂地形时可以更好地模仿昆虫，具有更强的穿越非结构化地形的能力。The bionic hexapod robot is used to achieve the purpose of traversing unstructured terrain. The foot 4 is a semi-circle (C-shaped) or a ring and the connection part with the hexapod robot body is located at one end or a circle of the semi-circle At any point on the ring, the driving and supporting functions of the foot 4 are realized, and thus the robot can better imitate insects when walking and traversing complex terrain, and has a stronger ability to traverse unstructured terrain.
所述的视觉***5中，LED灯模块能够在夜间为摄像头、夜视仪进行补光，夜视仪能够在夜间进行图像的采集，摄像头除采集图像外，还具备录像功能和进行数据备份外，还能够通过无线通讯模块向上位机实时传输数据。In the above-mentioned vision system 5, the LED lamp module can supplement the light for the camera and night vision device at night, and the night vision device can collect images at night. In addition to collecting images, the camera also has a recording function and data backup , It can also transmit data in real time to the upper computer through the wireless communication module.
头部1、胸部2和腹部3均采用碳纤维材料制成。The head 1, chest 2 and abdomen 3 are made of carbon fiber material.
本发明与现有技术相比，具有以下明显的优势和有益效果：Compared with the prior art, the present invention has the following obvious advantages and beneficial effects:
1、和常规轮式机器人相比，具备非结构化地形下穿越能力，可以攀爬台阶、跨越小型障碍、沟壑等特殊地形。1. Compared with conventional wheeled robots, it has the ability to traverse under unstructured terrain, and can climb stairs, cross small obstacles, ravines and other special terrain.
2、相比履带式机器人，具备自重轻、构造简便、运动灵活等优 势。2. Compared with crawler robots, it has the advantages of light weight, simple structure and flexible movement.
3、分割的车身设计允许更高的自由度。3. The divided body design allows a higher degree of freedom.
4、机器人的结构底座采用碳纤维材料制成，轻巧牢固，与其他材料相比具有很好的强度重量比。4. The structural base of the robot is made of carbon fiber material, which is light and firm, and has a good strength to weight ratio compared with other materials.
附图说明BRIEF DESCRIPTION
图1头胸腹分离式仿生六足机器人***框图。Figure 1 Block diagram of a bionic hexapod robot system with separated head, chest and abdomen.
图2头胸腹分离式仿生六足机器人***示意图。Figure 2 Schematic diagram of a bionic hexapod robot system with separated head, chest and abdomen.
图中：1头部，2胸部，3腹部，4足部，5视觉***，6综合检测模块，7定位模块In the picture: 1 head, 2 chest, 3 abdomen, 4 feet, 5 vision system, 6 comprehensive detection module, 7 positioning module
具体实施方式detailed description
参阅图2，一种头胸腹分离式仿生六足机器人，其特征在于由机器人本体、视觉***、LED灯模块、定位模块、控制模块、综合检测模块、电源模块、存储模块构成，具体包括头部1、胸部2、腹部3、足部4、视觉***5、综合检测模块6以及定位模块7。Referring to FIG. 2, a bionic hexapod robot with separated head, chest and abdomen is characterized by a robot body, a vision system, an LED light module, a positioning module, a control module, an integrated detection module, a power supply module, and a storage module. Part 1, chest 2, abdomen 3, foot 4, vision system 5, integrated detection module 6, and positioning module 7.
其中六足机器人的头部1、胸部2、腹部3各与两个足部4轴向固定连接，用来模仿昆虫胸腔中的三个躯体。一种特殊的机构用于连接每两个部分。这种机制可以提供两个额外的自由度，允许机器人执行诸如抬起和低下头部或腹部等动作。视觉***5由摄像头、夜视仪、LED灯模块、存储模块、图像处理模块以及无线通讯模块构成，摄像头以及夜视仪组成双摄固定在机器人头部1上，LED灯模块围绕在双摄周围在夜晚时进行补光，存储模块、图像处理模块以及无线通讯模块内嵌在机器人胸部2内。综合检测模块6内嵌于机器人头部1内，包括温度传感器、声音传感器、烟雾传感器、碰撞传感器、超声 波传感器等，可以存储以及实时向上位机传送所检测到的信息。定位模块7内嵌于腹部2中，当客户端有额外的功能时，客户端可以设计特定的功能模块安装到胸部2内。腹部3由控制器、电机驱动器、电机、电源模块构成，控制其他两个部分并为其提供能量。The head 1, chest 2 and abdomen 3 of the hexapod robot are fixedly connected to the two feet 4 axially, and are used to imitate the three bodies in the chest cavity of an insect. A special mechanism is used to connect every two parts. This mechanism can provide two additional degrees of freedom, allowing the robot to perform actions such as raising and lowering the head or abdomen. The vision system 5 is composed of a camera, a night vision device, an LED light module, a storage module, an image processing module, and a wireless communication module. The camera and the night vision device form a dual camera fixed on the robot head 1, and the LED light module surrounds the dual camera The light supplement is performed at night, and the storage module, the image processing module and the wireless communication module are embedded in the robot chest 2. The integrated detection module 6 is embedded in the robot head 1 and includes temperature sensors, sound sensors, smoke sensors, collision sensors, ultrasonic sensors, etc. It can store and transmit the detected information to the host computer in real time. The positioning module 7 is embedded in the abdomen 2. When the client has additional functions, the client can design a specific functional module to be installed in the chest 2. The abdomen 3 is composed of a controller, a motor driver, a motor, and a power module, and controls the other two parts and provides energy for them.
