CN206057967U - Road condition automatic recognizes robot - Google Patents
Road condition automatic recognizes robot Download PDFInfo
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- CN206057967U CN206057967U CN201620860044.6U CN201620860044U CN206057967U CN 206057967 U CN206057967 U CN 206057967U CN 201620860044 U CN201620860044 U CN 201620860044U CN 206057967 U CN206057967 U CN 206057967U
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- module
- robot
- single chip
- control module
- photographic head
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Abstract
A kind of intelligent Road recognizes robot, it is adaptable to plant intelligent robot technology field.It includes power module, drive module, LCD MODULE, Keysheet module, camera module and one-chip computer module.Camera module gathers the information on road surface；One-chip computer module is received to data and is processed；The result that Liquid Crystal Module is obtained after showing single-chip microcomputer processing data；Keysheet module can artificially change the function of system；Single-chip microcomputer obtains the result of data processing, coordinates control to steering wheel and motor.Its simple structure, road conditions recognition effect are good, Without wishing and the collection of single road condition data, and reliability is high, even have the work that indivedual road condition data collecting device failures still can be good.
Description
Technical field
The present invention relates to a kind of road condition automatic recognizes robot, it is particularly suited for a kind of intelligent robot technology field oneself
Dynamic road conditions recognize robot
Background technology
Model of the intelligent wheeled robot as intelligent automobile, is that a class perceives external rings by internal, external sensor
Environment information and oneself state, realize the robot system of AUTONOMOUS TASK in complex environment.It concentrates and has used single-chip microcomputer, sensing
Device, information fusion, communication interface, Navigation Control, artificial intelligence and a series of new and high technologies such as automatically control.American-European countries
Intelligent automobile correlation technique comparative maturity, its intelligent automobile have realized that road environment is perceived, vision enhancement, leading vehicle distance control
System and with sensor fusion in terms of technology.Japan is in research anticollision gear, front anticollision and deviation, lane location system
System, leading vehicle distance control system, automatic control system, barrier warning system, driver are dozed off warning system and night pedestrian
There is in terms of warning system notable achievement.Wheeled robot can be used in as blind person's guide, road conditions etc. of scouting automatically, with very big
Application prospect.
At present China's wheeled robot research also in the starting stage, the also very long road of the practical application of wheeled robot
Walk.In some matches at home, some intelligent wheeled robots are occurred in that, can realize that intelligence is taken turns with infrared sensor
The robot autonomous tracking operation of formula, comes avoiding barrier, but these robot functions with ultrasonic sensor and many algorithms
Relatively simple, intelligence degree is relatively low, and can only adapt to specific environment, and environment is varied slightly, and is just difficult to autonomous classification.And
Real intelligent wheeled robot is that complex environment will be judged, and adapts to the environment being continually changing.Therefore, adapt to complicated
The research of environment robot is significant to China's wheel type machine man-based development.
The content of the invention
For above-mentioned technical problem, there is provided a kind of simple structure, current traffic information can be gathered, using single-chip microcomputer to inciting somebody to action
Collection information carries out real-time processing, so as to the road condition automatic for adapting to complex environment recognizes robot
For achieving the above object, intelligent Road of the invention identification robot, including robot body, under robot body
Side is provided with mobile device, and mobile device includes motor and steering wheel, and robot body is provided with road conditions identification control device, its feature
It is being：Road conditions identification control device includes photographic head, single chip control module, wireless communication module, power module, steering speed
Degree detection feedback module；Wherein, the input of single chip control module detects feedback module with photographic head and turning velocity respectively
Input be connected, the outfan of single chip control module is connected with wireless communication module, turning velocity detection feedback mould
Block is connected with motor and steering wheel；
The single chip control module includes microprocessing unit, microprocessing unit liquid crystal respectively with display speed information
Show that unit is connected with button debugging unit；
Photographic head, single chip control module, wireless communication module, turning velocity detection feedback module and liquid crystal display
It is connected with the power module for providing stable 6v, 5v and 3.3v.
