CN110477808A - A kind of robot - Google Patents
A kind of robot Download PDFInfo
- Publication number
- CN110477808A CN110477808A CN201910769477.9A CN201910769477A CN110477808A CN 110477808 A CN110477808 A CN 110477808A CN 201910769477 A CN201910769477 A CN 201910769477A CN 110477808 A CN110477808 A CN 110477808A
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- Prior art keywords
- linear laser
- robot
- laser ranging
- ranging component
- component
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- 238000003384 imaging method Methods 0.000 claims description 10
- 238000009434 installation Methods 0.000 claims description 3
- 230000004888 barrier function Effects 0.000 abstract description 42
- 230000008859 change Effects 0.000 description 8
- 230000033001 locomotion Effects 0.000 description 6
- 230000007613 environmental effect Effects 0.000 description 4
- 238000001514 detection method Methods 0.000 description 3
- 238000000034 method Methods 0.000 description 3
- 238000011897 real-time detection Methods 0.000 description 3
- XKRFYHLGVUSROY-UHFFFAOYSA-N Argon Chemical compound [Ar] XKRFYHLGVUSROY-UHFFFAOYSA-N 0.000 description 2
- 238000010586 diagram Methods 0.000 description 2
- 230000006872 improvement Effects 0.000 description 2
- 238000005259 measurement Methods 0.000 description 2
- 230000003287 optical effect Effects 0.000 description 2
- 239000004065 semiconductor Substances 0.000 description 2
- JBRZTFJDHDCESZ-UHFFFAOYSA-N AsGa Chemical compound [As]#[Ga] JBRZTFJDHDCESZ-UHFFFAOYSA-N 0.000 description 1
- 229910001218 Gallium arsenide Inorganic materials 0.000 description 1
- 229910052779 Neodymium Inorganic materials 0.000 description 1
- 229910052786 argon Inorganic materials 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000005540 biological transmission Effects 0.000 description 1
- LASZEGOTHPLHAJ-UHFFFAOYSA-N cadmium krypton Chemical compound [Kr].[Cd] LASZEGOTHPLHAJ-UHFFFAOYSA-N 0.000 description 1
- 230000000295 complement effect Effects 0.000 description 1
- 230000007547 defect Effects 0.000 description 1
- 238000013461 design Methods 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 239000007789 gas Substances 0.000 description 1
- 239000011521 glass Substances 0.000 description 1
- 230000010365 information processing Effects 0.000 description 1
- 230000002452 interceptive effect Effects 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- QEFYFXOXNSNQGX-UHFFFAOYSA-N neodymium atom Chemical compound [Nd] QEFYFXOXNSNQGX-UHFFFAOYSA-N 0.000 description 1
- 230000008569 process Effects 0.000 description 1
- 230000036632 reaction speed Effects 0.000 description 1
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- 230000008054 signal transmission Effects 0.000 description 1
- 239000007787 solid Substances 0.000 description 1
- 230000009466 transformation Effects 0.000 description 1
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 description 1
Classifications
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- A—HUMAN NECESSITIES
- A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
- A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
- A47L11/00—Machines for cleaning floors, carpets, furniture, walls, or wall coverings
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- A—HUMAN NECESSITIES
- A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
- A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
- A47L11/00—Machines for cleaning floors, carpets, furniture, walls, or wall coverings
- A47L11/40—Parts or details of machines not provided for in groups A47L11/02 - A47L11/38, or not restricted to one of these groups, e.g. handles, arrangements of switches, skirts, buffers, levers
- A47L11/4002—Installations of electric equipment
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- A—HUMAN NECESSITIES
- A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
- A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
- A47L11/00—Machines for cleaning floors, carpets, furniture, walls, or wall coverings
- A47L11/40—Parts or details of machines not provided for in groups A47L11/02 - A47L11/38, or not restricted to one of these groups, e.g. handles, arrangements of switches, skirts, buffers, levers
- A47L11/4011—Regulation of the cleaning machine by electric means; Control systems and remote control systems therefor
Landscapes
- Manipulator (AREA)
- Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
Abstract
The present invention provides a kind of robots, including robot body and avoidance sensing unit, avoidance sensing unit includes at least two linear laser ranging components, at least two linear laser ranging components are installed on the front side wall of robot body, it is characterised in that: the linear laser of at least one linear laser ranging component transmitting and the inclined angle of horizontal plane；Or, the linear laser of at least one linear laser ranging component transmitting and the inclined angle of perpendicular.Robot provided by the invention, by the way that avoidance sensing unit is arranged on robot body, and avoidance sensing unit includes at least two linear laser ranging components, increase investigative range, the barrier above robot body height or less or robot can be detected, effectively robot is avoided to damage with barrier impacts.
