CN108340981A - A kind of full landform Multipurpose mobile robot - Google Patents
A kind of full landform Multipurpose mobile robot Download PDFInfo
- Publication number
- CN108340981A CN108340981A CN201810217647.8A CN201810217647A CN108340981A CN 108340981 A CN108340981 A CN 108340981A CN 201810217647 A CN201810217647 A CN 201810217647A CN 108340981 A CN108340981 A CN 108340981A
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- China
- Prior art keywords
- vehicle body
- chassis
- module
- mobile robot
- full landform
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Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D57/00—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track
- B62D57/02—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track with ground-engaging propulsion means, e.g. walking members
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J5/00—Manipulators mounted on wheels or on carriages
- B25J5/007—Manipulators mounted on wheels or on carriages mounted on wheels
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
- Y02T10/00—Road transport of goods or passengers
- Y02T10/60—Other road transportation technologies with climate change mitigation effect
- Y02T10/70—Energy storage systems for electromobility, e.g. batteries
Abstract
The present invention relates to a kind of full landform Multipurpose mobile robots, including chassis module, Combined vehicle body shock mitigation system module, vehicle body, sensing and control system module；Chassis module includes chassis, retarder, servo motor, shaft coupling, wheel；Combined vehicle body shock mitigation system module includes fixing support rack, longitudinal bracing frame, longitudinally connected bar, cross-brace frame, transverse connecting rod, vehicle body mounting plate, vehicle body mounting plate connecting rod, leaf spring, damper；Sensing and control system module include ultrasonic sensor, RFID websites card reader, magnetic navigation sensor, battery, display screen, laser radar, visual sensor, GPS antenna, supervisory controller, servo-driver, chassis controller.Damping performance of the present invention is high, obstacle climbing ability is strong, accurate positioning and precision are high, has multi-information perception channel, can realize full landform movement indoors or outdoor walking.
Description
Technical field
The present invention relates to mobile robot technology field, specifically a kind of full landform Multipurpose mobile robot.
Background technology
Mobile robot has the characteristics that stronger mobility, good controllability, with the continuous hair of science and technology
Exhibition, the research of all-terrain moving robot are increasingly paid close attention to by robot research person, natural in military, industry, agricultural
It is used widely in the fields such as disaster assistance and field scientific investigation operation.Currently, all-terrain moving robot is mostly crawler type, get over
Hinder limited capacity, it is low to turn to precision, it is difficult to steady, the accurate high-efficient homework in complicated ground environment.
As disclosed all-terrain moving robot, including box body, leg knot in China Patent No. 200710158426.X
Structure and driving wheel, totally six sets of leg structure, are separately mounted to before, during and after box body, and symmetrical in box body both sides, drive
Totally six sets of driving wheel, is separately mounted to the end of leg structure；The counter flange disk of leg structure with inside the box body
The output flange of worm reduction box bolts, be mounted on adapter flange dish among driving wheel with mounted on leg structure end
The transmission shaft at end bolts.Its vehicle body damping effect of this robot has certain limitation, when complicated landform is walked outdoors, top
Degree of winnowing with a dustpan is big, motion intense, is easily damaged robot interior device, reduces its service life.
As disclosed a kind of all-terrain moving robot chassis, including band deceleration in China Patent No. 201710158756.2
The driving motor of device, two longerons, crossbeam, car body side plate, protective ring and driver mounting plate, motor driver, demarcation strip, company
It connects corner brace, have battery pack fixed plate, battery body frame, the connection of support copper post, damping spring.This robot does not have multi information sense
Know channel, positioning accuracy is not high, and there are limitations to complex environment sensing capability, it is difficult to accurately be moved to Target self-determination.
Transition with the continuous raising of labor cost and enterprise from from labor-intensive to technology-intensive type, intelligent machine
Device people replaces manual work to become inexorable trend.Intelligent mobile robot is one kind in robot, it can pass through sensor
Environment and oneself state are perceived, independently analysis, judgement and decision are carried out to complex environment, realize object-oriented autokinetic movement,
To complete the robot system of certain operation function.
Therefore, a kind of modularization, with four-wheel drive, turn to precision it is high, with damping, suitable for the shifting of full landform
Mobile robot has great application prospect.This four-wheel drive all-terrain moving robot has mobility sensitive, and antidetonation is anti-
The advantages that impact, high obstacle detouring stability.
