CN207606854U - Double-wheel self-balancing guided robot - Google Patents
Double-wheel self-balancing guided robot Download PDFInfo
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- CN207606854U CN207606854U CN201721744075.6U CN201721744075U CN207606854U CN 207606854 U CN207606854 U CN 207606854U CN 201721744075 U CN201721744075 U CN 201721744075U CN 207606854 U CN207606854 U CN 207606854U
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Abstract
The utility model discloses a kind of double-wheel self-balancing guided robots, it is related to robotic technology field, including chassis assembly, the touch screen being arranged above the chassis assembly and mating control system, the control system includes processor and the two-dimensional laser radar being connected with the processor, ultrasonic sensor, camera and attitude detection module, it is characterised in that：Self-adapting adjusting apparatus is equipped between the two-dimensional laser radar and chassis assembly, the self-adapting adjusting apparatus includes connecting bracket, the gyroscope being arranged in the connecting bracket, the oscillating rod being connected with the connecting bracket, the swing shaft being arranged between the oscillating rod bottom and chassis assembly and the oscillatory gearing mechanism for driving oscillating rod to rotate.The utility model adjusts itself posture of two-dimensional laser radar according to the feedback real-time moment of gyroscope by the state on the real-time detection ground of gyroscope, self-adapting adjusting apparatus, it is ensured that radar is maintained in same level in real time, and it is accurate to build figure.
Description
Technical field
The utility model is related to robotic technology fields, and in particular to one kind being suitable for the services such as market, bank, airport
The guide service robot using double-wheel self-balancing formula in place.
Background technology
With the development of technology, it is guided, is led for customer in service place instead of Field Force using robot
The window of customer to transacting business carries out business handling and has become reality.
Robot needs to establish the map in current service place when in use, and service location is then chosen in map to draw
Customer is led to the place.In the prior art, have the setting two-dimensional laser radar in robot to be positioned in real time, build figure, road
Diameter is planned.Robot can be directed at the environment of surrounding from any position while walking（Building structure, barrier）It establishes
Map, while oneself currently position in map is positioned according to the map, and revised planning route in real time.With usage time
Increase, the map that walking robot is established can be more and more accurate, and the track route of planning is more and more efficient, the increasingly intelligence of change
Energy.
Two-dimensional laser radar require to must assure that during laser radar scanning when in use the height on distance by radar ground,
Angle is constant, i.e., radar remains at the same fully-flattened, this is the precondition that two-dimensional laser radar builds figure.Work as machine
People walks at uneven ground, and laser beam can sweep to ground and generate interference, location navigation can be caused to fail when serious.
Invention content
The technical problem to be solved by the present invention is to provide a kind of double-wheel self-balancing guided robots, adaptive by designing
Answer adjusting apparatus, adjust the angle of two-dimensional laser radar in real time under the cooperation of gyroscope, make laser that it sends out always with machine
The ground that device people is walked is parallel, ensures the accuracy for building figure.
In order to solve the above technical problems, the technical solution adopted in the utility model is：A kind of double-wheel self-balancing guiding machine
People, including chassis assembly, the touch screen that is arranged above the chassis assembly and mating control system, the control system
Two-dimensional laser radar, ultrasonic sensor, camera and the attitude detection mould being connected including processor and with the processor
Block, it is characterised in that：Self-adapting adjusting apparatus, the adaptive adjustment are equipped between the two-dimensional laser radar and chassis assembly
Device includes and the mutually fixed connecting bracket of the two-dimensional laser radar, the gyroscope being arranged in the connecting bracket and institute
The connected oscillating rod of connecting bracket, the swing shaft being arranged between the oscillating rod bottom and chassis assembly and driving is stated to swing
The oscillatory gearing mechanism that bar is rotated centered on swinging shaft.
