CN206105865U - Barrier system that keeps away in robot - Google Patents
Barrier system that keeps away in robot Download PDFInfo
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- CN206105865U CN206105865U CN201621029083.8U CN201621029083U CN206105865U CN 206105865 U CN206105865 U CN 206105865U CN 201621029083 U CN201621029083 U CN 201621029083U CN 206105865 U CN206105865 U CN 206105865U
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- 230000004888 barrier function Effects 0.000 title abstract description 7
- 230000001681 protective effect Effects 0.000 claims abstract description 15
- 238000001514 detection method Methods 0.000 claims abstract description 10
- 238000002604 ultrasonography Methods 0.000 claims description 7
- 230000008878 coupling Effects 0.000 claims description 4
- 238000010168 coupling process Methods 0.000 claims description 4
- 238000005859 coupling reaction Methods 0.000 claims description 4
- 230000033001 locomotion Effects 0.000 description 5
- 238000010586 diagram Methods 0.000 description 3
- 239000011521 glass Substances 0.000 description 3
- 238000005259 measurement Methods 0.000 description 3
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- 230000005540 biological transmission Effects 0.000 description 2
- 230000008859 change Effects 0.000 description 2
- 230000000694 effects Effects 0.000 description 2
- 230000005611 electricity Effects 0.000 description 2
- 230000005484 gravity Effects 0.000 description 2
- 238000000034 method Methods 0.000 description 2
- 230000008569 process Effects 0.000 description 2
- 229910000737 Duralumin Inorganic materials 0.000 description 1
- 229910000831 Steel Inorganic materials 0.000 description 1
- 230000009471 action Effects 0.000 description 1
- 238000010276 construction Methods 0.000 description 1
- 238000013016 damping Methods 0.000 description 1
- 230000007812 deficiency Effects 0.000 description 1
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Abstract
The utility model discloses a barrier system that keeps away that uses in the robot, this system include bottom plate (1), chassis protective case (2), support (3) and obstacle detection system, and obstacle detection system includes laser radar sensor (4) and ultrasonic sensor, and 360 rotations can be carried out in laser radar sensor (4) on the horizontal direction for the positional information of survey complaint message and/or robot, ultrasonic sensor lies in the not co -altitude and the position of robot for the survey complaint message, thus realize the all -round barrier of keeping away of robot.
Description
Technical field
This utility model is related to the obstacle avoidance system in a kind of robot, and in particular to what is used in a kind of robot is comprehensive
Obstacle avoidance system.
Background technology
As the development of roboticses, intelligent robot are more and more important, it is robot automtion to avoid obstacle
One important indicator.Avoidance is the basis that robot carries out the senior intelligent behavior such as decision rule and motor control, for multiple
Navigation in heterocycle border or circumstances not known is extremely important.The problem that current robot avoidance is present includes：1. sensing station
Rig up error, this kind of situation is it cannot be guaranteed that the comprehensive avoidance of robot, easily causes robot motion and be obstructed, cause when serious
Robot system is destroyed；2. the use of multisensor is crossed, and the lifting of intelligent robot level depends on various sensor
Co-ordination, but robot obtains the letter of similar and different side under same environment using multiple different types of sensors
Breath, necessarily brings the redundancy of information, and the information of the even same side that different sensors are obtained is conflicting sometimes, while can enter
One step increases manufacturing cost.
For above-mentioned reasons, the present inventor is furtherd investigate to existing robot obstacle-avoiding system, to design one
The comprehensive, high accuracy used in kind of robot and the obstacle avoidance system of high-responsivity, are particularly adapted in complex environment
The obstacle avoidance system of robot.
Utility model content
In order to overcome the problems referred to above, present inventor has performed studying with keen determination, the avoidance used in a kind of robot is designed
System, the system include obstacle detection system, and the obstacle detection system includes laser radar sensor 4 and supersonic sensing
Device, laser radar sensor 4 can carry out 360 ° of rotations in the horizontal direction, and the position for determining complaint message and robot is believed
Breath；Ultrasonic sensor is located at the differing heights of robot, for determining complaint message, laser radar sensor 4 and ultrasound wave
The comprehensive avoidance of robot is realized in sensor synergism effect, so as to complete the present invention.
