CN106740738A - One kind may span across formula detection robot, control method and device - Google Patents

Abstract

The invention discloses a leaping detection robot, a control method and a device. The robot includes: a base plate, a drive wheel, a drive motor, a storage cavity, an auxiliary device and a base; the robot is provided with an auxiliary device at the center of its base, and the auxiliary device has a telescopic function. When the robot encounters an obstacle , the auxiliary device stretches out and lifts the two driving wheels in front of the robot, and the two driving wheels in front of the robot cross obstacles, and then drive the robot to cross obstacles. The robot shown in the embodiment of the present invention can cross obstacles and is suitable for intricate detection environments.

Description

A leaping detection robot, control method and device

technical field

The invention relates to the technical field of robots, in particular to a leaping detection robot, a control method and a device.

Background technique

With the continuous maturity of robot technology, the application range of robot detection is becoming more and more extensive. The robot can quickly detect the surrounding environment through the endoscopic camera monitoring system, and can reach places that the staff cannot reach, which greatly reduces the labor intensity. .

Nowadays, wheeled mobile robots are often used for rapid detection. The existing wheeled mobile robots are equipped with four wheels or four extra wheels at the bottom of the robot. When the wheeled mobile robot is running on a plane, it can find three simultaneous The wheels are in contact with the plane. When the wheeled mobile robot moves on the plane, the three wheels in contact with the plane are always tangent to the plane, so that the robot can be fixed on the plane to complete the rapid detection work.

The existing wheeled mobile robot uses the same three wheels to be tangent to the plane and fixed. In the rapid detection process, the robot needs to move on the plane to realize the detection of the surrounding environment. Traditional wheeled mobile robots can only move on a flat surface. If obstacles are encountered, traditional wheeled mobile robots will not be able to reach the destination; today's detection environment is intricate, and the phenomenon of detection plane protrusions often occurs. Traditional wheeled mobile robots It is difficult for mobile robots to reach their destinations over obstacles, thus limiting the application range of traditional wheeled mobile robots.

Contents of the invention

The purpose of the present invention is to provide a leaping detection robot, control method and device to solve the problem that existing wheeled mobile robots cannot cross obstacles in the detection process.

According to an embodiment of the present invention, on the one hand, there is provided a leaping detection robot, the robot includes: a base plate, a driving wheel, a driving motor, a storage cavity and an auxiliary device;

Wherein, the bottom plate is provided with four driving wheels; the driving wheels are located at the four corners of the bottom plate; the rotating end of the driving motor is connected with the driving wheels;

The storage cavity is provided at the center of the bottom plate, the drive motor is provided at the top of the storage cavity, and the rotating end of the drive motor is connected to one end of the auxiliary device;

The auxiliary device includes: auxiliary wheels, a telescopic rotating shaft and a base;

The rotating end of the drive motor is connected to one end of the telescopic rotating shaft, and the other end of the telescopic rotating shaft is connected to the top of the base; both sides of the base in the horizontal direction are provided with The auxiliary wheel; the size of the auxiliary device is adapted to the size of the storage cavity.

Further, a speed sensor is provided at the rotating shaft of the driving wheel.

Further, one end of the bottom plate is provided with an ultrasonic sensor.

Further, the telescopic rotating shaft is a screw rod.

The second aspect of the present invention provides a method for controlling a leaping detection robot, the method comprising:

Get forward instructions;

drive the robot forward;

Output forward speed;

judging whether the forward speed is greater than a preset speed;

If the forward speed is greater than the preset speed, continue to move forward;

If the forward speed is less than the preset speed, measure the height difference between the base plate and the obstacle, and upload the height difference;

judging whether the height difference is greater than a preset height value;

If the height difference is greater than the preset height value, an alarm is issued;

If the height difference is smaller than the preset height value, the auxiliary device is controlled to extend;

Drive the robot's front wheels up and over obstacles.

Further, if the height difference is greater than the preset height value, then controlling the extension of the auxiliary device includes:

Outputting the extended distance of the auxiliary device according to the height difference;

The extension of the control auxiliary device is controlled according to the distance by which the auxiliary device is extended.

Further, the driving of the front wheels of the robot is lifted to overcome obstacles, including:

controlling shortening of said auxiliary device;

outputting the displacement value of the robot;

judging whether the displacement value is a preset displacement;

If the displacement value is a preset displacement, then stop advancing.

