Obstacle crossing structure, bilge operation robot and obstacle crossing method of robot

Abstract

The invention discloses an obstacle crossing structure, a bilge operation robot and a robot obstacle crossing method, and relates to the field of robots. The obstacle crossing structure comprises a machine body and at least two sets of advancing assemblies, each advancing assembly is connected with the machine body, each advancing assembly comprises a first driving arm and a second driving arm, each advancing assembly comprises a first advancing mode and a second advancing mode, and in the first advancing mode, the first driving arms abut against the ground and drive the machine body to move; in the second advancing mode, the second driving arm abuts against the ground and drives the machine body to move; the first driving arm and the second driving arm are rotationally connected with the machine body, and the second driving arm is configured to be capable of rotating relative to the first driving arm in the first advancing mode so as to cross an obstacle and be switched to the second advancing mode. Obstacle crossing is achieved through switching of the two driving arms, the high obstacle crossing efficiency is achieved, and meanwhile the adaptability of the robot in the complex environment is greatly improved.

Description

Technical Field

[0001] The present invention relates to the field of robots, and particularly to an obstacle-crossing structure, a bottom cabin operation robot, and a robot obstacle-crossing method. Background Art

[0002] With the increasing demand for ship manufacturing production and daily maintenance, the efficiency of the inner wall spraying operation of the bottom cabin of a ship needs to be improved urgently.

[0003] Due to the complex internal structure and narrow space of the bottom cabin of a ship, with various rib plates and keels crisscrossing, manual operation is difficult, inefficient, and the operation quality cannot be guaranteed. Moreover, operating in a narrow space also poses a certain danger to the safety of workers. In related technologies, robots are used for spraying operations, but the rib plates and keels often hinder the movement of the robots, restricting the movement range of the robots. It is necessary to continuously assist the movement manually to achieve spraying in each area, and the efficiency improvement is limited. Summary of the Invention

[0004] The present invention aims to solve at least one of the technical problems existing in the prior art. For this purpose, the present invention provides an obstacle-crossing structure that realizes obstacle crossing through the switching of two driving arms, which not only has a high obstacle-crossing efficiency but also greatly improves the adaptability of the robot in a complex environment.

[0005] The present invention also provides a bottom cabin operation robot with the above-mentioned obstacle-crossing structure.

[0006] The present invention also provides a robot obstacle-crossing method with the above-mentioned obstacle-crossing structure.

[0007] According to an embodiment of the first aspect of the present invention, the obstacle-crossing structure includes:

[0008] A fuselage main body;

[0009] At least two sets of traveling components, each of the traveling components is connected to the fuselage main body. The traveling component includes a first driving arm and a second driving arm, and the traveling component includes a first traveling mode and a second traveling mode. In the first traveling mode, the first driving arm abuts against the ground and drives the fuselage main body to move; in the second traveling mode, the second driving arm abuts against the ground and drives the fuselage main body to move;

[0010] Wherein, the first driving arm and the second driving arm are respectively rotatably connected to the fuselage main body, and the second driving arm is configured to: be able to rotate relative to the first driving arm in the first traveling mode to cross an obstacle and switch to the second traveling mode.

[0011] According to the embodiment of the present invention, the obstacle-crossing structure has at least the following beneficial effects:

[0012] In the obstacle-crossing structure of this solution, each group of traveling components is provided with two switchable driving arms, and each driving arm can independently achieve the driving effect. Thus, after the second driving arm completes the obstacle-crossing action, it does not need to retract and can directly drive the obstacle-crossing structure to move, improving the obstacle-crossing efficiency. At the same time, due to the independent working characteristics of the driving arms, the robot maintains high stability during the obstacle-crossing process, reduces the energy consumption caused by structural changes, further optimizes the operation process, and greatly improves the adaptability of the robot in complex environments.

[0013] In addition, for the daily operation of the robot, the two driving arms can serve as a power backup. For example, when any one of the driving arms in the same group of traveling components fails, the other driving arm can play a substitution role to ensure that the robot continues to complete the task. Or, when the load of the robot is heavy, the two driving arms can support simultaneously, thereby dispersing the load pressure of a single driving arm, reducing wear, and extending the service life.