Specifically, the purpose of this utility model is to provide following aspect：The system include base plate 1, chassis protective case 2,
Support 3, obstacle detection system and control system, it is characterised in that
The base plate position 1 connects and support chassis protective case 2 inside chassis protective case 2；
The chassis protective case 2 is up-narrow and down-wide stepped housing, including the chassis circle 21 positioned at lower floor and positioned at upper strata
Chassis lid 22, leave the space 23 of setting height between chassis circle 21 and chassis lid 22；
The support 3 is connected to 22 top of chassis lid, 3 top of support correspondence Robot neck；
The obstacle detection system includes laser radar sensor 4 and ultrasonic sensor, the laser radar sensor 4
It is arranged on base plate 1,360 ° of rotations can be carried out in the horizontal direction, and be emitted through the laser beam in space 23；The ultrasound wave
Sensor includes that enclosing the ultrasonic sensor 51 of 21 lower outside surroundings, the ultrasound wave of 22 outside surrounding of chassis lid positioned at chassis passes
Ultrasonic sensor 53 on the outside of 3 top of sensor 52 and support；
The control system is single-chip microcomputer.
According to the obstacle avoidance system that uses in the robot that this utility model is provided, have the advantage that including：
(1) obstacle avoidance system in this utility model is using the laser radar sensing that can carry out 360 ° of rotations in the horizontal direction
Device, completes the fast and accurately measure of complaint message and robot location's information；
(2) ultrasonic sensor that the obstacle avoidance system in this utility model is arranged using differing heights, different angles, can be complete
Into the measure of multi-faceted distance of obstacle；
(3) laser radar sensor and ultrasonic sensor synergism, define comprehensive, high accuracy and high-responsivity
Obstacle avoidance system, it is to avoid measurement blind area, be adapted to be in the avoidance of the robot of complex environment；
(4) emergency braking apparatus are provided with this utility model, the barrier of burst appearance is being run into (such as quick appearance
People) when, robot Braking mode is capable of achieving, emergency capability of the robot under bursty state is improve；
(5) obstacle avoidance system in this utility model combines mobile execution system, is capable of achieving the flexibly stable movement of robot
And avoidance.
Description of the drawings
Fig. 1 is illustrated according to the obstacle avoidance system overall structure used in a kind of robot of preferred implementation of this utility model
Schematic diagram；
Fig. 2 illustrates the emergency braking apparatus connection diagram according to a kind of preferred implementation of this utility model；
Fig. 3 illustrates the emergency braking apparatus structural representation according to a kind of preferred implementation of this utility model；
Fig. 4 illustrates the base plate and its connection member structural representation according to a kind of preferred implementation of this utility model；
Fig. 5 illustrates the connection diagram according to a kind of swivel plate of preferred implementation of this utility model with fixed plate.
Drawing reference numeral explanation：
1- base plates；
2- chassis protective case；
21- chassis is enclosed；
22- chassis lids；
23- spaces；
3- supports；
4- laser radar sensors；
51- ultrasonic sensors；
52- ultrasonic sensors；
53- ultrasonic sensors；
6- driving wheels；
61- output shafts；
7- driven pulleys；
8- motors；
9- swivel plates；
91- longitudinal plates；
911- is raised；
92- transverse plates；
921- risers；
10- fixed plates；
101- longitudinal plates；
102- transverse plates；
1021- risers；
11- shaft coupling pieces；
12- springs；
13- collides lath；
131- triggerings are raised；
14- crash sensors.
Specific embodiment
This utility model is further described below by drawings and Examples.By these explanations, this practicality is new
The characteristics of type and advantage will become more apparent from clearly.
Special word " exemplary " means " being used as example, embodiment or illustrative " here.Here as " exemplary "
Illustrated any embodiment is should not necessarily be construed as preferred or advantageous over other embodiments.Although each of embodiment is shown in the drawings
In terms of kind, but unless otherwise indicated, it is not necessary to accompanying drawing drawn to scale.
