A micro transient electromagnetic intelligent acquisition system based on a quadruped robot

Abstract

The present invention belongs to the field of transient electromagnetic detection technology, and specifically relates to a micro transient electromagnetic intelligent acquisition system based on a quadruped robot, including: a quadruped robot mobile carrying platform, which is composed of a shell and a microcomputer, a power supply, a Beidou positioning navigation module and four steering gears fixed inside the shell, and the output ends of the four steering gears are all fixed with single legs, and the single legs all adopt a front elbow and back knee structure; a gyroscope, which is fixed on the lower surface of the shell, and the gyroscope includes a central hemispherical shell; a detection module, which is rotatably installed inside the central hemispherical shell, and the detection module is composed of a high-precision single-component fluxgate sensor, an amplifier, a low-pass filter, and an A / D converter connected in sequence. The present invention can combine the flexibility of the quadruped robot and the efficiency of transient electromagnetic technology, and autonomously adapt to complex terrain through the autonomous obstacle avoidance function to achieve efficient and accurate data collection.

Description

Technical Field

[0001] The present invention belongs to the technical field of transient electromagnetic detection, and in particular relates to a miniature transient electromagnetic intelligent acquisition system based on a quadruped robot. Background Art

[0002] The application of transient electromagnetic technology in various fields has been widely recognized, especially in mineral resource exploration, engineering and environmental geological surveys, coal mine hydrogeological surveys, railway and highway tunnel engineering surveys, etc. However, in complex terrain areas, such as rivers, lakes, seas, forests, mountains, deserts, etc., traditional transient electromagnetic technology has encountered many challenges and detection work is difficult to carry out. In order to improve detection efficiency and accuracy, it is urgent to carry out research on complex terrain detection technology.

[0003] Airborne electromagnetic method and ground-to-air electromagnetic method have played an important role in overcoming terrain restrictions and improving construction efficiency. Airborne electromagnetic method is a technology that uses the response of electromagnetic waves in underground geological bodies to detect and study the physical and chemical characteristics of the earth's interior. It observes the electromagnetic field response of underground media after power is supplied and the transmitting source is turned off by installing an electromagnetic instrument system on an aircraft or other aircraft, thereby inferring the distribution of underground geological bodies. It has the characteristics of good economy and high efficiency, and is suitable for my country's complex terrain. The ground-to-air electromagnetic method uses a long wire source on the ground as a transmitter and a drone in the air as a receiving system. This system has the advantages of rapid detection and is suitable for detection areas with large terrain undulations and difficult to access. Compared with the airborne electromagnetic system, it can provide a higher signal-to-noise ratio and reduce safety issues.

[0004] However, these methods also have some problems, such as weak received signals, low signal-to-noise ratio, and susceptibility to the stability of the carrying platform. Therefore, a new technology is needed to overcome these problems and achieve high-precision data collection under complex terrain conditions.

[0005] At present, robotics technology has made great progress, providing new possibilities for solving detection problems in complex terrain. We propose a micro transient electromagnetic ground acquisition system based on a quadruped robot platform, which aims to overcome the defects of aviation and ground-to-air transient electromagnetic methods, realize high-precision data acquisition under complex terrain conditions, and intelligent cruise.

[0006] The system will combine the flexibility of a quadruped robot with the efficiency of transient electromagnetic technology. Through its autonomous obstacle avoidance function, it will be able to autonomously adapt to complex terrain and achieve efficient and accurate data collection. Summary of the invention

[0007] The purpose of the present invention is to provide a miniature transient electromagnetic intelligent acquisition system based on a quadruped robot, which can combine the flexibility of the quadruped robot and the high efficiency of transient electromagnetic technology, and autonomously adapt to complex terrain through autonomous obstacle avoidance function to achieve efficient and accurate data acquisition.

