CN207290078U - Walking robot - Google Patents
Walking robot Download PDFInfo
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- CN207290078U CN207290078U CN201721142425.1U CN201721142425U CN207290078U CN 207290078 U CN207290078 U CN 207290078U CN 201721142425 U CN201721142425 U CN 201721142425U CN 207290078 U CN207290078 U CN 207290078U
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- main body
- laser range
- airborne laser
- range finder
- walking
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Abstract
The utility model discloses a kind of walking robot, including：Main body, it is used to install functional component；Walking mechanism, it is arranged at the bottom of the main body, and the walking mechanism is used to drive the main body to walk；Two airborne laser range finders, it is arranged at the both sides on the direction of travel of main body, and the airborne laser range finder is used to detect the barrier on main body direction of travel；And controller, it is disposed for the walking mechanism according to the output control that airborne laser range finder is detected, so that the main body avoids the barrier.The utility model utilizes airborne laser range finder obstruction detection, airborne laser range finder is detected process and is disturbed from ambient light, the precision of detecting is higher, so that the walking robot of the utility model is not only able to work indoors, outside work that can also be stronger and more complicated in light.
Description
Technical field
It the utility model is related to robotic technology field, more particularly to a kind of walking robot.
Background technology
At present, robot product, for example, the clean robot of household class, the walking robot of industrial circle is each being led
Domain is obtained for a degree of application.Walking robot will realize the detection and survey to periphery barrier during the work time
Away to realize avoidance, navigation or the path planning of itself walking.The walking robot of this respect in the market has some embodiment party
Case, but in terms of technology or cost there are it is different the defects of.
Be described below a few class avoidances of walking robot method and its there are the defects of：
Hit plate method：It is mainly seen in the clean robot of low and middle-end, realizes the barrier avoiding function of lower grade, but not to obstacle
Thing ranging and path planning based on this, navigation feature, cause the intelligence degree of robot relatively low.
Infrared distance measurement method：It is applied on the domestic robot and some industrial robots of some middle and high ends, can be right
Nearer barrier, border such as wall are detected and perceived, and make robot more intelligent compared with plate method is hit.But there are detection range
It is limited, under strong light or outdoor solar light environment because being easily disturbed and effective detection range is substantially reduced so that in the presence of can not have
The problem of effect uses.
Ultrasonic ranging method：Using mechanical wave as ranging means, disturbed from ambient light.But finding range has
Limit, precision involve optical ranging sensor not as good as electromagnetism, and because of principle and mechanical dimension's reason, it is more difficult to it is arranged in the machine of small size
On the shell of device people.
Utility model content
For defect existing in the prior art, the utility model embodiment provides a kind of walking robot.
In order to solve the above technical problems, the technical solution that the embodiment of the utility model uses is：
A kind of walking robot, the walking robot include：
Main body, it is used to install functional component；
Walking mechanism, it is arranged at the bottom of the main body, and the walking mechanism is used to drive the main body to walk；
Two airborne laser range finders, it is respectively arranged at the both sides on the direction of travel of main body, and the airborne laser range finder is used for
Detect the barrier on main body direction of travel；And
Controller, it is disposed for the walking mechanism according to the output control that airborne laser range finder is detected, so that institute
State main body and avoid the barrier.
Preferably, two sides on the direction of travel of the main body are each formed with inner fovea part, the inside shape of the main body
Into installation space, perforation is opened up on the inner fovea part to the opening of the installation space, is equiped with window in the opening；Institute
Airborne laser range finder is stated to be arranged in the installation space and be open relatively with described.
Preferably, the inner fovea part is fan shape, and the opening is strip mouth；Rudder is additionally provided with the installation space
Machine, the airborne laser range finder are installed on the steering engine, and the steering engine is used to drive the airborne laser range finder at the bottom with main body
Reciprocally swinging in the parallel plane in face.
Preferably, the steering engine includes housing, the motor for being arranged in the housing and can carrying out positive and negative rotation, stretching
The output shaft of the housing, the gear-driven assembly being arranged between the output shaft and the motor；The airborne laser range finder
It is installed on output shaft.
Preferably, the controller is configured to controlling the motor for the walking states according to the main body just
Reverse turn, with when the main body straight line moving, the airborne laser range finder reciprocally swinging is described to swash when the main body is turned
The turn direction of ligh-ranging device towards the main body is swung.
Preferably, controller wiring board in order to control.
Preferably, it is provided with handle in the main body.
Compared with prior art, the beneficial effect for the walking robot that the embodiment of the utility model provides is：This practicality
New to utilize airborne laser range finder obstruction detection, airborne laser range finder is detected process and is disturbed from ambient light, the precision of detecting compared with
Height, so that the walking robot of the utility model is not only able to work indoors, can also be stronger and more complicated in light
Outside work.
