CN206115273U - Autonomic mobile robot platform control device - Google Patents
Autonomic mobile robot platform control device Download PDFInfo
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- CN206115273U CN206115273U CN201621094143.4U CN201621094143U CN206115273U CN 206115273 U CN206115273 U CN 206115273U CN 201621094143 U CN201621094143 U CN 201621094143U CN 206115273 U CN206115273 U CN 206115273U
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Abstract
The embodiment of the utility model discloses autonomic mobile robot platform control device, including the bottom plate, install in orientation module on the bottom plate, bottom chip module, industrial computer module, and follow three drive module of group of the circumferencial direction equidistance distribution setting of robot platform bottom, orientation module includes laser radar, odometer and inertial navigation system, and with the industrial computer module electricity is connected, bottom chip module with the industrial computer module electricity is connected the electricity and is connected to receive its control command, drive module includes omniwheel, by bottom chip module control operation. Adopt the utility model discloses, the omnirange of realizing the robot platform through many synchronizing wheels structure moves, has nimble plane moving ability, can realize that the high accuracy of robot platform removes.
Description
Technical field
This utility model is related to the technical field of intelligent robot, more particularly to a kind of control of autonomous mobile robot platform
Device.
Background technology
With the maturation of relevant technical, service humanoid robot progresses into commercial market, and demand has becoming for continuous increase
Gesture.Show according to the investigation in 2015 according to IFR, the whole world in 2014 is personal or household service type robotic sales amount is 470,
Increased by 28% than 2013, sales volume increases by 2,200,000,000 dollars；Professional field class service robot sales volume 24207, than 2013
Increase by 11.5%.And, wherein it is desired to the type based on mobile platform, such as：Merchandising machine people's system saless volume is about 261,
000,000 dollar, 27% was increased than 2013；Navigation dolly sales volume increases by 29%.Universal moving platform is fastest-rising
Type, universal moving platform sales volume is 1,800 within 2014, and compared with 2013 150% was increased.And be expected
The sales volume of 2015-2018 customization mobile platforms is up to 16,000.Meanwhile, China Robot industry development trend
Powerful, country is listed development service type Robot industry in the middle of state key development plan in.In April, 2012, national work letter
Issue in portion《The ＂ ad hoc plannings of service robot development in science and technology ＂ 12》, to aspects such as Chinese developing direction and Research Emphasis
Comprehensive planning is done.Domestic service Robot industry has welcome strategic development opportunity, and market is also by sustainable growth.
According to international robot combined meeting（International Federation of Robotics, IFR）Determine
Justice, service robot is a kind of semi-autonomous or complete autonomous robot, and it can help the mankind to complete except the manufacturing course of processing
In addition（It is different from industrial robot）Equipment.It can complete such as maintaining, repairing, transport, cleaning, security personnel, rescue, prison
The useful work such as shield, are that the life of the mankind brings great convenience.And most of service robot needs to move work
Make.And mobile platform（mobile platform）It is the basis of numerous service robot movements.All kinds of work(of service robot
Can, need under the carrying of mobile platform, can just make service robot realize complete function.The quality of mobile platform performance,
Directly influence the quality that service robot completes work.
Chinese patent application CN201510644986.0 discloses a kind of overall situation based on SLAM navigator mobile robots and determines
Position method, including following 4 steps：The selection of the subregion of step 1 mobile robot applied environment, step 2 data point is adopted
Collection, step 3 subregion is chosen whether reasonable analysis and is judged, step 4 realizes that mobile robot global is positioned based on ICP, is used for
Based on the Global localization under laser SLAM navigator mobile robots especially AGV (automatic Guided Vehicle) complex environment.The patent
Apply setting up the Global localization of map, realization to robot by gathered data, the positioning precision and mobile accuracy of robot is equal
Have much room for improvement.
The content of the invention
This utility model embodiment technical problem to be solved is, there is provided a kind of autonomous mobile robot platform control
Device.The autonomous positioning navigation indoors under environment of achievable robot simultaneously avoids in real time obstacle in motor process, improves machine
The intelligence degree of device people movement.
In order to solve above-mentioned technical problem, this utility model embodiment is controlled there is provided a kind of autonomous mobile robot platform
Device, including base plate, locating module, bottom chip module, the industrial computer module being installed on the base plate, and along described
The circumferencial direction of robot platform bottom is equally spaced three groups of drive modules of setting；
The locating module includes laser radar, speedometer and inertial navigation system, and is electrically connected with the industrial computer module
Connect；
The bottom chip module is electrically connected with the industrial computer module, and receives its control instruction；
The drive module includes omni-directional wheel, is run by bottom chip module control.
