Control system of throwing type robot

Abstract

The invention provides a control system of a throwing type robot, which comprises an upper computer control subsystem and a lower computer control subsystem, and is characterized in that the upper computer control subsystem comprises a man-machine interaction module, an upper computer control module and a first wireless communication module; the lower computer control subsystem comprises a second wireless communication module, a main control module and a main body hardware part; the throwing type robot comprises a flexible vehicle body rubber module and two electric appliance boxes, a plurality of cavities are formed in the middle area of the flexible vehicle body rubber module, and the electric appliance boxes are arranged in gaps between front and rear rolling wheels of the robot; a camera, a power supply module and a motor module of the image transmission module are arranged in corresponding cavities; and an electronic speed regulator, a second wireless communication module and a main control module are arranged in an electric appliance box. The positions of components of the system are reasonably arranged, the anti-impact structure of the robot is utilized to effectively protect the control system, and the throwing type robot can be supported to achieve various inspection functions.

Description

Technical Field

[0001] The present application relates to the technical field of inspection robots, and in particular to a control system of a throwing robot. Background Art

[0002] With the rapid development of automation control technology and robotics technology, the popularity of using robots for inspection in various dangerous inspection areas has gradually increased. Compared with traditional manual inspection methods, inspection robots have the characteristics of accurate information monitoring and high inspection efficiency.

[0003] In the related technologies, various types of emergency monitoring robots, such as dumbbell-type, spherical-type, foot-type and wheel-type, are usually used for inspection. Compared with the above-mentioned traditional robots, throwing robots have more significant advantages. Throwing robots are mobile robots with high impact resistance, which are deployed by throwing or throwing, and have the functions of reconnaissance, monitoring and information transmission. They can move flexibly in complex environments, adapt to various working conditions, and enter areas that traditional robots cannot enter.

[0004] However, since throwing robots need to have high impact resistance, the robot control system in the related art cannot meet the impact resistance requirements of throwing robots, is easily damaged when falling, and the control functions that can be achieved are relatively simple. Summary of the invention

[0005] The present application aims to solve one of the technical problems in the related art at least to some extent.

[0006] To this end, the first purpose of this application is to propose a control system for a throwing robot, in which the components are reasonably arranged, the robot's impact-resistant structure is used to form effective protection for the control system, and the throwing robot can be supported to perform various inspection functions, thereby improving the safety and applicability of the control system.

[0007] The second objective of this application is to provide a throwing robot.

[0008] To achieve the above-mentioned purpose, the first embodiment of the present application is to propose a control system for a throwing robot, which includes: a host computer control subsystem and a lower computer control subsystem, wherein the host computer control subsystem includes a human-computer interaction module, a host computer control module and a first wireless communication module, and the lower computer control subsystem includes a second wireless communication module, a main control module and a main hardware part; wherein, The main hardware part includes a power module, an electronic speed regulator, a motor module and an image transmission module. The throwing robot includes a flexible body rubber module and two electrical boxes. The middle area of ​​the flexible body rubber module has multiple cavities. The electrical box is set in the gap between the front and rear rollers of the robot. The camera of the image transmission module, the power module and the motor module are arranged in the corresponding cavity, the electronic speed regulator, the second wireless communication module and the main control module are arranged in the electrical box, and the roller and the flexible body rubber module are used to disperse the impact energy generated when the throwing robot collides; The host computer control module is used to process the control instructions received by the human-computer interaction module, and send the processed instructions to the main control module via the first wireless communication module and the second wireless communication module; The main control module is used to parse the received control instructions and send the parsed control instructions to the electronic speed regulator, and the electronic speed regulator is used to control the operating parameters of the motor module according to the parsed control instructions; The image transmission module is used to collect video data around the throwing robot, and the human-computer interaction module includes a display, which is used to display the video data.

[0009] Optionally, in one embodiment of the present application, the system also includes: a gas detection module, which is detachably arranged on the throwing robot, and the gas detection module includes: a gas detection main control chip, the gas detection main control chip has a Bluetooth module, the gas detection main control chip is used to receive a variety of gas concentration data collected by the gas sensor, and send the gas concentration data to the upper computer control subsystem for display through the Bluetooth module, wherein the gas sensor is arranged in the electrical box; an independent power supply, the independent power supply is used to power the gas detection main control chip.

[0010] Optionally, in one embodiment of the present application, the host computer control module is specifically used to: detect surrounding Bluetooth devices and display a list of detected Bluetooth devices to the user; determine the target Bluetooth device according to the user's selection instruction, determine the Bluetooth message service provided by the target Bluetooth device, and receive the gas concentration data sent by the target Bluetooth device; parse the received gas concentration data, and send the parsed concentration values ​​of multiple gases to the display for display.

[0011] Optionally, in one embodiment of the present application, the output parameters of the motor module meet the driving force requirements of the throwing robot, and the driving force requirements of the throwing robot are determined based on the motion performance indicators of the throwing robot under various working environments, wherein the output parameters of the motor module include output torque and output power.

[0012] Optionally, in one embodiment of the present application, the multiple working environments include: climbing a slope at a preset angle, climbing over obstacles of a preset height, and turning on the spot; the driving force of the throwing robot is greater than the resistance when driving in the multiple working environments; the torque requirement of each roller in the throwing robot is determined based on the driving force requirement of the throwing robot; the output torque requirement of the motor module is determined based on the torque requirement of each roller.

[0013] Optionally, in one embodiment of the present application, the image transmission module includes: multiple cameras, at least one of the cameras is arranged at the front end and the rear end of the throwing robot respectively, and each of the cameras is installed at a preset upward angle or downward angle; an image transmission main control board, the image transmission main control board is arranged in the electrical box, and the image transmission main control board is used to send the video data to the host computer control subsystem.

