CN106239519A - A kind of Intelligent navigation robot and air navigation aid thereof - Google Patents
A kind of Intelligent navigation robot and air navigation aid thereof Download PDFInfo
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- CN106239519A CN106239519A CN201610804810.1A CN201610804810A CN106239519A CN 106239519 A CN106239519 A CN 106239519A CN 201610804810 A CN201610804810 A CN 201610804810A CN 106239519 A CN106239519 A CN 106239519A
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1674—Programme controls characterised by safety, monitoring, diagnostic
- B25J9/1676—Avoiding collision or forbidden zones
-
- 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
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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Transportation (AREA)
- Robotics (AREA)
- Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
- Traffic Control Systems (AREA)
Abstract
The invention provides a kind of Intelligent navigation robot, including: driving wheel, drive motor, vehicle body, control device, industry control device, sensing module, anticollision device, collision-prevention device, wherein sensing module is connected with industry control device and control device respectively, control device and be connected with driving motor, anticollision device, collision-prevention device is fixed on described body structure, and be connected with described control device, it can be under conditions of ensureing certain travel speed, when detecting target and entering risk range, brake measure is effectively taked to prevent collision, even if or colliding and also can reduce vehicle body deadweight and the inertial collision power brought of travel speed.
Description
Technical field
The present invention relates to a kind of navigating robot, particularly relate to a kind of employing sensor and obtain obstacle information to carry out certainly
The Intelligent navigation robot of leading boat avoidance and air navigation aid thereof.
Background technology
Along with the development of science and technology, robot the most progressively substitutes the mankind and carries out heavy physical work, but based at present
The bottleneck of technology, a lot of so-called smart machines the most still have to rely on the control of the mankind to realize its function.
In independent navigation field, the most common for sweeping robot, similar can carry out in a foreign environment from
The robot that leading boat barrier avoiding function is integrated with cleaning function, being approved by market and praising highly widely the most progressively, because
This type of robot is truly realized the mankind and is absent from the scene, and it also can independently complete effect of predetermined work, thus alleviates greatly
The burden that we are in life, the life for us brings facility.
But at present for sweeping robot, the classic applications in an independent navigation avoidance field really, but this type of
And if people's will may be not so good as, this is because sweeping robot is due to it when technology and experience directly apply to bigger apparatus field
Build is less, and deadweight is relatively light, and people or object can't be caused prestige during independent navigation avoidance by the factors such as speed is slower again
The side of body, the most directly knocks user, also apodia sufferings, if but time this type of technology is applied on relatively large equipment, due to from
Weight, build, the change of the factors such as speed, would have to consider the precautionary scheme of more security risk, thus at independent navigation
Control security risk good during avoidance, eliminates safe hidden trouble.
Summary of the invention
Present invention is primarily targeted at a kind of Intelligent navigation robot of offer and air navigation aid thereof, it can ensure one
Under conditions of determining travel speed, when detecting target and entering risk range, effectively take brake measure to prevent collision, or be
Making collides also can reduce the inertial collision power that vehicle body is conducted oneself with dignity and travel speed is brought.
To achieve these goals, the invention provides a kind of Intelligent navigation robot, including: driving wheel, drive motor,
Vehicle body, control device, industry control device, sensing module, anticollision device, collision-prevention device, wherein said sensing module respectively with described industry control device and
Described control device connects, and described control device is connected with described driving motor, before described anticollision device, collision-prevention device is fixed on described vehicle body
End, and be connected with described control device, wherein said anticollision device, collision-prevention device includes: anti-collision baffle plate, fixed mount, buffer gear, and braking is opened
Closing, wherein said fixed mount is arranged on described body structure, is connected by described buffer gear between its with described anti-collision baffle plate,
Described brake switch includes: striker is arranged on the described anti-collision baffle plate back side, and trigger control is arranged on described fixed mount front and institute
State striker corresponding, and when described buffer gear is extruded near extreme position, described striker will depress described trigger control
Activating described brake switch, wherein said sensing module includes: laser radar sensor is arranged on described body structure with described
Industry control device connects, and human body proximity sensor is arranged on described anti-collision baffle plate front, and is connected with described control device, Qi Zhongsuo
Stating the wide 140mm of driving wheel a size of external diameter 320mm wheel, it is little that described control device controls described driving motor work output speed per hour
In equal to 1.5m/s, output speed per hour of slowing down is less than or equal to 0.8m/s, described laser radar sensor sensing reduction range 18 ~ 20
Rice, described buffer gear buffer distance is 18mm, and elastic force is 20 Ns, and described human body proximity sensor sensing braking scope is 5 meters,
The deadweight of described Intelligent navigation robot and load-carrying summation are less than 350/KG.
