CN205537582U - Tyre wear self system of robot - Google Patents
Tyre wear self system of robot Download PDFInfo
- Publication number
- CN205537582U CN205537582U CN201620370907.1U CN201620370907U CN205537582U CN 205537582 U CN205537582 U CN 205537582U CN 201620370907 U CN201620370907 U CN 201620370907U CN 205537582 U CN205537582 U CN 205537582U
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- robot
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- tire
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- travel distance
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Abstract
The utility model discloses a ware people tyre wear self system, through the survey to the robot travel distance, the monitoring of tire diameter is taken turns in the revolution of robot action wheel and action, and the current running state of robot is acquireed to real -time accuracy, acquires the actual operating rate of robot, the accurate running state who commands the robot of being convenient for according to the actual diameter monitoring of tire. And when tyre wear volume surpassed error range value, alarm device started, reminded the monitoring personnel should replacement tire, ensured the normal operating of robot, and then ensured that the robot can navigate back in suitable position automation and charge.
Description
Technical field
This utility model belongs to robot field, is specifically related to tire wear self-correcting system of one robot
System.
Background technology
Robot is in long walking process, and the road wheel bottom it is usually rubber tyre, by
In for a long time with ground phase mutual friction, rubber tyre always has certain abrasion, affects robot
Operating rate.And while the tire effect robot operating rate after wearing and tearing, also affect monitoring personnel
Monitoring for robot operating rate.
Utility model content
The purpose of this utility model is to provide a kind of device people's tire wear self correcting system, it is possible to the stage
Property ground tire is detected, properly functioning to guarantee robot, simultaneously guarantee monitoring robot fortune
The accuracy of scanning frequency rate, it is simple to accurately determine robot make a return voyage charging position.
In order to achieve the above object, concrete technical scheme of the present utility model is as follows:
A kind of robot tire wear self correcting system, it is characterised in that including: tire wear amount is examined
Surveying device and robot, described robot is provided with driving means, provides power for described driving means
Accumulator, road wheel, the mileage counting device of metering robot range ability, the revolution of road wheel
Metering device, alarm device and master control set；Described driving means is connected with described road wheel；
Described master control set and described driving means, mileage counting device, revolution metering device, warning
Device is connected, and described master control set includes:
Counting module, obtains the robot of described mileage counting device metering from a upper original position row
Walk the actual travel distance to current location；Obtain the machine of the revolution metering device metering of described road wheel
Device people runs to the actual revolution of current location from a upper original position；
Operating rate monitoring modular, receives described actual travel distance and described actual revolution, it is thus achieved that machine
The operating rate of device people；
Memory module, the rated revolution that storage line driving wheel is required in default travel distance；Receive institute
State actual travel distance information and actual revolution；By described actual travel distance and described default walking
Distance comparison, after reaching default travel distance, by described actual revolution and described rated revolution comparison,
When actual revolution is more than rated revolution, determine that the tire of road wheel is impaired, send activation bit to institute
State driving means, drive described road wheel band mobile robot to enter detection region and detect；
Described tire wear amount detecting device, takes turns upper tire to the robotic movement entering detection region
Diameter measures, when measuring the current diameter of tire less than green diameter, when reduction amount is in default mistake
In the range of difference, the actual diameter numerical value of record tire, and obtain machine according to the monitoring of actual diameter numerical value
The actual motion speed of people；When the reduction amount detecting the current diameter of tire exceeds and presets range of error,
Send enabling signal to described alarm device.
The robot tire wear self-calibration system that this utility model provides, by robot ambulation distance
Mensuration, the revolution of robotic movement's wheel and the monitoring of road wheel diameter of tyres, obtain in real time accurately
The current operating conditions of robot, monitors according to the actual diameter of tire and obtains the operation that robot is actual
Speed, it is simple to accurately control the running status of robot.And when tire wear amount is beyond error range value
Time, warning devices starts, and reminds the monitoring personnel should re-type, it is ensured that robot properly functioning,
And then guarantee that robot can make a return voyage charging the most automatically.