[0014] Optionally, in one embodiment of the present application, the human-computer interaction module further includes: a remote controller, and the host computer control subsystem further includes a transmitter corresponding to the remote controller; the transmitter is used to generate a corresponding PWM signal according to a control instruction issued by the remote controller.

[0015] Optionally, in one embodiment of the present application, the installation position of the electrical box at the gap, the positions of the multiple cavities and the installation angle of the camera are adjusted based on the deformation results of the tossable robot in drop tests at different heights.

[0016] Optionally, in one embodiment of the present application, the flexible vehicle body rubber module includes two rubber modules, and the sleeve of the motor module connects the two rubber modules; the motor module is driven by a flexible synchronous belt to isolate collision impact through the flexible synchronous belt.

[0017] To achieve the above-mentioned purpose, a second aspect of the present application provides a throwing robot, including: a control system of the throwing robot as described in any one of the first aspect embodiments above.

[0018] The technical solution provided by the embodiment of the present application brings at least the following beneficial effects: the present application first designs the hardware circuit and selects the motor based on the requirements of the throwing robot's motion ability index and impact resistance characteristics. Then, according to the functional requirements of the robot, the lower computer control subsystem and the upper computer control subsystem in the robot control system are designed to organically combine the hardware circuit and the control software. In the control system of the present application, the anti-impact structure of the throwing robot is used to form an effective protection for the control system, and the position of the control components is reasonably arranged to keep them away from the motion trajectory of the mechanical structure, thereby reducing the risk of mechanical collision. In addition, the control system of the present application can support multiple functions such as image transmission, gas information collection and user's remote control, enriching the tasks that the throwing robot can perform. Therefore, the efficient design of the present application based on the hardware circuit supports the stable operation and data processing capabilities of the robot system, and coordinates the operation of the hardware components through precise algorithms and advanced control strategies, so as to realize the efficient motion control and task execution of the robot. The control system of the present application has high safety, applicability and intelligence.

[0019] Additional aspects and advantages of the present invention will be given in part in the following description and in part will be obvious from the following description, or will be learned through practice of the present invention. BRIEF DESCRIPTION OF THE DRAWINGS

[0020] The above and / or additional aspects and advantages of the present application will become apparent and easily understood from the following description of the embodiments in conjunction with the accompanying drawings, in which: Figure 1 A schematic diagram of the structure of a control system of a throwing robot proposed in an embodiment of the present application; Figure 2 A schematic diagram of the main hardware part of a throwing robot proposed in an embodiment of the present application; Figure 3 A schematic diagram of the overall structure of a throwing robot proposed in an embodiment of the present application; Figure 4 A schematic diagram of force analysis of a throwing robot when climbing over an obstacle proposed in an embodiment of the present application; Figure 5 A schematic diagram of force analysis of a throwing robot turning on the spot proposed in an embodiment of the present application. DETAILED DESCRIPTION

[0021] Embodiments of the present invention are described in detail below, examples of which are shown in the accompanying drawings, wherein the same or similar reference numerals throughout represent the same or similar elements or elements having the same or similar functions. The embodiments described below with reference to the accompanying drawings are exemplary and are intended to be used to explain the present invention, and should not be construed as limiting the present invention.

[0022] A control system of a throwing robot proposed in an embodiment of the present invention is described in detail below with reference to the accompanying drawings.

[0023] Figure 1 This is a schematic diagram of the structure of a control system of a throwing robot proposed in an embodiment of the present application, such as Figure 1 As shown, the control system includes: a host computer control subsystem 10 and a slave computer control subsystem 20, the host computer control subsystem 10 includes a human-computer interaction module 11, a host computer control module 12 and a first wireless communication module 13, and the slave computer control subsystem 20 includes a second wireless communication module 21, a main control module 22 and a main hardware part 23.

[0024] Specifically, the function of the control system of the throwing robot of the present application is to control the robot to complete corresponding actions according to the user's instructions. Based on the working characteristics of the throwing robot, the control system of the present application needs to meet the following two requirements: First, since the throwing robot has a large range of movement, it is inconvenient to use a towing cable control method, and the control circuit needs to have a wireless remote control module. Second, the power source of the throwing robot is a DC motor. The speed and angle of each roller need to be strictly controlled during operation, so the control circuit needs to provide a multi-channel DC motor closed-loop control drive unit. Based on this, the present application proposes Figure 1 The architecture of the control system is shown.

[0025] Among them, the control system of the throwing robot includes two parts, namely the upper computer control subsystem 10 and the lower computer control subsystem 20. The lower computer control subsystem 20 is the core control part of the throwing robot, which affects the operating performance of the robot. The lower computer control subsystem 20 controls the movement of the throwing robot roller through a single-chip control module (i.e., the main control module 22). The upper computer control subsystem 10 also includes a single-chip control module (i.e., the upper computer control module 12), and also receives the user's control instructions for the throwing robot through the human-computer interaction module 11, such as a button or a handle. Both subsystems include a wireless communication module to realize remote communication between the upper and lower subsystems according to the relevant communication protocol.

[0026] The host computer control module 12 is used to process the control instructions received by the human-computer interaction module 11, and send the processed instructions to the main control module 22 via the first wireless communication module 13 and the second wireless communication module 21. The main control module 22 is used to parse the received control instructions and send the parsed control instructions to the electronic speed regulator 2, and the electronic speed regulator 2 is used to control the operating parameters of the motor module 3 according to the parsed control instructions.