Description
Technical field
The invention belongs to intelligent robot technology fields, are to be related to a kind of robot more specifically.
Background technique
With the continuous improvement of modern science and technology level, more and more robots are entered in people's lives, are mentioned significantly
High people's lives efficiency.Wherein barrier avoiding function is a pith of intelligent mobile robot.
Barrier-avoiding method in the prior art is unable to active balance in accuracy, sensing range and cost.General use surpasses
Sound ranging device, laser ranging system carry out avoidance.Since ultrasonic distance-measuring sensor is sound wave transmitting, the sector with sound wave
Emission characteristics, so reflected sound wave easily interferes, easily to barrier when the barrier that sound wave passes through place is more
There is deviation in ranging；And carry out ranging only with single line laser range unit and be only capable of detecting two-dimensional environment information, it can not be to machine
The barrier that body direction of advance encounters carries out omnidirectional detection, although and using multi-thread laser ranging system being capable of effective explorer
The barrier encountered in front of body, can not be used widely due to higher cost in field in intelligent robotics.
Summary of the invention
The purpose of the present invention is to provide a kind of robots, to solve robot existing in the prior art using Laser Measuring
Away from avoidance mode investigative range it is limited, obtain environmental information it is less, can not precisely detect robot obstacle
Technical problem.
To achieve the above object, the technical solution adopted by the present invention is that: a kind of robot is provided, including robot body and
Avoidance sensing unit, the avoidance sensing unit include at least two linear laser ranging components, and at least two is described linear sharp
Ligh-ranging component is installed on the front side wall of the robot body, it is characterised in that: at least one described linear laser
The linear laser of ranging component transmitting and the inclined angle of horizontal plane；Or, at least one described linear laser ranging component hair
Penetrate the linear laser with the inclined angle of perpendicular.
Further, the avoidance sensing unit includes the first linear laser ranging component and the second linear laser ranging group
Part, the described first linear laser ranging component and the second linear laser ranging component emit and the inclined angle of horizontal plane
The linear laser of degree；The front surface of the robot body is arranged in described first linear laser ranging component, is used for court
To the linear laser of the downside in the front of robot body transmitting obliquely, the second linear laser ranging component
The front surface of robot is set, for the linear laser of upside transmitting obliquely towards the front side of robot.
Further, the described first linear laser ranging component and the second linear laser ranging component are installed in together
On one vertical line.
Further, the avoidance sensing unit includes third linear laser ranging component and the 4th linear laser ranging group
Part, the third linear laser ranging component and the 4th linear laser ranging component emit and the inclined angle of perpendicular
The linear laser of degree；The preceding right side of the robot body is arranged in the third laser ranging component, is used for direction
The left side of the robot body emits the linear laser；The 4th linear laser ranging component is arranged in the robot
On the preceding left side of ontology, for emitting the linear laser towards the right side of the robot body.
Further, the third linear laser ranging component and the 4th linear laser ranging component are installed in together
On one horizontal line.
Further, at least two linear laser ranging components are symmetric.
Further, the setting angle of at least two linear laser ranging components and installation site can dynamic regulations；
The outer side wall surface of the robot body is recessed inwardly to form at least twice cunning for the periphery for being looped around the robot body
Rail, the robot body are additionally provided with for driving the relatively described robot body of the avoidance sensing unit along the sliding rail
Mobile driving device.
Further, at least two linear laser ranging components share same imaging sensor and carry out adopting for signal
Collection.
Further, described image sensor is installed between at least two linear laser ranging components.
Further, the field range of described image sensor is 0 degree to 180 degree.
The beneficial effect of robot provided by the invention is: compared with prior art, robot of the present invention passes through in machine
On device human body be arranged avoidance sensing unit, avoidance sensing unit include on the front side wall for be mounted on robot body at least
Two linear laser ranging components, the transmitting of at least one linear laser ranging component and the threadiness of the inclined angle of horizontal plane swash
Light；Or, the linear laser of at least one linear laser ranging component transmitting and the inclined angle of perpendicular, so that robot increases
Big investigative range, can detect the barrier above robot body height or less or robot, effectively avoid robot with
Barrier impacts damage, while the robot being made to obtain active balance in accuracy, sensing range and cost.
