CN210732503U - Robot dynamic obstacle avoidance detection experimental device - Google Patents
Robot dynamic obstacle avoidance detection experimental device Download PDFInfo
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- CN210732503U CN210732503U CN201920972545.7U CN201920972545U CN210732503U CN 210732503 U CN210732503 U CN 210732503U CN 201920972545 U CN201920972545 U CN 201920972545U CN 210732503 U CN210732503 U CN 210732503U
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- walking platform
- obstacle avoidance
- dynamic obstacle
- robot
- avoidance detection
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Abstract
The application relates to a robot dynamic obstacle avoidance detection experimental device. The experimental device comprises a walking platform, a top plate, a plurality of roadblock devices and a control device. The walking platform is used for providing a walking path for the robot. The top plate and the walking platform are oppositely arranged at intervals. The roadblock devices are arranged on the surface, close to the walking platform, of the top plate. The plurality of roadblock devices are electrically connected with the control device respectively. The control device controls the roadblock devices to extend and retract towards the direction of the walking platform. The roadblock device blocks the surface of the walking platform into different traveling blocking paths. The robot walks on different obstruction paths to perform dynamic obstacle avoidance detection experiments. The robot dynamic obstacle avoidance detection experiment device provides a traveling platform with different obstacle situations for the dynamic obstacle avoidance detection experiment, replaces the traditional manual obstacle setting, and saves manpower.
Description
Technical Field
The application relates to the technical field of robots, in particular to a robot dynamic obstacle avoidance detection experimental device.
Background
A Robot (Robot) is a machine device that automatically executes work, and can accept human commands, run pre-programmed programs, and perform actions according to principles formulated by artificial intelligence techniques. The task of a robot is to assist or replace work done by humans, such as production, construction, or dangerous work.
In the practical application of the transformer substation, the inspection robot can walk to the position near equipment needing inspection according to a preset path, and automatic identification inspection work is carried out. Before the inspection robot leaves a factory, a dynamic obstacle avoidance system test is required. Therefore, a robot dynamic obstacle avoidance detection experimental device is needed.
SUMMERY OF THE UTILITY MODEL
Therefore, the robot dynamic obstacle avoidance detection experimental device is needed to solve the problem that the inspection robot needs to be tested by a dynamic obstacle avoidance system before leaving a factory.
A robot dynamic obstacle avoidance detection experiment device comprises a walking platform, a top plate, a plurality of roadblock devices and a control device. The top plate and the walking platform are oppositely arranged at intervals. The plurality of barrier devices are disposed on the roof. The plurality of roadblock devices are electrically connected with the control device respectively. The control device is used for controlling the plurality of roadblock devices to extend and retract towards the direction of the walking platform.
In one embodiment, the barrier device includes a barrier and a lifting device. One end of the lifting device is fixed on the surface of the top plate close to the walking platform. The other end of the lifting device is fixedly connected with the barrier piece. The lifting device is electrically connected with the control device. The control device is used for controlling the lifting device to drive the blocking piece to lift.
In one embodiment, the barrier device includes a connector. The barrier piece is fixed at one end, far away from the top plate, of the lifting device through the connecting piece.
In one embodiment, the robot dynamic obstacle avoidance detection experimental device further comprises a guide plate. The guide plate is connected with the edge of the walking platform and used for enabling the robot to drive into the walking platform.
In one embodiment, the robot dynamic obstacle avoidance detection experimental apparatus further includes a first support member group and a second support member group. The first support group and the second support group are symmetrically distributed on two opposite edges of the walking platform. The first support group and the second support group respectively comprise a plurality of supports. The supporting pieces are abutted between the walking platform and the top plate. The plurality of barrier devices are distributed between the first support member set and the second support member set.
In one embodiment, the robot dynamic obstacle avoidance detection experimental device further comprises a mounting seat. The supporting piece is fixed on the walking platform through the mounting seat.
In one embodiment, the robot dynamic obstacle avoidance detection experimental device further comprises a baffle. The baffle is fixed in the walking platform, and set up in the edge of walking route, be used for blockking the robot breaks away from the walking platform.
In one embodiment, a plurality of grooves corresponding to the plurality of barrier devices one to one are formed in the surface, close to the top plate, of the walking platform, and the plurality of barrier devices abut against the corresponding grooves when descending.
In one embodiment, the robot dynamic obstacle avoidance detection experiment device further comprises a shell. The shell is arranged on the surface, far away from the walking platform, of the top plate, and the control device is arranged on the shell.
In one embodiment, the housing encloses to form a first accommodating space, and the robot dynamic obstacle avoidance detection experiment device further comprises an energy storage device. The energy storage device is arranged in the first accommodating space. The energy storage device is electrically connected with the control device and the plurality of barrier devices.
