CN106872987A - Obstacle detecting device and omnidirectional's car - Google Patents
Obstacle detecting device and omnidirectional's car Download PDFInfo
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- CN106872987A CN106872987A CN201710154713.7A CN201710154713A CN106872987A CN 106872987 A CN106872987 A CN 106872987A CN 201710154713 A CN201710154713 A CN 201710154713A CN 106872987 A CN106872987 A CN 106872987A
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- 238000001514 detection method Methods 0.000 claims abstract description 21
- 238000000527 sonication Methods 0.000 claims abstract description 12
- 238000013016 damping Methods 0.000 claims description 24
- 238000005183 dynamical system Methods 0.000 claims description 9
- 238000002604 ultrasonography Methods 0.000 claims description 6
- 230000006698 induction Effects 0.000 claims description 5
- 230000005611 electricity Effects 0.000 claims 1
- 230000000007 visual effect Effects 0.000 description 9
- 238000012545 processing Methods 0.000 description 6
- 239000004593 Epoxy Substances 0.000 description 4
- 230000004888 barrier function Effects 0.000 description 4
- 238000009432 framing Methods 0.000 description 4
- 230000005484 gravity Effects 0.000 description 4
- 239000000463 material Substances 0.000 description 4
- 229920000049 Carbon (fiber) Polymers 0.000 description 3
- 230000009471 action Effects 0.000 description 3
- 239000004917 carbon fiber Substances 0.000 description 3
- 230000008878 coupling Effects 0.000 description 3
- 238000010168 coupling process Methods 0.000 description 3
- 238000005859 coupling reaction Methods 0.000 description 3
- 230000007547 defect Effects 0.000 description 3
- 238000004519 manufacturing process Methods 0.000 description 3
- VNWKTOKETHGBQD-UHFFFAOYSA-N methane Chemical compound C VNWKTOKETHGBQD-UHFFFAOYSA-N 0.000 description 3
- 238000000034 method Methods 0.000 description 3
- 230000008569 process Effects 0.000 description 3
- 238000005286 illumination Methods 0.000 description 2
- OKTJSMMVPCPJKN-UHFFFAOYSA-N Carbon Chemical compound [C] OKTJSMMVPCPJKN-UHFFFAOYSA-N 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000008901 benefit Effects 0.000 description 1
- 230000003139 buffering effect Effects 0.000 description 1
- 229910052799 carbon Inorganic materials 0.000 description 1
- 230000008859 change Effects 0.000 description 1
- 230000006835 compression Effects 0.000 description 1
- 238000007906 compression Methods 0.000 description 1
- 230000003111 delayed effect Effects 0.000 description 1
- 238000011161 development Methods 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 230000002708 enhancing effect Effects 0.000 description 1
- 230000006872 improvement Effects 0.000 description 1
- 238000009434 installation Methods 0.000 description 1
- 230000003137 locomotive effect Effects 0.000 description 1
- 230000007246 mechanism Effects 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000012372 quality testing Methods 0.000 description 1
- 239000002994 raw material Substances 0.000 description 1
- 230000009467 reduction Effects 0.000 description 1
- 230000008439 repair process Effects 0.000 description 1
- 230000035939 shock Effects 0.000 description 1
- 239000007787 solid Substances 0.000 description 1
- 238000012546 transfer Methods 0.000 description 1
- 238000013519 translation Methods 0.000 description 1
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 description 1
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
- G01S15/00—Systems using the reflection or reradiation of acoustic waves, e.g. sonar systems
- G01S15/88—Sonar systems specially adapted for specific applications
- G01S15/93—Sonar systems specially adapted for specific applications for anti-collision purposes
- G01S15/931—Sonar systems specially adapted for specific applications for anti-collision purposes of land vehicles
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60G—VEHICLE SUSPENSION ARRANGEMENTS
- B60G7/00—Pivoted suspension arms; Accessories thereof
- B60G7/001—Suspension arms, e.g. constructional features
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60K—ARRANGEMENT OR MOUNTING OF PROPULSION UNITS OR OF TRANSMISSIONS IN VEHICLES; ARRANGEMENT OR MOUNTING OF PLURAL DIVERSE PRIME-MOVERS IN VEHICLES; AUXILIARY DRIVES FOR VEHICLES; INSTRUMENTATION OR DASHBOARDS FOR VEHICLES; ARRANGEMENTS IN CONNECTION WITH COOLING, AIR INTAKE, GAS EXHAUST OR FUEL SUPPLY OF PROPULSION UNITS IN VEHICLES
- B60K1/00—Arrangement or mounting of electrical propulsion units
- B60K1/02—Arrangement or mounting of electrical propulsion units comprising more than one electric motor