Detailed description of the invention
It to describe the technical solutions in the embodiments of the present invention more clearly, below will be to embodiment or description of the prior art
Needed in attached drawing be briefly described, it should be apparent that, the accompanying drawings in the following description is only of the invention some
Embodiment for those of ordinary skill in the art without any creative labor, can also be according to these
Attached drawing obtains other attached drawings.
Fig. 1 is the schematic perspective view of robot provided in an embodiment of the present invention；
Fig. 2 be another embodiment of the present invention provides robot schematic perspective view；
Fig. 3 be another embodiment of the present invention provides robot avoidance sensing unit search coverage schematic diagram；
Fig. 4 be another embodiment of the present invention provides robot schematic perspective view；
Fig. 5 be another embodiment of the present invention provides robot avoidance sensing unit search coverage schematic diagram.
Wherein, each appended drawing reference in figure:
1: robot body 2: avoidance sensing unit
21: the first 22: the second linear laser ranging components of linear laser ranging component
23: 24: the four linear laser ranging component of third linear laser ranging component
3: imaging sensor
Specific embodiment
In order to which technical problems, technical solutions and advantages to be solved are more clearly understood, tie below
Accompanying drawings and embodiments are closed, the present invention will be described in further detail.It should be appreciated that specific embodiment described herein is only
To explain the present invention, it is not intended to limit the present invention.
It should be noted that it can be directly another when element is referred to as " being fixed on " or " being set to " another element
On one element or indirectly on another element.When an element is known as " being connected to " another element, it can
To be directly to another element or be indirectly connected on another element.
It is to be appreciated that term " length ", " width ", "upper", "lower", "front", "rear", "left", "right", "vertical",
The orientation or positional relationship of the instructions such as "horizontal", "top", "bottom" "inner", "outside" is that orientation based on the figure or position are closed
System, is merely for convenience of description of the present invention and simplification of the description, rather than the device or element of indication or suggestion meaning must have
Specific orientation is constructed and operated in a specific orientation, therefore is not considered as limiting the invention.
In addition, term " first ", " second " are used for descriptive purposes only and cannot be understood as indicating or suggesting relative importance
Or implicitly indicate the quantity of indicated technical characteristic.Define " first " as a result, the feature of " second " can be expressed or
Implicitly include one or more of the features.In the description of the present invention, the meaning of " plurality " is two or more,
Unless otherwise specifically defined.
Referring to Fig. 1, a kind of robot provided in this embodiment, including robot body 1 and avoidance sensing unit 2, it keeps away
Hindering sensing unit 2 includes at least two linear laser ranging components, and at least two linear laser ranging components are installed in machine
On the front side wall of human body 1, the transmitting of at least one linear laser ranging component and the threadiness of the inclined angle of horizontal plane swash
Light；Or, the linear laser of at least one linear laser ranging component transmitting and the inclined angle of perpendicular.
A kind of above-mentioned robot, by the way that avoidance sensing unit 2 is arranged on robot body 1, avoidance sensing unit 2 is wrapped
At least two linear laser ranging components being mounted on the front side wall of robot body 1 are included, at least one linear laser is surveyed
Linear laser away from component transmitting and the inclined angle of horizontal plane；Or, at least one linear laser ranging component emits and erects
The linear laser of the straight inclined angle of plane so that robot increases investigative range, can detect 1 height of robot body with
Barrier above lower or robot, effectively avoids robot from damaging with barrier impacts, while the robot is existed
Active balance is obtained in accuracy, sensing range and cost.