In one embodiment, the robot dynamic obstacle avoidance detection experimental device further comprises an illumination device. The lighting device is arranged on the surface, close to the walking platform, of the top plate, and the lighting device is electrically connected with the control device.
In one embodiment, the robot dynamic obstacle avoidance detection experimental device further comprises supporting legs. The supporting legs are arranged on the surface, far away from the top plate, of the walking platform.
The application provides barrier detection experimental apparatus is kept away to robot developments includes walking platform, roof, a plurality of roadblock device and controlling means. The walking platform is used for providing a walking path for the robot. The top plate and the walking platform are oppositely arranged at intervals. The roadblock devices are arranged on the surface, close to the walking platform, of the top plate. The plurality of roadblock devices are electrically connected with the control device respectively. The control device controls the roadblock devices to extend and retract towards the direction of the walking platform. The roadblock device blocks the surface of the walking platform into different traveling blocking paths. The robot walks on different obstruction paths to perform dynamic obstacle avoidance detection experiments. The robot dynamic obstacle avoidance detection experiment device provides a traveling platform with different obstacle situations for the dynamic obstacle avoidance detection experiment, replaces the traditional manual obstacle setting, and saves manpower.
Drawings
Fig. 1 is a front view of the robot dynamic obstacle avoidance detection experimental apparatus provided in an embodiment of the present application;
FIG. 2 is a side view of the experimental set-up provided in one embodiment of the present application;
FIG. 3 is a schematic structural diagram of a bottom plate of the experimental apparatus provided in an embodiment of the present application;
fig. 4 is a front view of the experimental set-up provided in another embodiment of the present application.
Reference numerals:
robot dynamic obstacle avoidance detection experimental device 10
Groove 210
Support leg 220
Shell 300
The first receiving space 310
A plurality of barrier devices 40
Lifting device 420
Connecting piece 430
Second support member group 720
Mounting seat 80
Detailed Description
In order to make the aforementioned objects, features and advantages of the present application more comprehensible, embodiments accompanying the present application are described in detail below with reference to the accompanying drawings. In the following description, numerous specific details are set forth in order to provide a thorough understanding of the present application. This application is capable of embodiments in many different forms than those described herein and those skilled in the art will be able to make similar modifications without departing from the spirit of the application and it is therefore not intended to be limited to the embodiments disclosed below.
The numbering of the components as such, e.g., "first", "second", etc., is used herein only to distinguish the objects as described, and does not have any sequential or technical meaning. The term "connected" and "coupled" when used in this application, unless otherwise indicated, includes both direct and indirect connections (couplings). In the description of the present application, it is to be understood that the terms "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", "clockwise", "counterclockwise", and the like, indicate orientations or positional relationships based on those shown in the drawings, and are used only for convenience in describing the present application and for simplicity in description, and do not indicate or imply that the devices or elements referred to must have a particular orientation, be constructed in a particular orientation, and be operated, and thus, are not to be considered as limiting the present application.
In this application, unless expressly stated or limited otherwise, the first feature "on" or "under" the second feature may be directly contacting the first and second features or indirectly contacting the first and second features through intervening media. Also, a first feature "on," "over," and "above" a second feature may be directly or diagonally above the second feature, or may simply indicate that the first feature is at a higher level than the second feature. A first feature being "under," "below," and "beneath" a second feature may be directly under or obliquely under the first feature, or may simply mean that the first feature is at a lesser elevation than the second feature.
Referring to fig. 1 and fig. 2, an experimental apparatus 10 for dynamic obstacle avoidance detection of a robot according to an embodiment of the present disclosure includes a walking platform 20, a top plate 30, a plurality of obstacle devices 40, and a control device 50. The top plate 30 is disposed opposite to the walking platform 20 at a certain interval. The plurality of barrier devices 40 are provided to the roof panel 30. The plurality of barrier devices 40 are electrically connected to the control device 50, and the control device 50 is configured to control the plurality of barrier devices 40 to extend and retract toward the direction of the traveling platform 20.
The application provides the dynamic obstacle avoidance detection experiment device 10 of robot is provided with barrier device 40 walking platform 20. The control device 50 controls the plurality of barrier devices 40 to extend and retract in the direction of the traveling platform 20. The plurality of barrier devices 40 obstruct the surface of the walking platform 20, so that different obstruction paths are formed on the surface of the walking platform 20. The robot can walk on different blocking paths to perform dynamic obstacle avoidance detection experiments. The robot dynamic obstacle avoidance detection experiment device 10 provides a traveling platform with different obstacle situations for the dynamic obstacle avoidance detection experiment, avoids traditional manual obstacle setting, and saves manpower.
