Integrated multi-legged robot

Abstract

The invention relates to the technical field of robots, in particular to an integrated multi-legged robot which comprises a robot body, a bottom steering engine, an advancing part, a control mainboard and an obstacle crossing part, and can solve the following problems that an existing multi-legged robot can only complete front-back movement of the robot, cannot achieve omni-directional displacement and cannot monitor the surrounding environment, and the robot cannot move forwards and backwards. Flexibility is lacked, and operation is inconvenient; although the robot can cross obstacles, the robot cannot climb obstacles with the lifting height larger than that of the robot, and limitation exists; the multiple supporting legs are controlled to move diagonally through cooperation of the steering engines, the machine body is prevented from rolling over and can move in all directions, and therefore operation convenience is improved; various functions such as advancing, steering and monitoring of the multi-legged robot can be realized by integrating remote control, a network communication technology and a monitoring sensor technology; the robot can move to the upper end of a protruding obstacle and then cross the protruding obstacle, and the application range of the robot is effectively widened.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of robots, in particular to an integrated multi-legged robot. BACKGROUND

[0002] Multi-legged robots are special robots that move through multiple leg assemblies. With strong adaptability to complex terrain, flexible posture adjustment capability and stable load bearing characteristics, multi-legged robots have broken through the application limitations of traditional wheeled and tracked robots, formed unique technical advantages in the fields of industrial inspection, emergency rescue, education and scientific research, consumer entertainment and special operation, and become an important development branch in the field of robot technology.

[0003] With the development of science and technology, technical personnel in related fields have also made a lot of optimization on multi-legged robots. In order to make more accurate comparison, a kind of integrated multi-legged robot is disclosed in Chinese patent CN113635989A, which comprises a rack assembly provided with a plurality of power devices; a liftable wheeled mechanism fixed below the rack assembly; a plurality of leg structures, each leg structure being connected to the rotor of each power device on the rack assembly.

[0004] The above prior art uses a full-angle rotating joint to solve the interference problem of the leg movement process of the legged robot, and can complete tasks such as climbing obstacles upward and climbing. The retractable wheeled structure arranged before and after use can make the legged robot become a wheeled robot for movement.

[0005] However, the multi-legged robot provided by the above prior art still has some deficiencies in actual use: 1. The multi-legged robot provided by the above prior art can only complete the forward and backward movement of the robot, i.e. forward movement, backward movement and turning, cannot realize full-direction displacement, and cannot monitor the surrounding environment, which leads to the robot being easy to collide with obstacles or fall from a cliff-like road when moving, thereby lacking flexibility and being inconvenient to operate.

[0006] 2. Although the above prior art can complete obstacle climbing operation, the leg structure provided thereby can only complete lifting action, so the leg structure can only climb obstacles. If the height of the obstacle is higher than the lifting height of the leg structure, the leg structure cannot climb the obstacle, and thus cannot climb obstacles. Therefore, the above multi-legged robot has limitations.

[0007] Therefore, under the above statements, there is still room for improvement for the existing multi-legged robot. SUMMARY

[0008] In order to solve the above problems, the application provides an integrated multi-legged robot, which comprises a body composed of a sleeve shell and an upper cover, the upper cover being installed on the upper end of the sleeve shell; a plurality of bottom rudders are arranged at the four corners of the inner bottom wall of the sleeve shell; a traveling part is arranged on the sleeve shell and used to drive the body to move, the traveling part has a plurality of parts and is matched with the plurality of bottom rudders respectively, the traveling part comprises a plurality of moving legs installed at the four corners of the sleeve shell respectively, a side rudder is arranged on each moving leg, and the moving legs are driven to move in all directions by the cooperation of the bottom rudders and the side rudders, so as to drive the body to move in all directions; a control mainboard is installed in the sleeve shell, the body is driven to move in all directions by the cooperation of the control mainboard, the bottom rudders and the traveling part; and a crossing obstacle part is used to control the body to cross obstacles that cannot be avoided and is suitable for moving on a road surface in a complex situation.

[0009] Preferably, the control mainboard is provided with a main control chip, a WIFI module and an image acquisition and recognition module, which are connected with each other through a serial communication interface, wherein the main control chip is used to issue a moving instruction to the rudders and the traveling part, the WIFI module is used to receive a control signal of a terminal as a server end, and the image acquisition and recognition module is used to identify obstacles around the body during the movement of the body and control the body to automatically avoid the obstacles in cooperation with the main control chip.

[0010] Preferably, the image acquisition and recognition module comprises a plurality of detection radars and cameras installed around the sleeve shell respectively, which are used to monitor the surrounding environment and identify obstacles, and the image acquisition and recognition module further comprises a processor arranged on the control mainboard, which is used to receive monitoring signals of the detection radars and the cameras and output the monitoring signals to the main control chip, so that the main control chip drives the bottom rudders and the traveling part to execute automatic obstacle avoidance and outputs real-time images to a control terminal.

[0011] Preferably, the moving leg comprises a plurality of U-shaped frames sleeved at the four corners of the body respectively, a supporting leg is installed on the outer wall of the U-shaped frame, a connecting pin is rotatably arranged between the upper horizontal section of the U-shaped frame and the top of the upper cover, and the lower horizontal section of the U-shaped frame is sleeved on the outer wall of the output shaft of the bottom rudder.

