Flexible variable shrinkage tool body intelligent robot based on space folding and advancing method

Abstract

The invention provides a flexible variable shrinkage tool body intelligent robot based on space folding and an advancing method, and belongs to the technical field of intelligent robots. The robot comprises a vehicle body, antenna sensors, a controller, a driving motor, a balance mechanism and at least one pair of variable and retractable wheels, the variable and retractable wheels are arranged on the two sides of the vehicle body respectively, the driving motor is in transmission connection with the variable and retractable wheels, and the antenna sensors are led out to be arranged on the front portion of the vehicle body and symmetrically arranged relative to the center line of the vehicle body. The antenna sensor is connected with the controller, a steering engine connected with the controller is arranged on the variable and retractable wheel, and the controller is configured to detect front obstacles based on the antenna sensor, control the driving motor to drive the variable and retractable wheel to advance and control the steering engine to drive the variable and retractable wheel to stretch out and draw back the wheel diameter. The self posture can be flexibly adjusted by sensing the environment in the advancing direction, and the passing success rate and stability are improved.

Description

Technical Field

[0001] The present invention relates to the technical field of intelligent robots, and in particular to a flexible and retractable intelligent robot based on space folding and a moving method. Background Art

[0002] Combining the complex structural mechanics of origami has become a new field in robotics. In origami robots, the complex structure of origami is combined with the precise control system of the motor to realize the entire system. In recent years, origami technology has been widely used in the field of robotics due to its good scalability and rapid response capabilities. Traditional robots usually use rigid structures, which limits their flexibility in unstructured environments. Origami structures can achieve complex morphological changes through simple folding and unfolding, allowing robots to better adapt to different task requirements.

[0003] In the related technology, the current origami robots are mostly car-type, and most of the car-type origami robots are further modified in wheel deformation, diameter change, and wheel leg change. By changing the wheelbase and wheel height according to the actual environment, functions such as turning over obstacles that cannot be passed or the overall height is too high can be achieved.

[0004] However, in the existing origami robot, although the wheel structure has an adjustable function, in the actual shrinking process, it is often only used in its fully folded or fully stretched state, which makes it difficult to adapt and flexibly shrink according to the real-time working scene, resulting in rollover, jamming or structural damage, which leads to obstacles in movement. During the transformation and experiment process, it was found that the transformation using the intermediate state between the folded state and the stretched state has the problems of low robustness, short life and high failure rate, and it is difficult to accurately control according to the actual working scene. Summary of the invention

[0005] The embodiment of the present invention provides a flexible and scalable intelligent robot based on space folding and a traveling method, which can flexibly adjust its own posture by sensing the environment in the traveling direction, thereby improving the success rate and stability of the passage. The technical solution is as follows:

[0006] In a first aspect, an embodiment of the present invention provides a flexible and scalable intelligent robot based on space folding, comprising:

[0007] Car body, antenna sensor, controller, drive motor, balancing mechanism, retractable wheels,

[0008] The retractable wheels are provided with at least one pair, which are respectively arranged on both sides of the vehicle body. The drive motor and the controller are arranged on the vehicle body. The drive motor is connected to the retractable wheels in a transmission connection. The feeler sensor is led out and arranged at the front of the vehicle body and is symmetrically arranged with respect to the center line of the vehicle body. The feeler sensor is connected to the controller. The retractable wheels are provided with a servo connected to the controller. The controller is configured to detect obstacles ahead based on the feeler sensor, control the drive motor to drive the retractable wheels to move forward, and control the servo to drive the retractable wheels to extend and retract the wheel diameter.

[0009] Optionally, the retractable wheel includes a wheel hub, a limit adjustment frame, a telescopic wheel rim and an adjusting shaft, the wheel hub is drivingly connected to the drive motor, a guide member is connected inside the wheel hub, a plurality of telescopic grooves are arranged radially along the wheel hub, and a plurality of telescopic wheel rims are provided corresponding to the telescopic grooves, the telescopic wheel rim includes a wheel rim matching the outer ring of the wheel hub and a telescopic rod connected to the inner arc of the wheel rim, the telescopic rod is slidably installed in the telescopic groove, the limit adjustment frame is coaxially arranged with the wheel hub and is rotatably connected to the wheel hub through the adjusting shaft, the adjusting shaft is transmission connected to the steering gear, the limit adjustment frame is provided with a plurality of spiral through grooves which are radially arranged and extend outward from the center, and the telescopic rod is provided with a transmission protrusion extending into the spiral through groove.

[0010] Optionally, the guide members, the limit adjustment frames matched with the guide members, and the telescopic wheel edges are provided in multiple groups, and the guide members in the multiple groups are coaxially arranged in parallel along the extension direction of the adjustment shaft.

[0011] Optionally, the guide members in two adjacent groups are arranged to be deflected at a preset angle around the circumference of the adjustment shaft.

[0012] Optionally, the outer arc of the wheel edge is protruding with hook claws.

[0013] Optionally, the feeler sensor is connected to the vehicle body via a connecting rod, and the feeler of the feeler sensor is spherical.

[0014] Optionally, a steering wheel is provided on the vehicle body, and the connecting rod is rotatably connected to the steering wheel.

[0015] Optionally, it also includes a universal wheel, which is extended and arranged at the rear of the vehicle body.

[0016] In a second aspect, an embodiment of the present invention provides a traveling method, which is implemented based on the flexible and variable-shrinkable intelligent robot based on space folding described in the first aspect, and includes:

[0017] Step 1: collecting detection signals of the two antenna sensors in front of the vehicle body, and comparing the detection signals with a preset threshold value to convert analog signals into digital signals;

[0018] Step 2: Based on the digital signal, make a real-time decision through the “pseudo-OR and NAND gate” logic:

[0019] When the output of the antenna sensor on only one side is 1, it is determined to be a "pseudo-OR gate" trigger;

[0020] When the antenna sensors on both sides output 1 at the same time, it is determined that the "pseudo-AND gate" is triggered;

[0021] When the outputs of the antenna sensors on both sides are 0, it is determined that there is no obstacle;

[0022] Step 3: According to the determination result of step 2, the steering gears and driving motors of the left and right retractable wheels are differentially controlled or synchronously controlled:

[0023] When the "pseudo-OR gate" is triggered, the wheel diameter of the retractable wheel on one side is controlled to increase and the differential steering is coordinated to achieve obstacle avoidance;

[0024] When the "pseudo-AND gate" is triggered, the wheel diameters of the retractable wheels on both sides are simultaneously increased and driven forward to complete the overtaking action;

[0025] In the absence of obstacles, normal cruising mode is maintained.

