CN103969654A - Mobile robot system - Google Patents
Mobile robot system Download PDFInfo
- Publication number
- CN103969654A CN103969654A CN201310030943.4A CN201310030943A CN103969654A CN 103969654 A CN103969654 A CN 103969654A CN 201310030943 A CN201310030943 A CN 201310030943A CN 103969654 A CN103969654 A CN 103969654A
- Authority
- CN
- China
- Prior art keywords
- laser
- mobile robot
- robot system
- robot
- prism
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Pending
Links
Classifications
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S17/00—Systems using the reflection or reradiation of electromagnetic waves other than radio waves, e.g. lidar systems
- G01S17/02—Systems using the reflection of electromagnetic waves other than radio waves
- G01S17/06—Systems determining position data of a target
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D63/00—Motor vehicles or trailers not otherwise provided for
- B62D63/02—Motor vehicles
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S7/00—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00
- G01S7/48—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00 of systems according to group G01S17/00
- G01S7/481—Constructional features, e.g. arrangements of optical elements
Abstract
The invention provides a mobile robot system. The mobile robot system comprises a mobile robot and reflection devices. The mobile robot comprises a robot body, a laser emitting portion and a laser receiving portion. The reflection devices are arranged around the mobile robot. Each reflection device comprises a device body and a reflection film, wherein the reflection film is arranged on the surface of the device body and made of glass beads. The mobile robot system is provided with the reflection devices which are high in reflectance and have the direct reflection function, so that the robot is located more accurately, the efficiency is higher, cost is lower, and the mobile robot system is suitable for production and popularization.
Description
Technical field
The present invention relates to a kind of mobile-robot system, particularly the laser reflection device of mobile robot positioning system.
Background technology
Along with people are constantly surging to the enthusiasm of intelligent artifact, on market, there is increasing mobile robot, mobile robot need to position self-position in its moving process, and common positioning system is to utilize GPS to carry out self-position location, and this kind of Positioning System is poor; Therefore, proposed again a kind of laser orientation system, this system utilization is arranged on the generating laser of fuselage and laser pickoff for transmitting and receiving laser; Robot moving range periphery is provided with laser reflection device, its laser reflection that robot is sent goes back, laser pickoff on robot fuselage receives the laser being reflected back and calculates according to the algorithm of program setting, draws the position coordinates that robot is current.This kind of positioning system needs reflection unit to have higher reflectivity and straight anti-ability, and the reflection unit of prior art, due to the problem of reflectivity and reflection direction, cannot make the laser pickoff of robot reliably must receive the laser being reflected back; If Laser emission power is provided, may damage user, do not meet associated safety regulation.Therefore need a kind of reflection unit to make robot reliably must receive the laser that reflection unit is reflected back.
Summary of the invention
The present invention is in order to solve above-mentioned prior art defect, a kind of mobile-robot system is provided, comprise mobile robot and reflection unit, described mobile robot comprises body, laser emission section and laser pick-off portion, described reflection unit is arranged in around mobile robot, described reflection unit comprises main body and reflectance coating, and described reflectance coating is arranged on described body surfaces, and described reflectance coating is made up of glass microballoon.
Preferably, described main body is right cylinder.
Preferably, described reflection unit has 1 at least.
Preferably, the laser that described laser emission section is sent is identical with the laser optical path that described laser pick-off portion receives, opposite direction.
Preferably, described mobile-robot system also comprises prism, and described prism is positioned at described body top.
Preferably, described laser emission section and laser pick-off portion are positioned at prism below.
Preferably, described prism can rotate around orthogonal axis simultaneously.
Above-mentioned mobile-robot system has the reflection unit of high reflectance and straight counter-function, makes robot location more accurate, and efficiency is higher, has cheaper cost simultaneously, is conducive to produce promote.
Brief description of the drawings
Fig. 1 is embodiment of the present invention mobile robot schematic diagram.
Fig. 2 is embodiment of the present invention mobile robot laser module schematic diagram.