[0014] According to some embodiments of the present invention, both the first driving arm and the second driving arm include a moving wheel and a traveling foot. One end of the traveling foot is rotatably connected to the fuselage main body, and the other end is connected with a moving wheel. The obstacle-crossing structure is configured to have a first traveling posture and a second traveling posture. In the first traveling posture, the moving wheel of the driving arm for driving in the current traveling mode rotates to achieve movement; in the second traveling posture, the traveling foot of the driving arm for driving in the current traveling mode swings to achieve movement.

[0015] According to some embodiments of the present invention, the fuselage main body includes a plurality of rotating shafts, and the first driving arm and the second driving arm of the same traveling component are connected to the same rotating shaft.

[0016] The bottom cabin operation robot according to the second aspect embodiment of the present invention includes a functional module and the obstacle-crossing structure according to any one of the above embodiments, and the functional module is connected to the fuselage main body.

[0017] The robot obstacle-crossing method according to the third aspect embodiment of the present invention includes the following steps:

[0018] Obtain the image information of the target area in the traveling direction;

[0019] Process the image information. If an obstacle is detected, classify the obstacle;

[0020] According to the category of the obstacle, perform the corresponding obstacle-crossing operation;

[0021] Re-execute the foregoing steps until moving to the set position;

[0022] Among them, the performing corresponding obstacle-crossing operations according to the category of the obstacle includes the following steps:

[0023] If the obstacle is a first-category obstacle, drive the second driving arm to rotate to cross over the obstacle and abut against the ground behind the obstacle, and switch from the first traveling mode to the second traveling mode;

[0024] After crossing over the obstacle, keep driving with the second driving arm.

[0025] According to some embodiments of the present invention, in the step of driving the second driving arm to rotate to cross over the obstacle and abut against the ground behind the obstacle, the following steps are further included:

[0026] During the process of moving towards the obstacle, control the second driving arm to rotate to an angle at which the end of the second driving arm is higher than the obstacle;

[0027] Control the first driving arm to move towards the obstacle and correct the rotation angle of the second driving arm so that the end of the second driving arm abuts against the ground behind the obstacle.

[0028] According to some embodiments of the present invention, the performing corresponding obstacle-crossing operations according to the category of the obstacle further includes the following steps:

[0029] If the obstacle is a second-category obstacle, switch from the first traveling posture to the second traveling posture. In the first traveling posture, the moving wheels of the driving arm used for driving in the current traveling mode rotate to achieve movement; in the second traveling posture, the traveling feet of the driving arm used for driving in the current traveling mode swing to achieve movement;

[0030] After crossing over the obstacle, switch the second traveling posture back to the first traveling posture.

[0031] According to some embodiments of the present invention, the obstacle-crossing structure includes a first traveling posture. In the first traveling posture, the method for the robot to cross obstacles further includes the following steps:

[0032] Obtain the load value of the fuselage main body;

[0033] If the load value of the fuselage main body is greater than the set value, control both the first driving arm and the second driving arm to abut against the ground, and at least one of the first driving arm and the second driving arm drives the obstacle-crossing structure to move.

[0034] According to some embodiments of the present invention, the performing corresponding obstacle-crossing operations according to the category of the obstacle further includes the following steps:

[0035] If the obstacle is a third - type obstacle, the driving arm used for driving in the current traveling mode rotates relative to the fuselage main body to reduce the height of the fuselage main body.

[0036] According to some embodiments of the present invention, two sets of the traveling components are respectively arranged on both sides of the fuselage main body. In the step where the driving arm used for driving in the current traveling mode rotates relative to the fuselage main body, the following steps are further included:

[0037] In the traveling components on the same side of the fuselage main body, the driving arms used for driving rotate away from each other so that the center of gravity of the obstacle - crossing structure is located between the two driving arms used for driving.

