Self-obstacle-crossing robot and control method

A control method and robot technology, applied in the field of robots, can solve the problems of reducing the efficiency of obstacle crossing, poor applicability, and difficulty in turning the double track structure, and achieve the effect of improving the efficiency of obstacle crossing and prolonging the service life.

Active Publication Date: 2020-07-03
深圳国信泰富科技有限公司
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

[0002] In the existing technical field, crawler robots often adopt the design of double crawlers. The problem with this design is that the double crawler structure is often difficult to turn, and it is difficult to move effectively according to instructions in relatively narrow and complex terrain, and it is difficult to deal with complex landforms such as emergency rescue and disaster relief. , the applicability is poor, so it is urgent to improve a robot structure with good applicability; in addition, the crawler robots in the prior art move according to the inherent path, and cannot find the optimal running path, which causes the problem of consumption The electric energy of the tracked robot is reduced, and the efficiency of obstacle surmounting is reduced

Method used

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  • Self-obstacle-crossing robot and control method

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Experimental program
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Effect test

Embodiment 1

[0079] In a preferred embodiment, combining figure 1 , 2 , 3, the self-obstacle-crossing robot mainly includes a head 1, a main body 2, two front climbing limbs 3, two rear climbing limbs 4, and an image acquisition unit 10 arranged on the head 1, for example, may be a fisheye camera , used to collect the environment information around the obstacle-crossing robot, the environment information includes the image information, distance information and size information of the surrounding environment, and identify the real-time relative position status of the obstacle-crossing robot according to the image information, distance information and size information. Scalably, the image acquisition unit 10 can also be a dual fisheye camera, for example, respectively arranged at the front and rear of the head, so as to be able to collect all the environmental information around the obstacle-surpassing robot.

[0080] Further, the main body 2, as the information interaction center of the se...

Embodiment 2

[0090] In a preferred embodiment, as Figure 4 As shown, the main body 2 is also provided with a positioning unit 22 connected to the central control unit 21 for real-time positioning of the self-obstacle-crossing robot and sending the output real-time position information to the central control unit 21;

[0091] Operation controller 5 also includes:

[0092] A position update unit 56, respectively connected to the positioning unit 22 and the path planning unit 53, for updating the real-time position information of the obstacle-crossing robot in real time, and sending it to the path planning unit 53;

[0093] The path planning unit 53 is also used to receive real-time location information and status information, so as to re-plan at least one running track;

[0094] The path selection unit 54 is also used to select an optimal running trajectory according to preset running objectives and constraints.

[0095] In this embodiment, the running trajectory can be dynamically planne...

Embodiment 3

[0098] Scalably, for the self-obstacle-surmounting robot to be able to operate in a complex and narrow environment, in the process of obstacle-surmounting, different obstacle-surmounting postures can be used to overcome obstacles, for example, the following examples are used to illustrate. In this example, if Figure 5 As shown, the central control unit 21 also includes:

[0099] A configuration unit 210, which pre-configures obstacle-crossing postures of different obstacles;

[0100] A gesture calling unit 211, connected to the image acquisition unit 10, the sensor unit 20 and the configuration unit 21, is used to receive environmental information and status information from the obstacle-crossing robot, and call the corresponding obstacle-crossing robot according to the environmental information and status information. posture, and output a control instruction;

[0101] An obstacle control unit 212, connected to the posture calling unit 211, is used to receive control instr...

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Abstract

The invention discloses a self-obstacle-crossing robot and a control method, and the robot is in remote communication connection with an operation controller, and comprises a head, a main body, two front climbing limbs, and two rear climbing limbs. The operation controller comprises an information receiving unit for receiving environment information and state information respectively; an environment modeling unit, calling scene materials and constructing an environment model according to the environment information; a path planning unit generating at least one moving track in the environment model according to the state information and the environment information; a path selection unit, selecting an optimal running track according to a preset running target and a constraint condition; a central control unit, receiving the moving track and sending a crawling instruction for executing the optimal moving track to the two front crawling limbs and the two rear crawling limbs, and the two front climbing limbs and the two rear climbing limbs respectively receive the crawling instruction and crawl to a preset running target according to the crawling instruction. The self-obstacle-crossingrobot has the beneficial effects that the optimal moving track can be found, the obstacle crossing efficiency is improved, and the service life of the self-obstacle-crossing robot is prolonged.

Description

technical field [0001] The invention relates to the technical field of robots, in particular to a self-obstacle-surmounting robot and a control method. Background technique [0002] In the existing technical field, crawler robots often adopt the design of double crawlers. The problem with this design is that the double crawler structure is often difficult to turn, and it is difficult to move effectively according to instructions in relatively narrow and complex terrain, and it is difficult to deal with complex landforms such as emergency rescue and disaster relief. , the applicability is poor, so it is urgent to improve a robot structure with good applicability; in addition, the crawler robots in the prior art move according to the inherent path, and cannot find the optimal running path, which causes the problem of consumption The electric energy of tracked robot is reduced, and the efficiency of obstacle surmounting is reduced. Contents of the invention [0003] Aiming a...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G05D1/02
CPCG05D1/0246G05D2201/0217Y02P90/02
Inventor 史超
Owner 深圳国信泰富科技有限公司
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