CN112859832A - Mobile robot with height-adjustable sensor and method for adjusting height of sensor - Google Patents
Mobile robot with height-adjustable sensor and method for adjusting height of sensor Download PDFInfo
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- CN112859832A CN112859832A CN202010641938.7A CN202010641938A CN112859832A CN 112859832 A CN112859832 A CN 112859832A CN 202010641938 A CN202010641938 A CN 202010641938A CN 112859832 A CN112859832 A CN 112859832A
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- 238000000034 method Methods 0.000 title claims abstract description 35
- 230000007246 mechanism Effects 0.000 claims description 118
- 239000000463 material Substances 0.000 claims description 28
- 239000003550 marker Substances 0.000 claims description 20
- 230000000875 corresponding effect Effects 0.000 claims description 10
- 230000002596 correlated effect Effects 0.000 claims description 4
- 230000002093 peripheral effect Effects 0.000 claims description 3
- 241000283690 Bos taurus Species 0.000 description 24
- 230000004308 accommodation Effects 0.000 description 4
- 238000004891 communication Methods 0.000 description 4
- 235000013305 food Nutrition 0.000 description 4
- 239000004459 forage Substances 0.000 description 3
- 230000005484 gravity Effects 0.000 description 3
- 239000010902 straw Substances 0.000 description 3
- WHXSMMKQMYFTQS-UHFFFAOYSA-N Lithium Chemical compound [Li] WHXSMMKQMYFTQS-UHFFFAOYSA-N 0.000 description 2
- 241001465754 Metazoa Species 0.000 description 2
- 238000005516 engineering process Methods 0.000 description 2
- 229910052744 lithium Inorganic materials 0.000 description 2
- 238000004519 manufacturing process Methods 0.000 description 2
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- 244000025254 Cannabis sativa Species 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 238000004364 calculation method Methods 0.000 description 1
- 230000001276 controlling effect Effects 0.000 description 1
- 201000010099 disease Diseases 0.000 description 1
- 208000037265 diseases, disorders, signs and symptoms Diseases 0.000 description 1
- 244000144972 livestock Species 0.000 description 1
- 239000008267 milk Substances 0.000 description 1
- 210000004080 milk Anatomy 0.000 description 1
- 235000013336 milk Nutrition 0.000 description 1
- 239000000203 mixture Substances 0.000 description 1
- 239000013589 supplement Substances 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
- G05D1/0259—Control of position or course in two dimensions specially adapted to land vehicles using magnetic or electromagnetic means
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- A—HUMAN NECESSITIES
- A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
- A01K—ANIMAL HUSBANDRY; AVICULTURE; APICULTURE; PISCICULTURE; FISHING; REARING OR BREEDING ANIMALS, NOT OTHERWISE PROVIDED FOR; NEW BREEDS OF ANIMALS
- A01K29/00—Other apparatus for animal husbandry
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D63/00—Motor vehicles or trailers not otherwise provided for
- B62D63/02—Motor vehicles
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Abstract
The invention discloses a mobile robot with a height-adjustable sensor and a height-adjusting method of the sensor, wherein the mobile robot comprises a robot body, the sensor and a bracket, wherein the bracket is arranged on the robot body, the sensor is arranged on the bracket, and the bracket is used for adjusting the position of the sensor relative to the robot body, so that the navigation failure can be avoided and the working reliability of the mobile robot can be ensured.
Description
Technical Field
The present invention relates to a mobile robot, and more particularly, to a mobile robot with a height-adjustable sensor and a height-adjusting method of a sensor.
Background
With the rapid development of scientific technology, mobile robots are beginning to appear and widely used in production and life, wherein the mobile robots need to be positioned and mapped by various sensors to realize autonomous navigation of the mobile robots, that is, the mobile robots need to be configured with a plurality of sensors to realize subsequent navigation. When the mobile robot is positioned by various sensors, for example, when the distance is positioned, due to the change of the geographic position and the height of the reference object in the work site of the mobile robot, if the height of the sensor of the mobile robot is not adjusted in time, the situation of navigation failure may occur. For example, for a pushing robot applied to a farm, the spacing between the pushing robot and a cow neck cangue of a cow pen is determined by using a laser post-ultrasonic navigation technology, so that the spacing between the pushing robot and the cow neck cangue of the cow pen can be kept within a certain range to allow the pushing robot to walk along the extending direction of the cow neck cangue. However, the cattle bodies of different age groups and different milk gas production need to be housed in different cowsheds, the heights of the cattle neck cangues of the cattle bodies are different for different cowsheds, and when the pushing robot works continuously between different cowsheds, the height of a sensor of the pushing robot needs to be adjusted manually, so that not only is the complexity of the operation increased and the universality of the pushing robot reduced, but also the manual work (workers in a farm) needs to enter and stay in the cowsheds for a long time, and the following problems are caused: (1) because the height of the sensor of the pushing robot needs manual auxiliary adjustment, the unmanned management of a farm is not facilitated, (2) the risk of people and livestock suffering from diseases is increased due to the fact that the sensor of the pushing robot needs to be manually contacted with a cow body for a long time, and serious potential safety hazards exist.
Disclosure of Invention
It is an object of the present invention to provide a sensor height adjustable mobile robot and a sensor height adjusting method, wherein the mobile robot provides a robot body, a bracket mounted to the robot body, and at least one sensor mounted to the bracket, wherein the bracket is configured to adjust a position of the sensor relative to the robot body.
It is an object of the present invention to provide a mobile robot with a height-adjustable sensor and a height-adjusting method of a sensor, in which the bracket is adjustably mounted to the robot body, for example, the bracket is rotatably mounted to the robot body, so that the position of the sensor with respect to the robot body can be adjusted by adjusting the position of the bracket with respect to the robot body.
An object of the present invention is to provide a sensor height adjustable mobile robot and a sensor height adjusting method in which the state of the stand can be adjusted, for example, the stand can be extended and contracted, so that the position of the sensor with respect to the robot body can be adjusted by adjusting the state of the stand.