[0026] Optionally, the step 2 includes:

[0027] The step 2 further comprises:

[0028] When the output of the antenna sensor on only one side is 1, the signal of the antenna sensor on this side is ORed with the signal of the antenna sensor on the other side to obtain a "pseudo-OR" trigger, and an obstacle avoidance control instruction is generated according to the "pseudo-OR" trigger signal;

[0029] When the outputs of the antenna sensors on both sides are both 1, the signals of the two antenna sensors are operated by an AND gate to obtain a "pseudo AND gate" trigger, and a crossing control instruction is generated according to the "pseudo AND gate" trigger signal;

[0030] When the outputs of the antenna sensors on both sides are both 0, the normal cruise command is maintained.

[0031] Optionally, step 3 also includes a retry process when the climb-over fails, specifically including:

[0032] After the "pseudo-AND gate" is triggered, the retractable wheels on both sides are controlled to increase their wheel diameters and drive forward at the same time. If the overtaking is not completed within the preset time, it is determined that the overtaking has failed;

[0033] If the overtaking fails, the diameter of the retractable wheels on both sides is controlled to be reduced and the vehicle is reversed, and the differential drive is readjusted according to a random or preset steering angle to try to avoid obstacles and bypass;

[0034] If the crossing is successful, a crossing success signal is output, and the wheel diameter of the variable-retractable wheel is controlled to be adjusted to a normal cruising mode.

[0035] The beneficial effects brought about by the technical solution provided by the embodiment of the present invention include at least:

[0036] The flexible and retractable embodied intelligent robot based on space folding provided by the embodiment of the present invention combines the concept of embodied intelligence with the concept of embodied intelligence, and detects obstacles in front in real time by respectively arranging antenna sensors on the left and right sides of the front of the vehicle body. The controller of the integrated chip or the host computer performs environmental cognition and decision-making according to the detected obstacle information. The drive motor is controlled to drive the vehicle body forward and backward based on the control logic of the pseudo-AND-OR gate, and the wheel diameter of the retractable wheels on both sides is adaptively retracted in cooperation with the steering gear to achieve obstacle avoidance or climbing over obstacles. The environment in the direction of travel is perceived to flexibly adjust the posture of the robot, thereby improving the success rate and stability of passage. BRIEF DESCRIPTION OF THE DRAWINGS

[0037] In order to more clearly illustrate the technical solutions in the embodiments of the present invention, the following briefly introduces the drawings required for use in the description of the embodiments. Obviously, the drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without creative work.

[0038] Figure 1 1 is a schematic diagram of the overall structure of a flexible, variable-shrinkable intelligent robot based on space folding provided by an embodiment of the present invention;

[0039] Figure 2 is a structural schematic diagram of one side of a retractable wheel provided by an embodiment of the present invention in a folded state;

[0040] Figure 3 is a schematic structural diagram of the other side of a retractable wheel in a folded state provided by an embodiment of the present invention;

[0041] Figure 4 is a structural schematic diagram of one side of a retractable wheel in an extended state provided by an embodiment of the present invention;

[0042] Figure 5 is a schematic structural diagram of the other side of a retractable wheel in an extended state provided by an embodiment of the present invention;

[0043] Figure 6 is a schematic diagram of the internal structure of a retractable wheel provided by an embodiment of the present invention in a folded state;

[0044] Figure 7 yes Figure 6 A schematic diagram of the structure of the middle retractable wheel after the guide member is removed;

[0045] Figure 8 yes Figure 7 A schematic diagram of the structure of the middle retractable wheel in a stretched state;

[0046] Fig. 9 is a schematic structural diagram of a wheel hub provided by an embodiment of the present invention;

[0047] Fig.10 is a schematic structural diagram of a limit adjustment frame provided in an embodiment of the present invention;

[0048] Fig.11 is a schematic structural diagram of a telescopic wheel rim provided by an embodiment of the present invention;

[0049] Fig.12 is a schematic structural diagram of another telescopic wheel edge provided by an embodiment of the present invention;

[0050] Fig.13 is a schematic structural diagram of a guide member provided by an embodiment of the present invention;

[0051] Fig.14 is a schematic diagram of the structure of the antenna sensor provided by an embodiment of the present invention;

[0052] Fig.15 is a hardware circuit diagram of an embodied intelligent robot provided by an embodiment of the present invention;

[0053] Fig.16 is a flowchart of the underlying hardware control of the embodied intelligent robot provided by an embodiment of the present invention;

[0054] Fig.17 is a sensor signal circuit diagram provided by an embodiment of the present invention;

[0055] Fig.18 It is a flow chart of the traveling method provided by an embodiment of the present invention.

[0056] In the figure:

[0057] 1-body; 2-antenna sensor; 3-controller; 4-drive motor; 5-retractable wheel; 6-universal wheel; 11-steering wheel; 21-connecting rod; 51-servo; 52-wheel hub; 53-limit adjustment frame; 54-telescopic wheel edge; 55-adjusting shaft; 56-guide; 56a-connecting arm; 521-wheel edge through groove; 531-spiral through groove; 541-wheel edge; 542-telescopic rod; 543-transmission protrusion; 544-hook; 561-telescopic groove. DETAILED DESCRIPTION

[0058] To make the objectives, technical solutions and advantages of the present invention more clear, the embodiments of the present invention will be further described in detail below with reference to the accompanying drawings.

[0059] Embodied Artificial Intelligence (EAI) is an intelligent system that perceives and acts based on physical entities. It acquires information, understands problems, makes decisions and performs actions through the interaction between the intelligent agent and the environment, thereby demonstrating intelligent behavior and adaptability. Traditional artificial intelligence usually relies on abstract symbolic calculations, while embodied intelligence emphasizes the realization of cognition through the perception, movement and interaction of the physical body with the external environment. The present invention combines embodied intelligence with a flexible and shrinkable origami robot, which can flexibly adjust its own posture by interacting and perceiving the environment in the direction of travel, thereby improving the success rate and stability of the passage. The problem in the prior art that origami robots are difficult to accurately control according to actual working scenarios is solved.