Landscapes
- Engineering & Computer Science (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- Physics & Mathematics (AREA)
- Mechanical Engineering (AREA)
- Acoustics & Sound (AREA)
- Computer Networks & Wireless Communication (AREA)
- General Physics & Mathematics (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Transportation (AREA)
- Manipulator (AREA)
Abstract
A kind of obstacle detecting device and omnidirectional's car, belong to Vehicle Engineering, obstacle detecting device is used for omnidirectional's car, it includes shell, vision ultrasonic wave sensing module and vision sonication module, the vision ultrasonic wave sensing module includes vision sensor and ultrasonic sensor, the vision sensor and ultrasonic sensor may be contained within shell, the vision sensor is used to gather the picture signal of obstacle, the ultrasonic sensor is used to gather the ultrasonic signal of obstacle, the vision sonication module is used to receive described image signal and the ultrasonic signal and be processed, so as to the positional information of acquired disturbance.Omnidirectional's car includes above-mentioned obstacle detecting device.This obstacle detecting device can be whether there is with the various types of obstacles of effective detection so as to be accurately detected obstacle.This omnidirectional car can effectively avoiding obstacles exactly, so as to avoid that itself and external environment condition are caused to damage, it is ensured that the stability and security of operation.
Description
Technical field
The present invention relates to Vehicle Engineering, in particular to a kind of obstacle detecting device and omnidirectional's car.
Background technology
With the development of industrial automation, omnidirectional mobile vehicle (AGV cars) is popularized further in intelligent storage industry application, to complete
Requirement higher is it is also proposed to the stability of locomotive, reliability.Meanwhile, omnidirectional mobile vehicle is also applicable in movie and television play, comprehensive
During skill etc. shoots.
In order to prevent vehicle operationally, barrier, other vehicles or staff etc. are bumped against, it is necessary to detect robot
In moving process, surrounding whether there is barrier.In the prior art, obstacle quality testing is often carried out using single detection means
Survey, such as by the image in front of camera collection, or barrier is carried out by ultrasonic sensor collection ultrasound data
Detection.
But, texture is especially sparse, texture multiplicity is high and pure color surface, the fast-changing scene of illumination and fortune
When dynamic speed exceedes range, camera work can be affected；And ultrasonic wave cannot detect thin railing, grid and enclose
The small objects such as column.In such cases, detection of obstacles is carried out using single detection means, it is impossible to accurately detect surrounding
With the presence or absence of barrier, the situation of detection failure often occurs.
The content of the invention
It is an object of the invention to provide a kind of obstacle detecting device, it effectively can exactly detect whether obstacle is deposited
.
Another object of the present invention is to provide a kind of omnidirectional's car, its can effectively avoiding obstacles exactly so that
Avoid that itself and external environment condition are caused to damage, it is ensured that the stability and security of operation.
What embodiments of the invention were realized in：
A kind of obstacle detecting device, for omnidirectional's car, it includes shell, vision ultrasonic wave sensing module and vision ultrasound
Ripple processing module, the vision ultrasonic wave sensing module includes vision sensor and ultrasonic sensor, the vision sensor
Shell is may be contained within ultrasonic sensor, the vision sensor is used to gather the picture signal of obstacle, and the ultrasonic wave is passed
Sensor is used to gathering the ultrasonic signal of obstacle, and the vision sonication module is used to receiving described image signal and described
Ultrasonic signal is simultaneously processed, so that the positional information of acquired disturbance.
Further, in preferred embodiments of the present invention, the shell shell wall is provided with vision-based detection hole and ultrasonic wave
Detection hole, the vision sensor and the ultrasonic sensor are mounted on the enclosure, the vision sensor
The induction part correspondence vision-based detection hole, the induction part correspondence ultrasonic detection holes of the ultrasonic sensor.
