CN202939487U - Omnidirectional ultrasonic barrier-avoiding apparatus of mobile robot - Google Patents
Omnidirectional ultrasonic barrier-avoiding apparatus of mobile robot Download PDFInfo
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- CN202939487U CN202939487U CN 201220691304 CN201220691304U CN202939487U CN 202939487 U CN202939487 U CN 202939487U CN 201220691304 CN201220691304 CN 201220691304 CN 201220691304 U CN201220691304 U CN 201220691304U CN 202939487 U CN202939487 U CN 202939487U
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- mobile robot
- ultrasonic sensor
- support
- steering engine
- barrier
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- 230000004888 barrier function Effects 0.000 abstract description 10
- 238000001514 detection method Methods 0.000 abstract description 4
- 230000005672 electromagnetic field Effects 0.000 abstract description 2
- 230000000694 effects Effects 0.000 abstract 1
- 230000000149 penetrating effect Effects 0.000 abstract 1
- 230000035945 sensitivity Effects 0.000 abstract 1
- 238000005516 engineering process Methods 0.000 description 2
- 238000005259 measurement Methods 0.000 description 2
- 206010049669 Dyscalculia Diseases 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000007812 deficiency Effects 0.000 description 1
- 238000005265 energy consumption Methods 0.000 description 1
- 230000007613 environmental effect Effects 0.000 description 1
- 238000000034 method Methods 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 230000035515 penetration Effects 0.000 description 1
- 230000002093 peripheral effect Effects 0.000 description 1
- 239000000523 sample Substances 0.000 description 1
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- Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
Abstract
The utility model discloses an omnidirectional ultrasonic barrier-avoiding apparatus of a mobile robot and the barrier-avoiding apparatus comprises an ultrasonic sensor, a steering engine, a support and a central data-processing module, wherein the ultrasonic sensor is fixed on the support, the support is fixed on an output shaft of the steering engine of the mobile robot, and the central data-processing module is fixed on the mobile robot and is respectively communicated with the ultrasonic sensor and the steering engine. The ultrasonic sensor is adopted to be a positioning and measuring device of a barrier and has the advantages of high measuring sensitivity, strong penetrating capability and large measuring angle. The ultrasonic sensor isn't affected by external environment influence of sunlight and electromagnetic fields and is suitable for outdoor use. The steering engine is adopted to realize omnidirectional detection of the ultrasonic sensor and has the advantages of small size, light weight and easy control. The steering engine is very suitable for the mobile robot. The apparatus provided by the utility model has the advantages of simple structure, powerful function, stable and reliable operation, and excellent use effect.
Description
Technical field
The utility model relates to automatic control technology field, particularly a kind of mobile robot's all-directional ultrasonic obstacle avoidance apparatus.
Background technology
The mobile robot is by various sensing system sensing external environments and oneself state, autonomous and complete corresponding task in the known or circumstances not known of complexity.Therefore, obstacle avoidance apparatus becomes the indispensable equipment of mobile robot.No. 201120168445 patent of State Intellectual Property Office discloses a kind of five orientation infrared obstacle avoidance apparatus for the patrol robot dolly, can realize the multi-faceted obstacle detection of robot, but there are shortcomings and deficiencies in itself, the infrared sensor that uses in device on the one hand is vulnerable to the impact of environmental factor, such as there is measured deviation in actual use in sunshine; Although device can detect five positions on the other hand, has also used five sensors, and the barrier after car body can't have been detected, keeps away in the barrier process and may bump.
The utility model content
For addressing the above problem; the utility model provides a kind of mobile robot's all-directional ultrasonic obstacle avoidance apparatus; existence and the distance of the barrier around can comprehensive detection mobile robot, robot can accomplish that non-blind area detects, and guarantees robot security's reliability service.
To achieve these goals, the utility model adopts following technical scheme.
A kind of mobile robot's all-directional ultrasonic obstacle avoidance apparatus comprises ultrasonic sensor, steering wheel, support and central data processing module; Described ultrasonic sensor is fixed on support, and support is fixed on mobile robot's the output shaft of steering wheel, and the central data processing module is fixed on the mobile robot, and communicates by letter with ultrasonic sensor, steering wheel respectively.
Described ultrasonic sensor is used for hyperacoustic emission, and the situation of barrier is being arranged, and receives the ultrasonic signal that returns, and signal is converted into simulating signal.
Described steering wheel is used for being born with the support of ultrasonic sensor, and drives support and ultrasonic sensor rotation.
