Shield robot and its control method and control device

Abstract

The present invention provides a shield robot, a control method thereof, and a control device thereof. Among them, the shield robot includes: a chassis; a body disposed on the chassis; a shield rotatably connected to the body; a drive assembly connected between the body and the shield for driving the shield to rotate; a parameter detection assembly disposed on the chassis for detecting the motion parameters of the shield robot; and a control circuit disposed in the chassis for controlling the drive assembly to drive the shield to rotate according to the motion parameters of the shield robot so as to adjust the center-of-gravity position of the shield robot.

Description

Technical Field

[0001] The present invention relates to the technical field of robots, and in particular, to a shield robot, a control method thereof, and a control device thereof. Background Art

[0002] The existing tracked shield robot has a fixed structure. During the movement of the tracked shield robot on a slope and during the movement of the tracked shield robot from the end of the slope to the horizontal plane, due to inertia and the position of the center of gravity of the tracked shield robot, the movement stability of the tracked shield robot is poor, it is difficult to adapt to complex terrain environments, and thus problems such as rollover and capsizing are likely to occur. Summary of the Invention

[0003] The present invention aims to solve at least one of the technical problems existing in the prior art or related technologies.

[0004] To this end, a first aspect of the present invention is to propose a shield robot.

[0005] A second aspect of the present invention is to propose a control method for a shield robot.

[0006] A third aspect of the present invention is to propose a control device for a shield robot.

[0007] A fourth aspect of the present invention is to propose another control device for a shield robot.

[0008] A fifth aspect of the present invention is to propose another shield robot.

[0009] A sixth aspect of the present invention is to propose yet another shield robot.

[0010] A seventh aspect of the present invention is to propose a readable storage medium.

[0011] In view of this, according to the first aspect of the present invention, a shield robot is proposed. The shield robot includes: a chassis; a body disposed on the chassis; a shield rotatably connected to the body; a driving assembly connected between the body and the shield for driving the shield to rotate; a parameter detection assembly disposed on the chassis for detecting the motion parameters of the shield robot; and a control circuit disposed inside the chassis for controlling the driving assembly to drive the shield to rotate according to the motion parameters of the shield robot so as to adjust the position of the center of gravity of the shield robot.

[0012] The shield robot proposed by the present invention may specifically be a tracked shield robot, and the shield robot may specifically include a chassis, a body, a shield, a driving assembly, a parameter detection assembly, and a control circuit.

[0013] Among them, the body is arranged on the chassis, the shield is rotatably connected to the body, the drive assembly is connected between the body and the shield, the parameter detection assembly is arranged on the chassis, and the control circuit is arranged inside the chassis. Specifically, the shield is arranged at one end of the body. During the climbing process of the shield robot, it moves forward with the end where the shield is located as the front end.

[0014] Furthermore, during the operation of the shield robot, the drive assembly can drive the shield to rotate. The parameter detection assembly is used to detect the motion parameters of the shield robot, and the control circuit is used to control the drive assembly to drive the shield to rotate according to the motion parameters of the shield robot, so as to adjust the center of gravity position of the shield robot.

[0015] It can be understood that during the movement of the shield robot, especially during the movement of the shield robot on a slope, due to inertia and the mismatch between the center of gravity position of the shield robot and the slope gradient, the shield robot is prone to problems such as rollover and capsizing, resulting in poor stability of the shield robot's movement and difficulty in adapting to complex terrain environments.

[0016] Therefore, in the shield robot proposed in the present invention, by setting a parameter detection assembly to detect the motion parameters of the shield robot in real time during the movement process, the motion parameters specifically can include the movement speed of the shield robot, the inclination angle between the chassis of the shield robot and the horizontal plane, and the distance between the front end of the chassis of the shield robot, that is, the end of the chassis close to the shield, and the ground. On this basis, the control circuit determines the motion state of the shield robot according to the motion parameters of the shield robot, so as to determine whether the shield robot is likely to have problems such as rollover and capsizing. When the control circuit determines that the shield robot has a risk of problems such as rollover and capsizing according to the motion parameters of the shield robot, the control circuit immediately controls the drive assembly to work according to the current motion parameters of the shield robot, so that the drive assembly drives the shield of the shield robot to rotate, thereby adjusting the center of gravity position of the shield robot, making the center of gravity position of the shield robot match the working condition parameters of the shield robot, such as the slope gradient, thus avoiding problems such as rollover and capsizing of the shield robot, ensuring the motion stability of the shield robot, and enabling the shield robot to adapt to complex terrain environments for work, expanding the working condition range of the shield robot.

[0017] In summary, for the shield robot proposed by the present invention, the parameter detection component thereon detects the motion parameters of the shield robot during the movement process in real time, and transmits the detected motion parameters to the control circuit in real time. When the control circuit determines that the shield robot has a risk of problems such as rollover and overturning according to the motion parameters, the control circuit controls the driving component to drive the shield of the shield robot to rotate, so as to adjust the center of gravity position of the shield robot, thereby avoiding problems such as rollover and overturning of the shield robot. In this way, during the movement of the shield robot, the center of gravity position of the shield robot is adjusted in time according to the motion parameters of the shield robot, so that the center of gravity position of the shield robot matches the working condition parameters of the shield robot, thereby avoiding problems such as rollover and overturning of the shield robot, reducing the accident rate, ensuring the movement stability of the shield robot, and enabling the shield robot to adapt to complex terrain environments for work, expanding the working condition range of the shield robot.

[0018] According to the above shield robot of the present invention, the following additional technical features may also be included:

[0019] In the above technical solution, the parameter detection component includes: a gyroscope, which is arranged at the first end of the chassis away from the shield and is used to detect the inclination angle between the chassis and the horizontal plane; the control circuit is used to control the driving component to drive the shield to rotate in the first direction by the first angle when the inclination angle is greater than or equal to the angle threshold, the first direction is the direction away from the first end of the chassis, and the first angle is related to the inclination angle.

[0020] In this technical solution, the above parameter detection component may specifically include a gyroscope, and the gyroscope is arranged at the first end of the chassis of the shield robot, and the first end is the end of the chassis away from the shield.

[0021] During the working process of the shield robot, the above gyroscope is used to detect the inclination angle between the chassis of the shield robot and the horizontal plane, and transmit the detected inclination angle to the above control circuit in real time. When the inclination angle is greater than or equal to the angle threshold, it indicates that the shield robot has a relatively high risk of problems such as rollover and overturning during the process of climbing uphill. At this time, it is necessary to move the center of gravity position of the shield robot upward along the slope, that is, move the center of gravity position of the shield robot in the direction of the climbing forward of the shield robot, that is, move the center of gravity position of the shield robot towards the end where the shield is located.

[0022] Specifically, when the inclination angle between the chassis of the shield robot and the horizontal plane is greater than or equal to the angle threshold, the control circuit controls the driving component to work according to the current inclination angle of the shield robot, so that the driving component drives the shield of the shield robot to rotate by a first angle in a first direction. The first direction is the direction away from the first end of the chassis, that is, the first direction is the direction where one end of the chassis close to the shield is located. In this way, the center of gravity position of the shield robot moves towards the end where the shield is located, that is, the center of gravity position of the shield robot moves towards the upper part of the slope, that is, the center of gravity position of the shield robot moves towards the climbing forward direction of the shield robot. That is, the center of gravity position of the shield robot is matched with the slope of the slope, thereby avoiding problems such as rollover and capsizing of the shield robot during the climbing process, reducing the accident rate, and ensuring the motion stability of the shield robot.

[0023] Among them, the above angle threshold can specifically be values such as 12°, 15°, 20°, etc. For the specific value of this angle threshold, those skilled in the art can set it according to the actual situation and no specific limitation is made here.

[0024] Further, the value of the above first angle is related to the inclination angle of the chassis of the shield robot relative to the horizontal plane. In the actual application process, those skilled in the art can also set the value of the above first angle according to actual experience and no specific limitation is made here.

[0025] In addition, in the actual application process, the above gyroscope can specifically be an integration of a three-axis sensor and a digital motion processor. During the operation of the gyroscope, data such as the acceleration, rotational angular velocity, and inclination angle of the shield robot are detected by the three-axis sensor therein, and then the digital motion processor processes the detected data based on the Kalman filtering algorithm to obtain accurate data such as the inclination angle and motion speed, so as to improve the accuracy of the motion control of the shield robot.