[0008] The technical solution adopted by the present invention is as follows:

[0009] A micro transient electromagnetic intelligent acquisition system based on a quadruped robot, comprising:

[0010] A mobile carrying platform for a quadruped robot, the mobile carrying platform for the quadruped robot consisting of a shell and a microcomputer fixed inside the shell, a power supply, a Beidou positioning and navigation module and four steering gears, the power supply supplies power to the microcomputer, the Beidou positioning and navigation module and the four steering gears, the Beidou positioning and navigation module and the four steering gears are all controlled by the microcomputer, and the output ends of the four steering gears are all fixed with a single leg, and the single leg adopts a front elbow and rear knee structure;

[0011] A gyroscope, the gyroscope being fixed to the lower surface of the housing, the gyroscope comprising a central hemispherical shell;

[0012] The detection module is rotatably mounted inside the central hemispherical shell. The detection module is composed of a high-precision single-component fluxgate sensor, an amplifier, a low-pass filter, and an A / D converter connected in sequence. Under the action of the gyroscope, the signal receiving direction of the detection module always remains vertically downward.

[0013] The microcomputer is internally provided with an RRT algorithm.

[0014] The single legs are all two-legged three-degree-of-freedom structures, and the single legs include a hip joint and a knee joint.

[0015] The knee joints of the single legs are all equipped with chain transmission structures.

[0016] The Beidou positioning and navigation module has 32 channels and supports single-system positioning of the BDS satellite navigation system.

[0017] Three concentric machine rings are rotatably arranged inside the central hemispherical shell, and the inner diameters of the three machine rings decrease gradually. Two coaxial rotating shafts are rotatably installed between two adjacent machine rings, and the rotating shafts are perpendicular to the adjacent machine rings.

[0018] A cylindrical handle is fixed between the central hemispherical shell and the machine ring at both ends of the diameter. The cylindrical handle is divided into two parts, wherein the cylindrical cross-sectional radius of the one-third part connected to the machine ring is twice the cylindrical cross-sectional radius of the other two-thirds part, and the total length of the cylindrical handle is twice the machine ring interval.

[0019] The single-component fluxgate sensor has a measuring range of 2000 μT and a linearity of ≤0.1%.

[0020] The RRT algorithm includes the following steps:

[0021] S1. Initialization: Create an empty tree structure T and add the starting point (start_x, start_y) as the root node of the tree to T;

[0022] S2, random sampling: randomly select a point on the two-dimensional plane;

[0023] S3, find the nearest neighbor node: search for the nearest node closest to the random point in the tree T;

[0024] S4, expand the tree: expand a step size from the nearest node to the random point to get a new node new node;

[0025] If the distance between the new node and the random point is less than a certain threshold or it reaches the random point directly, the new node or random point is added to the tree T and made a child node of the nearest node;

[0026] If you encounter an obstacle or undriveable area during the expansion process, stop the expansion and try another direction;

[0027] S5, expand the tree: if the newly added node new node or random point is close enough to the goal point (goalx, goaly), it is considered that the path from the starting point to the goal is found and the algorithm ends;

[0028] S6, iteration: repeat steps S2 to S5 until the maximum number of iterations is reached or other termination conditions are met;

[0029] S7, post-processing: After a path is given, post-processing can be performed to optimize the path for paths that are not smooth enough or contain redundant nodes, such as using a smoothing algorithm or deleting redundant nodes.

[0030] The technical effects achieved by the present invention are:

[0031] The micro transient electromagnetic intelligent acquisition system based on a quadruped robot of the present invention has high stability, can continuously perform path planning according to different complex terrains using algorithms to achieve automatic obstacle avoidance in all terrains, and can use a gyroscope to ensure that the internal transient electromagnetic acquisition equipment always remains vertically downward, and the direction of the equipment acquisition signal will not be deflected due to the influence of the terrain, thereby accurately realizing the acquisition of the time domain magnetic field change signal on a single component. The detection efficiency is improved, and the transient electromagnetic ground high-precision data acquisition is achieved under complex terrain conditions where it is extremely difficult to carry out detection work.

[0032] The present invention discloses a miniature transient electromagnetic intelligent acquisition system based on a quadruped robot. The front elbow and rear knee quadruped robot has the advantages of fast movement speed, smoother movement, and smaller lateral deviation. At the same forward speed, the front elbow and rear knee quadruped robot has lower energy consumption and smaller fluctuation, has stronger terrain adaptability, and can move forward stably.

[0033] The present invention discloses a micro transient electromagnetic intelligent acquisition system based on a quadruped robot. The automatic obstacle avoidance function of the mobile carrying platform of the quadruped robot is based on the robot performing normal walking tasks under the path planned by the Beidou positioning and navigation module. When obstacles are found, the structure of the random tree is dynamically adjusted through the RRT algorithm to flexibly deal with obstacles, so as to realize effective obstacle avoidance path planning.

