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Obstacle removing robot and control method

A control method and robot technology, which is applied in the field of robots, can solve the problems of single function, reduce the efficiency of obstacle removal, and inability to accurately locate obstacles, etc., and achieve the effect of strong practicability and improved efficiency of obstacle removal

Inactive Publication Date: 2020-07-17
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

[0003] However, in the actual application process, it is difficult to clear obstacles according to effective instructions for special narrow space areas
In addition, in the prior art, the robot uses the hand-held obstacle-clearing tool to carry out obstacle-clearing, and the use function is relatively single. If the hand-held obstacle-clearing tool cannot be used, the robot will be limited and cannot accurately locate obstacles, thus Reduced clearance efficiency

Method used

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  • Obstacle removing robot and control method
  • Obstacle removing robot and control method

Examples

Experimental program
Comparison scheme
Effect test

Embodiment 1

[0054] A head 1, the top and both sides of the head 1 are provided with an environmental collection module 10 for real-time collection of external environmental information;

[0055] A main body 2, the main body 2 is arranged on the lower part of the head 1, a central control module 20 is arranged in the main body, the central control module 20 is connected to the environment collection module 10, the central control module 20 receives the environmental information, and according to The environment information judges whether there is an obstacle in the movement track of the obstacle removal robot, and outputs a control command when it is judged that there is the obstacle;

[0056]Two mechanical arms 3 are movably connected to the upper part of the main body 2 through a first connecting shaft 30, each mechanical arm 3 receives a control instruction, and rotates in a direction with obstacles according to the control instruction;

[0057] Two crawling limbs 4 are movably connecte...

Embodiment 2

[0074] In a preferred embodiment, as figure 1 As shown, a fixed interface 32 is provided at the end of each mechanical arm 3, and a clearing execution structure is fixed through the fixed interface 32. The clearing execution structure can be a support rod, or a mechanical claw or other obstacles that can be used to clear The mechanical structure of the object can be selected by the user according to the actual needs of the application scenario.

[0075] In this embodiment, the support bar or mechanical claw fixed on the fixed interface 32 can be a retractable structure, for example, a support bar is fixed at the fixed interface 32 at the end of the left mechanical arm of the obstacle removal robot for supporting At the same time, a mechanical claw is fixed at the fixed interface 32 at the end of the right mechanical arm of the obstacle-clearing robot, and the mechanical claw can hold various obstacle-clearing tools for clearing obstacles. Also for example, the fixed interface...

Embodiment 3

[0078] In a preferred embodiment, as figure 2 As shown, the front part of the main body 2 of the obstacle removal robot also includes a signal receiving module 21, the signal receiving module 21 is connected to the central control module 20, and the signal receiving module 21 is used to receive external remote control commands;

[0079] The central control module 20 receives the remote control command, and controls the two mechanical arms 3 to perform corresponding obstacle removal actions.

[0080] In this embodiment, for example, the remote control command can be controlled by the remote terminal device 5, for example, it can be a remote control device or a computer device. When the obstacle-clearing robot performs an obstacle-clearing task, the obstacle-clearing robot acts according to the instruction information provided by the user, and the central control module 20 can control the two mechanical arms 3 to perform corresponding obstacle-clearing actions. For example, in...

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Abstract

The invention discloses an obstacle removing robot and a control method. The obstacle removing robot comprises a head portion, a main body, two mechanical arms and two crawling limbs, wherein a positioning module is disposed on the head portion and used for obtaining the position information of the obstacle removing robot in real time; a center control module is disposed in the main body; the position information of the obstacle removing robot is received, and the information of the distance between the obstacle removing robot and an obstacle is worked out according to the position information; whether the distance information is within the preset distance or not is judged, and when the distance information is within the preset distance by judgment, an image obtaining instruction is sent to the two mechanical arms; an image collecting device is further disposed at the tail end of each mechanical arm, the image collecting devices search for an image of the obstacle according to the image obtaining instruction, and the image is output when the image of the obstacle is found out; and an obstacle removing action sequence is obtained according to the image and the real-time attitude data processing of the obstacle removing robot, and the two mechanical arms are controlled to carry out obstacle removing according to the obstacle removing action sequence. The obstacle removing robot and the control method have the beneficial effects that the practicability is high, and the obstacle removing efficiency is improved.

Description

technical field [0001] The invention relates to the technical field of robots, in particular to an obstacle-clearing robot and a control method. Background technique [0002] At present, robots play a pivotal role in earthquakes, fires, or anti-terrorism operations. In these disaster sites, several types of robots are often required to work together. In the prior art, the robot is equipped with a 360° rotating arm and a gripper to cooperate with obstacles. deal with. [0003] However, in the actual application process, it is difficult to clear obstacles according to effective instructions for special narrow space areas. In addition, in the prior art, the robot uses the hand-held obstacle-clearing tool to carry out obstacle-clearing, and the use function is relatively single. If the hand-held obstacle-clearing tool cannot be used, the robot will be limited and cannot accurately locate obstacles, thus Reduced clearance efficiency. Contents of the invention [0004] Aiming...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): B25J9/16B25J18/02B25J11/00
CPCB25J9/1666B25J9/1676B25J9/1689B25J9/1697B25J11/00B25J18/025
Inventor 史超
Owner 深圳国信泰富科技有限公司
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