The robot may travel over the surface of the walking platform 20. The material of the walking platform 20 and the top plate 30 can be rubber, metal or cement. The road surface of the walking platform 20 can be parallel to the ground surface or inclined.
The control device 50 may receive external commands and control the extension and retraction of one or more of the plurality of barrier devices 40 based on the external commands. The control device 50 may control the barrier device 40 to descend and abut against the surface of the walking platform 20. The control device 50 may also control the barrier unit 40 to descend to a predetermined height without abutting against the surface of the walking platform 20.
The control device 50 includes a control circuit, a control board or a controller, and the like. In one embodiment, the control device 50 is a PLC controller. The PLC controller is Mitsubishi PLCFX1N-40 MR-001. The PLC controller is electrically connected to the plurality of barrier devices 40, and controls the plurality of barrier devices 40 to extend and retract in a direction in which the traveling platform 20 is located.
In one embodiment, the barrier device 40 includes a barrier 410 and a lifting device 420. One end of the lifting device 410 is fixed on the surface of the top plate 30 close to the walking platform 20. The other end of the lifting device 420 is fixedly connected with the blocking member 410. The lifting device 420 is electrically connected to the control device 50. The control device 50 is used for controlling the lifting device 420 to drive the blocking member 410 to lift.
The barrier 410 may be a baffle or a barrier post. The control device 50 drives the blocking member 410 to ascend and descend by controlling the ascending and descending device 420. The barrier 410 may be lowered and abutted against the surface of the walking platform 20. The barrier unit 40 may also be lowered to a predetermined height without abutting the surface of the walking platform 20.
The lifting device 420 includes a motor assembly or an electric push rod. In one embodiment, the lifting device 420 is an electric push rod. The electric push rod comprises a motor, a push rod and a motor controller. The motor controller is electrically connected with the motor. And the output shaft of the motor is electrically connected with the push rod. The motor drives the push rod to stretch along the axial direction. The motor controller is electrically connected to the control device 50 and receives control from the control device 50.
One end of the electric push rod is fixed on the surface of the top plate 30 close to the walking platform 20. The electric push rod is fixedly connected with the blocking piece 410. The electric push rod is electrically connected with the control device 50. The control device 50 controls the electric push rod to drive the blocking member 410 to ascend and descend.
In one embodiment, the barrier unit 40 further includes a connector 430. The blocking member 410 is fixed to an end of the lifting device 420 far away from the top plate 30 through the connecting member 430.
In one embodiment, the robot dynamic obstacle avoidance detection experiment device 10 further includes a guide plate 60. The guide plate 60 is connected to the edge of the walking platform 20, and is used for driving the robot into the walking platform 20.
The guide plates 60 are disposed at the entrance end and the exit end of the traveling platform 20, respectively. The inclined guide plates 1 are fixedly welded, and the guide plates 60 facilitate the robot to smoothly enter and leave the walking platform 20. The guide plate 60 improves the practicability and convenience of the robot dynamic obstacle avoidance detection experimental device 10.
In one embodiment, the robot dynamic obstacle avoidance detection experiment device 10 further includes a first support member group 710 and a second support member group 720. The first support member group 710 and the second support member group 720 are symmetrically distributed at two opposite edges of the walking platform 20. The first support set 710 and the second support set 720 respectively include a plurality of supports 701. The supports 701 abut between the walking platform 20 and the top plate 30. The plurality of barrier devices 40 are distributed between the first support member set 710 and the second support member set 720. The first support group 710 and the second support group 720 are used to support the top plate 30. The support 701 includes a support post or plate. The material of the support 701 may be PVC, metal, cement, or the like.
In one embodiment, the robot dynamic obstacle avoidance detection experiment device 10 further includes a mounting seat 80. The supporting member 701 is fixed to the walking platform 20 through the mounting seat 80. In one embodiment, the supporting seat 80 is provided in plurality. A portion of the supporting seat 80 is fixed between the top plate 30 and the supporting member 701. The supporting member 701 is fixedly connected to the top plate 30 through the supporting seat 80. Part of the supporting seat 80 is fixed between the walking platform 30 and the supporting member 701. The supporting member 701 is fixedly connected to the walking platform 30 through the supporting seat 80. The supporting seat 80 has a good receiving effect, and meanwhile, the robot dynamic obstacle avoidance detection experimental device 10 is convenient for workers to assemble, disassemble and maintain.
In one embodiment, the robot dynamic obstacle avoidance detection experiment device 10 further includes a baffle 800. The baffle 800 is fixed to the walking platform 20, and is disposed at the edge of the walking route, so as to prevent the robot from separating from the walking platform 20.
