Low-energy-consumption dual-mode inspection robot

Abstract

The invention relates to a low-energy-consumption dual-mode inspection robot, belongs to the technical field of robots, and solves the problem of task interruption possibly caused by insufficient energy supply when an existing robot executes a task. Comprising a chassis and a swingable trunk, and further comprises a chassis driving module used for driving the chassis of the robot to move in a full-driving mode; the trunk driving module is used for driving a swingable trunk connected with a chassis of the robot through a connecting rod to move in a full-driving or non-driving mode; the mode control module is used for switching the driving mode of the robot based on the current state of the chassis driving module; the driving mode comprises a full-driving mode and a non-driving mode; the sensor module is used for acquiring a current motion state and a swingable trunk state of the robot; and the motion control module is used for sending a corresponding control instruction to the chassis driving module and the trunk driving module based on the driving mode, the current motion state and the swingable trunk state of the robot.

Description

Technical Field

[0001] The invention relates to the technical field of robots, and in particular to a low-energy consumption dual-mode inspection robot. Background Art

[0002] With the rapid development of science and technology, robots are increasingly used in our daily lives. In the field of industrial production, especially in high-risk environments such as coal mines and electric power, safety and efficiency are crucial. Traditional manual inspection methods have many limitations, such as high workload, low efficiency, susceptibility to subjective factors, and high safety risks. Most inspection activities in high-altitude environments are extremely harmful to people's health. Therefore, robots can be seen in many inspection tasks.

[0003] High-risk environment inspection sites usually require robots to operate in harsh, complex and ever-changing conditions, which places extremely high demands on the robot's energy supply and adaptability. Traditional robots often rely on a single energy mode, which not only limits their continuous working time, but may also cause mission interruptions when the power is exhausted, delaying the progress of the inspection mission. Summary of the invention

[0004] In view of the above analysis, an embodiment of the present invention aims to provide a low-energy dual-mode inspection robot to solve the problem that existing robots may be faced with insufficient energy supply when performing tasks, which may lead to task interruption.

[0005] The purpose of the present invention is mainly achieved through the following technical solutions:

[0006] The present invention provides a low-energy dual-mode inspection robot, comprising a chassis and a swingable trunk, and comprising:

[0007] A chassis drive module, used to drive the chassis movement of the robot in a full drive mode;

[0008] A trunk drive module, for driving the movement of a swingable trunk connected to the chassis of the robot through a connecting rod in a full drive or no drive mode;

[0009] A mode control module, used for switching the driving mode of the robot based on the current state of the chassis driving module; the driving mode includes a full driving mode and a non-driving mode;

[0010] A sensor module, used to obtain the current motion state and swingable trunk state of the robot;

[0011] The motion control module is used to issue corresponding control instructions to the chassis drive module and the trunk drive module based on the driving mode, current motion state and swingable trunk state of the robot.

[0012] Furthermore, the chassis drive module includes a battery and a drive system for driving the chassis to move;

[0013] The battery driving the chassis movement is used to provide power for the chassis movement, and when the battery power is insufficient or the battery power is restored, the current battery status is fed back to the mode control module;

[0014] The driving system for driving the chassis movement is used to control the chassis movement of the robot based on the control instructions issued by the motion control module. When the driving system fails or recovers from a failure, the current driving system state is fed back to the mode control module.

[0015] Furthermore, the trunk driving module includes a driving mechanism disposed on the swingable trunk of the inspection robot, for generating a torque for driving the swingable trunk to move.

[0016] Furthermore, the mode control module receives the battery status and the drive system status sent by the chassis drive module. When the battery status and the drive system status are both normal, the drive mode of the inspection robot is set to the full drive mode. In this drive mode, the chassis drive module and the torso drive module are both in an activated state, and cooperate to drive the inspection robot to move.

[0017] Furthermore, when at least one of the battery status or the drive system status shows an abnormality, the drive mode of the inspection robot is set to a no-drive mode. In this drive mode, the chassis drive module is in a dormant state and the torso drive module is in an activated state, and the inspection robot is driven to move only by the swingable torso.

[0018] Further, the motion control module includes a chassis motion control module and a swingable torso motion control module;

[0019] The chassis motion control module is used to issue chassis control instructions to drive the chassis movement of the inspection robot based on the power provided by the preset chassis in the full-drive mode;

[0020] The swingable trunk motion control module is used to calculate the torque driving the swingable trunk based on the driving mode of the inspection robot, issue a swingable trunk control instruction, and drive the swingable trunk of the inspection robot to move.