An object of the present invention is to provide a mobile robot with a height-adjustable sensor and a height-adjusting method of a sensor, in which the support can autonomously adjust the position of the sensor with respect to the robot body, so that the automation level of the mobile robot can be improved to facilitate unmanned management of a farm.
An object of the present invention is to provide a mobile robot with a height-adjustable sensor and a height-adjusting method of the sensor, in which the support can autonomously adjust the position of the sensor with respect to the robot body, so that the probability and time of human and animal contact can be reduced and the risk of human and animal co-morbidity can be reduced.
An object of the present invention is to provide a mobile robot with a height-adjustable sensor and a height-adjusting method of a sensor, in which the height position of the sensor of the mobile robot can be autonomously adjusted when the mobile robot continuously works between different cowsheds, which is advantageous for improving the versatility of the mobile robot and reducing the operating cost of a farm.
According to another aspect of the present invention, there is further provided a sensor height adjustable mobile robot comprising:
a robot body;
a sensor; and
a bracket, wherein the bracket is mounted to the robot body, the sensor is mounted to the bracket, and the bracket is configured to adjust a position of the sensor relative to the robot body.
According to an embodiment of the present invention, the bracket has a connection end portion and a free end portion corresponding to the connection end portion, the connection end portion of the bracket is rotatably mounted on the top of the robot body, and the sensor is mounted on the free end portion of the bracket.
According to one embodiment of the invention, the stand is a telescopic stand.
According to an embodiment of the present invention, the mobile robot further comprises a driver, wherein the driver is provided at a top of the robot body, and the connecting end of the stand is drivably mounted to the driver such that the driver allows the connecting end of the stand to be rotatably mounted to the top of the robot body.
According to an embodiment of the present invention, the mobile robot further includes a pusher having a mounting end and a pushing end corresponding to the mounting end, wherein the mounting end of the pusher is mounted on the top of the robot body, and the pushing end of the pusher is mounted in the middle of the bracket.
According to an embodiment of the present invention, the robot body has a holding groove, and the holder is held in the holding groove of the robot body in such a manner that the sensor is hidden between the holder and the robot body.
According to an embodiment of the invention, the robot body further comprises:
a traveling device, wherein the traveling device comprises a bearing mechanism, a power supply mechanism, two traveling driving motors, two driving wheels and a supporting wheel, wherein the bearing mechanism comprises a chassis, the power supply mechanism is arranged on the chassis, each traveling driving motor is respectively arranged at two sides of one end part of the chassis, each traveling driving motor is respectively electrically connected to the power supply mechanism, each driving wheel is respectively connected to each traveling driving motor in a driving way, and the supporting wheel is arranged at the middle part of the other end part of the bearing mechanism; and
the pushing device comprises a pushing wall, wherein the pushing wall comprises an annular wall main body and a connecting arm extending inwards from the high end of the annular wall main body, the connecting arm is connected to the bearing mechanism, and the annular wall main body surrounds the bearing mechanism in a rotatable mode.
According to an embodiment of the present invention, the supporting mechanism includes at least two supporting columns, a supporting platform, a mounting column and a driving ring, each of the supporting columns extends upward from an edge of the chassis to a proper height position, the supporting platform is disposed at a high end of each of the supporting columns to form a receiving space between the chassis and the supporting platform for receiving the power supply mechanism, the mounting column extends upward from a central position of the supporting platform, the driving ring is rotatably sleeved on the mounting column, wherein the connecting arm of the material pushing wall extends to and is connected to the driving ring.
According to an embodiment of the present invention, the traveling device includes a pushing material driving motor disposed on the supporting platform and electrically connected to the power supply mechanism, wherein the driving ring is drivably connected to the pushing material driving motor.
According to one embodiment of the present invention, the traveling device includes a driving belt, and both ends of the driving belt are respectively sleeved on the output shaft of the pushing material driving motor and the driving ring of the bearing mechanism, so that the driving ring is drivably connected to the pushing material driving motor.
According to an embodiment of the present invention, the pushing device includes at least two pulley mechanisms, each of the pulley mechanisms includes a mounting body and a pulley body rotatably mounted on the mounting body, wherein each of the sliding mechanisms is mounted on the supporting mechanism in a manner that the pulley body faces outward and abuts against an inner side of the annular wall body of the pushing wall.
According to an embodiment of the present invention, the pushing device includes at least two pulley mechanisms, each of the pulley mechanisms includes a mounting body and a pulley body rotatably mounted on the mounting body, wherein each of the sliding mechanisms is mounted on the supporting mechanism in a manner that the pulley body faces outward and abuts against an inner side of the annular wall body of the pushing wall.
According to one embodiment of the present invention, the mounting body of the pulley mechanism is mounted to the chassis; or wherein the mounting body of the pulley mechanism is mounted to the support post.
According to an embodiment of the present invention, the robot body further includes a cover body mounted to the bearing mechanism, and a peripheral edge of the cover body extends outward such that a diameter of the cover body is larger than a diameter of the annular wall main body of the pusher wall, wherein the holder is mounted to the cover body.
According to another aspect of the present invention, there is further provided a sensor height adjusting method of a mobile robot, wherein the sensor height adjusting method includes the steps of:
(a) detecting a marker on a current working route of a mobile robot to identify position information of the marker;
(b) determining the height of a reference object of the current working environment of the mobile robot according to the position information of the marker; and
(c) adjusting a height position of a sensor of the mobile robot to allow the height of the sensor to match a height of a reference.
According to an embodiment of the present invention, before the step (a), the sensor height adjusting method further comprises the steps of:
(d) recording the height of each reference object of the working environment of the mobile robot; and
(e) the height of each reference object is correlated with the position information of the marker corresponding to the reference object.
According to an embodiment of the present invention, in the step (c), the connecting end portion of a cradle of the mobile robot is allowed to rotate with respect to a robot body of the mobile robot to adjust a height position of the sensor provided at the free end portion of the cradle.
