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A lawn crawling robot with autonomous obstacle avoidance function

A crawling robot and grassland technology, which is applied in the direction of instruments, motor vehicles, two-dimensional position/channel control, etc., can solve the problems of low wheel grip, lack of autonomous obstacle avoidance, lack of shock absorption, etc., and achieve climbing powerful effect

Inactive Publication Date: 2019-01-08
HARBIN UNIV OF SCI & TECH
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

[0004] In order to solve the problems that the crawling robot in the prior art does not have the ability to avoid obstacles autonomously, the grip of the wheels is low, and lacks shock absorption in the grassland environment, a grassland crawling robot with the function of autonomous obstacle avoidance is provided.

Method used

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  • A lawn crawling robot with autonomous obstacle avoidance function
  • A lawn crawling robot with autonomous obstacle avoidance function
  • A lawn crawling robot with autonomous obstacle avoidance function

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Experimental program
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Effect test

specific Embodiment approach 1

[0010] Specific implementation mode one: combine Figure 1-Figure 3 Describe this embodiment, a grass crawling robot with autonomous obstacle avoidance function described in this embodiment includes a wheel 1, a transmission system 2, a shock absorption system 3, a steering system 4, a fuselage 5 and a control system 6, the wheel Part 1 includes left front wheel 12, right front wheel 11, left rear wheel 14 and right rear wheel 13, transmission system 2 includes stepper motor 2-1, reducer I2-2, drive shaft I2-3, universal joint Device I2-4, transmission shaft II2-5, reducer II2-6, transmission shaft III2-7, universal coupling II2-8, transmission shaft IV2-9, transmission shaft V2-10, universal coupling III2 -11 and power transmission shaft VI2-12, damping system 3 comprises front wheel damping system 31 and rear wheel damping system 32, and steering system 4 comprises steering gear 43, steering gear rod 42 and connecting rod 41, and control system 6 is based on main The main c...

specific Embodiment approach 2

[0020] Specific implementation mode two: combination Figure 1-Figure 3 Describe this embodiment, the wheel part 1 of this embodiment includes the left front wheel 12, the right front wheel 11, the left rear wheel 14 and the right rear wheel 13, and the left front wheel 12 includes the left front wheel I12A, the left front wheel II12B , the left front wheel III12C, the left front triangular wheel train support frame 12D and the left front L-shaped support 12E, wherein the left front wheel I12A, the left front wheel II12B and the left front wheel III12C are fixed at the end of the left front triangular wheel train support frame 12D by pin shafts, the left front The triangular gear train support frame 12D is fixedly connected with the left front L-shaped support 12E, and the left front L-shaped support 12E is fixedly connected with the fuselage 5;

[0021] The right front wheel 11 includes a right front wheel I11A, a right front wheel II11B, a right front wheel III11C, a right f...

specific Embodiment approach 3

[0024] Specific implementation mode three: combination Figure 1-Figure 3 Describe this embodiment, the transmission system 2 described in this embodiment includes a stepping motor 2-1, a speed reducer I2-2, a transmission shaft I2-3, a universal joint I2-4, a transmission shaft II2-5, a speed reducer II2-6, transmission shaft III2-7, universal coupling II2-8, transmission shaft IV2-9, transmission shaft V2-10, universal coupling III2-11 and transmission shaft VI2-12, stepper motor 2 -1 is fixedly connected with the reducer I2-2, the reducer I2-2 is fixedly connected with the drive shaft I2-3, the drive shaft I2-3 is fixedly connected with the drive shaft II2-5 through the universal coupling I2-4, and the drive shaft II2-5 is fixedly connected to reducer II2-6, reducer II2-6 is fixedly connected to drive shaft III2-7, drive shaft III2-7 is fixedly connected to drive shaft IV2-9 through universal coupling II2-8, and the transmission The shaft IV2-9 passes through the right rea...

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Abstract

The invention relates to a lawn crawl robot, and in particular to a grass crawling robot with an autonomous obstacle avoidance function. The invention solves the problem that the crawling robot in theprior art is not provided with an autonomous obstacle avoidance object in a grassland environment, Low wheel grip and lack of shock absorption, A lawn crawl robot includes a wheel portion, Transmission system, shock absorption system, Steering system, fuselage and control system, the wheel portion includes a left front wheel, Right front wheel, left rear wheel and right rear wheel, the drive system comprises a stepping motor, Drive shafts, universal couplings and reducers, the shock absorbing system comprises a front wheel shock absorbing system and a rear wheel shock absorbing system, The steering system consists of steering gear, steering lever and connecting rod. The main control chip STM32F429IGT is connected with stepping motor TB6600, steering gear and ultrasonic sensor. The robot can avoid obstacles and work in the grassland environment with gradient and fall.

Description

technical field [0001] The invention relates to a grassland crawling robot, in particular to a grassland crawling robot with an autonomous obstacle avoidance function. Background technique [0002] At present, most of the environments where grass crawling robots are located are grassland environments with different slopes and ground drops, and there are various rock obstacles and wild animals in the grassland environment, so the robot needs to have high mobility and good shock absorption. Performance, quick response and the ability to deal with unexpected situations in the grassland environment. At present, the main mobile modes of crawling robots are wheeled, legged and tracked. Among them, the wheeled robot has the highest efficiency, but the grass slope is too steep and easy to slip, and the adaptability is poor. The legged robot not only has the worst moving efficiency in the grass environment, but also The legs are easy to fall into the mud of the grass and lose power....

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): B62D57/028G05D1/02
CPCB62D57/028G05D1/0255
Inventor 王鹏黎晓强刘然张元张鹏宋春宵罗鹏刘孟琦翟士鹏
Owner HARBIN UNIV OF SCI & TECH
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