Full landform Multipurpose mobile robot is made with successfully managing complex environment, having the Intelligent mobile made decisions on one's own
Industry platform.
Invention content
In order to avoid with solve above-mentioned technical problem, the present invention proposes a kind of full landform Multipurpose mobile robot.
The technical problems to be solved by the invention are realized using following technical scheme：
A kind of full landform Multipurpose mobile robot, including drive the chassis module of robot ambulation, be mounted on chassis mould
On block and it is connected with the Combined vehicle body shock mitigation system module of vehicle body, is mounted on vehicle body and chassis module and multi information sense is provided
Know the sensing and control system module of channel perception complicated landform.
As a further improvement on the present invention, the chassis module includes chassis, the wheel driving dress on chassis
It sets, the wheel driver is distributed in the left and right sides on chassis, and the Combined vehicle body shock mitigation system module is mounted on chassis
On.
As a further improvement on the present invention, the chassis includes symmetrical two L-type wheel fixed plates and L-type
Wheel fixed plate is connected and constitutes two crossbeams, the bottom plate in rectangular frame of rectangular frame.
As a further improvement on the present invention, the wheel driver is four, and is distributed in the left front, left of vehicle body
Afterwards, behind the right preceding and right side.
As a further improvement on the present invention, the wheel driver includes being mounted on the inside of L-type wheel fixed plate
Retarder, the servo motor being connected with retarder, mounted on the outside of L-type wheel fixed plate and the shaft coupling that is connected with retarder
Device, the wheel being connected with shaft coupling.The shaft coupling is connected with the shaft coupling mounting flange being connected with L-type wheel fixed plate, institute
State the bearing being equipped on shaft coupling on the inside of shaft coupling mounting flange.
As a further improvement on the present invention, the bearing be coaxial line distribution two.
As a further improvement on the present invention, the wheel includes wheel hub, the tire on wheel hub, is mounted on wheel hub
On wheel hub end housing, bolt is installed jointly on the wheel hub and wheel hub end housing.
As a further improvement on the present invention, the retarder flat key coordinated with shaft coupling is installed on the retarder.
As a further improvement on the present invention, the Combined vehicle body shock mitigation system module includes being sequentially connected from bottom to top
Longitudinal dampening assembly, horizontal shock-absorbing component, vehicle body dampening assembly.
As a further improvement on the present invention, longitudinal dampening assembly include symmetrical two fixing support racks,
Two longitudinal bracing framves, one end between two fixing support racks are hinged on longitudinal bracing frame and the other end is hinged on fixation
Several longitudinally connected bars on supporting rack.
The horizontal shock-absorbing component include be located at longitudinal bracing frame above cross-brace frame, one end be hinged on longitudinal bracing
On frame and the other end is hinged on several transverse connecting rods on cross-brace frame.
The vehicle body dampening assembly include be located at cross-brace frame above vehicle body mounting plate, be symmetrical set one end hinge
Vehicle body mounting plate connecting rod, both ends that on vehicle body mounting plate and the other end is hinged on cross-brace frame is connected on respectively to pacify with vehicle body
The leaf spring that loading board connecting rod is hinged and connected.
The Combined vehicle body shock mitigation system module further include both ends respectively with fixing support rack and longitudinal bracing frame, longitudinal direction
Supporting rack and cross-brace frame, adjacent longitudinal bracing frame, cross-brace frame and vehicle body mounting plate be hinged and connected several subtract
Shake device.
As a further improvement on the present invention, before the longitudinally connected bar is distributed in fixing support rack and longitudinal bracing frame
Both ends afterwards, and longitudinally connected bar described at the either end in rear and front end is to be arranged in distribution up and down and oblique inside front
Two.
As a further improvement on the present invention, the transverse connecting rod is distributed in the left and right sides of vehicle body mounting plate, and left
Transverse connecting rod described at either side is two be arranged in front and back distribution and forward diagonally upward formula in right both sides.
As a further improvement on the present invention, the vehicle body mounting plate connecting rod is transversely set on the length direction of connecting rod
It is two to have two groups and every group.
As a further improvement on the present invention, it is located at the damper on fixing support rack and longitudinal bracing frame to be two and pacify
At three branches of fixing support rack and longitudinal bracing frame.