Further, in preferred embodiments of the present invention, the shell is provided with mounting bracket, and the mounting bracket is provided with
Mounting hole.
A kind of omnidirectional's car, it includes car body and above-mentioned obstacle detecting device, and the obstacle detecting device is installed on institute
State car body.
Further, in preferred embodiments of the present invention, the shell has four and is respectively arranged at the car body
Front end, rear end, left side and right side.
Further, in preferred embodiments of the present invention, the car body include axle arm, the first supporting plate, four
Mecanum wheel and dynamical system, the axle arm have two and interval setting, and the both sides of first supporting plate are solid respectively
Surely two axle arms are connected to, four Mecanum wheels are respectively arranged in two two ends of the axle arm, described
Dynamical system is used to provide power to four Mecanum wheels.
Further, in preferred embodiments of the present invention, omnidirectional's car also includes the second supporting plate, second supporting plate
Positioned at the first supporting plate lower section and two ends are connected to two axle arms.
Further, in preferred embodiments of the present invention, the car body also includes damping device, the damping device
Including shock-absorbing arm and elastic telescopic part, the shock-absorbing arm is rotationally connected with the axle arm, the two ends point of the elastic telescopic part
The axle arm and the shock-absorbing arm are not rotationally connected with, and the Mecanum wheel is rotationally connected with the shock-absorbing arm.
Further, in preferred embodiments of the present invention, the elastic telescopic part is damping spring.
Further, in preferred embodiments of the present invention, the dynamical system includes four motors, four motors
Be fixedly installed in two two ends of the axle arm respectively, four output shafts of the motor respectively with four Mecanums
Wheel drive connection.
The beneficial effect of the embodiment of the present invention is：
This obstacle detecting device includes shell, vision ultrasonic wave sensing module and vision sonication module, vision
Ultrasonic wave sensing module includes vision sensor and ultrasonic sensor, and vision sensor and ultrasonic sensor may be contained within outer
Shell, vision sensor is used to gather the picture signal of obstacle, and ultrasonic sensor is used to gather the ultrasonic signal of obstacle, vision
Sonication module is used to receive picture signal and ultrasonic signal and be processed, so that the positional information of acquired disturbance,
By the combination of vision sensor and ultrasonic sensor, can be with the various types of obstacles of effective detection, so as to detect exactly
Whether there is to obstacle, effectively compensate for the defect of prior art.
This omnidirectional car includes car body and above-mentioned obstacle detecting device, and obstacle detecting device is installed on car body, obstacle
Detection means can be accurately detected obstacle and whether there is, so that omnidirectional's car effectively can exactly avoid obstacle
Thing, so as to avoid that itself and external environment condition are caused to damage, it is ensured that the stability and security of operation, effectively compensate for existing skill
The defect of art.
Brief description of the drawings
Technical scheme in order to illustrate more clearly the embodiments of the present invention, below will be attached to what is used needed for embodiment
Figure is briefly described, it will be appreciated that the following drawings illustrate only certain embodiments of the present invention, thus be not construed as it is right
The restriction of scope, for those of ordinary skill in the art, on the premise of not paying creative work, can also be according to this
A little accompanying drawings obtain other related accompanying drawings.
Fig. 1 is the structural representation at the first visual angle of omnidirectional's car provided in an embodiment of the present invention；
Fig. 2 is the structural representation at the second visual angle of omnidirectional's car provided in an embodiment of the present invention；
Fig. 3 is the structural representation at the 3rd visual angle of omnidirectional's car provided in an embodiment of the present invention；
Fig. 4 is the structural representation at the 4th visual angle of omnidirectional's car provided in an embodiment of the present invention；
Fig. 5 is the connection diagram at the first visual angle of damping device provided in an embodiment of the present invention and the first axle arm；
Fig. 6 is the structural representation at the second visual angle of damping device provided in an embodiment of the present invention and the first axle arm；
Fig. 7 is the structural representation after omnidirectional's car provided in an embodiment of the present invention removes the first supporting plate and dynamical system；
Fig. 8 is the structural representation of vision ultrasonic wave sensing module provided in an embodiment of the present invention.
