CN204188805U - Structure is investigated and broken in a kind of mobile robot's sense - Google Patents
Structure is investigated and broken in a kind of mobile robot's sense Download PDFInfo
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- CN204188805U CN204188805U CN201420576344.2U CN201420576344U CN204188805U CN 204188805 U CN204188805 U CN 204188805U CN 201420576344 U CN201420576344 U CN 201420576344U CN 204188805 U CN204188805 U CN 204188805U
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Abstract
The utility model discloses a kind of mobile robot sense and investigate and break structure, comprise base, the bottom of described base is provided with multiple infrared sensor, described infrared sensor is equal angular to be distributed on a horizontal circular arc, angle between adjacent infrared sensor and its center of circle is 5 ~ 30 degree, the top of described base is provided with multiple ultrasound wave sensor, described ultrasound wave sensor is equal angular to be distributed on another horizontal circular arc, and the angle between adjacent ultrasonic ripple sensor and its center of circle is 10 ~ 45 degree.The mode combined by ultrasound wave and infrared ray carries out distance measuring, combines both advantages, and the mode adopting many groups to combine is arranged, make measurement accuracy higher, wider, be conducive to robot and carry out data acquisition, thus judge fast and respond.
Description
Technical field
Structure is investigated and broken in the sense that the utility model relates to a kind of mobile robot.
Background technology
Robot can run into barrier unavoidably in advancing, and causes damage in order to avoid colliding with barrier, and robot must possess obstruction detection and the ability of barrier of dodging, thus derives range finding and the demand of keeping away barrier.The response speed of future robot will certainly be more and more faster, thus one comprehensively and feel the system of detecing accurately and be very important.
In existing distance-finding method, some is contact distance measuring, by arranging contact sensor in robot, such as whisker type touching switch judges whether to touch barrier, some is contactless distance measuring, such as use ultrasound wave, infrared ray etc., but ultrasound wave is comparatively applicable to remote measurement, infrared ray is applicable to measurement closely, these single distance-finding methods respectively have quality, the needs of induction fast cannot be met, be unfavorable for quick judgement and the action of robot, robot is made often to need repeatedly just to find correct path to move many times.
Utility model content
In order to the robot sense overcoming prior art, to detect system distance measuring mode reasonable not, is unfavorable for judging fast and the deficiency of action, and the utility model provides that a kind of reconnaissance range is wide, structure is investigated and broken in the comprehensive mobile robot's sense of detecting data.
The utility model solves the technical scheme that its technical matters adopts:
Structure is investigated and broken in a kind of mobile robot's sense, comprise base, the bottom of described base is provided with multiple infrared sensor, described infrared sensor is equal angular to be distributed on a horizontal circular arc, the angle between the center of circle of adjacent infrared sensor and this horizontal circular arc being is 5 ~ 30 degree, the top of described base is provided with multiple ultrasound wave sensor, described ultrasound wave sensor is equal angular to be distributed on another horizontal circular arc, and the angle between the center of circle of adjacent ultrasonic ripple sensor horizontal circular arc corresponding to this being is 10 ~ 45 degree.
Described infrared sensor comprises long infrared sensor and short infrared ray sensor.
Described long infrared sensor is arranged on before mobile robot's direct of travel, and short infrared ray sensor is arranged on both sides.
The longest measurement distance of described long infrared sensor is 1000mm, and the longest measurement distance of described short infrared ray sensor is 254mm.
Described infrared sensor is equal angular to be distributed on a horizontal semi-circular arc, and wherein said long infrared sensor is provided with 12 groups, and described short infrared ray sensor is provided with 2 groups.
Described ultrasound wave sensor is reflecting type ultrasonic sensor.
The longest measurement distance of described ultrasound wave sensor is 507mm.
Described ultrasound wave sensor is equal angular to be distributed on a horizontal semi-circular arc, and described ultrasound wave sensor is provided with 12.
The beneficial effects of the utility model are: the mode combined by ultrasound wave and infrared ray carries out distance measuring, combine both advantages, and the mode adopting many groups to combine is arranged, make measurement accuracy higher, wider, be conducive to robot and carry out data acquisition, thus judge fast and respond.
Accompanying drawing explanation
Below in conjunction with drawings and Examples, the utility model is further illustrated.
Fig. 1 is structural representation of the present utility model;
Fig. 2 is the distribution schematic diagram of infrared sensor or ultrasound wave sensor.
Embodiment
See figures.1.and.2, structure is investigated and broken in a kind of mobile robot's sense of the present utility model, this mobile robot is mainly Indoor Robot, comprise base 1, the bottom of described base 1 is provided with multiple infrared sensor 2, and described infrared sensor 2 is equal angular to be distributed on a horizontal semi-circular arc, and the angle between adjacent infrared sensor 2 and its center of circle is 5 ~ 30 degree, in this embodiment, described infrared sensor 2 comprises long infrared sensor 21 and short infrared ray sensor 22.Wherein said long infrared sensor 21 is provided with 12 groups, and described short infrared ray sensor 22 is provided with 2 groups.Described long infrared sensor 21 is arranged on before mobile robot's direct of travel, or be referred to as front, short infrared ray sensor 22 is arranged on both sides, this set is conducive to the effect giving full play to infrared sensor, and the short infrared ray sensor of side can prevent the side of robot and barrier from colliding simultaneously.Described long infrared sensor 21 model is Sharp GP2Y0A02YK, and the longest measurement distance is 1000mm, and described short infrared ray sensor 22 model is Sharp GP2D120, and the longest measurement distance is 254mm.