Further, described driving means is servomotor.
Further, also include that the filming apparatus shooting 3-D view and the laser carrying out two-dimensional scan are swept
Imaging apparatus；
Described memory module, the 3 D stereo map in storage robot ambulation path；Receive described counting
According to described travel distance, the travel distance of module metering, determines that robot is currently at described 3 D stereo
Regional location in map；Obtain 3-D view and the described laser scanning dress of the shooting of described filming apparatus
Put the two-dimensional coordinate data of scanning, by its respectively with described 3 D stereo map comparison, precision positioning machine
The current location of device people；
Mileage counting device, obtains the two-dimensional coordinate data of the current exact position of robot, measures machine
People runs to the actual travel distance of current exact position from a upper original position.
Further, described filming apparatus is binocular solid camera.
Further, described laser scanning device is laser scanner, the scanning of described laser scanner
Angle is 190 ° to the maximum, and scanning accuracy is ± 15mm, and the ultimate range of scanning is 80 meters.
Further, described mileage counting device is code-disc.
Further, described robot also includes head, described filming apparatus, laser scanning device with
And alarm device is each provided at described head.
Further, described alarm device is alarm lamp or emergency alarm bell.
Accompanying drawing explanation
A kind of robot anti-collision control system structure chart that Fig. 1 provides for this utility model；
1. robot, 2. head, 3. road wheel, 4. driving means, 5. accumulator, 6. mileage counting device,
7. revolution metering device, 8. alarm device, 9. filming apparatus, 10. laser scanning device, 11. master control sets,
11-1. counting module, 11-2. operating rate monitoring modular, 11-3. memory module；12. tire wear amount detections
Device.
Detailed description of the invention
Below in conjunction with the accompanying drawings embodiment of the present utility model is illustrated.
As it is shown in figure 1, a kind of robot tire wear self correcting system, including: tire wear amount is examined
Surveying device and robot, described robot is provided with driving means, provides power for described driving means
Accumulator, road wheel, the mileage counting device of metering robot range ability, the revolution of road wheel
Metering device, alarm device and master control set；Described driving means is connected with described road wheel；
Described master control set and described driving means, mileage counting device, revolution metering device, warning
Device is connected, and described master control set includes:
Counting module, obtains the robot of described mileage counting device metering from a upper original position row
Walk the actual travel distance to current location；Obtain the machine of the revolution metering device metering of described road wheel
Device people runs to the actual revolution of current location from a upper original position；
Operating rate monitoring modular, receives described actual travel distance and described actual revolution, it is thus achieved that machine
The operating rate of device people；
Memory module, the rated revolution that storage line driving wheel is required in default travel distance；Receive institute
State actual travel distance information and actual revolution；By described actual travel distance and described default walking
Distance comparison, after reaching default travel distance, by described actual revolution and described rated revolution comparison,
When actual revolution is more than rated revolution, determine that the tire of road wheel is impaired, send activation bit to institute
State driving means, drive described road wheel band mobile robot to enter detection region and detect；
Described tire wear amount detecting device, takes turns upper tire to the robotic movement entering detection region
Diameter measures, when measuring the current diameter of tire less than green diameter, when reduction amount is in default mistake
In the range of difference, the actual diameter numerical value of record tire, and obtain machine according to the monitoring of actual diameter numerical value
The actual motion speed of people；When the reduction amount detecting the current diameter of tire exceeds and presets range of error,
Send enabling signal to described alarm device.
Driving means therein is preferably servomotor.Servomotor can make control speed, positional precision
Very accurate, voltage signal can be converted into torque and rotating speed to drive control object.Servomotor
Rotor speed is by input signal control, and energy fast reaction, in automatic control system, is used as to perform
Element, and there is the characteristics such as electromechanical time constant is little, the linearity is high, pickup voltage, can be being received
The angular displacement that is converted on motor reel of the signal of telecommunication or angular velocity output.