Support is used for mounting ultrasonic sensor, and is fixed on the steering wheel output shaft.
The central data processing module is used for gathering the ultrasonic sensor signal and controls steering wheel, calculates position and the distance of mobile robot's peripheral obstacle.
Described ultrasonic sensor is at least one, can select voluntarily number of probes according to mobile robot's movement velocity.
Described ultrasonic sensor is positioned at the mobile robot top, and is unobstructed during the assurance device operation.
The utility model adopts ultrasonic sensor as location and the measuring element of barrier, and it has, and measurement is highly sensitive, and penetration capacity is strong, takes measurement of an angle large, and is not subjected to the impact of the external environments such as sunshine, electromagnetic field, is more suitable in outdoor application.
The utility model adopts steering wheel to realize the comprehensive detection of ultrasonic sensor, and it is little, lightweight that steering wheel has a volume, is easy to the advantages such as controls, is highly suitable for the upper application of mobile robot.
Central data processing module in the utility model can adopt single-chip microcomputer as processor, and it is low in energy consumption, and operating temperature range is wide, can be at steady operation under inclement weather conditions.
The beneficial effects of the utility model are that simple in structure, powerful, stable and reliable operation has good result of use.
Description of drawings
Fig. 1 is the utility model structural representation.
Wherein, 1, mobile robot; 2, ultrasonic sensor; 3, steering wheel; 4, support; 5, single-chip microcomputer.
Embodiment
The utility model is described in further detail below in conjunction with accompanying drawing and embodiment.
The present embodiment is by ultrasonic sensor 2, steering wheel 3, and support 4 and single-chip microcomputer 5 consist of, and are used for the safety of mobile robot 1 when executing the task and keep away barrier.
The obstacle avoidance apparatus of the present embodiment is installed at mobile robot 1 top, is guaranteed that ultrasonic sensor 2 is to carry out 360 degree rotary unobstructed.
Can carry out timely the obstacle information collection in order to adapt to mobile robot 1 when the high-speed cruising, mounting ultrasonic sensor 2 on support 4, suitably reduce the rotational speed of steering wheel 3 by single-chip microcomputer 5, make image data more accurate.
When mobile robot's 1 operation, start the obstacle avoidance apparatus of the present embodiment, ultrasonic sensor 2 is under the drive of steering wheel 3 and support 4, and beginning detects in the scope of 360 degree.When running into barrier in the barrier time-histories being detected, ultrasonic sensor 2 can receive the ultrasonic signal that returns, and ultrasonic signal is converted into simulating signal passes to single-chip microcomputer 5, single-chip microcomputer 5 is according to position and the distance of the simulating signal dyscalculia thing that receives, mobile robot 1 selects suitable route operation, reaches the purpose of keeping away barrier.
Although above-mentionedly by reference to the accompanying drawings embodiment of the present utility model is described; but be not the restriction to the utility model protection domain; one of ordinary skill in the art should be understood that; on the basis of the technical solution of the utility model, those skilled in the art do not need to pay various modifications that creative work can make or distortion still in protection domain of the present utility model.
Claims (4)
1. mobile robot's all-directional ultrasonic obstacle avoidance apparatus, is characterized in that, comprises ultrasonic sensor, steering wheel, support and central data processing module; Described ultrasonic sensor is fixed on support, and support is fixed on mobile robot's the output shaft of steering wheel, and the central data processing module is fixed on the mobile robot, and communicates by letter with ultrasonic sensor, steering wheel respectively.
2. mobile robot's all-directional ultrasonic obstacle avoidance apparatus as claimed in claim 1, is characterized in that, described ultrasonic sensor is at least one.
3. mobile robot's all-directional ultrasonic obstacle avoidance apparatus as claimed in claim 1, is characterized in that, described ultrasonic sensor is positioned at the mobile robot top.