[0060] Figure 1 1 is a schematic diagram of the overall structure of a flexible, variable-shrinkable intelligent robot based on space folding provided by an embodiment of the present invention; Figure 2 is a structural schematic diagram of one side of a retractable wheel provided by an embodiment of the present invention in a folded state; Figure 3 is a schematic structural diagram of the other side of a retractable wheel in a folded state provided by an embodiment of the present invention; Figure 4 is a structural schematic diagram of one side of a retractable wheel in an extended state provided by an embodiment of the present invention; Figure 5 is a schematic structural diagram of the other side of a retractable wheel in an extended state provided by an embodiment of the present invention; Figure 6 is a schematic diagram of the internal structure of a retractable wheel provided by an embodiment of the present invention in a folded state; Figure 7 yes Figure 6 A schematic diagram of the structure of the middle retractable wheel after the guide member is removed; Figure 8 yes Figure 7 A schematic diagram of the structure of the middle retractable wheel in a stretched state; Fig. 9 is a schematic structural diagram of a wheel hub provided by an embodiment of the present invention; Fig.10is a schematic structural diagram of a limit adjustment frame provided in an embodiment of the present invention; Fig.11 is a schematic structural diagram of a telescopic wheel rim provided by an embodiment of the present invention; Fig.12 is a schematic structural diagram of another telescopic wheel edge provided by an embodiment of the present invention; Fig.13 is a schematic structural diagram of a guide member provided by an embodiment of the present invention;

[0061] Fig.14 is a schematic diagram of the structure of the antenna sensor provided by an embodiment of the present invention; Fig.15 is a hardware circuit diagram of an embodied intelligent robot provided by an embodiment of the present invention; Fig.16 is a flowchart of the underlying hardware control of the embodied intelligent robot provided by an embodiment of the present invention; Fig.17 : is a sensor signal circuit diagram provided by an embodiment of the present invention. Figures 1 to 17 As shown, an embodiment of the present invention provides a flexible and retractable intelligent robot based on space folding, including a body 1, a tentacle sensor 2, a controller 3, a drive motor 4 and retractable wheels 5.

[0062] Among them, at least one pair of retractable wheels 5 are provided, which are respectively provided on both sides of the vehicle body 1. The drive motor 4 and the controller 3 are provided on the vehicle body 1, and the drive motor 4 is connected to the retractable wheels 5 in a transmission connection. The feeler sensor 2 is led out and provided at the front of the vehicle body 1, and is arranged symmetrically relative to the center line of the vehicle body 1, and the feeler sensor 2 is connected to the controller 3. The retractable wheels 5 are provided with a steering gear 51 connected to the controller 3, and the controller 3 is configured to detect obstacles ahead based on the feeler sensor 2, and control the drive motor 4 to drive the retractable wheels 5 to move forward, and control the steering gear 51 to drive the retractable wheels 5 to extend and retract the wheel diameter.

[0063] In an embodiment of the present invention, the embodied intelligent robot is in the shape of a small car as a whole, and its body 1 carries electronic equipment such as a tentacle sensor 2, a controller 3 and a drive motor 4. Among them, there are at least two drive motors 4, which independently control the retractable wheels 5 on both sides. The number of retractable wheels 5 can be changed according to actual needs. In this embodiment, two are provided, and a universal wheel 6 is provided at the rear of the body 1 through a connecting rod to assist the support and movement of the overall structure by the rear of the body 1 to ensure stability during travel and steering. When the embodied intelligent robot is working, it uses the tentacle sensor 2 led to the front of the body 1 to detect the obstacles ahead in the direction of travel. There are two tentacle sensors 2 symmetrically arranged along the center line of the body 1, and their detection ranges cover the left and right sides of the front of the body 1 respectively.

[0064] During the traveling process, if the two feeler sensors 2 do not touch any obstacle, the controller 3 is used to control the drive motor 4 to drive the retractable wheel 5 to rotate, so as to achieve normal traveling.

[0065] When only the unilateral feeler sensor 2 detects an obstacle, the controller 3 receives the information from the feeler sensor 2, and uses the controller 3 to control the steering gear 51 on the unilateral retractable wheel 5 to work, drive the retractable wheel 5 on this side to extend and reduce its diameter, and cooperate with the drive motor 4 to drive the retractable wheel 5 to rotate, so as to achieve forward or backward steering to avoid obstacles. For example, when the outer side of the contact of the feeler sensor 2 on the left side detects an obstacle, the controller 3 determines that the obstacle is located in front of the retractable wheel 5 on the left side of the vehicle body 1 and is close to the outside. At this time, it can be avoided by turning right. Therefore, the steering gear 51 is used to drive the wheel diameter of the retractable wheel 5 on the left side to increase, and cooperates with the drive motor 4 to drive the retractable wheel 5 to rotate in the forward direction, so as to achieve the vehicle body moving forward as a whole while turning to the right to avoid obstacles. When an obstacle is detected by the inner side of the contact of the antenna sensor 2, the controller 3 determines that the obstacle is located directly in front of the vehicle body 1. At this time, there may be a problem of insufficient forward turning space, so the wheel diameter of the retractable wheel 5 on either side is driven to increase, and the drive motor 4 is cooperated to drive the retractable wheel 5 to rotate in the opposite direction. The two retractable wheels 5 have the same angle but different wheel diameters, that is, it is possible to achieve steering to avoid obstacles while retreating. After retreating and turning a certain distance, it can return to the center and go straight through the obstacle from one side.

[0066] When both antenna sensors 2 detect obstacles, the controller 3 determines that the obstacle is large in size, and it is difficult to avoid the obstacle by simply turning forward and backward, so an attempt to climb over it will be executed. At this time, the controller 3 controls the steering gear 51 on the retractable wheels 5 on both sides to drive the wheel diameters of the retractable wheels 5 on both sides to increase at the same time, and cooperates with the drive motor 4 to drive the retractable wheels 5 to rotate forward to drive the whole forward, using the advantage of the larger wheel diameter to move forward with a larger torque, completing the climbing-type climbing action to cross the obstacle.

