CN108444469A - A kind of mobile robot of independent navigation - Google Patents
A kind of mobile robot of independent navigation Download PDFInfo
- Publication number
- CN108444469A CN108444469A CN201810166176.2A CN201810166176A CN108444469A CN 108444469 A CN108444469 A CN 108444469A CN 201810166176 A CN201810166176 A CN 201810166176A CN 108444469 A CN108444469 A CN 108444469A
- Authority
- CN
- China
- Prior art keywords
- wheel
- mobile robot
- independent navigation
- control box
- electric control
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Pending
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Classifications
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
- G01C21/10—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration
- G01C21/12—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration executed aboard the object being navigated; Dead reckoning
- G01C21/16—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration executed aboard the object being navigated; Dead reckoning by integrating acceleration or speed, i.e. inertial navigation
- G01C21/165—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration executed aboard the object being navigated; Dead reckoning by integrating acceleration or speed, i.e. inertial navigation combined with non-inertial navigation instruments
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
- G01C21/20—Instruments for performing navigational calculations
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0231—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means
- G05D1/0246—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means using a video camera in combination with image processing means
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0268—Control of position or course in two dimensions specially adapted to land vehicles using internal positioning means
- G05D1/027—Control of position or course in two dimensions specially adapted to land vehicles using internal positioning means comprising intertial navigation means, e.g. azimuth detector
Abstract
The invention discloses a kind of mobile robots of independent navigation, including driven pedrail, accessory drive wheel, crawler belt fixed frame, crawler haulage wheel, link transmission device, robot body, electric control box, the link transmission device is installed above the top braces belt wheel, the robot body is installed above the link transmission device, the electric control box is installed above the robot body, camera is installed below the electric control box, drive motor is installed below the camera, ranging inductive probe is installed below the drive motor, signal projector is installed below the ranging inductive probe, sound-deadening and noise-reducing device is installed inside the drive motor.Advantageous effect is：It is driven using crawler belt, complicated landform can be suitable for, while can be shot to outside landform, it is good to be applicable in effect.
Description
Technical field
The present invention relates to robot device fields, and the present invention relates to a kind of mobile robots of independent navigation.
Background technology
Currently, mobile robot, such as cleaner robot, have begun extensive use.Multiple mobile robot is in reality
It is more and more widely used in problem.It is often single this is mainly due to more and more actual tasks are all more complicated
Mobile robot is difficult to complete, and needs to complete by the cooperation between multiple mobile robot.In addition, by moving machine more
The cooperation in the human world, can be improved efficiency of the robot system in operation process, and then when working environment changes or robot
When system locally breaks down, multiple-mobile-robot system still can complete scheduled by the cooperative relationship that has itself
Business.However, it is of the existing technology the disadvantage is that, to uncertain complex environment, without the various monitoring devices of subtraction unit or by robot
The variation of network topology structure caused by local fault is without preferably solution, to make the clothes of multiple-mobile-robot system
Business object or working environment are restricted.First, environmental condition has been had focused largely on for the research of multi-robot system in the past
Know, can the various monitoring instruments of device scene, robot itself there is no the monitoring devices such as excessive sensor, camera, because
This can not be autonomous sensing external environment variation；Secondly, previous constructing communication network system can preferably realize multirobot
Between communication, but when the machine mhuman failure in system is out of service or can not work normally, network topology structure
It should change and cannot independently change, this will influence the cooperation between multirobot.
Invention content
The purpose of the present invention is that solve the above-mentioned problems and provides a kind of mobile robot of independent navigation.
The present invention is achieved through the following technical solutions above-mentioned purpose：
A kind of mobile robot of independent navigation, including driven pedrail, accessory drive wheel, crawler belt fixed frame, crawler haulage
Wheel, link transmission device, robot body, electric control box, the driven pedrail top is provided with the accessory drive wheel, described
It is provided with the crawler belt fixed frame above accessory drive wheel, the crawler haulage wheel, institute are provided with above the crawler belt fixed frame
It states and top braces belt wheel is installed above crawler haulage wheel, the link transmission device is installed above the top braces belt wheel,
The robot body is installed above the link transmission device, the electrical control is installed above the robot body
Case is equipped with camera below the electric control box, is equipped with drive motor below the camera, under the drive motor
Side is equipped with ranging inductive probe, and signal projector is equipped with below the ranging inductive probe, is pacified inside the drive motor
Equipped with sound-deadening and noise-reducing device.
