CN109960251A - A kind of induction avoidance mechanism, omnidirectional for chassis - Google Patents
A kind of induction avoidance mechanism, omnidirectional for chassis Download PDFInfo
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- CN109960251A CN109960251A CN201711427839.3A CN201711427839A CN109960251A CN 109960251 A CN109960251 A CN 109960251A CN 201711427839 A CN201711427839 A CN 201711427839A CN 109960251 A CN109960251 A CN 109960251A
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- chassis
- swinging disc
- hall sensor
- support column
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- 230000006698 induction Effects 0.000 title description 3
- 238000006073 displacement reaction Methods 0.000 claims description 6
- 230000004888 barrier function Effects 0.000 description 11
- RYGMFSIKBFXOCR-UHFFFAOYSA-N Copper Chemical compound [Cu] RYGMFSIKBFXOCR-UHFFFAOYSA-N 0.000 description 3
- 229910052802 copper Inorganic materials 0.000 description 3
- 239000010949 copper Substances 0.000 description 3
- 230000000694 effects Effects 0.000 description 3
- 238000000034 method Methods 0.000 description 3
- 238000001514 detection method Methods 0.000 description 2
- 238000010586 diagram Methods 0.000 description 2
- 238000009434 installation Methods 0.000 description 2
- GQWNECFJGBQMBO-UHFFFAOYSA-N Molindone hydrochloride Chemical compound Cl.O=C1C=2C(CC)=C(C)NC=2CCC1CN1CCOCC1 GQWNECFJGBQMBO-UHFFFAOYSA-N 0.000 description 1
- 230000001133 acceleration Effects 0.000 description 1
- 238000001125 extrusion Methods 0.000 description 1
- 238000004519 manufacturing process Methods 0.000 description 1
- 239000000463 material Substances 0.000 description 1
- 230000001360 synchronised effect Effects 0.000 description 1
Classifications
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0276—Control of position or course in two dimensions specially adapted to land vehicles using signals provided by a source external to the vehicle
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- Engineering & Computer Science (AREA)
- Aviation & Aerospace Engineering (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Automation & Control Theory (AREA)
- Manipulator (AREA)
- Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
Abstract
The present invention relates to robot navigation's technical fields, specifically a kind of omnidirectional for chassis incudes avoidance mechanism, including swinging disc, Hall sensor, elastic telescopicing rod and chassis, wherein chassis is equipped with swinging disc support column, the swinging disc is placed on swinging disc support column, Hall sensor is rotatablely arranged at middle side part on chassis, described elastic telescopicing rod one end and the Hall sensor are connected, the other end and middle side part under the swinging disc are hinged, and the elastic telescopicing rod with rotating for the swinging disc it is flexible.The present invention is capable of the accurate collision angle of abundant acquired disturbance object, greatly improves avoidance efficiency when robot navigation.
Description
Technical field
The present invention relates to robot navigation's technical field, specifically a kind of omnidirectional for chassis incudes avoidance machine
Structure.
Background technique
With automatic technology fast development, various robots start gradually to extend in enterprise's production and resident living,
Wherein mobile robot utilizes multiple sensors feedback data, movement that also can be masterly in changeable complex environment,
It fulfils assignment.
The mobile robot of the prior art relies primarily on the information source of laser or vision as navigation, no matter but laser
Or all there is " dead angle " of detection, such as black place if there is a black obstacle, then vision technique is difficult in vision
It identifies, and in terms of laser, 2D laser can only sweep a plane, and scan angle does not surpass 35 generally under existing fixed 3D laser
Degree, causes robot that can not see oneself " underfooting " situation, and tripod head type 3D laser then needs to move up and down, and motion frequency cannot
It is excessively high.
In order to solve the problems, such as detection " dead angle ", it is necessary to which some aiding sensors easy to use help, and common are
Ultrasonic sensor, infrared sensor, mechanical crash sensor etc., wherein mechanical crash sensor can be most direct, most quasi-
Really reflection obstacle exists, and is not influenced by factors such as ambient, reflecting surface materials, but the disadvantage is that must be physically contacted
It could react.
