CN209366319U - Mobile robot - Google Patents
Mobile robot Download PDFInfo
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- CN209366319U CN209366319U CN201821962493.7U CN201821962493U CN209366319U CN 209366319 U CN209366319 U CN 209366319U CN 201821962493 U CN201821962493 U CN 201821962493U CN 209366319 U CN209366319 U CN 209366319U
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- vehicle frame
- mobile robot
- robot according
- driving
- laser sensor
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Abstract
The purpose of the application is to provide a kind of mobile robot, mainly by the mobile driving wheel of the vehicle frame of walking dolly, driving vehicle frame, be set to driving motor, the laser sensing component being set on vehicle frame, the Inertial Navigation Unit being set on walking dolly on vehicle frame for driving driving wheel etc. and constitute.Wherein, laser sensing component is used to carry out location navigation to the walking path of walking dolly；Box is controlled, is communicated to connect with laser sensing component, Inertial Navigation Unit and driving motor.Compared with prior art, the utility model can promote the positioning accuracy of mobile robot, avoid the occurrence of offset deviation.
Description
Technical field
The utility model relates to a kind of robot more particularly to a kind of mobile robots.
Background technique
Currently, mobile robot, as the installations that can execute work automatically a kind of in artificial intelligence product, due to can
With the part work for assisting or replacing the mankind to be engaged in, it is increasingly becoming the emphasis and hot spot of research.
However, in the prior art, mobile robot using single navigation mode due to being navigated, in navigation procedure
In inevitably generate offset deviation, failure of navigating, to occur can not work normally, position phenomena such as being not allowed.
Therefore, the positioning accuracy for how promoting mobile robot, avoids the occurrence of offset deviation, is current skill to be solved
Art problem.
Utility model content
The shortcomings that for the above-mentioned prior art or deficiency, the technical problems to be solved in the utility model are how to promote movement
The positioning accuracy of robot, avoids the occurrence of offset deviation.
In order to solve the above technical problems, the utility model provides a kind of mobile robot, comprising: the vehicle of walking dolly
The mobile driving wheel of frame, the driving vehicle frame is set on the vehicle frame for driving the driving motor of the driving wheel, special
Sign is, further includes:
Laser sensing component is set on the vehicle frame, is carried out positioning for the walking path to the walking dolly and is led
Boat；
Inertial Navigation Unit is set on the walking dolly；
Box is controlled, is communicated to connect with the laser sensing component, the Inertial Navigation Unit and the driving motor.
It is further used as preferably, the Inertial Navigation Unit includes: the encoder being set on the driving motor, sets
Set the gyroscope on the vehicle frame；Wherein, the encoder and the gyroscope and the control box communication connection.
Be further used as preferably, further includes: be set to the magnetic inductor of the bottom of the vehicle frame, for be set to row
It walks the magnetic stripe on ground and carries out location fit, and communicated to connect with the control box.
It is further used as preferably, further includes: be set to the bottom of the vehicle frame and the nothing with magnetic inductor cooperation
Line RF Reader.
It is further used as preferably, the magnetic inductor at least two is respectively arranged at the phase of the bottom of the vehicle frame
To both ends, and the magnetic inductor direction is arranged and the driving direction of the driving wheel is consistent；Wherein, the nothing
Line RF Reader is between each magnetic inductor.
It is further used as preferably, the laser sensing component further include: be set to the first laser of the vehicle frame front end
Sensor and second laser sensor are respectively used to perceive different investigative ranges.
It is further used as preferably, the vehicle frame includes: main body of vehicle frame, and the front end of the main body of vehicle frame offers slot
Body for installing the first laser sensor, and makes the first laser sensor realize that the visual angle of 180 degree measures.
It is further used as preferably, the second laser sensor is set to the bottom of the vehicle frame, swashs with described first
Optical sensor cooperates.
It being further used as preferably, mobile robot further include: camera cooperates with the laser sensing component,
It is set to inside the main body of vehicle frame, and is communicated to connect with the control box；Wherein, it offers on the main body of vehicle frame for institute
State the through-hole of camera collection image.
Be further used as preferably, the camera, the first laser sensor and the second laser sensor from
Top to bottm is arranged successively setting.
