CN109960251B - Omnidirectional induction obstacle avoidance mechanism for chassis - Google Patents
Omnidirectional induction obstacle avoidance mechanism for chassis Download PDFInfo
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- CN109960251B CN109960251B CN201711427839.3A CN201711427839A CN109960251B CN 109960251 B CN109960251 B CN 109960251B CN 201711427839 A CN201711427839 A CN 201711427839A CN 109960251 B CN109960251 B CN 109960251B
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- 230000007246 mechanism Effects 0.000 title claims abstract description 12
- 230000006698 induction Effects 0.000 title abstract description 5
- 238000006073 displacement reaction Methods 0.000 claims description 9
- 230000008859 change Effects 0.000 claims description 7
- 230000004044 response Effects 0.000 claims description 2
- 230000001939 inductive effect Effects 0.000 claims 5
- 230000004888 barrier function Effects 0.000 abstract description 3
- RYGMFSIKBFXOCR-UHFFFAOYSA-N Copper Chemical compound [Cu] RYGMFSIKBFXOCR-UHFFFAOYSA-N 0.000 description 4
- 229910052802 copper Inorganic materials 0.000 description 4
- 239000010949 copper Substances 0.000 description 4
- 239000012634 fragment Substances 0.000 description 4
- 230000009471 action Effects 0.000 description 2
- 230000007547 defect Effects 0.000 description 1
- 238000001514 detection method Methods 0.000 description 1
- 230000006872 improvement Effects 0.000 description 1
- 238000009434 installation Methods 0.000 description 1
- 230000003993 interaction Effects 0.000 description 1
- 239000000463 material Substances 0.000 description 1
- 238000000034 method Methods 0.000 description 1
- 230000008092 positive effect Effects 0.000 description 1
- 230000001960 triggered effect Effects 0.000 description 1
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- 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
- G05D1/0276—Control of position or course in two dimensions specially adapted to land vehicles using signals provided by a source external to the vehicle
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- Engineering & Computer Science (AREA)
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- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Automation & Control Theory (AREA)
- Manipulator (AREA)
- Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
Abstract
The invention relates to the technical field of robot navigation, in particular to an omnidirectional induction obstacle avoidance mechanism for a chassis, which comprises a swinging disc, a Hall sensor, an elastic telescopic rod and the chassis, wherein a swinging disc supporting column is arranged on the chassis, the swinging disc is placed on the swinging disc supporting column, the Hall sensor is rotatably arranged in the middle of the upper side of the chassis, one end of the elastic telescopic rod is fixedly connected with the Hall sensor, the other end of the elastic telescopic rod is hinged with the middle of the lower side of the swinging disc, and the elastic telescopic rod rotates and stretches along with the movement of the swinging disc. The invention can fully obtain the accurate collision angle of the barrier and greatly improve the barrier avoiding efficiency during the robot navigation.
Description
Technical Field
The invention relates to the technical field of robot navigation, in particular to an omnidirectional induction obstacle avoidance mechanism for a chassis.
Background
With the rapid development of automation technology, various robots are gradually popularized to enterprise production and resident life, wherein the mobile robot can utilize various sensors to feed back data and can move freely in various and complex environments to complete operation.
The mobile robot in the prior art mainly depends on laser or vision as an information source for navigation, but the laser or vision has a dead angle for detection, for example, if a black obstacle exists in a black place, the vision technology is difficult to identify, in the aspect of laser, 2D laser can only sweep one plane, the scanning angle under the existing fixed 3D laser is generally not more than 35 degrees, so that the robot cannot see the condition of 'feet', and the tripod head type 3D laser needs to move up and down, and the movement frequency cannot be too high.
In order to solve the problem of detecting dead angles, some simple and easy-to-use auxiliary sensors are needed to help, and an ultrasonic sensor, an infrared sensor, a mechanical collision sensor and the like are commonly used, wherein the mechanical collision sensor can reflect the existence of obstacles most directly and accurately and is not influenced by factors such as external light, reflecting surface materials and the like, but has the defect that the obstacles can be reacted only by physical contact.