[0021] Furthermore, when the driving mode is the full driving mode, calculating the torque for driving the swingable trunk includes:

[0022] Based on the current motion state of the robot, obtaining the required power for driving the robot to move in a full-drive mode;

[0023] Based on the required power and the power preset by the chassis, the auxiliary power of the swingable trunk in the full-drive mode is calculated;

[0024] Calculating a desired angle and a desired angular velocity of the swingable trunk based on the auxiliary power of the swingable trunk in the full-drive mode;

[0025] Based on the expected angle and expected angular velocity of the swingable trunk and the current angle and angular velocity of the swingable trunk, the torque for driving the swingable trunk is calculated to control the movement of the swingable trunk.

[0026] Further, when it is detected that the movement speed of the robot within a preset time is lower than a preset threshold, it is determined that the robot encounters an obstacle;

[0027] Obtaining a movement speed difference based on a current movement speed and an expected movement speed of the robot;

[0028] Based on the movement speed difference, obtaining a difficulty level of crossing the road obstacle;

[0029] Based on the difficulty level, a swing angle and a swing frequency of the swingable trunk of the robot are adjusted to overcome obstacles.

[0030] Further, when the driving mode is a non-driving mode, based on the current motion state of the robot, the power required for the robot to move in the non-driving mode is obtained as the power of the swingable trunk in the non-driving mode;

[0031] Based on the power of the swingable trunk in the non-driving mode, calculating the desired angle and the desired angular velocity of the swingable trunk;

[0032] Based on the expected angle and expected angular velocity of the swingable trunk and the current angle and angular velocity of the swingable trunk, the torque for driving the swingable trunk is calculated to control the movement of the swingable trunk.

[0033] Further, the sensor module includes a chassis sensor module and a swingable torso sensor module;

[0034] The chassis sensor module includes a speedometer for obtaining the movement speed of the inspection robot;

[0035] The swingable torso sensor module includes a gyroscope for acquiring the angle and angular velocity of the swingable torso movement.

[0036] Compared with the prior art, the present invention can achieve at least one of the following beneficial effects:

[0037] 1. The inspection robot of the present invention monitors the current state of the chassis drive module through the mode control module. The robot can operate efficiently in the full drive mode when the battery is sufficient, and automatically switch to the no-drive mode when the battery is insufficient to reduce energy consumption. This dual-mode drive design not only avoids unnecessary energy waste, but also improves the energy utilization efficiency of the robot, so that the robot can complete more inspection tasks under limited energy.

[0038] 2. The inspection robot of the present invention realizes flexible switching between full-drive mode and no-drive mode through the coordinated work of the chassis drive module and the trunk drive module; in the full-drive mode, the chassis drive module and the trunk drive module work together to provide powerful driving force, enabling the robot to move quickly and stably in complex environments, and in the no-drive mode, when the battery of the chassis drive module is low or the drive system fails, the robot can rely on the torso drive module to continue working, and drive the chassis movement by the swinging of the torso, thereby extending the working time of the robot and improving the endurance in inspection tasks.

[0039] 3. The inspection robot of the present invention can flexibly adjust its posture when encountering obstacles through the active swing of the trunk drive module, and use the additional power generated by the swing of the trunk to help the robot cross obstacles, such as collapsed buildings, debris, etc. This enhanced obstacle-crossing ability enables the robot to maintain an efficient moving speed even in complex terrain, thereby improving inspection efficiency.

[0040] In the present invention, the above-mentioned technical solutions can also be combined with each other to achieve more preferred combination solutions. Other features and advantages of the present invention will be described in the subsequent description, and some advantages can become obvious from the description, or can be understood by practicing the present invention. The purpose and other advantages of the present invention can be realized and obtained through the contents particularly pointed out in the description and the drawings. BRIEF DESCRIPTION OF THE DRAWINGS

[0041] The drawings are only for the purpose of illustrating particular embodiments and are not to be considered limiting of the present invention. Like reference symbols denote like components throughout the drawings.

[0042] Figure 1 It is a front view of a low-energy dual-mode inspection robot in an embodiment of the present invention;

[0043] Figure 2 A side view of a low-energy dual-mode inspection robot according to an embodiment of the present invention;

[0044] Figure 3 This is a schematic diagram of the structure of a low-energy dual-mode inspection robot control module in an embodiment of the present invention;

[0045] Figure 4 Schematic diagram of the control flow of a swingable torso in full drive mode in an embodiment of the present invention. DETAILED DESCRIPTION

[0046] The preferred embodiments of the present invention are described in detail below in conjunction with the accompanying drawings, wherein the accompanying drawings constitute a part of this application and are used together with the embodiments of the present invention to illustrate the principles of the present invention, but are not used to limit the scope of the present invention.

[0047] A specific embodiment of the present invention discloses a low-energy dual-mode inspection robot, such as Figure 1 and Figure 2 As shown, it includes: chassis and posable torso.