Referring to Figure 2 together to Fig. 3, as a kind of specific embodiment of robot provided in this embodiment, robot
Including robot body 1 and avoidance sensing unit 2, the design feature of robot body 1 is not construed as limiting, and robot body 1 can be with
Including arbitrary shape, the inner cavity of robot body 1 is provided with controller, carries out operation, avoidance sensing for controlling robot
Unit 2, driving device and mobile device are electrically connected with controller, and the instruction received is carried out complement and coordination.Avoidance
Sensing unit 2 includes at least two linear laser ranging components, and at least two linear laser ranging components are installed in robot
On the front side wall of ontology 1, control is sent to for the obstacle information around real-time detection robot, and by obstacle information
Device；On the one hand, guarantee that avoidance sensing unit 2 has faster reaction speed, on the other hand, reduce multiple letters of incoming controller
Interfering with each other between number guarantees detection accuracy；After controller receives the obstacle information of the transmission of avoidance sensing unit 2, root
According to the state of obstacle information control robot, to change the direction of travel of robot, it is preferable that avoidance sensing unit 2 is by machine
The obstacle information of device people's local environment is converted to electric signal, by the electric signal transmission to controller.Further, at least one
The linear laser of linear laser ranging component transmitting and the inclined angle of horizontal plane, or, at least one linear laser ranging group
The linear laser of part transmitting and the inclined angle of perpendicular can detect robot so that robot increases investigative range
Barrier below 1 height of ontology or above robot, effectively avoids robot from damaging with barrier impacts, makes simultaneously
The robot obtains active balance in accuracy, sensing range and cost.
Further, the setting angle of at least two linear laser ranging components and installation site can dynamic regulations；Machine
The outer side wall surface of human body 1 is recessed inwardly to form at least twice sliding rail for the periphery for being looped around robot body 1, is arranged simultaneously
There is the driving device for driving 2 opposed robots' ontology 1 of avoidance sensing unit to move along sliding rail, in the driving of driving device
Under, avoidance sensing unit 2 is moved along sliding rail opposed robots ontology 1, is detected to the surrounding environment of robot, and will barrier
Hinder the information of object to be sent to controller, forms complete environmental information；Further, avoidance sensing unit 2 can also be according to machine
The direction of travel of people is sent to controller to the obstacle information in front of it, and the location of avoidance sensing unit 2 is according to machine
The change of people's direction of travel and change.
Further, avoidance sensing unit 2 includes at least two linear laser ranging components, and linear laser ranging component is
Ranging is carried out using laser as light source.It is divided into continuous wave laser and pulse laser according to the mode of laser work；He-Ne, argon
The gas lasers such as ion, krypton cadmium work in continuous output state, are used for phase laser distance measurement；Double heterogeneous gallium arsenide semiconductors
Laser is used for infrared distance measurement；The solid state lasers such as ruby, neodymium glass are used for pulse type laser ranging.Linear laser ranging
Component is due to the features such as monochromaticjty of laser is good, high directivity, in addition electronic circuit semiconductor transformation is integrated, with geodimeter
It compares, not only day and night operation but also range accuracy can be improved, reduce weight and power consumption.Robot body 1 include top and
Bottom, avoidance sensing unit 2 include the first linear laser ranging component 21 and the second linear laser ranging component 22, and at least two
Linear laser ranging component is symmetric, and the first linear laser ranging component and the second linear laser ranging component 22 emit
With the linear laser of the inclined angle of horizontal plane；The front surface of robot body 1 is arranged in first linear laser ranging component,
For the linear laser of downside transmitting obliquely towards the front of robot body 1, the setting of the second linear laser ranging component
In the front surface of robot, for the linear laser of upside transmitting obliquely towards the front side of robot；First linear laser
The angle of ranging component 21 and the second linear laser ranging component 22 transmitting laser can be different from the angle that horizontal plane is in, this
Place is not construed as limiting；Preferably, the first linear laser ranging component and the second linear laser ranging component 22 are installed in same perpendicular
On straight line, the setting angle to the first linear laser ranging component 21 and the second linear laser ranging component 22 and wavelength etc. herein
Characteristic is not construed as limiting；Avoidance sensing unit 2 is surveyed by the first linear laser ranging component 21 and the second linear laser
The barrier on vertically and horizontally is detected away from component 22, when robot is close to barrier, first is linear
Laser ranging component 21 and the second linear laser ranging component 22 can detect in 1 altitude range of robot body, be lower than machine
The height of device human body 1, higher than the barrier of 1 height of robot body, therefore for below robot or robot
Above barrier can be detected, in this way it is possible to prevente effectively from 1 height obstacle below of robot touching robot body
Object is also avoided that and is blocked because laser radar overhead height is higher than robot body 1 by low obstructions that realization is effectively kept away
Barrier, in addition, robot can avoid steep cliff according to the environmental information that avoidance sensing unit 2 obtains, and can judgement obstacle detouring
Highly.