It is exactly structure that elastic slice adds microswitch that mechanical crash sensor is most common, and extension one is mobilizable on elastic slice
Anticollision strip squeezes anticollision strip when external foreign matter is contacted with chassis, and then extrusion elastic triggers microswitch, bullet after foreign matter leaves
Piece restores deformation, and microswitch also restores non-triggering state.It is that a copper sheet is attached on chassis there are also a kind of structure, covers above
Lid one encloses anti-collision rubber item, contains another copper sheet in rubber strip, when anti-collision rubber item receives extruding, two copper sheets can be connect
Circuit is connected in touching, to obtain trigger signal.Above two common mechanical crash sensor is obtained after triggering
Single I/O signal exact can not know barrier on earth in which angle.A kind of improved method is a point multistage arrangement N
A sensor can thus pick out N number of region, and synchronous signal source will also become N number of, as the precision of identification angle improves,
Number of sensors also increases therewith, but also results in arrangement difficulty and increase, and circuit connection etc. all becomes increasingly complex.
In addition if robot point of impingement information is not accurate enough, just have a significant impact to the avoidance of robot motion,
It is easy to cause robot to knock again again after stepping back, or around king-sized extra angle.
Summary of the invention
The purpose of the present invention is to provide a kind of omnidirectionals for chassis to incude avoidance mechanism, being capable of abundant acquired disturbance object
Accurate collision angle, greatly improve avoidance efficiency when robot navigation.
The purpose of the present invention is achieved through the following technical solutions:
A kind of induction avoidance mechanism, omnidirectional for chassis, including swinging disc, Hall sensor, elastic telescopicing rod and bottom
Disk, wherein chassis is equipped with swinging disc support column, and the swinging disc is placed on swinging disc support column, and Hall sensor is rotatable
Ground is set to middle side part on chassis, and described elastic telescopicing rod one end and the Hall sensor are connected, the other end and the swing
Middle side part is hinged under disk, and the elastic telescopicing rod with rotating for the swinging disc it is flexible.
The swinging disc support column is equipped with support ball, and swinging disc is placed on the support ball.
Middle side part is equipped with a connection ball under the swinging disc, and the elastic telescopicing rod is connected with the connection ball.
The elastic telescopicing rod includes upper boom and lower beam, and the lower beam lower end and Hall sensor are connected, and upper boom is set in
The lower beam upper end, and upper boom top and the swinging disc are hinged, and reset spring is equipped with inside the upper boom.
Upper layer support column is equipped on the chassis, and upper layer upper end of support column passes through the swinging disc.
The swinging disc is equipped with multiple vacancy sections, and each upper layer support column is passed through by different vacancy sections respectively.
The chassis two sides are equipped with traveling wheel.
The Hall sensor is the two-dimentional Hall sensor of directly output X/Y axial displacement variation.
Advantages of the present invention and good effect are as follows:
1, the present invention makes the chassis of robot when colliding with barrier, can accurately know the position of the point of impingement, can
There is provided accurate information for the avoid-obstacle behavior on robot chassis, the path for planning that robot again more efficiently, especially can
Space better reflects effect than more crowded environment.
2, the configuration of the present invention is simple is compact, will not occupy excessive installation space, not will increase the volume of robot.
Detailed description of the invention
Fig. 1 is the structural diagram of the present invention,
Fig. 2 is top view of the invention in Fig. 1,
Fig. 3 is displacement diagram when swinging disc collides in Fig. 1,
Fig. 4 is position view when swinging disc collision stops in Fig. 3.
Wherein, 1 is swinging disc, and 2 be upper layer support column, and 3 be swinging disc support column, and 4 be support ball, and 5 be elastic telescopic
Bar, 6 be Hall sensor, and 7 be chassis, and 8 be traveling wheel, and 9 be connection ball, and 10 be barrier, and 11 be vacancy section.
Specific embodiment
The invention will be further described with reference to the accompanying drawing.