[0048] Specifically, the chassis of the inspection robot is its basic motion platform, which bears the weight of the entire robot and provides stable support for it. The chassis includes a drive system and a battery pack, wherein the drive system includes drive wheels, motors, and an electronic control system, which receives control instructions from the robot's control module to make the robot walk; the battery pack is the energy source of the chassis and provides power for the operation of the drive system. In full-drive mode, the chassis' drive system can efficiently utilize the energy provided by the battery pack to ensure that the robot completes the task at a faster speed.

[0049] The swingable trunk of the inspection robot is connected to the chassis through a connecting rod and has flexible swinging ability. In this embodiment, through the dual-mode design, the inspection robot can reduce chassis energy consumption when necessary and extend the endurance time. In the full-drive mode, the swing of the trunk can assist the chassis drive, reduce chassis energy consumption, and improve the maneuverability of the robot; in the non-drive mode, the swing of the trunk becomes the main power source for the robot to move forward.

[0050] More specifically, the other end of the connecting rod connected to the swingable trunk is arranged at the center of the chassis, and the connecting part thereof with the chassis includes a rotating support shaft and a locking component; wherein the rotating support shaft is used to support and connect the connecting rod and the chassis, while allowing the connecting rod to swing relative to the chassis; exemplarily, the rotating support shaft can be a cylindrical rotating support shaft; the locking component is used to fix the relative position of the connecting rod and the chassis. In this embodiment, when the inspection robot sets out, the locking component is opened so that the swingable trunk can swing back and forth through the rotating support shaft; when the inspection robot returns, the locking component is locked so that the swingable trunk stops moving; exemplarily, the locking component can use a buckle or a bolt.

[0051] It should be noted that the full-drive mode in this embodiment means that the chassis and the swingable trunk jointly drive the robot to move; the non-drive mode means that only the swingable trunk is used to drive the robot to move.

[0052] Further, such as Figure 3 As shown, the inspection robot also includes a chassis drive module, a trunk drive module, a mode control module, a sensor module and a motion control module.

[0053] The chassis driving module is used to drive the chassis movement of the robot in full driving mode.

[0054] Specifically, the function of the chassis drive module is to provide power for the chassis movement, so that the inspection robot can move in various complex environments. The chassis drive module receives control instructions and adjusts the speed and direction of the drive system according to the instructions, thereby controlling the robot's forward, backward, turning and other movements. Through the chassis drive module, the inspection robot can flexibly respond to different terrains and obstacles to ensure efficient operation at the inspection site. Furthermore, the chassis drive module includes a battery and a drive system that drive the chassis movement.

[0055] The battery driving the chassis movement is used to provide power for the chassis movement, and when the battery power is insufficient or the battery power is restored, the current battery status is fed back to the mode control module.

[0056] The driving system for driving the chassis movement is used to control the chassis movement of the robot based on the control instructions issued by the motion control module. When the driving system fails or recovers from a failure, the current driving system state is fed back to the mode control module.

[0057] The control instructions for driving the chassis movement include the speed and acceleration instructions of the chassis movement,

[0058] Furthermore, the mode control module is used to switch the driving mode of the robot based on the current state of the chassis driving module; the driving mode includes a full driving mode and a non-driving mode.

[0059] Specifically, the current state of the chassis driving module includes the power level of the battery driving the chassis to move and whether the driving system driving the chassis to move is in a normal state or has recovered from a fault.

[0060] Furthermore, the mode control module receives the battery status and the drive system status sent by the chassis drive module. When the battery status and the drive system status are both normal, the drive mode of the inspection robot is set to the full drive mode. In this drive mode, the chassis drive module and the torso drive module are both in an activated state, and cooperate to drive the inspection robot to move.

[0061] When at least one of the battery status or the drive system status shows an abnormality, the drive mode of the inspection robot is set to a no-drive mode. In this drive mode, the chassis drive module is in a dormant state and the trunk drive module is in an activated state, and the inspection robot is driven to move only by the swingable trunk.

[0062] Specifically, in the full-drive mode, the robot uses chassis drive and trunk drive to perform tasks together. The trunk assists the movement of the chassis through active control to improve the maneuverability and stability of the robot in complex terrain. In this mode, the swing of the trunk reduces the robot's dependence on the chassis drive by optimizing the distribution of force. By combining with the chassis drive, the movement of the trunk helps to improve the overall energy efficiency of the robot. By reducing the load of the chassis drive, the robot can obtain stronger movement performance with the same energy consumption.

