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Loading and climbing robot with target tracking and automatic obstacle avoidance functions

An automatic obstacle avoidance and target tracking technology, applied in the field of robotics, can solve the problems of insufficient maneuverability of robots, inability to climb stairs, and inability to climb over ladder ridges, etc., to achieve strong practicability and operability, stable center of gravity, and optimized climbing movements Effect

Pending Publication Date: 2019-03-08
HUAZHONG UNIV OF SCI & TECH
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

[0006] The purpose of the present invention is to solve the problem of insufficient maneuverability of the robot in the prior art, unable to climb stairs and climb over obstacles, and to provide a load-carrying stair-climbing robot with target tracking and automatic obstacle avoidance

Method used

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  • Loading and climbing robot with target tracking and automatic obstacle avoidance functions
  • Loading and climbing robot with target tracking and automatic obstacle avoidance functions
  • Loading and climbing robot with target tracking and automatic obstacle avoidance functions

Examples

Experimental program
Comparison scheme
Effect test

Embodiment 1

[0071] Such as Figures 1 to 14 and Figure 16 As shown, a load-carrying stair-climbing robot with target tracking and automatic obstacle avoidance is characterized in that it includes a housing 1, a frame mechanism 2, a wheel-leg mechanism 3 and a control system.

[0072] The housing 1 has a hollow inner cavity and is provided with a loading platform. A frame mechanism 2 is installed in the cavity of the housing 1 .

[0073] The frame mechanism 2 includes a first frame 21 and a second frame 22 .

[0074] The second frame 22 is a rectangular frame. The length direction of the rectangular frame is marked as X direction, and the width direction is marked as Y direction. The X direction is the forward or backward direction of the stair climbing robot.

[0075] The first frame 21 includes a beam 211 and a longitudinal beam 212 supported above the second frame 22 , that is, the ends of the three branches of the first frame 21 are supported above the rectangular frame by uprigh...

Embodiment 2

[0090] The main structure of this embodiment is the same as that of Embodiment 1. With reference to pictures 15 to 16, a further description of the climbing process of a load-carrying stair-climbing robot with target tracking and automatic obstacle avoidance is made, including the following:

[0091] 1) The STM32 MCU sends a signal to the hardware circuit, and controls the drive motor to drive the robot forward through the hardware circuit. When the ultrasonic module in the horizontal direction of the ultrasonic distance sensor detects a step, it feeds back the detected information to the STM32 MCU, and the STM32 MCU sends The signal is sent to the hardware circuit, and the telescopic leg I 311 of a wheel leg I 31 closer to the forward direction of the robot is controlled by the hardware circuit to shrink, so that the wheel leg I 31 is lifted, and the robot continues to move forward.

[0092] 2) When the ultrasonic module in the vertical direction of the ultrasonic distance sen...

Embodiment 3

[0102] The main structure of this embodiment is the same as that of Embodiment 1. With reference to picture 16, the image recognition and tracking process of a load-carrying stair-climbing robot with target tracking and automatic obstacle avoidance is further described, including the following:

[0103] 1) The robot obtains the image of the person to be tracked through the camera 5, and transmits the obtained image to the PC.

[0104] 2) The PC analyzes the image returned by the camera 5 in real time, judges the position of the tracking object in the picture, and judges the position of the tracking object relative to the robot itself.

[0105] 3) The PC sends control commands to the STM32 microcontroller through the USB serial port according to the position information, and the STM32 microcontroller processes the commands and controls the hardware circuit, and realizes differential steering by controlling two drive motors.

[0106] 4) The robot uses the laser radar 4 to measur...

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Abstract

The invention discloses a loading and climbing robot with target tracking and automatic obstacle avoidance functions. The loading and climbing robot comprises a shell, a frame mechanism, a wheel leg mechanism and a control system. The shell is provided with a loading platform, and the frame mechanism comprises a first frame and a second frame, the wheel leg mechanism comprises a first wheel leg group and a second wheel leg group, and the control system comprises a power supply, a hardware circuit, a driving motor, an encoder, a single chip microcomputer, a PC machine, a mobile phone APP, a 4Gcommunication module, an ultrasonic distance sensor, a laser radar and a camera. The loading and climbing robot has the functions of automatic obstacle avoidance, image recognition tracking and mobilephone APP remote control, and achieves the effects of efficient climbing and smooth delivery.

Description

technical field [0001] The invention belongs to the technical field of robots, and relates to an object-carrying stair-climbing robot, in particular to an object-carrying stair-climbing robot with object tracking and automatic obstacle avoidance. Background technique [0002] Today, with the rise of the economic level and the increase of people's disposable income, people can buy service robots and their services to liberate simple repetitive labor and get more free time. [0003] Especially for the express delivery industry and the takeaway industry, the important concept of its service is to save people time and bring convenience to life. For express delivery points, there are many people picking up items, and the time spent in queuing up to pick up items is unpredictable , This is the last mile problem of express logistics. At the same time, shopping in supermarkets in human's daily life also creates a need for moving items. It is even more difficult when the weight of ...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): B25J5/00B25J9/16B25J11/00B62D57/028
CPCB62D57/028B25J5/007B25J9/1602B25J11/00
Inventor 康勇杨鸿城文浩吴迪
Owner HUAZHONG UNIV OF SCI & TECH
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