Further, described body structure is provided with detecting area, and wherein said detecting area includes: probe station, leads survey wall, wherein
Described leading is surveyed wall and is separately positioned on described probe station both sides to form more than the fan-shaped test surface of 180 °, and described laser radar passes
Sensor is arranged on described probe station center.
Further, described buffer gear includes: lead, bumper post, elastic component, wherein said lead and bumper post
One end is fixed on described fixed mount, and the other end inserts in the targeting port matched on described anti-collision baffle plate, and formation activity is even
Connecing, described elastic component is enclosed within described bumper post.
Further, described anti-collision baffle plate is respectively provided on two sides with buffer substrate tablet up and down, and this buffer substrate tablet extended distance can cover
The described lead highlighted when covering described buffer gear by limited compression and bumper post.
Further, described laser radar sensor provides current detection Environment Obstacles thing information for described industry control device,
After described industry control device processes, feedback control order to described control device is to control described driving motor movement speed and direction
Dodge.
Further, described human body proximity sensor provides braking information for described control device, controls dress for described
Put the described driving motor braking of control.
To achieve these goals, according to a further aspect in the invention, it is provided that the navigation of a kind of Intelligent navigation robot
Method, including step:
Arrange less than or equal to 1.5m/s under speed transport condition, less than or equal to 0.8m/s under deceleration regime, laser radar sensor
Sensing 18 ~ 20 meters of rice of reduction range, buffer gear buffer distance is 18mm, and elastic force is 20 Ns, human body proximity sensor sensing system
Dynamic scope is 5 meters, and Intelligent navigation robot deadweight and load-carrying summation are less than 350/KG；
Industry control device command control apparatus controls to drive driven by motor car body around Chang Yiquan；
After laser radar sensor acquisition preceding object thing information processes to industry control device, generate track map, and export control
Order is to controlling device；
Control device to control to drive motor movement speed and direction to dodge barrier；
Human body proximity sensor sensing movement is close to target, and feedback information is to controlling device；
Control device control drive motor braking, to be moved leave close to target after continue start drive motor work.
Further, further comprising the steps of: anticollision device, collision-prevention device and carry the information to control device through collision rift, brake hard drives electricity
Driving wheel checked by machine.
Further, further comprise the steps of: laser radar sensor and obtain preceding object thing information to industry control device through with former
After track map contrast processes, with new track map, and export control command to controlling device.
By one Intelligent navigation robot of the present invention and air navigation aid thereof, it is possible to effective in independent navigation avoidance process
Middle reduction risk of collision, and control impaction lesion degree within the specific limits, thus greatly improve security performance, reduce
Security risk.
Further object is that a kind of navigating robot using Intelligent navigation robot of offer, it can be right
Existing capability equipment is reequiped, and by the way of carry function device, makes existing capability equipment have independent navigation avoidance merit
Energy.
To achieve these goals, the invention provides a kind of navigating robot using Intelligent navigation robot, wherein
This Intelligent navigation robot carry function device, with drive described function device realize self function carry out simultaneously independent navigation and
Avoidance.
A kind of navigating robot using Intelligent navigation robot provided by the present invention, it is possible to effectively pass through carry
Existing capability equipment is reequiped by mode, thus obtains independent navigation barrier avoiding function in inexpensive manner, thereby extends certainly
The use field of leading boat avoidance technology, reduces technical threshold, and beneficially independent navigation avoidance technology is in each technical field
Popularize and application.