[0038] The additional aspects and advantages of the present invention will be partly given in the following description, partly will become obvious from the following description, or will be understood through the practice of the present invention. BRIEF DESCRIPTION OF THE DRAWINGS

[0039] The present invention will be further described below in conjunction with the drawings and embodiments, where:

[0040] Figure 1 is a schematic structural diagram of the bottom - hold operation robot according to an embodiment of the present invention;

[0041] Figure 2 is another perspective schematic diagram of the bottom - hold operation robot according to an embodiment of the present invention.

[0042] Reference numerals:

[0043] Fuselage main body 100;

[0044] Traveling component 200; First driving arm 210; Second driving arm 220; Moving wheel 230; Traveling foot 240; Rotating shaft 250;

[0045] Function module 300; Spray gun 310; Manipulator 320; Base 330; DETAILED DESCRIPTION OF THE EMBODIMENTS

[0046] The embodiments of the present invention will be described in detail below. The examples of the embodiments are shown in the drawings, where the same or similar reference numerals denote the same or similar elements or elements with the same or similar functions from beginning to end. The embodiments described below by referring to the drawings are exemplary and are only used to explain the present invention and should not be construed as limiting the present invention.

[0047] In the description of the present invention, it should be understood that for the orientation description, such as the orientation or positional relationship indicated by up, down, front, back, left, right, etc., is based on the orientation or positional relationship shown in the drawings. It is only for the convenience of describing the present invention and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation. Therefore, it should not be construed as a limitation to the present invention.

[0048] In the description of the present invention, the meaning of "several" is more than one, the meaning of "multiple" is more than two. Understanding such as "greater than", "less than", "exceeding", etc. does not include the present number, and understanding such as "above", "below", "within", etc. includes the present number. If there is a description of "first" and "second", it is only for the purpose of distinguishing technical features, and cannot be understood as indicating or implying relative importance or implicitly indicating the quantity of the indicated technical features or implicitly indicating the sequence relationship of the indicated technical features.

[0049] In the description of the present invention, unless otherwise clearly defined, terms such as "set", "installed", "connected", etc. should be understood in a broad sense. Those skilled in the art can reasonably determine the specific meaning of the above terms in the present invention in combination with the specific content of the technical solution.

[0050] In the description of the present invention, the description with reference to terms such as "one embodiment", "some embodiments", "schematic embodiments", "examples", "specific examples", 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 invention. In this specification, the schematic expressions of the above terms do not necessarily refer to the same embodiment or example. Moreover, the specific features, structures, materials, or characteristics described can be combined in a suitable manner in any one or more embodiments or examples.

[0051] With the increasingly strong demand for ship manufacturing production and daily maintenance, the efficiency of the spraying operation on the inner wall of the bottom hold of the ship needs to be improved urgently.

[0052] Due to the complex internal structure and narrow space of the bottom hold of the ship, with various rib plates and keels crisscrossing, the difficulty of manual operation is great, the efficiency is low, the operation quality cannot be guaranteed, and the operation in a narrow space also poses a certain hazard to the safety of workers. In the related art, robots are used for spraying operations, but the rib plates and keels often hinder the movement of the robots, the movement range of the robots is limited, and it is necessary to continuously assist the movement manually to achieve spraying in each area, and the efficiency improvement is limited.

[0053] To solve the above problems, an obstacle-crossing structure is proposed in the first aspect embodiment of the present application. This obstacle-crossing structure can be applied to robots, and the types of robots include but are not limited to bottom cabin operation robots, load-bearing off-road robots, exploration robots, etc. The application scenarios of the robots are not limited to ship bottom cabin operation, complex terrain inspection, complex terrain freight, etc. Specifically, the obstacle-crossing structure includes a fuselage main body 100 and at least two sets of traveling components 200, and each traveling component 200 is connected to the fuselage main body 100. It can be understood that, according to the different structures of the robots, the number of the traveling components 200 can be two sets, three sets or more. For example, in some embodiments (not shown in the figure), one set of traveling components 200 is respectively arranged on both sides of the front end of the robot, and one set of traveling components 200 is arranged at the rear end, and the whole robot presents a triangular support structure. Or, in the embodiment as shown in Figure 1 In the shown embodiment, one set of traveling components 200 is respectively arranged on both sides of the front end of the robot, and one set of traveling components 200 is respectively arranged on both sides of the rear end, and the whole robot presents a four-point support structure.