Mechanical type collision sensor is the most common structure that is shell fragment and micro-gap switch, hangs a mobilizable anticollision strip on the shell fragment, extrudes the anticollision strip when external foreign matter and chassis contact, and then extrudes the shell fragment and trigger micro-gap switch, and the foreign matter leaves back shell fragment and resumes deformation, and micro-gap switch also resumes not trigger the state. The other structure is that a copper sheet is attached to the chassis, a circle of anti-collision rubber strip covers the copper sheet, another copper sheet is contained in the rubber strip, and when the anti-collision rubber strip is extruded, the two copper sheets can be in contact with each other to conduct a circuit, so that a trigger signal is obtained. The two common mechanical collision sensors obtain a single IO signal after being triggered, and cannot know exactly which angle the obstacle is at. An improved method is that N sensors are arranged in multiple sections, so that N areas can be identified, meanwhile, N signal sources are changed into N signals, the number of the sensors is increased along with the improvement of the accuracy of identification angles, the arrangement difficulty is increased, and the circuit wiring is more and more complex.
In addition, if the information of the collision point of the robot is not accurate enough, the obstacle avoidance of the movement of the robot is greatly influenced, and the robot can easily collide again after retreating or wind around a particularly large redundant angle.
Disclosure of Invention
The invention aims to provide an omnidirectional induction obstacle avoidance mechanism for a chassis, which can fully obtain the accurate collision angle of an obstacle and greatly improve the obstacle avoidance efficiency during robot navigation.
The purpose of the invention is realized by the following technical scheme:
the utility model provides an obstacle mechanism is kept away in response of qxcomm technology for chassis, includes swing dish, hall sensor, elastic telescopic rod and chassis, wherein is equipped with swing dish support column on the chassis, swing dish is placed on swing dish support column, and hall sensor rotationally sets up in chassis upside middle part, elastic telescopic rod one end with hall sensor links firmly, the other end with swing dish downside middle part is articulated, just elastic telescopic rod is along with swing dish's removal rotates telescopically.
And the oscillating disc support column is provided with a support ball, and the oscillating disc is placed on the support ball.
The middle part of the lower side of the swing disc is provided with a connecting ball, and the elastic telescopic rod is connected with the connecting ball.
The elastic telescopic rod comprises an upper rod and a lower rod, the lower end of the lower rod is fixedly connected with the Hall sensor, the upper rod is sleeved at the upper end of the lower rod, the top end of the upper rod is hinged with the oscillating disc, and a reset spring is arranged inside the upper rod.
An upper layer supporting column is arranged on the base plate, and the upper end of the upper layer supporting column penetrates through the swinging plate.
A plurality of hollow areas are arranged on the swing disc, and the upper support columns penetrate through the different hollow areas respectively.
And travelling wheels are arranged on two sides of the chassis.
The Hall sensor is a two-dimensional Hall sensor which directly outputs displacement change of an X/Y axis.
The invention has the advantages and positive effects that:
1. the invention can accurately acquire the position of a collision point when the chassis of the robot collides with an obstacle, can provide accurate information for the obstacle avoidance behavior of the chassis of the robot, makes the path re-planned by the robot more efficient, and particularly can play a role in the environment with more crowded movable space.
2. The invention has simple and compact structure, does not occupy excessive installation space and does not increase the volume of the robot.
Drawings
Figure 1 is a schematic structural view of the present invention,
figure 2 is a top view of the invention of figure 1,
figure 3 is a schematic view of the displacement of the wobble plate in figure 1 in the event of a collision,
fig. 4 is a schematic view of the position of the wobble plate in fig. 3 when the collision stops.
Wherein, 1 is the swing dish, 2 is the upper support column, 3 is the swing dish support column, 4 are supporting ball, 5 are elastic telescopic rod, 6 are hall sensor, 7 are the chassis, 8 are the walking wheel, 9 are connecting ball, 10 are the barrier, 11 are the fretwork district.
Detailed Description
The present invention will be described in further detail with reference to the accompanying drawings.
As shown in fig. 1 to 4, the robot arm comprises a swing disc 1, a hall sensor 6, an elastic telescopic rod 5 and a chassis 7, wherein the chassis 7 is a robot chassis, a swing disc support column 3 is arranged on the chassis 7, the swing disc 1 is placed on the swing disc support column 3, the hall sensor 6 is rotatably arranged in the middle of the upper side of the chassis 7, one end of the elastic telescopic rod 5 is fixedly connected with the hall sensor 6, the other end of the elastic telescopic rod is hinged with the middle of the lower side of the swing disc 1, and the elastic telescopic rod 5 rotates and stretches along with the movement of the swing disc 1.
