阅读说明：本技术 一种手足切换多模态四足特种机器人 (Hand and foot switching multi-mode four-footed special robot ) 是由 朱晓庆 邓乔依 陈璐 刘昊 郑瀚宇 牛禹浩 余彦霖 李春阳 宫婉儒 毕兰越 桑国 于 2021-08-30 设计创作，主要内容包括：本发明公开了一种手足切换多模态四足特种机器人,由机器人本体、视觉系统、定位模块、控制模块、驱动模块、电源模块和存储模块构成；其中机器人本体包括机器人本体、机器人的前足、机器人的后足、外置金属保护架、摄像头和麦克风；控制模块包括四足控制模块和双足控制模块。综合考虑四足与双足机器人的优缺点,使其不仅具备四足机器人移动效率高、适应地形能力强的优势,还具备双足机器人具有机械臂及机械手,能够进行基本灵巧操作及完成复杂移动动作的优势。机身分为两段,它们中的每一个都通过一个球形铰链连接到其他节段,该铰链由三个两自由度的电机驱动。(The invention discloses a hand-foot switching multi-mode four-foot special robot which comprises a robot body, a vision system, a positioning module, a control module, a driving module, a power supply module and a storage module, wherein the vision system is connected with the robot body; the robot body comprises a robot body, a front foot of the robot, a rear foot of the robot, an external metal protection frame, a camera and a microphone; the control module comprises a four-foot control module and a two-foot control module. The advantages and the disadvantages of the quadruped and the biped robot are comprehensively considered, so that the quadruped robot has the advantages of high moving efficiency and strong terrain adaptability, and the biped robot has the advantages of mechanical arm and mechanical hand, and can perform basic flexible operation and complete complex moving action. The fuselage is divided into two sections, each of which is connected to the other section by a spherical hinge driven by three two-degree-of-freedom motors.)

1. The utility model provides a hand and foot switch multimode four-footed special robot which characterized in that: the robot comprises a robot body, a vision system, a positioning module, a control module, a driving module, a power supply module and a storage module; the front foot and the rear foot of the robot are fixedly connected with the robot body in the axial direction, and the external metal protection frame is fixedly connected with the upper part of the robot body; the positioning module is fixed on the robot body, comprises a gps system and a GY953AHRS inertial sensor, sends position information and a motion state to the mobile equipment at any time, and can plan a route for completing a patrol task; the cameras can monitor the surrounding environment, are arranged at the front part, the rear part and the front chest part of the machine body, can rotate for 360 degrees, open the front chest part camera when standing, and close the front and rear part cameras at the same time; the microphone sensor is arranged on the top of the robot and is supported by a cylinder, so that the microphone sensor can detect surrounding sound waves and receive voice commands more easily; the Wi-Fi module is embedded in the robot body, and the mobile equipment can be connected with and control the robot; patrol, monitoring and alarm functions are provided through the Wi-Fi module; the four-foot control module and the double-foot control module are core modules of the robot, the four-foot control module and the double-foot control module comprise a remote control mode and a voice control mode, the two modules are positioned in the machine body and connected with the modules, the two modules are connected in parallel, and when the robot stands, the four groups of control modules are automatically switched to the double-foot control module; the comprehensive detection module comprises a humidity sensor, a pressure intensity sensor and an infrared sensor; the humidity sensor and the pressure intensity sensor are used for detecting the physical properties of the pavement where the sensor is located and distinguishing the non-structured landforms of swamps and sand, and the infrared sensor is used for detecting the landforms of the ground; the humidity sensor and the pressure intensity sensor are arranged in the machine body, so that the humidity degree and the hardness of the road surface can be conveniently detected; when the physical property of the pavement changes, the robot informs workers and gives an alarm through the Wi-Fi module; the infrared sensor is arranged on the surface of the robot body so as to avoid colliding with obstacles and adjust the stress of legs in time, and the surface rigidity of the infrared sensor is required to be noticed so as to prolong the service life of the infrared sensor.

2. The hand-foot switching multi-mode four-footed special robot of claim 1, characterized in that: the positioning module, the camera, the microphone, the Wi-Fi module, the four-foot control module, the two-foot control module, the comprehensive detection module and the communication module are respectively connected with the controller, and the power supply module supplies power to the controller, the motor driver and the motor.

