CN209579578U - Robot and robot system - Google Patents
Robot and robot system Download PDFInfo
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- CN209579578U CN209579578U CN201822120006.9U CN201822120006U CN209579578U CN 209579578 U CN209579578 U CN 209579578U CN 201822120006 U CN201822120006 U CN 201822120006U CN 209579578 U CN209579578 U CN 209579578U
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Abstract
A kind of robot and robot system, robot includes chassis, the driving motor on the chassis, the battery case being set on the chassis and the wheel with chassis rotation connection, it is characterized in that, the robot further include: sensor module, including the infrared sensor and ultrasonic sensor being set on the outside of the chassis, and the camera on the chassis, and the current detection sensor connect with the driving motor lotus root；The sensor group being made up of multiple simple sensors, measures the environment of robot, and realizes robot motion's avoidance, realizes robot motion's avoidance reliability height, and the advantage that hardware cost is low.
Description
Technical field
The utility model belongs to robotic technology field more particularly to a kind of robot and robot system.
Background technique
In recent years, intelligent robot technology has development at full speed.With the development of artificial intelligence industry, speech recognition skill
Art is mature, and commonplace use has been obtained in interactive voice.Along with the development of cloud service, speech database is gradually
Perfect, voice response gradually has the semantic understanding for finishing and closing hereafter, and interactive voice becomes more and more humanized.Machine simultaneously
Vision also grows a lot, and face recognition technology is used in many fields, and vision-based inspection is even more all to answer very early
For industrial circle.It may be said that listening, saying needed for robot, see, technology it is all mature.About the movement and avoidance of robot,
Also have many solutions.Currently, having based on infrared photoelectric sensor, have based on ultrasound, also there is shock sensor
, it is complicated any detected by vision technique, carry out barrier also by the mode of map and evade.But robot is real
During border uses situation can very complicated or even various emergency cases, very big challenge is brought to avoidance technology.And it is simple at present
Mode is difficult to ensure reliable and stable, complex way and at high cost, the high requirements on the equipment.Cause current avoidance technology really practical
Change and can be counted on one's fingers, let alone spreads to and come into family.
Utility model content
In view of this, the utility model embodiment provides a kind of robot, it is intended to solve simple in traditional avoidance technology
Folk prescription formula is difficult to ensure reliable and stable, and complex way is again at high cost, the problem of the high requirements on the equipment.
The first aspect of the utility model embodiment provides a kind of robot, including chassis, on the chassis
Driving motor, the battery case being set on the chassis and the wheel with chassis rotation connection, the robot further include:
Sensor module including the infrared sensor and ultrasonic sensor being set on the outside of the chassis, and is set to institute
State the camera on chassis, and the current detection sensor connect with the driving motor lotus root；
Signal processing circuit is connect with the sensor module, the transducing signal for exporting to the sensor module
Amplify filtering；
Microprocessor is connect with the signal processing circuit, is received and is amplified the filtered transducing signal；
Driving chip, is connected to the microprocessor and the driving motor is direct, and the microprocessor is according to the biography
Feel signal and controls the driving motor work；
Wireless communication module is connect with the microprocessor, is used for and intelligent terminal or Cloud Server interactive correspondence.
The infrared sensor is two in one of the embodiments, and it is opposite to be respectively arranged at front end outside the chassis
Two sides.
The infrared sensor is infrared emission tubular type approach switch sensor in one of the embodiments,.
The ultrasonic sensor is HC-Sr04 in one of the embodiments,.
The microprocessor is single-chip microcontroller in one of the embodiments,.
The driving chip is L293D in one of the embodiments,.
It in one of the embodiments, further include the battery for being set to the battery case, the charging being connect with battery electricity
Road and the voltage conversion circuit with output power supply is connect with the battery.
It in one of the embodiments, further include the projection device being fixedly connected with the chassis.
The second aspect of the utility model embodiment provides a kind of robot system, including above-mentioned robot, and
The intelligent terminal and Cloud Server communicated with the robot.