As shown in fig. 1 to 3, in the present embodiment, three oscillating disc support columns 3 are uniformly distributed on the base plate 7 along the circumferential direction, each oscillating disc support column 3 is provided with a support ball 4, and the oscillating disc 1 is placed on the support ball 4 and can move omni-directionally on a plane.
As shown in fig. 1, a connecting ball 9 is arranged in the middle of the lower side of the swinging plate 1, the elastic telescopic rod 5 is connected with the connecting ball 9, and as shown in fig. 3, when the swinging plate 1 translates, the elastic telescopic rod 5 tilts and stretches through the connecting ball 9. The connecting balls 9 are arranged in a way that the swinging disc 1 can move within a possible mechanical movement range, and the elastic telescopic rod 5 and the swinging disc 1 are prevented from moving and being restricted due to an over-small angle.
As shown in fig. 1 and 3, the elastic telescopic rod 5 includes two parts, namely an upper rod and a lower rod, the lower end of the lower rod is fixedly connected with the hall sensor 6, the upper rod is sleeved at the upper end of the lower rod, the top end of the upper rod is connected with the connecting ball 9 at the lower side of the swing disc 1, a return spring is arranged in the upper rod, when the swing disc 1 hits an obstacle 10, the swing disc 1 is translated to incline and elongate the elastic telescopic rod 5, and when the swing disc 1 is separated from the obstacle 10, the upper rod part of the elastic telescopic rod 5 retracts under the action of the return spring and drives the swing disc 1 to restore to the original position.
As shown in fig. 1-2, in this embodiment, on the chassis 7, three upper-layer support pillars 2 are uniformly distributed on the outer side of the oscillating disc support pillars 3 along the circumferential direction, three hollow-out areas 11 are arranged on the oscillating disc 1, and the upper ends of the three upper-layer support pillars 2 are respectively penetrated through the different hollow-out areas 11 to be structurally connected with the upper side of the chassis 7. The area of the hollow-out area 11 needs to ensure the translation range of the swing disc 1.
As shown in fig. 1, two sides of the chassis 7 are provided with road wheels 8.
The working principle of the invention is as follows:
as shown in fig. 3 to 4, when the swing disc 1 hits an obstacle 10, the swing disc moves and drives the elastic telescopic rod 5 to incline and elongate, and the hall sensor 6 rotates, in this embodiment, the hall sensor 6 is a two-dimensional hall sensor that can directly output the displacement change of the X/Y axis, and the displacement change of the X/Y axis can also be obtained by calculating with other types of hall sensors. Assuming that the coordinate system of the horizontal movement of the wobble plate 1 is the same as the hall sensor 6 coordinate system, the vector of the motion of the wobble plate 1 after the collision can be calculated from the displacement change of the hall sensor 6.
As shown in figure 4, the chassis 7 stops after the swinging disk 1 collides with the obstacle 10, the swinging disk 1 finally translates in the left-back direction under the interaction force of the swinging disk 1 and the obstacle, three points of the center A of the chassis 7, the center B of the swinging disk 1 and the contact point of the obstacle are on the same straight line, and the horizontal movement X obtained by the Hall sensor 61Moving in the vertical direction as Y1It can be seen that the obstacle 10 has an angle β arctan (X) in the two-quadrant coordinate system1/Y1) The angle is counterclockwise from the positive horizontal X-axis.
Considering the shape of the obstacle 10, the chassis 7 of the robot is rotated counterclockwise by an angle β after retreating away from the obstacle 10, and a continuous path to the target point is re-planned in this direction.
Because the angle value of the Hall sensor 6 has noise and the change of the value of the Hall sensor 6 is caused when the chassis 7 is accelerated and decelerated, the invention sets that the triggering action is not calculated when the displacement of the swinging disc 1 is smaller by calculating the angle value of the Hall sensor 6.
In addition, the height of the wobble plate 1 from the hall sensor 6 is also a design concern, and if the design height is too high, the change of the output of the wobble plate 1 displacement corresponding to the hall sensor 6 is very small. The height is generally designed to be equal to the maximum displacement of the wobble plate 1, when the rotation angle of the hall sensor 6 with respect to the plane of the chassis 7 is 45 degrees.
