A mobile robot with continuous adsorption and motion and a control method thereof

Abstract

The application discloses a continuous adsorption and motion mobile robot and a control method thereof, and belongs to the field of mobile robots. An adsorption assembly realizes adsorption and separation of the robot on various surfaces through passive and active adsorption. A driving assembly rotates a solenoid to extrude a bottom surface of a robot body, so that the bottom surface of the robot body is deformed. Continuous deformation of the bottom surface of the robot body generates a continuous traveling wave to drive the mobile robot to move. The robot can avoid frequent adsorption state switching and complex multi-leg cooperative control, and realizes continuous adsorption and motion.

Description

TECHNICAL FIELD

[0001] The present application relates to the field of mobile robots, in particular to a mobile robot capable of continuous adhesion and movement and a control method thereof. BACKGROUND

[0002] The ability to attach to various surfaces and possess the ability to crawl is an important research direction in the field of mobile robots, and such robots have great potential in various application scenarios such as industrial inspection and search and rescue tasks. One of the main challenges in the field of mobile robots is how to ensure smooth and coordinated movement while maintaining stable adhesion, especially on different types of surfaces and in complex environments.

[0003] Currently, many bionic adhesion climbing robots adopt a multi-legged design. These multi-legged robots use rhythmic movement of multiple legs to achieve crawling, which involves frequent adhesion and detachment, as well as complex coordinated control. How to avoid frequent adhesion state switching and complex multi-legged coordinated control to achieve continuous adhesion and movement is a problem that needs to be solved. SUMMARY

[0004] The present application provides a mobile robot capable of continuous adhesion and movement and a control method thereof, which can avoid frequent adhesion state switching and complex multi-legged coordinated control to achieve continuous adhesion and movement.

[0005] The first aspect of the present application provides a mobile robot capable of continuous adhesion and movement, comprising:

[0006] a robot body;

[0007] a drive assembly, the drive assembly comprising a solenoid, a connecting piece and a drive motor, the drive motor being fixed to one end of the connecting piece, the other end of the connecting piece being fixed to the robot body, the output shaft of the drive motor passing through the connecting piece and being fixed to the solenoid, the drive motor being aligned with the central axis of the solenoid, the solenoid passing through a through hole in the robot body, the drive motor being used to drive the solenoid to rotate to press the bottom surface of the robot body, so that the bottom surface of the robot body deforms, and a continuous traveling wave is generated by the continuous deformation of the bottom surface of the robot body to drive the mobile robot to move;

[0008] an adhesion assembly, the adhesion assembly being connected to the bottom surface of the robot body and extending outward, and being used to fix the mobile robot by adhering to the crawling contact surface of the mobile robot;

[0009] a gas pressure controller, the gas pressure controller being connected to a gas pressure interface on the adhesion assembly, and being used to adjust the gas pressure between the adhesion assembly and the crawling contact surface to control the adhesion force between the adhesion assembly and the crawling contact surface;

[0010] a power supply connected with the driving assembly and the air pressure controller for power supply.

[0011] Optionally, in an embodiment of the present application, the robot body comprises a body frame part and a body flexible part, the body frame part and the body flexible part are fixed to form a through hole, the diameter of the through hole is smaller than the outer diameter of the solenoid, the solenoid is placed in the through hole and is elastically extruded, the Shore hardness of the body flexible part is lower than the Shore hardness of the body frame part, the body flexible part deforms more than the body frame part under the extrusion of the solenoid, and the solenoid extrudes the body flexible part outward to form a corrugated shape.

[0012] Optionally, in an embodiment of the present application, the adsorption assembly comprises an air pressure interface, an adsorption transition surface and an adsorption sealing surface, the adsorption sealing surface is connected with the bottom surface of the robot body through the adsorption transition surface, the adsorption sealing surface and the adsorption transition surface are not in the same plane, the air pressure interface is arranged on the adsorption transition surface and penetrates through the adsorption transition surface, and the air pressure interface is connected with the air pressure controller through an air pipe.

[0013] Optionally, in an embodiment of the present application, the solenoid is a constant pitch solenoid or a variable pitch solenoid, and the variable pitch solenoid generates concentrated thrust at a pitch dense place.