Fig. 2 to Fig. 3 is please referred to, in the present embodiment, robot includes be arranged on the lateral wall of robot body 1
One linear laser ranging component 21 and the second linear laser ranging component 22, the measured zone of the first linear laser ranging component 21
And second linear laser ranging component 22 measured zone between it is least partially overlapped.In robot moving process, First Line
The obstacle information of 22 real-time detection robot of shape laser ranging component 21 and the second linear laser ranging component, and
Obstacle information is sent to controller, controller receives the first linear laser ranging component 21 and the second linear laser ranging group
The obstacle information of part 22, and according to the state of obstacle information control mobile device, to change the direction of travel of robot.The
The lower section of the first linear laser ranging component 21 is arranged in two linear laser ranging components 22, when the first linear laser ranging component
21 can not detect when suddenly appearing in barrier in robot near zone, and the second linear laser ranging component 22 can be timely
Emergent barrier is detected, the timely avoiding obstacles of robot, and the arranged up and down first linear laser ranging group are made
Part 21 and the second linear laser ranging component 22, increase the investigative range of barrier, make the first linear laser ranging component 21
The barrier of robot can be detected more accurately, in all directions with the second linear laser ranging component 22；The
Between the measured zone of one linear laser ranging component 21 and the measured zone of the second linear laser ranging component 22 at least partly
Overlapping, compensates for the defect for causing partial region that cannot be detected due to the two detection zone is not superimposed, to avoid machine
People bumps against the barrier not being detected in region, makes the first linear laser ranging component 21 and the second linear laser ranging component 22
Can more accurately, detect barrier in all directions.Further, the outer side wall surface of robot body 1 is recessed inwardly shape
At the first sliding rail and the second sliding rail of the periphery for being looped around robot body 1, the first linear laser ranging component 21 is sliding along first
Rail opposed robots ontology 1 moves, and the second linear laser ranging component 22 moves along the second sliding rail opposed robots ontology 1, makes
It will not influence each other when obtaining the operation between the first linear laser ranging component 21 and the second linear laser ranging component 22, first
Linear laser ranging component 21 is detected along the first sliding rail around robot, and the second linear laser ranging component 22 is along the
Two sliding rails are detected around robot, further increase the investigative range of barrier, make the first linear laser ranging component
21 and second linear laser ranging component 22 can detect the barrier of robot more accurately, in all directions,
Including in 1 altitude range of robot body, lower than 1 height of robot body, higher than the barrier of 1 height of robot body, have
Effect avoids robot from damaging with barrier impacts.
Further, robot further includes the laser radar component that the top of robot body 1 is arranged in, laser radar group
Part and controller are electrically connected；Laser radar is the radar system to emit the characteristic quantities such as the position of detecting laser beam target, speed
System, by then carrying out the reflected target echo of slave target received and transmitting signal to objective emission laser beam
Compare, obtain target for information about, such as target range, orientation, height, speed, posture, even shape parameter；Laser thunder
It include laser transmitter, optical receiver, turntable and information processing system etc. up to component, electric pulse is become light by laser transmitter
Impulse ejection is gone out, and optical receiver electric pulse is reduced into from the reflected light pulse of target, is delivered to display again, from
And the parameters such as the clear distance that must obtain ambient enviroment barrier, orientation, height, speed are allowed the robot to, enable robot
The enough more complete information of acquisition, increases the investigative range to ambient enviroment.
Further, in the present embodiment, the driving device of robot includes delivery section and the first driving portion, the first driving
For driving delivery section to move along sliding rail opposed robots ontology 1, at least two linear laser ranging components are fixed on conveying in portion
In portion, at least two linear laser ranging components are mounted in delivery section, drive delivery section mobile by the first driving portion, band
The dynamic linear laser ranging component opposed robots ontology 1 being mounted in delivery section is mobile, to realize to ring around robot
The barrier in border detects in all directions.Robot further includes the mobile device that the bottom of robot body 1 is arranged in, and passes through movement
Device and controller are electrically connected, after controller receives the Environment Obstacles information that avoidance sensing unit 2 is sent, to mobile device into
Row control, to change the direction of travel of robot；Mobile device is including at least two driving wheels and for driving driving wheel to rotate
The second driving portion, controller controls the second driving portion in mobile device, to control the motion state of driving wheel
And the direction of motion, and then change the direction of travel of robot.Driving wheel includes differential driving wheel, is deposited in detecting ambient enviroment
In barrier, controller controls the driving wheel direction of motion, to change the motion profile of robot；Driving wheel includes universal
Wheel, driving wheel can 360 ° of rotations, can be in detecting ambient enviroment there are when barrier, controller controls driving wheel and changes fortune
Dynamic direction, to change the motion profile of robot.