Icon：100- omnidirectionals car；110- vehicle frames；The supporting plates of 120- first；122- protrusive boards；The supporting plates of 130- second；
The axle arms of 140- first；142- support plates；144- lattice framings；The mounting grooves of 146- first；148- contiguous blocks；The vehicle bridge of 150- second
Arm；The mounting grooves of 156- second；160- damping devices；162- shock-absorbing arms；164- elastic telescopic parts；166- arm plates；168-
Connection strap；170- motors；172- wheel shafts；174- shaft couplings；180- Mecanum wheels；190- obstacle detecting devices；
191- vision ultrasonic wave sensing modules；192- shells；193- mounting brackets；194- vision sensors；196- supersonic sensings
Device；198- vision sonication modules；199- support frames.
Specific embodiment
To make the purpose, technical scheme and advantage of the embodiment of the present invention clearer, below in conjunction with the embodiment of the present invention
In accompanying drawing, the technical scheme in the embodiment of the present invention is clearly and completely described, it is clear that described embodiment is
A part of embodiment of the present invention, rather than whole embodiments.Present invention implementation generally described and illustrated in accompanying drawing herein
The component of example can be arranged and designed with a variety of configurations.
Therefore, the detailed description of embodiments of the invention below to providing in the accompanying drawings is not intended to limit claimed
The scope of the present invention, but be merely representative of selected embodiment of the invention.Based on the embodiment in the present invention, this area is common
The every other embodiment that technical staff is obtained under the premise of creative work is not made, belongs to the model of present invention protection
Enclose.
It should be noted that：Similar label and letter represents similar terms in following accompanying drawing, therefore, once a certain Xiang Yi
It is defined in individual accompanying drawing, then it need not be further defined and explained in subsequent accompanying drawing.
In the description of the invention, it is necessary to explanation, term " " center ", " on ", D score, "left", "right", " vertical ",
The orientation or position relationship of the instruction such as " level ", " interior ", " outward " be based on orientation shown in the drawings or position relationship, or should
Orientation or position relationship that invention product is usually put when using, are for only for ease of the description present invention and simplify description, without
Be indicate or imply meaning device or element must have specific orientation, with specific azimuth configuration and operation, therefore not
It is understood that to be limitation of the present invention.Additionally, term " first ", " second ", " the 3rd " etc. are only used for distinguishing description, and can not manage
Solve to indicate or implying relative importance.
Additionally, the term such as term " level ", " vertical " is not offered as requiring part abswolute level or pendency, and can be slightly
Low dip.It is not that the expression structure must be complete if " level " refers to only its direction with respect to more level for " vertical "
Full level, and can be to be slightly tilted.
In the description of the invention, in addition it is also necessary to explanation, unless otherwise clearly defined and limited, term " setting ",
" installation ", " connected ", " connection " should be interpreted broadly, for example, it may be fixedly connected, or be detachably connected, or one
The connection of body ground；Can mechanically connect, or electrically connect；Can be joined directly together, it is also possible to indirect by intermediary
It is connected, can is two connections of element internal.For the ordinary skill in the art, can be with concrete condition understanding
State term concrete meaning in the present invention.
Fig. 1-4 are refer to, a kind of omnidirectional's car 100 is present embodiments provided, it includes vehicle frame 110, damping device 160, four
Individual Mecanum wheel 180, dynamical system, control system and obstacle detecting device 190.
Wherein, reference picture 5-6, vehicle frame 110 includes the first axle arm 140, the second axle arm 150, the first supporting plate 120
And second supporting plate 130.First axle arm 140 and the parallel interval of the second axle arm 150 are set, the first axle arm 140 and the
Two axle arms 150 include two support plates 142 and Duo Gen lattice framings 144, and two support plates 142 are made of epoxy plate and set thereon
Multiple fabrication holes are put, to ensure to mitigate deadweight while its intensity as far as possible.The many equal parallel intervals of lattice framing 144 are arranged at two
Between individual support plate 142, and the every two ends of lattice framing 144 connect with two two relative surfaces of support plate 142 respectively.This structure
Both weight of itself can as far as possible be mitigated while the first axle arm 140 and the second 150 load-bearing property of axle arm is ensured
And raw material, to reduce manufacturing cost.