[0054] The traveling component 200 includes a first driving arm 210 and a second driving arm 220. The traveling component 200 includes a first traveling mode and a second traveling mode. In the first traveling mode, the first driving arm 210 abuts against the ground and drives the fuselage main body 100 to move. At this time, the second driving arm 220 is suspended and does not play a driving role. In the second traveling mode, the second driving arm 220 abuts against the ground and drives the fuselage main body 100 to move. At this time, the first driving arm 210 is suspended and does not play a driving role. Thus, any one of the first driving arm 210 and the second driving arm 220 of the traveling component 200 of the present application can work independently, so that the robot can flexibly cross obstacles by switching the traveling mode when facing complex terrains.

[0055] More specifically, the first driving arm 210 and the second driving arm 220 are respectively rotatably connected to the fuselage main body 100. In some embodiments, the first driving arm 210 and the second driving arm 220 are connected to different rotating shafts 250 of the fuselage main body 100. In the embodiments as shown in Figure 1 and Figure 2 In the shown embodiment, the first driving arm 210 and the second driving arm 220 are connected to the same rotating shaft 250 of the fuselage main body 100. In the first traveling mode, when the robot encounters an obstacle, the second driving arm 220 can rotate relative to the first driving arm 210 to cross the obstacle. Thus, the second driving arm 220 abuts against the ground behind the obstacle, and at the same time, the first driving arm 210 is suspended, so that the robot switches to the second traveling mode and continues to move under the drive of the second driving arm 220.

[0056] It can be understood that, in the embodiment as shown in Figure 1In the illustrated embodiment, after the front traveling assembly 200 of the robot crosses an obstacle, the front traveling assembly 200 is driven in the second traveling mode, and the rear traveling assembly 200 still maintains the first traveling mode. When the rear traveling assembly 200 moves in front of the obstacle, through a similar rotation mechanism, the rear second driving arm 220 rotates to cross the obstacle, realizing the switching of the rear traveling mode, so that the entire obstacle-crossing structure can pass through the obstacle.

[0057] In the prior art, a separate support structure is often set up to temporarily lift the front end of the robot and cross the obstacle, and then the obstacle crossing is completed by the driving of the rear traveling assembly of the robot. However, this method has a complex structure and a low obstacle crossing efficiency. The retraction and deployment operations of the support structure are required before and after the obstacle crossing, increasing the energy consumption and time cost. Moreover, the support structure can only play a supporting role and is redundant for the daily operation of the robot.

[0058] For the obstacle-crossing structure of this solution, each group of traveling assemblies 200 can realize the driving function independently by setting two switchable driving arms. After the second driving arm 220 completes the obstacle-crossing action, it does not need to be retracted and can directly drive the obstacle-crossing structure to move, improving the obstacle-crossing efficiency. At the same time, due to the independent working characteristics of the driving arms, the robot maintains high stability during the obstacle-crossing process, reducing the energy consumption caused by structural changes, further optimizing the operation process, and greatly improving the adaptability of the robot in complex environments.

[0059] In addition, for the daily operation of the robot, the two driving arms can play the role of power backup. For example, when any one of the driving arms in the same group of traveling assemblies 200 fails, the other driving arm can play a substitution role to ensure that the robot continues to complete the task. Or, when the load of the robot is heavy, the two driving arms can support simultaneously, thereby dispersing the load pressure of a single driving arm, reducing wear, and extending the service life.

