Self-assembled modular robot unit docking system and docking method

Abstract

The invention relates to a docking system and a docking method for a self-assembled modular robot unit. Active docking modules and passive docking modules are provided. After the docking system is installed, the modular robot unit has the ability of automatic connection and self-assembly for automatic cascading. There are various ways of cascading, and the combination formed after docking not only has overall mobility but also joint motion and operation capabilities, realizing the compound motion characteristics from wheeled / crawler to jointed. In this way, it can overcome the characteristics of no connection or weak connection between group robots, realize cross-mode movement, and increase the structural diversity of combined robots, such as building snake-shaped robots, multi-legged robot forms, etc. A single robot completes tasks higher than its own capabilities, such as overcoming obstacles and handling, through combination.

Description

technical field [0001] The invention relates to the technical field of modular robots, in particular to a docking system and a docking method for self-assembled modular robot units. Background technique [0002] In traditional application fields such as industry, the tasks and environments of robots are relatively fixed, and mobile robots and articulated robots with relatively fixed configuration structures are mostly used. These robots can complete specific tasks in specific work scenarios and known structural information. In emerging fields such as deep space exploration, disaster relief, and home services, there are usually diverse and unstructured tasks. For example, in planetary deep space exploration and emergency rescue, there are complex surface terrains, such as height obstacles, stairs, caves, etc., and the operation area is extensive, and it is necessary to complete various tasks and adapt to different working environments. Therefore, it is necessary for the robot...

AI Technical Summary

Problems solved by technology

[0004] Aiming at the problems of few variable structures formed by group modular robots, weak automatic docking ability and lack of joint movement ability after connection, the present invention provides a self-assembling modular robot unit docking system and docking method, which uses the clamping method to improve The success rate of the docking and the structural strength after the connection, and realize the autonomous docking of the robot from a relatively long distance. During the docking process, the active and passive docking modules can be dynamically adjusted to improve the terrain adaptability, and the combined system structure can be assembled through the local simple behavior of the robot unit. , effectively combining self-assembly and self-reconfiguration, so that the modular robot has the ability of target configuration self-assembly, self-reconfiguration and joint movement and operation, thereby improving task adaptability through structural changes

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