The third aspect of the present invention provides a control device for a leaping detection robot, the device includes;

an acquisition device, the acquisition device is used to acquire the forward instruction;

a first driving device, the first driving device is used to drive the robot forward;

a speed output device for outputting forward speed;

a speed judging device, the speed judging device is used to judge whether the forward speed is greater than a preset speed;

A measuring device, the measuring device is used to measure the height difference between the base plate and the obstacle, and upload the height difference;

an alarm device configured to issue an alarm;

A height judging device, the height judging device is used to judge whether the height difference is greater than a preset height value;

a first control device for controlling the extension of the auxiliary device;

The second driving device is used to drive the front wheel of the robot to lift and cross obstacles.

Further, the height judging device includes:

a distance output device, the distance output device is used to output the extended distance of the auxiliary device according to the height difference;

A second control device, the second control device is used to control the extension of the auxiliary control device according to the extension distance of the auxiliary device.

Further, the second driving device includes:

a third control device for controlling the shortening of the auxiliary device;

a displacement output device, the displacement output device is used to output the displacement value of the robot;

A displacement judging device, the displacement judging device is used for judging whether the displacement value is a preset displacement.

It can be seen from the above technical solutions that the embodiments of the present invention provide a leaping detection robot, a control method and a device, the robot includes: a base plate, a driving wheel, a drive motor, a storage cavity, an auxiliary device and a base; wherein, the base plate There are 4 driving wheels; the driving wheels are located at the four top corners of the bottom plate; the rotating end of the driving motor is connected to the driving wheels; the storage cavity is arranged at the center of the bottom plate, and the The top of the storage cavity is provided with the drive motor, the rotating end of the drive motor is connected to one end of the auxiliary device; the auxiliary device includes: auxiliary wheels, telescopic rotating shaft and base; the rotation of the drive motor The end is connected with one end of the telescopic rotating shaft, and the other end of the telescopic rotating shaft is connected with the top of the base; both sides of the base in the horizontal direction are provided with the auxiliary wheels; the The size of the auxiliary device is adapted to the size of the storage cavity. An auxiliary device is installed at the center of its base. When the robot encounters an obstacle, the auxiliary device stretches out and lifts the two driving wheels in front of the robot. The two driving wheels in front of the robot cross the obstacle, Then drive the robot to cross the obstacle. The robot shown in the embodiment of the present invention can cross obstacles and is suitable for intricate detection environments.

Description of drawings

In order to more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the following will briefly introduce the accompanying drawings required in the embodiments. Obviously, the accompanying drawings in the following description are only some of the present invention. Embodiments, for those of ordinary skill in the art, other drawings can also be obtained based on these drawings without any creative effort.

Fig. 1 is a schematic diagram of the side structure of the telescopic device according to a preferred embodiment;

Fig. 2 is a schematic diagram showing the bottom of a leaping detection robot according to a preferred embodiment;

Fig. 3 is a flow chart showing a control method of a leaping detection robot according to a preferred embodiment;

Fig. 4 is a flowchart illustrating a method for controlling the extension of an auxiliary device according to a preferred embodiment;

Fig. 5 is a structural diagram showing a control device for a leaping detection robot according to a preferred embodiment;

Fig. 6 is a structural block diagram showing a second driving device according to a preferred embodiment.

illustration:

1-Telescopic rotating shaft; 2-Auxiliary wheel; 3-Ultrasonic sensor; 4-Drive wheel; 5-Storage chamber; 6-Speed sensor;

detailed description

The technical solutions in the embodiments of the present invention will be clearly and completely described below in conjunction with the accompanying drawings in the embodiments of the present invention. Obviously, the described embodiments are only some, not all, embodiments of the present invention. Based on the embodiments of the present invention, all other embodiments obtained by persons of ordinary skill in the art without making creative efforts belong to the protection scope of the present invention.

An embodiment of the present invention provides a leaping detection robot, as shown in Figure 1 and Figure 2, the robot includes: a base plate 7, a driving wheel 4, a drive motor, a storage chamber 5 and an auxiliary device 9; wherein the base plate 7 is provided with four drive wheels 4; the drive wheels 4 are located at the four corners of the base plate 7; the rotating end of the drive motor is connected with the drive wheels 4; the center of the base plate 7 is provided with The storage chamber 5 is provided with the driving motor on the top of the storage chamber 5, and the rotating end of the driving motor is connected with one end of the auxiliary device 9; the auxiliary device 9 includes: auxiliary wheels 2, telescopic The rotating shaft 1 and the base 8; the rotating end of the drive motor is connected to one end of the telescopic rotating shaft 1, and the other end of the telescopic rotating shaft 1 is connected to the top of the base 8; the base Both sides of the horizontal direction of 8 are provided with the auxiliary wheels 2 ; the size of the auxiliary device 9 is adapted to the size of the storage cavity 5 .