According to the obstacle avoidance system used in the robot that this utility model is provided, as shown in fig. 1, the system includes base plate
1st, chassis protective case 2, support 3, obstacle detection system and control system, wherein,
The base plate 1 is located inside chassis protective case 2, is connected and support chassis protective case 2；
The chassis protective case 2 is up-narrow and down-wide stepped housing, including the chassis circle 21 positioned at lower floor and positioned at upper strata
Chassis lid 22, leave the space 23 of setting height between chassis circle 21 and chassis lid 22；
The support 3 is connected to 22 top of chassis lid, 3 top of support correspondence Robot neck；
The obstacle detection system includes laser radar sensor 4 and ultrasonic sensor, the laser radar sensor 4
It is arranged on base plate 1, which can be emitted through the laser beam in space 23；
The ultrasonic sensor includes enclosing ultrasonic sensor 51, the chassis lid 22 of 21 lower outside surroundings positioned at chassis
Ultrasonic sensor 53 on the outside of 3 top of ultrasonic sensor 52 and support of outside surrounding.
In a preferred embodiment, the number of the laser radar sensor 4 is 1, and which can be in the horizontal direction
On carry out 360 ° rotation, for determining the speed of the complaint message and robot in highly each orientation that laser radar sensor 4 is located
Degree information, and the velocity information of complaint message and robot is sent to into control system, realize the measure and machine of distance of obstacle
The positioning of device people.
In a preferred embodiment, the number of the ultrasonic sensor 51 of 21 lower outside surroundings is enclosed positioned at chassis
For 4-10,21 first halfs being enclosed on chassis and latter half being distributed, its ultrasonic emitting mouth direction is horizontally disposed with, and is used for
Complaint message near 1 height of mensuration machine people base plate, and complaint message is sent to into control system.Preferably, ultrasound wave is passed
The number of sensor 51 is 6, encloses 21 first halfs on chassis and arranges 4 ultrasonic sensors 51, encloses 21 latter halfs on chassis
2 ultrasonic sensors 51 are set, front and back range finding can be taken into account.
In a preferred embodiment, the number positioned at the ultrasonic sensor 52 of 22 outside surrounding of chassis lid is 4-
10, it is distributed in 22 first half of chassis lid and latter half.The ultrasonic emitting mouth direction of ultrasonic sensor 52 is oblique
Set up, the angle between horizontal plane is 10 ° -45 °, preferably 15 ° -30 °, for determining ultrasonic sensor more than 52
The complaint message of position, and complaint message is sent to into control system.Preferably, the number of ultrasonic sensor 52 is 6,
22 first half of chassis lid arranges 4 ultrasonic sensors 52, arranges 2 ultrasonic sensors in 22 latter half of chassis lid
52。
In a preferred embodiment, the number of the ultrasonic sensor 53 on the outside of 3 top of support is 4-10
It is individual, it is distributed in 3 first half of support and latter half, its ultrasonic emitting mouth direction is horizontally disposed with, for mensuration machine
Complaint message near person neck height, and complaint message is sent to into control system.Preferably, the number of ultrasonic sensor 53
Mesh is 6, arranges 4 ultrasonic sensors 53 in 3 first half of support, arranges 2 supersonic sensings in 3 latter half of support
Device 53.
In this utility model, the chassis is enclosed 21 first halfs, 22 first half of chassis lid and 3 first half of support and is referred to
With the axial symmetry curve of affiliated structure or axial symmetry curve is bordering on as boundary, corresponding to the part in robot face direction；It is latter half of
Divide the remainder then for first half.
In this utility model, laser radar sensor can consider required precision and speed compared with other sensors simultaneously
Degree requires there is that finding range is remote, range finding speed is fast, certainty of measurement is high and direct reflection is little, but when obstacle is glass
During glass, laser can occur transmission or reflection so as to detect obstacle.Ultrasonic sensor can make up laser radar sensor
Deficiency when glass is detected, and have that directivity is strong, energy expenditure is slow, information processing is simple and quick, be easy to accomplish in real time
The characteristics of controlling and be cheap.Ultrasonic sensor and laser radar sensor collaboration are used, and are capable of achieving the accurate of obstacle
Positioning, it is to avoid measurement blind area.