As a further improvement on the present invention, it is located at the damper on longitudinal bracing frame and cross-brace frame to be one and pacify
Mounted in the middle of longitudinal bracing frame and cross-brace frame.
As a further improvement on the present invention, it is two and mounted on vertical to be located at the damper on adjacent longitudinal bracing frame
To at three branches of supporting rack.
As a further improvement on the present invention, be located at cross-brace frame and vehicle body mounting plate on damper each side
Middle there are one and if positioned at cross-brace frame and vehicle body mounting plate.
As a further improvement on the present invention, the vehicle body is connected with vehicle body mounting plate.
As a further improvement on the present invention, the sensing and control system module include induction robot external environment
Sensing device is connected with sensing device and for the control system of data processing and control robot motion.
As a further improvement on the present invention, the sensing device includes several ultrasonic waves biography mounted on vehicle body surrounding
Sensor, the RFID websites card reader for being connected to chassis module bottom, the magnetic navigation sensor for being connected to chassis module front end, installation
Battery on chassis module, the display screen mounted on body structure, the front end of the vehicle body is equipped with laser radar, vision passes
Sensor, GPS antenna.The laser radar, visual sensor, GPS antenna are in a row distributed.
As a further improvement on the present invention, the ultrasonic sensor be four and be separately mounted to vehicle body front end,
Rear end, left side, on right side.And constitute the barrier avoiding function block of the robot.
As a further improvement on the present invention, the display screen mounting bracket of installation display screen is fixed on the vehicle body, it is described
It is fixed with body structure holder on front side of vehicle body, the laser thunder of installation laser radar is connected on the left of the body structure holder
Up to holder, visual sensor, GPS antenna, the stations the RFID are installed in the middle and right side of the body structure holder respectively
Point card reader is mounted on the outside middle of bottom plate, and front end face is connected with installation magnetic navigation sensor on the crossbeam of front end
Magnetic navigation sensor holder, the battery be mounted on bottom plate on the inside of middle.
As a further improvement on the present invention, the control system includes that supervisory controller, connecting base plate module are watched
The chassis controller for taking driver, being connected with servo-driver and being connect with supervisory controller.
As a further improvement on the present invention, the supervisory controller is fixed on battery.
As a further improvement on the present invention, the servo-driver is connected with the servo motor in chassis module, described
Servo-driver is four and is respectively the left front servo-driver being connected with left front servo motor in wheel driver, left back
Servo motor phase behind servo-driver, the right side before the right side that servo motor is connected before the connected left back servo-driver of servo motor, the right side
Servo-driver behind the right side even.
The servo motor is also associated with motor encoder, and the motor encoder is then connected on servo-driver and controls
The movement of wheel.
The servo-driver is respectively positioned on the inside of bottom plate.
The laser radar, GPS antenna, visual sensor constitute the outdoor movable sensor of robot, the laser thunder
It reaches, the indoor moving sensor of RFID websites card reader and magnetic navigation sensor composition robot.
Be also equipped with control robot start and stop peripheral functionality component on the vehicle body, including start button, stop button and
Scram button.
The supervisory controller includes：The 4G networks that 4G or wireless WIFI communications are carried out with external cell phone application service mould
Block, the mobile control module in the outdoor being connected with outdoor movable sensor, the indoor moving control being connected with indoor moving sensor
The serial communication modular that module, the basic peripheral functionality block being connect with peripheral functionality component, realization and chassis controller communicate.
The present invention has autonomous and intelligent operation realization rate；The vehicle frame of match strength and amount of deflection, optimization vehicle frame,
The intensity and damping effect of vehicle body；Expand the application range of universal standard interface and communications protocol, flexibly configurable information sense
Know and the modules such as intelligent operation tool；For flexible manufacturing system, wisdom agricultural equipment and its multiple operation tool, fire rescue
Etc. application fields provide application platform.
The beneficial effects of the invention are as follows：
1, the present invention has modular cart body structure and shock mitigation system, using intensity and the matched vehicle frame of amount of deflection, enhances
The obstacle climbing ability of robot；Under external force, the vibrations of vehicle body can be slowed down significantly, robot is improved and walk in complicated ground
Ability, robot overall stability is high, accurate positioning and precision is high, can be easily mounted to dismantle.