The advantageous effects of the utility model are：1, adaptive to adjust by the state on the real-time detection ground of gyroscope
Engagement positions adjust itself posture of two-dimensional laser radar according to the feedback real-time moment of gyroscope, in the process of walking, it is ensured that thunder
Up to being maintained in same level in real time（Height, angle apart from ground is constant）, ensure that robot builds the accuracy of figure；2、
Self-adapting adjusting apparatus uses four-bar mechanism, simple in structure, easy to process to install and be adjusted according to different installation spaces
Whole each bar is long；3, traveling wheel is directly driven using wheel hub motor so that chassis assembly volume is more small and exquisite.
The utility model is described in detail below in conjunction with the accompanying drawings.
Description of the drawings
Fig. 1 is the structural schematic diagram of the utility model double-wheel self-balancing guided robot；
Fig. 2 is the structural schematic diagram of chassis assembly in the utility model double-wheel self-balancing guided robot；
Fig. 3 is the structural schematic diagram of self-adapting adjusting apparatus in the utility model double-wheel self-balancing guided robot；
Fig. 4 is another structural schematic diagram of self-adapting adjusting apparatus in the utility model double-wheel self-balancing guided robot；
Fig. 5 is the principle schematic of self-adapting adjusting apparatus in the utility model double-wheel self-balancing guided robot.
In the accompanying drawings：1 is touch screen, and 2 be two-dimensional laser radar, and 3 be ultrasonic sensor, and 4 be camera, and 5 be gyro
Instrument, 6 be connecting bracket, and 7 be oscillating rod, and 8 be to swing shaft, and 9 be wobble drive motor, and 10 be driving lever, and 11 be intermediate connecting rod,
12 be chassis, and 13 be mounting seat, and 14 be limit shaft, and 15 be wheel hub motor, and 16 be traveling wheel, and 17 be battery, and 18 be supporting rod.
Specific implementation mode
Referring to attached drawing 1-5, the utility model provides a kind of double-wheel self-balancing guided robot, including chassis assembly, sets
Set the touch screen 1 above chassis assembly and mating control system, control system include processor and with processor phase
Two-dimensional laser radar 2 even, ultrasonic sensor 3, camera 4 and attitude detection module, key are：In two-dimensional laser radar
Self-adapting adjusting apparatus is equipped between 2 and chassis assembly, self-adapting adjusting apparatus includes and the 2 mutually fixed connection of two-dimensional laser radar
Holder 6, the gyroscope 5 being arranged in connecting bracket 6, the oscillating rod 7 being connected with connecting bracket 6, setting 7 bottom of oscillating rod with
The oscillatory gearing mechanism that swing shaft 8 and driving oscillating rod 7 between chassis assembly are rotated centered on swinging shaft 8.
Referring to attached drawing 2, chassis assembly includes chassis 12, two wheel hub motors 15 being symmetricly set on chassis 12, installation
Traveling wheel 16 on wheel hub motor 15 and the housing unit on chassis 12.Above-mentioned swing shaft 8 and traveling wheel
16 coaxial arrangements.
Referring to attached drawing 3 and 4, above-mentioned oscillatory gearing mechanism includes wobble drive motor 9, defeated with wobble drive motor 9
The connected driving lever 10 of shaft and the both ends intermediate connecting rod hinged with the middle part of the upper end of driving lever 10, oscillating rod 7 respectively
11.Wobble drive motor 9 uses stepper motor.
Further, it is equipped with mounting seat 13 at the middle part on the chassis of chassis assembly 12, swings shaft 8 and swing and drives
Dynamic motor 9 is arranged in mounting seat 13, swings the axial line position of the axial line of shaft 8 and the output shaft of wobble drive motor 9
In in same level.Two limit shafts 14 of the hunting range for limiting oscillating rod 7 are equipped in mounting seat 13.Two
A swing angle for directly 7 side of limit oscillating rod in limit shaft 14, another is used for by limiting driving lever 10
To limit the swing angle of 7 other side of oscillating rod.