参阅图1，视觉***5、综合检测模块6、定位模块7分别与控制器相连，电源模块向控制器、电机驱动器、电机供电。Referring to FIG. 1, the vision system 5, the integrated detection module 6, and the positioning module 7 are respectively connected to the controller, and the power module supplies power to the controller, the motor driver, and the motor.
一种头胸腹分离式仿生六足机器人，其特征还在于，利用仿生六足机器人达到穿越非结构化地形上的目的，所述的机器人足部4可以是半圆形(C型)或完整圆环型且与所述的六足机器人本体1连接部位位于半圆形一端或完整圆环上任意一点，以区别与普通的轮式机器人的轮胎圆心轴向固定连接方式。A bionic hexapod robot with separated head, chest and abdomen is also characterized in that the bionic hexapod robot is used to achieve the purpose of traversing unstructured terrain. The robot foot 4 may be semicircular (C-shaped) or complete The ring shape and the connection part with the hexapod robot body 1 are located at one end of the semicircle or at any point on the complete ring, so as to distinguish the axial fixed connection mode of the tire wheel center of the ordinary wheeled robot.
一种头胸腹分离式仿生六足机器人，其特征还在于，所述的视觉***5中，LED灯模块可以在夜间为视觉***进行补光，夜视仪可以更好的在夜间进行图像的采集，摄像头除采集图像外，不仅具备录像功能，可以进行数据备份外，还可以通过无线通讯模块向上位机实时传输数据。A bionic hexapod robot with separated head, chest and abdomen is also characterized in that in the vision system 5, the LED light module can supplement the light for the vision system at night, and the night vision device can better perform images at night In addition to collecting images, the camera not only has a recording function and can perform data backup, but also can transmit data in real time to a host computer through a wireless communication module.
实施例：头胸腹分离式仿生六足机器人可以被安置在地震现场执行搜索任务。由于其小而灵活的结构，可以在复杂而狭窄的地形中工作。在搜索过程中，机器人的摄像头、超声波传感器、陀螺仪等传感器使机器人能够很好地完成任务。此外，该机器人出色的承重能力使其能够发挥运输的作用。当机器人损坏时，其模块化结构允许工作人员拆除损坏的模块并安装新的模块。这个过程非常简单和快速，这样 搜救人员就不会花太多时间在修复上面。Example: A bionic hexapod robot with a separated head, thorax and abdomen can be placed at an earthquake site to perform search tasks. Due to its small and flexible structure, it can work in complex and narrow terrain. During the search process, the robot's camera, ultrasonic sensor, gyroscope and other sensors enable the robot to complete the task well. In addition, the robot's excellent load-bearing capacity allows it to play a role in transportation. When the robot is damaged, its modular structure allows workers to remove the damaged module and install a new module. This process is very simple and fast, so that search and rescue personnel will not spend too much time to repair.
以上所述的具体实施例，对本发明的目的、技术方案和有益效果进行了进一步详细说明，所应理解的是，以上所述仅为本发明的具体实施例而已，并不用于限制本发明，凡在本发明的精神和原则之内，所做的任何修改、等同替换、改进等，均应包含在本发明的保护范围之内。The specific embodiments described above further describe the purpose, technical solutions and beneficial effects of the present invention in detail. It should be understood that the above are only specific embodiments of the present invention and are not intended to limit the present invention. Any modification, equivalent replacement, and improvement made within the spirit and principle of the present invention should be included in the protection scope of the present invention.