Referring to Figure 4 together to Fig. 5, as another specific embodiment of robot provided in this embodiment, avoidance
Sensing unit 2 includes third linear laser ranging component 23 and the 4th linear laser ranging component 24, at least two linear lasers
Ranging component is symmetric.Third linear laser ranging component and the 4th linear laser ranging component emits and perpendicular
The linear laser of inclined angle；The preceding right side of robot body 1 is arranged in third laser ranging component, is used for towards machine
The left side of human body 1 emits linear laser；The preceding left side of robot body 1 is arranged in 4th linear laser ranging component 24
On, for emitting linear laser towards the right side of robot body 1.Herein to third linear laser ranging component 23 and the 4th line
The characteristics such as the setting angle of shape laser ranging component 24 and wavelength are not construed as limiting.Preferably, third linear laser ranging component 23
It is respectively mounted in the same horizontal line with the 4th linear laser ranging component；Avoidance sensing unit 2 is enabled to pass through third threadiness
Laser ranging component 23 and the 4th linear laser ranging component 24 detect the barrier on vertically and horizontally,
When robot is close to barrier, third linear laser ranging component 23, which can be detected, is higher than machine positioned at the left side of robot
Device human body 1, in 1 range of robot body, lower than the barrier of robot body 1, the 4th linear laser ranging component 24
It can detect positioned at the right side of robot higher than robot body 1, in 1 range of robot body, lower than robot sheet
The barrier of body 1, therefore the barrier of robot can be detected, in this way it is possible to prevente effectively from robot
Touch the height of robot body 1 barrier below, be also avoided that because laser radar overhead height is higher than robot body 1 and
It is blocked by low obstructions, realizes effectively avoidance.
Referring to Figure 2 together to Fig. 5, as another specific embodiment of robot provided in this embodiment, machine
Avoidance sensing unit 2 is fixedly connected on human body 1, avoidance sensing unit 2 includes at least two linear laser ranging components, until
Few two linear laser ranging components share the acquisition that same imaging sensor 3 carries out signal, the field range of imaging sensor 3
It is 0 degree to 180 degree, is sent to controller for the obstacle information around real-time detection robot, and by the information of barrier,
Form complete environmental information.Preferably, when the first linear laser ranging component 21 and the second linear laser ranging component 22 are equal
When being mounted on same vertical line, imaging sensor 3 is installed on the first linear laser ranging component 21 and the second linear laser is surveyed
Away between component 22, the first linear laser ranging component 21 and the second linear laser ranging component 22 share same imaging sensor
3 carry out the acquisition of signal；When third linear laser ranging component 23 and the 4th linear laser ranging component are installed in same water
When on horizontal line, imaging sensor 3 is installed between third linear laser ranging component 23 and the 4th linear laser ranging component 24,
Third linear laser ranging component 23 and the 4th linear laser ranging component 24 share same imaging sensor 3 and carry out adopting for signal
Collection.Imaging sensor for detecting higher than robot body 1, in 1 range of robot body, lower than robot body 1
Barrier, it is possible to prevente effectively from 1 height barrier below of robot touching robot body, is also avoided that because of laser radar
Overhead height is higher than robot body 1 and is blocked by low obstructions, realizes effectively avoidance.
The foregoing is merely the preferred embodiments of the present embodiment, all in this implementation not to limit the present embodiment
Made any modifications, equivalent replacements, and improvements etc., should be included in the protection model of the present embodiment within the spirit and principle of example
Within enclosing.
Claims (10)
1. a kind of robot, including robot body and avoidance sensing unit, the avoidance sensing unit includes at least two lines
Shape laser ranging component, at least two linear laser ranging components are installed in the front side wall of the robot body
On, it is characterised in that: the linear laser of at least one linear laser the ranging component transmitting and the inclined angle of horizontal plane；
Or, the linear laser of at least one linear laser the ranging component transmitting and the inclined angle of perpendicular.