[0063] When the robot can no longer rely on the chassis for driving, it enters the non-driven mode. At this time, the robot relies only on the active swing of the trunk to achieve movement. In this mode, the robot controls the force generated by the swing of the trunk to achieve relatively low-speed walking, maintain basic mobility, and extend working time. In the non-driven mode, the swing of the trunk becomes the main power source of the robot's movement. Through precise control, the swing of the trunk generates forward thrust and reaches the "gliding" state. The energy consumption of movement in this mode is extremely low, relying only on the mass and dynamic behavior of the trunk itself.

[0064] More specifically, when the robot detects that the battery power of the chassis drive system is lower than a set threshold, for example, when the battery power is 10% of the full power, or the drive system of the chassis drive system fails, the system will automatically reduce the output of the electric drive and switch to the no-drive mode. At this time, the robot will rely on the swing of the trunk to continue walking to avoid completely stopping working. When the battery of the chassis drive system is fully charged or the drive system of the chassis drive system is repaired, the robot will automatically resume the full-drive mode. At this time, the control of the trunk continues to assist the chassis drive, enhance walking ability, and improve overall energy efficiency.

[0065] Furthermore, the trunk driving module is used to drive the movement of the swingable trunk connected to the chassis of the robot through a connecting rod in a full-drive or no-drive mode.

[0066] The trunk driving module includes a driving mechanism disposed on the swingable trunk of the inspection robot, and is used to generate a torque for driving the swingable trunk to move.

[0067] Specifically, the torque generated by the driving mechanism directly drives the swingable trunk to swing according to a predetermined trajectory and posture, and the driving mechanism can accurately control the swing angle of the swingable trunk according to the control instruction.

[0068] The control instruction for driving the swingable trunk is the torque generated by the driving mechanism.

[0069] Furthermore, the sensor module is used to obtain the current motion state and swingable trunk state of the robot.

[0070] The sensor modules include a chassis sensor module and a swingable torso sensor module.

[0071] The chassis sensor module includes a speedometer for obtaining the movement speed of the inspection robot.

[0072] The swingable torso sensor module includes a gyroscope for acquiring the angle and angular velocity of the swingable torso movement.

[0073] Specifically, the speedometer of the chassis sensor module pays attention to the motion state of the robot chassis. By monitoring the movement speed of the robot in real time, the control system can more accurately adjust the motion state of the robot, thereby ensuring its stability and safety in complex environments.

[0074] The gyroscope of the swingable trunk sensor module pays attention to the state of the robot's swingable trunk. By monitoring the angle and angular velocity of the swingable trunk in real time, the control system can more accurately judge the posture changes of the robot, and thus take corresponding measures to maintain the stability and balance of the robot.

[0075] Furthermore, the motion control module is used to issue corresponding control instructions to the chassis drive module and the trunk drive module based on the driving mode, current motion state and swingable trunk state of the robot.

[0076] The motion control module includes: a chassis motion control module and a swingable trunk motion control module.

[0077] The chassis motion control module is used to issue chassis control instructions to drive the chassis movement of the inspection robot based on the power provided by the preset chassis in the full-drive mode.

[0078] Exemplarily, the power provided by the preset chassis can be set to ensure 30% of the power required by the robot in a normal walking state to perform tasks.

[0079] The swingable trunk motion control module is used to calculate the torque driving the swingable trunk based on the driving mode of the inspection robot, issue a swingable trunk control instruction, and drive the swingable trunk of the inspection robot to move.

[0080] Specifically, when the driving mode of the inspection robot is the full-driving mode, it is ensured that the power required by the robot in the normal walking state of performing tasks is distributed to the chassis and the swingable trunk to achieve joint driving.

[0081] When the driving mode of the inspection robot is the non-driving mode, the power required for the robot to maintain the moving state is completely provided by the movement of the swingable trunk.

[0082] Further, when the driving mode is the full driving mode, the torque for driving the swingable trunk is calculated, such as Figure 4 As shown, it includes steps S11 to S14:

[0083] Step S11: based on the current motion state of the robot, obtain the required power for driving the robot to move in the full drive mode.

[0084] Specifically, the resistance that the robot needs to overcome when walking includes friction resistance in the horizontal direction and gravity in the vertical direction. Therefore, the power required to maintain the motion state is the vector sum of the horizontal driving force and the vertical supporting force. Based on the speedometer of the chassis sensor module, the current motion speed v of the inspection robot is obtained; based on the expected linear speed v required for the inspection robot to perform the task desired and the expected acceleration a desired , the current movement speed v of the inspection robot, the required power of the inspection robot movement is obtained using the following formula:

[0085]

[0086] F horizontal =m·a desired +μ·m·g

[0087] F vertical =m·g

[0088]

[0089] Among them, F total represents the required power for the inspection robot to move; F horizontal F represents the horizontal driving force of the inspection robot; vertical represents the vertical driving force of the inspection robot; m represents the total mass of the inspection robot; μ represents the friction resistance; g represents the acceleration of gravity; and t represents the preset speed time required to perform the task.

