CN104827482A - Robotic platform capable of moving automatically - Google Patents

Robotic platform capable of moving automatically Download PDF

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Publication number
CN104827482A
CN104827482A CN201510268544.0A CN201510268544A CN104827482A CN 104827482 A CN104827482 A CN 104827482A CN 201510268544 A CN201510268544 A CN 201510268544A CN 104827482 A CN104827482 A CN 104827482A
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CN
China
Prior art keywords
robot platform
base plate
robot
platform
control panel
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Pending
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CN201510268544.0A
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Chinese (zh)
Inventor
林凌
陈士凯
李宇翔
刘义春
黄珏珅
伍勇强
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Shanghai Slamtec Co Ltd
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Shanghai Slamtec Co Ltd
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Priority to CN201510268544.0A priority Critical patent/CN104827482A/en
Publication of CN104827482A publication Critical patent/CN104827482A/en
Pending legal-status Critical Current

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Abstract

The invention provides a robotic platform capable of moving automatically. The robotic platform capable of moving automatically comprises a laser radar device, a collision detection sensor, a control panel and a power supply module. The laser radar device is arranged on a radar installation plate and is used for emitting laser beams to detect and obtain plane information of an area where a plane is located. The collision detection sensor is arranged on the surface of a supporting plate and is used for making the robotic platform stay away or avoid a barrier. The control panel is fixedly installed on a first base plate or a second base plate and is used for outputting control signals needed by movement of the robotic platform. The power supply module is in electrical coupling connection with the control panel and is used for supplying power to a drive motor, a rotary motor and the control panel. Compared with the prior art, the robotic platform capable of moving automatically has the advantages that the robotic platform is provided with the laser radar device and the collision detection sensor, so the robotic platform can sense the surroundings; in cooperation with a navigation module on the control panel, intelligent positioning and navigating on the platform can be achieved, maps can be automatically drawn, and intelligent automatic movement of the platform in the area can be achieved.