[0060] In some embodiments, both the first driving arm 210 and the second driving arm 220 are wheel-foot structures, that is, as Figure 2As shown, the first driving arm 210 and the second driving arm 220 both include a moving wheel 230 and a traveling foot 240. One end of the traveling foot 240 is connected to the fuselage body 100, and the other end is connected to the moving wheel 230. The moving wheel 230 and the traveling foot 240 are connected through a driving motor with an electronically controlled brake. The driving motor has a driving mode and a locking mode. In the driving mode, the driving motor drives the moving wheel 230 to rotate. In the locking mode, the moving wheel 230 cannot rotate. On this basis, the obstacle crossing structure has a first traveling posture and a second traveling posture. In the first traveling posture, the moving wheel 230 of the driving arm used for driving in the current traveling mode rotates to achieve movement. In the second traveling posture, the traveling foot 240 of the driving arm used for driving in the current traveling mode swings to achieve movement. Taking the first travel mode of each traveling assembly 200 as an example, at this time, the first driving arm 210 is driven, and the second driving arm 220 is suspended, then in the first travel posture, the moving wheels 230 of each first driving arm 210 rotate to achieve movement, thereby achieving wheeled movement of the obstacle-crossing structure. In the second travel posture, the moving wheels 230 of each first driving arm 210 are locked, and movement is achieved by swinging the traveling foot 240, thereby achieving foot-type movement of the obstacle-crossing structure.

[0061] It should be noted that wheeled mobility has the advantages of good reliability, easy control, and fast movement speed, but it has poor adaptability to rugged terrain. Footed mobility can better cope with complex working conditions. The combination of the two greatly improves the robot's passability and flexibility in changing environments.

[0062] Furthermore, the fuselage body 100 includes a plurality of rotating shafts 250, and the first driving arm 210 and the second driving arm 220 of the same traveling assembly 200 are connected to the same rotating shaft 250. Thus, the rotation planes of the first driving arm 210 and the second driving arm 220 are parallel, so that no interference problem occurs during the rotation process of the first driving arm 210 or the rotation process of the second driving arm 220.

[0063] In such Figure 2 In the illustrated embodiment, the moving wheels 230 of each driving arm are Mecanum wheels, so that the robot can move straight, move laterally, turn, translate, etc. On the two driving arms of the same group of traveling components 200, the moving wheels are arranged on the relatively outer sides of the driving arms to have better stability when the driving arms are connected.

[0064] In the second aspect of the embodiments of the present application, a bottom hold operation robot is proposed. The bottom hold operation robot includes a functional module 300 and the obstacle crossing structure mentioned in any of the above embodiments, and the functional module 300 is connected to the fuselage main body 100. The functional module 300 can be a cleaning structure, a spraying structure, a grinding structure, or a handling structure, etc. The fuselage main body 100 can be installed with multiple functional modules 300 at the same time, or alternatively, one functional module 300 can be selectively installed. In the embodiment as shown in Figure 1 , the functional module 300 is a cleaning structure. The cleaning structure includes a spray gun 310, a robotic arm 320, and a base 330. The spray gun 310 is used to eject high-speed water flow. The robotic arm 320 has multiple joints, so as to be able to achieve rotation and movement with multiple degrees of freedom to adjust the ejection position and ejection angle of the water flow. The base 330 is used to connect to the fuselage main body 100. The bottom hold operation robot includes the obstacle crossing structure mentioned in any of the above embodiments. Therefore, it should have the beneficial effects mentioned in the above embodiments, which will not be elaborated here.

[0065] In addition, in the third aspect of the embodiments of the present application, a robot obstacle crossing method is also proposed. The obstacle crossing method can be applied to the obstacle crossing structure mentioned in the above embodiments, or can be applied to the bottom hold operation robot mentioned in the above embodiments. Specifically, the method includes the following steps:

[0066] Step S100: Obtain image information of the target area in the traveling direction;

[0067] As shown in Figure 2 , a detection component is provided at the front end of the obstacle crossing structure. The detection component can be a sensor or a camera, which can obtain the image information in the traveling direction and feedback it to the control system of the robot. The detection component analyzes the image information of the target area, and then identifies the types and positions of potential obstacles.