[0027] As a possible implementation method, the control process of the throwing robot in actual application is as follows. First, the operator issues a control instruction through the human-computer interaction module 11. Then, the host computer control module 12 processes the received control instruction, including converting the data format of the control instruction and packaging it according to the communication protocol. Then it is sent to the first wireless communication module 13 via the serial port, and the packaged data is transmitted to the second wireless communication module 21 on the robot through wireless transmission. Then the data is transmitted to the main control module 22 via the serial port, and the main control module 22 parses the control instruction according to the protocol, and sends the parsed control instruction to the electronic speed regulator 2 and other components that execute the instruction. Finally, the electronic speed regulator 2 controls the speed, angle and other parameters of each motor according to the instruction.

[0028] The following is a detailed description of each component in the control system of the throwing robot of the present application. Among them, for the main hardware part 23 of the throwing robot, such as Figure 2 As shown, based on the overall planning of the control system, the main hardware part 23 is divided into four modules: a power supply module 1, an electronic speed regulator 2, a motor module 3 and an image transmission module 4.

[0029] As an example, the power module 1 provides 12V voltage to other modules in the control system, and the electronic speed regulator 2 drives the motor module 3 to move. The motor module 3 may include multiple motors, and the number of motors is determined according to the working requirements of the robot. The image transmission module 4 works after being powered by the power module 1, and can collect video data and image data of the surrounding environment of the throwing robot, and then transmit the collected video data to the upper computer control subsystem 10 according to the above wireless communication method, and the display integrated in the human-computer interaction module 11 displays the video data collected by the robot to the user in real time.

[0030] It should be noted that this application aims to realize a throwing type reconnaissance robot platform that can resist the impact of falling, and can realize the reconnaissance and remote control walking functions. Therefore, the reliability requirements of the throwing type robot motion control board are relatively high, while the requirements for the motion control accuracy and control method are not high. This is because under the harsh conditions of throwing, falling, collision and impact, the simpler and more stable the control system, the higher the reliability. In addition, the factors of volume and mass must also be considered. In the end, this application uses an electronic speed regulator to control the motor.

[0031] For example, the electronic speed regulator 2 of the present application can adopt a bidirectional electronic speed regulator, which has a forward and reverse speed regulation function, the bidirectional speed regulation is linear and consistent, and the forward and reverse currents both support 10A, which can meet the requirements of the differential speed control of the two electrodes. In addition, the electronic speed regulator is small in size and weight, which meets the requirements of miniaturization and lightness of the throwing robot.

[0032] As mentioned above, the control system of the present application is applied to a throwing robot that can resist the impact of falling, and the control system needs to have the ability to resist the impact when the robot falls. To this end, the present application reasonably sets the rotation positions of various components in the control system and uses the mechanical structure of the throwing robot to protect the control system from impact. The following is a detailed description of the implementation method of the control system of the present application for anti-impact protection.

[0033] The throwing robot used in the present application includes a flexible body rubber module and two electrical boxes. The middle area of ​​the flexible body rubber module has multiple cavities, and the electrical box is set in the gap between the front and rear rollers of the robot. The camera of the image transmission module 4, the power module 1 and the motor module 3 are set in the corresponding cavities, the electronic speed regulator 2, the second wireless communication module 21 and the main control module 22 are set in the electrical box, and the rollers and the flexible body rubber module are used to disperse the impact energy generated when the throwing robot collides.

[0034] In order to facilitate understanding of the implementation principle of using the robot's impact-resistant structure to protect the control system, the impact-resistant structure of the throwing robot used in this application is first described below. This application uses a flexible structure as the robot's impact-resistant structure, and constructs a flexible frame in the throwing robot. The flexible frame structure is a structure formed by connecting various components through flexible hinges. Such a structure can disperse the impact energy to each connection point and consume it through the flexible hinges, thereby achieving the purpose of improving the vibration absorption capacity of the structure. The material of the structural plate used in the flexible frame structure has a certain flexibility (for example, a thinner structural plate is made of polymer polyethylene, carbon fiber material or glass fiber material to obtain good flexibility), and a flexible hinge (for example, a hinge made of rubber or silicone) is used for connection.

[0035] Based on the design concept of the above-mentioned impact-resistant structure, as a possible implementation method, when actually constructing the structure of the throwing robot, the robot adopts a four-wheeled layout trolley, and the overall modular design is adopted. The whole is composed of two drive modules connected to two flexible frames. The drive module is composed of two structural plates and several small thin plates connected by flexible hinges. Because of the existence of the flexible hinge, the drive module itself forms a flexible frame structure. Not only that, this layout scheme can also obtain a controllable overall structural flexibility distribution of the throwing robot by increasing or decreasing the number of flexible hinge modules and reasonably arranging the positions of the flexible hinge modules.

[0036] The robot shell adopts a rubber flexible frame structure, the motor is arranged in the middle of the body, and the electrical box is arranged in the gap between the front and rear rollers of the drive modules on both sides. In order to reduce the number of parts and reduce the difficulty of assembly, this embodiment combines 6 flexible hinge modules into a rubber module containing 6 rubber sheets, and considers the shell design and the compact installation of internal components, and refines the design of the rubber module. That is, only two identical body rubber modules need to be docked to form a complete body chassis structure (i.e., a flexible body rubber module), and the flexible body rubber module also provides various cavities for installing components, and can also serve as a shell.