[0026] In any of the above technical solutions, the gyroscope is also used to detect the motion speed of the shield robot, and the parameter detection component further includes: an infrared switch, which is arranged at the second end of the chassis close to the shield and is used to detect the target distance between the second end of the chassis and the ground; the control circuit is used to control the driving component to drive the shield to rotate by a second angle in a second direction when the target distance is greater than or equal to the distance threshold, the second direction is the direction close to the first end of the chassis, and the second angle is related to the motion speed and the target distance.

[0027] In this technical solution, the above gyroscope is also used to detect the motion speed of the shield robot. The above parameter detection component can specifically further include an infrared switch, and the infrared switch is arranged at the second end of the chassis of the shield robot, and the second end is the end of the chassis close to the shield.

[0028] During the operation of the shield robot, the above infrared switch is used to detect the target distance between the second end of the chassis of the shield robot and the ground, and transmit the detection result to the above control circuit in real time. Specifically, when the above target distance is less than the distance threshold, the infrared switch is in the NO (Normal Open) state, that is, the infrared switch is open when not powered on and closed when powered on. At this time, since the shield robot is in a moving state, the infrared switch is in a conducting state due to being powered on, that is, the infrared switch outputs a high-level signal "1" to the control circuit. And when the above target distance is greater than or equal to the distance threshold, the infrared switch is in the NC (Normal Close) state, that is, the infrared switch is closed when not powered on and open when powered on. At this time, since the shield robot is in a moving state, the infrared switch is in an open state due to being powered on, that is, the infrared switch outputs a low-level signal "0" to the control circuit. On this basis, the control circuit works according to the level signal transmitted by the infrared switch.

[0029] It can be understood that when the control circuit receives the low-level signal "0" transmitted by the infrared switch, that is, when the above target distance is greater than or equal to the distance threshold, it means that the shield robot is moving from the top of the slope to the horizontal plane. At this time, since the position of the center of gravity of the shield robot was adjusted during the uphill process of the shield robot, the current position of the center of gravity of the shield robot is biased towards the end where the shield is located, that is, the position of the center of gravity of the shield robot is biased towards the front end of the movement of the shield robot. At this time, if the shield robot is controlled to continue moving from the top of the slope to the horizontal plane according to the current working state, due to the offset of the center of gravity position, the shield robot is extremely likely to have problems such as tipping over and capsizing, thus making it difficult to ensure normal operation.

[0030] Therefore, in this technical solution, when the target distance between the second end of the chassis of the shield robot and the ground is greater than or equal to the distance threshold, the control circuit controls the driving component to work according to the current movement speed of the shield robot and the above target distance, so that the driving component drives the shield of the shield robot to rotate a second angle in the second direction. The second direction is the direction close to the first end of the chassis, that is, the second direction is the direction away from the second end of the chassis, that is, the second direction is the direction where the end of the chassis away from the shield is located. In this way, the position of the center of gravity of the shield robot moves towards the end away from the shield, so that the position of the center of gravity of the shield robot matches the movement parameters of the shield robot, thus avoiding problems such as tipping over and capsizing of the shield robot during the process of moving from the top of the slope to the horizontal plane, reducing the accident rate, and ensuring the movement stability of the shield robot.

[0031] Among them, for the specific value of the above distance threshold, those skilled in the art can set it according to the actual situation, and no specific limitation is made here.

[0032] Furthermore, the value of the second angle is related to the moving speed of the shield robot and the target distance. In the actual application process, those skilled in the art can also set the value of the second angle according to actual experience, and no specific limitation is made here.

[0033] In addition, in the actual application process, after the shield robot moves from the top of the slope to the horizontal plane, it is also necessary to adjust the center-of-gravity position of the shield robot towards the first direction, so that the shield robot resumes its normal motion state, so that the shield robot can run smoothly on the horizontal plane. That is to say, in the process of the shield robot moving from the first horizontal plane to the second horizontal plane through the slope, the center-of-gravity position of the shield robot first moves towards the second end, which is the end of the chassis close to the shield, then moves towards the first end, which is the end of the chassis far from the shield, and finally moves towards the center of the chassis, so as to ensure that the center-of-gravity position of the shield robot matches the motion parameters and working conditions parameters of the shield robot during the whole motion process, thus ensuring the smooth operation of the shield robot.

[0034] In any of the above technical solutions, the driving assembly includes: a connecting member, which is telescopically connected between the body and the shield; a driving member, which is used to drive the connecting member to extend or shorten, so as to drive the shield to rotate.

[0035] In this technical solution, the above driving assembly includes a connecting member and a driving member.

[0036] Among them, the connecting member is telescopically connected between the shield and the body of the shield robot, the driving member is electrically connected to both the connecting member and the control circuit, and the control circuit can control the driving member to drive the connecting member to extend or shorten according to the motion parameters of the shield robot, so that the shield of the shield robot rotates towards the first direction or the second direction, so as to realize the adjustment of the center-of-gravity position of the shield robot.

[0037] Specifically, during the movement of the shield robot, when the inclination angle between the chassis of the shield robot and the horizontal plane is greater than or equal to the angle threshold, the control circuit controls the driving member to work according to the current inclination angle of the shield robot, so that the driving member drives the connecting member to extend a first distance, so that the shield of the shield robot rotates a first angle towards the first direction, so that the center-of-gravity position of the shield robot matches the slope of the slope, thus avoiding problems such as rollover and capsizing of the shield robot during the climbing process, reducing the accident rate, and ensuring the motion stability of the shield robot.

[0038] Further, when the target distance between the second end of the chassis of the shield robot and the ground is greater than or equal to the distance threshold, the control circuit controls the driving member to work according to the current moving speed of the shield robot and the above-mentioned target distance, so that the driving member drives the connecting member to shorten the second distance, thereby causing the shield of the shield robot to rotate by a second angle in the above-mentioned second direction, making the center of gravity position of the shield robot match the motion parameters of the shield robot, thus avoiding problems such as rollover and capsizing of the shield robot during the process of moving from the top of the slope to the horizontal plane, reducing the accident rate, and ensuring the motion stability of the shield robot.

[0039] Wherein, the above-mentioned first distance corresponds to the first angle, and the above-mentioned second distance corresponds to the second angle. In the actual application process, those skilled in the art can set the specific values of the above-mentioned first distance and second distance according to the motion parameters of the shield robot or actual experience, and no specific limitation is made here.

[0040] In addition, in the actual application process, the above-mentioned connecting member can specifically be an electric push rod, a pneumatic push rod, a hydraulic push rod, etc., and no specific limitation is made here.

[0041] In any of the above technical solutions, the control circuit includes: a control main board for determining the rotation parameters of the shield according to the motion parameters of the shield robot; a signal generator for converting the rotation parameters into a target level signal; and a driver for determining the driving parameters of the driving member according to the target level signal and controlling the driving member to work according to the driving parameters.

[0042] In this technical solution, the above-mentioned control circuit may specifically include a control main board, a signal generator, and a driver.

[0043] Among them, the control main board, the signal generator, and the driver are electrically connected to each other. During the movement of the shield robot, the control main board determines the rotation parameters of the shield when adjusting the center of gravity position of the shield robot according to the motion parameters of the shield robot, that is, determines the values of the above-mentioned first angle and second angle, and sends the determined rotation parameters to the signal generator. On this basis, the signal generator converts the received rotation parameters into corresponding target level signals and sends the target level signals to the driver. Further, the driver determines the driving parameters of the driving member according to the received target level signal, that is, determines the distance by which the driving member drives the connecting member to extend or shorten, that is, determines the above-mentioned first distance and second distance.

[0044] On this basis, the driver controls the driving member to work according to the determined driving parameters, so as to drive the connecting member to extend or shorten through the driving member, so that the shield of the shield robot rotates towards the first direction or the second direction, so as to adjust the center of gravity position of the shield robot, so that the center of gravity position of the shield robot matches the motion parameters of the shield robot, avoiding problems such as rollover and overturning of the shield robot, reducing the accident rate, and ensuring the motion stability of the shield robot.

[0045] Specifically, in the actual application process, the driver processes the received target level signal based on the PID (Proportional-Integral-Derivative) logic control algorithm, so as to determine the driving parameters of the driving member. In this way, the accuracy of determining the driving parameters of the driving member is ensured, thereby ensuring the accuracy of adjusting the center of gravity position of the shield robot, ensuring the accuracy of the motion control of the shield robot, and further ensuring the motion stability of the shield robot.

[0046] Furthermore, the above control main board can specifically be a RISC (Reduced Instruction Set Computer) processor, such as an ARM (Advanced RISC Machine), a Cortex-M4 embedded processor, an STM32F405 processing chip, etc., which is not specifically limited here.