Certainly, it is necessary to explanation, in other embodiments, constitutes the branch of the first axle arm 140 and the second axle arm 150
Plate 142 can also, material of easy processing high using other light weights, intensity, such as carbon fiber plate etc. is true with specific reference to actual conditions
It is fixed.
The middle part of two support plates 142 of the first axle arm 140 is provided with two rectangular first grooves, and two first recessed
Groove is mutually corresponded to so as to form the first mounting groove 146.Meanwhile, the middle part of two support plates 142 of the second axle arm 150 is provided with two
Individual rectangular second groove, two the second grooves are mutually corresponded to so as to form the second mounting groove 156.
Between the middle part of two support plates 142 of the first axle arm 140 and between two support plates 142 of the second axle arm 150
Contiguous block 148 is provided with, two contiguous blocks 148 are located at the first mounting groove 146 and mounting groove lower section respectively.Two connections are set
The purpose of block 148 is the structural strength of on the one hand the first axle arm 140 of enhancing and the second axle arm 150, on the other hand can be with
During vehicle is born due to lateral translation, clashed into simultaneously by the same side Mecanum wheel 180 and is produced from the inside of omnidirectional's car 100
Raw power, so as to avoid the shock-absorbing arm 162 to corresponding side from causing to damage.
Referring again to Fig. 5-6, the first supporting plate 120 is high, easy processing using light weight, intensity such as epoxy plate, carbon fiber plates
Material is made.The generally rectangular and length direction of first supporting plate 120 and the first axle arm 140 or the second axle arm 150
Length direction is identical.First supporting plate 120 is provided with multiple preformed holes, so as to carry various kinds of equipment, such as small-sized stacking
Mechanical arm, shelf fixed mechanism, head etc..
The relative both sides of first supporting plate 120 are respectively fixedly connected with the first axle arm 140 and the second axle arm 150.For
The mounting stability of the first supporting plate 120 is improved, in the present embodiment, first axle arm 140 of correspondence of the first supporting plate 120 and the
The both sides of two axle arms 150 are respectively arranged with protrusive board 122, and two protrusive boards 122 are respectively fixedly connected with the first mounting groove 146 and
The bottom of two mounting grooves 156.First mounting groove 146 and the second mounting groove 156 can play spacing work to two protrusive boards 122 respectively
With so as to effectively improve the stability and reliability of the first supporting plate 120.
Second supporting plate 130 is also adopted by that the light weights such as epoxy plate, carbon fiber plate, intensity is high, easy processing material is made.Second
Supporting plate 130 is generally rectangular and length direction of length direction and the first axle arm 140 or the second axle arm 150 hangs down
Directly.Both sides on the length direction of second supporting plate 130 are bolted to connection in the first axle arm 140 and the second vehicle bridge respectively
The middle part of arm 150.Second supporting plate 130 is located at the lower section of the first supporting plate 120.The purpose for setting the second supporting plate 130 is
The weights such as the bonding strength of the first axle arm 140 and the second axle arm 150, the auxiliary load bearing equipment of the first supporting plate 120 are improved, is delayed
Weight is to the pressure produced by the first supporting plate 120 in the case of solution heavy burden.
Shock absorbing apparatus are provided with four and are respectively arranged at the two ends of the first vehicle bridge frame and the second vehicle bridge frame, each shock-absorbing dress
Putting includes shock-absorbing arm 162 and two elastic telescopic parts 164.Shock-absorbing arm 162 can use various structures and form, the present embodiment
In, four shock-absorbing arms 162 include two arm plates 166 and Duo Gen connection straps 168, and two arm plates 166 are fine using epoxy plate, carbon
The light weights such as plate, intensity are high, easy processing material is made.Two parallel intervals of arm plate 166 are set, and many connection straps 168 are set
Between two arm plates 166 and the two ends of every connection strap 168 are connected to two relative surfaces of arm plate 166.So set
The purpose for putting the structure of shock-absorbing arm 162 is to mitigate its weight as far as possible in the case where the structural strength of shock-absorbing arm 162 is ensured, with
Reduce its manufacturing cost.