3. The hand-foot switching multi-mode four-footed special robot of claim 1, characterized in that: when the robot finds an obstacle which cannot pass through, when an obstacle which is easy to pass through is detected, the obstacle is rotated and passed through by the wheel speed difference: one side of the wheel rotates at a previous speed, and the other side decelerates to realize rotation; thus, the obstacles which cannot be overstepped can be avoided, and the body integrity is kept; when an obstacle which is difficult to bypass and easy to cross is detected, if the robot is in a crawling posture, the crawling posture is changed into a standing posture, the upper half body firstly crosses the obstacle and then drives the lower half body to cross, and therefore the stability of the robot when crossing the obstacle can be greatly improved; when an obstacle which is difficult to bypass and easy to drill is detected, if the robot is in a standing posture, the upper half body is translated to the front end of the rear half body, the front half body and the rear half body are rotated 180 degrees at the same time, and then the front half body drives the rear half body to drill through a bottom gap; when an obstacle which is difficult to bypass and cross is detected, the robot can be changed from a crawling posture to a standing posture and is switched between hands and feet, and the mechanical arm and the mechanical hand can search an acting point on the obstacle and then climb over the obstacle; the motors on the joints of the body may assist in locking the freedom of the body to better fit through obstacles and terrain so that it can move quickly on even ground.

4. The hand-foot switching multi-mode four-footed special robot of claim 1, characterized in that: the robot comprises a robot main board, a main control chip, a servo motor driver and a servo motor, wherein the robot main board is ArduinoUnoR3 with 32 paths, the main control chip is ATMega328P, the working voltage is 5V, and the servo motor driver is 130ST-M06025 and is used for adjusting the direction and the state of the robot; the robot is output by a 18650 battery.

5. The hand-foot switching multi-mode four-footed special robot of claim 1, characterized in that: the automatic return charging function is realized; when the robot has enough power, the robot can continue to run along the designated route; when the power is lower, can get back to original position in order to avoid losing automatically, camera and sensor can seek the interface that charges and carry out autonomic charging.

Technical Field

The invention relates to a four-footed special robot capable of switching hands and feet when standing, mainly relates to multi-mode control of the robot, and belongs to the technical field of intelligent robots.

Background

Nowadays, a quadruped robot as a bionic mobile machine platform has the advantages of low requirement on a mobile environment, high mobile efficiency and the like. The multifunctional walking robot can not only realize walking on special terrains such as sand, marsh and the like, but also realize load transportation, become a helper for human activities, reduce labor cost, and replace human beings to carry out dangerous operations such as material transportation, patrol and the like in non-structural environments such as interstellar exploration, military reconnaissance, dredging of underground pipelines, disease treatment, emergency rescue and disaster relief and the like.

Although the quadruped robot has advantages in moving, it lacks a certain flexibility because it does not have a mechanical arm and a manipulator, so that it cannot perform some operations, such as getting up after falling down, swinging an arm to keep balance, or pushing a door while also being used for manipulating or carrying an object, and performing more complicated moving actions such as helping to climb rocks when climbing over obstacles, and picking up cars when pursuing criminal vehicles as an anti-terrorist use. At the moment, the biped robot can make up for the defects, so that the mutual switching between the four-foot mode and the biped mode is realized through multi-mode control of hand-foot switching, and the environment adapting capability of the robot is improved.

For the existing patent search, the patent application publication number: CN105242677A, inventive name: a method for controlling the force position of the support phase of the double feet of a quadruped robot in a hybrid manner. According to the invention, a control model is established, a plane seven-connecting-rod model is simplified into a plane virtual telescopic leg model, then mixed control is carried out according to the control model, the height of a mass center and the pitch angle of a body are controlled by a position servo method, and a double-ring control method of outer ring position and inner ring foot end force is adopted for horizontal displacement of the virtual telescopic leg plane model. The disadvantages are: the situation that the swing leg falls to the ground in advance or in delay cannot be solved by increasing the rigidity of the position controller, and the robot foot switching based on multi-mode control is not proposed, so that the robot lacks basic operation functions.