[0090] Step S12: Based on the required power and the power provided by the chassis, the auxiliary power of the swingable trunk in the full-drive mode is calculated.

[0091] Specifically, the total power required for the robot to move in the full-drive mode is distributed to the chassis and the swingable trunk to achieve joint driving.

[0092] Step S13: Calculate the expected angle and expected angular velocity of the swingable trunk based on the auxiliary power of the swingable trunk in the full-drive mode.

[0093] Specifically, based on the auxiliary power F of the swingable trunk in the full drive mode body , the connecting rod length L of the swingable trunk body According to the principle of dynamics, the desired torque τ acting on the swingable trunk is obtained using the following formula: ref :

[0094] τ ref =F body ·L body

[0095] Based on the desired torque τ of the swingable trunk body , the mass m of the swingable trunk body and the connecting rod length L of the swingable trunk body , the desired angle θ of the swingable torso is obtained using the following formula: ref :

[0096] τ ref = k·sin(θ ref )

[0097]

[0098] Based on the desired torque τ of the swingable trunk ref , the desired angular velocity ω of the swingable trunk is obtained using the following formula: ref :

[0099] ω ref =τ ref ·J body

[0100]

[0101] Among them, J body represents the moment of inertia of the swingable trunk.

[0102] It should be noted that when the expected angle and expected angular velocity of the swingable trunk exceed the state in which the swingable trunk can move, the preset power provided by the chassis is adjusted, and the expected angle and expected angular velocity of the swingable trunk are calculated again.

[0103] Specifically, when the calculated expected angle and expected angular velocity of the swingable trunk exceed the state in which the swingable trunk can move, that is, the expected swing angle or angular velocity of the trunk exceeds its physical limit, it is impossible to provide sufficient auxiliary power through the swing of the trunk to meet the requirements in the full-drive mode. At this time, it is necessary to adjust the preset power provided by the chassis and recalculate the expected angle and expected angular velocity of the swingable trunk.

[0104] Step S14: Based on the expected angle and expected angular velocity of the swingable trunk and the current angle and angular velocity of the swingable trunk, a torque for driving the swingable trunk is calculated to control the movement of the swingable trunk.

[0105] Specifically, based on the current angle and angular velocity of the swingable trunk and the expected angle and expected angular velocity of the swingable trunk, a model-based predictive control method is used to obtain the torque for driving the swingable trunk at the next moment.

[0106] Specifically, the model-based predictive control method is an advanced control strategy that establishes a mathematical model of the controlled object, predicts the output of the system in the future, and optimizes the control input on this basis to achieve precise control of the system behavior.

[0107] More specifically, the dynamics of the robot trunk swing is simplified to a simple pendulum model, and the relationship between the swing angle and the input torque is:

[0108]

[0109] Where c is the damping coefficient, θ is the swing angle, and τ is the input torque.

[0110] In order to facilitate control, the dynamic equations in the continuous time domain are discretized into the form in the discrete time domain. Define the state vector Among them, θ k represents the swing angle at the kth moment; represents the angular velocity at the kth moment, and the discretized dynamic equation is expressed as follows:

[0111]

[0112] Among them, T s Represents the discretized time step.

[0113] The discretized dynamic equation is converted into state space form using the following formula:

[0114] x k+1 =Ax k +Bu k +d(x k )

[0115]

[0116] In order for the robot torso angle to track the desired angle θ ref , define the following objective function:

[0117]

[0118] Among them, θ k+i represents the actual swing angle at the k+ith moment; τ k+i Represents the actual input torque at the k+ith moment; Q represents the weight of the state error in the objective function. For example, if the system has a low tolerance for swing angle errors and needs to accurately track the desired angle, Q can be set to a larger value, such as 10, otherwise it can be set to a smaller value, such as 0.1; R represents the weight of the control input torque in the objective function. For example, if the system has strict restrictions on the size of the control input torque and needs to avoid overloading the drive mechanism or reduce energy consumption, R can be set to a larger value, such as 10, otherwise it can be set to a smaller value, such as 0.1.

[0119] It should be noted that in order to ensure the physical feasibility of the swingable torso, the following constraints are set:

[0120] τ min ≤τ k+i ≤τ max ,θ min ≤θ k+i ≤θ max

[0121] Among them, τ min ,τ max Respectively represent the minimum torque and maximum torque that the drive mechanism can output; θ min ,θ max They respectively represent the minimum swing angle and the maximum swing angle of the swingable torso.

[0122] The constraints can ensure that the control input torque and state variables are within the physical capabilities of the system, avoid overloading or damage to the actuator, and prevent the robot from entering an unsafe or unstable state.