[0014] Optionally, in an embodiment of the present application, the surface of the adsorption assembly is smeared with a lubricant.

[0015] Optionally, in an embodiment of the present application, the solenoid is smeared with a lubricant.

[0016] The second aspect of the embodiment of the present application provides a control method of a mobile robot with continuous adsorption and movement, which is used for the mobile robot with continuous adsorption and movement in the above-mentioned embodiments, and the control method comprises the following steps:

[0017] Step 1: block the air pressure interface of the adsorption assembly;

[0018] Step 2: contact the adsorption assembly with the crawling contact surface, and press downward to extrude the air between the adsorption assembly and the crawling contact surface;

[0019] Step 3: turn on the power supply, control the driving assembly to run, rotate the solenoid by the driving motor to extrude the bottom surface of the robot body, so that the bottom surface of the robot body deforms, and a continuous traveling wave is generated by the continuous deformation of the bottom surface of the robot body to drive the mobile robot to move.

[0020] The third aspect of the present application provides a control method of a continuous adsorption and motion mobile robot, which is used for the continuous adsorption and motion mobile robot in the above embodiments, and the control method comprises the following steps.

[0021] Step 21, connecting the air pressure interface on the adsorption assembly with the air pressure controller;

[0022] Step 22, contacting the adsorption assembly with the crawling contact surface, connecting the power supply, starting the air pressure controller to generate negative pressure between the adsorption assembly and the crawling contact surface, and adjusting the adsorption force of the mobile robot adsorbed on the crawling contact surface;

[0023] Step 23, controlling the driving assembly to run, rotating the solenoid by the driving motor to extrude the bottom surface of the robot body, so that the bottom surface of the robot body is deformed, and a continuous traveling wave is generated by the continuous deformation of the bottom surface of the robot body to drive the mobile robot to move.

[0024] The continuous adsorption and motion mobile robot and the control method thereof in the embodiments of the present application can adjust the negative air pressure between the adsorption assembly and the crawling contact surface by adjusting the air pressure controller, control the adsorption force of the mobile robot, adjust the positive air pressure between the adsorption assembly and the crawling contact surface to make the mobile robot quickly separate from the surface of the crawling contact surface, rotate the solenoid by the driving motor to extrude the bottom surface of the robot body, so that the bottom surface of the robot body is deformed, and a continuous traveling wave is generated by the continuous deformation of the bottom surface of the robot body to drive the mobile robot to move, so that the mobile robot can be hung upside down on the ceiling or the vertical wall and move.

[0025] Additional aspects and advantages of the present application will be in part apparent and in part pointed out hereinafter. BRIEF DESCRIPTION OF DRAWINGS

[0026] The above and / or additional aspects and advantages of the present application will become apparent and be readily appreciated from the following description, taken in conjunction with the accompanying drawings, in which:

[0027] Figure 1 FIG. 1 is a structural schematic diagram of a continuous adsorption and motion mobile robot according to an embodiment of the present application;

[0028] Figure 2 FIG. 4 is a structural schematic diagram of a driving assembly according to an embodiment of the present application;

[0029] Figure 3 FIG. 5 is a structural schematic diagram of a robot body according to an embodiment of the present application;

[0030] Figure 4 FIG. 6 is a structural schematic diagram of a main frame part of the robot body according to an embodiment of the present application;

[0031] Figure 5 Fig. 1 is a schematic diagram of a main body flexible part structure of an embodiment of the present application;

[0032] Figure 6 Fig. 2 is a schematic diagram of a constant pitch solenoid structure of an embodiment of the present application;

[0033] Figure 7 Fig. 3 is a schematic diagram of a variable pitch solenoid structure of an embodiment of the present application;

[0034] Figure 8 Fig. 4 is a front view of a robot in a natural state (without drive motor and connecting piece) of an embodiment of the present application;

[0035] Figure 9 Fig. 5 is a sectional view of a robot in a natural state (without drive motor and connecting piece) of an embodiment of the present application;

[0036] Figure 10 Fig. 6 is a sectional view of a robot in a suction state (without drive motor and connecting piece) of an embodiment of the present application.