[0067] The flexible and retractable embodied intelligent robot based on space folding provided by the embodiment of the present invention is based on the traditional origami robot, which uses the origami structure to realize the shrinkage of the wheel diameter. In combination with the concept of embodied intelligence, antenna sensors 2 are respectively arranged on the left and right sides of the front of the vehicle body 1 to detect the obstacles in front in real time, and the controller 3 of the integrated chip or the host computer is used to perform environmental cognition and decision-making according to the detected obstacle information. Based on the control logic of the pseudo-AND-OR gate, the drive motor 4 is controlled to drive the vehicle body 1 forward and backward, and the wheel diameter of the retractable wheels 5 on both sides is adaptively retracted in cooperation with the steering gear 51 to achieve obstacle avoidance or climbing over obstacles, and the environment in the direction of travel is perceived to flexibly adjust the posture of the robot, thereby improving the success rate and stability of passage.

[0068] It should be noted that, in the embodiment of the present invention, based on the sensing information of the antenna sensor 2, the controller 3 controls the embodied intelligent robot based on the control logic thinking of pseudo-gating. In the field of robot decision-making, the control logic of pseudo-gating has the following advantages:

[0069] Since the control logic is simple and effective, it does not require a high-energy hardware platform, and the control is simple and effective. In the processing of sudden states, due to the simplicity of control, feedback can be provided with low latency. Therefore, it has certain advantages in working conditions of complex terrain with simple and long endurance. However, various transformer-based decision models have certain thresholds in computing power requirements and latency, and their performance is average in comparison. Therefore, it is necessary to consider simple, reliable, and low-latency control systems such as logic gates, and then work on the adaptation principle of the control logic of pseudo-gating.

[0070] Adaptation of sensing information to gate logic: The antenna sensor 2 in the system uses a piezoresistor as the basic sensor form, so the sensor needs to be simplified from an analog signal to a digital logic signal before performing the gate logic. Therefore, the threshold value when the sensor senses a collision is used as the basis for triggering the digital logic.

[0071] In order to adapt the robot's actions to the gate control logic, the robot has two types of action groups under this control logic: 1) trying to bypass the obstacle in front 2) trying to climb over the obstacle in front.

[0072] For the perception-decision-execution cycle, the above perception principle is connected in series with the execution action group, and action group 1) is used as an OR gate state (where one of the tentacle sensors 2 is activated) to execute the action, and action group 2) is used as an AND gate state (when the tentacle sensors 2 on both sides are activated) to execute the action.

[0073] Optionally, the retractable wheel 5 includes a wheel hub 52, a limit adjustment frame 53, a telescopic wheel edge 54 and an adjusting shaft 55. The wheel hub 52 is drivingly connected to the drive motor 4. A guide member 56 is connected inside the wheel hub 52. The guide member 56 is provided with a plurality of telescopic grooves 561 arranged radially along the wheel hub 52. The telescopic wheel edge 54 is provided with a plurality of corresponding telescopic grooves 561. The telescopic wheel edge 54 includes a wheel edge 541 matching the outer ring of the wheel hub 52 and a telescopic rod 542 connected to the inner arc of the wheel edge 541. The telescopic rod 542 is slidably installed in the telescopic groove 561. The limit adjustment frame 53 is coaxially arranged with the wheel hub 52 and is rotatably connected to the wheel hub 52 through the adjusting shaft 55. The adjusting shaft 55 is drivingly connected to the steering gear 51. The limit adjustment frame 53 is provided with a plurality of spiral through grooves 531 arranged radially and extending outward from the center. The telescopic rod 542 is provided with a transmission protrusion 543 extending into the spiral through groove. Exemplarily, in an embodiment of the present invention, the structure of the retractable wheel 5 is based on the magic-ball origami structure in the field of space folding, and the folding action is optimized, and only the axial retractability of the drive shaft of the drive motor 4 is retained to achieve wheel diameter change. The outer frame of the retractable wheel 5 is composed of an annular hub 52 with a certain thickness in the axial direction, and a guide member 56 is nested inside. The guide member 56 has a through hole coaxial with the hub 52 at the center, and is composed of a plurality of interconnected connecting arms 56a extending radially from the center to the outside along the hub 52, and the ends of the plurality of connecting arms 56a are integrally connected to the hub 52. Each connecting arm 56a is provided with a telescopic groove 561, and a telescopic wheel edge 54 is installed on each corresponding connecting arm 56a. The telescopic wheel edge 54 is movably connected to the corresponding telescopic groove 561 through a telescopic rod 542, and can be telescopically slid relative to the connecting arm 56a.

[0074] When in the initial state, the telescopic rod 542 is completely stored in the telescopic groove 561. At this time, the wheel edge 541 just extends out from the wheel edge through groove 521 correspondingly opened on the outer wall of the wheel hub 52. The wheel edge 541 is arc-shaped. When multiple wheel edges 541 follow the telescopic rod 542 in the stored state, their extensions are the same as the curvature of the outer wall of the wheel hub 52, that is, in the initial state, the outer arc surface of the wheel edge 541 as a whole forms an arc parallel to the outer side surface of the wheel hub 52, and the wheel radius of the telescopic wheel 5 is the distance from the outer arc surface of the wheel edge 541 to the center of the wheel hub at this time.

[0075] A limit adjustment frame 53 is also provided in the wheel hub 52 in coordination with the guide member 56. The limit adjustment frame 53 is coaxially arranged with the wheel hub 52 and is rotatably connected with the wheel hub 52 through an adjustment shaft 55 passing through the central through hole of the guide member 56. The adjustment shaft 55 is transmission-connected with the steering gear 51, that is, under the power supply of the steering gear 51, the limit adjustment frame 53 can follow the rotation of the adjustment shaft 55 and independently rotate relative to the guide member 56 in the wheel hub 52. The limit adjustment frame 53 is provided with a plurality of radially arranged spiral grooves 531 extending outward from the center, corresponding to a plurality of connecting arms 56a one by one, and a transmission protrusion 543 extending into the spiral groove is provided on the telescopic rod 542 in each connecting arm 56a. By driving the limit adjustment frame 53 to rotate, the position where the spiral groove 531 intersects with the corresponding telescopic groove 561 is also changed during the rotation process. When the intersection position gradually moves outward from the center of the limit adjustment frame 53, the transmission protrusion 543 embedded in the spiral groove will also be pushed, thereby driving the telescopic wheel edge 54 to extend outward along the telescopic groove 561, thereby expanding the wheel diameter of the retractable wheel 5. The two ends of the spiral groove 531 in the extension direction can realize the travel limit of the telescopic wheel edge 54 to prevent the telescopic wheel edge 54 from being separated from the guide member 56. Through this transmission structure, after receiving the control command of the controller 3, the steering gear 51 can be used to change the shaft rotation angle of the adjustment shaft 55 to adjust the extension and retraction degree of the retractable wheel 5 to adapt to different driving and obstacle avoidance conditions, and improve the robustness and control accuracy of the intermediate state transformation between the folded state and the stretched state of the retractable wheel 5 of the origami structure.