The road conditions identification control device includes that two are arranged on the laser instrument on robot body, are arranged on robot master
Photographic head and single chip control module on body, the horizontal forward transmitting of laser beam of one of laser instrument, another swashs
The laser beam of light device is turned forward downwards transmitting relative to horizontal direction, and the laser beam of described two laser instrument transmittings is formed respectively
Be the Line beam perpendicular to the respective direction of the launch, two laser instrument and photographic head respectively with the single chip control module phase
Even, the laser beam for catching two laser instrument transmittings using photographic head forms laser image and transmits it to single chip control module
Carry out graphical analyses and range finding.
Folder between the direction of the launch and horizontal direction of the laser beam of the laser instrument transmitting of the transmitting that turns forward downwards
Angle is 45 degree.
It also includes ultrasonic transmitter and ultrasonic receiver, the ultrasonic transmitter and ultrasonic receiver difference
It is located at the robot body above and is connected with single chip control module respectively, the ultrasonic transmitter can be in single-chip microcomputer control
To emission ultrasound wave under the control of molding block, the ultrasonic receiver be suitable to receive ultrasound wave and by receive information transmit to
The single chip control module is analyzed, so as to carry out road conditions identification.
The ultrasonic transmitter include it is multiple, multiple ultrasonic transmitters are horizontally spaced be opened in it is described
On the leading flank of robot body.
The mobile device is tire mobile device, crawler belt mobile device or planetary gear telecontrol equipment.
Wireless communication module model CC1101, photographic head are Predator's photographic head switching plate module, turning velocity
Detection feedback module 5 be photoelectric encoder, model Omron E6A2-CW3C.
Beneficial effect：This utility model simple structure, it is easy to use, by photographic head, laser instrument and ultrasound wave to current
Road conditions carry out data acquisition, road condition data are analyzed using microprocessing unit, so as to carry out the automatic identification of road conditions, control
Mobile device selects suitable road to advance around barrier is examined, and Without wishing is gathered with single road condition data, and reliability is high, i.e.,
It is have the work that indivedual road condition data collecting device failures still can be good.
Description of the drawings
Fig. 1 is the structured flowchart figure of the present invention
In figure：1- photographic head, 2- single chip control module, 3- wireless communication modules, 4- power modules, the inspection of 5- turning velocities
Survey feedback module, 6- liquid crystal displays, 7- button debugging units.
Specific embodiment
Below in conjunction with the accompanying drawings and it is embodied as being described in detail this utility model.
As shown in figure 1, intelligent Road of the present utility model recognizes robot, including robot body, under robot body
Side is provided with mobile device, and mobile device includes motor and steering wheel, and robot body is provided with road conditions identification control device, its feature
It is being：Road conditions identification control device include photographic head 1, single chip control module 2, wireless communication module 3, power module 4, turn
To velocity measuring feedback module 5；Photographic head 1 is Predator's photographic head switching plate module, 3 model of wireless communication module
CC1101, turning velocity detect feedback module 5 for photoelectric encoder, model Omron E6A2-CW3C.
Wherein, the input of single chip control module 2 detects the defeated of feedback module 5 with photographic head 1 and turning velocity respectively
Enter end to be connected, the outfan of single chip control module 2 is connected with wireless communication module 3, turning velocity detection feedback module 5
It is connected with motor and steering wheel；The mobile device be tire mobile device, crawler belt mobile device or planetary gear telecontrol equipment,
Mobile device is provided with the photoelectric encoder for measuring speed.
The single chip control module 2 includes microprocessing unit, microprocessing unit liquid crystal respectively with display speed information
Display unit 6 is connected with button debugging unit 7, and button debugging unit 7 is to be input into and debugging machine people；Photographic head 1, monolithic
Machine control module 2, wireless communication module 3, turning velocity detection feedback module 5 and liquid crystal display 6 are stable with offer
The power module 4 of 6v, 5v and 3.3v is connected.