In this utility model, the control system is single-chip microcomputer, can receive what ultrasonic sensor (51,52 and 53) was measured
Complaint message, and then it is converted into distance of obstacle information；Complaint message that laser radar sensor 4 measures and robot can be received
Velocity information, and then distance of obstacle information and angle information are converted into, by the virtual map prestored in control system, localization machine
The position that device people is located, with reference to distance of obstacle information, can make robot avoid obstacle.
In one preferred embodiment, as shown in Figure 2,21 first halfs are enclosed to suppress chassis in the chassis
Circle, is internally provided with emergency braking apparatus at which, and the emergency braking apparatus include colliding lath 13 and crash sensor 14.Touch
Lath 13 is hit to suppress component, one end is connected with the torsion spring on crash sensor 14, and the other end is free end.As shown in Figure 3,
There are one or more triggerings raised 131 on collision lath 13, preferably 2, the triggering raised 131 encloses 21 inner surfacies with chassis
Contact.When barrier (such as the quick people for occurring) that burst occurs is run into, chassis is enclosed 21 front ends and encounters barrier, chassis circle
Triggering projection 131 on 21 compressing collision laths 13, triggers crash sensor 14, and collision alarm is transferred to by crash sensor 14
Control system, control system control motor 8 immediately and halt action, and comprehensive laser radar sensor 4, ultrasound wave is passed
The information of sensor (51,52 and 53) and crash sensor 14, then sends a command to the control of motor 8 chassis and avoids obstacle
Thing.
In this utility model, as shown in Figure 4, mobile execution system is additionally provided with the base plate 1, the movement performs system
System include two driving wheels 6 positioned at the anterior two ends of base plate 1, a driven pulley 7 positioned at 1 rear end of base plate and with drive
The motor 8 of the connection of driving wheel 6；The mobile execution system is realized turning by the speed difference of two driving wheels 6, rotation half
Footpath can be from 0 to infinity；Preferably, the motor 8 is motor.
In a preferred embodiment, 1 front end both sides of the base plate are provided with groove, are respectively used to install two relatively
Driving wheel 6；Preferably, multiple through holes are distributed with base plate 1, for by various connecting lines or fixing line.The setting of through hole
Also have the function of radiating concurrently, and alleviate the weight of robot to a certain extent.Base plate 1 is by with certain thickness steel plate
Or duralumin plate is processed into, be unlikely to deform, can the load at least quality of 150kg, the movement of robot is not affected under heavy burden.
In a preferred embodiment, motor 8 is by the output shaft 61 through driving wheel 6 and motor 8
Driving wheel 6 is driven to operate.Driving wheel 6 under motor drive can be rotated forward or be reversely rotated, so that robot advances or retreats.
The driven pulley 7 is universal wheel, and the distance of 7 to two driving wheels of driven pulley, 6 corresponding site is equal, makes robot chassis stable gravity center
It is fixed.The corresponding site can be on the inside of two driving wheels 6 with the intersection point or two driving wheels 6 of output shaft 61 on the outside of friendship with output shaft 61
Point.
In one preferred embodiment, as shown in Figures 4 and 5, it is provided between driving wheel 6 and motor 8 and turns over
Turn component, driving wheel 6 is fixed on base plate 1 by overturning component with motor 8.The upset component includes 9 He of swivel plate
Fixed plate 10.One end of the swivel plate 9 is connected with one end of fixed plate 10 by shaft coupling piece 11.The fixed plate 10 it is vertical
It is L-shaped to section, including longitudinal plate 101 and transverse plate 102 are arranged on base plate 1 by the connector through transverse plate 102,
In robot moving process, position will not change.
In one preferred embodiment, the swivel plate 9 is similar to the structure of fixed plate 10, the longitudinal direction of swivel plate 9
Section is L-shaped, including longitudinal plate 91 and transverse plate 92.What the longitudinal plate 91 and transverse plate 92 integrated can be processed,
Or by being welded to connect to be formed, longitudinal plate 91 and 92 joint of transverse plate arrange ribs, for increasing the strong of swivel plate 9
Degree.
In one preferred embodiment, as shown in Figure 3, the longitudinal plate 91 is provided with towards the side of driving wheel 6
Round boss, longitudinal plate 91 are provided with circular groove, the round boss and circular groove towards the side of motor 8
Mutually agree with, i.e., described round boss and the circular groove center of circle and radius all same.Bearing, the circle are placed in the circular groove
Shape boss center opens up manhole, makes swivel plate 9 with driving wheel 6 and driving electricity by the output shaft 61 through bearing and through hole
Machine 8 is connected.