According to an embodiment of the invention, in the above method, the support is driven by a drive to allow the connecting end of the support to make a rotation relative to the robot body.
According to an embodiment of the present invention, in the above method, the bracket is pushed at a middle portion of the bracket by a pusher to allow the connecting end portion of the bracket to make a rotation with respect to the robot body.
According to one embodiment of the invention, in the above method, the bracket is allowed to telescope to adjust the height position of the sensor.
Drawings
Fig. 1A and 1B are perspective views of a mobile robot with a height-adjustable sensor according to a preferred embodiment of the present invention.
Fig. 2A and 2B are perspective views illustrating different states of the mobile robot according to the above preferred embodiment of the present invention.
Fig. 3 is an exploded view of the mobile robot according to the above preferred embodiment of the present invention, which illustrates a structural relationship between a traveling device and a pushing device of a robot body of the mobile robot.
Fig. 4 is a partial perspective view of the mobile robot according to the above preferred embodiment of the present invention, which illustrates a structural relationship between the traveling device of the mobile robot and a pushing wall of the pushing device.
Fig. 5 is a partially exploded view of the mobile robot according to the above preferred embodiment of the present invention, illustrating the structural relationship between the components of the pusher wall.
Fig. 6 is a partial perspective view of the mobile robot according to the above preferred embodiment of the present invention, which illustrates the structural relationship between the components of the walking device.
Fig. 7A and 7B are schematic views of the mobile robot according to the above preferred embodiment of the present invention, respectively, from different perspectives, which respectively illustrate the structural relationship between the respective components of the walking device.
Fig. 8A and 8B are schematic views illustrating the operation of the mobile robot according to the above preferred embodiment of the present invention.
Fig. 9 is a schematic flow chart of the mobile robot according to the above preferred embodiment of the present invention.
Fig. 10A and 10B are perspective views illustrating different states of the mobile robot according to another preferred embodiment of the present invention.
Detailed Description
The following description is presented to disclose the invention so as to enable any person skilled in the art to practice the invention. The preferred embodiments in the following description are given by way of example only, and other obvious variations will occur to those skilled in the art. The basic principles of the invention, as defined in the following description, may be applied to other embodiments, variations, modifications, equivalents, and other technical solutions without departing from the spirit and scope of the invention.
It will be understood by those skilled in the art that in the present disclosure, the terms "longitudinal," "lateral," "upper," "lower," "front," "rear," "left," "right," "vertical," "horizontal," "top," "bottom," "inner," "outer," and the like are used in an orientation or positional relationship indicated in the drawings for ease of description and simplicity of description, and do not indicate or imply that the referenced devices or components must be constructed and operated in a particular orientation and thus are not to be considered limiting.
It is understood that the terms "a" and "an" should be interpreted as meaning that a number of one element or element is one in one embodiment, while a number of other elements is one in another embodiment, and the terms "a" and "an" should not be interpreted as limiting the number.
Referring to fig. 1A to 9 of the drawings accompanying the present specification, a mobile robot with height adjustable sensor according to a preferred embodiment of the present invention is disclosed and illustrated in the following description, wherein the mobile robot includes a robot body 10, a bracket 20 and at least one sensor 30, the bracket 20 is mounted to the robot body 10, the sensor 30 is mounted to the bracket 20, wherein the bracket 20 is configured to adjust the position of the sensor 30 relative to the robot body 10, so that the height of the sensor 30 can be adjusted in time to avoid a navigation failure when the height of a reference object in a work site of the mobile robot changes. Preferably, when the height of the reference object in the work site of the mobile robot changes, the height of the sensor 30 can be automatically and timely adjusted to avoid the situation of navigation failure, so as to improve the automation level of the mobile robot.
It is worth mentioning that the sensor 30 may be a distance measuring sensor for measuring the distance between the mobile robot and a reference object within the work site of the mobile robot.
Further, the stand 20 has a connection end 21 and a free end 22 corresponding to the connection end 21, wherein the connection end 21 of the stand 20 is rotatably mounted on the top of the robot body 10 to allow the height of the free end 22 of the stand 20 to be adjusted as the connection end 21 of the stand 20 rotates relative to the robot body 10, and wherein the sensor 30 is mounted on the free end 22 of the stand 20 to adjust the height of the sensor 30 when the height of the free end 22 of the stand 20 is adjusted. Preferably, the stand 20 can be extended and retracted, for example, the stand 20 is a telescopic rod, so that the height of the sensor 30 can be adjusted by adjusting the state of the stand 20.
Further, the mobile robot includes a driver 40, wherein the driver 40 is disposed on the robot body 10, and the connecting end 21 of the support 20 is drivably mounted on the driver 40, so that the connecting end 21 of the support 20 is driven to rotate relative to the robot body 10 by the driver 40. Specifically, the driver 40 may be a driving motor or a driving motor set, when the driver 40 rotates in one direction, the driver 40 can drive the connecting end portion 21 of the bracket 20 to rotate relative to the robot body 10 to raise the height position of the sensor 30 mounted on the free end portion 22 of the bracket 20, and correspondingly, when the driver 40 rotates in the opposite direction, the driver 40 can drive the connecting end portion 21 of the bracket 20 to rotate relative to the robot body 10 to lower the height position of the sensor 30 mounted on the free end portion 22 of the bracket 20.
Further, the top of the robot body 10 has a holding groove 100, wherein the bracket 20 can be held in the holding groove 100 of the robot body 10 in a manner of hiding the sensor 30, so that when the bracket 20 is driven to rotate relative to the robot body 10 and is held in the holding groove 100 of the robot body 10, the bracket 20 can be prevented from protruding out of the top of the robot body 10, which not only can ensure the appearance of the mobile robot, but also can protect the sensor 30 and prolong the service life of the sensor 30.