[0047] In addition, in the actual application process, the above control circuit can also include a power supply, which supplies power to each working component in the shield robot and realizes the overall power supply of the shield robot through the power supply, so as to ensure the normal operation of the shield robot.

[0048] According to the second aspect of the present invention, a control method for a shield robot is proposed. The control method is used for the shield robot in any technical solution in the first aspect. The control method includes: obtaining the motion parameters of the shield robot; controlling the shield of the shield robot to rotate according to the motion parameters of the shield robot so as to adjust the center of gravity position of the shield robot.

[0049] The execution subject of the technical solution of the control method for the shield robot provided by the present invention can be the control device of the shield robot, and can also be determined according to actual usage requirements, which is not specifically limited here. In order to more clearly describe the control method for the shield robot provided by the present invention, the following takes the execution subject of the control method for the shield robot as the control device of the shield robot for illustration.

[0050] The control method of the shield robot provided by the present invention is used for the shield robot in any technical solution of the above first aspect.

[0051] In the control method of the shield robot provided by the present invention, during the working process of the shield robot, the motion parameters of the shield robot are obtained, and then the shield of the shield robot is controlled to rotate according to the motion parameters of the shield robot, so as to adjust the center of gravity position of the shield robot.

[0052] It can be understood that during the movement of the shield robot, especially during the movement of the shield robot on a slope, due to inertia and the mismatch between the center of gravity position of the shield robot and the slope gradient, the shield robot is prone to problems such as rollover and capsizing, resulting in poor stability of the movement of the shield robot and difficulty in adapting to complex terrain environments.

[0053] Therefore, in the control method of the shield robot proposed by the present invention, the motion parameters of the shield robot during the movement process are detected in real time. The motion parameters specifically may include the movement speed of the shield robot, the inclination angle between the chassis of the shield robot and the horizontal plane, and the distance between the front end of the chassis of the shield robot, that is, the end of the chassis close to the shield, and the ground. On this basis, the motion state of the shield robot is determined according to the motion parameters of the shield robot, so as to determine whether the shield robot is likely to have problems such as rollover and capsizing. When it is determined according to the motion parameters of the shield robot that the shield robot is at risk of problems such as rollover and capsizing, the shield of the shield robot is controlled to rotate according to the current motion parameters of the shield robot, so as to adjust the center of gravity position of the shield robot, so that the center of gravity position of the shield robot matches the working condition parameters of the shield robot, such as the slope gradient, thereby avoiding problems such as rollover and capsizing of the shield robot, ensuring the movement stability of the shield robot, and enabling the shield robot to work in complex terrain environments, expanding the working condition range of the shield robot.

[0054] In summary, the control method of the shield robot proposed by the present invention detects the motion parameters of the shield robot during the movement process in real time. When it is determined according to the motion parameters that the shield robot is at risk of problems such as rollover and capsizing, the shield of the shield robot is controlled to rotate to adjust the center of gravity position of the shield robot, thereby avoiding problems such as rollover and capsizing of the shield robot. In this way, during the movement of the shield robot, the center of gravity position of the shield robot is adjusted in time according to the motion parameters of the shield robot, so that the center of gravity position of the shield robot matches the working condition parameters of the shield robot, thereby avoiding problems such as rollover and capsizing of the shield robot, reducing the accident rate, ensuring the movement stability of the shield robot, and enabling the shield robot to work in complex terrain environments, expanding the working condition range of the shield robot.

[0055] According to the control method of the above-mentioned shield robot of the present invention, the following additional technical features may also be included:

[0056] In the above technical solution, the motion parameters include the inclination angle between the chassis of the shield robot and the horizontal plane. Controlling the rotation of the shield of the shield robot according to the motion parameters of the shield robot includes: when the inclination angle is greater than or equal to the angle threshold, controlling the shield to rotate a first angle in the first direction, so that the center of gravity position of the shield robot moves in the direction close to the shield; wherein, the first direction is the direction where the chassis of the shield robot is close to the shield, and the first angle is related to the inclination angle.

[0057] In this technical solution, the above-mentioned motion parameters include the inclination angle between the chassis of the shield robot and the horizontal plane. When the inclination angle is greater than or equal to the angle threshold, control the shield of the shield robot to rotate a first angle in the first direction. Wherein, the first direction is the direction where one end of the chassis of the shield robot close to the shield is located. In this way, the center of gravity position of the shield robot moves towards the end where the shield is located, that is, the center of gravity position of the shield robot moves towards the upper part of the slope, that is, the center of gravity position of the shield robot moves towards the climbing forward direction of the shield robot. That is to say, the center of gravity position of the shield robot is matched with the slope of the slope, thereby avoiding problems such as rollover and capsizing of the shield robot during the climbing process, reducing the accident rate, and ensuring the motion stability of the shield robot.

[0058] Among them, the above-mentioned angle threshold can specifically be numerical values such as 12°, 15°, 20°, etc. For the specific numerical value of this angle threshold, those skilled in the art can set it according to the actual situation, and no specific limitation is made here.

[0059] Furthermore, the numerical value of the above-mentioned first angle is related to the inclination angle of the chassis of the shield robot relative to the horizontal plane. In the actual application process, those skilled in the art can also set the numerical value of the above-mentioned first angle according to actual experience, and no specific limitation is made here.

[0060] In any of the above technical solutions, the motion parameters include the motion speed of the shield robot and the target distance between one end of the chassis close to the shield and the ground. Controlling the rotation of the shield of the shield robot according to the motion parameters of the shield robot includes: when the target distance is greater than or equal to the distance threshold, controlling the shield to rotate a second angle in the second direction, so that the center of gravity position of the shield robot moves in the direction away from the shield; wherein, the second direction is the direction where the chassis of the shield robot is away from the shield, and the second angle is related to the motion speed and the target distance.

[0061] In this technical solution, the above-mentioned motion parameters include the movement speed of the shield robot and the target distance between the end of the chassis close to the shield and the ground. When the above-mentioned target distance is greater than or equal to the distance threshold, the shield of the shield robot is controlled to rotate by a second angle in the second direction. Here, the second direction is the direction where the end of the chassis of the shield robot away from the shield is located. In this way, the center of gravity position of the shield robot moves towards the end away from the shield, so that the center of gravity position of the shield robot matches the motion parameters of the shield robot, thereby avoiding problems such as rollover and capsizing during the process of the shield robot moving from the top of the slope to the horizontal plane, reducing the accident rate, and ensuring the motion stability of the shield robot.

[0062] Among them, for the specific value of the above-mentioned distance threshold, those skilled in the art can set it according to the actual situation and no specific limitation is made here.

[0063] Furthermore, the value of the above-mentioned second angle is related to the movement speed of the shield robot and the above-mentioned target distance. In the actual application process, those skilled in the art can also set the value of the above-mentioned second angle according to actual experience and no specific limitation is made here.

[0064] In addition, in the actual application process, after the shield robot moves from the top of the slope to the horizontal plane, the center of gravity position of the shield robot needs to be adjusted towards the above-mentioned first direction to enable the shield robot to restore its normal motion state, so that the shield robot can run smoothly on the horizontal plane. That is to say, during the process of the shield robot moving from the first horizontal plane to the second horizontal plane through the slope, the center of gravity position of the shield robot first moves towards the end of the chassis close to the shield, that is, the second end, then moves towards the end of the chassis away from the shield, that is, the first end, and finally moves towards the center of the chassis, so as to ensure that the center of gravity position of the shield robot matches the motion parameters and working condition parameters of the shield robot during the entire motion process, thereby ensuring the smooth operation of the shield robot.

[0065] According to the third aspect of the present invention, a control device for a shield robot is proposed. The device is used for the shield robot in any technical solution in the first aspect. The control device includes: an acquisition unit for acquiring the motion parameters of the shield robot; a control unit for controlling the shield of the shield robot to rotate according to the motion parameters of the shield robot to adjust the center of gravity position of the shield robot.

[0066] The control device for the shield robot provided by the present invention is used for the shield robot in any technical solution in the first aspect.

[0067] In the control device of the shield robot provided by the present invention, during the operation of the shield robot, the motion parameters of the shield robot are obtained by the acquisition unit, and then the control unit controls the rotation of the shield of the shield robot according to the motion parameters of the shield robot to adjust the center of gravity position of the shield robot.

[0068] It can be understood that during the movement of the shield robot, especially during the movement of the shield robot on a slope, due to inertia and the mismatch between the center of gravity position of the shield robot and the slope gradient, the shield robot is prone to problems such as rollover and capsizing, resulting in poor stability of the movement of the shield robot and difficulty in adapting to complex terrain environments.