As shown in figures 1-4, the present invention includes swinging disc 1, Hall sensor 6, elastic telescopicing rod 5 and chassis 7, indsole
Disk 7 is robot chassis, and swinging disc support column 3 is equipped on the chassis 7, and the swinging disc 1 is placed in swinging disc support column 3
On, Hall sensor 6 is rotatablely arranged at middle side part on chassis 7, described 5 one end of elastic telescopicing rod and the Hall sensor
6 are connected, and the other end and the lower middle side part of the swinging disc 1 are hinged, and the elastic telescopicing rod 5 turns as the swinging disc 1 is mobile
It is dynamic flexible.
As shown in Figures 1 to 3, in the present embodiment, circumferentially uniformly distributed on the chassis 7 there are three swinging discs to support
Column 3, is equipped with support ball 4 on each swinging disc support column 3, the swinging disc 1 be placed on the support ball 4 and
It can Omni-mobile in the plane.
As shown in Figure 1, the lower middle side part of the swinging disc 1 is equipped with a connection ball 9, the elastic telescopicing rod 5 with it is described
It connects ball 9 to be connected, as shown in figure 3, swinging disc 1 can be such that elastic telescopicing rod 5 tilts and be drawn by the connection ball 9 when translating
It is long.The installation of the connection ball 9 will meet swinging disc 1 in possible mechanical range of motion, guarantee elastic telescopicing rod 5 and pendulum
Due to angle too small kinematic constraint will not occur for Moving plate 1.
As shown in figures 1 and 3, the elastic telescopicing rod 5 includes upper boom and lower beam two parts, the lower beam lower end and Hall
Sensor 6 is connected, and upper boom is set in the lower beam upper end, and 9 phase of connection ball on upper boom top and 1 downside of swinging disc
Even, reset spring is equipped in the upper boom, when swinging disc 1 knocks barrier 10, the translation of swinging disc 1 makes elastic telescopicing rod 5
It tilts and elongates, when swinging disc 1 is detached from barrier 10, the upper boom part of the elastic telescopicing rod 5 is made in the reset spring
With lower retraction, and swinging disc 1 is driven to set back.
As shown in Fig. 1~2, the present embodiment is circumferentially square in 3 outside of swinging disc support column on the chassis 7
It to uniformly distributed there are three upper layer support column 2, is set on the swinging disc 1 there are three vacancy section 11, on three upper layer support columns 2
End is passed through respectively by different vacancy sections 11 to connect with the structure of 7 top of chassis.The size of the vacancy section 11 needs to protect
Demonstrate,prove 1 range of translation of swinging disc.
As shown in Figure 1, being equipped with traveling wheel 8 in 7 two sides of chassis.
The operation principle of the present invention is that:
As shown in figs. 34, mobile and drive elastic telescopicing rod 5 to tilt and elongate when swinging disc 1 knocks barrier 10, suddenly
Your sensor 6 is with rotation, and in the present embodiment, the Hall sensor 6 be the two dimension that can directly export X/Y axial displacement and change
Hall sensor also can choose other types Hall sensor by the way that X/Y axial displacement variation is calculated.It is assumed that swinging disc 1
The coordinate system moved horizontally is as 6 coordinate system of Hall sensor, then the vector that moves after colliding of swinging disc 1 can be by
The change in displacement of Hall sensor 6 is calculated.
As shown in Figure 4, swinging disc 1 and barrier 10 collide the stopping of rear chassis 7, swinging disc 1 with barrier phase
Under mutual power effect, finally occur the translation in left back direction, 7 center A of chassis, 1 center B of swinging disc and three points of bar contact point exist
On straight line, it is X that it is mobile, which to obtain horizontal direction, by Hall sensor 61, mobile vertical direction is Y1, it is known that barrier 10 exists
In two quadrant coordinate system, angle beta is arctan (X1/Y1), this angle is to rotate counterclockwise from horizontal X axis positive direction.
In view of the shape of barrier 10, then the chassis 7 of robot is stepped back leave barrier 10 after, rotation angle counterclockwise
β is spent, plans the continuous path for going to target point again with this direction.