Unlike the mobile robot shown in fig. 1A to 9, in a modified example of the mobile robot shown in fig. 10A and 10B, the mobile robot includes a length-adjustable thruster 50, wherein the thruster 50 includes a mounting end 51 and a thrusting end 52 corresponding to the mounting end 51, the mounting end 51 of the thruster 50 is mounted to the robot body 10, and the thrusting end 52 of the thruster 50 is mounted to the middle of the bracket 20, wherein when the length of the thruster 50 is adjusted, the thrusting end 52 of the thruster 50 can push the bracket 20 upward to rotate the connecting end 21 of the bracket 20 relative to the robot body 10, thus allowing the free end 22 of the bracket 20 to be adjusted as the connecting end 21 of the bracket 20 rotates relative to the robot body 10, thereby heightening the height of the sensor 30, and accordingly, when the length of the pusher 50 is shortened, the pushing end portion 52 of the pusher 50 can pull the bracket 20 downward to make the connecting end portion 21 of the bracket 20 rotate relative to the robot body 10, thus allowing the free end portion 22 of the bracket 20 to be adjusted as the connecting end portion 21 of the bracket 20 rotates relative to the robot body 10, thereby heightening the height of the sensor 30.
It will be appreciated that when the length of the pusher 50 is maintained in the adjusted state, the free end portion 22 of the bracket 20 can be maintained at the adjusted height, so that the sensor 30 mounted to the free end portion 22 of the bracket 20 is maintained at the adjusted height. Preferably, the bracket 20 can be extended or contracted, for example, the bracket 20 is a telescopic rod, so that the height of the sensor 30 mounted to the free end portion 22 of the bracket 20 can be adjusted by adjusting the length of the bracket 20 even though the length of the pusher 50 remains unchanged.
It is worth mentioning that the type of the pusher 50 is not limited in the mobile robot of the present invention, for example, the pusher 50 may be an electric push rod assembly to allow the length of the pusher 50 to be adjusted by electric control, thereby facilitating the level of automation of the mobile robot.
With continued reference to fig. 1A-9, the workflow of the mobile robot of the present invention includes the following steps:
step one, recording the height of a reference object of the work site of the mobile robot, and associating the height of the reference object with the position information of the marker 2000 of the work site. Specifically, taking the mobile robot applied to a farm as an example, the reference object 1000 of the work site may be a cattle neck cangue of a cattle pen, and the marker 2000 of the work site may be a magnetic nail of a magnetic navigation system, that is, after recording the height of the cattle neck cangue of the cattle pen of the farm and the position information of the magnetic nail, the height of the cattle neck cangue of the cattle pen of the farm and the position information of the magnetic nail are correlated.
And step two, in the working process of the mobile robot, the mobile robot detects the marker (magnetic nail) 2000 on the current working route and identifies the position information of the marker (magnetic nail) 2000. It is understood that after the positional information of the marker (magnetic nail) 2000 is identified, the height of the reference object (cow neck flails of a cow pen) 1000 associated with the marker (magnetic nail) 2000 is identified.
And step three, after the height of the reference object (the cattle neck flails of the cattle pen) 1000 is determined, controlling the driver 40 to rotate towards the corresponding direction to drive the connecting end part 21 of the bracket 20 to rotate relative to the robot body 10 so as to adjust the height position of the sensor 30 mounted on the free end part 22 of the bracket 20, so that the height of the sensor 30 is matched with the height of the reference object (the cattle neck flails of the cattle pen) 1000, and therefore the sensor 30 is allowed to accurately detect the relative positions of the mobile robot and the reference object (the cattle neck flails of the cattle pen) to ensure that the navigation is effective.
With continued reference to fig. 1A to 9, the mobile robot may be a pushing robot for pushing food such as forage far from the cowshed to a position close to the cowshed so as to be eaten by the cattle body confined in the cowshed, wherein the robot body 10 of the mobile robot includes a traveling device 11 and a pushing device 12 provided to the traveling device 11.
Specifically, the traveling device 11 includes a carrying mechanism 111, a power supply mechanism 112, a two-traveling driving motor 113, two driving wheels 114, and a supporting wheel 115. The carrying mechanism 111 further includes a chassis 1111, wherein the power supply mechanism 112 is disposed on the chassis 1111 to be carried by the chassis 1111. Each of the walking driving motors 113 is respectively disposed at both sides of one end of the chassis 1111, and each of the walking driving motors 113 is respectively connected to the power supply mechanism 112. Each of the driving wheels 114 is drivably connected to each of the travel driving motors 113 such that each of the driving wheels 114 is held on both sides of one end of the chassis 1111, respectively. The supporting wheel 115 is installed at the middle of the other end of the base pan 1111 such that the two driving wheels 114 and the supporting wheel 115 are arranged in a delta structure and the two driving wheels 114 and the supporting wheel 115 cooperate with each other such that the base pan 1111 is carried away from the ground.
Preferably, the driving wheel 114 is mounted to an output shaft of the travel driving motor 113 such that the driving wheel 114 is drivably connected to the travel driving motor 113. The support wheels 115 are preferably universal wheels to facilitate steering of the mobile robot.
It should be noted that the shape of the chassis 1111 of the carrying mechanism 111 is not limited in the mobile robot of the present invention, for example, in the preferred example of the mobile robot shown in fig. 1A to 9, the chassis 1111 has a square shape, and the center of gravity of the power supply mechanism 112 and the center of gravity of the chassis 1111 coincide in a height direction, so that the center of gravity of the mobile robot can be prevented from being deviated to ensure the reliability and stability of the mobile robot. Alternatively, in other examples of the mobile robot of the present invention, the chassis 1111 may be, but not limited to, circular, elliptical, polygonal.