[0034] The present invention discloses a micro transient electromagnetic intelligent acquisition system based on a quadruped robot, which adopts an RRT algorithm to explore space by random sampling and expansion tree until a path from a starting point to a target is found, thereby optimizing the guidance of the path in navigation and providing path options for the destination, so as to provide a theoretical basis for intelligent patrolling. BRIEF DESCRIPTION OF THE DRAWINGS

[0035] Figure 1 It is a structural schematic diagram of a micro transient electromagnetic intelligent acquisition system based on a quadruped robot of the present invention;

[0036] Figure 2 is a schematic diagram of the leg transmission device of the mobile carrying platform of the quadruped robot of the present invention;

[0037] Figure 3 It is a structural schematic diagram of the fiberglass reinforced plastic nacelle of the present invention;

[0038] Figure 4 It is a schematic diagram of the structure inside the fiberglass reinforced plastic nacelle of the present invention;

[0039] Figure 5 It is a specific structural schematic diagram of the gyroscope of the present invention;

[0040] Figure 6 It is a diagram of the present invention.

[0041] In the accompanying drawings, the components represented by the reference numerals are listed as follows:

[0042] 1. Mobile carrying platform of quadruped robot; 101. Single leg; 102. Servo; 103. Chain transmission structure; 2. Gyroscope; 201. Central hemispherical shell; 202. Machine ring; 203. Cylindrical handle; 3. Detection module; 4. Single-component fluxgate sensor; 5. Amplifier; 6. Low-pass filter; 7. A / D converter; 8. Beidou positioning and navigation module. DETAILED DESCRIPTION

[0043] In order to make the purpose and advantages of the present invention more clearly understood, the present invention is specifically described below in conjunction with embodiments. It should be understood that the following text is only used to describe one or several specific embodiments of the present invention, and does not strictly limit the scope of protection of the specific claims of the present invention.

[0044] Embodiment 1:

[0045] like Figure 1-6 As shown, a micro transient electromagnetic intelligent acquisition system based on a quadruped robot includes:

[0046] A mobile carrying platform 1 of a quadruped robot, the mobile carrying platform 1 of the quadruped robot is composed of a shell and a microcomputer fixed inside the shell, a power supply, a Beidou positioning and navigation module 8 and four steering gears 102. The power supply is used to supply power to the microcomputer, the Beidou positioning and navigation module 8 and the four steering gears 102. The microcomputer can be purchased from the market as an industrial control computer of the IBOX-105-V2L model, which supports 4G / 5G wireless networks, several RS232 / 485 interfaces, and a DC9-36V wide voltage input. The Beidou positioning and navigation module 8 and the four steering gears 102 are all controlled by the microcomputer. The steering gears 102 can be purchased from the market as brake motors. Single legs 101 are fixed at the output ends of the four steering gears 102. The single legs 101 all adopt a front elbow and rear knee structure. The front elbow and rear knee leg structure can ensure that the robot still has good controlled performance when working on rugged terrain. The knee joint chain transmission structure ensures that the robot can achieve a large range of swings, thereby realizing different leg configurations to be suitable for more complex environments.

[0047] In order to ensure that the quadruped robot mobile carrying platform 1 can realize the automatic cruising and obstacle avoidance function during work, the RRT algorithm is adopted, which not only has fast sampling speed and probabilistic completeness, but also can be used to solve the path planning problem in high-dimensional space. In the acquisition process, it can realize the high-precision data acquisition of transient electromagnetic ground under complex terrain conditions;

[0048] A gyroscope 2 is fixed on the lower surface of the housing, and the gyroscope 2 includes a central hemispherical shell 201;

[0049] The detection module 3 is rotatably installed inside the central hemispherical shell 201, and is composed of a high-precision single-component fluxgate sensor 4, an amplifier 5, a low-pass filter 6, and an A / D converter 7 connected in sequence. Under the action of the gyroscope 2, the signal receiving direction of the detection module 3 always remains vertically downward, and can capture the changes in the time domain magnetic field to the greatest extent, and timely convert and store the signal.