Description

A kind of can the robot platform of autonomous
Technical field
The present invention relates to a kind of Robot Design technology, particularly relate to a kind of can the robot platform of autonomous.
Background technology
Robot (Robot) is the installations automatically performing work, and it both can accept mankind commander, can run again the program of layout in advance, the principle guiding principle action also can formulated based on artificial intelligence technology.In general, the task of robot assists or replace the work of the mankind, the work of such as production industry, building industry or dangerous industry.Mobile robot is the integrated system integrating the several functions such as environment sensing, dynamic decision and planning, Behavior-Based control and execution, people can be replaced to danger, badly or in extreme environment execute the task, complete scouting, patrol, warning, anti-terrorism, explosive, scientific investigation and sampling etc., thus such as requiring assistance, scientific investigation, the field such as military affairs have huge using value.
In the prior art, most robot has possessed certain perceptional function all, looks as camera provides, and microphone provides to be listened, and loudspeaker provides.Artificially routine with remote-controlled machine, it completes various remote job by operator's remote control.Remote-controlled robot is similar to traditional remote controller, but adds the various technology for robot, and operator by remote control in visual range, also can carry out policer operation in television image.But existing robot is substantially all still life or remote control class device, does not have the ability of autonomous.Although all-purpose robot platform provides basic locomotive function to a certain extent, when robot erection or when being installed on this all-purpose robot platform, realize autonomous by the movement of platform.But, current existing all-purpose robot platform is often only equipped with the movement of the basic structure such as wheel, motor for robot, also need Aided design external system to carry out the movement of control, this makes the degree of intelligence of all-purpose robot platform be very restricted.In addition, current all-purpose robot platform is because carrying out perception detection to surrounding environment, so can not accomplish the intelligent behavior such as path planning, automatic obstacle-avoiding when mobile, the charging for robot does not have good solution yet.
In view of this, how to design a kind of can the robot platform of autonomous, to improve above-mentioned defect of the prior art or deficiency, thus the intelligent mobile of lifting platform, be the problem that person skilled is urgently to be resolved hurrily in the industry.
Summary of the invention
Do not possess this defect of intelligentized autonomous for all-purpose robot platform of the prior art, the invention provides a kind of novelty, can the robot platform of autonomous.
According to one aspect of the present invention, provide a kind of can the robot platform of autonomous, for carrying a robot body, wherein said robot platform comprises the first base plate and is positioned at the second base plate below described first base plate, described second base plate comprises multiple support column and multiple gripper shoe, in order to carry and to support described first base plate, wherein, described robot platform also comprises:
Laser radar apparatus, is arranged on radar installing plate, and described radar installing plate is fixed on described first base plate, for Emission Lasers bundle to detect and to obtain the plane information of described robot platform region;
Collision detection sensor, is arranged on the surface of described gripper shoe, avoids for making described robot platform or dodges barrier;
Control panel, be fixedly installed in described first base plate and described second base plate one of them, move required control signal for exporting described robot platform; And
Supply module, be arranged at described first base plate and described second base plate one of them, and with described control panel electric property coupling, described supply module is used for powering to drive motors, steer motor and control panel.
An embodiment wherein, described radar installing plate comprises a depressed part and is positioned at the laminating limit of described depressed part both sides, described first base plate comprises a hollow-out parts, wherein, the depressed part of described radar installing plate and the hollow-out parts of described first base plate match, described radar installing plate is attached to described first base plate by the screw on described laminating limit, and described depressed part is for placing described laser radar apparatus.
An embodiment wherein, described robot platform also comprises navigation module, to be arranged on described control panel and to be connected with described laser radar apparatus, for the described plane information scanned according to described laser radar apparatus, navigation being positioned to described robot platform.
An embodiment wherein, described robot platform also comprises hardware expanding interface, is arranged on described control panel, and described hardware expanding interface is for providing supply of electric power needed for described robot body and/or data transmission link.
An embodiment wherein, described collision detection sensor is noncontacting proximity sensor or touch sensor.
An embodiment wherein, described noncontacting proximity sensor is infrared sensor or ultrasonic sensor, for detecting described barrier and feeding back the range information of described barrier.
An embodiment wherein, described touch sensor is used for when described robot platform and described barrier carry out physical contact, and export a collision alarm, described control panel adjusts the direction of motion of described robot platform according to described collision alarm.
An embodiment wherein, described supply module is multiple lithium battery groups of serial or parallel connection.
An embodiment wherein, described robot platform also comprises electric quantity monitoring module, for monitoring the residual capacity of described supply module in real time, when described residual capacity is lower than a predetermined threshold value, described robot platform auto-returned cradle or charging pile charge to described supply module.