[0037] Reference signs: 1 - robot main body, 11 - main body frame part, 12 - main body flexible part, 13 - through hole, 2 - drive assembly, 21 - solenoid, 22 - connecting piece, 23 - drive motor, 3 - suction assembly, 31 - air pressure interface, 32 - suction transition surface, 33 - suction sealing surface. DETAILED DESCRIPTION

[0038] Embodiments of the present application are described in detail below, examples of which are shown in the accompanying drawings, wherein the same or similar reference signs represent the same or similar elements or elements having the same or similar functions throughout. The embodiments described below by reference to the drawings are exemplary and are intended to explain the present application, and cannot be understood as limiting the present application.

[0039] Figure 1 Fig. 7 is a schematic diagram of a continuously suctioning and moving mobile robot structure of an embodiment of the present application.

[0040] As shown in Figure 1 Fig. 7, a continuously suctioning and moving mobile robot includes:

[0041] a robot main body 1;

[0042] a drive assembly 2, such as Figure 2As shown in the drawings, the driving assembly 2 comprises a solenoid 21, a connecting piece 22 and a driving motor 23, the driving motor 23 is fixed on one end of the connecting piece 22, the other end of the connecting piece 22 is fixed on the robot body 1, the output shaft of the driving motor 23 is fixed with the solenoid 21 through the connecting piece 22, the driving motor 23 is aligned with the central axis of the solenoid 21, the solenoid 21 passes through the through hole 13 on the robot body 1, the solenoid 21 is driven to rotate by the driving motor 23 to extrude the bottom surface of the robot body 1, so that the bottom surface of the robot body 1 is deformed, and a continuous traveling wave is generated by the continuous deformation of the bottom surface of the robot body 1 to drive the mobile robot to move;

[0043] The adsorption assembly 3 is connected with the bottom surface of the robot body 1 and extends outward, and is used for fixing the mobile robot by adsorbing the crawling contact surface of the mobile robot;

[0044] The air pressure controller (not shown in the drawings) is connected with the air pressure interface 31 on the adsorption assembly 3, and is used for adjusting the air pressure between the adsorption assembly 3 and the crawling contact surface and controlling the adsorption force between the adsorption assembly 3 and the crawling contact surface;

[0045] The power supply (not shown in the drawings) is connected with the driving assembly 2 and the air pressure controller, and is used for power supply.

[0046] In the embodiment of the present application, the power supply can be a storage battery or a power supply connected with the outside through a power supply line, and the specific limitation is not made.

[0047] In the embodiment of the present application, the air pressure controller can be an air pressure pump, and an air pressure detection sensor is arranged on the adsorption assembly to obtain the air pressure between the adsorption assembly and the crawling contact surface in real time.

[0048] In the embodiment of the present application, as shown in Figure 3 、 Figure 4 and Figure 5 The robot body 1 comprises a body frame part 11 and a body flexible part 12, the body frame part 11 and the body flexible part 12 are fixed to form a through hole 13, the diameter of the through hole 13 is smaller than the outer diameter of the solenoid 21, the solenoid 21 is placed in the through hole 13 and exists elastic extrusion, the Shore hardness of the body flexible part 12 is lower than the Shore hardness of the body frame part 11, the body flexible part 12 generates greater deformation than the body frame part 11 under the extrusion of the solenoid 21, and the solenoid 21 extrudes the body flexible part 12 outward to form a corrugated shape.

[0049] In the embodiment of the present application, as shown in Figure 1As shown in

[0050] Optionally, in an embodiment of the present application, the solenoid 21 is a constant pitch solenoid or a variable pitch solenoid, the variable pitch solenoid generates concentrated thrust at the pitch dense place.

[0051] In an embodiment of the present application, the solenoid 21 can be coated with lubricating oil to reduce the sliding friction between the solenoid 21 and the robot body 1.

[0052] As shown in Figure 6 and Figure 7 , the front view of the constant pitch solenoid and the variable pitch solenoid is shown. As shown in Figure 8 and Figure 9 , the front view and the cross-sectional view of the robot in the natural state are shown.