[0012] Preferably, a bottom raking tooth is fixedly sleeved on the outer wall of the output shaft of the bottom rudder, and the bottom raking tooth and the lower horizontal section of the U-shaped frame are mutually clamped.

[0013] Preferably, the supporting leg comprises a connecting block arranged on the outer wall of the side of the U-shaped frame away from the body, a supporting rod is rotatably installed on the side of the connecting block away from the U-shaped frame, and a linkage leg is rotatably arranged on the lower end of the supporting rod through a mounting pin.

[0014] Preferably, the side rudder is mounted on the inner wall of the opening of the U-shaped frame, the output shaft of the side rudder is sleeved with a Y-shaped frame, the two inclined sections of the opening of the Y-shaped frame are rotatably mounted on the two sides of the side rudder, the output shaft of the rudder is fixedly sleeved with side ratchets which are clamped with the Y-shaped frame, and a fixing pin is rotatably mounted between the end of the Y-shaped frame away from the side rudder and the bottom of the linkage leg.

[0015] Preferably, the obstacle crossing part comprises a flap mounted at the lower end of the linkage leg, the side of the flap away from the machine body is upwardly inclined, the side of the flap close to the machine body has an upwardly inclined folding edge, the flap and the folding edge have a receiving groove, a roller is rotatably mounted in the receiving groove, a plurality of rollers are jointly sleeved with a belt, a driving motor is arranged in the linkage leg through a motor seat, the output shaft of the driving motor is connected with one of the rollers through belt transmission, and the driving motor is electrically connected with the main control chip.

[0016] Preferably, the bottom end of the flap is internally provided with a clearance groove, the clearance groove is provided with a pushing spring rod on the top wall, the lower end of the pushing spring rod is rotatably mounted with a tensioning wheel through an axle support, and the tensioning wheel rotatably abuts against the upper part of the belt.

[0017] In summary, the present application has the following beneficial technical effects: Firstly, the present application can realize the functions of the multi-legged robot such as walking, turning, monitoring and real-time control by integrating remote control, network communication technology and monitoring sensor technology, and the user can remotely control the multi-legged robot through a webpage or control multiple multi-legged robots in a group through a control terminal.

[0018] Secondly, the present application can prevent the machine body from rolling over by controlling the rotation of the plurality of supporting legs through the bottom rudder and alternately lifting and lowering the plurality of linkage legs in a diagonal manner through the side rudder, and can ensure the stable movement of the machine body in all directions, thereby improving the operation convenience of the present application and ensuring the smoothness of the movement in all directions.

[0019] Thirdly, the upwardly inclined side of the flap can play a guiding role, converting the vertical climbing of the machine body to inclined movement on the inclined surface, reducing the climbing resistance and difficulty of the machine body, and the roller driving effectively replaces the traditional leg walking movement, provides continuous traction through the rotation of the roller, avoids slipping, and ensures the stability of the posture of the machine body, thereby effectively driving the machine body to climb and cross the obstacles through the cooperation of the inclined guiding and rolling driving, ensuring that the present application can adapt to various different complex road surfaces and effectively improving the adaptation range of the present application.

[0020] Four, the bottom rudder and the side rudder adjust the axis of the plurality of rollers at the lower end of the rocker to be parallel, then control the plurality of rollers to rotate synchronously, for driving the fuselage to move to one side of the obstacle, so that the roller drives the rocker and the fuselage as a whole to move to the upper end of the protruding obstacle, then the roller can drive the fuselage to cross the protruding obstacle, ensuring that the application can adapt to a variety of different complex road surfaces, effectively improving the application range.

[0021] Five, the horizontal movement algorithm is called through the master control chip, the swing plane of all supporting legs is adjusted to be consistent with the horizontal movement direction of the fuselage, then the fuselage is driven to move stably in a straight line through the linkage legs, so as to avoid the obstacles on the side, and the initial swing angle of the U-shaped frame can be adjusted to realize the movement in all directions on the flat ground and the top of the obstacle, so that the application can smoothly cross the obstacles with different heights and shapes, can adapt to a variety of complex scenes such as protrusion, cliff, and multiple obstacle superposition, greatly improving the application range. BRIEF DESCRIPTION OF DRAWINGS

[0022] The application will be further described below in combination with the drawings and examples.

[0023] Figure 1 is a structural schematic diagram of the application.

[0024] Figure 2 is a structural schematic diagram of the internal structure of the application.

[0025] Figure 3 is a structural schematic diagram of the advancing part of the application.

[0026] Figure 4 is a structural schematic diagram of the side rudder, the U-shaped frame and the supporting leg of the application.

[0027] Figure 5 is a partial enlarged view of A of the application. Figure 4

[0028] Figure 6 is a structural schematic diagram of the obstacle crossing part of the application.

[0029] Figure 7 is a structural schematic diagram of the side rudder, the U-shaped frame and the supporting leg of the application.