[0050] like Figure 1 , Figure 2 and Figure 3 As shown, the single legs 101 are all two-legged three-degree-of-freedom structures, including hip joints and knee joints, and are driven by a servo 102. The four single legs 101 adopt a front elbow and rear knee structure. The front elbow and rear knee type quadruped robot has the advantages of fast movement speed, smoother movement, and smaller lateral deviation. At the same forward speed, the front elbow and rear knee type quadruped robot has lower energy consumption and smaller fluctuations, has stronger terrain adaptability, and can move forward stably.

[0051] like Figure 1 and Figure 2 As shown, the knee joints of the single legs 101 are equipped with a chain transmission structure 103, and the chain transmission structure 103 realizes the transmission of power from the hip joint to the knee joint. The hip joints of the single legs 101 are installed with a driving sprocket, and the knee joints of the single legs 101 are installed with a driven sprocket. The driving sprocket and the adjacent driven sprockets are used to transmit power through chains.

[0052] like Figure 6 As shown, the Beidou positioning and navigation module 8 has high sensitivity, 32 channels, and supports the single-system positioning function of the BDS satellite navigation system.

[0053] Among them, the automatic obstacle avoidance function of the quadruped robot mobile carrying platform 1 is based on the robot performing normal walking tasks under the path navigated and planned by the Beidou positioning and navigation module 8. When obstacles are found, the structure of the random tree is dynamically adjusted through the RRT algorithm to flexibly respond to obstacles to achieve effective obstacle avoidance path planning.

[0054] like Figure 1 , Figure 4 and Figure 5 As shown, three concentric machine rings 202 are rotatably arranged inside the central hemispherical shell 201, and the inner diameters of the three machine rings 202 decrease gradually. Two coaxial rotating shafts are rotatably installed between two adjacent machine rings 202, and the rotating shafts are perpendicular to the adjacent machine rings 202. All external forces pass through the central mass point, so the gyroscope 2 is not affected by the gravitational torque, so the angular momentum conservation can be maintained. In addition, due to the high stability brought by the overall center of gravity being lower than the supporting surface, no matter how the external machine ring 202 rotates, the internal detection module 3 of the gyroscope 2 always remains horizontal under the action of gravity.

[0055] like Figure 4 and Figure 5 As shown, a cylindrical handle 203 is fixed at both ends of the diameter between the central hemispherical shell 201 and the machine ring 202. The cylindrical handle 203 is divided into two parts. The radius of the cylindrical cross section of the one-third part connected to the machine ring 202 or the central hemispherical shell 201 is twice the radius of the cylindrical cross section of the other two-thirds, and the total length is twice the interval between the machine rings 202. Circular holes corresponding to the cylindrical handle 203 at both ends of the diameter of the machine ring 202 or the central hemispherical shell 201 covered by its inner circle are punched on the outside of each machine ring 202. The radius of the circular hole is 1.2 times the radius of the cross section of the thinner cylindrical part of the cylindrical handle 203. The diameter of the connecting line of the two circular holes on the two machine rings 202 between the outermost machine ring 202 and the central hemispherical shell 201 is perpendicular to the diameter of the connecting line of the cylindrical handle 203 at both ends. The outermost machine ring 202 is bonded to the inner surface of the central hemispherical shell 201 of the glass fiber reinforced plastic, so that the gyroscope 2 is fixed inside the shell.

[0056] like Figure 1 , Figure 4 and Figure 6 As shown, the single-component fluxgate sensor 4 has a measuring range of 2000 μT and a high precision of linearity ≤ 0.1%.

[0057] In the process of receiving magnetic signals, the signal is first converted into an electrical signal by a high-precision miniature single-component fluxgate sensor 4, then amplified by a signal amplifier 5, and high-frequency interference signals are filtered out. After the analog signal is converted into a digital signal by an A / D converter 7, it is sent to a microcomputer for processing and storage.