Specifically, the robot is equipped with an auxiliary device 9 at the center of its base plate 7, and the auxiliary device 9 has a telescopic function. Only the driving wheels 4 are lifted, and the two driving wheels 4 in front of the robot cross over obstacles, and then drive the robot to cross obstacles. The robot shown in the embodiment of the present invention can cross obstacles and is suitable for intricate detection environments.

Further, a speed sensor 6 is arranged at the rotating shaft of the driving wheel 4 .

Further, an ultrasonic sensor 3 is provided at one end of the bottom plate 7 .

Specifically, a speed sensor 6 is respectively installed on the four driving wheels 4 of the robot, and an ultrasonic sensor 3 is arranged at one end of the bottom plate 7 of the robot; when the robot is in a stopped or normal walking state, the auxiliary device 9 It is hidden in the robot storage cavity 5 through the up and down telescopic function; when the robot is in the normal walking state of moving forward at a constant speed, the speed sensors 6 on the four driving wheels 4 will send the collected speed information back to the main controller in real time. When the forward speed of a drive wheel 4 in the data of each speed sensor 6 is lower than the preset speed, it means that the robot encounters an obstacle in the working pipeline. At this time, the ultrasonic ranging sensor measures the height difference between the robot base plate 7 and the obstacle. After the controller obtains the data about the obstacle, it judges whether the obstacle can be crossed. When the controller judges that the obstacle can be crossed, the auxiliary device 9 stretches out and lifts the two driving wheels 4 in front of the robot to a corresponding height. The two driving wheels 4 cross the obstacle, and the auxiliary device 9 is retracted into the storage chamber 5 after crossing the obstacle; when the main controller judges that the robot cannot cross the obstacle, the robot stops advancing and sends an alarm signal to the outside to prevent the robot from forcibly crossing the obstacle, causing Overturned.

Further, the telescopic rotating shaft 1 is a screw rod.

Specifically, the rotating end of the motor is connected to one end of the telescopic rotating shaft 1, the telescopic rotating shaft 1 is a screw, and the motor and the screw mechanism can be telescopically moved by the auxiliary device 9 while helping the robot 360 degree rotation.

The second aspect of the embodiment of the present invention shows a control method of a leaping detection robot. FIG. 3 is a flow chart of a control method of a leaping detection robot according to a preferred embodiment; the method includes the following steps:

S101 acquires a forward instruction;

S102 driving the robot forward;

S103 outputs forward speed;

S104 judging whether the forward speed is greater than a preset speed;

S105 If the forward speed is less than the preset speed, measure the height difference between the base plate and the obstacle, and upload the height difference;

S106 If the forward speed is greater than the preset speed, continue to move forward;

S107 judging whether the height difference is greater than a preset height value;

S108, if the height difference is smaller than the preset height value, controlling the extension of the auxiliary device;

S109, if the height difference is greater than the preset height value, an alarm is issued;

S110 drives the front wheels of the robot to lift up and overcome obstacles.

Specifically, start the robot, the robot obtains the forward command, the robot is in a normal state of uniform speed forward, and the speed sensors 6 on the four drive wheels 4 output the forward speed of the robot, and the forward speed is uploaded to the main controller, the main controller, Judging whether the forward speed is greater than the preset speed, when the robot advances on a straight pipeline, the forward speed is greater than the preset speed, then the robot continues to move forward; when the robot encounters an obstacle, the The forward speed is less than the preset speed. At this time, the ultrasonic ranging sensor measures the height difference between the robot base plate 7 and the obstacle, and uploads the height difference value to the main controller, and the main controller judges the height difference Whether the value is greater than the preset height value, if the height difference is greater than the preset height value, the robot will stop moving forward and send an alarm signal to the outside to prevent the robot from forcibly crossing obstacles and causing rollover; if the height difference is less than The preset height value controls the extension of the auxiliary device 9; at this time, the auxiliary device 9 stretches out and lifts the two driving wheels 4 in front of the robot to a corresponding height, and now the two driving wheels 4 in front of the robot pass over Obstacles, the auxiliary device 9 is retracted into the storage chamber 5 after overcoming the obstacles.

Further, in S108, if the height difference is greater than the preset height value, control the extension of the auxiliary device, including:

S1081 Outputting the extended distance of the auxiliary device according to the height difference;

S1082 Control the extension of the auxiliary control device according to the extension distance of the auxiliary device.

Fig. 4 is a flowchart illustrating a method for controlling the extension of an auxiliary device according to a preferred embodiment;

Specifically, when the auxiliary device 9 of the robot is extended, the main controller outputs the extended distance of the auxiliary device 9 according to the height difference, and controls the The control aid 9 is extended.