2. robot as described in claim 1, it is characterised in that: the avoidance sensing unit includes the first linear laser ranging
Component and the second linear laser ranging component, the described first linear laser ranging component and the second linear laser ranging component
Emit the linear laser with the inclined angle of horizontal plane；Described first linear laser ranging component is arranged in the machine
The front surface of device human body, for emitting the linear laser obliquely towards the downside in the front of the robot body,
The front surface of robot is arranged in the second linear laser ranging component, oblique for the upside transmitting towards the front side of robot
The upward linear laser.
3. robot as claimed in claim 2, it is characterised in that: the described first linear laser ranging component and second line
Shape laser ranging component is installed on same vertical line.
4. robot as described in claim 1, it is characterised in that: the avoidance sensing unit includes third linear laser ranging
Component and the 4th linear laser ranging component, the third linear laser ranging component and the 4th linear laser ranging component
Emit the linear laser with the inclined angle of perpendicular；The third laser ranging component is arranged in the robot
The preceding right side of ontology, for emitting the linear laser towards the left side of the robot body；4th linear laser
Ranging component is arranged on the preceding left side of the robot body, for towards described in the transmitting of the right side of the robot body
Linear laser.
5. robot as claimed in claim 4, it is characterised in that: the third linear laser ranging component and the 4th line
Shape laser ranging component is respectively mounted in the same horizontal line.
6. the robot as described in claim 3 or claim 5, it is characterised in that: at least two linear laser rangings
Component is symmetric.
7. robot as described in claim 1, it is characterised in that: the established angle of at least two linear laser ranging components
Degree and installation site can dynamic regulations；The outer side wall surface of the robot body, which is recessed inwardly to be formed, is looped around the robot
At least twice sliding rail of the periphery of ontology, the robot body are additionally provided with for driving the avoidance sensing unit with respect to institute
State the driving device that robot body is moved along the sliding rail.
8. robot as described in claim 1, it is characterised in that: at least two linear laser ranging components share same
The acquisition of imaging sensor progress signal.
9. robot as claimed in claim 8, it is characterised in that: described image sensor is installed at least two threadiness
Between laser ranging component.
10. robot as claimed in claim 8 or claim 9, it is characterised in that: the field range of described image sensor
It is 0 degree to 180 degree.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910769477.9A CN110477808A (en) | 2019-08-20 | 2019-08-20 | A kind of robot |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910769477.9A CN110477808A (en) | 2019-08-20 | 2019-08-20 | A kind of robot |
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| CN110477808A true CN110477808A (en) | 2019-11-22 |
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| CN201910769477.9A Pending CN110477808A (en) | 2019-08-20 | 2019-08-20 | A kind of robot |
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Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110955246A (en) * | 2019-12-12 | 2020-04-03 | 深圳乐动机器人有限公司 | Cleaning robot |
| CN111856509A (en) * | 2020-07-30 | 2020-10-30 | 广东博智林机器人有限公司 | Positioning method, positioning device and mobile equipment |
| CN113558523A (en) * | 2021-06-22 | 2021-10-29 | 惠州越登智能科技有限公司 | Laser radar obstacle detection device, equipment and detection method |
| CN114152996A (en) * | 2021-12-07 | 2022-03-08 | 乐聚(深圳)机器人技术有限公司 | Obstacle detection method, apparatus, device and storage medium for robot |
| CN114962946A (en) * | 2022-06-27 | 2022-08-30 | 江苏雷慕科技有限公司 | Underground pipe network construction process safety monitoring device based on digital twinning |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN110955246A (en) * | 2019-12-12 | 2020-04-03 | 深圳乐动机器人有限公司 | Cleaning robot |
| CN111856509A (en) * | 2020-07-30 | 2020-10-30 | 广东博智林机器人有限公司 | Positioning method, positioning device and mobile equipment |
| CN113558523A (en) * | 2021-06-22 | 2021-10-29 | 惠州越登智能科技有限公司 | Laser radar obstacle detection device, equipment and detection method |
| CN114152996A (en) * | 2021-12-07 | 2022-03-08 | 乐聚(深圳)机器人技术有限公司 | Obstacle detection method, apparatus, device and storage medium for robot |
| CN114962946A (en) * | 2022-06-27 | 2022-08-30 | 江苏雷慕科技有限公司 | Underground pipe network construction process safety monitoring device based on digital twinning |
| WO2024041298A1 (en) * | 2022-08-26 | 2024-02-29 | 北京石头世纪科技股份有限公司 | Multi-line laser and cleaning device |
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