Further, the drive module includes motor, omni-directional wheel, support shaft, synchronous belt drive mechanism, the omni-directional wheel
It is fixedly sheathed in the support shaft, the synchronous belt drive mechanism is driven on described support shaft one end including being fixedly sheathed in
The drivewheel of wheel connection coaxial with the machine shaft, the drivewheel is connected with driven pulley by Timing Belt.
Further, the omni-directional wheel is set up in parallel for two, and its outer surface is provided with multiple balls, and two complete
To the interlaced distribution of ball on wheel.
Further, the support shaft both ends are articulated with two rolling bearing units, and are located at the omni-directional wheel two respectively
Side, away from Jing shaft couplings on described driven pulley one end a rotary encoder is connected.
Further, the base plate is sequentially overlapped upwardly through support column and is provided with the first installing plate, the second installing plate
With the 3rd installing plate, the industrial computer module is arranged between first installing plate, the second installing plate, the bottom chip mould
Block is arranged between second installing plate, the 3rd installing plate.
Further, it is provided with photographic head installation pedestal on the 3rd installing plate.
Implement this utility model embodiment, have the advantages that：Robot platform is realized using how synchronous wheel construction
Omni-directional movement, with flexible planar movement ability, be capable of achieving the high precision movement of robot platform.
Description of the drawings
Fig. 1 is overall structure diagram of the present utility model；
Fig. 2 is the structural representation of drive module.
Specific embodiment
It is new to this practicality below in conjunction with accompanying drawing to make the purpose of this utility model, technical scheme and advantage clearer
Type is described in further detail.
Structural representation with reference to shown in Fig. 1.
A kind of autonomous mobile robot platform control device of this utility model embodiment, robot platform 1 is from bottom to top
Including horizontal base plate 10, the first installing plate 11, the second installing plate 12 and the 3rd installing plate 13, wherein base plate 10 and first is installed
Pass through between plate 11, between the first installing plate 11 and the second installing plate 12, between the second installing plate 12 and the 3rd installing plate 13
Support column 14 is attached, and three groups of drive modules 2 are along the circumferential direction arranged to equidistantly distributed on base plate 10, are set on base plate 10
It is equipped with the through hole for passing through for omni-directional wheel 21 and being rotated（Do not indicate in figure）, omni-directional wheel 21 is through the through hole（Do not indicate in figure）
Ground is connected to, industrial computer module 3 is arranged on the first installing plate 11, and bottom chip module 4 is arranged on the second installing plate 12,
Server is arranged on the 3rd installing plate 13, the video camera for arranging video camera is additionally provided with the 3rd installing plate 13 and installs base
Seat 5.
Drive module is moved for driven machine people's platform, three groups of drive modules along the circumferential direction equidistantly distributed ground
The bottom of robot platform is arranged at, as shown in Fig. 2 drive module includes the motor 22 with reductor, the motor 22 turns
Mono- synchronous belt drive mechanisms of axle Jing 6 drive an omni-directional wheel 21 to be rotated, and the omni-directional wheel 21 includes the fixed blocks of Jing mono-（Do not mark in figure
Show）Two wheel bodys 211 of coaxial connection, are provided with multiple balls 212, two wheel bodys on the outer surface of two wheel bodys 211
Ball 212 on 211 is interspersed along the peripheral direction of wheel body 211, and the synchronous belt drive mechanism 6 includes drivewheel 61, driven
Wheel 62 and inner peripheral surface are provided with the outer surface of the endless-belt 63 of equidistant ratchet, the drivewheel 61 and driven pulley 62 and are all provided with
The teeth groove for being matched with ratchet in endless-belt 63 is equipped with, the endless-belt 63 engages biography with drivewheel 61 and driven pulley 62 respectively
It is dynamic, the axle center connection coaxial with the rotating shaft of motor 22 of the drivewheel 61, one end of a support shaft 23 is connected to the axle of driven pulley 62
The heart, omni-directional wheel 21 is fixedly sheathed in the support shaft 23, and two rolling bearing units 24 are also articulated with the support shaft 23, and two are usherd to seat
Bearing 24 is located at respectively the both sides of omni-directional wheel 21, and support shaft 23 connects a rotary coding away from one end Jing shaft coupling 25 of driven pulley 62
Device 26.