Claims (6)
1. The utility model provides an obstacle mechanism is kept away in response of qxcomm technology for chassis which characterized in that: the device comprises a swing disc (1), a Hall sensor (6), an elastic telescopic rod (5) and a chassis (7), wherein a swing disc supporting column (3) is arranged on the chassis (7), the swing disc (1) is placed on the swing disc supporting column (3), the Hall sensor (6) is rotatably arranged in the middle of the upper side of the chassis (7), one end of the elastic telescopic rod (5) is fixedly connected with the Hall sensor (6), the other end of the elastic telescopic rod is hinged with the middle of the lower side of the swing disc (1), and the elastic telescopic rod (5) rotates and stretches along with the movement of the swing disc (1);
supporting balls (4) are arranged on the oscillating disc supporting columns (3), and the oscillating disc (1) is placed on the supporting balls (4);
the middle part of the lower side of the swing disc (1) is provided with a connecting ball (9), and the elastic telescopic rod (5) is connected with the connecting ball (9).
2. The omni-directional inductive obstacle avoidance mechanism for a chassis of claim 1, wherein: the elastic telescopic rod (5) comprises an upper rod and a lower rod, the lower end of the lower rod is fixedly connected with the Hall sensor (6), the upper rod is sleeved at the upper end of the lower rod, the top end of the upper rod is hinged with the swing disc (1), and a reset spring is arranged inside the upper rod.
3. The omni-directional inductive obstacle avoidance mechanism for a chassis of claim 1, wherein: an upper layer supporting column (2) is arranged on the chassis (7), and the upper end of the upper layer supporting column (2) penetrates through the swinging disc (1).
4. The omni-directional inductive obstacle avoidance mechanism for a chassis of claim 3, wherein: a plurality of hollow areas (11) are arranged on the swing disc (1), and the upper-layer supporting columns (2) are respectively penetrated through by the different hollow areas (11).
5. The omni-directional inductive obstacle avoidance mechanism for a chassis of claim 1, wherein: and travelling wheels (8) are arranged on two sides of the chassis (7).
6. The omni-directional inductive obstacle avoidance mechanism for a chassis of claim 1, wherein: the Hall sensor (6) is a two-dimensional Hall sensor which directly outputs X/Y axis displacement change.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201711427839.3A CN109960251B (en) | 2017-12-26 | 2017-12-26 | Omnidirectional induction obstacle avoidance mechanism for chassis |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201711427839.3A CN109960251B (en) | 2017-12-26 | 2017-12-26 | Omnidirectional induction obstacle avoidance mechanism for chassis |
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| Publication Number | Publication Date |
|---|---|
| CN109960251A CN109960251A (en) | 2019-07-02 |
| CN109960251B true CN109960251B (en) | 2021-12-28 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201711427839.3A Active CN109960251B (en) | 2017-12-26 | 2017-12-26 | Omnidirectional induction obstacle avoidance mechanism for chassis |
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Families Citing this family (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN115268470B (en) * | 2022-09-27 | 2023-08-18 | 深圳市云鼠科技开发有限公司 | Obstacle position marking method, device and medium for cleaning robot |
Family Cites Families (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| DD260029B1 (en) * | 1987-04-28 | 1990-08-22 | Adw Ddr Kybernetik Inf | COLLISION SENSOR |
| US8350714B2 (en) * | 2009-11-12 | 2013-01-08 | Matthew Ian Trim | Collision alert system |
| CN102523841A (en) * | 2010-12-29 | 2012-07-04 | 苏州宝时得电动工具有限公司 | Mower |
| CN102360086B (en) * | 2011-09-30 | 2013-07-24 | 上海合时智能科技有限公司 | Obstacle collision detection system and method for domestic service robots |
| CN202795054U (en) * | 2012-09-07 | 2013-03-13 | 安徽省电力科学研究院 | Anti-collision system for motion of robot |
| CN203536240U (en) * | 2013-10-29 | 2014-04-09 | 郑州光力科技股份有限公司 | Mining non-contact angle limit switch |
| CN105746094A (en) * | 2016-04-05 | 2016-07-13 | 常州格力博有限公司 | Omnibearing crash sensor device and lawn mower |
| CN105982611A (en) * | 2016-04-14 | 2016-10-05 | 北京小米移动软件有限公司 | Self-cleaning device |
| CN105974921A (en) * | 2016-06-16 | 2016-09-28 | 苏州科瓴精密机械科技有限公司 | Robot |
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