[0037] In one embodiment of the present application, the sleeve of the motor module connects the two rubber modules, and the motor module is driven by a flexible synchronous belt to isolate the collision impact through the flexible synchronous belt. Specifically, the two motor sleeves are passed through the two holes in the rubber module, and the two rubber modules are locked with sleeve nuts and gaskets, which plays the role of the body frame. Figure 3 As shown, the battery and camera 41 of the robot are respectively embedded in special cavities on the rubber module. After the two modules are connected, the cavity in the flexible body rubber module can fix the battery, camera and motor, thereby improving the body rigidity while preventing the battery and camera 41 from being damaged by impact.

[0038] In addition, a large cavity that can accommodate two-stage pulley transmission movement is set on the outside of the flexible body rubber module. After special selection of synchronous belts and pulleys, the tail of the motor can pass through the large synchronous belt without interference. A corresponding small synchronous belt is also set, and various synchronous belts are also made of flexible materials. Therefore, the motor module 3 can be driven by a flexible synchronous belt, further isolating the direct collision impact.

[0039] Continue to refer to Figure 3 As shown, except for the components arranged in the cavity of the flexible body rubber module, other components in the control system can be arranged in the electrical boxes on both sides, so as to provide impact protection for the internal components through the electrical boxes.

[0040] Therefore, based on Figure 3In the arrangement of components shown in the figure, the space between the four rollers of the throwing robot is the largest space of the robot, and the control system is protected in this space. When the robot falls in any position, the first thing to collide with the ground is the roller or the roller side protection end cover. When a fall collision occurs, the impact energy is first absorbed by the roller, and then transferred to the elastic bearing seat supporting the wheel axle. The impact energy is then dispersed to the outermost flexible body rubber module, and the energy is dispersed and transferred to various parts of the robot along the structural plate and the flexible hinge. Based on the arrangement of the control system, each flexible hinge on the flexible structure of the robot can play a role in buffering and consuming impact energy, so as to protect the control system when the throwing robot falls.

[0041] The other components in the control system of the throwing robot of the present application are described in detail below. In one embodiment of the present application, the control system also includes: a gas detection module, which is detachably arranged on the throwing robot. The gas detection module includes: a gas detection main control chip, the gas detection main control chip has a Bluetooth module, the gas detection main control chip is used to receive a variety of gas concentration data collected by the gas sensor, and send the gas concentration data to the upper computer control subsystem for display through the Bluetooth module, wherein the gas sensor is arranged in the electrical box; an independent power supply, the independent power supply is used to power the gas detection main control chip.

[0042] Specifically, in this embodiment, according to the working requirements of the throwing robot, various types of gas detection sensors are also installed on the robot body. The sensor uses highly sensitive gas detection technology and can accurately measure the concentration of each gas at extremely low concentrations. For example, through the gas detection sensor, the robot can detect the concentration of gases such as hydrogen (H2), oxygen (O2) and carbon monoxide (CO), thereby ensuring that the concentration of flammable and harmful gases in the working environment is within a safe range.

[0043] In addition, in order to ensure that the throwing function of the throwing robot is not affected and to meet the requirements of modular design of the robot, the present embodiment designs the robot gas detection function as an external module with independent power supply, control chip and switch. Among them, the gas detection main control chip is an integrated low-power Bluetooth chip with wireless Bluetooth function. The chip can receive the Bluetooth signal by writing the host computer software in the host computer control module 12, thereby meeting the gas detection module's demand for wireless transmission of gas detection results.

[0044] As a possible implementation method, the gas detection main control chip can be connected to the gas sensor set on the body of the throwing robot through the serial port, and powered by the independent power supply in this module through the type-C interface. The entire gas detection module can be fixed on the back of the throwing robot and connected to the throwing robot by bolts. In the working environment, it can be disassembled to improve the overall anti-fall ability of the throwing robot. In this embodiment, the gas sensor set on the body of the throwing robot can be set as follows Figure 3 In the electrical box on one side shown, the gas sensor is protected from falling.

[0045] During the operation of the gas detection module, it is mainly responsible for receiving the gas detection data collected by the gas sensor and sending the collected data to the host computer for display. This process can be divided into the data collection process of the lower computer and the display process of the upper computer.

[0046] Among them, the lower computer acquisition software runs in the gas detection main control chip, such as the BLE-NANO chip. The chip is based on the official standard Arduino Nano V3.0 motherboard and integrates a low-power Bluetooth chip to develop a development board with wireless Bluetooth function. The lower computer sets the soft serial port to exchange data with the gas sensor by reusing the BLE-NANO chip pins. The gas sensor transmits the measured data to the BLE-NANO chip through the serial port interface. After the lower computer acquisition software runs, in the data receiving function, the program will continuously check whether new data has arrived. Once the data end mark (line break) is detected, the program will start to parse the data. The data parsing function is responsible for segmenting the received raw data to extract useful measurement information. After the data is segmented, the gas detection main control chip will format each data segment for subsequent data display and transmission. The processed data will be sent to the upper computer through the Bluetooth module. The Bluetooth module communicates with the main control module 22 of the lower computer to realize wireless transmission of data. Data transmission uses a specific data format to ensure that the upper computer can correctly receive and parse the data.

[0047] As for the display process of the host computer, the host computer control module 12 in the host computer control subsystem 10 is specifically used for: Detect surrounding Bluetooth devices and display the detected Bluetooth device list to the user; determine the target Bluetooth device according to the user's selection instructions, determine the Bluetooth message service provided by the target Bluetooth device, and receive the gas concentration data sent by the target Bluetooth device; parse the received gas concentration data, and send the parsed concentration values ​​of multiple gases to the display for display.