[0068] Step S200: Process the image information. If an obstacle is detected, classify the obstacle;

[0069] In the working environment of the robot, various different obstacles are often encountered. For example, taking the bottom hold operation robot as an example, the obstacles may be steps formed by keels and ribs, or various pipes and cables laid on the ground, or protruding parts of the top plate; the classification process includes collecting data such as the height, width, size, and shape of the obstacle, and inputting this information into a pre-set database for matching and analysis. By comparing the characteristics of the obstacle, the control system selects the most suitable obstacle crossing action sequence to ensure that the robot can complete the obstacle crossing task safely and efficiently.

[0070] Step S300: Perform corresponding obstacle crossing operations according to the category of the obstacle.

[0071] For example, when the obstacle is a stepped structure or an obstacle with a relatively large height, the obstacle-crossing structure needs to cooperate with two driving arms to cross the obstacle. Specifically, in the above step S300, it specifically includes the following steps:

[0072] Step S310: If the obstacle is a first-type obstacle, drive the second driving arm 220 to rotate to cross the obstacle and abut against the ground behind the obstacle, and switch from the first traveling mode to the second traveling mode;

[0073] After the obstacle in front of the obstacle-crossing structure is determined to be a first-type obstacle, the control system drives the second driving arm 220 to rotate until it crosses the obstacle and abuts against the ground behind the obstacle. Taking the obstacle as a step as an example, when the traveling component 200 at the front end of the obstacle-crossing structure moves near the step, the second driving arm 220 can rotate clockwise or counterclockwise as shown in Figure 1 so that the second driving arm 220 abuts against the plane on the step, and then controls the first driving arm 210 to rotate to separate from the ground. Thus, the second driving arm 220 plays a supporting role and the first driving arm 210 is suspended. Then switch from the first traveling mode to the second traveling mode to drive the obstacle-crossing structure through the second driving arm 220. Until the traveling component 200 at the rear end of the obstacle-crossing structure moves near the step, the traveling component 200 at the rear end performs a similar operation of switching the mode to complete the obstacle crossing of the entire obstacle-crossing structure.

[0074] Step S311: After crossing the obstacle, continue to drive with the second driving arm 220;

[0075] To ensure the obstacle-crossing efficiency, after crossing the obstacle, the second driving arm 220 directly drives the obstacle-crossing structure without switching back to the first driving arm 210 for driving.

[0076] Based on the above, the robot can continuously cross obstacles without interrupting the travel, greatly improving the operation efficiency.

[0077] Step S312: Set the second traveling mode as the new first traveling mode, the second driving arm 220 as the new first driving arm 210, and the first driving arm 210 as the new second driving arm 220;

[0078] Thus, the obstacle-crossing structure is restored to the first traveling mode through program definition to cope with subsequent obstacles and ensure the continuity of the obstacle-crossing operation.

[0079] Further, in the step of step S310, it further includes the following steps:

[0080] During the process of moving towards the obstacle, control the second driving arm 220 to rotate to an angle where the end of the second driving arm 220 is higher than the obstacle;

[0081] Control the first driving arm 210 to move towards the obstacle and correct the rotation angle of the second driving arm 220 so that the end of the second driving arm 220 abuts against the ground behind the obstacle.

[0082] It can be understood that after detecting the first type of obstacle, during the first traveling mode, that is, when the first driving arm 210 drives the obstacle-crossing mechanism to move towards the obstacle, the second driving arm 220 can be controlled to rotate so that when the obstacle-crossing structure approaches the obstacle, the height of the end of the second driving arm 220 is greater than the height of the obstacle, preparing for smoothly crossing the obstacle. After approaching the obstacle, at this time, the end of the second driving arm 220 is located above the obstacle. Control the second driving arm 220 to rotate towards the direction of the obstacle to reduce the height difference between the second driving arm 220 and the obstacle, so that the end of the second driving arm 220 can smoothly abut against the ground behind the obstacle, thereby completing the switching between the support arm and the driving arm.