[0069] Therefore, in the control device of the shield robot proposed by the present invention, the motion parameters of the shield robot during the movement process are obtained in real time by the acquisition unit. The motion parameters may specifically include the movement speed of the shield robot, the inclination angle between the chassis of the shield robot and the horizontal plane, and the distance between the front end of the chassis of the shield robot, i.e., the end of the chassis close to the shield, and the ground. On this basis, the control unit determines the motion state of the shield robot according to the motion parameters of the shield robot, so as to determine whether the shield robot is likely to have problems such as rollover and capsizing. When it is determined according to the motion parameters of the shield robot that the shield robot is at risk of problems such as rollover and capsizing, the rotation of the shield of the shield robot is controlled according to the current motion parameters of the shield robot, so as to adjust the center of gravity position of the shield robot, make the center of gravity position of the shield robot match the working condition parameters of the shield robot such as the slope gradient, thus avoiding problems such as rollover and capsizing of the shield robot, ensuring the movement stability of the shield robot, and enabling the shield robot to work in complex terrain environments, expanding the working condition range of the shield robot.

[0070] In summary, in the control device of the shield robot proposed by the present invention, the motion parameters of the shield robot during the movement process are obtained in real time by the acquisition unit. When it is determined according to the motion parameters that the shield robot is at risk of problems such as rollover and capsizing, the control unit controls the rotation of the shield of the shield robot to adjust the center of gravity position of the shield robot, thus avoiding problems such as rollover and capsizing of the shield robot. In this way, during the movement of the shield robot, the center of gravity position of the shield robot is adjusted in a timely manner according to the motion parameters of the shield robot, so that the center of gravity position of the shield robot matches the working condition parameters of the shield robot, thus avoiding problems such as rollover and capsizing of the shield robot, reducing the accident rate, ensuring the movement stability of the shield robot, and enabling the shield robot to work in complex terrain environments, expanding the working condition range of the shield robot.

[0071] According to a fourth aspect of the present invention, a control device for a shield robot is provided, including: a memory storing programs or instructions; a processor, when the processor executes the programs or instructions, implementing the steps of the control method for the shield robot in any technical solution of the second aspect as described above. Therefore, the control device for the shield robot proposed in the fourth aspect of the present invention has all the beneficial effects of the control method for the shield robot in any technical solution of the second aspect as described above, and will not be elaborated herein.

[0072] According to a fifth aspect of the present invention, a shield robot is provided, including the control device for the shield robot in the technical solution of the fourth aspect as described above. Therefore, the shield robot proposed in the fifth aspect of the present invention has all the beneficial effects of the control device for the shield robot in the technical solution of the fourth aspect as described above, and will not be elaborated herein.

[0073] According to a sixth aspect of the present invention, a shield robot is provided, including: a processor and a memory, the memory storing programs or instructions that can run on the processor, and when the programs or instructions are executed by the processor, implementing the steps of the control method for the shield robot in any technical solution of the second aspect as described above. Therefore, the shield robot proposed in the sixth aspect of the present invention has all the beneficial effects of the control method for the shield robot in any technical solution of the second aspect as described above, and will not be elaborated herein.

[0074] According to a seventh aspect of the present invention, a readable storage medium is provided, on which programs or instructions are stored, and when the programs or instructions are executed by a processor, implementing the control method for the shield robot in any technical solution of the second aspect as described above. Therefore, the readable storage medium proposed in the seventh aspect of the present invention has all the beneficial effects of the control method for the shield robot in any technical solution of the second aspect as described above, and will not be elaborated herein.

[0075] The additional aspects and advantages of the present invention will become apparent in the following description section, or be learned through the practice of the present invention. BRIEF DESCRIPTION OF THE DRAWINGS

[0076] The above and / or additional aspects and advantages of the present invention will become apparent and be readily understood from the description of the embodiments in conjunction with the following drawings, in which:

[0077] Figure 1 A schematic structural diagram of the shield robot according to an embodiment of the present invention is shown;

[0078] Figure 2 A schematic block diagram of the control circuit of the shield robot according to an embodiment of the present invention is shown;

[0079] Figure 3 A schematic flowchart of the control method for the shield robot according to an embodiment of the present invention is shown;

[0080] Figure 4 Shows the second schematic flow chart of the control method of the shield robot according to an embodiment of the present invention;

[0081] Figure 5 Shows the first structural block diagram of the control device of the shield robot according to an embodiment of the present invention;

[0082] Figure 6 Shows the second structural block diagram of the control device of the shield robot according to an embodiment of the present invention;

[0083] Figure 7 Shows the first structural block diagram of the shield robot according to an embodiment of the present invention;

[0084] Figure 8 Shows the second structural block diagram of the shield robot according to an embodiment of the present invention.

[0085] Among them, Figure 1 The corresponding relationship between each component label and the component name is as follows:

[0086] 100 shield robot, 102 chassis, 104 body, 106 shield, 108 drive assembly, 110 parameter detection assembly, 112 control circuit, 114 gyroscope, 116 infrared switch, 118 connecting piece, 120 driving piece. Specific embodiments

[0087] In order to more clearly understand the above-mentioned objects, features and advantages of the present invention, the present invention will be further described in detail below with reference to the drawings and specific embodiments. It should be noted that, without conflict, the embodiments of the present invention and the features in the embodiments can be combined with each other.

[0088] In the following description, many specific details are set forth in order to fully understand the present invention. However, the present invention can also be implemented in other ways different from those described herein. Therefore, the protection scope of the present invention is not limited to the limitations of the specific embodiments disclosed below.

[0089] The following combines Figures 1 to 8 , and through specific embodiments and their application scenarios, the shield robot and its control method and control device provided by the embodiments of the present application are described in detail.

[0090] Embodiment 1, as Figure 1 shown, an embodiment of the first aspect of the present invention proposes a shield robot 100. The shield robot 100 may specifically be a tracked shield robot. The shield robot 100 may specifically include a chassis 102, a body 104, a shield 106, a drive assembly 108, a parameter detection assembly 110, and a control circuit 112.

[0091] Among them, as Figure 1 shown, the body 104 is arranged on the chassis 102, the shield 106 is rotatably connected to the body 104, the driving assembly 108 is connected between the body 104 and the shield 106, the parameter detection assembly 110 is arranged on the chassis 102, and the control circuit 112 is arranged inside the chassis 102. Specifically, the shield 106 is arranged at one end of the body 104. During the climbing process of the shield robot 100, it moves forward with the end where the shield 106 is located as the front end.

[0092] Furthermore, during the working process of the shield robot 100, the driving assembly 108 can drive the shield 106 to rotate. The parameter detection assembly 110 is used to detect the motion parameters of the shield robot 100, and the control circuit 112 is used to control the driving assembly 108 to drive the shield 106 to rotate according to the motion parameters of the shield robot 100, so as to adjust the center of gravity position of the shield robot 100.

[0093] It can be understood that during the movement of the shield robot 100, especially during the movement of the shield robot 100 on a slope, due to inertia and the mismatch between the center of gravity position of the shield robot 100 and the slope gradient, the shield robot 100 is prone to problems such as rollover and capsizing, resulting in poor stability of the movement of the shield robot 100 and difficulty in adapting to complex terrain environments.

[0094] Therefore, in the shield robot 100 proposed by the present invention, by setting the parameter detection assembly 110 to detect the motion parameters of the shield robot 100 in real time during the movement process, the motion parameters specifically may include the movement speed of the shield robot 100, the inclination angle between the chassis 102 of the shield robot 100 and the horizontal plane, and the distance between the front end of the chassis 102 of the shield robot 100, that is, the end of the chassis 102 close to the shield 106 and the ground. On this basis, the control circuit 112 determines the motion state of the shield robot 100 according to the motion parameters of the shield robot 100, so as to determine whether the shield robot 100 may have problems such as rollover and capsizing. When the control circuit 112 determines that the shield robot 100 has a risk of problems such as rollover and capsizing according to the motion parameters of the shield robot 100, the control circuit 112 controls the driving assembly 108 to work according to the current motion parameters of the shield robot 100, so that the driving assembly 108 drives the shield 106 of the shield robot 100 to rotate, thereby adjusting the center of gravity position of the shield robot 100, making the center of gravity position of the shield robot 100 match the working condition parameters of the shield robot 100, such as the slope gradient, so as to avoid problems such as rollover and capsizing of the shield robot 100, ensuring the movement stability of the shield robot 100, and enabling the shield robot 100 to work in complex terrain environments, expanding the working condition range of the shield robot 100.