Fig. 3 is embodiment of the present invention mobile robot sweep limit schematic diagram.
Fig. 4 is embodiment of the present invention mobile robot Laser emission and reflection schematic diagram.
Fig. 5 is embodiment of the present invention mobile robot reflection unit schematic diagram.
Fig. 6 is embodiment of the present invention reflectance coating schematic diagram.
Embodiment
Below in conjunction with accompanying drawing, the present invention will be further described.
As shown in Figures 1 to 4, the mobile-robot system of the embodiment of the present invention comprises mobile robot 1, mobile robot 1 comprises body 12, body 12 is provided with roller 11, roller 11 is driven by motor, make the mobile robot 1 can free movement, body 12 rears be provided with battery 14, and battery 14 provides power to mobile robot.Described body 12 tops are provided with laser module 13, and it comprises CD-ROM drive motor 131, laser transceiver 132, support 133, platform 134, bearing 135 and turntable 136.Described CD-ROM drive motor 131 engages with the first tooth portion 62 on turntable 136, and therefore CD-ROM drive motor 131 drives turntable 136 to rotate, and described turntable 136 is provided with prism 61 and gear train 63, and prism 61, gear train 63 and turntable 136 rotate simultaneously.Described turntable 136 is arranged on platform 134, and the first gear 631 on gear train 63 engages with the second tooth portion 41 on platform 134, and the second tooth portion 41 is closed circles; Due to the rotation of gear train 63, the first gear 631 rolls in the second tooth portion 41, therefore the first gear 631 drives the gear that the second gear 632, the second gears 632 on gear train 63 drive in the rotating shaft 64 of engaging with it, thereby drives prism 61 64 rotations around the shaft.Said structure can rotate around the rotating shaft of vertical direction (with the perpendicular axis of horizontal rotating shaft 64) prism 61, rotate around horizontal rotating shaft 64 simultaneously, be that prism 61 can be simultaneously around two mutually perpendicular rotating shaft rotations, described rotating shaft can be vertical in spatial vertical or isoplanar.Described laser transceiver 132 is positioned at quiet 61 belows of rib, in laser transceiver 132, be provided with laser emission section and laser pick-off portion (not shown), the laser that laser emission section is sent is penetrated at prism 61, prism 61 is gone out laser reflection, due to the motion of prism, the emergent light E being reflected away by prism 61 can form certain sweep limit (as Fig. 3) at mobile robot's 1 surrounding space.As shown in Figure 4, mobile robot positioning system is provided with reflection unit 5 around mobile robot 1, in the present embodiment, be provided with 5 reflection units, be respectively M1, M2, M3, M4 and M5, when emergent light E is incident upon on reflection unit 5, reflection unit 5, by emergent light E reflection, forms reflected light F, and reflected light F receives by the reflection quilt laser pick-off portion of prism 61.
As illustrated in Figures 5 and 6, shown in reflection unit 5 there is the main body 52 of cylindrical shape, can expect, main body 52 can be other shapes; In described main body 52, be coated with reflectance coating 51, described reflectance coating 51 is made up of glass microballoon, and reflectance coating 51 can stick on main body 52 sides by glue, and the laser that any direction is projected on reflectance coating 51 can be reflected.Described reflectance coating 51 has straight counter-function, be after emergent light E projects on reflectance coating 51, reflected light F returns along the light path of emergent light E, so emergent light E is identical with the light path of reflected light F, certainly this is in the ideal situation identical, in fact due to other factors, have deviation slightly, but can ignore.Therefore, be different from mirror-reflection, reflectance coating 51 has high reflectance, and laser energy loss is little, makes mobile robot receive laser more reliable.
It is pointed out that above-mentioned preferred embodiment is only explanation technical conceive of the present invention and feature, its object is to allow person skilled in the art can understand content of the present invention and implement according to this, can not limit the scope of the invention with this.All equivalences that Spirit Essence is done according to the present invention change or modify, within all should being encompassed in protection scope of the present invention.