Retrieval finds that patent application publication No.: CN109857131A, inventive name: a posture changing control method for two feet and four feet of a foot type robot. The invention provides a posture change control method for two feet and four feet of a foot type robot. The gravity center of the legged robot is lowered through the backward uniform-speed rotation of the thigh, the robot body rotates forwards to facilitate the contact with the ground and the support of the mechanical upper limb of the legged robot, the front and back stress difference value detected by the pressure sensor at the foot of the legged robot is used as a feedback signal, and the rotating speed of the robot body is determined in real time by adopting a sliding mode control method. In the standing stage, the rotation direction of the thighs and the robot body is opposite to that of the squat bending stage, and the rotation speed control method is the same. The disadvantages are: the method is only limited to posture change of the robot, the possibility that the foot end of the supporting leg slides when the posture is changed is not considered, and the posture change model is complicated and the change efficiency is low.

Retrieval finds that patent application publication No.: CN208855764U, inventive name: a quadruped robot with multi-mode control. According to the invention, through setting the wireless control terminals in various modes, the wireless receiver receives a control instruction sent by another wireless control terminal, and the control of each action posture and behavior of the robot can be realized by adopting a defined handle button and an android device. The disadvantages are: the model is too simple and the achievable functions are less.

Disclosure of Invention

The invention aims to provide a hand-foot switching four-foot special robot based on multi-mode control, which comprehensively considers advantages and disadvantages of four-foot and two-foot robots, so that the robot not only has the advantages of high moving efficiency and strong terrain adaptability of the four-foot robot, but also has the advantages of mechanical arms and mechanical hands of the two-foot robot, and can perform basic flexible operation and complete complex moving actions. The fuselage is divided into two sections, each of which is connected to the other section by a spherical hinge driven by three two-degree-of-freedom motors.

A hand-foot switching four-foot special robot based on multi-mode control is composed of a robot body, a vision system, a positioning module, a control module, a driving module, a power supply module and a storage module; the robot body comprises a robot body 1, a front foot 2 of the robot, a rear foot 3 of the robot, an external metal protection frame 4, a camera 5 and a microphone 6; the control module comprises a four-foot control module 7 and a two-foot control module 8.

The robot body 1 is composed of a main body frame, a controller 101, a motor driver 102, a motor 103, and a power module 104. The front foot 2 and the rear foot 3 of the robot are axially and fixedly connected with the robot body 1, and the external metal protection frame 4 is fixedly connected with the upper part of the robot body 1; the positioning module is fixed on the robot body 1, comprises a gps system 401 and a GY953AHRS inertial sensor 402, sends position information and motion states to the mobile equipment at any time, and can plan a route for completing a patrol task. The camera can monitor the surrounding environment, installs at fuselage front portion, rear portion and preceding chest, and wherein the camera of front and back portion can be like 360 degrees rotations of ball, realizes no dead angle control, opens the front chest portion camera when standing, closes front and back portion camera simultaneously. The microphone sensor is mounted on the top of the robot and supported by a cylinder, making it easier to detect surrounding sound waves and receive voice commands of a worker. The Wi-Fi module is embedded in the robot body 1, and the mobile device can be connected with and control the robot. In addition, patrol, monitoring and alarm functions are provided through the Wi-Fi module. Due to the fact that the Wi-Fi transmitter with strong functions is installed, the working range of the Wi-Fi transmitter is wide. The four-foot control module and the double-foot control module are core modules of the robot, the four-foot control module and the double-foot control module comprise a remote control mode and a voice control mode, the two modules are located in the robot body and connected with the modules, the two modules are connected in parallel, and when the robot stands, the four groups of control modules are automatically switched to the double-foot control module. The integrated detection module includes a humidity sensor 801, a pressure sensor 802, and an infrared sensor 803. The humidity sensor and the pressure intensity sensor are mainly used for detecting the physical properties of the road surface where the sensor is located and distinguishing the non-structural terrains such as swamps and sand, and the infrared sensor is used for detecting the ground terrains. Humidity sensor 801 and pressure intensity sensor 802 are installed inside the fuselage, are convenient for detect the wet degree of road surface and hardness and not fragile. When the physical property of the road surface changes, the robot informs workers through the Wi-Fi module and gives an alarm. The infrared sensor 803 is installed on the surface of the robot body to avoid colliding with obstacles and adjust leg stress in time, and the surface rigidity of the infrared sensor should be taken into consideration to prolong the service life thereof.