An embodiment wherein, described support column is the trunking of hollow, for the signal lead between accommodating described first base plate and described second base plate.
An embodiment wherein, described robot platform also comprises a shell, for coated described first base plate and described second base plate.
An embodiment wherein, described shell comprises a contact panel and a LCD screen, described contact panel is for providing touch control operation and described touch control operation being converted into the control instruction of described robot platform, and described LCD screen is for showing described control instruction.
An embodiment wherein, described contact panel is provided with speed adjustment module, and the one or more buttons through described speed adjustment module change the translational speed of described robot platform.
An embodiment wherein, described robot platform also comprises moving-member, is connected with described second base plate, and described moving-member is used for making described robot platform move or turn to.
An embodiment wherein, described moving-member comprises power wheel and universal wheel, and described power wheel is connected to described control panel by described drive motors, advances or retreat for driving described robot platform; Described universal wheel is connected to described control panel by described steer motor, for controlling or assisting turning to and supporting described robot platform of described robot platform.
An embodiment wherein, described robot platform also comprises a shelf support, for carrying the described robot body corresponding with described stent size.
Adopt of the present invention can the robot platform of autonomous, its laser radar apparatus is arranged on the radar installing plate be positioned on the first base plate, be used for Emission Lasers bundle to detect and to obtain the plane information of platform region, the surface that its collision detection sensor is arranged on gripper shoe makes robot platform avoid or dodges barrier, control panel be fixedly installed in the first base plate and the second base plate one of them, required control signal is moved for output stage, supply module and control panel electric property coupling, for powering to drive motors, steer motor and control panel.Compared to prior art, the present invention is that robot platform is equipped with laser radar apparatus and collision detection sensor, thus realize the perception of robot platform to surrounding environment, coordinate the navigation module on control panel to carry out intelligent positioning navigation to platform again, and automatic map making is to realize the intelligent autonomous in platform region.In addition, robot platform of the present invention is also provided with lithium battery group and electric quantity monitoring module, and lithium battery grouping machine device people can be utilized to power, and utilizes electric quantity monitoring module to carry out its residual capacity of Real-Time Monitoring, and then realizes effect of auto-returned charging.
Accompanying drawing explanation
Reader, after having read the specific embodiment of the present invention with reference to accompanying drawing, will become apparent various aspects of the present invention.Wherein,
Fig. 1 illustrate according to an embodiment of the present invention can the structural representation of robot platform of autonomous.
Detailed description of the invention
The technology contents disclosed to make the application is more detailed and complete, and can refer to accompanying drawing and following various specific embodiment of the present invention, mark identical in accompanying drawing represents same or analogous assembly.But those of ordinary skill in the art should be appreciated that hereinafter provided embodiment is not used for limiting the scope that contains of the present invention.In addition, accompanying drawing, only for being schematically illustrated, is not drawn according to its life size.
With reference to the accompanying drawings, the detailed description of the invention of various aspects of the present invention is described in further detail.
Fig. 1 illustrate according to an embodiment of the present invention can the structural representation of robot platform of autonomous.With reference to Fig. 1, robot platform of the present invention is for carrying a robot body, and this robot platform comprises the first base plate and is positioned at the second base plate below the first base plate.Second base plate comprises multiple support column and multiple gripper shoe, and these support columns and these gripper shoes can be used to carry and support the first base plate of top.And this robot platform also comprises laser radar apparatus, collision detection sensor (that is, the sensor in Fig. 1), control panel and supply module.In addition, for adapting to different robot sizes, this robot platform also comprises a shelf support, for carrying the robot body corresponding with stent size.
Specifically, laser radar apparatus is arranged on radar installing plate.Radar installing plate is fixed on the first base plate, for Emission Lasers bundle to detect and to obtain the plane information of robot platform region.At a specific embodiment, radar installing plate comprises a depressed part and is positioned at the laminating limit of depressed part both sides, and such as, two laminating limits are by the upper surface of screw locking at the first base plate.First base plate comprises a hollow-out parts (that is, the central indentation of first base plate of Fig. 1).The depressed part of radar installing plate and the hollow-out parts of the first base plate match, and are attached to the first base plate by the screw on laminating limit, and utilize depressed part to place laser radar apparatus.