[0030] ​In the figure, 1, body; 11, cover; 12, upper cover; 2, bottom rudder; 3, traveling part; 31, moving support; 32, side rudder; 321, Y-shaped frame; 322, side pawl; 3221, air cylinder; 3222, support plate; 33, U-shaped frame; 34, support leg; 341, connecting block; 342, support rod; 343, linkage leg; 35, connecting pin; 36, bottom pawl; 4, control mainboard; 41, main control chip; 42, WIFI module; 431, detection radar; 432, camera; 433, processor; 5, obstacle crossing part; 51, seesaw; 52, roller; 53, belt; 54, driving motor; 55, let go slot; 56, push spring rod; 57, tensioning wheel. DETAILED DESCRIPTION

[0031] The following will be described in detail in combination with the accompanying drawings Figures 1-7 The embodiments of the present application are described in detail.

[0032] The embodiments of the present application disclose an integrated multi-legged robot, it needs to be explained that the integrated multi-legged robot of the present application can realize the functions of multi-legged robot such as traveling, turning, monitoring and the like for real-time control through integrating remote control, network communication technology and monitoring sensor technology in technical effect; in particular, when the multi-legged robot moves, the diagonal linkage legs 343 are alternately lifted and lowered, which prevents the body 1 from rolling over, and can ensure that the driving body 1 moves stably in all directions, thereby improving the operation convenience of the present application; further, the integrated multi-legged robot of the present application can also smoothly cross obstacles, ensure that the present application can adapt to various different complex road surfaces, effectively improve the application range of the present application, and can also move horizontally or omnidirectionally when the body 1 crosses obstacles, ensure that the present application can smoothly cross different types of obstacles.

[0033] Embodiment one: Refer to Figure 1 and Figure 2As shown, an integrated multi-legged robot comprises a body 1 composed of a shell 11 and an upper cover 12, the upper cover 12 is installed on the upper end of the shell 11 to form a cavity capable of installing parts; a plurality of bottom rudders 2 are arranged at the four corners of the inner bottom wall of the shell 11 respectively; a traveling part 3 is arranged on the shell 11 for driving the body 1 to move, the traveling part 3 has a plurality of and cooperates with a plurality of bottom rudders 2 respectively, the traveling part 3 comprises a plurality of moving legs 31 respectively installed at the four corners of the shell 11, a side rudder 32 is arranged on the moving leg 31, and the moving leg 31 realizes omnidirectional displacement through the cooperation of the bottom rudder 2 and the side rudder 32, which is used to drive the body 1 to move in all directions; a control mainboard 4 is installed inside the shell 11, the bottom rudder 2 is operated through the control mainboard 4, and the traveling part 3 cooperates with the control mainboard 4 to realize omnidirectional travel of the body 1, a rudder controller matched for use is arranged on each of the bottom rudder 2 and the side rudder 32, the rudder controller and the control mainboard 4 are electrically connected, the traveling part 3 is cooperatively controlled based on the bottom rudder 2 and the side rudder 32, without introducing an additional driving source, so as to realize omnidirectional movement of the body 1 on a plane or even complex terrain, including longitudinal, transverse and oblique movement; a crossing obstacle part 5 is used to control the body 1 to cross obstacles that cannot be avoided, and is suitable for moving on a road surface in complex conditions.

[0034] Further, in the embodiment, a main control chip 41, a WIFI module 42 and an image acquisition and recognition module are arranged on the control mainboard 4, the three are connected with each other through a serial communication interface, the image acquisition and recognition module processes the collected original data in real time, generates structured environment data containing obstacle type, position and distance information through image recognition and sensor fusion algorithm, and continuously sends the data to the main control chip 41, the WIFI module 42 receives data from a remote control terminal (such as a mobile phone APP or a webpage), and parses the data into specific motion control instructions (such as forward movement, turning) or mode switching instructions, and then forwards the instructions to the main control chip 41, the main control chip 41 as a control core receives and parses data from the WIFI module 42 and the image acquisition and recognition module in real time.

[0035] Among them, the main control chip 41 is used to issue movement instructions to the rudders and the traveling part 3, the WIFI module 42 is used as a server end to receive control signals of the terminal, so as to facilitate remote control, and the image acquisition and recognition module is used to identify obstacles around the body 1 during movement, and cooperate with the main control chip 41 to control the body 1 to automatically avoid obstacles; so as to realize real-time control of the traveling, turning, monitoring and other functions of the multi-legged robot through the integration of remote control, network communication technology and monitoring sensor technology, and the user can remotely control the multi-legged robot through the webpage, or control a plurality of multi-legged robots through the control terminal.

[0036] It needs to be explained that the image acquisition and recognition module includes a plurality of detection radars 431 and cameras 432 respectively installed around the shell 11, which are used to monitor the surrounding environment and identify obstacles. The image acquisition and recognition module further includes a processor 433 arranged on the control mainboard 4. The processor 433 is connected with the main control chip 41 through a serial communication interface. The sending pin of the processor 433 is connected to the receiving pin of the main control chip 41, and the receiving pin of the processor 433 is connected to the sending pin of the main control chip 41. Through this connection mode, a bidirectional full-duplex communication channel is established between the processor 433 and the main control chip 41. The processor 433 can actively send sensing data to the main control chip 41, and the main control chip 41 can also send query instructions or configuration parameters to the processor 433. Therefore, the processor 433 is used to receive the monitoring signals of the detection radars 431 and the cameras 432 and output to the main control chip 41, so that the main control chip 41 drives the bottom rudder 2 and the traveling part 3 to perform automatic obstacle avoidance, and outputs real-time images to the control terminal. During this period, the processor 433 decodes the images collected by the camera 432 and runs an image recognition algorithm, and simultaneously sends the distance data of the detection radar 431 to the main control chip 41.