Accompanying drawing explanation
The accompanying drawing of the part constituting the application is used for providing a further understanding of the present invention, and the present invention's is schematic real
Execute example and illustrate for explaining the present invention, being not intended that inappropriate limitation of the present invention.In the accompanying drawings:
Fig. 1 is the structural representation of a kind of Intelligent navigation robot of the present invention；
Fig. 2 is the structural representation of a kind of Intelligent navigation robot of the present invention；
Fig. 3 is the schematic enlarged-scale view of a kind of Intelligent navigation robot of the present invention；
Fig. 4 is the schematic enlarged-scale view of a kind of Intelligent navigation robot of the present invention.
Detailed description of the invention
It should be noted that in the case of not conflicting, the embodiment in the application and the feature in embodiment can phases
Combination mutually.Describe the present invention below with reference to the accompanying drawings and in conjunction with the embodiments in detail.
In order to make those skilled in the art be better understood from the present invention program, below in conjunction with in the embodiment of the present invention
Accompanying drawing, is clearly and completely described the technical scheme in the embodiment of the present invention, it is clear that described embodiment is only
The embodiment of a present invention part rather than whole embodiments.Based on the embodiment in the present invention, in ordinary skill
Personnel do not make the every other embodiment obtained under creative work premise, all should belong to the protection model of the present invention
Enclose.
It should be noted that term " first " in description and claims of this specification and above-mentioned accompanying drawing, "
Two " it is etc. for distinguishing similar object, without being used for describing specific order or precedence.Should be appreciated that so use
Data can exchange in the appropriate case, in order to embodiments of the invention described herein can with except here diagram or
Order beyond those described is implemented.Additionally, term " includes " and " having " and their any deformation, it is intended that cover
Cover non-exclusive comprising.
Refer to Fig. 1 to Fig. 4, the invention provides a kind of Intelligent navigation robot, including: driving wheel 1, drive motor 7,
Vehicle body 2, control device 4, industry control device 3, sensing module 5, anticollision device, collision-prevention device 6, wherein this sensing module 5 respectively with this industry control device
3 and this control device 4 connect, think that this industry control device 3 and this control device 4 provide external environment condition sensing data, wherein this control
Device 4 processed is connected with this driving motor 7, drives the operating of motor 7 with concrete manipulation, concrete, wherein connects on this driving motor 7
Connecing driving wheel 1, this control device 4 is differential, to control between this driving wheel 1 by the rotation controlling this driving motor 7 of vehicle body both sides
Produce different rotary speeies, and then form the control that vehicle body is turned to.
Wherein this anticollision device, collision-prevention device 6 is fixed on described body structure, and is connected with described control device 4, wherein said crashproof
Device 6 includes: anti-collision baffle plate 61, fixed mount 62, buffer gear 63, brake switch 64, and wherein said fixed mount 62 is fixed on institute
Stating body structure, be connected by described buffer gear 63 between its with described anti-collision baffle plate 61, described brake switch 64 includes: hit
Sheet 642 is arranged on described anti-collision baffle plate 61 back side, and trigger control 641 is arranged on described fixed mount 62 front and described striker 642
Correspondence, and when described buffer gear 63 is extruded near extreme position, described striker 642 will depress described trigger control
641 activate described brake switch 64, and wherein said buffer gear 63 includes: lead 633, bumper post 632, elastic component 631, its
Described in lead 633 and bumper post 632 one end be fixed on described fixed mount 62, the other end inserts on described anti-collision baffle plate 61
In the targeting port matched, being formed and be flexibly connected, described elastic component 631 is enclosed within described bumper post 632, wherein this elastic component
631 preferred springs in the present embodiment, but those skilled in the art will appreciate that, utilize metal/plastic shell fragment, foam plastics,
It is the most alternative that rubber etc. have resilient element, and this extreme position is buffer distance the most in the present embodiment, leads according to this
Length to post 633 and bumper post 632 and elastic component 631 controls.