[0048] Specifically, in this embodiment, the host computer control subsystem 10 is implemented using the QT programming framework, and its main functions include the detection of Bluetooth devices, data reception and analysis, and the design of the user interaction interface. This subsystem works closely with the lower computer control subsystem 20 to achieve real-time data transmission and control command transmission through Bluetooth wireless communication technology. The design goal of the host computer control subsystem 10 is to provide a user-friendly interface to facilitate users to monitor gas concentrations and control the system, and to provide an interface for future software expansion.

[0049] Among them, the working process of the host control subsystem 10 can be divided into four steps: the first step, Bluetooth device detection: the host control subsystem 10 first performs device detection through the Bluetooth firmware library provided by the QT framework. The host control module 12 is responsible for scanning nearby Bluetooth devices and displaying the list of discovered devices to the user. The host control module 12 uses the Bluetooth adapter to interact with the Bluetooth service of the operating system to obtain detailed information on all available Bluetooth devices. Users can select a specific Bluetooth BLE device from it, thereby establishing a foundation for subsequent data communication.

[0050] The second step is device service selection and data reception: After the user selects the target Bluetooth device (in this application, the low-power Bluetooth chip integrated in the above-mentioned gas detection main control chip), the host control subsystem 10 will further perform service discovery. This process includes identifying the Bluetooth message service provided by the device. Once the required service is determined, the host control subsystem 10 will start receiving data from the target Bluetooth device. These data are transmitted via the Bluetooth low-power protocol, and the system monitors and receives the data stream in real time to ensure the integrity and accuracy of the data.

[0051] The third step is data analysis: After preliminary processing, the received data will be transmitted to the data analysis module. This module is responsible for decoding the raw data stream into specific gas concentration information, including the concentration values ​​of carbon monoxide (CO), hydrogen (H2) and oxygen (O2). During the data analysis process, the system uses a preset analysis algorithm to format the data into a user-readable form. These concentration values ​​will be displayed on the user interface of the display, allowing users to monitor changes in gas concentration in real time.

[0052] Thus, the host control subsystem 10 and the slave control subsystem 20 of the present application construct an efficient gas monitoring and display system. The slave control subsystem 20 is based on the BLE-NANO chip, which is responsible for collecting gas concentration data from the gas sensor in real time and transmitting the data to the host computer through the Bluetooth module. The host control subsystem 10 uses the QT framework to realize the detection, data reception and analysis of Bluetooth devices, and displays the data on the user interface. Users can monitor the concentration changes of carbon monoxide, hydrogen and oxygen in real time through the interface, and send control instructions to the slave computer for remote management. The gas detection module provides efficient and reliable gas monitoring capabilities for the throwing robot through wireless communication and precise data processing, meeting its inspection needs.

[0053] Based on the above embodiments, in order to meet the inspection requirements of the throwing robot under various working conditions, the present application also calculates the driving force of the robot when designing the hardware of the control system, and selects the motor module 3 based on the required driving force.

[0054] In one embodiment of the present application, the output parameters of the motor module meet the driving force requirements of the throwing robot, and the driving force requirements of the throwing robot are determined based on the motion performance indicators of the throwing robot in various working environments. Among them, the output parameters of the motor module include output torque and output power, and the various working environments include: climbing a slope at a preset angle, climbing over an obstacle of a preset height, and turning in place.

[0055] For example, assuming that according to the design index of a throwing robot, the design requirements of the robot include: driving speed v =0.5 m / s, the obstacle height can reach 30mm, the climbing height can reach 20°, and the robot can realize steering and turning in situ by relying on the differential drive of two motors. And it is required to accelerate to the preset driving speed within 1 second, that is, the acceleration is α =0.5 m / s 2 ; and the vehicle body is required to accelerate to a turning speed of 90° / s within 1s, that is, the turning acceleration β = 0.5 π rad / s 2 Assuming the basic dimensions of the throwing robot are 210×210×85mm, the diameter of each roller is D 85mm, radius r The weight of the whole machine is 42.5mm. m is 2kg, then the weight of the robot W 2×9.8=19.6 N .

[0056] Then, the driving force is calculated and the motor is selected according to the motion performance index of the throwing robot. The calculation process of the driving force requirements under various working environments is described in detail below.

[0057] As a first example, consider a general uphill driving. The driving resistance in this driving state is calculated using the following formula: R = R r + R a + R e + R h in, R r is the rolling resistance, R a is the air resistance, R e is the slope resistance, R h It is the acceleration resistance.

[0058] The following is a calculation of the values ​​of various resistances based on the above indicators. In order to meet the climbing requirements, a slope of 20° is used in this example.

[0059] Rolling resistance is calculated by the following formula R r : R r = μ r W cos θ =0.05×19.6×cos20°=0.92 N in, μ r is the coefficient of kinetic friction of the slope surface, θ It's the slope.

[0060] Air resistance R a Ignore.

[0061] The slope resistance is calculated by the following formula R e : R e = W sin θ =19.6×sin20°=6.7 N Then calculate the acceleration resistance by the following formula Rh : R h = mα +0.8 Wα =2×0.5+0.8×19.6×0.5=8.84 N In the acceleration test of the throwing robot, the second term in the above formula is taken as 0.8 times the vehicle weight.

[0062] Then, the total resistance that the four-wheeled mobile robot needs to overcome for general climbing and acceleration is: R = R r + R a + R e + R h =16.46 N Thus, the driving resistance of the throwing robot in a general climbing driving state is calculated. In this example, the driving force required of the throwing robot is greater than the driving resistance to meet the driving requirements of the robot in this working environment.