In order to accurately determine the current location of robot, it is judged that whether the travel distance of robot reaches pre-
If travel distance, the most also include shooting the filming apparatus of 3-D view and carrying out the laser of two-dimensional scan
Scanning means；
Described memory module, the 3 D stereo map in storage robot ambulation path；Receive described counting
According to described travel distance, the travel distance of module metering, determines that robot is currently at described 3 D stereo
Regional location in map；Obtain 3-D view and the described laser scanning dress of the shooting of described filming apparatus
Put the two-dimensional coordinate data of scanning, by its respectively with described 3 D stereo map comparison, precision positioning machine
The current location of device people；
Mileage counting device, obtains the two-dimensional coordinate data of the current exact position of robot, measures machine
People runs to the actual travel distance of current exact position from a upper original position.
Preferably filming apparatus is binocular solid camera.Laser scanning device is laser scanner, described sharp
The scanning angle of photoscanner is 190 ° to the maximum, and scanning accuracy is ± 15mm, and the ultimate range of scanning is
80 meters.
Preferably mileage counting device is code-disc (encoding disk), is also speedometer, measures angular displacement
Digital encoder.It has that resolution capability is strong, certainty of measurement is high and the advantage such as reliable operation, is to survey
A kind of the most frequently used displacement transducer of amount Shaft angle position.In this programme, code-disc mainly uses pulsimeter
Number, how many each pulse vehicle wheel rotations determines the distance that robot 1 walks, umber of pulse is fed back to
Counting module 9-1 in master control set 9, is calculated robot 1 travel distance by counting module 9-1.
Detection for the ease of testing staff and the shooting for walking path and scanning, preferably machine
People also includes that head, described filming apparatus, laser scanning device and alarm device are each provided at described head
Portion.
Preferably alarm device is alarm lamp or emergency alarm bell, when alarm device sounds, then and description line driving wheel
Wear extent exceedes range of error, needs the timely re-type of monitoring personnel.
During concrete operation, set robot 200 meters of travel distance expert's wheel rotation revolution as
250 turns, operating rate monitoring modular determines the operating rate of robot according to this travel distance and revolution,
The correct position charged for determining robot to make a return voyage.
In order to prevent the tire wear on road wheel excessive, affect the survey for robot operating rate
Fixed, after needing robot ambulation certain distance, its road wheel is detected.
In this programme, set robot 200 meters of needs of often walking and road wheel is carried out one-time detection.?
In actual walking process, the travel distance of code-disc real time measure robot, according to binocular solid camera and
Laser scanner accurately determines the current location of robot, and carries out accurately determining of travel distance.When
Confirm that when robot ambulation distance reaches 200 meters, the memory module in master control set can be to servomotor
Sending and drive signal, driven machine people runs and carries out road wheel detection to detection region.
Tire wear amount detecting device in detection region, to the robotic movement's wheel entering detection region
The diameter of upper tire measures, and measures and does not reduces to the current diameter of tire, then robot walks on
Patrol and examine operation；When the diameter of tyres measured is less than green diameter, if reduction amount is at default error model
In enclosing, such as diameter decrement is less than 3mm, now, according to the actual diameter numerical value of record tire,
And obtain the actual motion speed of robot according to the operating rate of actual diameter numerical value and robot, really
Determine robot and need the correct position charged that makes a return voyage；When the reduction amount of the detection current diameter of tire is beyond pre-
If during range of error, the wear extent of such as tire reaches 6mm, then tire wear amount detecting device sends
Enabling signal, to described alarm device, alarm activation, reminds the timely re-type of monitoring personnel.
Above, although illustrate several embodiment of the present utility model, but these embodiments are simply
Propose as an example, be not intended to limit scope of the present utility model.For the embodiment that these are new,
Can implement in other various modes, in the range of without departing from main idea of the present utility model, it is possible to
Carry out various omission, displacement and change.These embodiments and its deformation, be contained in this utility model
Scope or spirit in while, be also contained in the utility model described in claims and impartial model thereof
In enclosing.