[0053] In an embodiment of the present application, the surface of the adsorption assembly 3 is coated with mineral lubricating oil as a lubricant, and can also be coated with a surfactant such as dishwashing liquid as a lubricant.

[0054] Further, the surface of the adsorption assembly 3 has a hydrogel coating, and water is added to the hydrogel coating to achieve lubrication.

[0055] In an embodiment of the present application, the robot body 1 and the adsorption assembly 3 are made of silicone rubber.

[0056] An embodiment of the present application also proposes a control method for a continuously adsorbing and moving mobile robot, for the continuously adsorbing and moving mobile robot of the above-mentioned embodiment.

[0057] The control method for the passive continuously adsorbing and moving mobile robot includes the following steps:

[0058] Step 11, block the air pressure interface on the adsorption assembly to maintain air tightness;

[0059] Step 12, contact the adsorption assembly with the crawling contact surface, and press down to squeeze out the air between the adsorption assembly and the crawling contact surface, as shown in Figure 10 ;

[0060] Step 13: Turn on the power supply, control the driving assembly to run, and use the driving motor to drive the solenoid to rotate to extrude the bottom surface of the robot body, so that the bottom surface of the robot body deforms, and a continuous traveling wave is generated through the continuous deformation of the bottom surface of the robot body to drive the mobile robot to move.

[0061] When the driving motor drives the solenoid to rotate, the bottom surface of the mobile robot deforms continuously to generate a continuous traveling wave to push the robot to move, while the robot remains in the adsorbed state. Thus, the robot can crawl forward or backward while maintaining the adsorbed state.

[0062] The control method of the mobile robot with continuous adsorption and motion includes the following steps:

[0063] Step 21: Connect the air pressure interface on the adsorption assembly to the air pressure controller.

[0064] Step 22: Connect the adsorption assembly to the crawling contact surface, turn on the power supply, start the air pressure controller to generate negative pressure between the adsorption assembly and the crawling contact surface, and adjust the adsorption force of the mobile robot adsorbed to the crawling contact surface.

[0065] Step 23: Control the driving assembly to run, and use the driving motor to drive the solenoid to rotate to extrude the bottom surface of the robot body, so that the bottom surface of the robot body deforms, and a continuous traveling wave is generated through the continuous deformation of the bottom surface of the robot body to drive the mobile robot to move.

[0066] Thus, the mobile robot can crawl forward or backward while maintaining the adsorbed state, and additional load capacity is provided. If the mobile robot needs to be detached, the air pressure controller generates positive air pressure to achieve detachment.

[0067] Further, in order to reduce sliding friction, a lubricant is applied between the adsorption assembly and the crawling contact surface.

[0068] The mobile robot with continuous adsorption and motion and the control method thereof according to the embodiments of the present application achieve the adsorption and detachment of the robot on various surfaces through passive and active adsorption, use the driving motor to drive the solenoid to rotate to extrude the bottom surface of the robot body, so that the bottom surface of the robot body deforms, and a continuous traveling wave is generated through the continuous deformation of the bottom surface of the robot body to drive the mobile robot to move, achieving smooth and continuous motion of the robot. The robot can be hung upside down on the ceiling or vertical wall and move.

[0069] In the description of the specification, the description of the terms "one embodiment", "some embodiments", "an example", "a specific example", or "some examples" etc. means that the specific features, structures, materials or characteristics described in connection with the embodiment or example are included in at least one embodiment or example of the present application. In the description of the specification, the illustrative description of the above terms does not necessarily refer to the same embodiment or example. Moreover, the specific features, structures, materials or characteristics described can be combined in any appropriate manner in any one or N embodiments or examples. In addition, the person skilled in the art can combine and combine the different embodiments or examples described in the specification and the features of the different embodiments or examples, without contradiction.

[0070] In addition, the terms "first", "second" are only for descriptive purposes and cannot be understood as indicating or implying relative importance or implicitly indicating the number of the technical features indicated. Therefore, the features defined with "first", "second" can explicitly or implicitly include at least one of the features. In the description of the present application, the meaning of "N" is at least two, for example, two, three, etc., unless otherwise specifically limited.