[0037] Further, the processor 433 uses a multi-sensor fusion algorithm to process the data of the detection radars 431 and the cameras 432. Specifically, the radar 431 obtains obstacle distance information through ultrasonic or infrared ranging and transmits it to the processor 433 in real time. The image data captured by the camera 432 monitors the surrounding obstacles in real time and outputs the boundary box coordinates. The processor 433 sends the fused obstacle map to the main control chip 41 through a serial port. The main control chip 41 parses the obstacle map, generates a motion path, and then outputs a PWM signal to the rudder controller to control the rotation of the bottom rudder 2 and the lifting and lowering sequence of the side rudder 32, thereby controlling the automatic obstacle avoidance of the fuselage 1. In addition, the detection radars 431 and cameras 432 in the image acquisition and recognition module can monitor the raised obstacles and depressions such as cliffs on the road surface, and the traveling part 3 can avoid obstacles and bypass the depressions.

[0038] In addition, the main control chip 41 is a prior art widely used in embedded control systems. The main control chip 41 uses an STM32F103RCT6 microcontroller of STMicroelectronics, which is based on an ARM Cortex-M3 core, has a main frequency of 72MHz, is built-in with 512KB of Flash memory and 64KB of RAM, and has 64 pins. The main control chip 41 is used to implement automatic obstacle avoidance and motion control algorithms. After receiving the obstacle coordinates sent by the processor 433, the main control chip 41 calculates the turning angle and controls the bottom rudder 2 to start automatically avoiding obstacles in cooperation with the traveling part 3, for example, if the obstacle is located directly in front. If the height of the obstacle exceeds the traveling height of the traveling part 3, the crossing obstacle part 5 is triggered to cross the obstacle.

[0039] Referring to Figure 2 and Figure 3 As shown in the figure, in order to improve the convenience and movement of the application, the body 1 can be controlled to move in all directions in this embodiment. Specifically, the moving legs 31 include a plurality of U-shaped frames 33 respectively sleeved at the four corners of the body 1. The outer wall of the U-shaped frame 33 is provided with a supporting leg 34. The opening of the U-shaped frame 33 points to the body 1. A connecting pin 35 is rotationally arranged between the upper horizontal section of the U-shaped frame 33 and the top of the upper cover 12, so that the U-shaped frame 33 can rotate along the connecting pin 35. The lower horizontal section of the U-shaped frame 33 is sleeved on the outer wall of the output shaft of the bottom steering engine 2.

[0040] In the specific implementation process, the main control chip 41 controls the bottom steering engine 2 to start by connecting the power. The output shaft of the bottom steering engine 2 drives the U-shaped frame 33 to rotate, so that the U-shaped frame 33 drives the supporting leg 34 to move circumferentially. The body 1 can be controlled to move linearly by the alternating movement of the plurality of supporting legs 34 outside the body 1. Specifically, when the swing of the supporting leg 34 acts on the transverse (left-right direction) of the body 1, the body 1 is driven to move linearly in the longitudinal (front-rear) direction. When the swing of the supporting leg 34 acts on the longitudinal (front-rear direction) of the body 1, the body 1 is driven to move linearly in the transverse (left-right) direction. In addition, the four supporting legs 34 are divided into two groups in a diagonal manner, for example, the left front leg and the right rear leg are the first group, and the right front leg and the left rear leg are the second group. The diagonal moving mode ensures the stable movement of the body 1. Taking the right movement of the body as an example, when the first group of supporting legs 34 is lifted, the second group of supporting legs 34 is supported on the ground. In the lifted state of the first group of supporting legs 34, the main control chip 41 controls the bottom steering engine 2 to drive the U-shaped frame 33 of the first group of supporting legs 34, so that the supporting leg 34 swings to the left. After the first group of supporting legs 34 swings to the left, it falls to contact the ground. Then the second group of supporting legs 34 is lifted, the first group of supporting legs 34 is supported, and the second group of supporting legs 34 also swings to the left. The body 1 can be driven to move stably to the right by the alternating lifting and falling of the two groups of supporting legs 34. The stability of the body 1 during movement can be ensured by the plurality of supporting legs 34.

[0041] It should be noted that in this embodiment, the outer wall of the output shaft of the bottom steering engine 2 is fixedly sleeved with a bottom ratchet 36. The bottom ratchet 36 is clamped between the lower horizontal section of the U-shaped frame 33. The bottom ratchet 36 can ensure that the bottom steering engine 2 can drive the U-shaped frame 33 to rotate and will not be loosened at will. In addition, the bottom ratchet 36 can be removed to facilitate the disassembly of the U-shaped frame 33 from the output shaft of the bottom steering engine 2, so as to facilitate the quick installation and disassembly of the U-shaped frame 33.