Further, wherein this sensing module 5 includes: laser radar sensor 51 is arranged on described body structure with described
Industry control device 3 connects, and human body proximity sensor 52 is arranged on described anti-collision baffle plate front, and is connected with described control device 4, its
Described in industry control device 3 is internal comprises processing module, it can process complex data message, this control device 4 in order to
Realize the demand of response quick to simple data, preferred process speed but computing module chip that data volume is less, enter
And this industry control device 3 is for complicated calculating and logic judging function, and assigning control instruction extremely, this control device 4 has
The operation of body controls, and simple sensing data also can independently be judged by this control device 4 simultaneously, in order to assist this industry control
Device 3 controls car body operating, thereby improves car body control efficiency.
Specifically, the detection range of this laser radar sensor 51 is big compared with human body proximity sensor 52, the most currently
Side generates sensing data after remotely barrier is identified by this laser radar sensor 51, receives this industry control dress of this sensing data
Put 3 to calculate, and generate control command according to current vehicle speed, perform and control this driving motor 7 to realize for this control device 4
Slow down and steering manipulation, thereby dodge obstacle, and in practical operation, owing to using scene to there may be the product of moving disorder
Raw, swarm into such as human or animal etc., therefore this laser radar sensor 51 due to its detection range wider, it is possible to realize carrying out in advance
Dodging the operations such as deceleration, to prevent actively strikes obstacles, but in some probability, moving obstacle may not perceived
Car body close, the most also can continue near in, when entering in certain detection range, this human body proximity sensor 52 then can
Generate sensing data, and transmit to controlling device 4 performs brake command, in order to this control device 4 controls this driving motor 7 and enters
Row brake operating, and until vehicle body stops mobile, prevent collision.
And if under the worst estimation moving obstacle, the most at last clash into car body time, can finally be ensured by this anticollision device, collision-prevention device 6
Impact force suffered by rammer is in the range of controllable loss, even without wound.Concrete, when this moving obstacle, to clash into this crashproof
Can drive after baffle plate 61, this buffer gear 63 extrudes and offsets part impact force backward, and this brake switch 64 is taken advantage of a situation and opened simultaneously
Opening, and activate the control device 4 that is attached thereto and control this driving motor 7 and perform emergency brake operations, in the present embodiment, this is tight
Anxious braking includes, this driving motor 7 is braked in maximum output, or/and controls this driving wheel 1 according to current vehicle speed and invert, with actively
Make a concession barrier.
In the present embodiment in order to, in the case of ensureing speed, in order to preferably brake car body, dodge barrier, and drop
Low impaction lesion, wherein this driving wheel 1 is preferably dimensioned to be the external diameter 320mm wide 140mm of wheel, described control device 4 control described in drive
Galvanic electricity machine 7 work output speed per hour is less than or equal to 1.5m/s, and output speed per hour of slowing down senses less than or equal to 0.8m/s, described laser radar
Device 51 senses reduction range 18 ~ 20 meters, and described buffer gear 63 buffer distance is 18mm, and elastic force is 20 Ns, described human body proximity
It is 5 meters that sensor 52 senses braking scope, and the deadweight of described Intelligent navigation robot and load-carrying summation are less than 350/KG, in this scheme
Under setting, this car body can preferably ensure braking distance, and actively reduces shock injury, also ensure that car body is just simultaneously
The often speed in work, with avoidance under conditions of Effec-tive Function and actively control shock infringement.
Additionally, described body structure is provided with detecting area 8, wherein said detecting area 8 includes: probe station 82, leads survey wall 81, its
Described in lead and survey wall 81 and be separately positioned on described probe station 82 both sides to form more than the fan-shaped test surface of 180 °, and described laser
Radar sensor 51 is arranged on described probe station 82 center.
Wherein said anti-collision baffle plate about 61 is respectively provided on two sides with buffer substrate tablet 611, and this buffer substrate tablet 611 extended distance can
The described lead 633 highlighted when covering described buffer gear 63 by limited compression and bumper post 632.