Certainly above-described embodiment its object is to allow and be familiar with this only to illustrate technology design of the present utility model and feature
The people of technology will appreciate that content of the present utility model and implements according to this, can not limit protection model of the present utility model with this
Enclose.The modification that all spirit according to this utility model main technical schemes are done, all should cover in guarantor of the present utility model
Within the scope of shield.
Claims (6)
1. a kind of autonomous mobile robot platform control device, it is characterised in that including base plate, be installed on the base plate
Locating module, bottom chip module, industrial computer module, and the circumferencial direction along the robot platform bottom is equally spaced and sets
The three groups of drive modules put；
The locating module includes laser radar, speedometer and inertial navigation system, and electrically connects with the industrial computer module；
The bottom chip module is electrically connected with the industrial computer module, and receives its control instruction；
The drive module includes omni-directional wheel, is run by bottom chip module control.
2. autonomous mobile robot platform control device according to claim 1, it is characterised in that the drive module bag
Motor, omni-directional wheel, support shaft, synchronous belt drive mechanism are included, the omni-directional wheel is fixedly sheathed in the support shaft, the synchronization
Tape handler includes the active of the driven pulley connection coaxial with the machine shaft being fixedly sheathed on described support shaft one end
Wheel, the drivewheel is connected with driven pulley by Timing Belt.
3. autonomous mobile robot platform control device according to claim 2, it is characterised in that the omni-directional wheel is two
Individual to be set up in parallel, its outer surface is provided with multiple balls, the interlaced distribution of ball on two omni-directional wheels.
4. autonomous mobile robot platform control device according to claim 3, it is characterised in that the support shaft two ends
Portion is articulated with two rolling bearing units, and is located at the omni-directional wheel both sides respectively, connects away from Jing shaft couplings on described driven pulley one end
Connect a rotary encoder.
5. autonomous mobile robot platform control device according to claim 4, it is characterised in that the base plate leads to upwards
Cross support column and be sequentially overlapped and be provided with the first installing plate, the second installing plate and the 3rd installing plate, the industrial computer module is arranged at
Between first installing plate, the second installing plate, the bottom chip module is arranged at second installing plate, the 3rd installing plate
Between.
6. autonomous mobile robot platform control device according to claim 5, it is characterised in that the 3rd installing plate
On be provided with photographic head installation pedestal.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201621094143.4U CN206115273U (en) | 2016-09-30 | 2016-09-30 | Autonomic mobile robot platform control device |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201621094143.4U CN206115273U (en) | 2016-09-30 | 2016-09-30 | Autonomic mobile robot platform control device |
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| Publication Number | Publication Date |
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| CN206115273U true CN206115273U (en) | 2017-04-19 |
Family
ID=58522225
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| Application Number | Title | Priority Date | Filing Date |
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| CN201621094143.4U Active CN206115273U (en) | 2016-09-30 | 2016-09-30 | Autonomic mobile robot platform control device |
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Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106383517A (en) * | 2016-09-30 | 2017-02-08 | 汕头大学 | Control system used for autonomous mobile robot platform and control method and device thereof |
| CN112816492A (en) * | 2019-11-15 | 2021-05-18 | 株洲中车时代电气股份有限公司 | Detection apparatus and system for converter bottom cover plate based on machine vision |
| CN113419253A (en) * | 2021-06-18 | 2021-09-21 | 杭州电子科技大学 | Indoor mobile platform based on vision SLAM |
-
2016
- 2016-09-30 CN CN201621094143.4U patent/CN206115273U/en active Active
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106383517A (en) * | 2016-09-30 | 2017-02-08 | 汕头大学 | Control system used for autonomous mobile robot platform and control method and device thereof |
| CN106383517B (en) * | 2016-09-30 | 2019-06-07 | 汕头大学 | A kind of autonomous mobile robot platform control system, method and device |
| CN112816492A (en) * | 2019-11-15 | 2021-05-18 | 株洲中车时代电气股份有限公司 | Detection apparatus and system for converter bottom cover plate based on machine vision |
| CN113419253A (en) * | 2021-06-18 | 2021-09-21 | 杭州电子科技大学 | Indoor mobile platform based on vision SLAM |
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