Brief description of the drawings
Fig. 1 is the front view for the walking robot that the embodiment of the utility model provides；
Fig. 2 is the bottom view for the walking robot that the embodiment of the utility model provides；
Fig. 3 is the mounting structure signal of the walking robot airborne laser range finder that the embodiment of the utility model provides and steering engine
Scheme
In figure：
10- main bodys；11- inner fovea parts；12- handles；111- windows；20- walking mechanisms；30- airborne laser range finders；40- rudders
Machine；41- output shafts；42- pinboards；50- stents.
Embodiment
It is below in conjunction with the accompanying drawings and specific real to make those skilled in the art be better understood from the technical solution of the utility model
Mode is applied to elaborate to the utility model.
As depicted in figs. 1 and 2, the embodiment of the utility model discloses a kind of walking robot, the walking robot bag
Include main body 10, walking mechanism 20, two airborne laser range finders 30 and controllers.Main body 10 can assemble multiple functions component, except can
Assemble outside above-mentioned walking mechanism 20, airborne laser range finder 30 and controller, can also assembling work component, for example, working as vehicle with walking machine
When device people is used as cleaning ground, the cleaning member of wiper rolls etc can be installed to wipe ground.Walking mechanism 20 is installed in main body
10 bottom is to drive main body 10 to advance, retreat or turn.Two airborne laser range finders 30 are arranged at the direction of travel of main body 10
On both sides, i.e. be arranged at front side and the rear side of main body 10, the airborne laser range finder 30 be used for detect on 10 direction of travel of main body
Barrier, i.e. when walking mechanism 20 drives main body 10 to advance, positioned at the detecting of airborne laser range finder 30 front of the front side of main body 10
Distance of the barrier (if having) to the front side of main body 10；When walking mechanism 20 drives main body 10 to retreat, positioned at the rear side of main body 10
Airborne laser range finder 30 detects the distance of the barrier (if having) apart from the rear side of main body 10 at rear.Controller and two airborne laser range finders
30 are electrically connected, which is used for the output control walking mechanism 20 detected according to airborne laser range finder 30, so that main body 10
Avoiding obstacles, for example, when main body 10 is advanced, and the airborne laser range finder 30 positioned at the front side of main body 10 does not detect front barrier
When hindering thing, airborne laser range finder 30 to controller send the first signal, controller according to the first signal control walking mechanism 20 so that
Main body 10 continues to advance with former speed；When main body 10 is advanced, and before the airborne laser range finder 30 of the front side of main body 10 detects
When there is barrier in side, airborne laser range finder 30 sends secondary signal to controller, and controller controls walking mechanism according to secondary signal
20 to reduce the pace of main body 10 and control walking mechanism 20 to turn at the same time to get around the barrier, when main body 10 retreats
Avoidance mode is identical when advancing with main body 10, and details are not described herein.For convenience of the walking robot is carried, it is provided with main body 10
Facilitate portable handle 12.
The utility model utilizes 30 obstruction detection of airborne laser range finder, and airborne laser range finder 30 detects process from ambient light
Interference, the precision of detecting is higher, can also be so that the walking robot of the utility model is not only able to work indoors
The stronger and more complicated outside work of light.
The walking robot of the utility model can realize difference in functionality by installing different work component, for example, by
The temperature that infrared temperature sensor can be used for detecting a certain place is installed, for example, by being installed in main body 10 in main body 10
Transporting bucket can be with containment and transport of objects.
To protect airborne laser range finder 30, as shown in Fig. 2, two sides on the direction of travel of main body 10 open up indent
Portion 11, main body 10 are internally formed installation space, and perforation is opened up on inner fovea part 11 to the opening of installation space, is installed in opening
There is window 111；Airborne laser range finder 30 is arranged in installation space and opposite with opening.In this way, airborne laser range finder 30 is embedded at
In the main body 10 of forward and backward side, collide or contact so as to avoid with the hard objects outside main body 10 and chemical substance, protect
Airborne laser range finder 30.
For the reconnaissance range of airborne laser range finder 30 can be increased, as shown in Fig. 2, inner fovea part 11 is arranged to fan shape, opening
For strip mouth；The installation space of main body 10 sets steering engine 40, which is installed in main body 10 by stent 50, makes laser
Range finder 30 is installed on steering engine 40, and steering engine 40 drives airborne laser range finder 30 in the plane parallel with body floor toward physical pendulum
It is dynamic.In this way, airborne laser range finder 30 can obtain the reconnaissance range of bigger by swinging.