[0083] When the obstacle is an object such as a cable or a pipeline, due to its small height, wide range, and its influence on wheeled movement, if the method of switching between the first driving arm 210 and the second driving arm 220 is used to cross the obstacle, the obstacle-crossing efficiency is relatively low. Since the obstacle-crossing structure of the present application adopts a wheel-foot structure, for this type of obstacle, the method of switching to footed movement can be adopted to easily cross the obstacle. Specifically, in the above step S300, the following steps are further specifically included:

[0084] Step S320: If the obstacle is a second type of obstacle, switch from the first traveling posture to the second traveling posture; wherein, in the first traveling posture, the moving wheel 230 of the driving arm used for driving in the current traveling mode rotates to achieve movement; in the second traveling posture, the traveling foot 240 of the driving arm used for driving in the current traveling mode swings to achieve movement;

[0085] Step S321: After crossing the obstacle, switch the second traveling posture back to the first traveling posture;

[0086] The first traveling posture is wheeled movement. In this posture, the traveling foot 240 does not swing, and the translation of the obstacle-crossing structure is achieved by the rotation of the moving wheel 230, which is suitable for quickly moving on flat ground. The second traveling posture is footed movement. In this posture, the traveling foot 240 swings and the moving wheel 230 is locked. Through the swinging and cooperation of multiple traveling feet 240, the obstacle can be skipped or straddled, and it has good adaptability to complex terrains.

[0087] In some embodiments, in the case of a large load, the robot can also disperse the load through multi-point support, thereby reducing the force on a single driving arm, reducing wear and increasing the service life. In the first traveling posture, that is, in the posture of wheeled movement, specifically, the robot obstacle-crossing method further includes the following steps:

[0088] Obtain the load value of the fuselage main body 100;

[0089] If the load value of the fuselage main body 100 is greater than the set value, control the first driving arm 210 and the second driving arm 220 to be in contact with the ground, and at least one of the first driving arm 210 and the second driving arm 220 drives the obstacle crossing structure to move.

[0090] When the obstacle is the protruding part of the top plate, the protruding part of the top plate and the ground form a narrow passage, and the height of the passage is higher than the height of the obstacle crossing structure in the normal working state, so that the advancement of the robot is blocked. Thus, for this kind of obstacle, the obstacle can be passed by reducing the height of the fuselage main body 100. Specifically, in the above step S300, the following steps are further included:

[0091] Step S310, if the obstacle is a third type of obstacle, the driving arm used for driving in the current traveling mode rotates relative to the fuselage main body 100 to reduce the height of the fuselage main body 100.

[0092] Further, in the Figure 1 illustrated embodiment, two sets of traveling assemblies 200 are respectively arranged on both sides of the fuselage main body 100. Thus, in the traveling assemblies 200 on the same side of the fuselage main body 100, the driving arms used for driving rotate away from each other, so that the center of gravity of the obstacle crossing structure is located between the two driving arms used for driving. This ensures the stability when reducing the height and enables the robot to safely pass through the narrow passage. In the most severe case, the driving arm can rotate to be substantially parallel to the fuselage main body 100, so that the whole robot presents an approximate straight line to smoothly pass through the narrow passage and enter the target area.

[0093] The embodiments of the present invention have been described in detail above with reference to the accompanying drawings. However, the present invention is not limited to the above embodiments, and various changes can be made without departing from the spirit of the present invention within the knowledge scope of those of ordinary skill in the art. In addition, the embodiments of the present invention and the features in the embodiments can be combined with each other without conflict.

Claims

1. Obstacle-crossing structure, characterized in that, Including: The fuselage main body; At least two sets of traveling components, each of the traveling components is connected to the fuselage main body. The traveling component includes a first driving arm and a second driving arm. The traveling component includes a first traveling mode and a second traveling mode. In the first traveling mode, the first driving arm abuts against the ground and drives the fuselage main body to move; in the second traveling mode, the second driving arm abuts against the ground and drives the fuselage main body to move; Wherein, the first driving arm and the second driving arm are respectively rotatably connected to the fuselage main body, and the second driving arm is configured to: be able to rotate relative to the first driving arm in the first traveling mode to cross an obstacle and switch to the second traveling mode.