Claims (4)

  1. 一种头胸腹分离式仿生六足机器人，其特征在于：由机器人本体、视觉***(5)、LED灯模块、定位模块(7)、控制模块、综合检测模块(6)、电源模块、存储模块构成，机器人本体包括头部(1)、胸部(2)、腹部(3)和足部(4)；头部(1)、胸部(2)和腹部(3)通过销轴顺次连接组成昆虫胸腔结构，头部(1)、胸部(2)和腹部(3)分别用来模仿昆虫胸腔结构中的三个躯体，机器人本体能够实现抬起、低下头部或腹部动作；头部(1)用于感知环境信息，胸腔的功能是运动和协调，腹部充当能量储备；A bionic hexapod robot with separated head, chest and abdomen is characterized by a robot body, a vision system (5), an LED lamp module, a positioning module (7), a control module, a comprehensive detection module (6), a power module, and a storage The module is composed of a robot body including a head (1), a chest (2), an abdomen (3), and a foot (4); the head (1), chest (2), and abdomen (3) are sequentially connected by a pin Insect chest structure, the head (1), chest (2) and abdomen (3) are used to imitate the three bodies of the insect chest structure, the robot body can realize the movement of lifting, lowering the head or the abdomen; the head (1 ) Used to sense environmental information, the function of the chest cavity is movement and coordination, and the abdomen serves as an energy reserve;
    头部(1)、胸部(2)、腹部(3)的两侧均设有足部(4)，视觉***(5)由摄像头、夜视仪、LED灯模块、存储模块、图像处理模块以及无线通讯模块构成，摄像头和夜视仪并列布设并与存储模块连接，存储模块、图像处理模块和无线通讯模块顺次连接；摄像头以及夜视仪组成双摄固定在机器人头部(1)上，LED灯模块围绕在双摄周围用以补光，存储模块、图像处理模块以及无线通讯模块内嵌在机器人胸部(2)内；综合检测模块(6)内嵌于头部(1)内，综合检测模块(6)由温度传感器、声音传感器、烟雾传感器、碰撞传感器和超声波传感器等组成，综合检测模块(6)用以存储以及实时向上位机传送各个传感器所检测到的信息；定位模块(7)内嵌于腹部(3)中；腹部(3)由控制器、电机驱动器、电机、电源模块构成，控制器与电机驱动器连接，电机驱动器与电机连接，电源模块均与控制器、电机驱动器、电机连接并为其提供动力，电机控制头部(1)、胸部(2)两部分的抬起或者低下；The head (1), the chest (2), and the abdomen (3) are provided with feet (4) on both sides. The vision system (5) consists of a camera, night vision device, LED light module, storage module, image processing module, and The wireless communication module is constituted. The camera and the night vision device are arranged side by side and connected to the storage module. The storage module, the image processing module and the wireless communication module are sequentially connected; the camera and the night vision device form a double camera fixed on the robot head (1), The LED light module surrounds the dual camera to fill the light, the storage module, image processing module and wireless communication module are embedded in the robot chest (2); the integrated detection module (6) is embedded in the head (1), integrated The detection module (6) is composed of temperature sensor, sound sensor, smoke sensor, collision sensor and ultrasonic sensor. The integrated detection module (6) is used to store and transmit the information detected by each sensor to the host computer in real time; the positioning module (7 ) Embedded in the abdomen (3); the abdomen (3) is composed of a controller, a motor driver, a motor, and a power module. The controller is connected to the motor driver, the motor driver is connected to the motor, and the power module is all connected to the control , A motor driver, a motor power connector and provide motor control head (1), the chest (2) to lift or lower two portions;
    视觉***(5)、综合检测模块(6)、定位模块(7)分别与控制器相连。The vision system (5), the integrated detection module (6), and the positioning module (7) are respectively connected to the controller.
  2. 根据权利要求1所述的一种头胸腹分离式仿生六足机器人，其特征在于：所述的足部(4)是半圆形或圆环且与所述的六足机器人本体连接部位位于半圆形一端或圆环上任意一点，由此实现足部(4)的驱动及支撑作用，进而实现机器人在行走和穿越复杂地形时模仿昆虫，具有穿越非结构化地形的能力。The bionic hexapod robot with separated head, thorax and abdomen according to claim 1, characterized in that: the foot (4) is a semi-circle or a ring and is connected to the body of the hexapod robot At any point on one end of the semi-circle or the ring, the driving and supporting functions of the foot (4) are realized, so that the robot imitates insects when walking and traversing complex terrain, and has the ability to traverse unstructured terrain.
  3. 根据权利要求1所述的一种头胸腹分离式仿生六足机器人，其特征在于：所述的视觉***(5)中，LED灯模块能够在夜间为摄像头、夜视仪进行补光，夜视仪能够在夜间进行图像的采集，摄像头除采集图像外，还具备录像功能和进行数据备份外，还能够通过无线通讯模块向上位机实时传输数据。The bionic hexapod robot with separated head, thorax and abdomen according to claim 1, characterized in that: in the vision system (5), the LED lamp module can supplement the light for the camera and the night vision device at night. The visual instrument can collect images at night. In addition to collecting images, the camera also has a video recording function and data backup. It can also transmit data in real time to a host computer through a wireless communication module.
  4. 根据权利要求1所述的一种头胸腹分离式仿生六足机器人，其特征在于：头部(1)、胸部(2)和腹部(3)均采用碳纤维材料制成。The bionic hexapod robot with separated head, chest and abdomen according to claim 1, characterized in that the head (1), the chest (2) and the abdomen (3) are all made of carbon fiber material.
PCT/CN2019/085605 2018-10-26 2019-05-06 Head, chest, and abdomen separated bionic hexapod robot WO2020082719A1 (en)

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