4. mobile robot's all-directional ultrasonic obstacle avoidance apparatus as claimed in claim 1, is characterized in that, described central data processing module is single-chip microcomputer.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN 201220691304 CN202939487U (en) | 2012-12-14 | 2012-12-14 | Omnidirectional ultrasonic barrier-avoiding apparatus of mobile robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN 201220691304 CN202939487U (en) | 2012-12-14 | 2012-12-14 | Omnidirectional ultrasonic barrier-avoiding apparatus of mobile robot |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN202939487U true CN202939487U (en) | 2013-05-15 |
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN 201220691304 Expired - Lifetime CN202939487U (en) | 2012-12-14 | 2012-12-14 | Omnidirectional ultrasonic barrier-avoiding apparatus of mobile robot |
Country Status (1)
| Country | Link |
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| CN (1) | CN202939487U (en) |
Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104260092A (en) * | 2014-07-08 | 2015-01-07 | 大连理工大学 | Automatic tracking robot control device and automatic tracking robot |
| CN104535023A (en) * | 2015-01-27 | 2015-04-22 | 北京理工大学 | Intelligent vehicle for pipeline detection |
| CN105652861A (en) * | 2014-10-17 | 2016-06-08 | 北京建筑大学 | Mobile robot seat control method |
| CN105892325A (en) * | 2014-10-17 | 2016-08-24 | 北京建筑大学 | Mobile robot seat control device |
| CN108318390A (en) * | 2018-02-02 | 2018-07-24 | 刘砚涛 | A kind of food production unit occupational health periodic detection equipment |
| CN109901571A (en) * | 2017-12-10 | 2019-06-18 | 湘潭宏远电子科技有限公司 | A kind of robotically-driven mode conversion device |
-
2012
- 2012-12-14 CN CN 201220691304 patent/CN202939487U/en not_active Expired - Lifetime
Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104260092A (en) * | 2014-07-08 | 2015-01-07 | 大连理工大学 | Automatic tracking robot control device and automatic tracking robot |
| CN105652861A (en) * | 2014-10-17 | 2016-06-08 | 北京建筑大学 | Mobile robot seat control method |
| CN105892325A (en) * | 2014-10-17 | 2016-08-24 | 北京建筑大学 | Mobile robot seat control device |
| CN104535023A (en) * | 2015-01-27 | 2015-04-22 | 北京理工大学 | Intelligent vehicle for pipeline detection |
| CN109901571A (en) * | 2017-12-10 | 2019-06-18 | 湘潭宏远电子科技有限公司 | A kind of robotically-driven mode conversion device |
| CN108318390A (en) * | 2018-02-02 | 2018-07-24 | 刘砚涛 | A kind of food production unit occupational health periodic detection equipment |
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant | ||
| CP01 | Change in the name or title of a patent holder | ||
| CP01 | Change in the name or title of a patent holder |
Address after: 250002, No. 1, South Second Ring Road, Shizhong District, Shandong, Ji'nan Co-patentee after: STATE GRID CORPORATION OF CHINA Patentee after: ELECTRIC POWER RESEARCH INSTITUTE OF STATE GRID SHANDONG ELECTRIC POWER Co. Address before: 250002, No. 1, South Second Ring Road, Shizhong District, Shandong, Ji'nan Co-patentee before: State Grid Corporation of China Patentee before: ELECTRIC POWER RESEARCH INSTITUTE OF SHANDONG ELECTRIC POWER Corp. |
|
| EE01 | Entry into force of recordation of patent licensing contract | ||
| EE01 | Entry into force of recordation of patent licensing contract |
Assignee: National Network Intelligent Technology Co.,Ltd. Assignor: ELECTRIC POWER RESEARCH INSTITUTE OF STATE GRID SHANDONG ELECTRIC POWER Co. Contract record no.: X2019370000006 Denomination of utility model: Omnidirectional ultrasonic barrier-avoiding apparatus of mobile robot Granted publication date: 20130515 License type: Exclusive License Record date: 20191014 |
|
| TR01 | Transfer of patent right | ||
| TR01 | Transfer of patent right |
Effective date of registration: 20201027 Address after: 250101 Electric Power Intelligent Robot Production Project 101 in Jinan City, Shandong Province, South of Feiyue Avenue and East of No. 26 Road (ICT Industrial Park) Patentee after: National Network Intelligent Technology Co.,Ltd. Address before: 250002, No. 1, South Second Ring Road, Shizhong District, Shandong, Ji'nan Patentee before: ELECTRIC POWER RESEARCH INSTITUTE OF STATE GRID SHANDONG ELECTRIC POWER Co. Patentee before: STATE GRID CORPORATION OF CHINA |
|
| EC01 | Cancellation of recordation of patent licensing contract | ||
| EC01 | Cancellation of recordation of patent licensing contract |
Assignee: National Network Intelligent Technology Co.,Ltd. Assignor: ELECTRIC POWER RESEARCH INSTITUTE OF STATE GRID SHANDONG ELECTRIC POWER Co. Contract record no.: X2019370000006 Date of cancellation: 20210324 |
|
| CX01 | Expiry of patent term | ||
| CX01 | Expiry of patent term |
Granted publication date: 20130515 |