[0076] For example, in the embodiment of the present invention, there is a physical mapping relationship between the radius change of the variable retractable wheel 5 achieved by retracting the retractable wheel edge 54 and the angular displacement of the adjusting shaft 55, and the relationship is as follows:

[0077]

[0078] Wherein Δθ is the angular displacement offset angle of the adjustment shaft 55, r is the wheel radius of the variable retractable wheel 5, x1, y1 are the coordinates of the center of the motion path (arc) designed for the transmission component, that is, the coordinates of the movement path of the transmission protrusion 543 on the retractable wheel edge 54 extending into the spiral groove 531, and R is the radius of the arc.

[0079] Next is the design of the circuit part of the component. Since the control quantity is relatively simple and only requires simple position control, a servo motor such as a steering gear 51 is used to control the rotation angle of the shaft 55 to control the extension degree of the retractable wheel 5. Secondly, since the connection problem of each component of the robot needs to be considered, the control of this part needs to be in the form of wireless Bluetooth control, so this circuit part needs to have a built-in independent power supply as the motor drive and system power supply.

[0080] Therefore, the circuit part of the variable retractable wheel body 5 is composed of a basic power supply (independent battery), MCU main control, and Bluetooth module. The software part main control obtains the predetermined position information and related control instructions from the controller 3 on the vehicle body 1 through the Bluetooth module, and controls the steering engine 51 to drive accordingly. The above circuit and main control component parts are all set on the side cover of the hub 52 of the variable retractable wheel 5 away from the vehicle body 1, refer to Figure 3 and Figure 5 The cover plate with multiple mounting slots is shown in FIG. 1 , and the cover plate on the side of the wheel hub 52 close to the vehicle body is used to connect with the transmission shaft of the corresponding drive motor 4, refer to FIG. Figure 2 and Figure 4 A cover plate with a transmission shaft connection hole is arranged in the middle.

[0081] Optionally, the guide member 56 and the position limiting adjustment frame 53 and the telescopic wheel edge 54 matched with the guide member 56 may be provided in multiple groups, and the guide members 56 in the multiple groups are coaxially arranged in parallel along the extension direction of the adjustment shaft 55. For example, in the embodiment of the present invention, multiple groups of retractable structures composed of the guide member 56 and the matching position limiting adjustment frame 53 and the telescopic wheel edge 54 are axially arranged on the wheel hub 52 with a certain axial thickness. The position limiting adjustment frames 53 in the multiple groups are synchronously driven by an adjustment shaft 55, so that the telescopic wheel edges 54 in the multiple groups can be synchronously extended from the corresponding wheel edge through grooves 521. After the wheel diameter of the retractable wheel 5 is increased, it can contact the ground or obstacles through multiple telescopic wheel edges 54, thereby increasing the contact area and support stability, and further improving the success rate and stability of the passage.

[0082] Optionally, the guide members 56 in two adjacent groups are arranged with a preset angle of deflection around the circumference of the adjustment shaft 55. Exemplarily, in the embodiment of the present invention, the guide member 56 includes 6 connecting arms 56a arranged at equal angles, and in the axial direction of the wheel hub 52, three guide members 56 are coaxially arranged inside, and there is a 30° deflection angle between two adjacent guide members 56, that is, there is no angle deviation between the guide members 56 on both sides, and the guide member 56 located in the middle has a 30° deflection angle relative to the guide members 56 on both sides. The staggered arrangement with a certain deflection angle can reduce the gap between the wheel edges 541 that are in contact with the ground or obstacles after the telescopic wheel edge 54 is extended, and after ensuring that the wheel diameter is increased as much as possible, the wheel diameter outer edge contact surface can be evenly filled with enough wheel edges 54 to contact the ground or obstacles, further improving the contact area and support stability.

[0083] Optionally, the outer arc of the wheel edge 541 is protrudingly provided with a hook 544. Exemplarily, in another possible implementation of the embodiment of the present invention, by protrudingly arranging a hook 544 structure on the outer arc surface of the wheel edge 541 for contacting the ground or an obstacle, the retractable wheel 5 can hook the edge of the obstacle through the hook 544 when performing a climbing condition, which is conducive to climbing over and improving the success rate of climbing over obstacles.

[0084] Optionally, the antenna sensor 2 is connected to the vehicle body 1 via a connecting rod 21, and the contact of the antenna sensor 2 is spherical. Exemplarily, in an embodiment of the present invention, the contact end of the antenna sensor 2 is led out to a specified distance in front of the vehicle body 1 via a connecting rod 21 of a preset length, leaving a margin for turning after sensing an obstacle. The connecting rod 21 can be connected to a steering wheel 11 correspondingly arranged on the vehicle body 1. Driven by the steering wheel 11 connected to the servo 51, the connecting rod 21 can be horizontally rotated to a certain extent to adjust the lead-out direction of the antenna sensor 2 and expand the detection range. Furthermore, the contact of the antenna sensor 2 itself also adopts the following method: Fig.14 The hemispherical trigger point shown ensures all-round contact with possible obstacles in the surroundings. After contact and extrusion, the cone-shaped structure connected to the rear squeezes the varistor provided in cooperation to generate an induction signal, thereby ensuring detection accuracy.

[0085] Exemplarily, in the embodiment of the present invention, the control process based on pseudo-gating can refer to the following table:

[0086]

[0087] The various data in the table have specific physical meanings. x / x represents whether the piezoresistors on both sides sense a collision. 1 represents yes and 0 represents no. The contact of the feeler sensor 2 is used in the following signal processing: Fig.17 The signal amplifier shown in the figure is very suitable for the specific scenario of whether a collision occurs. At the same time, a low-pass filter is used in the code to filter out high-frequency components, reduce signal fluctuations, and ensure the stability of the signal processing process.