It is further used as preferably, mobile robot further include: be set to the bump bar of the vehicle frame front end.
Detailed description of the invention
By reading a detailed description of non-restrictive embodiments in the light of the attached drawings below, the application's is other
Feature, objects and advantages will become more apparent upon:
Fig. 1: the perspective view of the explosion of mobile robot in the utility model first embodiment；
Fig. 2: the bottom substance schematic diagram of mobile robot in the utility model first embodiment；
Fig. 3: the front-end view of the walking dolly of mobile robot in the utility model first embodiment；
Fig. 4: the rear end schematic diagram of the walking dolly of mobile robot in the utility model first embodiment；
Fig. 5: the bottom substance schematic diagram of mobile robot in the utility model second embodiment；
Description of symbols:
Vehicle frame 1；
Main body of vehicle frame 101；First cover board 102；Second cover board 103；Third cover board 104；4th cover board 105；First cavity
106；Second cavity 107；Third cavity 108；4th cavity 109；Groove body 110；
Driving wheel 3；
Magnetic inductor 4；
First pinboard 7；
Wireless RF identifier 6；
Second pinboard 5；
Power supply 9；
Mounting plate 10；
Second laser sensor 11；
Bump bar 12；
Camera 13；
First laser sensor 15；
Control box 16；
Universal wheel 17.
Specific embodiment
Make furtherly below with reference to technical effect of the attached drawing to the design of the utility model, specific structure and generation
It is bright, to be fully understood from the purpose of this utility model, feature and effect.
As shown in Figures 1 to 4, the first embodiment of the utility model provides a kind of mobile robot, mainly by
The mobile driving wheel 3 of vehicle frame 1, the driving vehicle frame 1 of walking dolly is set on vehicle frame 1 for driving the driving electricity of driving wheel 3
Machine, the laser sensing component being set on vehicle frame 1, the Inertial Navigation Unit being set on walking dolly etc. are constituted.
Wherein, laser sensing component is used to carry out location navigation to the walking path of walking dolly；Control box 16, with swash
Light sensing component, Inertial Navigation Unit and driving motor communication connection.
It can be seen from the above content that the vehicle frame 1 due to mobile robot is equipped with laser sensing component and inertial navigation group
Part therefore, can be in moving process when mobile robot is navigated by movement routine of the laser sensing component to walking dolly
In, by mutually switching between Inertial Navigation Unit, with the mobile data path that is recorded by Inertial Navigation Unit to movement
Robot path is positioned, and prevents interference of the mobile robot because of environment, such as light reflection environment is poor and is displaced
Deviation or navigation failure, so that it cannot work normally or position inaccurate phenomenon.
Specifically, above-mentioned Inertial Navigation Unit (is not marked mainly by the encoder being set on driving motor in figure
Show), the gyroscope (not indicating in figure) that is arranged on vehicle frame 1 etc. constitutes.Wherein, encoder and gyroscope and control box 16 communicate
Connection.To record the course of mobile robot by encoder, and it is small to determine by the deviation signal calculating that gyroscope acquires
The position and direction of vehicle carriage 1 obtain speed and position finally by integral and operation, to the navigation routine of laser sensing component
Play the role of positioning compensation.
It is combined in conclusion the mobile robot of this implementation uses laser navigation, camera navigation and inertial navigation
Mode, evaded laser and camera navigation the light to environment influence, ensure that the precision and positioning of navigation.
It is further used as preferably, as shown in Figures 2 and 3, laser sensing component further include: be set to 1 front end of vehicle frame
First laser sensor 15 and second laser sensor 11 are respectively used to perceive different investigative ranges.
It is further used as preferably, vehicle frame 1 includes: main body of vehicle frame 101, and the front end of main body of vehicle frame 101 offers groove body
110, for installing first laser sensor 15, and first laser sensor 15 is made to realize that the visual angle of 180 degree measures.To avoid row
Walk trolley when moving, barrier is accidentally touched in front end and two sides, and prevents first laser sensor 15 mobile in walking dolly
It is collided in the process and generates damage.
Wherein, which opens up in the horizontal direction along the front end of main body of vehicle frame 101, and from wherein side through another
End.
