CN205799522U - A kind of automatic obstacle-avoiding robot - Google Patents

Abstract

The utility model discloses a kind of automatic obstacle-avoiding robot, including microcomputer and body trunk, microcomputer is arranged on inside body trunk, the bottom of body trunk is provided with walking mechanism, image acquisition mechanism is installed, it is connected between image acquisition mechanism with microcomputer and has imageing sensor, the bottom side surrounding of institute's body trunk is provided with array of ultrasonic sensors, walking mechanism includes drivewheel, universal wheel and DC speed-reducing, drivewheel is connected by universal driving shaft with DC speed-reducing, in the rear battery storehouse of walking mechanism, charging accumulator is installed；Image acquisition mechanism includes left USB camera and right USB camera, and the control end of array of ultrasonic sensors connects impulse generator, and impulse generator uses 32 special single-chip microcomputers, and the pulse output end of single-chip microcomputer connects phase inverter；Microcomputer is also associated with speaker and liquid crystal touch screen.The design of this device also develops a kind of robot that can realize effective avoidance based on machine vision.

Description

A kind of automatic obstacle-avoiding robot

Technical field

This utility model relates to robotics, is specially a kind of automatic obstacle-avoiding robot.

Background technology

Robot is the installations automatically performing work.It both can accept mankind commander, can run again and compile in advance The program of row, it is also possible to according to the principle guiding principle action formulated with artificial intelligence technology.Along with modern automatic control technology not Disconnected development, the requirement to robot is more and more higher, such as, require when robot carries out automated cleaning or searches a class job, Need robot to be capable of automatic dodging barrier, the most easily produce collision and cause machine to be damaged.

Utility model content

For problem above, this utility model provides a kind of automatic obstacle-avoiding robot, can realize effective avoidance with automatic Navigation, can effectively solve the problem in background technology.

For achieving the above object, this utility model following technical scheme of offer: a kind of automatic obstacle-avoiding robot, including miniature Computer and body trunk, described body trunk is the cuboid metallic box type that stainless steel metal is made, and microcomputer is installed Inside body trunk, the bottom of body trunk is provided with walking mechanism, and the top of described body trunk is provided with image acquisition Mechanism, is connected between image acquisition mechanism with microcomputer and has imageing sensor, the bottom side surrounding of described body trunk Being provided with opening, be provided with array of ultrasonic sensors in opening, described array of ultrasonic sensors is by RS232 data/address bus even Receive on microcomputer；Described walking mechanism includes drivewheel, universal wheel and DC speed-reducing, described drivewheel and direct current Reducing motor is connected by universal driving shaft, and the rear portion of described walking mechanism is additionally provided with battery compartment, is provided with charging and stores in battery compartment Battery.

As a kind of preferably technical scheme of this utility model, described image acquisition mechanism includes left USB camera and the right side USB camera, forms 120 degree of angles between left USB camera and right USB camera, and left USB camera and right USB image Head is all connected on microcomputer by USB data line.

As a kind of preferably technical scheme of this utility model, described array of ultrasonic sensors is 70 by 8 search angles The ultrasonic sensor of degree forms, and the control end connection of array of ultrasonic sensors has impulse generator, impulse generator to adopt With 32 special single-chip microcomputers, the pulse output end of single-chip microcomputer is also associated with phase inverter, and phase inverter is connected to ultrasonic sensor Transmit port.

As a kind of preferably technical scheme of this utility model, described drivewheel, universal wheel all have two, and drivewheel peace Being contained in universal wheel rear, being connected between described DC speed-reducing and microcomputer has motor driver.

As a kind of preferably technical scheme of this utility model, described microcomputer is also associated with speaker and liquid crystal touches Touch screen, and described liquid crystal touch screen is embedded in the front surface of body trunk.

Compared with prior art, the beneficial effects of the utility model are: this automatic obstacle-avoiding robot, by arranging left USB Photographic head and two photographic head of right USB camera, expand collection visual angle；By arranging array of ultrasonic sensors, it is provided that auxiliary Supplementary information, eliminates the dead angle of photographic head；Drivewheel is set and universal wheel matches, improve the flexible of robot ambulation Property；This device utilize lower cost to design and develop a kind of based on machine vision, effective avoidance and self-navigation can be realized Service robot system, be suitable to promote.