[0063] As a second example, climb over a 30 mm obstacle. In this example, set the obstacle height s is 30 mm, and the driving force of each roller of the throwing robot is F , the center of the front roller is O 1. The center of the rear roller is O 2, P is the intersection point of the roller and the obstacle. Figure 4 As shown, the driving force of the front roller F Direction and straight line O 2 P Vertical, rear roller drive force F along O 1 O 2 directions.

[0064] Since the front and rear wheels of the throwing robot in this application are both driving wheels, the driving force is P The moment at the point must be greater than the weight shared by the front wheels. P The moment generated by the point, from which the following formula can be obtained:

[0065] Because of sin θ =( r - s ) / r, after substituting into the above formula, we can get the following formula:

[0066] After deriving the formula and substituting the data, we can get F 3.61 N .

[0067] It can be concluded that the driving force required by the throwing robot in this working environment is 4 F =14.44 N .

[0068] As a third example, turn in place. Figure 5 As shown, the driving force of each roller is F (The driving force is provided by the friction between the roller and the ground), F It is necessary to overcome the sliding friction between the roller and the ground when the vehicle turns in place. f , and the vehicle body must obtain a certain torque M = Jβ , based on the above design parameters, set Figure 5 Different size parameters in a =70mm, b =60mm.

[0069] Depend on Figure 5 From the force analysis shown, we can see that F -4 fc = M = Jβ Among them, the size parameter c According to the Pythagorean theorem, substitute a and b The value can be calculated to be 92mm, so the rotation coefficient J =1.35×10 -2 kg·m 2 , f = μ 1 / 4 W .

[0070] Because the maximum static friction coefficient between the rubber used in the roller of the present application and other common materials is μ If it is set to 0.8, the driving force can be calculated by the following formula:

[0071] From this, we can calculate that the resistance that the throwing robot needs to overcome when turning in place is 4 F =20.8 NIn this example, the driving force required for the throwing robot is greater than or equal to 20.8 N .

[0072] Furthermore, by combining the driving force requirements in the above three examples, the maximum driving force required in the three examples is taken as the designed driving force to meet the requirements of the robot's motion performance indicators. In the above three working environments, the resistance to be overcome in place is the largest, which is R =20.8 N , we can determine that the driving force required for the throwing robot is greater than or equal to 20.8 N .

[0073] Furthermore, in this embodiment, the driving force of the throwing robot is set to be greater than the resistance during driving in various working environments; the torque requirement of each roller in the throwing robot is determined based on the driving force requirement of the throwing robot; and the output torque requirement of the motor module is determined based on the torque requirement of each roller.

[0074] Specifically, according to the driving force requirements of the throwing robot, the minimum driving force is determined to be 20.8 N , the torque of each roller in the throwing robot can be calculated by the following formula: T w = R / 4× r =0.22 N ·m The torque of each roller should be required to achieve the above torque value. In this application, each drive module of the throwing robot uses a motor to drive two rollers through a synchronous belt. Assume that the output torque of the motor is T m , the reduction ratio of the synchronous belt is i b (Assume i b =0.2), the output torque of each motor can be calculated by the following formula: T m ·i b · μ belt ≥2 T w in, μ belt =0.98 is the efficiency of synchronous belt transmission. Therefore, the output torque of a single motor can be calculated as T m Equal to 2.29 kg cm.

[0075] And because we can get the following speed calculation formula: v =( πD ·n) / (60·i b ) Among them, n is the intermediate parameter, which is substituted into the set roller diameter D is 85mm, and the required travel speed is v =0.5 m / s, then we can calculate that n is equal to 225 r / min.

[0076] The power required by the motor can then be calculated using the following formula: P m = T m ·n / 60·2 π =5.18W Therefore, based on the above calculated values ​​of the output torque and output power of the motor that need to be achieved, combined with the requirements of the motor mass and size, a specific motor type that can meet the above parameter values ​​can be selected.

[0077] The following is a description of other components in the control system of the present application. In one embodiment of the present application, the image transmission module includes: multiple cameras, at least one camera is arranged at the front end and the rear end of the throwing robot, and each camera is installed at a preset upward or downward angle; an image transmission main control board, which is arranged in the electrical box and is used to send video data to the upper computer control subsystem.

[0078] Specifically, in this embodiment, the image transmission module 4 may include multiple cameras 41, and the number of cameras is determined according to the detection needs of the robot. Figure 3 As shown, a camera 41 is arranged at the front and rear ends of the throwing robot, and the two cameras 41 are installed at a viewing angle of 15° upward and 15° downward, respectively, so that when the robot lands on the front or back, there is a camera 41 that can capture appropriate image data. In this embodiment, multiple cameras 41 are embedded in the rubber body at a preset pitch angle for fixed installation. Compared with the robot in the related embodiment, the robot adds a servo pan / tilt to provide the camera pitch movement, which is more suitable for the application characteristics of the throwing robot.

[0079] The image transmission main control board in this embodiment adopts an integrated design to reduce the overall volume and is placed in the side electrical box for impact protection. The image transmission main control board is used to send the data collected by each camera to the host computer control subsystem 10 via the first wireless communication module 13 and the second wireless communication module 21, and display it on the display.

[0080] In one embodiment of the present application, the human-computer interaction module further includes: a remote controller, and the host computer control subsystem further includes a transmitter corresponding to the remote controller; the transmitter is used to generate a corresponding PWM signal according to a control instruction issued by the remote controller.

[0081] Specifically, in this embodiment, the human-machine interaction module 11 can be integrated with a remote controller and a display. The remote controller can be a model aircraft remote controller. The remote controller can transmit the remote control signal received by the handle of the remote controller to the electronic speed controller 2 by using the transmitter and receiver equipped with the remote controller to control the direction and speed of the motor. By using this mature control method applied to model aircraft, the driving state of the throwing robot can be flexibly controlled, and the reliability and flexibility of the robot control can be improved.