Collision detection sensor is arranged on the surface of gripper shoe, avoids or dodge barrier for making robot platform.Preferably, collision detection sensor is noncontacting proximity sensor or touch sensor.Such as, noncontacting proximity sensor is infrared sensor or ultrasonic sensor, feeds back the range information of barrier for detecting obstacles thing.Wherein, infrared sensor can cover the distance of 0.02 meter ~ 0.3 meter, also detects that the light intensity magnitude that returns is different determines approximate location between robot platform and barrier and distance, to locate barrier thus dodge in advance or dodge by launching infrared light; It is more farther that the coverage distance of ultrasonic sensor compares infrared sensor, such as 0.1 meter ~ 10 meters (range accuracy within the scope of the solid space of 0.1 meter ~ 3 meters is better), it utilizes the aerial spread speed of ultrasonic wave to be known, measurement sound wave runs into the time that barrier reflects after transmitting, calculates the actual range of launch point (robot platform position) to barrier according to the time difference of transmitting and receiving.When collision detection sensor is touch sensor, it is for exporting a collision alarm when robot platform and barrier carry out physical contact, and then control panel is according to the direction of motion of collision alarm adjustment robot platform.
Control panel be fixedly installed in the first base plate and the second base plate one of them, for the control signal needed for output device people platform movement.It will be understood by those of skill in the art that the control panel signal of Fig. 1 is installed on the second base plate, but the present invention has more than and is confined to this, in certain embodiments, control panel also can be installed on the first base plate above the second base plate.Supply module is arranged at the first base plate or the second base plate, and with control panel electric property coupling, these supply modules are used for powering to drive motors (such as, being used for driving power wheel), steer motor (such as, being used for driving universal wheel) and control panel.Such as, supply module is lithium battery group, and it comprises lithium battery 1 and lithium battery 2, and according to actual needs, lithium battery 1 and lithium battery 2 can be designed to the mode that is connected in series or parallel.Further, robot platform also comprises electric quantity monitoring module, can be arranged on control panel or the inside of lithium battery group, for the residual capacity of Real-Time Monitoring lithium battery group.When residual capacity is lower than a predetermined threshold value, robot platform auto-returned cradle or charging pile charge.
At a specific embodiment, robot platform also comprises navigation module, to be arranged on control panel and with laser radar apparatus electric property coupling, for the plane information scanned according to laser radar apparatus, navigation is positioned to robot platform.In addition, robot platform also can comprise hardware expanding interface, is arranged on control panel.Hardware expanding interface is for providing supply of electric power needed for robot and/or data transmission link.
At a specific embodiment, robot platform also comprises moving-member, is connected with the second base plate, moves or turn to for making robot platform.As shown in Figure 1, moving-member comprises power wheel and universal wheel, and power wheel is connected to control panel by drive motors, advances or retreat for driven machine people platform; Universal wheel is connected to control panel by steer motor, for controlling or the turning to and support robot platform of auxiliary robot platform.
In addition, the support column between the first base plate and the second base plate also can be designed to the trunking of hollow according to actual needs, holds the signal lead between the first base plate and the second base plate through trunking.
In order to expand the practical function of robot platform of the present invention better, platform has the shell (sensor in gripper shoe can be exposed to outer) of coated first base plate and the second base plate.Such as, shell arranges contact panel and LCD screen, utilize contact panel to provide the touch control operation of operating personnel, and touch control operation is converted into the control instruction of robot platform, LCD screen is used for display and control instruction.As one of the application example of touch control operation, contact panel comprises speed adjustment module, and one or more buttons of penetration speed adjustment module can change the translational speed of robot platform.
Adopt of the present invention can the robot platform of autonomous, its laser radar apparatus is arranged on the radar installing plate be positioned on the first base plate, be used for Emission Lasers bundle to detect and to obtain the plane information of platform region, the surface that its collision detection sensor is arranged on gripper shoe makes robot platform avoid or dodges barrier, control panel be fixedly installed in the first base plate and the second base plate one of them, required control signal is moved for output stage, supply module and control panel electric property coupling, for powering to drive motors, steer motor and control panel.Compared to prior art, the present invention is that robot platform is equipped with laser radar apparatus and collision detection sensor, thus realize the perception of robot platform to surrounding environment, coordinate the navigation module on control panel to carry out intelligent positioning navigation to platform again, and automatic map making is to realize the intelligent autonomous in platform region.In addition, robot platform of the present invention is also provided with lithium battery group and electric quantity monitoring module, and lithium battery grouping machine device people can be utilized to power, and utilizes electric quantity monitoring module to carry out its residual capacity of Real-Time Monitoring, and then realizes effect of auto-returned charging.
Above, the specific embodiment of the present invention is described with reference to the accompanying drawings.But those skilled in the art can understand, when without departing from the spirit and scope of the present invention, various change and replacement can also be done to the specific embodiment of the present invention.These change and replace and all drop in claims of the present invention limited range.