[0088] refer to Fig.17 In the actual machine measurement, after actual machine testing, when the collision occurs, the sensor signal is as high as 500mv, so 500mv is determined as the threshold voltage of the collision signal. Then the analog signal is converted into a digital signal as the signal input of the pseudo-gating control logic mentioned above, so the voltage greater than the threshold is digital logic "1", and less than the threshold is digital logic "0".

[0089] For example, in the embodiment of the present invention, the drive motor 4 adopts a brushless motor, and its hardware part uses the following Fig.15 The drive circuit shown is used as a drive unit, and the motor sensor is used as shown in FIG. Fig.15 The circuit on the right collects the current signal on the drive line and uses a magnetic induction encoder to sense the position of the motor shaft. The motor control software is divided into the underlying hardware control, sensor information feedback, and PID control parts, such as Fig.16 As shown in the process.

[0090] The underlying hardware control is to control the DRV8313 to control the brushless motor. The software level is based on the V output of the two current loops. q ,V d After the two parameters and the current electrical angle are inversely transformed into a space vector wave, the V a ,V b ,V c Calculate the current channel pulse width ratio, control DRV8313, and drive the motor.

[0091] In terms of sensor information, the first is the magnetic encoder. A radial magnetic ring is fixed to the shaft below the motor. The software reads the current position information and angular velocity information of the motor according to the ABI mode. The position information is converted into electrical angle (electrode multiplication angle) as the parameters of Park and anti-Park transformation. Secondly, the current information is collected. The INA199 current amplifier is used to collect current information to obtain Ia and Ib, and Clarke transformation is performed according to the following matrix.

[0092]

[0093] In the I α ,I β Perform Park transform to obtain the actual Id and Iq as two input parameters of the current loop.

[0094]

[0095] In the PID control part, the position loop uses the set position as a parameter, and the set position minus the current position multiplied by the P parameter is used to obtain the speed close to the position; the speed loop uses the position loop output as the set speed, and calculates the expected I with the two parameters P and I. q ; Two current loops output I with speed loop q and I d = 0 Set current, calculate the expected U with two parameters P and I q and U d (Integrating the current gives the voltage), and these two parameters are used to control the motor.

[0096] In the design of the gimbal, the hardware involves the MPU6050 sensor. In the initial process, the attitude sensor (integrated in the circuit board of the controller 3 in the form of a chip) needs to be adjusted using a binary search method to gradually narrow the offset range and determine the most suitable offset for the current position. By setting a suitable offset, the result of the subsequent DMP attitude solution is made more accurate.

[0097] Then, the balance ring is designed, with the roll angle as the actual state, and 0 is set as the set value. Through the two parameters P and I, the difference in the driving rotation angle of the servo 51 on the variable and retractable wheels 5 on both sides is obtained, and the actual angles on both sides are calculated according to the current difference. The angles on both sides are transmitted through Bluetooth to complete the design of the balance ring.

[0098] Two different action groups are mentioned in the above pseudo-gated logic. The obstacle avoidance action group uses a steering ring-related method. The yaw angle of the attitude sensor in the controller 3 is used as the actual state, and different steering angles are set. The current algorithm process outputs the displacement through the two PI parameters, and then the displacement parameter is divided by the wheel diameter parameter of the corresponding variable retractable wheel 5 to obtain the position ring setting parameters required for the drive motor 4 and finally complete the position steering.

[0099] There are two different types of obstacle avoidance actions: dynamic obstacle avoidance is to avoid obstacles on the left and right sides of the vehicle body 1. The parameters output by the steering ring will be transferred to the position rings of the two drive motors 4 (the output is divided by 2, one positive and one negative are used as position ring parameters) to meet the needs of dynamic obstacle avoidance; in the reverse car with the center of the circle transferred, the obstacles in front of the vehicle body 1 are avoided (the spinning method will cause the antenna sensor 2 on the other side to generate induction again). The action group will first increase the wheel diameter of the retractable wheel of the execution action group, and then still use the steering ring to increase the output parameters of the steering ring by a certain amount (to offset the influence of the large wheel diameter parameters) to complete the backward obstacle avoidance.

[0100] Under the climbing action group, the wheel diameter gain parameter will be added to the control of the balance ring, and then new position parameters will be provided to the drive motors 4 on both sides to control the drive motors 4 to move forward with a larger torque to complete the climbing climbing action. At the same time, the set value and the actual distance value will be monitored. If the gap is still relatively large within a certain period of time, it will be considered that the climbing has failed, and reverse will be performed. After that, the wheel diameter gain parameter will be restored, and then a random angle will be generated to complete the turning ring; if the gap has been reduced to a reasonable range within a certain period of time (climbing has been completed), the wheel diameter gain parameter will be restored to normal state, and the action group ends here.

[0101] Illustratively, in an embodiment of the present invention, each component of the embodied intelligent robot structure adopts a modular design and can be quickly replaced according to task requirements, such as retractable wheels 5 with different retractable wheel diameters, antenna sensors 2 with different lead-out lengths, etc., which not only improves the overall work adaptability and flexibility, but also facilitates subsequent maintenance and iterative upgrades.

[0102] Fig.18 is a flow chart of a method of proceeding provided by an embodiment of the present invention. Fig.18 As shown, this busy embodiment provides a method of traveling, based on Figures 1 to 14 The flexible and variable shrinkable intelligent robot based on space folding shown in the figure is realized, including:

[0103] S1, collecting detection signals of two antenna sensors 2 in front of the vehicle body 1, and comparing the detection signals with preset thresholds to convert analog signals into digital signals.

[0104] S2, based on digital signals, real-time judgment is made through "pseudo-OR and NAND gate" logic:

[0105] When only one side of the antenna sensor 2 outputs 1, it is determined to be a "pseudo-OR gate" trigger;

[0106] When the antenna sensors 2 on both sides output 1 at the same time, it is determined to be a "pseudo-AND gate" trigger;

[0107] When the outputs of the antenna sensors 2 on both sides are both 0, it is determined that there is no obstacle.