2, the present invention has sensing and control system module, and robot is made to have multi-information perception channel, and interior may be selected
Outer positioning method, and matching with outdoor map, make robot can autonomous under external environment indoors, can realize full landform
It is mobile.
Description of the drawings
Present invention will be further explained below with reference to the attached drawings and examples.
Fig. 1 is the stereogram of the present invention；
Fig. 2 is the three-dimensional mounting structure schematic diagram of chassis module and Combined vehicle body shock mitigation system module in the present invention；
Fig. 3 is the dimensional structure diagram of chassis module and part sensing and control system module in the present invention；
Fig. 4 is the mounting structure sectional view of wheel driver in chassis module in the present invention；
Fig. 5 is the configuration schematic diagram of wheel driver in chassis module in the present invention；
Fig. 6 is the three-dimensional mounting structure schematic diagram of vehicle body and part sensing and control system module in the present invention；
Fig. 7 is the dimensional structure diagram of Combined vehicle body shock mitigation system module in the present invention；
Fig. 8 is the front view of Combined vehicle body shock mitigation system module in the present invention；
Fig. 9 is the right view of Combined vehicle body shock mitigation system module in the present invention；
Figure 10 is the vertical view of Combined vehicle body shock mitigation system module in the present invention；
Figure 11 is the control block diagram of sensing and control system module in the present invention.
Specific implementation mode
In order to make the technical means, the creative features, the aims and the efficiencies achieved by the present invention be easy to understand, below it is right
The present invention is expanded on further.
As shown in Figure 1 to 11, a kind of full landform Multipurpose mobile robot includes the chassis mould of driving robot ambulation
Block 1, on chassis module 1 and be connected with vehicle body 3 Combined vehicle body shock mitigation system module 2, be mounted on vehicle body 3 and chassis
In module 1 and provide sensing and control system module 4 that multi-information perception channel perceives complicated landform.Using chassis module, vehicle
Body shock mitigation system module, vehicle body, sensing and this modular design of control system module, are easily installed and dismantle, Ke Yihuan
Solution vehicle body caused by complicated landform causes wheel to shake jolts, while the vehicle body also improved when mobile robot turning is steady
It is qualitative.
The chassis module 1 includes chassis 11, the wheel driver 12 on chassis 11, the wheel driving dress
12 left and right sides for being distributed in chassis 11 are set, the Combined vehicle body shock mitigation system module 2 is mounted on chassis 11.
The chassis 11 include two symmetrical L-type wheel fixed plates 111, be connected with L-type wheel fixed plate 111 and
Constitute two crossbeams 112, the bottom plate 113 in rectangular frame of rectangular frame.
The wheel driver 12 be four, and be distributed in vehicle body 3 it is left front, left back, right before and the right side after.
The wheel driver 12 includes the retarder 121 and retarder for being mounted on 111 inside of L-type wheel fixed plate
121 input terminal connected servo motor 122 is connected mounted on the outside of L-type wheel fixed plate 111 and with retarder 121
Shaft coupling 123, the wheel 124 being connected with shaft coupling 123.The shaft coupling 123 is connected with to be connected with L-type wheel fixed plate 111
Shaft coupling mounting flange 125, the bearing 126 positioned at 125 inside of shaft coupling mounting flange is installed on the shaft coupling 123.
In use, being coordinated by shaft coupling mounting flange 125 and shaft coupling 123, the connection resistance between servo motor 122 and wheel 124
Power reduces, and can reduce power loss, improves the flexibility that wheel 124 moves, extends making for entire wheel driver 12
Use the service life.
The bearing 126 is two of coaxial line distribution.
The wheel 124 includes wheel hub 1241, the tire 1242 on wheel hub 1241, on wheel hub 1241
Bolt 1244 is installed jointly on wheel hub end housing 1243, the wheel hub 1241 and wheel hub end housing 1243.
The retarder flat key 127 coordinated with shaft coupling 123 is installed on the retarder 121.
Enhance the cross-country power of robot by the way of four-wheel drive based on the upper chassis module 1, to adapt to
Complex course movement under different situations.In use, the vehicle behind left front, left back, the right preceding and right side for passing through vehicle body 3 at four positions
Wheel drive unit 12 controls robot, after servo motor 122 starts, through retarder 121 by sensing and control system module 4
It is output on wheel 124 by shaft coupling 123 with suitable rotating speed, the power of robot movement is provided, realized on road surface
It advances.