[0082] It should be noted that, in this embodiment, the electronic speed regulator 2 can be directly connected to the remote control through a transmitter and a receiver. During operation, the transmitter generates a corresponding PWM wave according to the user instructions received by the handle, and then transmits the PWM wave generated by the transmitter to the electronic speed regulator 2 through relevant circuit design. After the handle mode of the remote control is set in this embodiment, the control instructions generated by the handle can be directly used to control the movement of the robot without passing through the upper computer control module 12. The operation control unit OCU in the remote control is used for data processing and control, which can simplify the control logic. Similarly, the image transmission main control board in the above embodiment can also be directly connected to the image transmission receiver preset in the human-computer interaction module 11, and the image transmission receiver sends the received data to the display to display the video stream information.

[0083] In some other embodiments, the transmitter and the image transmission receiver may also be integrated into the host computer control module 12, and the host computer control module 12 may uniformly process various types of data and transmit different control instructions to facilitate the unified management of various control functions in the control system.

[0084] In one embodiment of the present application, the installation position of the electrical box in the gap, the positions of the multiple cavities, and the installation angle of the camera 41 are adjusted based on the deformation results of the tossable robot in the fall test at different heights.

[0085] Specifically, before actually applying the above control system, the present embodiment can also conduct performance test experiments on the throwing robot, including camera transmission test, motion performance test and throwing drop test at different heights.

[0086] Among them, when conducting the throwing and dropping test at different heights, the throwing robot can be subjected to the falling test at the heights of 2m, 3m and 6m respectively to determine the deformation state of the throwing robot at the moment of contact with the ground after falling in various postures. Then, according to the deformation results, it is determined whether the arrangement of the various components of the control system in the above embodiment is reasonable, whether the flexible body rubber module and the electrical box can realize the impact protection of the various components of the control system after falling, and the installation position of the electrical box, the position of multiple cavities and the preset pitch angle of the camera are adjusted according to the deformation results of the various mechanical structures of the robot.

[0087] For example, the deformation degree of the flexible body rubber module when the robot contacts the ground at various heights and various postures is compared to determine the maximum degree of wrinkle deformation of the flexible body rubber module, and then analyze the image data of the robot in contact with the ground under this condition. Based on the image data, it can be determined that the roller deformation is obvious when touching the ground, but it is not enough to make the electrical box contact the ground, and then adjust the position of the electrical box to increase the safe distance between the electrical box and the ground. In addition, according to the experimental results, it can be seen that the deformation of the connection between the two flexible body modules is not large under each falling posture, indicating that the electrical components such as the motor, battery and camera installed inside can be protected, and the position of the cavity does not need to be adjusted. It is also possible to adjust the preset installation angle of the camera according to the images taken by the camera at the moment when the robot contacts the ground under various conditions to ensure that the camera can capture the required images when landing in various postures.

[0088] In summary, the control system of the throwing robot of the embodiment of the present application is based on the throwing robot's motion ability index requirements and impact resistance characteristics, and the hardware circuit is designed and the motor is selected. According to the functional requirements of the robot, the lower computer control subsystem and the upper computer control subsystem in the robot control system are designed to organically combine the hardware circuit and the control software. In this control system, the anti-impact structure of the throwing robot is used to form an effective protection for the control system, and the position of the control components is controlled by a reasonable layout to keep them away from the motion trajectory of the mechanical structure, thereby reducing the risk of mechanical collision. In addition, the control system can support multiple functions such as image transmission, gas information collection, and remote control of users, enriching the tasks that the throwing robot can perform. Therefore, the system supports the stable operation and data processing capabilities of the robot system based on the efficient design of the hardware circuit, and coordinates the operation of the hardware components through precise algorithms and advanced control strategies to achieve efficient motion control and task execution of the robot. The control system has high safety, applicability and intelligence.

[0089] In order to implement the above embodiment, the embodiment of the present application further proposes a throwing robot. The throwing robot may include the control system of the throwing robot as described in the above embodiment. That is, the control system of the throwing robot in the above embodiment of the present application may be mounted in the throwing robot to achieve control of the throwing robot.

[0090] In one embodiment of the present application, in addition to the control system in the above embodiment, the throwing robot also includes a mechanical structure that carries the above control system. The mechanical structure may include a plurality of modules such as a pre-designed flexible frame module, a drive module, a roller module, and an axle module. These mechanical modules are organically combined to construct the mechanical structure of the throwing robot, so as to provide anti-impact protection for the control system of the throwing robot through a mechanical structure with flexible anti-impact performance. Among them, the specific implementation method of using a mechanical structure with flexible anti-impact performance to provide anti-impact protection for the control system of the throwing robot can refer to the relevant description in the above embodiment, and will not be repeated here.

[0091] In the description of this specification, the description with reference to the terms "one embodiment", "some embodiments", "example", "specific example", or "some examples" etc. means that the specific features, structures, materials or characteristics described in conjunction with the embodiment or example are included in at least one embodiment or example of the present application. In this specification, the schematic representations of the above terms do not necessarily refer to the same embodiment or example. Moreover, the specific features, structures, materials or characteristics described may be combined in any one or more embodiments or examples in a suitable manner. In addition, those skilled in the art may combine and combine the different embodiments or examples described in this specification and the features of the different embodiments or examples, without contradiction.