[0108] Specifically, in this step, when only one side of the antenna sensor 2 outputs 1, the signal of the antenna sensor 2 on this side is ORed with the signal of the antenna sensor 2 on the other side to obtain a "pseudo-OR" trigger, and an obstacle avoidance control instruction is generated according to the "pseudo-OR" trigger signal.

[0109] When the outputs of the antenna sensors 2 on both sides are both 1, the signals of the two antenna sensors 2 are operated by an AND gate to obtain a "pseudo AND gate" trigger, and a crossing control instruction is generated according to the "pseudo AND gate" trigger signal;

[0110] When the outputs of the antenna sensors 2 on both sides are both 0, the normal cruise command is maintained.

[0111] S3, according to the determination result of step 2, the steering gear 51 and the driving motor 4 of the left and right retractable wheels 5 are differentially controlled or synchronously controlled:

[0112] Specifically, the step may include:”

[0113] S31, when the "pseudo-OR gate" is triggered, the wheel diameter of the unilateral variable-retractable wheel 5 is controlled to increase and cooperate with the differential steering to achieve obstacle avoidance. When only the unilateral feeler sensor 2 detects an obstacle, the controller 3 receives the information of the feeler sensor 2, and uses the controller 3 to control the steering gear 51 on the unilateral variable-retractable wheel 5 to work, drive the variable-retractable wheel 5 on this side to retract and change diameter, and cooperate with the drive motor 4 to drive the variable-retractable wheel 5 to rotate, so as to achieve forward or backward steering to avoid obstacles. For example, when the outer side of the contact of the feeler sensor 2 on the left side detects an obstacle, the controller 3 determines that the obstacle is located in front of the variable-retractable wheel 5 on the left side of the vehicle body 1 and is close to the outside. At this time, it can be avoided by turning to the right. Therefore, the steering gear 51 is used to drive the wheel diameter of the variable-retractable wheel 5 on the left side to increase, and cooperate with the drive motor 4 to drive the variable-retractable wheel 5 to rotate forward, so as to achieve the overall forward movement of the vehicle body while turning to the right to avoid obstacles. When an obstacle is detected by the inner side of the contact of the antenna sensor 2, the controller 3 determines that the obstacle is located directly in front of the vehicle body 1. At this time, there may be a problem of insufficient forward turning space, so the wheel diameter of the retractable wheel 5 on either side is driven to increase, and the drive motor 4 is cooperated to drive the retractable wheel 5 to rotate in the opposite direction. The two retractable wheels 5 have the same angle but different wheel diameters, that is, it is possible to achieve steering to avoid obstacles while retreating. After retreating and turning a certain distance, it can return to the center and go straight through the obstacle from one side.

[0114] S32, when the "pseudo-AND gate" is triggered, the wheel diameters of the retractable wheels 5 on both sides are increased and driven forward at the same time to complete the climbing action. When the antenna sensors 2 on both sides detect obstacles, the controller 3 determines that the obstacle is large in size. At this time, it is difficult to avoid the obstacle simply by turning forward and backward, and an attempt to climb over will be performed. At this time, the controller 3 is used to control the steering gear 51 on the retractable wheels 5 on both sides to drive the wheel diameters of the retractable wheels 5 on both sides to increase at the same time, and cooperate with the drive motor 4 to drive the retractable wheels 5 to rotate forward to drive the whole forward, using the advantage of a larger wheel diameter to move forward with a larger torque, and complete the climbing-type climbing action to cross the obstacle.

[0115] S33. In the absence of obstacles, maintain normal cruising state.

[0116] Furthermore, S3 also includes a retry process when the climb-over fails, specifically including:

[0117] After the "pseudo-AND gate" is triggered, the retractable wheels 5 on both sides are controlled to increase their wheel diameters and drive forward at the same time. If the crossing is not completed within the preset time, it is determined that the crossing has failed.

[0118] If the overtaking fails, the wheel diameter of the retractable wheels 5 on both sides is controlled to be reduced and the vehicle is reversed, and the differential drive is readjusted according to a random or preset steering angle to try to avoid obstacles and bypass;

[0119] If the crossing is successful, a crossing success signal is outputted, and the wheel diameter of the retractable wheel 5 is controlled to be adjusted to the normal cruising mode.

[0120] By setting up a retry process, the control instructions can be flexibly adjusted according to the actual climbing situation of the embodied intelligent robot to ensure the success rate of obstacle crossing.

[0121] The flexible and retractable embodied intelligent robot based on space folding provided by the embodiment of the present invention is used to perform the above-mentioned traveling method. On the basis of the traditional origami robot using origami structure to realize the retractable wheel diameter, combined with the concept of embodied intelligence, by respectively setting antenna sensors 2 on the left and right sides of the front of the vehicle body 1 to detect the obstacles in front in real time, using the integrated chip or the controller 3 of the host computer to perform environmental cognition and decision-making based on the detected obstacle information, based on the control logic of the pseudo-AND-OR gate, controlling the drive motor 4 to drive the vehicle body 1 forward and backward, and cooperating with the steering gear 51 to adaptively retract the wheel diameters of the retractable wheels 5 on both sides, so as to achieve obstacle avoidance or climbing over obstacles, and by sensing the environment in the traveling direction to flexibly adjust its own posture, so as to improve the success rate and stability of passing.

[0122] Unless otherwise defined, the technical terms or scientific terms used herein shall have the usual meanings understood by persons of ordinary skill in the field to which the present invention belongs. The words "first", "second" and similar words used in the patent application specification and claims of the present invention do not indicate any order, quantity or importance, but are only used to distinguish different components. Similarly, words such as "one" or "one" do not indicate a quantity limitation, but indicate the existence of at least one. Words such as "include" or "comprise" and similar words mean that the elements or objects appearing before "include" or "comprise" cover the elements or objects listed after "include" or "comprise" and are extremely equivalent, and do not exclude other elements or objects. Words such as "connect" or "connected" and similar words are not limited to physical or mechanical connections, but may include electrical connections, whether direct or indirect. "Up", "down", "left", "right" and the like are only used to indicate relative positional relationships. When the absolute position of the described object changes, the relative positional relationship may also change accordingly.

[0123] The above descriptions are merely optional embodiments of the present invention and are not intended to limit the present invention. Any modifications, equivalent substitutions, improvements, etc. made within the spirit and principles of the present invention should be included in the protection scope of the present invention.