Accompanying drawing explanation

Fig. 1 is this utility model structural representation；

Fig. 2 is this utility model electrical block diagram.

In figure: 1-microcomputer；2-body trunk；3-liquid crystal touch screen；4-walking mechanism；5-image acquisition mechanism； 6-imageing sensor；7-array of ultrasonic sensors；8-drivewheel；9-universal wheel；10-DC speed-reducing；11-universal driving shaft； 12-charging accumulator；The left USB camera of 13-；The right USB camera of 14-；15-impulse generator；16-phase inverter；17-raises one's voice Device；18-motor driver.

Detailed description of the invention

Below in conjunction with the accompanying drawing in this utility model embodiment, the technical scheme in this utility model embodiment is carried out Clearly and completely describe, it is clear that described embodiment is only a part of embodiment of this utility model rather than whole Embodiment.Based on the embodiment in this utility model, those of ordinary skill in the art are not under making creative work premise The every other embodiment obtained, broadly falls into the scope of this utility model protection.

Embodiment:

Referring to Fig. 1 and Fig. 2, a kind of technical scheme of this utility model offer: a kind of automatic obstacle-avoiding robot, including miniature Computer 1 and body trunk 2, the cuboid metallic box type that described body trunk 2 is made for stainless steel metal, microcomputer 1 Being arranged on body trunk 2 internal, the bottom of body trunk 2 is provided with walking mechanism 4, and the top of described body trunk 2 is provided with Image acquisition mechanism 5, image acquisition mechanism, it is connected between 2 with microcomputer 1 and has imageing sensor 6, described body trunk 2 Bottom side be formed around opening, array of ultrasonic sensors 7 is installed in opening, described array of ultrasonic sensors 7 leads to Cross RS232 data/address bus to be connected on microcomputer 1；Described walking mechanism 4 includes that drivewheel 8, universal wheel 9 and direct current slow down Motor 10, described drivewheel 8 is connected by universal driving shaft 11 with DC speed-reducing 10, and the rear portion of described walking mechanism 4 also sets up There is battery compartment, charging accumulator 12 is installed in battery compartment；

Described image acquisition mechanism 5 includes left USB camera 13 and right USB camera 14, left USB camera 13 and the right side Form 120 degree of angles between USB camera 14, and left USB camera 13 and right USB camera 14 are all by USB data line even Receive on microcomputer 1；Described array of ultrasonic sensors 7 is made up of the ultrasonic sensor that 8 search angles are 70 degree, and The control end of array of ultrasonic sensors 7 connects has impulse generator 15, impulse generator 15 to use 32 special single-chip microcomputers, single The pulse output end of sheet machine connects the transmit port having phase inverter 16, phase inverter 16 to be connected to ultrasonic sensor；Described Drivewheel 8, universal wheel 9 all have two, and drivewheel 8 is arranged on rear side of universal wheel 9, described DC speed-reducing 10 and microcomputer Connect between calculation machine 1 and have motor driver 18；Described microcomputer 1 is also associated with speaker 17 and liquid crystal touch screen 3, and institute State liquid crystal touch screen 3 and be embedded in the front surface of body trunk 2.