Four shock-absorbing arms 162 are connected to the two of the first axle arm 140 and the second axle arm 150 by axis of rotation respectively
End, the length direction of four rotating shafts of shock-absorbing arm 162 is respectively perpendicular to the length of the first axle arm 140 or the second axle arm 150
Degree direction.
Elastic telescopic part 164 can use various structures and form, and in the present embodiment, elastic telescopic part 164 is used and subtracted
Shake spring.Damping spring simple structure, working stability, with excellent damping, buffering effect.Two of each damping device 160
One end of elastic telescopic part 164 is rotationally connected with two arm plates 166 of corresponding shock-absorbing arm 162 respectively, and the other end is rotated respectively
It is connected to two ends of support plate 142 of corresponding axle arm.
Four Mecanum wheels 180 are rigidly connected have four wheel shafts 172 respectively, and four wheel shafts 172 are rotationally connected with respectively
Four outer webs plates 166 of shock-absorbing arm 162.
The purpose for setting four damping devices 160 is to be delivered to vehicle frame from largely slowing down Mecanum wheel 180
110 vibrations, such that it is able to effectively slow down vibrations of the whole omnidirectional's car 100 when uneven road surface is travelled, it is ensured that omnidirectional's car 100 is moved
Stationarity and horizontality during dynamic, and then allow omnidirectional's car 100 exactly according to specified route running.
Damping device 160 has four kinds of working conditions, specific as follows：
First, after weight is positioned over the first supporting plate 120, due to Action of Gravity Field, the first supporting plate 120 is pushed, while
First axle arm 140, the second axle arm 150 and the second supporting plate 130 are pushed, damping spring stretching；Weight is supported from first
After plate 120 is removed, because Action of Gravity Field disappears, lifted in the first supporting plate 120, while the first axle arm 140, the second axle arm
150 and second lift in supporting plate 130, damping spring restPoses
Second, when the single-wheel of side Mecanum wheel 180 is gone up a slope, the relative initial position of Mecanum wheel 180 is raised, band
Move corresponding shock-absorbing arm 162 at relatively raised, it is relatively constant to ensure the first supporting plate 120 fixing equipment positions, that is, ensure the
One axle arm 140 or the position of the second axle arm 150 are relatively constant, then damping spring compression；After the completion of vehicle driving up, accordingly
Mecanum wheel 180 recover to initial position, drive shock-absorbing arm 162 to recover, while damping spring restPoses.
3rd, when the Mecanum wheel 180 of same one end two goes up a slope (herein by taking front end as an example), front end two Mike receive
The equal lifting of nurse wheel 180, drives front end shock-absorbing arm 162 at relatively raised, is moved after the at relatively raised center of gravity of the first supporting plate 120, and rear end is kept away
The shake relative reduction of arm 162 so that front end damping spring compresses, and rear end damping spring is stretched；The front end after the completion of vehicle driving up
Mecanum wheel 180 recovers to initial position, drives shock-absorbing arm 162 to recover, and the center of gravity of the first supporting plate 120 is recovered, rear end shock-absorbing
Arm 162 recovers so that front end shock-proof spring is relative to be stretched to original state, and rear end shock-proof spring is compressed to initial shape relatively
State.
4th, when three-wheel need to go up a slope during current line, with the lifting of three Mecanum wheels 180, drive shock-absorbing arm 162
At relatively raised, upper backup pad relative CG is constant, and axle arm is at relatively raised, and another axle 172 of Mecanum wheel 180 holds
Plate is little with respect to amplitude of variation so that the shock-proof spring is stretched, and other three-wheel shock-proof springs compress；After the completion of vehicle driving up
Vehicle restPoses.
Dynamical system includes four motors 170, and four casings of the motor 170 are fixedly installed in four shock-absorbing arms respectively
162 inner webs plate 166, four output shafts of the motor 170 are connected by four shaft couplings 174 with four wheel shafts 172 respectively
Connect, so as to be connected with four Mecanum wheels 180 respectively, wheel shaft 172 can bear omnidirectional's car 100 in normal driving process
Middle Mecanum wheel 180 is due to the power produced by unilateral impact events, it is to avoid shaft coupling 174 is caused to damage.So set dynamic
The purpose of Force system is to cause that the power between four Mecanum wheels 180 can be independent of each other with separate, accordingly even when
Certain Mecanum wheel 180 runs out of steam, and its excess-three can also run well.