Claims

1. A flexible and scalable intelligent robot based on space folding, characterized in that: include: A vehicle body (1), an angular sensor (2), a controller (3), a drive motor (4) and a retractable wheel (5), The retractable wheels (5) are provided with at least one pair, which are respectively provided on both sides of the vehicle body (1); the drive motor (4) and the controller (3) are provided on the vehicle body (1); the drive motor (4) is transmission-connected to the retractable wheels (5); the feeler sensors (2) are provided at the front of the vehicle body (1), and two of them are symmetrically arranged relative to the center line of the vehicle body (1); the feeler sensors (2) are connected to the vehicle body (1) via a connecting rod (21); the feeler sensors (2) are connected to the vehicle body (1) via a connecting rod (21); The head is spherical, the feeler sensor (2) is connected to the controller (3), the retractable wheel (5) is provided with a steering gear (51) connected to the controller (3), and the controller (3) is configured to detect a front obstacle based on the feeler sensor (2), and control the drive motor (4) to drive the retractable wheel (5) to move forward, and control the steering gear (51) to drive the retractable wheel (5) to extend and retract the wheel diameter, so as to achieve forward or backward steering to avoid obstacles, or to cross the obstacle.

2. The flexible and scalable intelligent robot based on space folding according to claim 1 is characterized in that: The retractable wheel (5) comprises a wheel hub (52), a limit adjustment frame (53), a telescopic wheel edge (54) and an adjustment shaft (55); the wheel hub (52) is drivingly connected to the drive motor (4); a guide member (56) is connected inside the wheel hub (52); the guide member (56) is provided with a plurality of telescopic grooves (561) arranged radially along the wheel hub (52); the telescopic wheel edge (54) is provided with a plurality of telescopic grooves (561) corresponding to the telescopic grooves (561); the telescopic wheel edge (54) comprises a wheel edge (541) matching the outer ring of the wheel hub (52) and a wheel edge (541) connected to the wheel hub (52). The telescopic rod (542) is slidably installed in the telescopic groove (561), the limit adjustment frame (53) is coaxially arranged with the wheel hub (52) and is rotationally connected with the wheel hub (52) through the adjustment shaft (55), the adjustment shaft (55) is transmission-connected with the steering gear (51), the limit adjustment frame (53) is provided with a plurality of spiral through grooves (531) which are radially arranged and extend outward from the center, and the telescopic rod (542) is provided with a transmission protrusion (543) which extends into the spiral through groove.

3. The flexible and scalable intelligent robot based on space folding according to claim 2 is characterized in that: The guide member (56), the limit adjustment frame (53) matched with the guide member (56), and the telescopic wheel edge (54) are provided in multiple groups, and the guide members (56) in the multiple groups are coaxially arranged in parallel along the extension direction of the adjustment shaft (55).

4. The flexible and scalable intelligent robot based on space folding according to claim 3 is characterized in that: The guide members (56) in two adjacent groups are arranged to be deflected at a preset angle around the circumference of the adjustment shaft (55).

5. The flexible and scalable intelligent robot based on space folding according to claim 2 is characterized in that: The wheel edge (541) is protrudingly provided with hook claws (544) on its outer arc.

6. The flexible and scalable intelligent robot based on space folding according to claim 1 is characterized in that: The vehicle body (1) is provided with a steering wheel (11), and the connecting rod (21) is rotatably connected to the steering wheel (11).

7. The flexible and scalable intelligent robot based on space folding according to claim 1 is characterized in that: It also includes a universal wheel (6), which is extended and arranged at the rear part of the vehicle body (1).

8. A method of traveling, implemented based on the flexible and scalable intelligent robot based on space folding as claimed in any one of claims 1 to 7, characterized in that: include: Step 1: collecting detection signals of the two antenna sensors (2) in front of the vehicle body (1), and comparing the detection signals with a preset threshold value to convert analog signals into digital signals; Step 2: Based on the digital signal, make a real-time decision through the "pseudo-OR and NAND gate" logic: When the output of the antenna sensor (2) on only one side is 1, it is determined to be a "pseudo-OR gate" trigger; When the antenna sensors (2) on both sides output 1 at the same time, it is determined that the "pseudo-AND gate" is triggered; When the outputs of the antenna sensors (2) on both sides are both 0, it is determined that there is no obstacle; Step 3: According to the determination result of step 2, the steering gear (51) and the driving motor (4) of the left and right retractable wheels (5) are differentially controlled or synchronously controlled: When the "pseudo-OR gate" is triggered, the wheel diameter of the retractable wheel (5) on one side is controlled to increase and the differential steering is coordinated to achieve obstacle avoidance; When the "pseudo-AND gate" is triggered, the wheel diameters of the retractable wheels (5) on both sides are simultaneously increased and driven forward to complete the overtaking action; In the absence of obstacles, normal cruising mode is maintained.

9. The traveling method according to claim 8, characterized in that: The step 2 comprises: The step 2 further comprises: When the output of the antenna sensor (2) on only one side is 1, the signal of the antenna sensor (2) on that side is subjected to an OR gate operation with the signal of the antenna sensor (2) on the other side to obtain a "pseudo-OR gate" trigger, and an obstacle avoidance control instruction is generated according to the "pseudo-OR gate" trigger signal; When the outputs of the antenna sensors (2) on both sides are both 1, the signals of the two antenna sensors (2) are subjected to an AND gate operation to obtain a "pseudo-AND gate" trigger, and a crossing control instruction is generated according to the "pseudo-AND gate" trigger signal; When the outputs of the antenna sensors (2) on both sides are both 0, the normal cruise command is maintained.

10. The traveling method according to claim 9, characterized in that: The step 3 also includes a retry process when the climb-over fails, which specifically includes: After the "pseudo-AND gate" is triggered, the retractable wheels (5) on both sides are controlled to simultaneously increase their wheel diameters and drive forward. If the overtaking is not completed within a preset time, it is determined that the overtaking has failed; If the overtaking fails, the diameter of the retractable wheels (5) on both sides is controlled to be reduced and the vehicle is reversed, and the differential drive is readjusted according to a random or preset steering angle to try to avoid obstacles and bypass; If the crossing is successful, a crossing success signal is output, and the wheel diameter of the retractable wheel (5) is controlled to be adjusted to a normal cruising mode.

Images