It is further used as preferably, second laser sensor 11 is set to the bottom of vehicle frame 1, and fixed by mounting plate 10
It cooperates in bottom of frame and first laser sensor 15.To prevent the vehicle frame 1 of walking dolly, bottom is accidentally touched when moving
Barrier.
It is further used as preferably, further includes: camera 13 cooperates with laser sensing component, is set to vehicle frame master
Inside body 101, and communicated to connect with control box 16；Wherein, it is offered on main body of vehicle frame 101 and acquires image for camera 13
Through-hole.To promote the navigation accuracy and fixation and recognition function of mobile robot by the navigation of camera 13, so that mobile machine
People can accurately reach specified position.
It is further used as preferably, camera 13, first laser sensor 15 and second laser sensor 11 are from top to bottom
It is arranged successively setting.To adapt to the detection demand of different height and range, meet the mobile demand of moving trolley.
It is further used as preferably, further includes: the bump bar 12 of 1 front end of vehicle frame is set to, to prevent mobile robot from existing
After there is collision when mobile, pass through the main body of vehicle frame 101 of anticollision mobile robot and damaging for relevant device.It needs to illustrate
, the bump bar 12 in the present embodiment can be made of rubber strip, inflation item etc., and not make specifically to limit and say to this
It is bright.
In addition, it is noted that mobile robot in the present embodiment further include: with control box 16, driving motor and
The power supply 9 of Inertial Navigation Unit communication connection.
Main body of vehicle frame 101 in the present embodiment has the first cavity 106 for accommodating camera 13, for accommodating control
Second cavity 107 of box 16 and driving motor, the third cavity 108 for accommodating gyroscope, for accommodating power supply 9
Four cavitys 109, also, the present embodiment further include: for closing the first cover board 102 of the first cavity 106, for closing the second chamber
Second cover board 103 of body 107, the first cover board 104 for closing third cavity 108, for closing the 4th cavity 106 the 4th
Cover board 105, in order to the disassembly and installation of mobile robot.
Also, the driving motor and driving wheel 3 in the present embodiment are two, are located at main body of vehicle frame 101 opposite two
Side, and control box 16 opposite end respectively with driving motor communication connection.In addition, the bottom of vehicle frame 1 is additionally provided with cooperation driving
The universal wheel 17 of wheel 3.
The second embodiment of the utility model additionally provides a kind of mobile robot, this second embodiment is to above-mentioned implementation
The further improvement of example, it is improved in that as shown in figure 5, in the present embodiment, Inertial Navigation Unit further include: setting
Magnetic inductor 4 in the bottom of vehicle frame 1, for be set to walking ground on magnetic stripe carry out location fit, and with control box
16 communication connections.To control driving motor along magnetic by control box 16 by the induction of magnetic stripe on 4 pairs of magnetic inductor walking ground
The movement of the setting direction driving walking dolly of item.
It is further used as preferably, above-mentioned Inertial Navigation Unit further include: be set to the bottom of vehicle frame 1 and and magnetic inductor
The Wireless RF identifier 6 of 4 cooperations, i.e. RFID (Radio Frequency Identifi- cation, radio frequency identification) identification
Device.To read the information to the electronic tag storage on ground by Wireless RF identifier 6, consequently facilitating precise positioning, such as
Precise positioning parking, convenient for unloading and loading etc..
In detail, the Wireless RF identifier 6 in the present embodiment is fixed on the bottom of vehicle frame 1 by the first pinboard 7,
Magnetic inductor 4 is fixed on the bottom of vehicle frame 1 by the second pinboard 5.
It being further used as preferably, magnetic inductor 4 at least two is respectively arranged at the opposite end of the bottom of vehicle frame 1,
And magnetic inductor 4 direction is arranged and the driving direction of driving wheel 3 is consistent；In, also, Wireless RF identifier 6
Between each magnetic inductor 4.Read convenient for Wireless RF identifier 6 in the case where not influencing the navigation of magnetic inductor 4
To the information etc. of the electronic tag storage on ground.
In conclusion the mobile robot of this implementation uses laser navigation, camera navigation, inertial navigation and magnetic conductance
The mode that navigation combines has evaded the influence of the light to environment of laser and camera navigation, and individually magnetic conductance navigation
Maintenance it is inconvenient, change the problems such as path is difficult, ensure that the precision and positioning of navigation.