Above-mentioned robot uses infrared sensor, camera, current detection sensor and ultrasonic sensor,
The sensor group being made up of multiple simple sensors, measures the environment of robot, and realizes robot motion and keep away
Barrier realizes robot motion's avoidance reliability height, and the advantage that hardware cost is low.
Detailed description of the invention
It, below will be to embodiment or the prior art in order to illustrate more clearly of the technical scheme in the embodiment of the utility model
Attached drawing needed in description is briefly described, it should be apparent that, the accompanying drawings in the following description is only that this is practical new
Some embodiments of type for those of ordinary skill in the art without any creative labor, can be with
It obtains other drawings based on these drawings.
Fig. 1 is the robot system modular structure schematic diagram that an embodiment of the present invention provides；
Fig. 2 is the structural schematic diagram of robot provided by the embodiment of the utility model；
Power supply module structural schematic diagram in the robot that Fig. 3 provides for an embodiment of the present invention；
Specific embodiment
In order to make the purpose of the utility model, technical solutions and advantages more clearly understood, below in conjunction with attached drawing and implementation
Example, the present invention will be further described in detail.It should be appreciated that specific embodiment described herein is only used to explain
The utility model is not used to limit the utility model.
Fig. 1 and Fig. 2 are please referred to, robot 100 that robot system provided by the embodiment of the utility model includes and
The intelligent terminal 200 and Cloud Server 300 communicated with robot 100.Intelligent terminal 200 can for smart phone, tablet computer,
Remote controler or personal computer, intelligent terminal 200 mainly assist to complete the service of robot 100, provide one for 100 service of robot
Kind interaction approach, it is user-friendly.Cloud Server 300 is also to assist to complete the service of robot 100, normally behaves as content branch
It holds and powerful database is supported.
Robot 100 includes chassis 10, the driving motor 11 on the chassis 10, is set on the chassis 10
Battery case 12 and the wheel 13 being rotatablely connected with the chassis 10, further include sensor module 14, signal processing circuit 15, Wei Chu
Manage device 16, driving chip 17 and wireless communication module 18.
Sensor module 14 includes the infrared sensor 141 and ultrasonic sensor 142 set on 10 outside of chassis, with
And the camera 143 on the chassis 10, and the current detection sensor 144 connect with 11 lotus root of driving motor.Letter
Number processing circuit 15 is connect with the sensor module 14, and the transducing signal for exporting to the sensor module 14 is put
Big filtering.Microprocessor 16 is connect with the signal processing circuit 15, is received and is amplified the filtered transducing signal；Drive core
Piece 17 is connected to the microprocessor 16 and the driving motor 11 directly, and the microprocessor 16 is according to the transducing signal
The driving motor 11 is controlled to work；Wireless communication module 18 is connect with the microprocessor 16, is used for and intelligent terminal
200 or 300 interactive correspondence of Cloud Server.
Two groups of infrared emission tubular type approach switch sensors that infrared sensor 141 uses in one of the embodiments,
It is respectively arranged at the outer front end opposite sides in the chassis 10.Ultrasonic sensor 142 is HC-Sr04, and the microprocessor 16 is
Single-chip microcontroller.The driving chip 17 is L293D.
Ultrasonic sensor 142 is as a kind of important ranging means, by round-trip between measurement sound source and object
Propagation time acquires the distance of object.The characteristic of ultrasonic sensor 142 determines that it is optical system in some cases
Unrivaled, the advantages of ultrasonic sensor 142, is mainly manifested in: for dark environment and object, ultrasonic sensor
142 are hardly influenced by the adverse circumstances, and can not only detect the presence of barrier, but also can obtain obstacle distance.
Then the collision prevention point in movement environment is obtained by image processing method.Reflectivity properties of the infrared sensor 141 using object, In
In a certain range, if without barrier, the infrared ray launched gradually weakens because propagation distance is remoter, finally disappears
It loses.If there is barrier, infrared ray encounters barrier, is reflected to up to sensor and receives head.Sensor detects this signal,
It can confirm that there is barrier in front, this is a kind of most simple direct disorder detection method.This system also uses electric current
Sensor detects current of electric, is usually to be hindered by external force when current of electric is excessive.
