Self-assembly modular robot unit, robot and assembly and control method

Abstract

The invention relates to a self-assembly modular robot unit, a robot and an assembly and control method. Self-assembly can be achieved through the provided self-assembly modular robot unit, butt joint with other robots and objects can be automatically completed through sensing and control, a combined body formed after butt joint has the overall movement capacity and the joint movement and operation capacity, and the composite movement characteristic from a wheel type / crawler belt to a joint type is achieved. Therefore, the characteristic that group robots are not connected or are weak in connection can be overcome, cross-mode movement is achieved, the structural diversity of the combined robot is improved, the robot forms such as snakelike robot forms and multi-legged robot forms are constructed, the assembling modes are flexible and diversified, and single robots can complete tasks such as obstacle crossing and carrying beyond the self-ability through combination.

Description

technical field [0001] The invention relates to the technical field of modular robots, in particular to a self-assembled modular robot unit, a robot, an assembly and a control method. Background technique [0002] In traditional application fields such as industry, the tasks and environments of robots are relatively fixed, and mobile robots and articulated robots with relatively fixed configuration structures are mostly used. These robots can complete specific tasks in specific work scenarios and known structural information. In emerging fields such as deep space exploration, disaster relief, and home services, there are usually diverse and unstructured tasks. For example, in planetary deep space exploration and emergency rescue, there are complex surface terrains, such as height obstacles, stairs, caves, etc., and the operation area is extensive, and it is necessary to complete various tasks and adapt to different working environments. Therefore, it is necessary for the rob...

AI Technical Summary

Problems solved by technology

[0006] Aiming at the problems of few variable structures formed by swarm robots, weak automatic docking ability and lack of joint movement ability after connection, the present invention provides a self-assembling modular robot unit, robot, assembly and control method, which can be assembled into a The system structure effectively combines self-assembly and self-reconfiguration, so that the modular robot has the ability of self-assembly, self-reconfiguration, joint movement and operation in the target configuration, thereby improving task adaptability through structural changes

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