In the present embodiment, the crawler haulage wheel includes one-way driver, guiding axis, dynamo-electric brake, protection bearing, subtracts
Wheel in shake, the one-way driver lower section are equipped with guiding axis, the dynamo-electric brake, institute are equipped with below the guiding axis
It states and the protection bearing is installed below dynamo-electric brake, wheel in the damping is installed below the protection bearing.
In the present embodiment, the electric control box include image collection module, image processing module, feature management module,
Microprocessor, inertia inductor, information memory card, buzzer alarm, described image acquisition module lower section are equipped with the figure
As processing module, the feature management module is installed below described image processing module, is pacified below the feature management module
Equipped with the microprocessor, the inertia inductor, the inertia inductor lower section are installed below the microprocessor
Described information memory card is installed, the buzzer alarm is installed above described information memory card.
In the present embodiment, the driven pedrail is connect with the accessory drive wheel by crawler belt, the crawler belt fixed frame with
The crawler haulage wheel is bolted.
In the present embodiment, the top braces belt wheel is bolted with the link transmission device, the robot master
Body is bolted with the electric control box.
In the present embodiment, the camera is bolted with the electric control box, the signal projector and institute
It states robot body and passes through bolt.
In the present embodiment, the driven pedrail is suppressed by steel alloy, surface spraying wear-resistant coating, and thickness is 5 μm.
In the present embodiment, the sound-deadening and noise-reducing device is connect with the drive motor by conducting wire.
In the present embodiment, the one-way driver and the guiding axis by axis connection, the dynamo-electric brake with it is described
One-way driver is connected by conducting wire, and the protection bearing is nested with wheel in the damping.
In the present embodiment, described image processing module is connect with described image acquisition module by conducting wire, the feature pipe
Reason module is connect with the microprocessor by conducting wire, and the inertia inductor is connected with the microprocessor by conducting wire
It connects, described information memory card is connect by conducting wire with the microprocessor and connected by conducting wire.
The beneficial effects of the present invention are：It is driven using crawler belt, complicated landform can be suitable for, while can be external
Side landform is shot, and it is good to be applicable in effect.
Description of the drawings
Fig. 1 is a kind of front view structure schematic diagram of the mobile robot of independent navigation of the present invention；
Fig. 2 is a kind of drive motor structure diagram of the mobile robot of independent navigation of the present invention；
Fig. 3 is a kind of crawler haulage wheel front view structure schematic diagram of the mobile robot of independent navigation of the present invention；
Fig. 4 is a kind of electric control box front view structure schematic diagram of the mobile robot of independent navigation of the present invention.
The reference numerals are as follows：
1, driven pedrail；2, accessory drive wheel；3, crawler belt fixed frame；4, crawler haulage wheel；401, one-way driver；402、
Guiding axis；403, dynamo-electric brake；404, bearing is protected；405, wheel in damping；5, top braces belt wheel；6, link transmission
Device；7, robot body；8, electric control box；801, image collection module；802, image processing module；803, Features Management mould
Block；804, microprocessor；805, inertia inductor；806, information memory card；807, buzzer alarm；9, camera；10, it drives
Dynamic motor；11, ranging inductive probe；12, signal projector；13, sound-deadening and noise-reducing device.
Specific implementation mode
The invention will be further described below in conjunction with the accompanying drawings：
As Figure 1-Figure 4, a kind of mobile robot of independent navigation, including the driven pedrail 1, the accessory drive
It is wheel 2, the crawler belt fixed frame 3, the crawler haulage wheel 4, the link transmission device 6, the robot body 7, described electrical
Control cabinet 8,1 top of the driven pedrail are provided with the accessory drive wheel 2, and 2 top of the accessory drive wheel is provided with described
Crawler belt fixed frame 3,3 top of the crawler belt fixed frame are provided with the crawler haulage wheel 4,4 top installation of the crawler haulage wheel
There are the top braces belt wheel 5,5 top of the top braces belt wheel that the link transmission device 6, the link transmission device are installed
6 tops are equipped with the robot body 7, and 7 top of the robot body is equipped with the electric control box 8, described electrical
The lower section of control cabinet 8 is equipped with the camera 9, and 9 lower section of the camera is equipped with drive motor 10, under the drive motor 10
Side is equipped with the ranging inductive probe 11, and 11 lower section of the ranging inductive probe is equipped with the signal projector 12, described
The sound-deadening and noise-reducing device 13 is installed inside drive motor 10.