Robot 100 further includes the projection device 19 being fixedly connected with the chassis 10 in one of the embodiments,.In
In one embodiment, referring to Fig. 3, robot 100 further includes set on the battery 121 of the battery case 12 and the electricity
The charging circuit 122 and connect the voltage conversion circuit 123 with output power supply with the battery 121 that pond 121 connects.
Above-mentioned robot 100 use infrared sensor 141, camera 143, current detection sensor 144 and
Ultrasonic sensor 142, the sensor group being made up of multiple simple sensors, measures the environment of robot 100,
And realize robot 100 and move avoidance, it realizes robot 100 and moves that avoidance reliability is high, and low excellent of hardware cost
Point.
The above is only the preferred embodiment of the utility model only, is not intended to limit the utility model, all at this
Made any modifications, equivalent replacements, and improvements etc., should be included in the utility model within the spirit and principle of utility model
Protection scope within.
Claims (9)
1. a kind of robot, including chassis, the driving motor on the chassis, the battery case being set on the chassis and
With the wheel of chassis rotation connection, which is characterized in that the robot further include:
Sensor module including the infrared sensor and ultrasonic sensor being set on the outside of the chassis, and is set to the bottom
Camera on disk, and the current detection sensor connect with the driving motor lotus root；
Signal processing circuit is connect with the sensor module, and the transducing signal for exporting to the sensor module carries out
Amplification filtering；
Microprocessor is connect with the signal processing circuit, is received and is amplified the filtered transducing signal；
Driving chip, is connected to the microprocessor and the driving motor is direct, and the microprocessor is believed according to the sensing
Number control driving motor work；
Wireless communication module is connect with the microprocessor, is used for and intelligent terminal or Cloud Server interactive correspondence.
2. robot as described in claim 1, which is characterized in that the infrared sensor is two, is respectively arranged at described
Front end opposite sides outside chassis.
3. robot as claimed in claim 2, which is characterized in that the infrared sensor is the close switch of infrared emission tubular type
Sensor.
4. robot as described in claim 1, which is characterized in that the ultrasonic sensor is HC-Sr04.
5. robot as described in claim 1, which is characterized in that the microprocessor is single-chip microcontroller.
6. robot as described in claim 1, which is characterized in that the driving chip is L293D.
7. robot as described in claim 1, which is characterized in that further include set on the battery of the battery case and the electricity
The charging circuit and connect the voltage conversion circuit with output power supply with the battery that pond connects.
8. robot as described in claim 1, which is characterized in that further include the projection device being fixedly connected with the chassis.
9. a kind of robot system, which is characterized in that including the described in any item robots of claim 1 to 8, and and institute
State the intelligent terminal and Cloud Server of robot communication.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201822120006.9U CN209579578U (en) | 2018-12-17 | 2018-12-17 | Robot and robot system |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201822120006.9U CN209579578U (en) | 2018-12-17 | 2018-12-17 | Robot and robot system |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN209579578U true CN209579578U (en) | 2019-11-05 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201822120006.9U Active CN209579578U (en) | 2018-12-17 | 2018-12-17 | Robot and robot system |
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| Country | Link |
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| CN (1) | CN209579578U (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111487964A (en) * | 2020-04-03 | 2020-08-04 | 北京理工大学 | Robot trolley and autonomous obstacle avoidance method and device thereof |
| CN111516777A (en) * | 2020-04-03 | 2020-08-11 | 北京理工大学 | Robot trolley and obstacle identification method thereof |
-
2018
- 2018-12-17 CN CN201822120006.9U patent/CN209579578U/en active Active
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111487964A (en) * | 2020-04-03 | 2020-08-04 | 北京理工大学 | Robot trolley and autonomous obstacle avoidance method and device thereof |
| CN111516777A (en) * | 2020-04-03 | 2020-08-11 | 北京理工大学 | Robot trolley and obstacle identification method thereof |
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