The top of described base 1 is provided with 12 ultrasound wave sensors 3, and described ultrasound wave sensor 3 is equal angular to be distributed on another horizontal semi-circular arc, and the angle between adjacent ultrasonic ripple sensor 3 and its center of circle is 10 ~ 45 degree.Described ultrasound wave sensor 3 for model be the reflecting type ultrasonic sensor of Devantech SRF05.The longest measurement distance of described ultrasound wave sensor 3 is 507mm.
What finally illustrate is, above embodiment is only in order to illustrate technical scheme of the present invention but not to be limited, although with reference to preferred embodiment to invention has been detailed description, but those of ordinary skill in the art is to be understood that, can modify to technical scheme of the present invention or equivalent replacement, and not departing from aim and the scope of the technical program, it all should be encompassed in right of the present invention.
Claims (8)
1. structure is investigated and broken in mobile robot's sense, comprise base (1), it is characterized in that: the bottom of described base (1) is provided with multiple infrared sensor (2), described infrared sensor (2) is equal angular to be distributed on a horizontal circular arc, angle between adjacent infrared sensor (2) and its center of circle is 5 ~ 30 degree, the top of described base (1) is provided with multiple ultrasound wave sensor (3), described ultrasound wave sensor (3) is equal angular to be distributed on another horizontal circular arc, angle between adjacent ultrasonic ripple sensor (3) and its center of circle is 10 ~ 45 degree.
2. structure is investigated and broken in a kind of mobile robot's sense according to claim 1, it is characterized in that: described infrared sensor (2) comprises long infrared sensor (21) and short infrared ray sensor (22).
3. structure is investigated and broken in a kind of mobile robot's sense according to claim 2, it is characterized in that: described long infrared sensor (21) is arranged on before mobile robot's direct of travel, and short infrared ray sensor (22) is arranged on both sides.
4. structure is investigated and broken in a kind of mobile robot's sense according to Claims 2 or 3, it is characterized in that: the longest measurement distance of described long infrared sensor (21) is 1000mm, the longest measurement distance of described short infrared ray sensor (22) is 254mm.
5. structure is investigated and broken in a kind of mobile robot's sense according to Claims 2 or 3, it is characterized in that: described infrared sensor (2) is equal angular to be distributed on a horizontal semi-circular arc, wherein said long infrared sensor (21) is provided with 12 groups, and described short infrared ray sensor (22) is provided with 2 groups.
6. structure is investigated and broken in a kind of mobile robot's sense according to claim 1, it is characterized in that: described ultrasound wave sensor (3) is reflecting type ultrasonic sensor.
7. structure is investigated and broken in a kind of mobile robot's sense according to claim 1, it is characterized in that: the longest measurement distance of described ultrasound wave sensor (3) is 507mm.
8. structure is investigated and broken in a kind of mobile robot's sense according to claim 1, it is characterized in that: described ultrasound wave sensor (3) is equal angular to be distributed on a horizontal semi-circular arc, and described ultrasound wave sensor (3) is provided with 12.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201420576344.2U CN204188805U (en) | 2014-09-29 | 2014-09-29 | Structure is investigated and broken in a kind of mobile robot's sense |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201420576344.2U CN204188805U (en) | 2014-09-29 | 2014-09-29 | Structure is investigated and broken in a kind of mobile robot's sense |
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| CN204188805U true CN204188805U (en) | 2015-03-04 |
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| CN201420576344.2U Active CN204188805U (en) | 2014-09-29 | 2014-09-29 | Structure is investigated and broken in a kind of mobile robot's sense |
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Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106291565A (en) * | 2016-07-20 | 2017-01-04 | 中国科学院深圳先进技术研究院 | Supersonic array device and ultrasound data processing method for robot obstacle-avoiding |
| CN106933230A (en) * | 2017-04-11 | 2017-07-07 | 江苏东方金钰智能机器人有限公司 | A kind of control method for robotic tracking and the ultrasonic transducer system of avoidance |
| CN109343441A (en) * | 2018-12-04 | 2019-02-15 | 兰州理工大学 | A kind of henhouse safety monitoring and dead chicken pick up integral system |
-
2014
- 2014-09-29 CN CN201420576344.2U patent/CN204188805U/en active Active
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106291565A (en) * | 2016-07-20 | 2017-01-04 | 中国科学院深圳先进技术研究院 | Supersonic array device and ultrasound data processing method for robot obstacle-avoiding |
| CN106933230A (en) * | 2017-04-11 | 2017-07-07 | 江苏东方金钰智能机器人有限公司 | A kind of control method for robotic tracking and the ultrasonic transducer system of avoidance |
| CN106933230B (en) * | 2017-04-11 | 2019-09-10 | 江苏东方金钰智能机器人有限公司 | Control method for robotic tracking and the ultrasonic transducer system of avoidance |
| CN109343441A (en) * | 2018-12-04 | 2019-02-15 | 兰州理工大学 | A kind of henhouse safety monitoring and dead chicken pick up integral system |
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