Control system is prior art, movement velocity, direction etc. for controlling omnidirectional's car 100.
Reference picture 7, the obstacle detecting device 190 includes shell 192, vision ultrasonic wave sensing module 191 and vision
Sonication module 198.
Wherein, reference picture 8, the shell wall of shell 192 is provided with the mounting bracket of vision-based detection hole, ultrasonic detection holes, two L-shaped
193, mounting bracket 193 is provided with multiple mounting holes away from the position of shell 192, and mounting bracket 193 is installed by mounting hole and bolt
In the first supporting plate 120.
The vision ultrasonic wave sensing module 191 includes vision sensor 194 and ultrasonic sensor 196, the vision
Sensor 194 and ultrasonic sensor 196 may be contained within inside shell 192, the induction part correspondence institute of the vision sensor 194
State vision-based detection hole, the correspondence of the ultrasonic sensor 196 ultrasonic detection holes.The vision sensor 194 can lead to
The picture signal that camera gathers obstacle is crossed, the ultrasonic sensor 196 can be by launching the super of ultrasonic acquisition obstacle
Acoustic signals.
Vision ultrasonic wave sensing module 191 has two kinds of working conditions：
First, texture is especially sparse, texture multiplicity is high and pure color surface, the fast-changing scene of illumination and fortune
Dynamic speed exceedes in the visual sensing module use environment limited situations such as range, i.e. the only module of ultrasonic sensor 196 work
When, by the module of ultrasonic sensor 196 gather ultrasound data, vision sonication module 198 to ultrasound data at
Reason.
Second, in the tiny obstacle situation such as thin railing, grid fence, the module use environment of ultrasonic sensor 196 is received
In limit situation, i.e., when only visual sensing module can effectively work, view data, vision ultrasound are gathered by visual sensing module
Ripple processing module 198 is to image real time transfer.
Referring again to Fig. 7, vision sonication module 198 is installed on the upper of the second supporting plate 130 by support frame 199
Surface.The vision sonication module 198 is used to receive above-mentioned picture signal and ultrasonic signal and be processed, so that
The positional information of acquired disturbance, and positional information is sent to control system, so that control system control omnidirectional car 100 enters professional etiquette
Keep away.
Obstacle target distance is carried out three-level classification by obstacle detecting device 190：Safe distance, warning distance, it is dangerous away from
From.In the case of safe distance, omnidirectional's car 100 will be according to path planning normally travel；Under warning distance, omnidirectional's car 100 will
Reduced Speed Now, carries out avoidance action in advance, it is to avoid slow down produce inertia to produce influence to workbench work suddenly；Danger away from
Under, omnidirectional's car 100 brakes and is translated to obstacle opposite side or evaded backward at once, during evading, subtracts as far as possible
The influence that inertia produced by small is caused to workbench work.
In order to realize comprehensive obstacle detection, in the present embodiment, vision ultrasonic wave sensing module 191 and shell
192 are provided with four, and four vision ultrasonic wave sensing modules 191 are respectively arranged in four shells 192, four shells
192 front end, rear end, left side and the right sides for being respectively arranged at the first supporting plate 120.
Certainly, it is necessary to explanation, in other embodiments, aforementioned four vision ultrasonic wave sensing module 191 can also
Other positions are arranged at, such as on the first axle arm 140 and the second axle arm 150.
To sum up, this omnidirectional car 100 is provided with four damping devices 160, with excellent damping performance, even if in out-of-flatness
Road surface on, it is also possible to such that each Mecanum wheel 180 effectively lands, so as to ensure the stationarity and water of moving process
Levelling, then can effectively compensate for the defect of prior art exactly according to specified route running.
Finally, it is emphasized that, the damping device 160 in above-described embodiment is in addition to for omnidirectional's car 100, it is also possible to
For the vehicle of other specific uses.