The Combined vehicle body shock mitigation system module 2 includes the longitudinal dampening assembly being sequentially connected from bottom to top, laterally subtracts
Shake component, vehicle body dampening assembly.
The longitudinal direction dampening assembly includes symmetrical two fixing support racks 21, be located at two fixing support racks 21 it
Between two longitudinal bracing framves 22, one end be hinged on longitudinal bracing frame 22 and the other end be hinged on it is several on fixing support rack 21
A longitudinally connected bar 23.
The horizontal shock-absorbing component includes being hinged on longitudinal direction positioned at the cross-brace frame 24 of 22 top of longitudinal bracing frame, one end
On supporting rack 22 and the other end is hinged on several transverse connecting rods 25 on cross-brace frame 24.
The vehicle body dampening assembly includes the vehicle body mounting plate 26 for being located at 24 top of cross-brace frame, be symmetrical set one
End is hinged on the vehicle body mounting plate connecting rod 27 that on vehicle body mounting plate 26 and the other end is hinged on cross-brace frame 24, both ends are divided
The leaf spring 29 not being hinged and connected with vehicle body mounting plate connecting rod 27.
The Combined vehicle body shock mitigation system module 2 further include both ends respectively with fixing support rack 21 and longitudinal bracing frame
22, longitudinal bracing frame 22 and cross-brace frame 24, adjacent longitudinal bracing frame 22, cross-brace frame 24 and vehicle body mounting plate 26 are cut with scissors
Connect connected damper 28.
The longitudinally connected bar 23 is distributed in the rear and front end of fixing support rack 21 and longitudinal bracing frame 22, and rear and front end
In either end at the longitudinally connected bar 23 be two in distribution up and down and the setting of oblique inside front.In use,
Ensure the bonding strength between fixing support rack 21 and longitudinal bracing frame 22 and have certain flexibility, for eliminating part ground
On active force.
The transverse connecting rod 25 is distributed in the left and right sides of vehicle body mounting plate 26, and equal institute at either side in the left and right sides
The transverse connecting rod 25 stated is two be arranged in front and back distribution and forward diagonally upward formula.
The vehicle body mounting plate connecting rod 27 transversely connecting rod 25 length direction be equipped with two groups and every group be two.
Damper 28 on fixing support rack 21 and longitudinal bracing frame 22 is two and is mounted on fixing support rack 21
At three branches of longitudinal bracing frame 22.In use, realizing being evenly distributed for damper 28, it is ensured that fixing support rack 21 and longitudinal direction
It everywhere can effective damping on supporting rack 22.
Damper 28 on longitudinal bracing frame 22 and cross-brace frame 24 is one and is mounted on longitudinal bracing frame 22
With the middle of cross-brace frame 24.
Damper 28 on adjacent longitudinal bracing frame 22 is two and mounted on three branch of longitudinal bracing frame 22
Place.In use, realizing being evenly distributed for damper 28, it is ensured that everywhere can effective damping between longitudinal bracing frame 22.
28 left and right sides of damper on cross-brace frame 24 and vehicle body mounting plate 26 is respectively provided with one and positioned at cross
To the middle of supporting rack 24 and vehicle body mounting plate 26.
The vehicle body 3 is connected with vehicle body mounting plate 26.
Based on upper described, in vehicle body shock mitigation system module 2, passed through chassis 11 by the active force from ground by robot
Be delivered on fixing support rack 21, by the effect of damper 28 and longitudinally connected bar 23, can buffering and eliminating be subject to
From the component of ground in the lateral direction, meanwhile, longitudinal bracing frame 22 and cross-brace frame 24 are connected by damper 28 with lateral
Extension bar 25 coordinates, and can buffer and eliminate the force component on the front-rear direction being subject to, and in vehicle body mounting plate connecting rod 27 and subtracts
It shakes under the effect of device 28, can buffer and eliminate the effect that distribution vehicle body 3 is subject to, realized utmostly to robot at three aspects
Cushioning effect, form intensity and the matched vehicle frame of amount of deflection, significant effect, obstacle performance greatly improves.
The sensing and sensing device and sensing device phase that control system module 4 includes induction robot external environment
Even and for the control system of data processing and control robot motion.