The material pushing device 12 includes a material pushing wall 121, wherein the material pushing wall 121 includes a circular wall main body 1211 and a connecting arm 1212 extending from a high end of the circular wall main body 1211 to a middle direction of the circular wall main body 1211, wherein the connecting arm 1212 of the material pushing wall 121 is rotatably mounted on the supporting mechanism 111, and the circular wall main body 1211 of the material pushing wall 121 rotatably surrounds the supporting mechanism 111, so that the material pushing wall 121 forms a general appearance of the mobile robot, and thus food such as grass and the like cannot enter the mobile robot when the mobile robot pushes the material, so as to prevent the traveling device 11 from being affected. For example, the food such as forage is generally straw or a mixture of straw and feed, the straw is characterized by being slender, and the mobile robot of the present invention can prevent the food such as forage from being inserted into the mobile robot to affect the operation of the mobile robot 11 by covering the material pushing wall 121 of the material pushing device 12 on the outside of the bearing mechanism 111 of the mobile robot 11 and forming the approximate appearance of the periphery of the mobile robot, so as to be beneficial to ensuring the reliability and stability of the mobile robot.
In the mobile robot of the present invention, when the power supply mechanism 112 is controlled to supply power to each of the travel driving motors 113, each of the travel driving motors 113 can convert electric energy into kinetic energy to drive each of the driving wheels 114 to rotate, so that the traveling device 11 can travel. It is understood that the traveling unit 11 is configured to travel along a straight path if the rotational speeds of the two traveling drive motors 113 are the same, and the traveling unit 11 is configured to travel along a curved path if there is a difference in the rotational speeds of the two traveling drive motors 113. For example, when one of the travel driving motors 113 rotates and the other travel driving motor 113 does not operate, the traveling device 11 can make a turn.
It is worth mentioning that the type of the power supply mechanism 112 is not limited in the mobile robot of the present invention, for example, the power supply mechanism 112 may be a storage battery (for example, but not limited to, a lithium battery), and the power supply mechanism 112 is allowed to supplement the electric power when the electric power stored in the power supply mechanism 112 is consumed. Alternatively, the power supply mechanism 112 may comprise a battery (such as, but not limited to, a lithium battery), and the power supply mechanism 112 is allowed to replenish the stored power of the power supply mechanism 112 when consumed.
Further, the walking device 11 of the robot body 10 of the mobile robot of the present invention includes a controller 116, wherein the power supply mechanism 112 and each walking driving motor 113 are respectively connected to the controller 116, so that the controller 116 controls the power supply mechanism 112 to supply power to the walking driving motor 113. Preferably, the controller 116 is disposed to the chassis 1111 to be carried by the chassis 1111. Alternatively, the controller 116 is provided to the power supply mechanism 112, or the controller 116 and the power supply mechanism 112 are integrated.
It is to be noted that the type of the controller 116 is not limited in the mobile robot of the present invention as long as it has a calculation function and a control function. For example, the controller 116 may control the power supply mechanism 112 to supply power to each of the travel driving motors 13 according to the real-time state of the mobile robot so as to adjust the travel path of the mobile robot.
With continued reference to fig. 1A to 9, the carrying mechanism 111 comprises at least two supporting columns 1112, a lower carrying platform 1113 and an upper carrying platform 1114, wherein the lower end of each supporting column 1112 is disposed at the edge of the chassis 1111 and extends upwards from the edge of the chassis 1111 to a proper height position, the periphery of the lower carrying platform 1113 is disposed at the middle of each supporting column 1112 to support and hold the lower carrying platform 1113 at the upper part of the chassis 1111 by each supporting column 1112 and form a first accommodating space 11101 of the carrying mechanism 111 between the chassis 1111 and the lower carrying platform 1113, wherein the periphery of the upper carrying platform 1114 is disposed at the high end of each supporting column 1112 to support and hold the upper carrying platform 1114 at the upper part of the lower carrying platform 1113 by each supporting column 1112 and the lower carrying platform 1113 and the upper carrying platform 1113 1114 define a second receiving space 11102 for the carrying mechanism 111.
In other words, the bearing mechanism 111 has the first accommodation space 11101 and the second accommodation space 11102, wherein the first accommodation space 11101 is formed between the chassis 1111 and the lower bearing platform 1113 for accommodating the power supply mechanism 112 mounted to the chassis 1111, wherein the second accommodation space 11102 is formed between the lower bearing platform 1113 and the upper bearing platform 1114 for accommodating the controller 116 mounted to the lower bearing platform 1113. It is understood that other electrical units (such as, but not limited to, a fuse, a power manager, a communication module) of the walking device 11 can be carried on the lower carrying platform 1113 in such a way as to be accommodated in the second accommodating space 11102.
Alternatively, in other examples of the mobile robot of the present invention, the carrying mechanism 111 has only one carrying platform, and the carrying platform is disposed at the high end of each supporting column 1112 to form an accommodating space between the chassis 1111 and the carrying platform, wherein the power supply mechanism 112 and the controller 116 disposed on the chassis 1111 are respectively accommodated in the accommodating space of the carrying mechanism 111.
Specifically, in this specific example of the mobile robot shown in fig. 1A to 9, the carrying mechanism 111 of the mobile robot includes four supporting columns 1112, wherein a lower end of each supporting column 1112 is respectively disposed at each corner of the chassis 111, wherein each corner of the lower carrying platform 1113 is respectively disposed at a middle portion of each supporting column 1112, so as to hold the lower carrying platform 1113 at an upper portion of the chassis 1111 by each supporting column 1112 and form the first accommodating space 11101 between the chassis 1111 and the lower carrying platform 1113, wherein each corner of the upper carrying platform 1114 is respectively disposed at a higher end of each supporting column 1112, so as to hold the upper carrying platform 1114 at an upper portion of the lower carrying platform 1113 by each supporting column 1112 and form the second accommodating space 1113 between the lower carrying platform 1113 and the upper carrying platform 1114 by each supporting column 1112 And (3) a space 11102.
With continued reference to fig. 1A-9, the support mechanism 111 further includes a mounting post 1115 and a drive ring 1116, wherein the mounting post 1115 is disposed to extend upwardly from a central location of the upper support platform 1114 to form a free end 11150, and the drive ring 1116 is rotatably mounted to a central portion of the mounting post 1115.