In one preferred embodiment, the transverse plate 92 of the swivel plate 9 is provided with riser 921 upwards, described
On riser 921, through hole is set；The transverse plate 102 of the fixed plate 10 is provided with riser 1021 upwards, on the riser 1021
Through hole is set；Spring 12 is connected between two through hole, the spring 12 plays a part of damping in robot movement.
In one preferred embodiment, the one end in the longitudinal plate 91 away from fixed plate 10 is provided with driving electricity
The projection 911 of machine 8, described raised 911 above base plate 1.The swivel plate 9 in the groove of 1 both sides of base plate, before transverse plate 92
An end part is located at below base plate 1, and under robot gravity pressure, the front end of transverse plate 92 is contacted with base plate 1.
Robot when pit, driving wheel 6 sink, moved down by the plate 9 that is rotated of output shaft 61, swivel plate 9 around
Shaft coupling piece 11 is rotated, 12 tension change of spring, slows down decrease speed, after driving wheel 6 declines to a certain extent, on swivel plate 9
Projection 911 contact with base plate 1, driving wheel 6 no longer declines, motor 8 drive under cross pit.In the process, drive
Driving wheel 6 can opposed bottom 1 move down certain altitude, when robot is through pit, driving wheel 6 sink, in motor 8
Keep base plate 1 steady without fluctuation when pit is crossed under drive.
In one preferred embodiment, tachymeter is set on each motor 8, and the tachymeter determines driving wheel
6 speed, and the speed for measuring is sent to into control system, the speed includes linear velocity and angular velocity.
In one preferred embodiment, the control system can also receive the velocity information of tachymeter transmission, and will
The move of subsequent time is sent to two motors 8, and two motors 8 control the linear velocity of two driving wheels 6 and angle respectively
Speed, completes to keep straight on or turning task.
In this utility model, obstacle avoidance system combines mobile execution system, and achievable robot is flexibly stable to be moved and keeping away
Barrier.
In description of the present utility model, it should be noted that term " on ", D score, " interior ", the orientation of the instruction such as " outward "
Or position relationship is, based on the orientation or position relationship under utility model works state, to be for only for ease of and describe this practicality newly
Type is described with simplifying, rather than is indicated or implied that the device or element of indication must be with specific orientation, with specific orientation
Construction and operation, therefore it is not intended that to restriction of the present utility model.
Above in association with being preferred embodiment illustrated to this utility model, but these embodiments are only models
Example property, only play illustrative effect.On this basis, various replacements and improvement can be carried out to this utility model, these
Each fall within protection domain of the present utility model.
Claims (11)
1. the obstacle avoidance system for using in a kind of robot, including base plate (1), chassis protective case (2), support (3) and obstacle detection system
System, it is characterised in that
The base plate (1) is internal positioned at chassis protective case (2), connects and support chassis protective case (2)；
The chassis protective case (2) is up-narrow and down-wide stepped housing, including chassis circle (21) positioned at lower floor and positioned at upper strata
Chassis lid (22), chassis circle (21) and chassis lid (22) between leave space (23)；
The support (3) is connected to chassis lid (22) top；
The obstacle detection system includes laser radar sensor (4) and ultrasonic sensor.
2. obstacle avoidance system according to claim 1, it is characterised in that
The laser radar sensor (4) is arranged on base plate (1), can be carried out 360 ° of rotations in the horizontal direction, is concurrently shot through
The laser beam of space (23) is crossed,
The ultrasonic sensor be arranged on the outside of base plate protective case (2) and support (3) top on the outside of.
3. obstacle avoidance system according to claim 2, it is characterised in that the ultrasonic sensor includes enclosing positioned at chassis
(21) ultrasonic sensor (51) of lower outside surrounding, the ultrasonic sensor (52) positioned at surrounding on the outside of chassis lid (22) and
Ultrasonic sensor (53) on the outside of support (3) top.
4. the obstacle avoidance system according to one of claims 1 to 3, it is characterised in that
Support (3) the top correspondence Robot neck,
The obstacle avoidance system also includes control system, and the control system is single-chip microcomputer.