Operation principle of the present utility model: described microcomputer 1 is the core control portions of whole robot, is used for controlling Making the action of other each mechanisms, described body trunk 2 is the main body section of robot, is used for installing and connect other mechanisms, Described liquid crystal touch screen 3 is for the realization of the functions such as man-machine interaction, and described walking mechanism 4 coordinates machine vision based on photographic head System and guide line road sign, it is achieved vision avoidance and navigation, external environment condition is implemented to regard by described image acquisition mechanism 5 for realization Frequency gathers, and described array of ultrasonic sensors 7 provides auxiliary information for robot, eliminates the dead angle of photographic head；When robot leaves After beginning work, left USB camera 13 and right USB camera 14 gather video image respectively, and the view data collected is by figure As sensor 6 is converted to digital signal, and the digital signal produced sends into microcomputer 1, in order to before microcomputer 1 judges Side whether there is barrier, described array of ultrasonic sensors 7 under the control of impulse generator 15 to around launch ultrasound wave, Described phase inverter 16 provides backward voltage, and the ultrasonic signal reflected passes through RS232 data bus transmission again to microcomputer Calculation machine 1, by calculating reflex time, determines obstacle distance and orientation；After determining Obstacle Position, microcomputer 1 Sending instruction to motor driver 18, motor driver 18 controls DC speed-reducing 10, and DC speed-reducing passes through universal driving shaft 11 Drive drivewheel 8 to rotate, and drive universal wheel 9 to change direct of travel；Described charging accumulator 12 is powered for whole device, described Speaker 17 can play audio file under the control of microcomputer 1.

This automatic obstacle-avoiding robot, by arranging left USB camera 13 and 14 two photographic head of right USB camera, expands Collection visual angle；By arranging array of ultrasonic sensors 7, it is provided that auxiliary information, eliminate the dead angle of photographic head；Drivewheel is set 8 and universal wheel 9 match, improve the flexible property of robot ambulation；This device utilizes lower cost to design and develops A kind of based on machine vision, the service robot system of effective avoidance and self-navigation can be realized, be suitable to promote.

The foregoing is only preferred embodiment of the present utility model, not in order to limit this utility model, all at this Any amendment, equivalent and the improvement etc. made within the spirit of utility model and principle, should be included in this utility model Protection domain within.

Claims (5)

1. an automatic obstacle-avoiding robot, including microcomputer (1) and body trunk (2), described body trunk (2) is stainless The cuboid metallic box type that steel metal is made, it is internal that microcomputer (1) is arranged on body trunk (2), the end of body trunk (2) Portion is provided with walking mechanism (4), it is characterised in that: the top of described body trunk (2) is provided with image acquisition mechanism (5), figure Imageing sensor (6) is had, the bottom side of described body trunk (2) as being connected between collecting mechanism (5) and microcomputer (1) Being formed around opening, be provided with array of ultrasonic sensors (7) in opening, described array of ultrasonic sensors (7) passes through RS232 Data/address bus is connected on microcomputer (1)；Described walking mechanism (4) includes that drivewheel (8), universal wheel (9) and direct current subtract Speed motor (10), described drivewheel (8) is connected by universal driving shaft (11) with DC speed-reducing (10), described walking mechanism (4) Rear portion be additionally provided with battery compartment, charging accumulator (12) is installed in battery compartment.

A kind of automatic obstacle-avoiding robot the most according to claim 1, it is characterised in that: described image acquisition mechanism (5) wraps Include left USB camera (13) and right USB camera (14), formed between left USB camera (13) and right USB camera (14) 120 degree of angles, and left USB camera (13) and right USB camera (14) be all connected to microcomputer by USB data line (1) on.

A kind of automatic obstacle-avoiding robot the most according to claim 1, it is characterised in that: described array of ultrasonic sensors (7) it is made up of the ultrasonic sensor that 8 search angles are 70 degree, and the control end of array of ultrasonic sensors (7) connects and has arteries and veins Rushing maker (15), impulse generator (15) uses 32 special single-chip microcomputers, and the pulse output end of single-chip microcomputer connects phase inverter (16), phase inverter (16) is connected to the transmit port of ultrasonic sensor.

A kind of automatic obstacle-avoiding robot the most according to claim 1, it is characterised in that: described drivewheel (8), universal wheel (9) all there are two, and drivewheel (8) is arranged on universal wheel (9) rear side, described DC speed-reducing (10) and microcomputer (1) connect between and have motor driver (18).

A kind of automatic obstacle-avoiding robot the most according to claim 1, it is characterised in that: described microcomputer (1) also connects It is connected to speaker (17) and liquid crystal touch screen (3), and described liquid crystal touch screen (3) is embedded in the front surface of body trunk (2).