The positioning module, the camera, the microphone, the Wi-Fi module, the four-foot control module, the two-foot control module, the comprehensive detection module and the communication module are respectively connected with the controller 101, and the power module 104 supplies power to the controller 101, the motor driver 102 and the motor 103.

In the robot structure designed by the invention, the indicated obstacles can be crossed by special means. When the robot finds an obstacle that cannot pass through, 1, when an obstacle that is easy to pass around is detected, it will rotate around the obstacle through the wheel speed difference: one side of the wheel rotates at the previous speed and the other side decelerates to effect rotation. Thus, the insurmountable obstacles can be avoided, and the body integrity can be kept. 2. When an obstacle which is difficult to bypass and easy to cross is detected, if the robot is in a crawling posture, the crawling posture is changed into a standing posture, the upper half (front half) body firstly crosses the obstacle and then drives the lower half (rear half) body to cross, and therefore the stability of the robot when crossing the obstacle can be greatly improved. 3. When detecting difficult obstacle that walks around and easily bore, if the robot is the gesture of standing, then first half health translation to latter half health front end, two parts bodies rotate 180 degrees simultaneously around, and first half health drives latter half health afterwards and bores the bottom gap. 4. When an obstacle which is difficult to bypass and cross is detected, the robot can be changed from a crawling posture to a standing posture and is switched between hands and feet, and the mechanical arm and the mechanical hand can search an acting point on the obstacle and then climb over the obstacle. The motors on the joints of the body may assist in locking the freedom of the body to better fit through obstacles and terrain so that it can move quickly on even ground.

A hand-foot switching four-foot special robot based on multi-mode control is characterized in that a robot main board is Arduino Uno R3 in 32 paths, a main control chip is ATMega328P, the working voltage is 5V, a servo motor driver is 130ST-M06025, and the robot main board is used for adjusting the direction and the state of the robot. The robot is 12 volt output from a 18650 battery pack.

A hand-foot switching four-foot special robot based on multi-mode control is further characterized by having an automatic return charging function. When the robot has sufficient power, it will continue to travel along the designated route. When the power is low, the camera and the sensor can automatically return to the original position to avoid loss, and the camera and the sensor can search a charging interface to perform autonomous charging.

The hand-foot switching four-foot special robot based on multi-mode control is further characterized in that the material is easy to obtain, and the wheel material is a wear-resistant and hard alloy material. The production cost is relatively low. All fittings are easily replaceable and the articulated fuselage can also be replaced. The customer can also add various accessories according to the needs of oneself, realizes the diversification of robot function.

Compared with the prior art, the invention has the advantages that: 1. has strong adaptability to the environment. The design of the front and rear foot sub-module control simultaneously makes up the defects of a single four-foot robot and a single two-foot robot, can quickly identify and make corresponding actions in the face of various complex environments, and can finish high-difficulty tasks such as pipeline patrol and the like. 2. Multi-modal operation is possible. The robot can realize the mass center conversion from crawling to standing posture conversion, simultaneously the front feet of the robot are changed into double arms, and the robot also has the man-machine interaction functions such as oral instruction transmission, remote control and the like. 3. The structure flexibility is strong. The four-legged robot is two segmentations, divide into anterior segment and back end, and the front and back section uses spherical hinge's connected mode to improve the home range greatly, can warp wantonly at a certain extent as required, has strengthened the flexibility of robot greatly. The invention has clear structure and distinct hierarchy, and has better theoretical value and engineering significance.

Drawings

Fig. 1 is a block diagram of a hand-foot switching four-foot special robot system based on multi-mode control.

Fig. 2 is a schematic diagram of a hand-foot switching four-foot special robot system based on multi-mode control.

Fig. 3 is a flow chart of the operation of the hand-foot switching four-foot special robot system based on multi-mode control.