The sensing device includes several ultrasonic sensors 410 for being mounted on vehicle body surrounding, is connected to chassis module 1
The RFID websites card reader 411 of bottom, is mounted on chassis module 1 at the magnetic navigation sensor 412 for being connected to 1 front end of chassis module
On battery 413, the display screen 414 mounted on body structure, the front end of the vehicle body 3 is equipped with laser radar 415, vision passes
Sensor 416, GPS antenna 417.The laser radar 415, visual sensor 416, GPS antenna 417 are in a row distributed.
The ultrasonic sensor 410 be four and be separately mounted to the front end of vehicle body 3, rear end, left side, on right side.
And constitute the barrier avoiding function block of the robot.
The display screen mounting bracket 421 of installation display screen 414 is fixed on the vehicle body 3, the front side of the vehicle body 3 is fixed with
Body structure holder 422, the left side of the body structure holder 422 are connected with the laser radar holder of installation laser radar 415
423, visual sensor 416, GPS antenna 417 are installed in the middle and right side of the body structure holder 422 respectively, described
RFID websites card reader 411 is mounted on the outside middle of bottom plate 113, and front end face is connected on the crossbeam 112 of front end
The magnetic navigation sensor holder 424 of magnetic navigation sensor 412 is installed, the battery 413 is mounted on 113 inside middle of bottom plate.
The control system includes supervisory controller 418, the servo-driver 419 of connecting base plate module 1, is driven with servo
The chassis controller 420 that dynamic device 419 is connected and is connect with supervisory controller 418.
The supervisory controller 418 is fixed on battery 413.
The servo-driver 419 is connected with the servo motor 122 in chassis module 1, and the servo-driver 419 is four
Left front servo-driver that is a and being respectively connected with left front servo motor in wheel driver 12, left back servo motor are connected
Left back servo-driver, it is right before servo-driver before the connected right side of servo motor, it is right after servo behind the connected right side of servo motor
Driver.
The servo motor 122 is also associated with motor encoder, and the motor encoder is then connected to servo-driver 419
The movement of upper control wheel 124.
The servo-driver 419 is respectively positioned on the inside of bottom plate 113.
The laser radar 415, GPS antenna 417, visual sensor 416 constitute the outdoor movable sensor of robot, institute
State the indoor moving sensor that laser radar 415, RFID websites card reader 411 and magnetic navigation sensor 412 constitute robot.
Be also equipped with control robot start and stop peripheral functionality component on the vehicle body 3, including start button, stop button and
Scram button.
The supervisory controller 418 includes：The 4G network services of 4G or wireless WIFI communications are carried out with external cell phone application
Module, the indoor moving control outdoor being connected with outdoor movable sensor mobile control module, be connected with indoor moving sensor
The serial communication mould that molding block, the basic peripheral functionality block being connect with peripheral functionality component, realization and chassis controller 420 communicate
Block.
The operation principle of the present invention is further elaborated below：
When work, which is realized with external mobile phone terminal by 4G network service modules and is wirelessly connected.
With in office work at robot, is detected by indoor moving sensor and carry out route identification and calculating, it is upper
Machine controller 418, into row data communication, starts the wheel driver at four orientation on bottom plate 113 with chassis controller 420
12 movements, driving trolley installation calculates route walking, while supervisory controller 418 receives the supersonic sensing at each orientation
The signal of device 410, timely obstacle avoidance.
When robot is in outdoor, the position of robot is detected by outdoor movable sensor and identifies extraneous route,
Supervisory controller 418 starts the wheel on bottom plate 113 at four orientation and drives again with chassis controller 420 into row data communication
Dynamic device 12 moves, and driving trolley installation calculates route walking, while supervisory controller 418 receives the ultrasound at each orientation
The signal of wave sensor 410, timely obstacle avoidance.
It then can display real-time robot state in which and various data informations, the person's of being conveniently operated observation in cell phone application.
The present invention can adapt to the movement under the various environment of indoor and outdoors, realizes full landform Multipurpose mobile, carries significantly
The high use scope and performance of the robot.
The basic principles, main features and advantages of the present invention have been shown and described above.The technology of the industry
Personnel are it should be appreciated that the present invention is not limited to the above embodiments, and what is described in the above embodiment and the description is only the present invention
Principle, without departing from the spirit and scope of the present invention, various changes and improvements may be made to the invention, these variation and
Improvement is both fallen in claimed invention.The claimed scope of the invention is by appended claims and its equivalent circle
It is fixed.