It should be noted that the manner in which the mounting posts 1115 are disposed on the upper load-bearing platform 1114 is not limited in the mobile robot of the present invention, and for example, the mounting posts 1115 and the upper load-bearing platform 1114 may be integrally formed, or the mounting posts 1115 may be bolted to the upper load-bearing platform 1114, or the mounting posts 1115 may be welded to the upper load-bearing platform 1114.
It is noted that the manner in which the drive ring 1116 is rotatably mounted to the mounting post 1115 is not limited in the mobile robot of the present invention, and for example, the drive ring 1116 is rotatably mounted to the mounting post 1115 via a bearing.
The traveling device 11 further includes a pushing driving motor 117, wherein the pushing driving motor 117 is disposed on the upper bearing platform 1114, and the pushing driving motor 117 is electrically connected to the power supply mechanism 112, so that when the power supply mechanism 112 supplies power to the pushing driving motor 117, the pushing driving motor 117 can convert electric energy into kinetic energy. Preferably, the pushing material driving motor 117 is connected to the controller 116, so that the controller 116 controls the power supply mechanism 112 to supply power to the pushing material driving motor 117. The driving ring 1116 of the carrying mechanism 111 is drivingly connected to the pusher driving motor 117, and the connecting arm 1212 of the pusher wall 121 of the pusher device 12 extends to and is fixedly mounted to the driving ring 1116 of the carrying mechanism 111. When the power supply mechanism 112 supplies power to the pushing material driving motor 117, the pushing material driving motor 117 can drive the driving ring 1116 of the supporting mechanism 111 to rotate, so as to drive the annular wall main body 1211 of the pushing material wall 121 to rotate relative to the traveling device 11 in a manner of surrounding the periphery of the supporting mechanism 111.
The traveling device 11 further includes a driving belt 118, wherein two ends of the driving belt 118 are respectively sleeved on the output shaft of the pushing material driving motor 117 and the driving ring 1116 of the bearing mechanism 111, so that the driving ring 1116 is drivably connected to the pushing material driving motor 117. Alternatively, in other examples of the mobile robot of the present invention, the output shaft of the material pushing driving motor 117 is provided with a gear structure, and the driving ring 1116 is provided with a gear structure, so that the driving ring 1116 is drivably connected to the material pushing driving motor 117 in such a manner that the gear structure of the driving ring 1116 engages with the gear structure of the material pushing driving motor 117.
With continued reference to fig. 1A to 9, the pushing device 12 further includes at least two pulley mechanisms 122, wherein each of the pulley mechanisms 122 includes a mounting body 1221 and a pulley body 1222 rotatably mounted to the mounting body 1221, wherein the pulley mechanism 122 is held between the annular wall body 1211 of the pushing wall 121 and the bearing mechanism 111, and the pulley mechanism 122 is mounted to the bearing mechanism 111 through the mounting body 1221 in a manner that the pulley body 1222 abuts against the annular wall body 1211 of the pushing wall 121, so that each of the pulley mechanisms 122 can prevent the annular wall body 1211 from shaking when a force is applied to one side of the annular wall body 1211 of the pushing wall 121 during the pushing process of the mobile robot, thereby preventing the mobile robot from having the disadvantages of eccentricity and shaking, to ensure the reliability and stability of the mobile robot.
Preferably, the mounting body 1221 of each pulley mechanism 122 is respectively mounted at the lower end of each supporting column 1112 of the carrying mechanism 111, so that the pulley mechanism 122 can abut against the annular wall body 1211 at the lower end of the annular wall body 1211 of the pushing wall 121, so that each pulley mechanism 122 can prevent the annular wall body 1211 from shaking when a force is applied to one side of the annular wall body 1211 of the pushing wall 121 during pushing by the mobile robot.
Optionally, the mounting body 1221 of each pulley mechanism 122 is respectively mounted to the bottom plate 1111 of the carrying mechanism 111, such that the pulley mechanism 122 can abut against the annular wall body 1211 at the lower end of the annular wall body 1211 of the pushing wall 121, so that each pulley mechanism 122 can prevent the annular wall body 1211 from shaking when a force is applied to one side of the annular wall body 1211 of the pushing wall 121 during pushing by the mobile robot.
Preferably, the number of the pulley mechanisms 122 of the pushing device 12 is the same as the number of the supporting columns 1112 of the carrying mechanism 111, for example, in the specific example of the mobile robot shown in fig. 1A to 9, the number of the pulley mechanisms 122 of the pushing device 12 and the number of the supporting columns 1112 of the carrying mechanism 111 are four, and one pulley mechanism 122 is disposed at the lower end of each supporting column 1112.
With continued reference to fig. 1A to 9, the pushing device 12 further includes an annular rail 123, wherein the annular rail 123 is disposed on the annular wall body 1211 in such a manner that the annular rail 123 fits the inner wall of the annular wall body 1211 of the pushing wall 121, so that the annular rail 123 can enhance the strength of the annular wall body 1211 of the pushing wall 121 and prevent the annular wall body 1211 from being out of round. The pulley main body 1222 of each pulley mechanism 122 of the pushing device 12 abuts against the annular wall main body 1211 of the pushing wall 121 in a manner of being attached to the smooth surface of the annular rail 123, so that when the annular wall main body 1211 of the pushing wall 121 is driven to rotate relative to the bearing mechanism 111, the pulley main body 1222 of each pulley mechanism 122 can roll along the smooth surface of the annular rail 123, so that noise generated when the pulley mechanism 122 and the annular rail 123 rub against each other can be reduced, and the mobile robot is more silent.
With continued reference to fig. 1A to 9, the pusher wall 121 of the pusher 12 comprises at least two roller halves 1210, wherein each roller half 1210 comprises a roller wall 12101 and an extension arm 12102 extending at a high end of the roller wall 12101, wherein the roller walls 12101 of adjacent roller halves 1210 can be mounted to each other such that, after the roller halves 1210 are mounted, the roller wall 12101 of each roller half 1210 forms the annular wall body 1211 of the pusher wall 121 and the extension arm 12102 of each roller half 1210 forms the connecting arm 1212 of the pusher wall 121.