The structure of steering engine 40 can have it is a variety of, as shown in figure 3, steering engine 40 include housing, motor, output shaft 41, gear pass
Dynamic component.Specifically, motor is arranged in housing, is electrically connected with the controller, and positive and negative rotation, controller by controller control
It may be provided in housing, may also set up in outside housing, gear-driven assembly is arranged in housing and is connected with motor, output shaft 41
It is connected with gear-driven assembly, pinboard 42 is fixed with output shaft 41, airborne laser range finder 30 is fixed on pinboard 42, motor
Positive and negative rotation laser sensor is passed to by gear-driven assembly so that laser sensor realizes reciprocally swinging.In this reality
Apply in example, controller is configured to have the function of as follows：The positive and negative rotation of motor is controlled according to the walking states of main body 10, to work as
During 10 straight line moving of main body, 30 reciprocally swinging of airborne laser range finder, when main body 10 is turned, airborne laser range finder 30 turns towards main body 10
Curved direction is swung.In this way, when main body 10 is turned, controller controls airborne laser range finder 30 towards turn direction by controlling motor
Swing, so that laser range sensor can detect the turn direction whether there are obstacles of main body 10, if nothing, walking mechanism
20 continue to turn, if so, control walking mechanism 20 stops conventional turning, or take specific avoidance to act.With direction of travel phase
The airborne laser range finder 30 of the opposite side of the back of the body, can work at the same time under the control of the main body 10 of robot, obtain surrounding enviroment
Ranging parameters, in order to which the main body 10 of robot completes the work such as mapping to surrounding enviroment, path planning.Controller can have
Polytype, it is preferable that controller wiring board in order to control.
Above example is only the exemplary embodiment of the utility model, is not used in limitation the utility model, this practicality is new
The protection domain of type is defined by the claims.Those skilled in the art can be in the essence and protection domain of the utility model
It is interior, various modifications or equivalent substitution are made to the utility model, this modification or equivalent substitution also should be regarded as new in this practicality
In the protection domain of type.
Claims (7)
1. a kind of walking robot, it is characterised in that the walking robot includes：
Main body, it is used to install functional component；
Walking mechanism, it is arranged at the bottom of the main body, and the walking mechanism is used to drive the main body to walk；
Two airborne laser range finders, it is respectively arranged at the both sides on the direction of travel of main body, and the airborne laser range finder is used to detect
Barrier on main body direction of travel；And
Controller, it is disposed for the walking mechanism according to the output control that airborne laser range finder is detected, so that the master
Body avoids the barrier.
2. walking robot according to claim 1, it is characterised in that two sides on the direction of travel of the main body
Inner fovea part is each formed with, the main body is internally formed installation space, and perforation is opened up on the inner fovea part to the installation space
Opening, be equiped with window in the opening；The airborne laser range finder be arranged in the installation space and with the opening
Relatively.
3. walking robot according to claim 2, it is characterised in that the inner fovea part is fan shape, and the opening is
Strip mouth；Steering engine is additionally provided with the installation space, the airborne laser range finder is installed on the steering engine, and the steering engine is used
In driving airborne laser range finder reciprocally swinging in the plane parallel with the bottom surface of main body.
4. walking robot according to claim 3, it is characterised in that the steering engine includes housing, is arranged at the shell
In vivo and the motor of positive and negative rotation can be carried out, stretch out the output shaft of the housing, be arranged at the output shaft and the motor
Between gear-driven assembly；The airborne laser range finder is installed on output shaft.
5. walking robot according to claim 4, it is characterised in that the controller is configured to be used for according to
The walking states of main body control the positive and negative rotation of the motor, with when the main body straight line moving, the airborne laser range finder
Reciprocally swinging, when the main body is turned, the turn direction of the airborne laser range finder towards the main body is swung.
6. walking robot according to claim 1, it is characterised in that controller wiring board in order to control.
7. walking robot according to claim 1, it is characterised in that be provided with handle in the main body.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201721142425.1U CN207290078U (en) | 2017-09-06 | 2017-09-06 | Walking robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201721142425.1U CN207290078U (en) | 2017-09-06 | 2017-09-06 | Walking robot |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN207290078U true CN207290078U (en) | 2018-05-01 |
Family
ID=62446252
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201721142425.1U Active CN207290078U (en) | 2017-09-06 | 2017-09-06 | Walking robot |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN207290078U (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109998427A (en) * | 2019-04-29 | 2019-07-12 | 湖南格兰博智能科技有限责任公司 | A kind of intelligent sweeping machine cleans induction structure along wall |
| CN114787658A (en) * | 2019-12-27 | 2022-07-22 | 华为技术有限公司 | Ranging system and mobile platform |
-
2017
- 2017-09-06 CN CN201721142425.1U patent/CN207290078U/en active Active
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109998427A (en) * | 2019-04-29 | 2019-07-12 | 湖南格兰博智能科技有限责任公司 | A kind of intelligent sweeping machine cleans induction structure along wall |
| CN114787658A (en) * | 2019-12-27 | 2022-07-22 | 华为技术有限公司 | Ranging system and mobile platform |
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| GR01 | Patent grant | ||
| GR01 | Patent grant | ||
| TR01 | Transfer of patent right |
Effective date of registration: 20180723 Address after: 102206 89, East 15, block D, main building, 2 North Road, Changping District, Beijing. Patentee after: Hua stoneware (Beijing) Co., Ltd. Address before: 100096 702, room 1, building 15, Jin Bang Park, Xisanqi, Haidian District, Beijing. Patentee before: Huang Jinghua |
|
| TR01 | Transfer of patent right |