[0042] Referring to Figure 3 and Figure 4As shown, since the bottom steering engine 2 cooperates with the U-shaped frame 33 to only drive the fuselage 1 to move linearly, in order to ensure that the fuselage 1 can complete omnidirectional movement, in the embodiment, the supporting leg 34 comprises a connecting block 341 arranged on the outer wall of the side of the U-shaped frame 33 away from the fuselage 1, a supporting rod 342 is rotatably arranged on the side of the connecting block 341 away from the U-shaped frame 33, and a linkage leg 343 is rotatably arranged on the lower end of the supporting rod 342 through a mounting pin.

[0043] Further, the side steering engine 32 is arranged on the opening inner wall of the U-shaped frame 33, a Y-shaped frame 321 is sleeved on the outer wall of the output shaft of the side steering engine 32, two inclined sections of the opening of the Y-shaped frame 321 are rotatably arranged on the two sides of the side steering engine 32, a side ratchet 322 is fixedly sleeved on the outer wall of the output shaft of the steering engine and is clamped with the Y-shaped frame 321, and a fixing pin is rotatably arranged between the end of the Y-shaped frame 321 away from the side steering engine 32 and the bottom of the linkage leg 343.

[0044] In the specific implementation process, when the bottom steering engine 2 drives the U-shaped frame 33 to rotate, the U-shaped frame 33 drives the connecting block 341, the supporting rod 342 and the linkage leg 343 to move synchronously; in addition, when the side steering engine 32 is started under the control of the main control chip 41, the output shaft of the side steering engine 32 drives the Y-shaped frame 321 to rotate, so that the Y-shaped frame 321 drives the linkage leg 343 to rotate around the mounting pin to the side close to or away from the U-shaped frame 33, thereby controlling the linkage leg 343 to lift and fall, and the four linkage legs 343 also move alternately in a diagonal manner, which can ensure that the fuselage 1 moves stably and prevents the fuselage 1 from overturning due to the two linkage legs 343 on the same side of the fuselage 1 lifting at the same time; when the U-shaped frame 33 swings under the control of the bottom steering engine 2, the linkage leg 343 is lifted by the side steering engine 32 to avoid interference caused by the linkage leg 343 contacting the ground; in addition, after the U-shaped frame 33 swings to a specified angle, the lifting and falling of the linkage leg 343 can drive the fuselage 1 to move along the angle, so that the fuselage 1 can be controlled to move omnidirectionally according to actual needs, which can improve the operation convenience of the present application and ensure the smoothness of omnidirectional movement.

[0045] Referring to Figure 4 , Figure 5 and Figure 6As shown, due to the limited lifting range of the linkage legs 343, there may be obstacles on the road surface that cannot be avoided and cannot be crossed by the linkage legs 343, such as steps that the linkage legs 343 cannot climb, in order to ensure that the application can be competent to move on the road surface in different complex situations, a crossing obstacle part 5 is provided in the embodiment, which can control the body 1 to continue to move after crossing the protruding obstacle, specifically, the crossing obstacle part 5 includes a flap 51 mounted at the lower end of the linkage leg 343, the side of the flap 51 away from the body 1 is inclined upward, and the side of the flap 51 close to the body 1 has an upwardly inclined folded edge, so that the flap 51 has a bottom end contacting the ground, when the body climbs to the top end of the obstacle, the folded edge can abut the edge of the obstacle to prevent the body from tilting forward, the flap 51 and the lower end of the folded edge are both provided with a receiving groove, and a roller 52 is rotatably installed in the receiving groove, a plurality of rollers 52 are collectively sleeved with a belt 53, a driving motor 54 is arranged in the linkage leg 343 through a motor seat, and the output shaft of the driving motor 54 is connected with one of the rollers 52 through belt transmission, and the driving motor 54 is electrically connected with the main control chip 41.

[0046] Further, in the embodiment, a gap 55 is formed in the bottom end of the flap 51, a pushing spring rod 56 is arranged on the top wall of the gap 55, a tension pulley 57 is rotatably arranged at the lower end of the pushing spring rod 56 through an axle support, the tension pulley 57 rotates and abuts the upper part of the belt 53, the pushing spring rod 56 always applies a pressing force to the tension pulley 57, so that the tension pulley 57 has a downward extending tendency in the initial state, thereby the tension pulley 57 tensions the belt 53 to ensure that the belt 53 realizes linkage of the plurality of rollers 52.

[0047] In the initial state, the driving motor 54 cannot rotate the roller 52, so the U-shaped frame 33 and the linkage leg 343 move the body 1 through the flap 51, during which the roller 52 at the bottom end of the flap 51 contacts the ground.