Above embodiments are only to illustrate the technical solution of the utility model and non-limiting, reference only to preferred embodiment pair
The utility model is described in detail.Those skilled in the art should understand that can be to the technology of the utility model
Scheme is modified or equivalent replacement, without departing from the spirit and scope of the technical scheme of the present invention, should all cover in this reality
With novel scope of the claims.
Claims (10)
1. a kind of mobile robot, comprising: the mobile driving wheel of the vehicle frame of walking dolly, the driving vehicle frame, be set to it is described
For driving the driving motor of the driving wheel on vehicle frame, which is characterized in that further include:
Laser sensing component is set on the vehicle frame, carries out location navigation for the walking path to the walking dolly；
Inertial Navigation Unit is set on the walking dolly；
Box is controlled, is communicated to connect with the laser sensing component, the Inertial Navigation Unit and the driving motor.
2. mobile robot according to claim 1, which is characterized in that the Inertial Navigation Unit includes: to be set to institute
The gyroscope stating the encoder on driving motor, being arranged on the vehicle frame；Wherein, the encoder and the gyroscope and institute
State control box communication connection.
3. mobile robot according to claim 1, which is characterized in that further include: it is set to the bottom of the vehicle frame
Magnetic inductor is communicated to connect for carrying out location fit with the magnetic stripe being set on walking ground, and with the control box.
4. mobile robot according to claim 3, which is characterized in that further include: it is set to the bottom of the vehicle frame simultaneously
With the Wireless RF identifier of magnetic inductor cooperation.
5. mobile robot according to claim 4, which is characterized in that the magnetic inductor at least two is set respectively
It is placed in the opposite end of the bottom of the vehicle frame, and the driving side that direction Yu the driving wheel is arranged of the magnetic inductor
To being consistent；Wherein, the Wireless RF identifier is between each magnetic inductor.
6. mobile robot according to claim 1, which is characterized in that the laser sensing component further include: be set to
The first laser sensor and second laser sensor of the vehicle frame front end, are respectively used to perceive different investigative ranges.
7. mobile robot according to claim 6, which is characterized in that the vehicle frame includes: main body of vehicle frame, and the vehicle
The front end of frame body offers groove body, for installing the first laser sensor, and realizes the first laser sensor
The visual angle of 180 degree measures；The second laser sensor is set to the bottom of the vehicle frame, with the first laser sensor phase
Mutually cooperation.
8. mobile robot according to claim 7, which is characterized in that further include: camera, with the laser sensing
Component cooperates, and is set to inside the main body of vehicle frame, and communicates to connect with the control box；Wherein, the main body of vehicle frame
On offer through-hole for the camera collection image.
9. mobile robot according to claim 8, which is characterized in that the camera, first laser sensing
Device and the second laser sensor are arranged successively setting from top to bottom.
10. mobile robot according to claim 1, which is characterized in that further include: it is set to the vehicle frame front end
Bump bar.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201821962493.7U CN209366319U (en) | 2018-11-26 | 2018-11-26 | Mobile robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201821962493.7U CN209366319U (en) | 2018-11-26 | 2018-11-26 | Mobile robot |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN209366319U true CN209366319U (en) | 2019-09-10 |
Family
ID=67834142
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201821962493.7U Active CN209366319U (en) | 2018-11-26 | 2018-11-26 | Mobile robot |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN209366319U (en) |
-
2018
- 2018-11-26 CN CN201821962493.7U patent/CN209366319U/en active Active
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| GR01 | Patent grant | ||
| GR01 | Patent grant | ||
| TR01 | Transfer of patent right | ||
| TR01 | Transfer of patent right |
Effective date of registration: 20200710 Address after: 201203 2 floor, 13 building, 27 Jinqiao Road, China (Shanghai) free trade pilot area, Pudong New Area, Shanghai. Patentee after: Shanghai xianruan Information Technology Co., Ltd Address before: 201203 Room 301, No. 22, Bo Xia Road, Pudong New Area Free Trade Zone, Shanghai Patentee before: SHANGHAI SEER ROBOTICS TECHNOLOGY Co.,Ltd. |