The principles of the present invention are：Referring to attached drawing 5, balance car in the process of walking, due to ground injustice chassis assembly
It leans forward or swings back in real time, with ground angulation real-time change.It first has to it is confirmed that in the swing of balance car chassis assembly
Heart line（With the center for wheel shaft of walking）, the center line swung using the center line as two-dimensional laser radar 2, with chassis assembly
The angle swung in real time is swung in real time at opposite direction, such as balance car at a time leans forward 5 degree, two-dimensional laser radar 2 with
Line is swung back 5 degree centered on balance car chassis assembly oscillation center line, you can ensures two-dimensional laser radar 2 in the process of walking in real time
It is maintained in the same horizontal plane.
The angle y of oscillating rod rotation meets following formula with what gyroscope 5 detected with ground-angle x：
Wherein, a represents the output shaft of wobble drive motor 9 at a distance from 10 hinged place of intermediate connecting rod 11 and driving lever, b generations
The distance of two hinged places on table intermediate connecting rod 11, c, which is represented, swings shaft 8 and 7 hinged place of intermediate connecting rod 11 and oscillating rod
Distance, d represent the output shaft of wobble drive motor 9 at a distance from swing shaft 8, and m, θ, ψ represent intermediate value, and α is represented actively
When bar is initially installed and the angle of horizontal plane, β is represented when oscillating rod is initially installed and the angle of horizontal plane.
In initial position, two-dimensional laser radar 2 is horizontally situated, and 5 detection angles of gyroscope are 0, when robot opens
When beginning away, the variation of 5 real-time detection angles of gyroscope, and by angle value Real-time Feedback to wobble drive motor 9.Wobble drive electricity
Machine 9 drives the rotation of 10 bar of driving lever, driving lever 10 that intermediate connecting rod 11, intermediate connecting rod 11 is driven to drive according to the value of feedback of angle
Oscillating rod 7.Oscillating rod 7 rotates respective angles at this time, and radar is made to be horizontal in real time.
It is equipped with the battery 17 to match with control system in the bottom on chassis 12, ultrasonic sensor 3 is right on chassis 12
Title is provided with two groups, and every group of 2 ultrasonic sensors 3, two sensors are used to detect robot respectively when moving forward and backward
It is likely to be encountered barrier.
Supporting rod 18 is equipped between chassis assembly and touch screen 1, camera 4 is arranged on supporting rod 18.
The indoor navigation system of the robot of the utility model is used as main detection means using two-dimensional laser radar 2,
Feature is extracted from environment and establishes map, service point is selected on touch screen 1 when client needs service, then robot root
According to the optimal path of destination information and indoor environment comparison planning walking, during walking in real time with the map that is stored
Information compares, and to determine the position of oneself, and travels on the path of planning, is corrected in time to the deviation of appearance, guides
Client quickly reaches service point in time.
In order to make the system more quickly reaction of agility, adds camera 4 in the design and ultrasonic sensor 3 assists
Avoidance.
The attitude detection module of vehicle body uses attitude detecting sensor MPU-6050, this set of sensors three-axis gyroscope
With three axis accelerometer in one, volume smaller.Kalman Filter Technology is used in terms of algorithm, two kinds of data are done to merge add
Power, keeps attitude algorithm result more accurate, and the static Zero drift in main amplifier and accelerometer for solving gyroscope are accelerated by vehicle itself
Degree influences big problem.
Finally it should be noted that：The above embodiments are merely illustrative of the technical scheme of the present invention and are not intended to be limiting thereof；To the greatest extent
The present invention is described in detail with reference to preferred embodiments for pipe, those of ordinary skills in the art should understand that：Still
It can modify to the specific implementation mode of the present invention or equivalent replacement is carried out to some technical characteristics；Without departing from this hair
The spirit of bright technical solution should all cover within the scope of the technical scheme claimed by the invention.