[0048] In the specific implementation process, when the application moves to the obstacle that cannot be avoided, the image acquisition and recognition module monitors the obstacle and transmits a signal to the main control chip 41, the main control chip 41 first adjusts the flaps 51 at the bottom of the plurality of linkage legs 343 through the bottom rudder 2 and the side rudder 32, so that the plurality of flaps 51 are parallel to each other and point to the preset direction of movement, i.e. to the side of the protruding obstacle, to ensure that the body 1 can stably move in a straight line to the obstacle, creating a prerequisite for climbing, so the axes of the rollers 52 at the lower end of each flap 51 are parallel to each other, so that the direction of movement points to the protruding obstacle, then the main control chip 41 makes the driving motor 54 start to be powered on, the driving motor 54 drives the plurality of rollers 52 to rotate, and the rollers 52 at the bottom of the plurality of linkage legs 343 rotate synchronously, thereby driving the body 1 to move to the side of the obstacle; the specific process of the body 1 climbing and crossing the obstacle is as follows: The upwardly inclined end of the seesaw 51 first contacts the side wall of the obstacle. Since the inclined surface of the seesaw 51 has a guiding effect, the roller 52 generates a friction force with the surface of the obstacle when continuously rotating, and the friction force can be decomposed into a force for pushing the body 1 forward and a force for lifting the body 1 upward along the inclined surface. Under the combined action of the continuous rotation of the roller 52 and the inclined surface, the seesaw 51 climbs upward along the obstacle. The seesaw 51 that first contacts the obstacle and the linkage leg 343 where the seesaw 51 is located are lifted first, and the center of gravity of the body 1 gradually shifts to the part that has climbed onto the obstacle. With the continuous rotation of the roller 52, the seesaw 51 that first contacts the obstacle completely climbs to the top surface of the obstacle and pulls the body 1 toward the top surface of the obstacle, and the rear seesaw 51 continues to climb upward through the roller 52, which can ensure that the multiple rollers 52 positively act on the climbing of the body 1 and prevent slipping. In this way, through the coordinated control of the inclined surface guiding and the roller 52 pulling and climbing, the entire body 1 is driven to move completely to the upper end of the obstacle, facilitating the body 1 to drive over the obstacle and complete the obstacle-crossing action, avoiding the obstacle from blocking the movement of the present application. Moreover, the roller 52 driving the movement of the body 1 effectively replaces the traditional leg walking movement. The continuous traction provided by the rotation of the roller 52 avoids slipping and ensures stable body posture. Moreover, the rotation speeds of all rollers 52 are consistent, avoiding the deviation of obstacle climbing caused by the speed difference of single-side rollers.

[0049] In addition, the upwardly inclined side of the seesaw 51 can play a guiding role, converting the vertical obstacle climbing of the body 1 into inclined surface movement in the inclined direction, reducing the climbing resistance and difficulty of the body, and enabling the roller 52 on the side of the seesaw 51 away from the body 1 to smoothly abut against the upper side of the obstacle and drive the body 1 to climb and cross the obstacle, ensuring that the present application can adapt to various road surfaces with different complex situations and effectively improve the adaptation range of the present application.

[0050] After crossing the obstacle, the main control chip 41 controls the seesaw 51 at the bottom of the multiple linkage legs 343 to reset to the initial arrangement direction through the bottom steering gear 2 and the side steering gear 32, and then the driving motor 54 is powered off to restore the omnidirectional movement of the present application to the original state.

[0051] Referring to Figure 2 , Figure 3 and Figure 4As shown, and because the obstacles of the complex road surface can be disordered, the body 1 is easily blocked by other obstacles or falls from the cliff of the obstacle after being driven by the rollers 52 to cross the obstacle, for example, after the body 1 crosses the steps, there are other obstacles on the steps, based on this, in the embodiment, the master control chip 41 can call the preset transverse movement algorithm, that is, by controlling the bottom steering engine 2 to drive the U-shaped frame 33 to rotate, the swing planes of all the supporting legs 34 are adjusted to be consistent with the transverse movement direction of the body 1; then the diagonal alternating lifting and falling of the linkage legs 343 is controlled by the side steering engine 32, that is, the body 1 can be driven to move stably in a transverse straight line, so as to avoid the obstacles on the side; in addition, all the linkage legs 343 are lowered, and the rollers 52 at the bottom end of the rocker 51 are also controlled to rotate, so as to drive the body 1 to move transversely to bypass the obstacles.

[0052] Further, by adjusting the initial swing angle of the U-shaped frame 33 by the bottom steering engine 2, the body 1 can move in all directions on the flat ground and on the top of the obstacle, so that when the robot encounters sudden obstacles and cliffs during the obstacle crossing process, the robot can move obliquely or rotate flexibly, not only relying on single longitudinal movement or complex mechanical transverse rolling, and the body 1 will not fall from the obstacle to cause side turning after crossing the obstacle and moving continuously, so as to ensure that the robot can cross the obstacles of different heights and different shapes smoothly, and can adapt to various complex scenes such as protrusions, cliffs, and multiple obstacle superposition, thereby greatly improving the adaptability range of the robot.

[0053] Embodiment two: Referring to Figure 7 As shown, when the body 1 moves to the obstacle with a height greater than the upward inclination of the rocker 51, the body 1 cannot be driven to cross the obstacle by the rocker 51, so in the embodiment, the inclination angle of the rocker 51 can also be adjusted, specifically, the support rod 342 is composed of two parts, and a cylinder 3221 is arranged between the two parts of the support rod 342, the cylinder 3221 and the master control chip are electrically connected, one segment of the support rod 342 is symmetrically provided with two supporting plates 3222 along the cylinder 3221, the supporting plates 3222 are slidably arranged in the other segment of the support rod 342, the supporting plates 3222 can slide and support the support rod 342, so that the cylinder 3221 can drive the other segment of the support rod 342 to lift and fall, and the stability of the other segment of the support rod 342 is ensured.