Since the angle value of Hall sensor 6 has noise, there are also can also cause Hall sensor 6 when 7 acceleration and deceleration of chassis
Value variation, so present invention setting has not been considered touching when 6 angle value of Hall sensor is calculated swinging disc 1 and is displaced smaller
It is distributed as.
In addition height of the swinging disc 1 apart from Hall sensor 6 be also design it is noted that, if design height is excessively high, pendulum
The output variation that Moving plate 1 is displaced corresponding Hall sensor 6 is very little.It is typically designed as the dominant bit that height is equal to swinging disc 1
Shifting amount, Hall sensor 6 is 45 degree relative to the rotation angle of 7 plane of chassis at this time.
Claims (8)
1. a kind of omnidirectional for chassis incudes avoidance mechanism, it is characterised in that: including swinging disc (1), Hall sensor (6),
Elastic telescopicing rod (5) and chassis (7), wherein chassis (7) are equipped with swinging disc support column (3), and the swinging disc (1) is placed in pendulum
On Moving plate support column (3), Hall sensor (6) is rotatablely arranged at middle side part on chassis (7), the elastic telescopicing rod (5)
One end and the Hall sensor (6) are connected, and the other end and middle side part under the swinging disc (1) are hinged, and the elastic telescopic
Bar (5) is flexible with rotating for the swinging disc (1).
2. the omnidirectional according to claim 1 for chassis incudes avoidance mechanism, it is characterised in that: the swinging disc support
Column (3) is equipped with support ball (4), and swinging disc (1) is placed on the support ball (4).
3. the omnidirectional according to claim 1 for chassis incudes avoidance mechanism, it is characterised in that: the swinging disc (1)
Lower middle side part is equipped with a connection ball (9), and the elastic telescopicing rod (5) is connected with the connection ball (9).
4. the omnidirectional according to claim 1 or 3 for chassis incudes avoidance mechanism, it is characterised in that: the elasticity is stretched
Contracting bar (5) includes upper boom and lower beam, and the lower beam lower end and Hall sensor (6) are connected, and upper boom is set in the lower beam upper end,
And upper boom top and the swinging disc (1) are hingedly, and reset spring is equipped with inside the upper boom.
5. the omnidirectional according to claim 1 for chassis incudes avoidance mechanism, it is characterised in that: in the chassis (7)
It is equipped with upper layer support column (2), and support column (2) upper end in upper layer passes through the swinging disc (1).
6. the omnidirectional according to claim 5 for chassis incudes avoidance mechanism, it is characterised in that: the swinging disc (1)
It is equipped with multiple vacancy sections (11), and each upper layer support column (2) is passed through by different vacancy sections (11) respectively.
7. the omnidirectional according to claim 1 for chassis incudes avoidance mechanism, it is characterised in that: the chassis (7) two
Side is equipped with traveling wheel (8).
8. the omnidirectional according to claim 1 for chassis incudes avoidance mechanism, it is characterised in that: the Hall sensor
It (6) is the two-dimentional Hall sensor of directly output X/Y axial displacement variation.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201711427839.3A CN109960251B (en) | 2017-12-26 | 2017-12-26 | Omnidirectional induction obstacle avoidance mechanism for chassis |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201711427839.3A CN109960251B (en) | 2017-12-26 | 2017-12-26 | Omnidirectional induction obstacle avoidance mechanism for chassis |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN109960251A true CN109960251A (en) | 2019-07-02 |
| CN109960251B CN109960251B (en) | 2021-12-28 |
Family
ID=67021699
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201711427839.3A Active CN109960251B (en) | 2017-12-26 | 2017-12-26 | Omnidirectional induction obstacle avoidance mechanism for chassis |
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| Country | Link |
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| CN (1) | CN109960251B (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN115268470A (en) * | 2022-09-27 | 2022-11-01 | 深圳市云鼠科技开发有限公司 | Obstacle position marking method, device and medium for cleaning robot |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN115268470A (en) * | 2022-09-27 | 2022-11-01 | 深圳市云鼠科技开发有限公司 | Obstacle position marking method, device and medium for cleaning robot |
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|---|---|
| CN109960251B (en) | 2021-12-28 |
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