Claims (8)
1. a robot tire wear self correcting system, it is characterised in that including: tire wear amount
Detection device and robot, described robot is provided with driving means, provides dynamic for described driving means
The accumulator of power, road wheel, the mileage counting device of metering robot range ability, road wheel turn
Number metering device, alarm device and master control set；Described driving means is connected with described road wheel；
Described master control set and described driving means, mileage counting device, revolution metering device, warning
Device is connected, and described master control set includes:
Counting module, obtains the robot of described mileage counting device metering from a upper original position row
Walk the actual travel distance to current location；Obtain the machine of the revolution metering device metering of described road wheel
Device people runs to the actual revolution of current location from a upper original position；
Operating rate monitoring modular, receives described actual travel distance and described actual revolution, it is thus achieved that machine
The operating rate of device people；
Memory module, the rated revolution that storage line driving wheel is required in default travel distance；Receive institute
State actual travel distance information and actual revolution；By described actual travel distance and described default walking
Distance comparison, after reaching default travel distance, by described actual revolution and described rated revolution comparison,
When actual revolution is more than rated revolution, determine that the tire of road wheel is impaired, send activation bit to institute
State driving means, drive described road wheel band mobile robot to enter detection region and detect；
Described tire wear amount detecting device, takes turns upper tire to the robotic movement entering detection region
Diameter measures, when measuring the current diameter of tire less than green diameter, when reduction amount is in default mistake
In the range of difference, the actual diameter numerical value of record tire, and obtain machine according to the monitoring of actual diameter numerical value
The actual motion speed of people；When the reduction amount detecting the current diameter of tire exceeds and presets range of error,
Send enabling signal to described alarm device.
Robot the most according to claim 1 tire wear self correcting system, it is characterised in that
Described driving means is servomotor.
Robot the most according to claim 1 tire wear self correcting system, it is characterised in that
Also include shooting the filming apparatus of 3-D view and carrying out the laser scanning device of two-dimensional scan；
Described memory module, the 3 D stereo map in storage robot ambulation path；Receive described counting
According to described travel distance, the travel distance of module metering, determines that robot is currently at described 3 D stereo
Regional location in map；Obtain 3-D view and the described laser scanning dress of the shooting of described filming apparatus
Put the two-dimensional coordinate data of scanning, by its respectively with described 3 D stereo map comparison, precision positioning machine
The current location of device people；
Mileage counting device, obtains the two-dimensional coordinate data of the current exact position of robot, measures machine
People runs to the actual travel distance of current exact position from a upper original position.
Robot the most according to claim 3 tire wear self correcting system, it is characterised in that
Described filming apparatus is binocular solid camera.
Robot the most according to claim 4 tire wear self correcting system, it is characterised in that
Described laser scanning device is laser scanner, and the scanning angle of described laser scanner is to the maximum
190 °, scanning accuracy is ± 15mm, and the ultimate range of scanning is 80 meters.
Robot the most according to claim 1 tire wear self correcting system, it is characterised in that
Described mileage counting device is code-disc.
Robot the most according to claim 3 tire wear self correcting system, it is characterised in that
Described robot also includes that head, described filming apparatus, laser scanning device and alarm device are all provided with
At described head.