In particular, the pusher wall 121 comprises two roller halves 1210, wherein one roller half 1210 is defined as a first roller half 1210a and the other roller half 1210 is defined as a second roller half 1210b, wherein the first roller half 1210a and the second roller half 1210b comprise one roller wall 12101 and one extension arm 12102, respectively, wherein the roller wall 12101 of the first roller half 1210a and the roller wall 12101 of the second roller half 1210b are mounted to each other to form the annular wall body 1211, and the extension arm 12102 of the first roller half 1210a and the extension arm 12102 of the second roller half 1210b form the connecting arm 1212. Accordingly, the looped track 123 includes a first looped track 123a and a second looped track 123b, wherein the first looped track 123a is disposed on the drum wall 12101 of the first drum half 1210a, and the second looped track 123b is disposed on the drum wall 12101 of the second drum half 1210b, wherein the first looped track 123a and the second looped track 123b form the complete looped track 123 after the drum wall 12101 of the first drum half 1210a and the drum wall 12101 of the second drum half 1210b are mounted to each other to form the looped wall body 1211.
With continued reference to fig. 1A to 9, the robot body 10 of the mobile robot further includes a magnetic sensor 13, wherein the magnetic sensor 13 is disposed at a lower portion of the chassis 1111 of the carrying mechanism 111 of the traveling device 11, wherein the magnetic sensor 13 can communicate with a magnetic navigation path laid on an outer side of a cowshed for guiding the traveling device 13 of the mobile robot to travel along a route. It is understood that the marker 2000 may be disposed on a magnetic navigation path for communicating with the magnetic sensor 13 of the robot body 10 of the mobile robot, thereby allowing the mobile robot to recognize the position information of the marker 2000.
With continued reference to fig. 1A to 9, the robot body 10 of the mobile robot further includes a cover 14, the center of the cover 14 is mounted on the free end 11150 of the mounting post 1115 of the supporting mechanism 111, so that the cover 14 is supported by the supporting mechanism 111, and the peripheral edges of the cover 14 respectively extend outward to the periphery of the annular wall main body 1211 of the material pushing wall 1221 of the material pushing device 12, so that the cover 14 can prevent the upper opening of the annular wall main body 1211 from being exposed. The connecting end portion 21 of the bracket 20 is rotatably mounted to the cover 14, for example, the connecting end portion 21 of the bracket 20 is rotatably mounted to a middle portion of the cover 14. Preferably, the holding groove 100 of the robot body 10 is formed in the cover 14.
Further, the mounting post 1115 of the bearing mechanism 111 is a tubular mounting post, that is, the mounting post 1115 has a communication channel 11151 for communicating the second accommodating space 11102 of the bearing mechanism 111 with the space outside the upper bearing platform 1114, wherein the electric wire connected to the sensor 30 can extend from the space outside the upper bearing platform 1114 to the second accommodating space 11102 of the bearing mechanism 111 through the communication channel 11151 of the mounting post 1115.
With continued reference to fig. 1A to 9, the robot body 10 of the mobile robot further includes a charging port 15, wherein the charging port 15 is disposed on the cover 14, and wherein a wire electrically connected to the charging port 15 can extend from the outer space of the upper supporting platform 11141 to the second accommodating space 11102 of the supporting mechanism 111 through the communication channel 11151 of the mounting post 115.
According to another aspect of the present invention, there is further provided a sensor height adjusting method of a mobile robot, wherein the sensor height adjusting method includes the steps of:
(a) detecting a marker 2000 on a current working route of the mobile robot to identify position information of the marker 2000;
(b) determining the height of a reference object 1000 of the current working environment of the mobile robot according to the position information of the marker 2000; and
(c) the height position of the sensor 30 of the mobile robot is adjusted to allow the height of the sensor 30 to match the height of a reference object 1000.
Further, before the step (a), the height adjustment method of the sensor 30 further comprises the steps of:
(d) recording the height of each reference object 1000 of the working environment of the mobile robot; and
(e) the height of each reference object 1000 and the position information of the marker corresponding to the reference object 2000 are correlated.
In a preferred example of the sensor height adjusting method of the present invention, in the step (c), the connecting end portion 21 of the stand 20 of the mobile robot is allowed to rotate with respect to the robot body 10 of the mobile robot to adjust the height position of the sensor 30 provided to the free end portion 22 of the stand 20. In another preferred example of the sensor height adjusting method of the present invention, the support 20 is driven by the driver 40 to allow the connecting end portion 21 of the support 20 to make a rotation with respect to the robot body 10. In another preferred example of the sensor height adjusting method of the present invention, the support 20 is pushed by the pusher 50 at the middle of the support 20 to allow the connecting end 21 of the support 20 to make a rotation with respect to the robot body 10. In another preferred example of the sensor height adjusting method of the present invention, the holder 20 is allowed to be extended and contracted to adjust the height position of the sensor 30.
It will be appreciated by persons skilled in the art that the above embodiments are only examples, wherein features of different embodiments may be combined with each other to obtain embodiments which are easily conceivable in accordance with the disclosure of the invention, but which are not explicitly indicated in the drawings.
It will be appreciated by persons skilled in the art that the embodiments of the invention described above and shown in the drawings are given by way of example only and are not limiting of the invention. The objects of the invention have been fully and effectively accomplished. The functional and structural principles of the present invention have been shown and described in the examples, and any variations or modifications of the embodiments of the present invention may be made without departing from the principles.
Claims (20)
1. A mobile robot with adjustable sensor height, comprising:
a robot body;
a sensor; and
a bracket, wherein the bracket is mounted to the robot body, the sensor is mounted to the bracket, and the bracket is configured to adjust a position of the sensor relative to the robot body.
2. The mobile robot of claim 1 wherein the cradle has a connected end and a free end corresponding to the connected end, the connected end of the cradle being rotatably mounted to the top of the robot body, the sensor being mounted to the free end of the cradle.