[0095] In summary, for the shield robot 100 proposed by the present invention, the parameter detection component 110 thereon detects the motion parameters of the shield robot 100 in real time during the movement process, and transmits the detected motion parameters to the control circuit 112 in real time. When the control circuit 112 determines that the shield robot 100 has a risk of problems such as rollover or capsizing according to the motion parameters, the control circuit 112 controls the drive component 108 to drive the shield 106 of the shield robot 100 to rotate, so as to adjust the center of gravity position of the shield robot 100, thereby avoiding problems such as rollover or capsizing of the shield robot 100. In this way, during the movement process of the shield robot 100, the center of gravity position of the shield robot 100 is adjusted in time according to the motion parameters of the shield robot 100, so that the center of gravity position of the shield robot 100 matches the working condition parameters of the shield robot 100, thereby avoiding problems such as rollover or capsizing of the shield robot 100, reducing the accident rate, ensuring the movement stability of the shield robot 100, and enabling the shield robot 100 to adapt to complex terrain environments for work, expanding the working condition range of the shield robot 100.

[0096] Embodiment 2, as Figure 1 shown, the above-mentioned parameter detection component 110 may specifically include a gyroscope 114, and the gyroscope 114 is disposed at the first end of the chassis 102 of the shield robot 100, and the first end is the end of the chassis 102 away from the shield 106.

[0097] During the working process of the shield robot 100, the above-mentioned gyroscope 114 is used to detect the inclination angle between the chassis 102 of the shield robot 100 and the horizontal plane, and transmit the detected inclination angle to the above-mentioned control circuit 112 in real time. When the inclination angle is greater than or equal to the angle threshold, it indicates that the shield robot 100 has a relatively high risk of problems such as rollover or capsizing during the uphill climbing process. At this time, it is necessary to move the center of gravity position of the shield robot 100 upward along the slope, that is, move the center of gravity position of the shield robot 100 in the uphill advancing direction of the shield robot 100, that is, move the center of gravity position of the shield robot 100 toward the end where the shield 106 is located.

[0098] Specifically, when the inclination angle between the chassis 102 of the shield robot 100 and the horizontal plane is greater than or equal to the angle threshold, the control circuit 112 controls the driving component 108 to operate according to the current inclination angle of the shield robot 100, so that the driving component 108 drives the shield 106 of the shield robot 100 to rotate a first angle in the first direction. The first direction is the direction away from the first end of the chassis 102, that is, the first direction is the direction where one end of the chassis 102 close to the shield 106 is located. In this way, the center of gravity position of the shield robot 100 moves towards the end where the shield 106 is located, that is, the center of gravity position of the shield robot 100 moves upwards along the slope, that is, the center of gravity position of the shield robot 100 moves towards the climbing forward direction of the shield robot 100. That is to say, the center of gravity position of the shield robot 100 is matched with the slope gradient, thereby avoiding problems such as rollover and capsizing of the shield robot 100 during the climbing process, reducing the accident rate, and ensuring the motion stability of the shield robot 100.

[0099] Among them, the above angle threshold can specifically be values such as 12°, 15°, 20°, etc. For the specific value of the angle threshold, those skilled in the art can set it according to the actual situation, and no specific limitation is made here.

[0100] Furthermore, the value of the first angle is related to the inclination angle of the chassis 102 of the shield robot 100 relative to the horizontal plane. Specifically, when the inclination angle between the chassis 102 of the shield robot 100 and the horizontal plane is greater than or equal to the angle threshold, the control circuit 112 controls the shield 106 to rotate a first angle in the first direction, so that the plane where the shield 106 is located always maintains a perpendicular relationship with the horizontal plane. In addition, in the actual application process, those skilled in the art can also set the value of the first angle according to actual experience, and no specific limitation is made here.

[0101] In addition, in the actual application process, the above gyroscope 114 can specifically be an integration of a three-axis sensor and a digital motion processor. During the operation of the gyroscope 114, data such as the acceleration, rotational angular velocity, and inclination angle of the shield robot 100 are detected by the three-axis sensor therein, and then the digital motion processor processes the detected data based on the Kalman filter algorithm, so as to obtain accurate inclination angle, motion speed, etc. data to improve the accuracy of the motion control of the shield robot 100.

[0102] Embodiment 3, as Figure 1As shown, the above gyroscope 114 is also used to detect the moving speed of the shield robot 100. Specifically, the above parameter detection component 110 may further include an infrared switch 116, which is disposed at the second end of the chassis 102 of the shield robot 100, and this second end is the end of the chassis 102 close to the shield 106.

[0103] During the operation of the shield robot 100, the above infrared switch 116 is used to detect the target distance between the second end of the chassis 102 of the shield robot 100 and the ground, and transmit the detection result to the above control circuit 112 in real time. Specifically, when the above target distance is less than the distance threshold, the infrared switch 116 is in the NO state, that is, the infrared switch 116 is disconnected when not powered on, and the infrared switch 116 is closed when powered on. At this time, since the shield robot 100 is in a moving state, the infrared switch 116 is in a conducting state due to being powered on, that is, the infrared switch 116 outputs a high-level signal "1" to the control circuit 112. And when the above target distance is greater than or equal to the distance threshold, the infrared switch 116 is in the NC state, that is, the infrared switch 116 is closed when not powered on, and the infrared switch 116 is disconnected when powered on. At this time, since the shield robot 100 is in a moving state, the infrared switch 116 is in a disconnected state due to being powered on, that is, the infrared switch 116 outputs a low-level signal "0" to the control circuit 112. On this basis, the control circuit 112 operates according to the level signal transmitted by the infrared switch 116.

[0104] It can be understood that when the control circuit 112 receives the low-level signal "0" transmitted by the infrared switch 116, that is, when the above target distance is greater than or equal to the distance threshold, it means that the shield robot 100 is moving from the top of the slope to the horizontal plane. At this time, since the center-of-gravity position of the shield robot 100 was adjusted during the uphill process of the shield robot 100, the current center-of-gravity position of the shield robot 100 is biased towards the end where the shield 106 is located, that is, the center-of-gravity position of the shield robot 100 is biased towards the front end of the movement of the shield robot 100. At this time, if the shield robot 100 is controlled to continue moving from the top of the slope to the horizontal plane according to the current working state, due to the offset of the center-of-gravity position, the shield robot 100 is extremely likely to have problems such as tipping over and capsizing, making it difficult to ensure normal operation.

[0105] Therefore, in this technical solution, when the target distance between the second end of the chassis 102 of the shield robot 100 and the ground is greater than or equal to the distance threshold, the control circuit 112 controls the driving assembly 108 to operate according to the current moving speed of the shield robot 100 and the above-mentioned target distance, so that the driving assembly 108 drives the shield 106 of the shield robot 100 to rotate a second angle in the second direction. The second direction is the direction close to the first end of the chassis 102, that is, the second direction is the direction away from the second end of the chassis 102, that is, the second direction is the direction where one end of the chassis 102 away from the shield 106 is located. In this way, the center of gravity position of the shield robot 100 moves towards the end away from the shield 106, so that the center of gravity position of the shield robot 100 matches the motion parameters of the shield robot 100, thereby avoiding problems such as rollover and capsizing of the shield robot 100 during the process of moving from the top of the slope to the horizontal plane, reducing the accident rate, and ensuring the motion stability of the shield robot 100.

[0106] Among them, for the specific value of the above-mentioned distance threshold, those skilled in the art can set it according to the actual situation, and no specific limitation is made here.

[0107] Furthermore, the value of the second angle is related to the moving speed of the shield robot 100 and the above-mentioned target distance. In the actual application process, the value of the second angle can be specifically determined by the following formula (1):

[0108]

[0109] Where θ is the second angle, h is the target distance, v1 is the component velocity of the vehicle body of the shield robot in the vertical direction when the shield robot is at the top of the slope, v is the total velocity of the vehicle body of the shield robot when the shield robot is at the top of the slope, and R is the suspended length of the vehicle body of the shield robot.

[0110] In addition, in the actual application process, those skilled in the art can also set the value of the second angle according to actual experience. For example, the value of the second angle can be set to 20°, and no specific limitation is made here.

[0111] Furthermore, in the actual application process, after the shield robot 100 moves from the top of the slope to the horizontal plane, it is also necessary to adjust the center of gravity position of the shield robot 100 towards the first direction described above, so that the shield robot 100 resumes its normal motion state, that is, to make the plane where the shield 106 of the shield robot 100 is located perpendicular to the horizontal plane, so that the shield robot 100 can run smoothly on the horizontal plane. That is to say, during the process of the shield robot 100 moving from the first horizontal plane to the second horizontal plane through the slope, the center of gravity position of the shield robot 100 first moves towards the second end, which is the end of the chassis 102 close to the shield 106, and then moves towards the first end, which is the end of the chassis 102 far from the shield 106, and finally moves towards the center of the chassis 102, so as to ensure that the center of gravity position of the shield robot 100 matches the motion parameters and working condition parameters of the shield robot 100 during the whole motion process, thus ensuring the smooth operation of the shield robot 100.