Claims (16)

1. one kind can the robot platform of autonomous, for carrying a robot body, it is characterized in that, described robot platform comprises the first base plate and is positioned at the second base plate below described first base plate, described second base plate comprises multiple support column and multiple gripper shoe, in order to carry and to support described first base plate, wherein, described robot platform also comprises:
Laser radar apparatus, is arranged on radar installing plate, and described radar installing plate is fixed on described first base plate, for Emission Lasers bundle to detect and to obtain the plane information of described robot platform region;
Collision detection sensor, is arranged on the surface of described gripper shoe, avoids for making described robot platform or dodges barrier;
Control panel, be fixedly installed in described first base plate and described second base plate one of them, move required control signal for exporting described robot platform; And
Supply module, be arranged at described first base plate and described second base plate one of them, and with described control panel electric property coupling, described supply module is used for powering to drive motors, steer motor and control panel.
2. robot platform according to claim 1, is characterized in that, described radar installing plate comprises a depressed part and is positioned at the laminating limit of described depressed part both sides, and described first base plate comprises a hollow-out parts, wherein,
The depressed part of described radar installing plate and the hollow-out parts of described first base plate match, and described radar installing plate is attached to described first base plate by the screw on described laminating limit, and described depressed part is for placing described laser radar apparatus.
3. robot platform according to claim 1 and 2, it is characterized in that, described robot platform also comprises navigation module, to be arranged on described control panel and to be connected with described laser radar apparatus, for the described plane information scanned according to described laser radar apparatus, navigation being positioned to described robot platform.
4. robot platform according to claim 1, it is characterized in that, described robot platform also comprises hardware expanding interface, is arranged on described control panel, and described hardware expanding interface is for providing supply of electric power needed for described robot body and/or data transmission link.
5. robot platform according to claim 1, is characterized in that, described collision detection sensor is noncontacting proximity sensor or touch sensor.
6. robot platform according to claim 5, is characterized in that, described noncontacting proximity sensor is infrared sensor or ultrasonic sensor, for detecting described barrier and feeding back the range information of described barrier.
7. robot platform according to claim 5, it is characterized in that, described touch sensor is used for when described robot platform and described barrier carry out physical contact, and export a collision alarm, described control panel adjusts the direction of motion of described robot platform according to described collision alarm.
8. robot platform according to claim 1, is characterized in that, described supply module is multiple lithium battery groups of serial or parallel connection.
9. robot platform according to claim 8, it is characterized in that, described robot platform also comprises electric quantity monitoring module, for monitoring the residual capacity of described supply module in real time, when described residual capacity is lower than a predetermined threshold value, described robot platform auto-returned cradle or charging pile charge to described supply module.
10. robot platform according to claim 1, is characterized in that, described support column is the trunking of hollow, for the signal lead between accommodating described first base plate and described second base plate.
11. robot platforms according to claim 1, is characterized in that, described robot platform also comprises a shell, for coated described first base plate and described second base plate.
12. robot platforms according to claim 11, it is characterized in that, described shell comprises a contact panel and a LCD screen, described contact panel is for providing touch control operation and described touch control operation being converted into the control instruction of described robot platform, and described LCD screen is for showing described control instruction.
13. robot platforms according to claim 12, is characterized in that, described contact panel is provided with speed adjustment module, and the one or more buttons through described speed adjustment module change the translational speed of described robot platform.
14. robot platforms according to claim 1, is characterized in that, described robot platform also comprises moving-member, are connected with described second base plate, and described moving-member is used for making described robot platform move or turn to.
15. robot platforms according to claim 14, it is characterized in that, described moving-member comprises power wheel and universal wheel, described power wheel is connected to described control panel by described drive motors, advances or retreat for driving described robot platform; Described universal wheel is connected to described control panel by described steer motor, for controlling or assisting turning to and supporting described robot platform of described robot platform.
16. robot platforms according to claim 1, is characterized in that, described robot platform also comprises a shelf support, for carrying the described robot body corresponding with described stent size.
CN201510268544.0A 2015-05-22 2015-05-22 Robotic platform capable of moving automatically Pending CN104827482A (en)