3. The mobile robot of claim 2 wherein the cradle is a telescoping cradle.
4. The mobile robot of claim 2 further comprising a drive, wherein the drive is disposed at a top of the robot body, the attachment end of the cradle being drivably mounted to the drive such that the drive allows the attachment end of the cradle to be rotatably mounted at the top of the robot body.
5. The mobile robot of claim 2 further comprising a pusher having a mounting end and a pushing end corresponding to the mounting end, wherein the mounting end of the pusher is mounted at the top of the robot body and the pushing end of the pusher is mounted at the middle of the support.
6. The mobile robot of claim 2, wherein the robot body has a holding groove, the cradle being held in the holding groove of the robot body in such a manner as to hide the sensor between the cradle and the robot body.
7. The mobile robot of any of claims 1-6 wherein the robot body further comprises:
a traveling device, wherein the traveling device comprises a bearing mechanism, a power supply mechanism, two traveling driving motors, two driving wheels and a supporting wheel, wherein the bearing mechanism comprises a chassis, the power supply mechanism is arranged on the chassis, each traveling driving motor is respectively arranged at two sides of one end part of the chassis, each traveling driving motor is respectively electrically connected to the power supply mechanism, each driving wheel is respectively connected to each traveling driving motor in a driving way, and the supporting wheel is arranged at the middle part of the other end part of the bearing mechanism; and
the pushing device comprises a pushing wall, wherein the pushing wall comprises an annular wall main body and a connecting arm extending inwards from the high end of the annular wall main body, the connecting arm is connected to the bearing mechanism, and the annular wall main body surrounds the bearing mechanism in a rotatable mode.
8. The mobile robot of claim 7, wherein the support mechanism comprises at least two support posts, a support platform, a mounting post, and a drive ring, each support post extends upward from an edge of the chassis to a suitable height position, the support platform is disposed at a high end of each support post to form a receiving space between the chassis and the support platform for receiving the power supply mechanism, the mounting post extends upward from a center position of the support platform, the drive ring is rotatably mounted on the mounting post, and the connecting arm of the pusher wall extends to and is connected to the drive ring.
9. The mobile robot of claim 8 wherein the traveling device includes a pusher drive motor disposed on the support platform and electrically connected to the power mechanism, wherein the drive ring is drivably connected to the pusher drive motor.
10. The mobile robot as claimed in claim 9, wherein the traveling means includes a driving belt, both ends of which are respectively fitted over the output shaft of the material pushing driving motor and the driving ring of the bearing mechanism, so that the driving ring is drivably connected to the material pushing driving motor.
11. The mobile robot of claim 7 wherein the pushing device comprises at least two pulley mechanisms, each of the pulley mechanisms comprising a mounting body and a pulley body rotatably mounted to the mounting body, wherein each of the sliding mechanisms is mounted to the carrier mechanism with the pulley body facing outward and against an inner side of the annular wall body of the pusher wall.
12. The mobile robot of claim 8 wherein the pushing device comprises at least two pulley mechanisms, each of the pulley mechanisms comprising a mounting body and a pulley body rotatably mounted to the mounting body, wherein each of the sliding mechanisms is mounted to the carrier mechanism with the pulley body facing outward and against an inner side of the annular wall body of the pusher wall.
13. The mobile robot of claim 12 wherein the mounting body of the pulley mechanism is mounted to the chassis; or wherein the mounting body of the pulley mechanism is mounted to the support post.
14. The mobile robot of claim 7 wherein the robot body further comprises a cover mounted to the carrier and having a peripheral edge extending outwardly to a diameter greater than a diameter of the annular wall body of the pusher wall, wherein the bracket is mounted to the cover.
15. A sensor height adjusting method of a mobile robot, comprising the steps of:
(a) detecting a marker on a current working route of a mobile robot to identify position information of the marker;
(b) determining the height of a reference object of the current working environment of the mobile robot according to the position information of the marker; and
(c) adjusting a height position of a sensor of the mobile robot to allow the height of the sensor to match a height of a reference.
16. The sensor height adjustment method of claim 15, wherein prior to the step (a), the sensor height adjustment method further comprises the steps of:
(d) recording the height of each reference object of the working environment of the mobile robot; and
(e) the height of each reference object is correlated with the position information of the marker corresponding to the reference object.
17. The sensor height adjusting method according to claim 15 or 16, wherein in the step (c), the connecting end portion of a stand of the mobile robot is allowed to rotate with respect to a robot body of the mobile robot to adjust the height position of the sensor provided to the free end portion of the stand.
18. The sensor height adjustment method of claim 17, wherein in the above method, the bracket is driven by a driver to allow the connection end of the bracket to make a rotation with respect to the robot body.
19. The sensor height adjustment method of claim 17, wherein in the method, the bracket is pushed at a middle portion of the bracket by a pusher to allow the connection end portion of the bracket to make a rotation with respect to the robot body.
20. The sensor height adjustment method of claim 17, wherein in the above method, the bracket is allowed to telescope to adjust the height position of the sensor.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010641938.7A CN112859832A (en) | 2020-07-06 | 2020-07-06 | Mobile robot with height-adjustable sensor and method for adjusting height of sensor |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010641938.7A CN112859832A (en) | 2020-07-06 | 2020-07-06 | Mobile robot with height-adjustable sensor and method for adjusting height of sensor |
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| CN112859832A true CN112859832A (en) | 2021-05-28 |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US20220144609A1 (en) * | 2020-11-06 | 2022-05-12 | Kabushiki Kaisha Toshiba | Autonomous mobile robot, transporter, autonomous mobile robot control method, and transporter control method |
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- 2020-07-06 CN CN202010641938.7A patent/CN112859832A/en active Pending
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US20220144609A1 (en) * | 2020-11-06 | 2022-05-12 | Kabushiki Kaisha Toshiba | Autonomous mobile robot, transporter, autonomous mobile robot control method, and transporter control method |
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