[0054] In the implementation process, the main control chip 41 controls the air cylinder 3221 to start and drive the support rod 342 to retract upward, so that the total length of the support rod 342 is shortened, and the support rod 342 drives the linkage leg 343 to rotate upward around the fixed pin as the center, so that the linkage leg 343 drives the flap 51 to tilt upward away from one side of the machine body 1, thereby increasing the angle between the flap 51 and the ground, ensuring that the flap 51 can drive the machine body 1 to cross the obstacle through the roller 52; after crossing the obstacle, the main control chip 41 controls the air cylinder 3221 to drive the support rod 342 to reset, and the support rod 342 drives the linkage leg 343 and the flap 51 to reset.

[0055] When working: First step: monitor the surrounding environment and identify obstacles through the radar 431 and the camera 432, during which the processor 433 receives the monitoring signal and outputs it to the main control chip 41.

[0056] Second step: the main control chip 41 controls the bottom steering gear 2 to start, and the output shaft of the bottom steering gear 2 drives the U-shaped frame 33 to rotate, so that the U-shaped frame 33 drives the support leg 34 to move circumferentially, so that the machine body 1 can move linearly by the alternating movement of the multiple support legs 34 outside the machine body 1.

[0057] Third step: when the bottom steering gear 2 drives the U-shaped frame 33 to rotate, the U-shaped frame 33 drives the connecting block 341, the support rod 342 and the linkage leg 343 to move synchronously; when the main control chip 41 controls the side steering gear 32 to start, the output shaft of the side steering gear 32 drives the Y-shaped frame 321 to rotate, so that the Y-shaped frame 321 drives the linkage leg 343 to lift and fall in a rotating manner, which can ensure the stable movement of the machine body 1; after the U-shaped frame 33 swings to a specified angle, the lifting and falling of the linkage leg 343 can drive the machine body 1 to move along the angle, so that the machine body 1 can move in all directions according to actual needs.

[0058] Fourth step: when the machine body 1 moves to a place where the obstacle cannot be avoided, the main control chip 41 first adjusts the flaps 51 at the bottom of the multiple linkage legs 343 through the bottom steering gear 2 and the side steering gear 32, so that the multiple flaps 51 are parallel to each other and point to the preset direction of movement, i.e. to the side of the protruding obstacle, ensuring that the machine body 1 can move stably and linearly towards the obstacle, creating a prerequisite for climbing, so that the axes of the rollers 52 at the lower ends of the flaps 51 are parallel to each other, and the direction of movement points to the protruding obstacle, and then the main control chip 41 controls the driving motor 54 to drive the rollers 52 at the bottom of the multiple linkage legs 343 to rotate synchronously, thereby driving the machine body 1 to move to the upper end of the obstacle, and then the rollers 52 at the bottom of the flaps 51 can drive the machine body 1 to cross the protruding obstacle, avoiding the obstacle that is difficult to avoid to block the movement of the machine body 1.

[0059] After crossing the obstacle, the main control chip 41 resets the seesaw 51 at the bottom of the plurality of linkage legs 343 through the bottom steering wheel 2 and the side steering wheel 32, and then powers off the driving motor 54 to restore the application to the original state of omnidirectional movement.

[0060] Fifth step: When the machine body 1 crosses the obstacle and is ready to cross the obstacle, the surrounding environment is monitored in real time through the image acquisition identification module, if there is an obstacle in the direction of travel of the machine body 1, the U-shaped frame 33 is rotated by controlling the bottom steering wheel 2, so that the swing plane of all the supporting legs 34 is adjusted to be consistent with the transverse movement direction of the machine body 1; then the linkage legs 343 are controlled by the side steering wheel 32 to be lifted and lowered alternately at an angle, so that the machine body 1 can be driven to move stably in a transverse straight line, thereby avoiding the obstacle on the side; in addition, when all the linkage legs 343 are lowered, the machine body 1 can also be driven to move transversely around the obstacle by controlling the rotation of the roller 52 at the bottom end of the seesaw 51.

[0061] Further, by adjusting the initial swing angle of the U-shaped frame 33 through the bottom steering wheel 2, omnidirectional movement can be achieved on flat ground and on the top of the obstacle, so that when a sudden obstacle and a cliff are encountered during the obstacle crossing process, the robot can move obliquely or rotate flexibly, and quickly bypass the obstacle and the cliff.

[0062] It is obvious to those skilled in the art that the present application is not limited to the details of the above exemplary embodiments, and can be implemented in other specific forms without departing from the spirit or essential characteristics of the present application.

[0063] In addition, it should be understood that although the present specification is described in terms of embodiments, not every embodiment contains only one independent technical solution, and the description manner of the specification is only for the sake of clarity, those skilled in the art should consider the specification as a whole, and the technical solutions in each embodiment can also be appropriately combined to form other embodiments that those skilled in the art can understand.