Another aspect of the present invention, additionally provides the air navigation aid of a kind of Intelligent navigation robot, including step:
Arrange less than or equal to 1.5m/s under speed transport condition, less than or equal to 0.8m/s under deceleration regime, laser radar sensor
51 sensing 18 ~ 20 meters of rice of reduction range, buffer gear 63 buffer distance is 18mm, and elastic force is 20 Ns, human body proximity sensor sense
Surveying braking scope is 5 meters, and Intelligent navigation robot deadweight and load-carrying summation are less than 350/KG；
Industry control device 3 command control apparatus 4 controls to drive motor 7 band motor vehicles bodies around Chang Yiquan；
Laser radar sensor 51 obtains after preceding object thing information processes to industry control device 3, generates track map, and exports control
System order is to controlling device 4；
Control device 4 to control to drive motor 7 movement velocity and direction to dodge barrier；
Human body proximity sensor 52 sensing movement is close to target, and feedback information is to controlling device 4；
Control device 4 control drive motor 7 brake, to be moved leave close to target after continue start drive motor 7 work.
Wherein further comprising the steps of: anticollision device, collision-prevention device to carry the information to control device 4 through collision rift, brake hard drives motor 7
Check driving wheel 1.
Wherein further comprise the steps of: laser radar sensor 51 obtain preceding object thing information to industry control device 3 through with former rail
After slash figure contrast processes, with new track map, and export control command to controlling device 4.
By one Intelligent navigation robot of the present invention and air navigation aid thereof, it is possible to effective in independent navigation avoidance process
Middle reduction risk of collision, and control impaction lesion degree within the specific limits, thus greatly improve security performance, reduce
Security risk.
Another aspect of the present invention additionally provides a kind of navigating robot using Intelligent navigation robot, and it can be to existing
There is function device to reequip, by the way of carry function device, make existing capability equipment have independent navigation barrier avoiding function,
Wherein this Intelligent navigation robot carry function device, is carried out from leading to drive described function device to realize self function simultaneously
Boat and avoidance, and then can effectively by carry mode, existing capability equipment be reequiped, thus obtain in inexpensive manner
Obtain independent navigation barrier avoiding function, thereby extend the use field of independent navigation avoidance technology, reduce technical threshold, be conducive to
Independent navigation avoidance technology is in the universal of each technical field and application.
The foregoing is only the preferred embodiments of the present invention, be not limited to the present invention, for the skill of this area
For art personnel, the present invention can have various modifications and variations.All within the spirit and principles in the present invention, that is made any repaiies
Change, equivalent, improvement etc., should be included within the scope of the present invention.
Claims (10)
1. an Intelligent navigation robot, including: driving wheel, drive motor, vehicle body, it is characterised in that also include: control dress
Putting, industry control device, sensing module, anticollision device, collision-prevention device, wherein said sensing module fills with described industry control device and described control respectively
Putting connection, described control device is connected with described driving motor, and described anticollision device, collision-prevention device is fixed on described body structure, and with described
Controlling device to connect, wherein said anticollision device, collision-prevention device includes: anti-collision baffle plate, fixed mount, buffer gear, and brake switch is wherein said
Fixed mount is arranged on described body structure, is connected by described buffer gear between its with described anti-collision baffle plate, and described braking is opened
Pass includes: striker is arranged on the described anti-collision baffle plate back side, and it is corresponding with described striker that trigger control is arranged on described fixed mount front,
And when described buffer gear is extruded near extreme position, described striker will be depressed and brake described in described trigger control widget activation
Switch, wherein said sensing module includes: laser radar sensor is arranged on described body structure and is connected with described industry control device,
Human body proximity sensor is arranged on described anti-collision baffle plate front, and is connected with described control device, wherein said driving wheel size
Taking turns wide 140mm for external diameter 320mm, described control device controls described driving motor work output speed per hour and is less than or equal to 1.5m/s,
Output speed per hour of slowing down is less than or equal to 0.8m/s, described laser radar sensor sensing reduction range 18 ~ 20 meters, described buffer gear
Buffer distance is 18mm, and elastic force is 20 Ns, and described human body proximity sensor sensing braking scope is 5 meters, described intelligent navigation machine
Device people deadweight and load-carrying summation are less than 350/KG.