Claims (9)
1. a kind of full landform Multipurpose mobile robot, it is characterised in that：Including drive robot ambulation chassis module (1),
On chassis module (1) and be connected with vehicle body (3) Combined vehicle body shock mitigation system module (2), be mounted on vehicle body (3) and
On chassis module (1) and provide sensing and control system module (4) that multi-information perception channel perceives complicated landform.
2. a kind of full landform Multipurpose mobile robot according to claim 1, it is characterised in that：The chassis module
(1) include chassis (11), the wheel driver (12) on chassis (11), the Combined vehicle body shock mitigation system module
(2) it is mounted on chassis (11).
3. a kind of full landform Multipurpose mobile robot according to claim 2, it is characterised in that：Chassis (11) packet
It includes two symmetrical L-type wheel fixed plates (111), be connected and constitute the two of rectangular frame with L-type wheel fixed plate (111)
A crossbeam (112), the bottom plate (113) in rectangular frame.
4. a kind of full landform Multipurpose mobile robot according to claim 3, it is characterised in that：The wheel driving dress
It includes that be mounted on retarder (121) on the inside of L-type wheel fixed plate (111), the servo that is connected with retarder (121) electric to set (12)
Machine (122), the outside for being mounted on L-type wheel fixed plate (111) and the shaft coupling (123) and shaft coupling that are connected with retarder (121)
The connected wheel (124) of device (123).
5. a kind of full landform Multipurpose mobile robot according to claim 1, it is characterised in that：The Combined vehicle body
Shock mitigation system module (2) includes the longitudinal dampening assembly, horizontal shock-absorbing component, vehicle body dampening assembly being sequentially connected from bottom to top.
6. a kind of full landform Multipurpose mobile robot according to claim 5, it is characterised in that：
The longitudinal direction dampening assembly includes symmetrical two fixing support racks (21), be located at two fixing support racks (21) it
Between two longitudinal bracing framves (22), one end is hinged on longitudinal bracing frame (22) and the other end is hinged on fixing support rack (21)
On several longitudinally connected bars (23)；
The horizontal shock-absorbing component include be located at longitudinal bracing frame (22) above cross-brace frame (24), one end be hinged on longitudinal direction
On supporting rack (22) and the other end is hinged on several transverse connecting rods (25) on cross-brace frame (24)；
The vehicle body dampening assembly include be located at cross-brace frame (24) above vehicle body mounting plate (26), be symmetrical set one
End is hinged on vehicle body mounting plate (26) and the other end be hinged on vehicle body mounting plate connecting rod (27) on cross-brace frame (24),
The leaf spring (29) that both ends are hinged and connected with vehicle body mounting plate connecting rod (27) respectively；
The Combined vehicle body shock mitigation system module (2) further include both ends respectively with fixing support rack (21) and longitudinal bracing frame
(22), longitudinal bracing frame (22) and cross-brace frame (24), adjacent longitudinal bracing frame (22), cross-brace frame (24) and vehicle body
Several dampers (28) that mounting plate (26) is hinged and connected.
7. a kind of full landform Multipurpose mobile robot according to claim 1, it is characterised in that：The sensing and control
System module (4) includes the sensing device for incuding robot external environment, is connected with sensing device and is used for data processing and control
The control system of robot motion processed.
8. a kind of full landform Multipurpose mobile robot according to claim 7, it is characterised in that：The sensing device packet
The RFID websites for including several ultrasonic sensors (410) mounted on vehicle body (3) surrounding, being connected to chassis module (1) bottom
Card reader (411), the magnetic navigation sensor (412) for being connected to chassis module (1) front end, the electricity being mounted on chassis module (1)
Pond (413), the display screen (414) for being mounted on vehicle body (3) front end, the front end of the vehicle body (3) be equipped with laser radar (415),
Visual sensor (416), GPS antenna (417).
9. a kind of full landform Multipurpose mobile robot according to claim 7, it is characterised in that：The control system packet
Include supervisory controller (418), the servo-driver (419) of connecting base plate module, be connected with servo-driver (419) and with it is upper
The chassis controller (420) that position machine controller (418) connects.
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