[0112] Embodiment 4, as Figure 1 shown, the above-mentioned driving assembly 108 includes a connecting member 118 and a driving member 120.

[0113] Among them, the above-mentioned connecting member 118 is telescopically connected between the shield 106 and the body 104 of the shield robot 100. The above-mentioned driving member 120 is electrically connected to both the connecting member 118 and the above-mentioned control circuit 112. The control circuit 112 can control the driving member 120 to drive the connecting member 118 to extend or contract according to the motion parameters of the shield robot 100, so that the shield 106 of the shield robot 100 rotates towards the first direction or the second direction, so as to realize the adjustment of the center of gravity position of the shield robot 100.

[0114] Specifically, during the motion of the shield robot 100, when the inclination angle between the chassis 102 of the shield robot 100 and the horizontal plane is greater than or equal to the angle threshold, the control circuit 112 controls the driving member 120 to work according to the current inclination angle of the shield robot 100, so that the driving member 120 drives the above-mentioned connecting member 118 to extend a first distance, so that the shield 106 of the shield robot 100 rotates a first angle towards the first direction, so that the center of gravity position of the shield robot 100 matches the slope of the slope, thus avoiding problems such as rollover and capsizing of the shield robot 100 during the climbing process, reducing the accident rate, and ensuring the motion stability of the shield robot 100.

[0115] Further, when the target distance between the second end of the chassis 102 of the shield robot 100 and the ground is greater than or equal to the distance threshold, the control circuit 112 controls the driving member 120 to operate according to the current moving speed of the shield robot 100 and the above-mentioned target distance, so that the driving member 120 drives the connecting member 118 to shorten the second distance, thereby causing the shield 106 of the shield robot 100 to rotate by a second angle in the above-mentioned second direction, making the center of gravity position of the shield robot 100 match the motion parameters of the shield robot 100, thus avoiding problems such as rollover and capsizing of the shield robot 100 during the process of moving from the top of the slope to the horizontal plane, reducing the accident rate, and ensuring the motion stability of the shield robot 100.

[0116] Wherein, the above-mentioned first distance corresponds to the first angle, and the above-mentioned second distance corresponds to the second angle. In the actual application process, those skilled in the art can set the specific values of the above-mentioned first distance and second distance according to the motion parameters of the shield robot 100 or actual experience, and no specific limitation is made here.

[0117] In addition, in the actual application process, the above-mentioned connecting member 118 can specifically be an electric push rod, a pneumatic push rod, a hydraulic push rod, etc., and no specific limitation is made here.

[0118] Embodiment Five, as Figure 2 shown, the above-mentioned control circuit 112 can specifically include a control main board 122, a signal generator 124, and a driver 126.

[0119] Among them, the control main board 122, the signal generator 124, and the driver 126 are electrically connected to each other. During the movement of the shield robot 100, the control main board 122 determines the rotation parameters of the shield 106 when adjusting the center of gravity position of the shield robot 100 according to the motion parameters of the shield robot 100, that is, determines the values of the above-mentioned first angle and second angle, and sends the determined rotation parameters to the signal generator 124. On this basis, the signal generator 124 converts the received rotation parameters into corresponding target level signals and sends the target level signals to the driver 126. Further, the driver 126 determines the driving parameters of the driving member 120 according to the received target level signals, that is, determines the distance by which the driving member 120 drives the connecting member 118 to extend or shorten, that is, determines the above-mentioned first distance and second distance.

[0120] On this basis, the driver 126 controls the driving member 120 to work according to the determined driving parameters, so as to drive the connecting member 118 to extend or shorten through the driving member 120, so that the shield 106 of the shield robot 100 rotates towards the first direction or the second direction, so as to adjust the center of gravity position of the shield robot 100, so that the center of gravity position of the shield robot 100 matches the motion parameters of the shield robot 100, avoiding problems such as rollover and capsizing of the shield robot 100, reducing the accident rate, and ensuring the motion stability of the shield robot 100.

[0121] Specifically, in the actual application process, the driver 126 processes the received target level signal based on the PID logic control algorithm, so as to determine the driving parameters of the driving member 120. In this way, the accuracy of determining the driving parameters of the driving member 120 is ensured, so as to ensure the accuracy of adjusting the center of gravity position of the shield robot 100, ensure the accuracy of motion control of the shield robot 100, and further ensure the motion stability of the shield robot 100.

[0122] Further, the control main board 122 may specifically be a RISC processor, such as an ARM, Cortex-M4 embedded processor, STM32F405 processing chip, etc., which is not specifically limited herein.

[0123] In addition, in the actual application process, the control circuit 112 may further include a power supply, which supplies power to each working component in the shield robot 100 through the power supply, and realizes the overall power supply of the shield robot 100 through the power supply, so as to ensure the normal operation of the shield robot 100.

[0124] Embodiment Six Figure 3 One of the flow schematic diagrams of the control method of the shield robot according to the embodiment of the present invention is shown. Wherein, the control method includes the following steps 202 and 204:

[0125] Step 202, obtaining the motion parameters of the shield robot;

[0126] Step 204, controlling the shield of the shield robot to rotate according to the motion parameters of the shield robot, so as to adjust the center of gravity position of the shield robot.

[0127] The control method of the shield robot provided by the present invention is used for the shield robot in any technical solution in the above first aspect.

[0128] In the control method of the shield robot provided by the present invention, during the working process of the shield robot, the motion parameters of the shield robot are obtained, and then the shield of the shield robot is controlled to rotate according to the motion parameters of the shield robot, so as to adjust the center of gravity position of the shield robot.

[0129] It can be understood that during the movement of the shield robot, especially when the shield robot is moving on a slope, due to inertia and the mismatch between the center of gravity position of the shield robot and the slope gradient, the shield robot is prone to problems such as rollover and overturning, resulting in poor stability of the shield robot's movement and difficulty in adapting to complex terrain environments.

[0130] Therefore, in the control method of the shield robot proposed in the present invention, the movement parameters of the shield robot during movement are detected in real time. The movement parameters specifically may include the movement speed of the shield robot, the inclination angle between the chassis of the shield robot and the horizontal plane, and the distance between the front end of the chassis of the shield robot, i.e., the end of the chassis close to the shield, and the ground. On this basis, the movement state of the shield robot is determined according to the movement parameters of the shield robot, so as to determine whether the shield robot is likely to have problems such as rollover and overturning. When it is determined according to the movement parameters of the shield robot that the shield robot has a risk of problems such as rollover and overturning, the shield of the shield robot is controlled to rotate according to the current movement parameters of the shield robot, so as to adjust the center of gravity position of the shield robot, make the center of gravity position of the shield robot match the working condition parameters of the shield robot such as the slope gradient, thereby avoiding problems such as rollover and overturning of the shield robot, ensuring the movement stability of the shield robot, enabling the shield robot to work in complex terrain environments, and expanding the working condition range of the shield robot.

[0131] In summary, the control method of the shield robot proposed in the present invention detects the movement parameters of the shield robot during movement in real time. When it is determined according to the movement parameters that the shield robot has a risk of problems such as rollover and overturning, the shield of the shield robot is controlled to rotate to adjust the center of gravity position of the shield robot, thereby avoiding problems such as rollover and overturning of the shield robot. In this way, during the movement of the shield robot, the center of gravity position of the shield robot is adjusted in time according to the movement parameters of the shield robot, so that the center of gravity position of the shield robot matches the working condition parameters of the shield robot, thereby avoiding problems such as rollover and overturning of the shield robot, reducing the accident rate, ensuring the movement stability of the shield robot, enabling the shield robot to work in complex terrain environments, and expanding the working condition range of the shield robot.

[0132] Embodiment Seven Figure 4 Fig. 2 shows the second schematic flow chart of the control method of the shield robot according to the embodiment of the present invention. Among them, on the basis of Embodiment Six, the above-mentioned movement parameters include the inclination angle between the chassis of the shield robot and the horizontal plane, and the above-mentioned step 204 specifically may include the following step 204a:

[0133] Step 204a, when the inclination angle between the chassis of the shield robot and the horizontal plane is greater than or equal to the angle threshold, control the shield to rotate a first angle in the first direction, so that the center of gravity of the shield robot moves towards the direction close to the shield;

[0134] Wherein, the first direction is the direction in which the chassis of the shield robot is close to the shield, and the first angle is related to the inclination angle.