[0123] Based on the above state space equation, the state recursion for the next N steps is as follows:

[0124] x k+i+1 =Ax k+i +Bu k+i +d(x k+i ),i=0,1,…,N-1

[0125] The swing angle and input torque of the swingable torso at all times are written in vector form as follows:

[0126] X=Sx k +TU+D

[0127] Where X represents the predicted swing angle vector, U represents the control input torque vector, S represents the state recursion coefficient matrix, which represents the matrix of how the current state affects the future state; T represents the torque state recursion coefficient matrix, which represents the matrix of how the current torque affects the future torque; D represents the cumulative effect of the nonlinear term, which represents the nonlinear term d(x k ) has a cumulative effect on the state in the prediction time domain by substituting the nonlinear term d(x k ) is accumulated in each time step.

[0128] Therefore, the objective function I can be rewritten as follows:

[0129]

[0130] Among them, X ref represents the desired swing angle vector, Q N represents the state error weight matrix; R N A weight matrix representing the control input torque.

[0131] By expressing X as a linear combination of U, the final objective function is expressed as follows:

[0132]

[0133] Among them, H is the quadratic coefficient matrix, which reflects the quadratic influence of the control input vector U on the objective function I. f is the first-order coefficient vector, which reflects the first-order influence of the control input vector U on the objective function I.

[0134] The optimal solution of the control input torque is obtained by solving the quadratic programming (QP) algorithm:

[0135]

[0136] The optimal solution The first control input torque in Applied to the system to achieve effective control of the robot's trunk swing angle.

[0137] Furthermore, when it is detected that the movement speed of the robot within a preset time is lower than a preset threshold, it is determined that the robot encounters an obstacle.

[0138] Specifically, during the robot's walking process, it may encounter obstacles. At this time, obstacle detection is achieved through real-time monitoring of the robot's motion state. The speedometer based on the chassis sensor module detects the robot's speed change in real time. When the robot encounters an obstacle, the speed usually drops sharply, and the low-speed movement will continue for a period of time. The system determines whether an obstacle is encountered by setting a threshold for speed change. When the system determines that there is an obstacle ahead, it adjusts the desired state of the trunk so that the robot can cross the obstacle without increasing the power of the chassis drive as much as possible.

[0139] Furthermore, based on the current movement speed and the expected movement speed of the robot, a movement speed difference is obtained.

[0140] Specifically, the current movement speed of the robot is obtained through the speedometer of the chassis sensor module, and is subtracted from the expected movement speed of the robot preset by the system to obtain a value of the decrease in the current movement speed of the robot.

[0141] Furthermore, based on the movement speed difference, the difficulty level of crossing the road obstacle is obtained.

[0142] Specifically, the speed drop values ​​are divided into different parts according to their sizes, corresponding to different obstacles. The greater the speed drop, the more difficult the obstacle is to cross. Therefore, the amplitude and frequency of the trunk swing are correspondingly enhanced at this time, thereby enhancing the influence of the trunk on the robot and helping it to successfully cross the obstacle.

[0143] When the movement speed difference is less than the preset speed difference value of the low difficulty obstacle, the difficulty level is set to low difficulty.

[0144] When the movement speed difference is between the preset speed difference value for the low difficulty obstacle and the preset speed difference value for the medium difficulty obstacle, the difficulty level is set to medium difficulty.

[0145] When the movement speed difference is higher than the preset speed difference value of the medium difficulty obstacle, the difficulty level is set to high difficulty.

[0146] Specifically, based on the environment in which the task is performed, a preset speed difference for each difficulty obstacle is set at the initial stage of task execution. For example, the preset speed difference for the low difficulty obstacle is set to 1 m / s; and the preset speed difference for the medium difficulty obstacle is set to 3 m / s.

[0147] If the movement speed difference is less than the preset speed difference of the low difficulty obstacle, it means that the difference between the robot's current speed and the expected speed is small, the obstacle is a minor obstacle, and the robot can adjust the speed more easily to reach the expected state, so the difficulty level is set to low difficulty.

[0148] If the movement speed difference is greater than the preset speed difference of a low-difficulty obstacle but less than the preset speed difference of a medium-difficulty obstacle, the obstacle is a medium obstacle, indicating that the robot needs to make a certain degree of speed adjustment, but the adjustment range and difficulty are moderate, so the difficulty level is set to medium difficulty.

[0149] If the movement speed difference is greater than the preset speed difference of the medium difficulty obstacle, it means that the difference between the current speed of the robot and the expected speed is large, and the obstacle is a large obstacle, requiring a large speed adjustment, so the difficulty level is set to high difficulty.