Claims (8)
1. a kind of double-wheel self-balancing guided robot, including chassis assembly, the touch screen that is arranged above the chassis assembly（1）
And mating control system, the control system include processor and the two-dimensional laser radar being connected with the processor
（2）, ultrasonic sensor（3）, camera（4）With attitude detection module, it is characterised in that：In the two-dimensional laser radar（2）
Self-adapting adjusting apparatus is equipped between chassis assembly, the self-adapting adjusting apparatus includes and the two-dimensional laser radar（2）Phase
Fixed connecting bracket（6）, be arranged in the connecting bracket（6）On gyroscope（5）And the connecting bracket（6）Connected
Oscillating rod（7）, be arranged in the oscillating rod（7）Swing shaft between bottom and chassis assembly（8）And driving oscillating rod（7）With
Swing shaft（8）Centered on the oscillatory gearing mechanism that rotates.
2. double-wheel self-balancing guided robot according to claim 1, it is characterised in that：The oscillatory gearing mechanism includes
Wobble drive motor（9）And the wobble drive motor（9）The connected driving lever of output shaft（10）And both ends respectively with
The driving lever（10）Upper end, oscillating rod（7）The hinged intermediate connecting rod in middle part（11）.
3. double-wheel self-balancing guided robot according to claim 2, it is characterised in that：On the chassis of the chassis assembly
（12）Middle part be equipped with mounting seat（13）, the swing shaft（8）And wobble drive motor（9）It is arranged at the installation bottom
Seat（13）On, the swing shaft（8）Axial line and the wobble drive motor（9）Output shaft axial line be located at it is same
On horizontal plane.
4. double-wheel self-balancing guided robot according to claim 3, it is characterised in that：In the mounting seat（13）On
Equipped with for limiting oscillating rod（7）Hunting range two limit shafts（14）.
5. double-wheel self-balancing guided robot according to claim 1, it is characterised in that：The chassis assembly includes chassis
（12）, be symmetricly set on the chassis（12）On two wheel hub motors（15）And it is mounted on the wheel hub motor（15）On
Traveling wheel（16）, the swing shaft（8）With traveling wheel（16）Coaxial arrangement.
6. double-wheel self-balancing guided robot according to claim 5, it is characterised in that：On the chassis（12）Bottom
Equipped with the battery to match with control system（17）, the ultrasonic sensor（3）On the chassis（12）On be symmetrically arranged with
Two.
7. double-wheel self-balancing guided robot according to claim 1, it is characterised in that：In the chassis assembly and described
Touch screen（1）Between be equipped with supporting rod（18）, the camera（4）It is arranged in the supporting rod（18）On.
8. according to claim 1-7 any one of them double-wheel self-balancing guided robots, it is characterised in that：The attitude detection
Module uses MPU-6050.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201721744075.6U CN207606854U (en) | 2017-12-14 | 2017-12-14 | Double-wheel self-balancing guided robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201721744075.6U CN207606854U (en) | 2017-12-14 | 2017-12-14 | Double-wheel self-balancing guided robot |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN207606854U true CN207606854U (en) | 2018-07-13 |
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ID=62798857
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201721744075.6U Active CN207606854U (en) | 2017-12-14 | 2017-12-14 | Double-wheel self-balancing guided robot |
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| CN (1) | CN207606854U (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108356829A (en) * | 2017-12-14 | 2018-08-03 | 河北汇金机电股份有限公司 | Double-wheel self-balancing guided robot |
-
2017
- 2017-12-14 CN CN201721744075.6U patent/CN207606854U/en active Active
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108356829A (en) * | 2017-12-14 | 2018-08-03 | 河北汇金机电股份有限公司 | Double-wheel self-balancing guided robot |
| CN108356829B (en) * | 2017-12-14 | 2023-08-15 | 河北汇金集团股份有限公司 | Two-wheeled self-balancing guiding robot |
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| GR01 | Patent grant | ||
| GR01 | Patent grant | ||
| CP01 | Change in the name or title of a patent holder |
Address after: 050035 Xiangjiang Road 209, Shijiazhuang High-tech Zone, Hebei Province Patentee after: Hebei Huijin Group Co.,Ltd. Address before: 050035 Xiangjiang Road 209, Shijiazhuang High-tech Zone, Hebei Province Patentee before: HEBEI HUIJIN ELECTROMECHANICAL Co.,Ltd. |
|
| CP01 | Change in the name or title of a patent holder |