Claims

1. A mobile robot of continuous adsorption and motion, characterized by, The robot body includes: A drive assembly including a solenoid, a connecting piece and a drive motor, the drive motor is fixed at one end of the connecting piece, the other end of the connecting piece is fixed on the robot body, the output shaft of the drive motor is fixed with the solenoid through the connecting piece, the drive motor is aligned with the central axis of the solenoid, the solenoid passes through the through hole on the robot body, the drive motor drives the solenoid to rotate to extrude the bottom surface of the robot body, so that the bottom surface of the robot body is deformed, and the continuous traveling wave is generated by the continuous deformation of the bottom surface of the robot body to drive the mobile robot to move; An adsorption assembly connected with the bottom surface of the robot body and extending outward, used to fix the mobile robot by adsorbing the crawling contact surface of the mobile robot; A gas pressure controller connected with the gas pressure interface on the adsorption assembly, used to adjust the gas pressure between the adsorption assembly and the crawling contact surface, and control the adsorption force between the adsorption assembly and the crawling contact surface; A power supply connected with the drive assembly and the gas pressure controller, used for power supply. The robot body includes a body frame part and a body flexible part, the body frame part and the body flexible part are fixed to form a through hole, the diameter of the through hole is smaller than the outer diameter of the solenoid, the solenoid is placed in the through hole and is elastically extruded, the Shore hardness of the body flexible part is lower than that of the body frame part, the body flexible part deforms more than the body frame part under the extrusion of the solenoid, and the solenoid extrudes the body flexible part outward to form a corrugated shape.

2. The mobile robot of claim 1, wherein, The adsorption assembly includes a gas pressure interface, an adsorption transition surface and an adsorption sealing surface, the adsorption sealing surface is connected with the bottom surface of the robot body through the adsorption transition surface, the adsorption sealing surface and the adsorption transition surface are not in the same plane, the gas pressure interface is arranged on the adsorption transition surface and penetrates through the adsorption transition surface, and the gas pressure interface is connected with the gas pressure controller through a gas pipe.

3. The mobile robot of claim 1, wherein, The solenoid is a constant pitch solenoid or a variable pitch solenoid, and the variable pitch solenoid generates concentrated thrust at the pitch dense place.

4. The mobile robot of claim 1, wherein, The surface of the adsorption assembly is smeared with a lubricant.

5. The mobile robot according to claim 1, characterized in that: The solenoid is smeared with a lubricant.

6. The mobile robot of claim 1, wherein, The control method includes the following steps:

7. A control method of a continuously adsorbing and moving mobile robot for the continuously adsorbing and moving mobile robot according to any one of claims 1 to 6, characterized by, Step 11, block the gas pressure interface on the adsorption assembly; Step 12, contact the adsorption assembly with the crawling contact surface, and press down to extrude the air between the adsorption assembly and the crawling contact surface; Step 13: turn on the power supply, control the drive assembly to run, drive the solenoid to rotate by the drive motor to extrude the bottom surface of the robot body, so that the bottom surface of the robot body is deformed, and the continuous traveling wave is generated by the continuous deformation of the bottom surface of the robot body to drive the mobile robot to move. The control method includes the following steps:

8. A control method of a continuously adsorbing and moving mobile robot for the continuously adsorbing and moving mobile robot according to any one of claims 1 to 6, characterized by, Step 21, connect the gas pressure interface on the adsorption assembly with the gas pressure controller; ​ Step 22, contact the adsorption assembly with the crawling contact surface, turn on the power supply, start the air pressure controller to generate negative pressure between the adsorption assembly and the crawling contact surface, and adjust the adsorption force of the mobile robot adsorbed to the crawling contact surface; Step 23: control the driving assembly to run, drive the solenoid to rotate by the driving motor to extrude the bottom surface of the robot body, so that the bottom surface of the robot body deforms, and a continuous traveling wave is generated by the continuous deformation of the bottom surface of the robot body to drive the mobile robot to move.

Images