[0135] In this embodiment, the above-mentioned motion parameters include the inclination angle between the chassis of the shield robot and the horizontal plane. When the inclination angle is greater than or equal to the angle threshold, control the shield of the shield robot to rotate a first angle in the first direction. Wherein, the first direction is the direction where one end of the chassis of the shield robot close to the shield is located. In this way, the center of gravity position of the shield robot moves towards the end where the shield is located, that is, the center of gravity position of the shield robot moves towards the upper part of the slope, that is, the center of gravity position of the shield robot moves towards the climbing forward direction of the shield robot. That is to say, the center of gravity position of the shield robot is matched with the slope gradient, thereby avoiding problems such as rollover and capsizing of the shield robot during the climbing process, reducing the accident rate, and ensuring the motion stability of the shield robot.

[0136] Wherein, the above-mentioned angle threshold can specifically be values such as 12°, 15°, 20°, etc. For the specific value of the angle threshold, those skilled in the art can set it according to the actual situation, and no specific limitation is made here.

[0137] Furthermore, the value of the above-mentioned first angle is related to the inclination angle of the chassis of the shield robot relative to the horizontal plane. Specifically, when the inclination angle between the chassis of the shield robot and the horizontal plane is greater than or equal to the angle threshold, the control circuit controls the shield to rotate a first angle in the first direction, so that the plane where the shield is located always maintains a perpendicular relationship with the horizontal plane. In addition, in the actual application process, those skilled in the art can also set the value of the above-mentioned first angle according to actual experience, and no specific limitation is made here.

[0138] Embodiment Eight, in this embodiment, on the basis of the above-mentioned embodiment, the above-mentioned motion parameters may further include the moving speed of the shield robot and the target distance between one end of the chassis close to the shield and the ground. On this basis, as Figure 4 shown, the above-mentioned step 204 may specifically further include the following step 204b:

[0139] Step 204b, when the target distance between one end of the chassis of the shield robot close to the shield and the ground is greater than or equal to the distance threshold, control the shield to rotate a second angle in the second direction, so that the center of gravity position of the shield robot moves away from the shield.

[0140] Wherein, the second direction is the direction in which the chassis of the shield robot is away from the shield, and the second angle is related to the movement speed and the target distance.

[0141] In this embodiment, the above-mentioned movement parameters include the movement speed of the shield robot and the target distance between the end of the chassis close to the shield and the ground. When the above-mentioned target distance is greater than or equal to the distance threshold, the shield of the shield robot is controlled to rotate by a second angle in the second direction. Wherein, the second direction is the direction where the end of the chassis of the shield robot away from the shield is located. In this way, the center of gravity position of the shield robot moves towards the end away from the shield, so that the center of gravity position of the shield robot matches the movement parameters of the shield robot, thus avoiding problems such as rollover and capsizing of the shield robot during the process of moving from the top of the slope to the horizontal plane, reducing the accident rate, and ensuring the movement stability of the shield robot.

[0142] Wherein, for the specific value of the above-mentioned distance threshold, those skilled in the art can set it according to the actual situation, and no specific limitation is made here.

[0143] Furthermore, the value of the second angle is related to the movement speed of the shield robot and the above-mentioned target distance. In the actual application process, the value of the second angle can be specifically determined by the above formula (1), which will not be elaborated here.

[0144] In addition, in the actual application process, those skilled in the art can also set the value of the second angle according to actual experience. For example, the value of the second angle is set to 20°. When the target distance between the end of the chassis of the shield robot close to the shield and the ground is greater than or equal to the distance threshold, the shield of the shield robot is directly controlled to rotate 20° in the second direction. No specific limitation is made to the specific value of the second angle in this application.

[0145] Furthermore, in the actual application process, after the shield robot moves from the top of the slope to the horizontal plane, the center of gravity position of the shield robot needs to be adjusted towards the first direction, so that the shield robot resumes its normal movement state, that is, the plane where the shield of the shield robot is located is perpendicular to the horizontal plane, so that the shield robot can run smoothly on the horizontal plane. That is to say, during the process of the shield robot moving from the first horizontal plane to the second horizontal plane through the slope, the center of gravity position of the shield robot first moves towards the second end, which is the end of the chassis close to the shield, then moves towards the first end, which is the end of the chassis away from the shield, and finally moves towards the center of the chassis, so as to ensure that the center of gravity position of the shield robot matches the movement parameters and working condition parameters of the shield robot during the whole movement process, thus ensuring the smooth operation of the shield robot.

[0146] Embodiment NineFigure 5 The structural block diagram of the control device 500 of the shield robot according to an embodiment of the present invention is shown. Among them, the control device includes an acquisition unit 502 and a control unit 504:

[0147] The acquisition unit 502 is configured to acquire the motion parameters of the shield robot;

[0148] The control unit 504 is configured to control the shield rotation of the shield robot according to the motion parameters of the shield robot, so as to adjust the center-of-gravity position of the shield robot.

[0149] The control device of the shield robot provided by the present invention is used for the shield robot of any technical solution in the above first aspect.

[0150] In the control device of the shield robot provided by the present invention, during the working process of the shield robot, the motion parameters of the shield robot are acquired by the acquisition unit, and then the shield rotation of the shield robot is controlled by the control unit according to the motion parameters of the shield robot, so as to adjust the center-of-gravity position of the shield robot.

[0151] It can be understood that during the movement of the shield robot, especially during the movement of the shield robot on a slope, due to inertia and the mismatch between the center-of-gravity position of the shield robot and the slope gradient, the shield robot is prone to problems such as rollover and capsizing, resulting in poor stability of the movement of the shield robot and difficulty in adapting to complex terrain environments.

[0152] Therefore, in the control device of the shield robot proposed by the present invention, the motion parameters of the shield robot during the movement process are acquired in real time by the acquisition unit. The motion parameters specifically may include the movement speed of the shield robot, the inclination angle between the chassis of the shield robot and the horizontal plane, and the distance between the front end of the chassis of the shield robot, that is, the end of the chassis close to the shield, and the ground. On this basis, the control unit determines the motion state of the shield robot according to the motion parameters of the shield robot, so as to determine whether the shield robot is likely to have problems such as rollover and capsizing. When it is determined according to the motion parameters of the shield robot that the shield robot is at risk of problems such as rollover and capsizing, the shield rotation of the shield robot is controlled according to the current motion parameters of the shield robot, so as to adjust the center-of-gravity position of the shield robot, so that the center-of-gravity position of the shield robot matches the working condition parameters of the shield robot, such as the slope gradient, thereby avoiding problems such as rollover and capsizing of the shield robot, ensuring the movement stability of the shield robot, and enabling the shield robot to work in complex terrain environments, expanding the working condition range of the shield robot.

[0153] In summary, the control device of the shield robot proposed by the present invention obtains the motion parameters of the shield robot during the movement in real time through the acquisition unit. When it is determined according to the motion parameters that the shield robot has a risk of problems such as rollover and capsizing, the control unit controls the shield of the shield robot to rotate to adjust the center of gravity position of the shield robot, thereby avoiding problems such as rollover and capsizing of the shield robot. In this way, during the movement of the shield robot, the center of gravity position of the shield robot is adjusted in time according to the motion parameters of the shield robot, so that the center of gravity position of the shield robot matches the working condition parameters of the shield robot, thereby avoiding problems such as rollover and capsizing of the shield robot, reducing the accident rate, ensuring the movement stability of the shield robot, and enabling the shield robot to adapt to complex terrain environments for work, expanding the working condition range of the shield robot.

[0154] In this embodiment, further, the motion parameters include the inclination angle between the chassis of the shield robot and the horizontal plane. The control unit 504 is specifically configured to: when the inclination angle is greater than or equal to the angle threshold, control the shield to rotate a first angle in a first direction, so that the center of gravity position of the shield robot moves in the direction close to the shield; where the first direction is the direction in which the chassis of the shield robot is close to the shield, and the first angle is related to the inclination angle.

[0155] In this embodiment, further, the motion parameters include the motion speed of the shield robot and the target distance between the end of the chassis close to the shield and the ground. The control unit 504 is specifically configured to: when the target distance is greater than or equal to the distance threshold, control the shield to rotate a second angle in a second direction, so that the center of gravity position of the shield robot moves in the direction away from the shield; where the second direction is the direction in which the chassis of the shield robot is away from the shield, and the second angle is related to the motion speed and the target distance.