Claims

1. An integrated multi-legged robot, characterized by, Include: The fuselage (1) is composed of a shell (11) and an upper cover (12), the upper cover (12) is installed on the upper end of the shell (11); The bottom rudder (2) has a plurality of and is arranged at the four corners of the bottom wall in the shell (11) respectively; The traveling part (3) is arranged on the shell (11) and is used for driving the fuselage (1) to move, the traveling part (3) has a plurality of and cooperates with the plurality of bottom rudders (2) respectively, the traveling part (3) includes a plurality of moving legs (31) respectively installed at the four corners of the shell (11), the moving leg (31) is provided with a side rudder (32), the moving leg (31) is realized all-directional displacement through the cooperation of the bottom rudder (2) and the side rudder (32), which is used for driving the fuselage (1) to move in all directions; The control mainboard (4) is installed inside the shell (11), the bottom rudder (2) is operated through the control mainboard (4), and the all-directional traveling of the fuselage (1) is realized through the cooperation of the traveling part (3); The crossing obstacle part (5) is used for controlling the fuselage (1) to cross the obstacle which cannot be avoided, and is adapted to the road surface movement in complex conditions.

2. The integrated multi-legged robot of claim 1, wherein: The control mainboard (4) is provided with a main control chip (41), a WIFI module (42) and an image acquisition and identification module, which are connected with each other through a serial communication interface, wherein the main control chip (41) is used for issuing a moving instruction to the rudder and the traveling part (3), the WIFI module (42) is used as a server end to receive the control signal of the terminal, and the image acquisition and identification module is used for identifying the surrounding obstacles during the movement of the fuselage (1), and cooperates with the main control chip (41) to control the fuselage (1) to automatically avoid obstacles.

3. The integrated multi-legged robot of claim 2, wherein: The image acquisition and identification module includes a plurality of detection radars (431) and cameras (432) respectively installed around the shell (11), which are used for monitoring the surrounding environment and identifying obstacles, and the image acquisition and identification module further includes a processor (433) arranged on the control mainboard (4), which is used for receiving the monitoring signals of the detection radars (431) and the cameras (432) and outputting to the main control chip (41), so that the main control chip (41) drives the bottom rudder (2) and the traveling part (3) to execute automatic obstacle avoidance, and outputs real-time images to the control terminal.

4. The integrated multi-legged robot of claim 1, wherein: The moving leg (31) includes a plurality of U-shaped frames (33) respectively sleeved at the four corners of the fuselage (1), the U-shaped frame (33) is provided with a supporting leg (34) on the outer wall, a connecting pin (35) is rotatably arranged between the upper horizontal section of the U-shaped frame (33) and the top of the upper cover (12), and the lower horizontal section of the U-shaped frame (33) is sleeved on the outer wall of the output shaft of the bottom rudder (2).

5. The integrated multi-legged robot of claim 4, wherein: The output shaft of the bottom rudder (2) is fixedly sleeved with a bottom raking tooth (36), and the bottom raking tooth (36) is clamped with the lower horizontal section of the U-shaped frame (33).

6. The integrated multi-legged robot of claim 4, wherein: The supporting leg (34) includes a connecting block (341) arranged on the outer wall of the side of the U-shaped frame (33) away from the fuselage (1), a supporting rod (342) is rotatably installed on the side of the connecting block (341) away from the U-shaped frame (33), and a linkage leg (343) is rotatably arranged on the lower end of the supporting rod (342) through a mounting pin.

7. The integrated multi-legged robot of claim 6, wherein: The side rudder (32) is installed on the open inner wall of the U-shaped frame (33), the output shaft outer wall of the side rudder (32) is sleeved with a Y-shaped frame (321), two inclined sections of the Y-shaped frame (321) are rotatably installed on the two sides of the side rudder (32), the output shaft outer wall of the rudder is fixedly sleeved with a side racking gear (322) which is clamped with the Y-shaped frame (321), and a fixing pin is rotatably installed between the end of the Y-shaped frame (321) away from the side rudder (32) and the bottom of the linkage leg (343).

8. The integrated multi-legged robot of claim 6, wherein: The cross obstacle part (5) comprises a flap (51) installed at the lower end of the linkage leg (343), the side of the flap (51) away from the fuselage (1) is upwardly inclined, the side of the flap (51) close to the fuselage (1) is provided with an upwardly inclined folding edge, the flap (51) has a bottom end contacting the ground, the flap (51) and the folding edge are provided with accommodating grooves, rollers (52) are rotatably installed in the accommodating grooves, a belt (53) is sleeved on the rollers (52), a driving motor (54) is arranged in the linkage leg (343) through a motor base, the output shaft of the driving motor (54) is connected with one of the rollers (52) through belt transmission, and the driving motor (54) is electrically connected with the main control chip (41).

9. The integrated multi-legged robot of claim 8, wherein: The bottom end of the flap (51) is provided with a clearance groove (55), the clearance groove (55) is provided with a pushing spring rod (56) on the top wall, the lower end of the pushing spring rod (56) is rotatably provided with a tension pulley (57) through a shaft support, and the tension pulley (57) rotatably abuts against the upper part of the belt (53).

Images