A kind of Intelligent navigation robot the most according to claim 1, it is characterised in that: described body structure is provided with detection
District, wherein said detecting area includes: probe station, leads survey wall, wherein said lead survey wall be separately positioned on described probe station both sides with
Form more than the fan-shaped test surface of 180 °, and described laser radar sensor is arranged on described probe station center.
A kind of Intelligent navigation robot the most according to claim 1, it is characterised in that described buffer gear includes: guide
Post, bumper post, elastic component, wherein said lead and bumper post one end are fixed on described fixed mount, and the other end inserts described
In the targeting port matched on anti-collision baffle plate, being formed and be flexibly connected, described elastic component is enclosed within described bumper post.
A kind of Intelligent navigation robot the most according to claim 3, it is characterised in that the upper and lower both sides of described anti-collision baffle plate are divided
It is not provided with buffer substrate tablet, and the described guiding highlighted when this buffer substrate tablet extended distance can cover described buffer gear by limited compression
Post and bumper post.
A kind of Intelligent navigation robot navigation the most according to claim 1, it is characterised in that described laser radar sensor
Thering is provided current detection Environment Obstacles thing information for described industry control device, after described industry control device processes, feedback control order is to institute
State control device to dodge to control described driving motor movement speed and direction.
A kind of Intelligent navigation robot navigation the most according to claim 1, it is characterised in that described human body proximity sensor
There is provided braking information for described control device, control described driving motor braking for described control device.
7. the air navigation aid of an a kind of Intelligent navigation robot as claimed in claim 1, it is characterised in that include step:
Arrange less than or equal to 1.5m/s under speed transport condition, less than or equal to 0.8m/s under deceleration regime, laser radar sensor
Sensing 18 ~ 20 meters of rice of reduction range, buffer gear buffer distance is 18mm, and elastic force is 20 Ns, human body proximity sensor sensing system
Dynamic scope is 5 meters, and Intelligent navigation robot deadweight and load-carrying summation are less than 350/KG；
Industry control device command control apparatus controls to drive driven by motor car body around Chang Yiquan；
After laser radar sensor acquisition preceding object thing information processes to industry control device, generate track map, and export control
Order is to controlling device；
Control device to control to drive motor movement speed and direction to dodge barrier；
Human body proximity sensor sensing movement is close to target, and feedback information is to controlling device；
Control device control drive motor braking, to be moved leave close to target after continue start drive motor work.
A kind of Intelligent navigation robot air navigation aid the most according to claim 7, it is characterised in that further comprise the steps of: anti-
Collision device carries the information to control device through collision rift, and brake hard drives motor to check driving wheel.
A kind of Intelligent navigation robot air navigation aid the most according to claim 7, it is characterised in that further comprise the steps of: sharp
Optical radar sensor obtains preceding object thing information to industry control device after processing with former track map contrast, with new track ground
Figure, and export control command to controlling device.
10. the navigating robot using Intelligent navigation robot as claimed in claim 1, it is characterised in that described intelligence
Navigating robot carry function device, carries out independent navigation and avoidance to drive described function device to realize self function simultaneously.
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| CN201610804810.1A CN106239519A (en) | 2016-09-06 | 2016-09-06 | A kind of Intelligent navigation robot and air navigation aid thereof |
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| CN201610804810.1A CN106239519A (en) | 2016-09-06 | 2016-09-06 | A kind of Intelligent navigation robot and air navigation aid thereof |
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| CN107562057A (en) * | 2017-09-07 | 2018-01-09 | 南京昱晟机器人科技有限公司 | A kind of intelligent robot navigation control method |
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| CN108357585A (en) * | 2017-01-16 | 2018-08-03 | 浙江国自机器人技术有限公司 | A kind of the optoelectronic switch multiplexing method and device of material flow A GV |
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