[0150] Further, based on the difficulty level, the swing angle and the swing frequency of the swingable trunk of the robot are adjusted to overcome obstacles.

[0151] Specifically, set the amplitude gain factor K A and frequency gain factor K f , proportional to the difficulty level, based on the amplitude gain factor K A and the frequency gain factor K f , use the following formula to adjust the swing angle and swing frequency of the swingable torso at different difficulty levels:

[0152]

[0153]

[0154] Among them, A body Indicates the swing angle of the torso after adjustment; A base Indicates the swing angle of the torso before adjustment; f body represents the swing frequency of the swingable trunk after adjustment; f base Indicates the swing frequency of the swingable torso before adjustment; represents the amplitude gain factor of the i-th level; Indicates the frequency gain factor of the i-th level, the first level is a low difficulty level, the second level is a medium difficulty level, and the third level is a high difficulty level.

[0155] For example, when the difficulty level is low (speed difference Δv<1m / s), the amplitude gain factor is set And the frequency gain factor When the difficulty level is medium (speed difference 1≤Δv<3m / s), set the amplitude gain factor And the frequency gain factor When the difficulty level is high (speed difference Δv ≥ 3m / s), set the amplitude gain factor And the frequency gain factor

[0156] When the swing angle and swing frequency of the current swingable trunk are A base =10°, f base =2Hz, and the speed drops by Δv=1.5m / s, which is a medium difficulty. It can be calculated that:

[0157] A body =10°·1.5=15°

[0158] f body =2Hz·1.3=2.6Hz

[0159] As a result, the swing amplitude and frequency of the swingable trunk are enhanced when the obstacle is a medium obstacle, which helps the robot to cross the obstacle, reduces the dependence on wheel drive, and ensures that the robot continues to walk.

[0160] Furthermore, when the driving mode is a non-driving mode, the power required for the robot to move in the non-driving mode is obtained based on the current motion state of the robot, and is used as the power of the swingable trunk in the non-driving mode.

[0161] Specifically, since the chassis of the robot does not provide power in the non-drive mode, the movement power of the robot in this mode is entirely provided by the swingable trunk.

[0162] Furthermore, based on the power of the swingable trunk in the non-driving mode, the expected angle and the expected angular velocity of the swingable trunk are calculated.

[0163] Specifically, the method for calculating the expected angle and the expected angular velocity of the swingable torso based on the power of the swingable torso in the non-drive mode is the same as the method for calculating the expected angle and the expected angular velocity of the swingable torso based on the auxiliary power of the swingable torso in the full-drive mode in step S13, and will not be repeated here.

[0164] Furthermore, based on the expected angle and expected angular velocity of the swingable trunk and the current angle and angular velocity of the swingable trunk, the torque for driving the swingable trunk is calculated to control the movement of the swingable trunk.

[0165] Specifically, the method for calculating the torque for driving the swingable trunk based on the expected angle and expected angular velocity of the swingable trunk and the current angle and angular velocity of the swingable trunk is the same as the method for calculating the torque for driving the swingable trunk based on the expected angle and expected angular velocity of the swingable trunk and the current angle and angular velocity of the swingable trunk in the full drive mode of step S14 to control the movement of the swingable trunk, and will not be repeated here.

[0166] In summary, the low-energy dual-mode inspection robot according to the embodiment of the present invention has the following beneficial effects:

[0167] 1. The inspection robot of the present invention monitors the current state of the chassis drive module through the mode control module. The robot can operate efficiently in the full drive mode when the battery is sufficient, and automatically switch to the no-drive mode when the battery is insufficient to reduce energy consumption. This dual-mode drive design not only avoids unnecessary energy waste, but also improves the energy utilization efficiency of the robot, so that the robot can complete more inspection tasks under limited energy.

[0168] 2. The inspection robot of the present invention realizes flexible switching between full-drive mode and no-drive mode through the coordinated work of the chassis drive module and the trunk drive module; in the full-drive mode, the chassis drive module and the trunk drive module work together to provide powerful driving force, enabling the robot to move quickly and stably in complex environments, and in the no-drive mode, when the battery of the chassis drive module is low or the drive system fails, the robot can rely on the torso drive module to continue working, and drive the chassis movement by the swinging of the torso, thereby extending the working time of the robot and improving the endurance in emergency inspection tasks.

[0169] 3. The inspection robot of the present invention can flexibly adjust its posture when encountering obstacles through the active swing of the trunk drive module, and use the additional power generated by the swing of the trunk to help the robot cross obstacles, such as collapsed buildings, debris, etc. This enhanced obstacle-crossing ability enables the robot to maintain an efficient moving speed even in complex terrain, thereby improving inspection efficiency.