The road conditions identification control device includes that two are arranged on the laser instrument on robot body, are arranged on robot master
Photographic head 1 and single chip control module 2 on body, the horizontal forward transmitting of laser beam of one of laser instrument, another
The laser beam of laser instrument is turned forward downwards transmitting relative to horizontal direction, the laser instrument transmitting of the transmitting that turns forward downwards
Laser beam the direction of the launch and horizontal direction between angle be 45 degree, the laser beam difference shape of described two laser instrument transmitting
Become the Line beam perpendicular to the respective direction of the launch, two laser instrument and photographic head 1 respectively with the single chip control module 2
It is connected, the laser beam for catching two laser instrument transmittings using photographic head 1 forms laser image and transmits it to Single-chip Controlling
Module 2 carries out graphical analyses and range finding.
It also includes ultrasonic transmitter and ultrasonic receiver, the ultrasonic transmitter and ultrasonic receiver difference
It is located at the robot body above and is connected with single chip control module 2 respectively, the ultrasonic transmitter can be in single-chip microcomputer
To emission ultrasound wave under the control of control module 2, the ultrasonic receiver is suitable to receive ultrasound wave and passes receive information
Transport to the single chip control module 2 to be analyzed；The ultrasonic transmitter includes multiple, multiple ultrasonic transmitters
It is horizontally spaced to be opened on the leading flank of the robot body.
This utility model only protects the circuit and apparatus structure of correlation, the software approach of related realization function to be existing skill
Art, so this utility model is not related to the protection of software.
Frame for movement of the present utility model：Robot employs grace intelligence Pu c-type car mould, and it employs Dual-motors Driving, front
The motor pattern that wheel steering wheel is turned to；Steering wheel and two front-wheels are connected to form yi word pattern with connecting rod；At trailing wheel, increase by is electric
Pinboard, on the pinboard that the lead of motor is first welded, is then fixed on electric machine support or car mould floor by machine pinboard
On；CCD is installed to use including carbon bar, carbon bar base, CCD fixation car mold chassis and rear wheel support, linear CCD through hole support
It is fixed through carbon bar with bolt, connected linear CCD mounting bracket can easily adjust angle.Use connecting rod
Steering wheel and two front-wheels are connected to form yi word pattern；Battery is placed in front of rear wheel with its base and band, is increased at trailing wheel
One motor pinboard, is then fixed on pinboard on electric machine support or car mould floor, circuit board is placed on plank then
It is upper to form a plane and as far as possible center of gravity is reduced.I.e. the wheeled robot can be with automatic identification road conditions.
Real-time Collection is carried out by digital camera to road condition data, the gray scale degree of the data of collection according to pavement behavior
It is divided into 0～255 different grade, digital camera can internally realize conversion of the analog information to numerical data.Monolithic
Machine is read out to the data of digital camera in real time, and data are filtered with process, is obtained reliable information of road surface, is passed through
The information of road surface of acquisition, single-chip microcomputer are controlled to steering wheel and motor by PWM and pid algorithm, realize speed and corner
Match somebody with somebody.As single-chip microcomputer cannot provide voltage, the electric current of motor operation, so drive circuit is added in control circuit.Power supply mould
Block is made up of battery and Voltage stabilizing module, there is provided reliable and stable voltage.
Claims (7)
1. a kind of intelligent Road recognizes robot, including robot body, and mobile device, mobile dress are provided with below robot body
Put including motor and steering wheel, robot body is provided with road conditions identification control device, its feature is being：Road conditions identification control dress
Put anti-including photographic head (1), single chip control module (2), wireless communication module (3), power module (4), turning velocity detection
Feedback module (5)；Wherein, the input of single chip control module (2) detects feedback module with photographic head (1) and turning velocity respectively
(5) input is connected, and the outfan of single chip control module (2) is connected with wireless communication module (3), turning velocity inspection
Survey feedback module (5) to be connected with motor and steering wheel；
The single chip control module (2) including microprocessing unit, microprocessing unit liquid crystal respectively with display speed information
Show that unit (6) is connected with button debugging unit (7)；
Photographic head (1), single chip control module (2), wireless communication module (3), turning velocity detection feedback module (5) and liquid crystal
Display unit (6) is connected with the power module (4) for providing stable 6v, 5v and 3.3v.