In the present embodiment, the crawler haulage wheel 4 include one-way driver 401, guiding axis 402, dynamo-electric brake 403,
Wheel 405 in protection bearing 404, damping, 401 lower section of the one-way driver are equipped with the guiding axis 402, the guiding axis
402 lower sections are equipped with the dynamo-electric brake 403, and 403 lower section of the dynamo-electric brake is equipped with the protection bearing 404, institute
It states 404 lower section of protection bearing and wheel 405 in the damping is installed.
In the present embodiment, the electric control box 8 includes image collection module 801, image processing module 802, feature pipe
Module 803, microprocessor 804, inertia inductor 805, information memory card 806, buzzer alarm 807 are managed, described image obtains
801 lower section of modulus block is equipped with described image processing module 802, and 802 lower section of described image processing module is equipped with the feature
Management module 803,803 lower section of the feature management module are equipped with the microprocessor 804, the microprocessor 804
Lower section is equipped with the inertia inductor 805, and 805 lower section of the inertia inductor is equipped with described information memory card 806, described
806 top of information memory card is equipped with the buzzer alarm 807.
In the present embodiment, the driven pedrail 1 is connect with the accessory drive wheel 2 by crawler belt, the crawler belt fixed frame 3
It is bolted with the crawler haulage wheel 4.
In the present embodiment, the top braces belt wheel 5 is bolted with the link transmission device 6, the robot
Main body 7 is bolted with the electric control box 8.
In the present embodiment, the camera 9 is bolted with the electric control box 8, the signal projector 12
Pass through bolt with the robot body 7.
In the present embodiment, the driven pedrail 1 is suppressed by steel alloy, surface spraying wear-resistant coating, and thickness is 5 μm.
In the present embodiment, the sound-deadening and noise-reducing device 13 is connect with the drive motor 10 by conducting wire.
In the present embodiment, the one-way driver 401 passes through axis connection, the dynamo-electric brake with the guiding axis 402
403 are connect with the one-way driver 401 by conducting wire, and the protection bearing 404 is nested with wheel 405 in the damping.
In the present embodiment, described image processing module 802 is connect with described image acquisition module 801 by conducting wire, described
Feature management module 803 is connect with the microprocessor 804 by conducting wire, miniature processing described in the inertia inductor 805
Device 804 is connected by conducting wire, and described information memory card 806 is connect with the microprocessor 804 by conducting wire to be connected by conducting wire
It connects.
Concrete operating principle is：The drive motor 10 provides power for robot work, and the electric control box 8 is to machine
Device people carries out automatically controlling, and the camera 9 shoots external object, and described image acquisition module 801 obtains image letter
Breath, described image processing module 802 to obtain image information handle, the feature management module 803 to characteristics of image into
Row management, the microprocessor 804 handle robot interior electric signal, and the inertia inductor 805 is to robot
Mobile inertia is incuded, and the buzzer alarm 807 in case of emergency sounds the alarm in robot, the ranging sense
The 11 pairs of distances between robot and object that should pop one's head in calculate, and the crawler haulage wheel 4 drives the driven pedrail 1 to be transported
It is dynamic, drive robot motion, the top braces belt wheel 5 to be carried out to 1 top of the driven pedrail with the top braces belt wheel 5
Support transmission prevents the top of the driven pedrail 1 from causing robot ambulation inconvenient, the auxiliary biography because tension is too small and sagging
Driving wheel 2 assists the driven pedrail 1 to be moved.
The basic principles, main features and advantages of the invention have been shown and described above.The technical staff of the industry should
Understand, the present invention is not limited to the above embodiments, and the above embodiments and description only describe the originals of the present invention
Reason, without departing from the spirit and scope of the present invention, various changes and improvements may be made to the invention, these changes and improvements
It all fall within the protetion scope of the claimed invention.