5. obstacle avoidance system according to claim 3, it is characterised in that
The number that the ultrasonic sensor (51) of (21) lower outside surrounding is enclosed positioned at chassis is 4-10, before chassis circle (21)
Half part and latter half are distributed, and its ultrasonic emitting mouth direction is horizontally disposed with；And/or
Number positioned at the ultrasonic sensor (52) of surrounding on the outside of chassis lid (22) is 4-10, in chassis lid (22) first half
Divide and latter half is distributed, its ultrasonic emitting mouth direction is arranged obliquely；And/or
The number of the ultrasonic sensor (53) on the outside of support (3) top is 4-10, in support (3) first half with after
Half part is distributed, and its ultrasonic emitting mouth direction is horizontally disposed with.
6. obstacle avoidance system according to claim 5, it is characterised in that the ultrasound wave positioned at surrounding on the outside of chassis lid (22) is passed
Angle between the ultrasonic emitting mouth direction of sensor (52) and horizontal plane is 10 ° -45 °.
7. obstacle avoidance system according to claim 6, it is characterised in that the ultrasound wave positioned at surrounding on the outside of chassis lid (22) is passed
Angle between the ultrasonic emitting mouth direction of sensor (52) and horizontal plane is 15 ° -30 °.
8. obstacle avoidance system according to claim 4, it is characterised in that
The laser radar sensor (4) determines the velocity information of the complaint message and robot in its highly each orientation in place,
And complaint message and velocity information are sent to into control system；And/or
The ultrasonic sensor (51,52,53) determines the complaint message in correspondence orientation, and complaint message is sent to control
System；And/or
The control system receives the complaint message that ultrasonic sensor (51,52,53) is measured, and then is converted into distance of obstacle letter
Breath；Complaint message and the velocity information of robot that reception laser radar sensor (4) is measured, and then it is converted into distance of obstacle letter
The position that breath and angle information positioning robot are located.
9. obstacle avoidance system according to claim 1, it is characterised in that
Mobile execution system is additionally provided with the base plate (1), the mobile execution system is included positioned at base plate (1) front portion two ends
Two driving wheels (6), a driven pulley (7) positioned at base plate (1) rear end and the motors being connected with driving wheel (6)
(8), and it is arranged through the output shaft (61) of driving wheel (6) and motor (8)；
The driving wheel (6) is separately mounted in the groove of base plate (1) front end both sides, and motor (8) is by output shaft (61)
Driving wheel (6) operating is driven, upset component, driving wheel (6) and motor between driving wheel (6) and motor (8), is provided with
(8) it is fixed on base plate (1) by overturning component, the upset component includes swivel plate (9) and fixed plate (10), swivel plate
(9) one end is connected with one end of fixed plate (10) by shaft coupling piece (11), and the longitudinal cross-section of fixed plate (10) is L-shaped, is wrapped
Longitudinal plate (101) and transverse plate (102) are included, fixed plate (10) is arranged on base plate (1) by the connector through transverse plate (102)
On, the longitudinal cross-section of swivel plate (9) is L-shaped, including longitudinal plate (91) and transverse plate (92).
10. obstacle avoidance system according to claim 9, it is characterised in that
One end on the longitudinal plate (91) away from fixed plate (10) is provided with the projection (911) of motor (8), raised
(911) above base plate (1),
In the groove of base plate (1) both sides, transverse plate (92) front end part is located at below base plate (1) swivel plate (9).
11. obstacle avoidance systems according to claim 9 or 10, it is characterised in that
The transverse plate (92) of the swivel plate (9) is provided with riser (921) upwards, and riser arranges through hole on (921)；
The transverse plate (102) of the fixed plate (10) is provided with riser (1021) upwards, and riser arranges through hole on (1021)；
Spring (12) is connected between two through hole.
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| Application Number | Priority Date | Filing Date | Title |
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| CN201621029083.8U CN206105865U (en) | 2016-08-31 | 2016-08-31 | Barrier system that keeps away in robot |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201621029083.8U CN206105865U (en) | 2016-08-31 | 2016-08-31 | Barrier system that keeps away in robot |
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2016
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