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Cited By (13)

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CN105082103A (en) * 2015-09-16 2015-11-25 彭倍 Indoor movable robot
CN105676845A (en) * 2016-01-19 2016-06-15 中国人民解放军国防科学技术大学 Security service robot and intelligent obstacle avoidance method of robot in complex environment
CN106239519A (en) * 2016-09-06 2016-12-21 上海拓础智能科技有限公司 A kind of Intelligent navigation robot and air navigation aid thereof
CN106313078A (en) * 2016-10-27 2017-01-11 上海思岚科技有限公司 Mobile robot platform
CN106625715A (en) * 2017-01-20 2017-05-10 小煷伴(深圳)智能科技有限公司 Multifunctional intelligent robot capable of moving independently
CN107678038A (en) * 2017-09-27 2018-02-09 上海有个机器人有限公司 Robot collision-proof method, robot and storage medium
CN108173308A (en) * 2018-01-15 2018-06-15 潍坊歌尔电子有限公司 A kind of robot charging method and its device
CN108340354A (en) * 2018-03-19 2018-07-31 湖南擎谱数字科技有限公司 Robot chassis structure and robot
CN108972588A (en) * 2018-08-29 2018-12-11 上海常仁信息科技有限公司 Intelligence backtracks the robot of charging
CN108972576A (en) * 2018-06-29 2018-12-11 张家港市泰克软件有限公司 Intelligence accompanies robot
CN108972577A (en) * 2018-06-29 2018-12-11 张家港市泰克软件有限公司 Company robot with warning function
CN109972824A (en) * 2019-05-09 2019-07-05 广东博智林机器人有限公司 Spray robot and control method and control device, computer readable storage medium
CN110202585A (en) * 2019-07-30 2019-09-06 广东博智林机器人有限公司 Spray painting control method, apparatus, spray robot and storage medium

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CN105082103A (en) * 2015-09-16 2015-11-25 彭倍 Indoor movable robot
CN105676845A (en) * 2016-01-19 2016-06-15 中国人民解放军国防科学技术大学 Security service robot and intelligent obstacle avoidance method of robot in complex environment
CN106239519A (en) * 2016-09-06 2016-12-21 上海拓础智能科技有限公司 A kind of Intelligent navigation robot and air navigation aid thereof
CN106313078A (en) * 2016-10-27 2017-01-11 上海思岚科技有限公司 Mobile robot platform
CN106625715A (en) * 2017-01-20 2017-05-10 小煷伴(深圳)智能科技有限公司 Multifunctional intelligent robot capable of moving independently
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CN108340354A (en) * 2018-03-19 2018-07-31 湖南擎谱数字科技有限公司 Robot chassis structure and robot
CN108972576A (en) * 2018-06-29 2018-12-11 张家港市泰克软件有限公司 Intelligence accompanies robot
CN108972577A (en) * 2018-06-29 2018-12-11 张家港市泰克软件有限公司 Company robot with warning function
CN108972588A (en) * 2018-08-29 2018-12-11 上海常仁信息科技有限公司 Intelligence backtracks the robot of charging
CN108972588B (en) * 2018-08-29 2022-03-11 付小芹 Robot capable of intelligently finding back to charge
CN109972824A (en) * 2019-05-09 2019-07-05 广东博智林机器人有限公司 Spray robot and control method and control device, computer readable storage medium
CN110202585A (en) * 2019-07-30 2019-09-06 广东博智林机器人有限公司 Spray painting control method, apparatus, spray robot and storage medium

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