[0092] In addition, the terms "first" and "second" are used for descriptive purposes only and should not be understood as indicating or implying relative importance or implicitly indicating the number of the indicated technical features. Therefore, the features defined as "first" and "second" may explicitly or implicitly include at least one of the features. In the description of this application, the meaning of "plurality" is at least two, such as two, three, etc., unless otherwise clearly and specifically defined.

[0093] In the present invention, unless otherwise clearly specified and limited, the terms "installed", "connected", "connected", "fixed" and the like should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be a direct connection or an indirect connection through an intermediate medium, it can be the internal connection of two elements or the interaction relationship between two elements, unless otherwise clearly defined. For ordinary technicians in this field, the specific meanings of the above terms in the present invention can be understood according to specific circumstances.

[0094] In the present invention, unless otherwise clearly specified and limited, a first feature being "above" or "below" a second feature may mean that the first and second features are in direct contact, or the first and second features are in indirect contact through an intermediate medium. Moreover, a first feature being "above", "above" or "above" a second feature may mean that the first feature is directly above or obliquely above the second feature, or simply means that the first feature is higher in level than the second feature. A first feature being "below", "below" or "below" a second feature may mean that the first feature is directly below or obliquely below the second feature, or simply means that the first feature is lower in level than the second feature.

[0095] Although the embodiments of the present invention have been shown and described above, it is to be understood that the above embodiments are exemplary and are not to be construed as limitations of the present invention. A person skilled in the art may change, modify, replace and vary the above embodiments within the scope of the present invention.

Claims

1. A control system for a throwing robot, characterized in that: include: The upper computer control subsystem and the lower computer control subsystem, the upper computer control subsystem includes a human-computer interaction module, an upper computer control module and a first wireless communication module, and the lower computer control subsystem includes a second wireless communication module, a main control module and a main hardware part; wherein, The main hardware part includes a power module, an electronic speed regulator, a motor module and an image transmission module. The throwing robot includes a flexible body rubber module and two electrical boxes. The middle area of ​​the flexible body rubber module has multiple cavities. The electrical box is set in the gap between the front and rear rollers of the robot. The camera of the image transmission module, the power module and the motor module are arranged in the corresponding cavity, the electronic speed regulator, the second wireless communication module and the main control module are arranged in the electrical box, and the roller and the flexible body rubber module are used to disperse the impact energy generated when the throwing robot collides; The host computer control module is used to process the control instructions received by the human-computer interaction module, and send the processed instructions to the main control module via the first wireless communication module and the second wireless communication module; The main control module is used to parse the received control instructions and send the parsed control instructions to the electronic speed regulator, and the electronic speed regulator is used to control the operating parameters of the motor module according to the parsed control instructions; The image transmission module is used to collect video data around the throwing robot, and the human-computer interaction module includes a display, which is used to display the video data.

2. The control system of the throwing robot according to claim 1, characterized in that: It also includes: a gas detection module, which is detachably arranged on the throwing robot, and the gas detection module includes: A gas detection main control chip, wherein the gas detection main control chip has a Bluetooth module, and the gas detection main control chip is used to receive a variety of gas concentration data collected by a gas sensor, and send the gas concentration data to the host computer control subsystem for display through the Bluetooth module, wherein the gas sensor is arranged in the electrical box; An independent power supply is used to supply power to the gas detection main control chip.

3. The control system of the throwing robot according to claim 2, characterized in that: The host computer control module is specifically used for: Detect surrounding Bluetooth devices and display the detected Bluetooth device list to the user; Determine a target Bluetooth device according to a user's selection instruction, determine a Bluetooth message service provided by the target Bluetooth device, and receive gas concentration data sent by the target Bluetooth device; The received gas concentration data is parsed, and the parsed concentration values ​​of the multiple gases are sent to the display for display.

4. The control system of the throwing robot according to claim 1, characterized in that: The output parameters of the motor module meet the driving force requirements of the throwing robot, and the driving force requirements of the throwing robot are determined based on the motion performance indicators of the throwing robot under various working environments, wherein the output parameters of the motor module include output torque and output power.

5. The control system of the throwing robot according to claim 4, characterized in that: The various working environments include: climbing a slope at a preset angle, climbing over obstacles at a preset height, and turning on the spot; The driving force of the throwing robot is greater than the resistance when the robot is traveling in the various working environments; The torque requirement of each roller in the throwing robot is determined based on the driving force requirement of the throwing robot; The output torque requirement of the motor module is determined based on the torque requirement of each of the rollers.

6. The control system of the throwing robot according to claim 1, characterized in that: The image transmission module comprises: A plurality of cameras, at least one of which is arranged at the front end and the rear end of the throwing robot, respectively, and each of which is installed at a preset upward viewing angle or downward viewing angle; The image transmission main control board is arranged in the electrical box, and the image transmission main control board is used to send the video data to the host computer control subsystem.

7. The control system of the throwing robot according to claim 1, characterized in that: The human-computer interaction module further includes: Remote controller, the host computer control subsystem also includes a transmitter corresponding to the remote controller; The transmitter is used to generate a corresponding PWM signal according to the control instruction sent by the remote controller.

8. The control system of the throwing robot according to claim 6, characterized in that: The installation position of the electrical box at the gap, the positions of the multiple cavities, and the installation angle of the camera are adjusted based on the deformation results of the tossable robot in the fall experiments at different heights.

9. The control system of the throwing robot according to claim 1, characterized in that: The flexible vehicle body rubber module includes two rubber modules, and the sleeve of the motor module connects the two rubber modules; The motor module is driven by a flexible synchronous belt so as to isolate the collision impact by the flexible synchronous belt.

10. A throwing robot, characterized in that: A control system comprising a throwing robot as claimed in any one of claims 1 to 9.

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