[0156] Embodiment Ten Figure 6 The block diagram of the control device 600 of the shield robot provided by the embodiment of the present invention is shown. Among them, the control device 600 of the shield robot includes:

[0157] A memory 602, on which a program or instruction is stored;

[0158] A processor 604, when the processor 604 executes the above program or instruction, implements the steps of the control method of the shield robot in any of the above embodiments.

[0159] The control device 600 of the shield robot provided in this embodiment includes a memory 602 and a processor 604. When the program or instruction in the memory 602 is executed by the processor 604, the steps of the control method of the shield robot in any embodiment of the second aspect described above are implemented. Therefore, the control device 600 of the shield robot has all the beneficial effects of the control method of the shield robot in any embodiment of the second aspect described above, which will not be elaborated here.

[0160] Specifically, the memory 602 and the processor 604 can be connected through a bus or other means. The processor 604 may include one or more processing units, and the processor 604 may be a central processing unit (CPU), a digital signal processor (DSP), an application-specific integrated circuit (ASIC), a field programmable gate array (FPGA), or other chips.

[0161] Embodiment XI Figure 7 The block diagram of the shield robot 700 provided in the embodiment of the present invention is shown. Among them, the shield robot 700 includes: the control device 600 of the shield robot in the above embodiment.

[0162] The shield robot 700 provided in the embodiment of the present invention includes the control device 600 of the shield robot in the above embodiment. Therefore, the shield robot 700 has all the technical effects of the control device 600 of the shield robot in the above embodiment, which will not be elaborated here.

[0163] Embodiment XII Figure 8 The block diagram of the shield robot 800 provided in the embodiment of the present invention is shown. Among them, the shield robot 800 includes: a processor 802 and a memory 804. The memory 804 stores a program or instruction that can be run on the processor 802. When the program or instruction is executed by the processor 802, the steps of the control method of the shield robot in any embodiment of the second aspect described above are implemented. Therefore, the shield robot 800 proposed in the sixth aspect of the present invention has all the beneficial effects of the control method of the shield robot in any embodiment of the second aspect described above, which will not be elaborated here.

[0164] Embodiment XIII, an embodiment of the seventh aspect of the present invention, proposes a readable storage medium. A program or instruction is stored thereon. When the program or instruction is executed by a processor, the steps of the control method of the shield robot in any of the above embodiments are implemented.

[0165] The readable storage medium provided by the embodiments of the present invention, when the program or instruction stored therein is executed by a processor, can implement the steps of the control method of the shield robot in any of the above embodiments. Therefore, this readable storage medium has all the beneficial effects of the control method of the shield robot in any of the above embodiments, which will not be elaborated herein.

[0166] Specifically, the above-readable storage medium may include any medium capable of storing or transmitting information. Examples of the readable storage medium include electronic circuits, semiconductor memory devices, read-only memory (ROM), random access memory (RAM), compact disc read-only memory (CD-ROM), flash memory, erasable ROM (EROM), magnetic tapes, floppy disks, optical discs, hard disks, optical fiber media, radio frequency (RF) links, optical data storage devices, etc. The code segment can be downloaded via a computer network such as the Internet, intranet, etc.

[0167] In the description of this specification, the terms "first" and "second" are only used for descriptive purposes and cannot be construed as indicating or implying relative importance unless otherwise clearly specified and defined; the terms "connection", "installation", "fixation", etc. should all be understood in a broad sense. For example, "connection" can be a fixed connection, a detachable connection, or an integral connection; it can be directly connected or indirectly connected through an intermediate medium. For those of ordinary skill in the art, the specific meanings of the above terms in the present invention can be understood according to specific circumstances.

[0168] In the description of this specification, the descriptions of the terms "one embodiment", "some embodiments", "specific embodiments", etc. mean that the specific features, structures, materials, or characteristics described in connection with the embodiment or example are included in at least one embodiment or example of the present invention. In this specification, the schematic representations of the above terms do not necessarily refer to the same embodiment or instance. Moreover, the specific features, structures, materials, or characteristics described can be combined in a suitable manner in any one or more embodiments or examples.

[0169] In addition, the technical solutions between the various embodiments of the present invention can be combined with each other, but it must be based on the ability of those of ordinary skill in the art to implement. When the combination of technical solutions results in contradictions or cannot be implemented, it should be considered that such a combination of technical solutions does not exist and is not within the protection scope required by the present invention.

[0170] The above are only the preferred embodiments of the present invention and are not intended to limit the present invention. For those skilled in the art, various modifications and variations can be made to the present invention. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present invention shall be included within the protection scope of the present invention.

Claims

1. A shield robot, characterized in that, Comprising: A chassis; A body, disposed on the chassis; A shield, rotatably connected to the body; A driving assembly, connected between the body and the shield, for driving the shield to rotate; A parameter detection assembly, disposed on the chassis, for controlling the motion parameters of the shield robot; wherein, the motion parameters include the motion speed of the shield robot, the inclination angle between the chassis of the shield robot and the horizontal plane, and the distance between the front end of the chassis of the shield robot and the ground; A control circuit, disposed inside the chassis, for controlling the driving assembly to drive the shield to rotate according to the motion parameters of the shield robot, so as to adjust the center of gravity position of the shield robot; The parameter detection assembly includes: A gyroscope, disposed at the first end of the chassis away from the shield, for controlling the inclination angle between the chassis and the horizontal plane; The control circuit is configured to control the driving assembly to drive the shield to rotate in a first direction by a first angle when the inclination angle is greater than or equal to an angle threshold, the first direction is the direction away from the first end of the chassis, and the first angle is related to the inclination angle; The gyroscope is further configured to control the motion speed of the shield robot, and the parameter detection assembly further includes: An infrared switch, disposed at the second end of the chassis close to the shield, for controlling the target distance between the second end of the chassis and the ground; The control circuit is configured to control the driving assembly to drive the shield to rotate in a second direction by a second angle when the target distance is greater than or equal to a distance threshold, the second direction is the direction close to the first end of the chassis, and the second angle is related to the motion speed and the target distance; Wherein, during the process that the shield robot moves from a first horizontal plane to a second horizontal plane through a slope, the center of gravity position of the shield robot first moves towards the second end, then towards the first end, and finally towards the center of the chassis.

2. The shield robot according to claim 1, characterized in that, The driving assembly includes: A connecting member, telescopically connected between the body and the shield; A driving member, for driving the connecting member to extend or contract, so as to drive the shield to rotate.

3. The shield robot according to claim 2, characterized in that, The control circuit includes: A control main board, for determining the rotation parameters of the shield according to the motion parameters of the shield robot; A signal generator, for converting the rotation parameters into a target level signal; A driver, for determining the driving parameters of the driving member according to the target level signal, and controlling the driving member to work according to the driving parameters.

4. A control method for a shield robot, characterized in that, For the shield robot according to any one of claims 1 to 3, the control method includes: Obtaining the motion parameters of the shield robot; Controlling the shield of the shield robot to rotate according to the motion parameters of the shield robot, so as to adjust the center of gravity position of the shield robot.

5. The control method of the shield robot according to claim 4, characterized in that The motion parameters include the inclination angle between the chassis of the shield robot and the horizontal plane, and the controlling the shield of the shield robot to rotate according to the motion parameters of the shield robot includes: When the inclination angle is greater than or equal to the angle threshold, control the shield to rotate a first angle in a first direction, so that the center of gravity position of the shield robot moves in the direction close to the shield; Wherein, the first direction is the direction in which the chassis of the shield robot is close to the shield, and the first angle is related to the inclination angle.

6. The control method of the shield robot according to claim 4, characterized in that, The motion parameters include the motion speed of the shield robot and the target distance between the end of the chassis close to the shield and the ground. Controlling the rotation of the shield of the shield robot according to the motion parameters of the shield robot includes: When the target distance is greater than or equal to the distance threshold, control the shield to rotate a second angle in a second direction, so that the center of gravity position of the shield robot moves in the direction away from the shield; Wherein, the second direction is the direction in which the chassis of the shield robot is away from the shield, and the second angle is related to the motion speed and the target distance.

7. A control device for a shield robot, characterized in that, For the shield robot according to any one of claims 1 to 3, the control device includes: An acquisition unit, configured to acquire the motion parameters of the shield robot; A control unit, configured to control the rotation of the shield of the shield robot according to the motion parameters of the shield robot to adjust the center of gravity position of the shield robot.

8. A shield robot, characterized in that, It includes a processor and a memory. The memory stores a program or instruction that can be run on the processor. When the program or instruction is executed by the processor, the steps of the control method of the shield robot according to any one of claims 4 to 6 are implemented.

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