Claims (10)
1. a kind of mobile robot of independent navigation, it is characterised in that：Including driven pedrail (1), accessory drive wheel (2), crawler belt
Fixed frame (3), crawler haulage wheel (4), link transmission device (6), robot body (7), electric control box (8), the transmission are carried out
It is provided with the accessory drive wheel (2) above band (1), the crawler belt fixed frame is provided with above the accessory drive wheel (2)
(3), it is provided with the crawler haulage wheel (4) above the crawler belt fixed frame (3), is equipped with above the crawler haulage wheel (4)
Top braces belt wheel (5), top braces belt wheel (5) top are equipped with the link transmission device (6), the link transmission device
(6) top is equipped with the robot body (7), and the electric control box (8) is equipped with above the robot body (7),
It is equipped with below the electric control box (8), drive motor (10), the drive motor is installed below the camera (9)
(10) lower section is equipped with ranging inductive probe (11), and signal projector (12) is equipped with below the ranging inductive probe (11),
Sound-deadening and noise-reducing device (13) is installed inside the drive motor (10).
2. a kind of mobile robot of independent navigation according to claim 1, it is characterised in that：The crawler haulage wheel
(4) comprising wheel in one-way driver (401), guiding axis (402), dynamo-electric brake (403), protection bearing (404), damping
(405), the guiding axis (402) is installed below the one-way driver (401), is equipped with below the guiding axis (402)
The dynamo-electric brake (403), dynamo-electric brake (403) lower section are equipped with the protection bearing (404), the protection axis
It holds and wheel (405) in the damping is installed below (404).
3. a kind of mobile robot of independent navigation according to claim 1, it is characterised in that：The electric control box
(8) include image collection module (801), image processing module (802), feature management module (803), microprocessor (804),
Inertia inductor (805), information memory card (806), buzzer alarm (807), the installation of described image acquisition module (801) lower section
There is the image processing module (802), the feature management module (803) be installed below described image processing module (802),
The microprocessor (804) is installed below the feature management module (803), is pacified below the microprocessor (804)
Equipped with the inertia inductor (805), described information memory card (806) is installed below the inertia inductor (805), it is described
The buzzer alarm (807) is installed above information memory card (806).
4. a kind of mobile robot of independent navigation according to claim 1, it is characterised in that：The driven pedrail (1)
It is connect by crawler belt with the accessory drive wheel (2), the crawler belt fixed frame (3) passes through bolt with the crawler haulage wheel (4)
Connection.
5. a kind of mobile robot of independent navigation according to claim 1, it is characterised in that：The top braces belt wheel
(5) it is bolted with the link transmission device (6), the robot body (7) passes through spiral shell with the electric control box (8)
It tethers and connects.
6. a kind of mobile robot of independent navigation according to claim 1, it is characterised in that：The camera (9) with
The electric control box (8) is bolted, and the signal projector (12) passes through bolt with the robot body (7).
7. a kind of mobile robot of independent navigation according to claim 1, it is characterised in that：The driven pedrail (1)
It is suppressed by steel alloy, surface spraying wear-resistant coating, thickness is 5 μm.
8. a kind of mobile robot of independent navigation according to claim 1, it is characterised in that：The sound-deadening and noise-reducing device
(13) it is connect by conducting wire with the drive motor (10).
9. a kind of mobile robot of independent navigation according to claim 2, it is characterised in that：The one-way driver
(401) with the guiding axis (402) by axis connection, the dynamo-electric brake (403) passes through with the one-way driver (401)
Conducting wire connects, and the protection bearing (404) is nested with wheel (405) in the damping.
10. a kind of mobile robot of independent navigation according to claim 3, it is characterised in that：Described image handles mould
Block (802) is connect with described image acquisition module (801) by conducting wire, the feature management module (803) and the miniature place
Reason device (804) is connected by conducting wire, and the inertia inductor (805) is connect with the microprocessor (804) by conducting wire, institute
Information memory card (806) is stated to connect through conducting wire connection by conducting wire with the microprocessor (804).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810166176.2A CN108444469A (en) | 2018-02-11 | 2018-02-11 | A kind of mobile robot of independent navigation |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810166176.2A CN108444469A (en) | 2018-02-11 | 2018-02-11 | A kind of mobile robot of independent navigation |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN108444469A true CN108444469A (en) | 2018-08-24 |
Family
ID=63192714
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201810166176.2A Pending CN108444469A (en) | 2018-02-11 | 2018-02-11 | A kind of mobile robot of independent navigation |
Country Status (1)
| Country | Link |
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| CN (1) | CN108444469A (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110412991A (en) * | 2019-08-28 | 2019-11-05 | 深圳科卫机器人服务有限公司 | A kind of mechanical structure of independent navigation peddrail mobile robot |
| CN112664755A (en) * | 2019-10-31 | 2021-04-16 | 毕桂有 | Climbing robot and using method |
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Application publication date: 20180824 |