Claims (7)
1. a mobile-robot system, comprise mobile robot and reflection unit, described mobile robot comprises body, laser emission section and laser pick-off portion, described reflection unit is arranged in around mobile robot, it is characterized in that: described reflection unit comprises main body and reflectance coating, described reflectance coating is arranged on described body surfaces, and described reflectance coating is made up of glass microballoon.
2. robot system as claimed in claim 1, is characterized in that: described main body is right cylinder.
3. robot system as claimed in claim 1, is characterized in that: described reflection unit has 1 at least.
4. robot system as claimed in claim 1, is characterized in that: the laser that described laser emission section is sent is identical with the laser optical path that described laser pick-off portion receives, opposite direction.
5. the robot system as described in claim 1 to 4, is characterized in that: it also comprises prism, and described prism is positioned at described body top.
6. robot system as claimed in claim 5, is characterized in that: described laser emission section and laser pick-off portion are positioned at prism below.
7. robot system as claimed in claim 5, is characterized in that: described prism can rotate around orthogonal axis simultaneously.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201310030943.4A CN103969654A (en) | 2013-01-28 | 2013-01-28 | Mobile robot system |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201310030943.4A CN103969654A (en) | 2013-01-28 | 2013-01-28 | Mobile robot system |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN103969654A true CN103969654A (en) | 2014-08-06 |
Family
ID=51239383
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201310030943.4A Pending CN103969654A (en) | 2013-01-28 | 2013-01-28 | Mobile robot system |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN103969654A (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2021103659A1 (en) * | 2019-11-25 | 2021-06-03 | 苏州科瓴精密机械科技有限公司 | Reflective beacon included angle error compensation method, automatic traveling apparatus, and storage medium |
Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2002008842A1 (en) * | 2000-07-21 | 2002-01-31 | Angott Paul G | Laser guidance assembly for a lawn mower |
| CN1434359A (en) * | 2002-01-24 | 2003-08-06 | 伊罗巴特公司 | Method and system for positioning and restricting robot |
| CN101354441A (en) * | 2008-09-11 | 2009-01-28 | 上海交通大学 | All-weather operating mobile robot positioning system |
| CN203241536U (en) * | 2013-01-28 | 2013-10-16 | 苏州科瓴精密机械科技有限公司 | Mobile robot system |
| CN103809184A (en) * | 2012-11-09 | 2014-05-21 | 苏州科瓴精密机械科技有限公司 | Robot positioning system and reflection device identification method thereof |
-
2013
- 2013-01-28 CN CN201310030943.4A patent/CN103969654A/en active Pending
Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2002008842A1 (en) * | 2000-07-21 | 2002-01-31 | Angott Paul G | Laser guidance assembly for a lawn mower |
| CN1434359A (en) * | 2002-01-24 | 2003-08-06 | 伊罗巴特公司 | Method and system for positioning and restricting robot |
| CN101354441A (en) * | 2008-09-11 | 2009-01-28 | 上海交通大学 | All-weather operating mobile robot positioning system |
| CN103809184A (en) * | 2012-11-09 | 2014-05-21 | 苏州科瓴精密机械科技有限公司 | Robot positioning system and reflection device identification method thereof |
| CN203241536U (en) * | 2013-01-28 | 2013-10-16 | 苏州科瓴精密机械科技有限公司 | Mobile robot system |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2021103659A1 (en) * | 2019-11-25 | 2021-06-03 | 苏州科瓴精密机械科技有限公司 | Reflective beacon included angle error compensation method, automatic traveling apparatus, and storage medium |
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Legal Events
| Date | Code | Title | Description |
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| C06 | Publication | ||
| PB01 | Publication | ||
| C10 | Entry into substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| RJ01 | Rejection of invention patent application after publication |
Application publication date: 20140806 |
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| RJ01 | Rejection of invention patent application after publication |