[0170] The above description is only a preferred specific implementation manner of the present invention, but the protection scope of the present invention is not limited thereto. Any changes or substitutions that can be easily conceived by any technician familiar with the technical field within the technical scope disclosed by the present invention should be covered within the protection scope of the present invention.

Claims

1. A low-energy dual-mode inspection robot, characterized in that: Includes chassis and poseable torso, and includes: A chassis drive module, used to drive the chassis movement of the robot in a full drive mode; A trunk drive module, for driving the movement of a swingable trunk connected to the chassis of the robot through a connecting rod in a full drive or no drive mode; A mode control module, used for switching the driving mode of the robot based on the current state of the chassis driving module; the driving mode includes a full driving mode and a non-driving mode; A sensor module, used to obtain the current motion state and swingable trunk state of the robot; The motion control module is used to issue corresponding control instructions to the chassis drive module and the trunk drive module based on the driving mode, current motion state and swingable trunk state of the robot.

2. The inspection robot according to claim 1, characterized in that: The chassis drive module includes a battery and a drive system for driving the chassis movement; The battery driving the chassis movement is used to provide power for the chassis movement, and when the battery power is insufficient or the battery power is restored, the current battery status is fed back to the mode control module; The driving system for driving the chassis movement is used to control the chassis movement of the robot based on the control instructions issued by the motion control module. When the driving system fails or recovers from a failure, the current driving system state is fed back to the mode control module.

3. The inspection robot according to claim 2, characterized in that: The trunk driving module includes a driving mechanism disposed on the swingable trunk of the inspection robot, and is used to generate a torque for driving the swingable trunk to move.

4. The inspection robot according to claim 3, characterized in that: The mode control module receives the battery status and drive system status sent by the chassis drive module. When the battery status and the drive system status are both normal, the drive mode of the inspection robot is set to the full drive mode. In this drive mode, the chassis drive module and the torso drive module are both in an activated state, and cooperate to drive the inspection robot to move.

5. The inspection robot according to claim 4, characterized in that: When at least one of the battery status or the drive system status shows an abnormality, the drive mode of the inspection robot is set to a no-drive mode. In this drive mode, the chassis drive module is in a dormant state and the trunk drive module is in an activated state, and the inspection robot is driven to move only by the swingable trunk.

6. The inspection robot according to claim 5, characterized in that: The motion control module includes a chassis motion control module and a swingable trunk motion control module; The chassis motion control module is used to issue chassis control instructions to drive the chassis movement of the inspection robot based on the power provided by the preset chassis in the full-drive mode; The swingable trunk motion control module is used to calculate the torque driving the swingable trunk based on the driving mode of the inspection robot, issue a swingable trunk control instruction, and drive the swingable trunk of the inspection robot to move.

7. The inspection robot according to claim 6, characterized in that: When the driving mode is the full driving mode, calculating the torque for driving the swingable trunk includes: Based on the current motion state of the robot, obtaining the required power for driving the robot to move in a full-drive mode; Based on the required power and the power preset by the chassis, the auxiliary power of the swingable trunk in the full-drive mode is calculated; Calculating a desired angle and a desired angular velocity of the swingable trunk based on the auxiliary power of the swingable trunk in the full-drive mode; Based on the expected angle and expected angular velocity of the swingable trunk and the current angle and angular velocity of the swingable trunk, the torque for driving the swingable trunk is calculated to control the movement of the swingable trunk.

8. The inspection robot according to claim 7, characterized in that: When it is detected that the movement speed of the robot within a preset time is lower than a preset threshold, it is determined that the robot encounters an obstacle; Obtaining a movement speed difference based on a current movement speed and an expected movement speed of the robot; Based on the movement speed difference, obtaining a difficulty level of crossing the road obstacle; Based on the difficulty level, a swing angle and a swing frequency of the swingable trunk of the robot are adjusted to overcome obstacles.

9. The inspection robot according to claim 8, characterized in that: When the driving mode is a non-driving mode, based on the current motion state of the robot, the power required for the robot to move in the non-driving mode is obtained as the power of the swingable trunk in the non-driving mode; Based on the power of the swingable trunk in the non-driving mode, calculating the desired angle and the desired angular velocity of the swingable trunk; Based on the expected angle and expected angular velocity of the swingable trunk and the current angle and angular velocity of the swingable trunk, the torque for driving the swingable trunk is calculated to control the movement of the swingable trunk.

10. The inspection robot according to any one of claims 1 to 9, characterized in that: The sensor module includes a chassis sensor module and a swingable torso sensor module; The chassis sensor module includes a speedometer for obtaining the movement speed of the inspection robot; The swingable torso sensor module includes a gyroscope for acquiring the angle and angular velocity of the swingable torso movement.

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