[0058] Embodiment 2:

[0059] In order to make the quadruped robot mobile carrying platform 1 better adapt to different environments, this embodiment further designs the RRT algorithm, including the following steps:

[0060] S1. Initialization: Create an empty tree structure T and add the starting point (start_x, start_y) as the root node of the tree to T;

[0061] S2, random sampling: randomly select a point on the two-dimensional plane;

[0062] S3, find the nearest neighbor node: search for the nearest node closest to the random point in the tree T;

[0063] S4, expand the tree: expand a step size from the nearest node to the random point to get a new node new node;

[0064] If the distance between the new node and the random point is less than a certain threshold or it reaches the random point directly, the new node or random point is added to the tree T and made a child node of the nearest node;

[0065] If you encounter an obstacle or undriveable area during the expansion process, stop the expansion and try another direction;

[0066] S5, expand the tree: if the newly added node new node or random point is close enough to the goal point (goalx, goaly), it is considered that the path from the starting point to the goal is found and the algorithm ends;

[0067] S6, iteration: repeat steps S2 to S5 until the maximum number of iterations is reached or other termination conditions are met;

[0068] S7, post-processing: After a path is given, for paths that are not smooth enough or contain redundant nodes, post-processing can be performed to optimize the path, such as using a smoothing algorithm or deleting redundant nodes.

[0069] By randomly sampling and expanding the tree to explore the space until the path from the starting point to the target is found, the guidance of the path in the navigation is optimized, and the path options given to the destination are given to provide the theoretical basis for intelligent patrol. In practical applications, more factors may need to be considered, such as obstacle detection, robot dynamics constraints, path smoothness and safety, etc. In addition, various improvement and optimization methods can be used to improve the efficiency of the algorithm and the quality of the path.

[0070] The above is only a preferred embodiment of the present invention. It should be noted that, for those skilled in the art, several improvements and modifications can be made without departing from the principles of the present invention, and these improvements and modifications should also be considered as the protection scope of the present invention. The structures, devices and operating methods not specifically described and explained in the present invention shall be implemented according to the conventional means in the art unless otherwise specified and limited.

Claims

1. A micro transient electromagnetic intelligent acquisition system based on a quadruped robot, characterized by: include: A quadruped robot mobile carrying platform (1), the quadruped robot mobile carrying platform (1) comprising a shell and a microcomputer fixed inside the shell, a power supply, a Beidou positioning and navigation module (8) and four steering gears (102), the power supply supplies power to the microcomputer, the Beidou positioning and navigation module (8) and the four steering gears (102), the Beidou positioning and navigation module (8) and the four steering gears (102) are all controlled by the microcomputer, a single leg (101) is fixed at the output end of the four steering gears (102), the single leg (101) adopts a front elbow and rear knee structure; the single leg (101) is a two-leg three-degree-of-freedom structure, the single leg (101) includes a hip joint and a knee joint; the knee joint of the single leg (101) is equipped with a chain transmission structure (103); A gyroscope (2), wherein the gyroscope (2) is fixed on the lower surface of a housing, and the gyroscope (2) comprises a central hemispherical shell (201); three concentric machine rings (202) are rotatably arranged inside the central hemispherical shell (201), the inner diameters of the three machine rings (202) decreasing gradually, and two coaxial rotating shafts are rotatably installed between two adjacent machine rings (202), and the rotating shafts are perpendicular to the adjacent machine rings (202); a cylindrical handle (203) is fixed between the central hemispherical shell (201) and the machine rings (202) at both ends of the diameter thereof, and the cylindrical handle (203) is divided into two parts, wherein the cylindrical cross-section radius of the one-third part connected to the machine ring (202) is twice the cylindrical cross-section radius of the other two-thirds part, and the total length of the cylindrical handle (203) is twice the interval between the machine rings (202); A detection module (3) is rotatably mounted inside the central hemispherical shell (201), and the detection module (3) is composed of a high-precision single-component fluxgate sensor (4), an amplifier (5), a low-pass filter (6), and an A / D converter (7) connected in sequence. Under the action of the gyroscope (2), the signal receiving direction of the detection module (3) is always kept vertically downward.

2. According to claim 1, a micro transient electromagnetic intelligent acquisition system based on a quadruped robot is characterized in that: The microcomputer is internally provided with an RRT algorithm.

3. According to claim 1, a micro transient electromagnetic intelligent acquisition system based on a quadruped robot is characterized in that: The Beidou positioning and navigation module (8) has 32 channels and supports single-system positioning of the BDS satellite navigation system.

4. According to claim 1, a micro transient electromagnetic intelligent acquisition system based on a quadruped robot is characterized in that: The single-component fluxgate sensor (4) has a measuring range of 2000 μT and a linearity of ≤0.1%.

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