2. intelligent Road according to claim 1 recognizes robot, it is characterised in that：The road conditions identification control device bag
Two laser instrument being arranged on robot body are included, photographic head (1) and the Single-chip Controlling mould being arranged on robot body
Block (2), the horizontal forward transmitting of laser beam of one of laser instrument, the laser beam of another laser instrument is relative to level side
To the transmitting that turns forward downwards, the laser beam of described two laser instrument transmittings is respectively formed as the line perpendicular to the respective direction of the launch
Light beam, two laser instrument and photographic head (1) are connected with the single chip control module (2) respectively, are caught using photographic head (1)
The laser beam of two laser instrument transmitting form laser image and transmit it to single chip control module (2) carry out graphical analyses and
Range finding.
3. intelligent Road according to claim 2 recognizes robot, it is characterised in that：The transmitting that turns forward downwards
Angle between the direction of the launch and horizontal direction of the laser beam of laser instrument transmitting is 45 degree.
4. intelligent Road according to claim 2 recognizes robot, it is characterised in that：It also include ultrasonic transmitter and
Ultrasonic receiver, the ultrasonic transmitter and ultrasonic receiver be respectively provided at the robot body it is upper and respectively with list
Piece machine control module (2) is connected, and the ultrasonic transmitter can be super to emission under the control of single chip control module (2)
Sound wave, the ultrasonic receiver are suitable to receive ultrasound wave and transmit to the single chip control module (2) by receive information
Row analysis.
5. intelligent Road according to claim 4 recognizes robot, it is characterised in that：The ultrasonic transmitter includes many
Individual, multiple ultrasonic transmitters are horizontally spaced to be opened on the leading flank of the robot body.
6. intelligent Road according to claim 2 recognizes robot, it is characterised in that：The mobile device is moved for tire
Device, crawler belt mobile device or planetary gear telecontrol equipment.
7. intelligent Road according to claim 2 recognizes robot, it is characterised in that：Wireless communication module (3) type
Number be CC1101, photographic head (1) be Predator's photographic head switching plate module, turning velocity detection feedback module (5) be photoelectricity compile
Code device, model Omron E6A2-CW3C.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201620860044.6U CN206057967U (en) | 2016-08-09 | 2016-08-09 | Road condition automatic recognizes robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201620860044.6U CN206057967U (en) | 2016-08-09 | 2016-08-09 | Road condition automatic recognizes robot |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN206057967U true CN206057967U (en) | 2017-03-29 |
Family
ID=58380231
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201620860044.6U Expired - Fee Related CN206057967U (en) | 2016-08-09 | 2016-08-09 | Road condition automatic recognizes robot |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN206057967U (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109199805A (en) * | 2017-06-30 | 2019-01-15 | 山东华宇工学院 | Smart electronics blind guiding system |
| CN110769987A (en) * | 2018-10-31 | 2020-02-07 | 深圳市大疆创新科技有限公司 | Ground remote control robot control method and ground remote control robot |
-
2016
- 2016-08-09 CN CN201620860044.6U patent/CN206057967U/en not_active Expired - Fee Related
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109199805A (en) * | 2017-06-30 | 2019-01-15 | 山东华宇工学院 | Smart electronics blind guiding system |
| CN110769987A (en) * | 2018-10-31 | 2020-02-07 | 深圳市大疆创新科技有限公司 | Ground remote control robot control method and ground remote control robot |
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| GR01 | Patent grant | ||
| GR01 | Patent grant | ||
| CF01 | Termination of patent right due to non-payment of annual fee | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20170329 Termination date: 20170809 |