The preferred embodiments of the present invention are the foregoing is only, is not intended to limit the invention, for the skill of this area
For art personnel, the present invention can have various modifications and variations.It is all within the spirit and principles in the present invention, made any repair
Change, equivalent, improvement etc., should be included within the scope of the present invention.
Claims (10)
1. a kind of obstacle detecting device, for omnidirectional's car, it is characterised in that including shell, vision ultrasonic wave sensing module and
Vision sonication module, the vision ultrasonic wave sensing module includes vision sensor and ultrasonic sensor, described to regard
Feel that sensor and ultrasonic sensor may be contained within shell, the vision sensor is used to gather the picture signal of obstacle, described
Ultrasonic sensor is used to gather the ultrasonic signal of obstacle, and the vision sonication module is used to receive described image letter
Number and the ultrasonic signal and processed so that the positional information of acquired disturbance.
2. obstacle detecting device according to claim 1, it is characterised in that the shell shell wall is provided with vision-based detection hole
And ultrasonic detection holes, the vision sensor and the ultrasonic sensor are mounted on the enclosure, the vision
The induction part correspondence vision-based detection hole of sensor, the induction part correspondence ultrasound examination of the ultrasonic sensor
Hole.
3. obstacle detecting device according to claim 1, it is characterised in that the shell is provided with mounting bracket, the peace
Shelve and be provided with mounting hole.
4. a kind of omnidirectional's car, it is characterised in that including the obstacle detection dress described in car body and claim 1-3 any one
Put, the obstacle detecting device is installed on the car body.
5. omnidirectional's car according to claim 4, it is characterised in that the shell has four and is respectively arranged at the car sheet
The front end of body, rear end, left side and right side.
6. omnidirectional's car according to claim 4, it is characterised in that the car body includes axle arm, the first supporting plate, four
Individual Mecanum wheel and dynamical system, the axle arm have two and interval setting, the both sides difference of first supporting plate
Two axle arms are fixedly connected on, four Mecanum wheels are respectively arranged in two two ends of the axle arm, institute
Dynamical system is stated for providing power to four Mecanum wheels.
7. omnidirectional's car according to claim 6, it is characterised in that omnidirectional's car also includes the second supporting plate, described second
Fagging is located at the first supporting plate lower section and two ends are connected to two axle arms.
8. omnidirectional's car according to claim 6, it is characterised in that the car body also includes damping device, the damping
Device includes shock-absorbing arm and elastic telescopic part, and the shock-absorbing arm is rotationally connected with the axle arm, the two of the elastic telescopic part
End is rotationally connected with the axle arm and the shock-absorbing arm respectively, and the Mecanum wheel is rotationally connected with the shock-absorbing arm.
9. omnidirectional's car according to claim 8, it is characterised in that the elastic telescopic part is damping spring.
10. the omnidirectional's car according to claim 6-9 any one, it is characterised in that the dynamical system includes four electricity
Machine, four motors are fixedly installed in two two ends of the axle arm respectively, four output shafts of the motor respectively with
Four Mecanum wheel drive connections.
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| Application Number | Priority Date | Filing Date | Title |
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| CN201710154713.7A CN106872987A (en) | 2017-03-15 | 2017-03-15 | Obstacle detecting device and omnidirectional's car |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710154713.7A CN106872987A (en) | 2017-03-15 | 2017-03-15 | Obstacle detecting device and omnidirectional's car |
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| CN106872987A true CN106872987A (en) | 2017-06-20 |
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| CN201710154713.7A Pending CN106872987A (en) | 2017-03-15 | 2017-03-15 | Obstacle detecting device and omnidirectional's car |
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| CN110895409A (en) * | 2018-08-23 | 2020-03-20 | 珠海格力电器股份有限公司 | Control method for avoiding barrier |
| CN111391596A (en) * | 2020-03-20 | 2020-07-10 | 广东博智林机器人有限公司 | Intelligent damping system, automatic guide transport vehicle and intelligent damping control method |
| CN112084810A (en) * | 2019-06-12 | 2020-12-15 | 杭州海康威视数字技术股份有限公司 | Obstacle detection method and device, electronic equipment and storage medium |
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