Further, the S110 drives the front wheels of the robot to lift and overcome obstacles, including:

S111 controlling the auxiliary device to shorten;

S112 outputs the displacement value of the robot;

S113 judging whether the displacement value is a preset displacement;

S114 If the displacement value is a preset displacement, stop moving forward.

Specifically, when the robot crosses an obstacle, the main controller controls the auxiliary device 9 to shorten, output the displacement value of the robot, and judge whether the displacement value is a preset displacement, if the displacement value If the displacement is preset, it proves that the robot has completed the detection work, and the main controller controls the robot to stop moving forward.

The third aspect of the invention provides a control device for a leaping detection robot;

Fig. 5 is a structural diagram showing a control device for a leaping detection robot according to a preferred embodiment;

The device includes;

Acquisition means 201, the acquisition means 201 is used to acquire the forward instruction;

A first driving device 202, the first driving device 202 is used to drive the robot forward;

A speed output device 203, the speed output device 203 is used to output the forward speed;

A speed judging device 204, the speed judging device 204 is used to judge whether the forward speed is greater than a preset speed;

Measuring device 205, the measuring device 205 is used to measure the height difference between the base plate 7 and the obstacle, and upload the height difference;

Alarm device 207, the alarm device 207 is used to issue an alarm;

height judging means 206, the height judging means 206 is used to judge whether the height difference is greater than a preset height value;

The first control device 208, the first control device 208 is used to control the extension of the auxiliary device 9;

The second driving device 209 is used to drive the front wheel of the robot to lift and cross obstacles.

Specifically, start the robot, the obtaining device 201 obtains the forward command, the first driving device 202 drives the robot forward, and the robot is in a normal state of moving forward at a constant speed. At this time, the speed output device 203 outputs the forward speed, and uploads the forward speed to the speed Judging device 204, the speed judging device 204 judges whether the advancing speed is greater than a preset speed, when the robot advances on a straight pipeline, the advancing speed is greater than the preset speed, then the robot continues to move forward; When the robot encounters an obstacle, the forward speed is less than the preset speed. At this time, the measuring device 205 measures the height difference between the robot base plate 7 and the obstacle, and uploads the height difference to the height judging device 206. The height judgment The device 206 judges whether the height difference is greater than a preset height value, if the height difference is greater than the preset height value, the robot stops moving forward, and the alarm device 207 sends an alarm signal to prevent the robot from forcibly crossing obstacles and causing rollover; If the height difference is less than the preset height value, the first control device 208 controls the auxiliary device 9 to extend; at this time, the auxiliary device 9 stretches out, and the second driving device 209 drives the two driving wheels in front of the robot 4 lift the corresponding height, and now two drive wheels 4 in the front are over obstacles.

Fig. 6 is a structural block diagram showing a second driving device according to a preferred embodiment;

Described altitude judging device 206 comprises:

a distance output device 2081, the distance output device 2081 is configured to output the extended distance of the auxiliary device 9 according to the height difference;

The second control device 2082 is configured to control the extension of the auxiliary device 9 according to the extension distance of the auxiliary device 9 .

Further, the second driving device 209 includes:

The third control device 210, the third control device 210 is used to control the shortening of the auxiliary device 9;

a displacement output device 211, the displacement output device 211 is used to output the displacement value of the robot;

A displacement judging device 212, the displacement judging device 212 is used for judging whether the displacement value is a preset displacement.

Specifically, when the robot crosses an obstacle, the third control device 210 controls the auxiliary device 9 to shorten, and the displacement output device 211 outputs the displacement value of the robot. At this time, the displacement judging device 212 judges the displacement value Whether it is a preset displacement, if the displacement value is a preset displacement, it proves that the robot has completed the detection work, and the main controller controls to stop moving forward.

It can be seen from the above technical solutions that the embodiment of the present invention provides a leaping detection robot, a control method and a device, the robot includes: a bottom plate 7, a driving wheel 4, a driving motor, a storage chamber 5, an auxiliary device 9 and a base 8; Wherein, the base plate 7 is provided with four drive wheels 4; the drive wheels 4 are located at four corners of the base plate 7; the rotating end of the drive motor is connected with the drive wheels 4; the base plate 7 The storage cavity 5 is arranged at the center, and the drive motor is arranged on the top of the storage cavity 5, and the rotating end of the drive motor is connected with one end of the auxiliary device 9; the auxiliary device 9 includes: auxiliary Wheel 2, telescopic rotating shaft 1 and base 8; the rotating end of the drive motor is connected to one end of the telescopic rotating shaft 1, and the other end of the telescopic rotating shaft 1 is connected to the top of the base 8 connection; both sides of the base 8 in the horizontal direction are provided with the auxiliary wheels 2 ; the size of the auxiliary device 9 is adapted to the size of the storage cavity 5 . An auxiliary device 9 is installed at the center of the base 8 of the robot. When the robot encounters an obstacle, the auxiliary device 9 stretches out and lifts the two driving wheels 4 in front of the robot. Drive wheel 4 crosses obstacle, and then drives robot to cross obstacle. The robot shown in the embodiment of the present invention can cross obstacles and is suitable for intricate detection environments.