2. The obstacle-crossing structure according to claim 1, characterized in that, Both the first driving arm and the second driving arm include a moving wheel and a traveling foot. One end of the traveling foot is rotatably connected to the fuselage main body, and the other end is connected with a moving wheel. The obstacle-crossing structure is configured to have a first traveling posture and a second traveling posture. In the first traveling posture, the moving wheel of the driving arm used for driving in the current traveling mode rotates to achieve movement; in the second traveling posture, the traveling foot of the driving arm used for driving in the current traveling mode swings to achieve movement.

3. The obstacle-crossing structure according to claim 1, characterized in that, The fuselage main body includes a plurality of rotating shafts, and the first driving arm and the second driving arm of the same traveling component are connected to the same rotating shaft.

4. Bottom hold operation robot, characterized in that, Including a functional module and the obstacle-crossing structure according to any one of claims 1 to 3, and the functional module is connected to the fuselage main body.

5. The robot obstacle-crossing method is applied to the obstacle-crossing structure described in any one of claims 1 to 3, and is characterized in that, Including the following steps: Obtain image information of a target area in the traveling direction; Process the image information. If an obstacle is detected, classify the obstacle; According to the category of the obstacle, perform a corresponding obstacle-crossing operation; Re-execute the foregoing steps until moving to a set position; Wherein, the performing a corresponding obstacle-crossing operation according to the category of the obstacle includes the following steps: If the obstacle is a first type of obstacle, drive the second driving arm to rotate to cross the obstacle and abut against the ground behind the obstacle, and switch from the first traveling mode to the second traveling mode; After crossing the obstacle, keep driving with the second driving arm.

6. The robot obstacle crossing method according to claim 5, characterized in that In the step of driving the second driving arm to rotate to cross the obstacle and abut against the ground behind the obstacle, the following steps are further included: During the process of moving towards the obstacle, control the second driving arm to rotate to an angle where the end of the second driving arm is higher than the obstacle; Control the first driving arm to move towards the obstacle and correct the rotation angle of the second driving arm so that the end of the second driving arm abuts against the ground behind the obstacle.

7. The robot obstacle-crossing method according to claim 5, characterized in that, The performing a corresponding obstacle-crossing operation according to the category of the obstacle further includes the following steps: If the obstacle is a second type of obstacle, switch from the first traveling posture to the second traveling posture. In the first traveling posture, the moving wheel of the driving arm used for driving in the current traveling mode rotates to achieve movement; in the second traveling posture, the traveling foot of the driving arm used for driving in the current traveling mode swings to achieve movement; After passing over the obstacle, switch the second traveling posture back to the first traveling posture.

8. The robot obstacle crossing method according to claim 5, wherein The obstacle-crossing structure includes a first traveling posture. In the first traveling posture, the robot obstacle-crossing method further includes the following steps: Obtain the load value of the fuselage main body; If the load value of the fuselage main body is greater than the set value, control both the first driving arm and the second driving arm to be in contact with the ground, and at least one of the first driving arm and the second driving arm drives the obstacle-crossing structure to move.

9. The robot obstacle-crossing method according to claim 5, wherein, The step of performing corresponding obstacle-crossing operations according to the category of the obstacle further includes the following steps: If the obstacle is a third-type obstacle, the driving arm used for driving in the current traveling mode rotates relative to the fuselage main body to reduce the height of the fuselage main body.

10. The robot obstacle crossing method according to claim 9, wherein Two sets of the traveling components are respectively arranged on both sides of the fuselage main body. In the step where the driving arm used for driving in the current traveling mode rotates relative to the fuselage main body, the following steps are further included: In the traveling components on the same side of the fuselage main body, the driving arms used for driving rotate away from each other so that the center of gravity of the obstacle-crossing structure is located between the two driving arms used for driving.

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