Robot the most according to claim 1 tire wear self correcting system, it is characterised in that
Described alarm device is alarm lamp or emergency alarm bell.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201620370907.1U CN205537582U (en) | 2016-04-27 | 2016-04-27 | Tyre wear self system of robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201620370907.1U CN205537582U (en) | 2016-04-27 | 2016-04-27 | Tyre wear self system of robot |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN205537582U true CN205537582U (en) | 2016-08-31 |
Family
ID=56793957
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201620370907.1U Expired - Fee Related CN205537582U (en) | 2016-04-27 | 2016-04-27 | Tyre wear self system of robot |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN205537582U (en) |
Cited By (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107748113A (en) * | 2017-10-09 | 2018-03-02 | 长沙开元仪器股份有限公司 | A kind of rail vehicle and its rail vehicle wheel wear detection means |
| CN108303036A (en) * | 2018-01-23 | 2018-07-20 | 深圳市朗驰欣创科技股份有限公司 | A kind of robot wheel footpath calibration method |
| CN108334075A (en) * | 2018-01-08 | 2018-07-27 | 浙江立石机器人技术有限公司 | Robot tire absolute error scaling method, apparatus and system |
| CN108790619A (en) * | 2018-05-14 | 2018-11-13 | 山东玲珑轮胎股份有限公司 | Automatic alarm system for tire pattern depth |
| CN108895966A (en) * | 2018-07-25 | 2018-11-27 | 湖南合盾工程刀具有限公司 | A kind of development of shield machine roller cutter abrasion real-time monitoring |
| CN109249934A (en) * | 2018-09-30 | 2019-01-22 | 广州小鹏汽车科技有限公司 | A kind of tire wear calculation method of parameters, system and device |
| CN111122047A (en) * | 2019-12-25 | 2020-05-08 | 南京悠阔电气科技有限公司 | Self-calibration method for wheel diameter of wheeled robot |
| CN114733848A (en) * | 2022-02-28 | 2022-07-12 | 江苏道达智能科技有限公司 | AMHS overhead traveling crane (OHT) on-orbit cleaning and detecting machine |
-
2016
- 2016-04-27 CN CN201620370907.1U patent/CN205537582U/en not_active Expired - Fee Related
Cited By (10)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107748113A (en) * | 2017-10-09 | 2018-03-02 | 长沙开元仪器股份有限公司 | A kind of rail vehicle and its rail vehicle wheel wear detection means |
| CN107748113B (en) * | 2017-10-09 | 2020-04-24 | 长沙开元仪器有限公司 | Rail vehicle and rail vehicle wheel wear detection device thereof |
| CN108334075A (en) * | 2018-01-08 | 2018-07-27 | 浙江立石机器人技术有限公司 | Robot tire absolute error scaling method, apparatus and system |
| CN108303036A (en) * | 2018-01-23 | 2018-07-20 | 深圳市朗驰欣创科技股份有限公司 | A kind of robot wheel footpath calibration method |
| CN108790619A (en) * | 2018-05-14 | 2018-11-13 | 山东玲珑轮胎股份有限公司 | Automatic alarm system for tire pattern depth |
| CN108895966A (en) * | 2018-07-25 | 2018-11-27 | 湖南合盾工程刀具有限公司 | A kind of development of shield machine roller cutter abrasion real-time monitoring |
| CN109249934A (en) * | 2018-09-30 | 2019-01-22 | 广州小鹏汽车科技有限公司 | A kind of tire wear calculation method of parameters, system and device |
| CN111122047A (en) * | 2019-12-25 | 2020-05-08 | 南京悠阔电气科技有限公司 | Self-calibration method for wheel diameter of wheeled robot |
| CN111122047B (en) * | 2019-12-25 | 2022-05-24 | 南京悠阔电气科技有限公司 | Self-calibration method for wheel diameter of wheeled robot |
| CN114733848A (en) * | 2022-02-28 | 2022-07-12 | 江苏道达智能科技有限公司 | AMHS overhead traveling crane (OHT) on-orbit cleaning and detecting machine |
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Legal Events
| Date | Code | Title | Description |
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| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant | ||
| TR01 | Transfer of patent right |
Effective date of registration: 20170502 Address after: 056000 room 1, good faith Road, Handan Development Zone, Handan, Hebei, 409 Co-patentee after: Handan Aorui Electronic Machinery Co., Ltd. Patentee after: Hebei Depu Electric Appliance Co., Ltd. Address before: 056000 room 1, good faith Road, Handan Development Zone, Handan, Hebei, 409 Patentee before: Hebei Depu Electric Appliance Co., Ltd. |
|
| TR01 | Transfer of patent right | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20160831 Termination date: 20180427 |
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| CF01 | Termination of patent right due to non-payment of annual fee |