Other embodiments of the invention will be readily apparent to those skilled in the art from consideration of the specification and practice of the invention disclosed herein. This application is intended to cover any modification, use or adaptation of the present invention, these modifications, uses or adaptations follow the general principles of the present invention and include common knowledge or conventional technical means in the technical field not disclosed in the present invention . The specification and examples are to be considered exemplary only, with a true scope and spirit of the invention being indicated by the following claims.

It should be understood that the present invention is not limited to the precise constructions which have been described above and shown in the accompanying drawings, and various modifications and changes may be made without departing from the scope thereof. The scope of the invention is limited only by the appended claims.

Claims (10)

1. A leaping detection robot is characterized in that the robot comprises: a base plate, a drive wheel, a drive motor, a storage cavity and an auxiliary device; Wherein, the bottom plate is provided with four driving wheels; the driving wheels are located at the four corners of the bottom plate; the rotating end of the driving motor is connected with the driving wheels; The storage cavity is provided at the center of the bottom plate, the drive motor is provided at the top of the storage cavity, and the rotating end of the drive motor is connected to one end of the auxiliary device; The auxiliary device includes: auxiliary wheels, a telescopic rotating shaft and a base; The rotating end of the drive motor is connected to one end of the telescopic rotating shaft, and the other end of the telescopic rotating shaft is connected to the top of the base; both sides of the base in the horizontal direction are provided with The auxiliary wheel; the size of the auxiliary device is adapted to the size of the storage cavity. 2 . The leap-forward detection robot according to claim 1 , wherein a speed sensor is arranged at the rotating shaft of the driving wheel. 3 . 3 . The leaping detection robot according to claim 1 , wherein an ultrasonic sensor is arranged at one end of the bottom plate. 4 . 4. A leaping detection robot according to claim 1, characterized in that the telescopic rotating shaft is a screw. 5. A control method for a leaping detection robot, characterized in that the method comprises: Get forward instructions; drive the robot forward; Output forward speed; judging whether the forward speed is greater than a preset speed; If the forward speed is greater than the preset speed, continue to move forward; If the forward speed is less than the preset speed, measure the height difference between the base plate and the obstacle, and upload the height difference; judging whether the height difference is greater than a preset height value; If the height difference is greater than the preset height value, an alarm is issued; If the height difference is smaller than the preset height value, the auxiliary device is controlled to extend; Drive the robot's front wheels up and over obstacles. 6. The method according to claim 5, wherein if the height difference is greater than the preset height value, controlling the extension of the auxiliary device comprises: Outputting the extended distance of the auxiliary device according to the height difference; The extension of the control auxiliary device is controlled according to the distance by which the auxiliary device is extended. 7. The method according to claim 5, wherein the driving the front wheels of the robot to lift and overcome obstacles comprises: controlling shortening of said auxiliary device; outputting the displacement value of the robot; judging whether the displacement value is a preset displacement; If the displacement value is a preset displacement, then stop advancing. 8. A control device for a leaping detection robot, characterized in that the device comprises; an acquisition device, the acquisition device is used to acquire the forward instruction; a first driving device, the first driving device is used to drive the robot forward; a speed output device for outputting forward speed; a speed judging device, the speed judging device is used to judge whether the forward speed is greater than a preset speed; A measuring device, the measuring device is used to measure the height difference between the base plate and the obstacle, and upload the height difference; an alarm device configured to issue an alarm; A height judging device, the height judging device is used to judge whether the height difference is greater than a preset height value; a first control device for controlling the extension of the auxiliary device; The second driving device is used to drive the front wheel of the robot to lift and cross obstacles. 9. The control device according to claim 8, wherein the height judging device comprises: a distance output device, the distance output device is used to output the extended distance of the auxiliary device according to the height difference; A second control device, the second control device is used to control the extension of the auxiliary control device according to the extension distance of the auxiliary device. 10. The control device according to claim 8, wherein the second driving device comprises: a third control device for controlling the shortening of the auxiliary device; a displacement output device, the displacement output device is used to output the displacement value of the robot; A displacement judging device, the displacement judging device is used for judging whether the displacement value is a preset displacement.