Detailed Description

Example 1

The general relationship of the major components is shown in fig. 1. Each shaft is connected to a set of motors. Each motor drives the caster to rotate. Each foot part consists of a bull wheel shaft, a group of wheel blades, a driving gear, two driven pinion gears and two driven bull gears. The middle of the large wheel shaft is provided with a small motor, and the motor shaft is fixedly connected with the driving gear through a connecting piece and used for contracting and extending the wheel blades. The driving gear and the driven pinion, the driven gearwheel and the driven pinion and the wheel blade are in meshed connection. The contraction and extension of the vanes is more beneficial for the robot to cross different obstacles. The main control board is mainly responsible for calculation of all collected data and operation of each submodule. The brushless DC motor has good external characteristics, can output large torque at low speed, has the advantages of large starting torque, wide speed regulation range, full-power operation at any rotating speed, high efficiency, strong overload capacity and the like, and has good dragging performance. In addition, the regenerative braking effect is better because the rotor is made of permanent magnetic material, so that the motor can generate electricity when braking. Small volume, high power density, and full-closed structure to prevent dust from entering the motor. It is easier to control than an asynchronous motor. The motor is connected to the motor controller by a wire to obtain power, and the battery provides 24 volts of power to the motor controller. Each speed encoder is placed next to the motor. The speed encoder measures the rotation speed of the motor by detecting an external optical signal. The gas detection device is mainly used for analyzing toxic gas and helping people detect toxic gas leakage and other functions. Finally, we use a 24 volt motor to provide the robot with sufficient force and torque to cope with the accident. For example, if the robot is turning, the motor may provide sufficient torque to return it.

Example 2

The four-legged special robot is placed in a closed inner space, the inner space is in a square pipeline type, the barrier is placed in the center of the bottom of the pipeline and has a certain gap with the pipeline wall, but the robot cannot pass through the gap, namely the robot only reaches the destination in a unique way. Assuming this is a patrol in the sewer, the robot must pass through the pipe. First, pressing the switch starts the quadruped robot. Once the robot is activated, two control modes are available, one being an automatic mode and the other being a manual mode, where the automatic mode accepts voice commands. After the robot is started, the battery will support all the motors and sensors, and different sensors are used to process the collected information. When the robot patrols the pipeline, the robot can automatically switch modes according to internal conditions. When the robot finds the obstacle, when the obstacle easy to cross is detected, if the robot is in a crawling posture, the crawling posture is changed into a standing posture, the upper body and the lower body rotate 180 degrees at the same time, and then the upper body crosses the obstacle and then drives the lower body to cross, so that the stability when the obstacle is crossed can be greatly improved. The motors on the joints of the body may assist in locking the freedom of the body to better fit through obstacles and terrain so that it can move quickly on even ground.

Example 3

The robot is placed in a closed pipeline, the upper part of the pipeline is provided with a barrier, the lower part of the pipeline is provided with a gap, but the robot cannot pass through the gap, but the robot only has a unique channel, which indicates that the robot can only drill through the barrier in a special mode. Assuming this is an obstacle crossing team performing a special task, the robot must pass through the pipe. When the robot finds an obstacle, if the robot is in a standing posture, the upper half body is translated to the front end of the rear half body, the front half body and the rear half body rotate 180 degrees at the same time, and then the front half body drives the rear half body to drill through a bottom gap.

Example 4

The robot is placed in an open outdoor space, and the outdoor space is provided with an obstacle with the width and the height 10 times of those of the robot body. Assuming this is a ship escape and rescue team, the robot must climb over the obstacle. When this barrier was discerned to the robot, the robot automatic switch-over was the gesture of standing, and the antecedent camera is opened and is look for the attachment point, and manipulator 1 grabs the attachment point afterwards, and 2 attachment points of manipulator are looked for immediately to the head camera, and two manipulators apply force in turn and cross the barrier.

Example 5

The robot is placed in an open outdoor space having a moving object that is the target to which the robot is attached and that has been programmed. The robot is first turned on, and the automatic mode is turned on. When the robot identifies the moving object, the robot is automatically switched to a standing posture, the chest camera is opened to search for the attachment point, then the mechanical arm grasps the attachment point, and the arm slightly extends to buffer time for the mechanical arm. Different sensors are used to collect and process relevant information. For example, the robot may recognize the target object through a camera. The force sensor can measure the minimum force required by the mechanical arm and the swinging angle required by the robot when the robot is attached, so that the accuracy is improved. The four-footed special robot can complete the tasks of maintaining order and guaranteeing safety, such as patrolling, assisting police to catch criminal vehicles and the like.

The above is only a preferred embodiment of the present invention, and the protection scope of the present invention is not limited to the above-mentioned embodiments, and all technical solutions belonging to the idea of the present invention belong to the protection scope of the present invention. It should be noted that modifications and embellishments within the scope of the invention may be made by those skilled in the art without departing from the principle of the invention.