Referring to fig. 3, in an embodiment, a plurality of grooves 210 corresponding to the plurality of barrier devices 40 one to one are formed on a surface of the walking platform 20 close to the top plate 30, and the plurality of barrier devices 40 abut against the corresponding grooves 210 when descending.
The shape of the groove 210 matches the cross-sectional shape of the baffle 410. When the electric push rod pushes the baffle 410 to descend, the baffle 410 can go deep into the groove 210, so as to ensure the stable positioning of the baffle 410.
In one embodiment, the robot dynamic obstacle avoidance detection experiment device 10 further includes a housing 300. The housing 300 is disposed on a surface of the top plate 30 away from the walking platform 20, and the control device 50 is disposed on the housing 300.
In one embodiment, the housing 300 encloses and forms a first accommodating space 310, and the robot dynamic obstacle avoidance detection experiment device 10 further includes an energy storage device 90. The energy storage device 90 is disposed in the first receiving space 310. The energy storage device 90 is electrically connected to the control device 50 and the plurality of barrier devices 40.
The PLC controller is mounted to the surface of the housing 300 in an embedded manner, thereby facilitating operation and observation. The PLC controller is convenient for a worker to program and control the electrical appliance parts on the device to achieve the required operation state. The energy storage device 90 can supply power to electrical components inside the robot dynamic obstacle avoidance detection experiment device 10, so that the cruising performance of the robot dynamic obstacle avoidance detection experiment device 10 is improved, and the limitation during operation is reduced.
In one embodiment, the robot dynamic obstacle avoidance detection experiment device 10 further includes an illumination device 900. The lighting device 900 is disposed on the surface of the top plate 30 close to the walking platform 20, and the lighting device 900 is electrically connected to the control device 50. The lighting device 900 facilitates the observation of internal conditions by the staff.
Referring to fig. 4, in an embodiment, the robot dynamic obstacle avoidance detection experiment apparatus 10 further includes a supporting leg 220. The legs 220 are disposed on the surface of the walking platform 20 away from the top plate 30. In one embodiment, the bottom of the leg 201 is covered with a rubber sleeve. The supporting legs 220 ensure the stability of the device during operation through rubber sleeves, and meanwhile, workers can carry the device conveniently.
In one embodiment, the robot dynamic obstacle avoidance detection experiment device 10 further includes a charging interface 320. The charging interface 320 is disposed on the housing 300. The charging interface 320 is electrically connected to the energy storage device 90. Through the charging interface 320, the energy storage device 90 can be electrically connected to the city grid to complete charging.
The technical features of the embodiments described above may be arbitrarily combined, and for the sake of brevity, all possible combinations of the technical features in the embodiments described above are not described, but should be considered as being within the scope of the present specification as long as there is no contradiction between the combinations of the technical features.
The above-mentioned embodiments only express several embodiments of the present application, and the description thereof is more specific and detailed, but not construed as limiting the scope of the present application. It should be noted that, for a person skilled in the art, several variations and modifications can be made without departing from the concept of the present application, which falls within the scope of protection of the present application. Therefore, the protection scope of the present patent shall be subject to the appended claims.
Claims (12)
1. The utility model provides a barrier detection experimental apparatus is kept away to robot developments which characterized in that includes:
a walking platform (20);
the top plate (30) is arranged opposite to the walking platform (20) at intervals;
a plurality of barrier devices (40) provided to the roof panel (30);
the control device (50), a plurality of roadblock devices (40) respectively with control device (50) electricity is connected, control device (50) are used for controlling a plurality of roadblock devices (40) to stretch out and draw back towards the direction that walking platform (20) is located.
2. The robot dynamic obstacle avoidance detection experiment device according to claim 1, wherein the obstacle device (40) comprises:
a barrier (410);
elevating gear (420), the one end of elevating gear (420) is fixed in roof (30) is close to the surface of walking platform (20), the other end fixed connection of elevating gear (420) obstruct piece (410), elevating gear (420) with controlling means (50) electricity is connected, controlling means (50) are used for controlling elevating gear (420) drive obstruct piece (410) go up and down.
3. The robot dynamic obstacle avoidance detection experiment device according to claim 2, wherein the obstacle device (40) comprises:
the blocking piece (410) is fixed at one end, far away from the top plate (30), of the lifting device (420) through the connecting piece (430).
4. The robot dynamic obstacle avoidance detection experimental device according to claim 1, further comprising:
and the guide plate (60) is connected with the edge of the walking platform (20) and is used for enabling the robot to drive into the walking platform (20).
5. The robot dynamic obstacle avoidance detection experimental device according to claim 1, further comprising:
a first support group (710) and a second support group (720), wherein the first support group (710) and the second support group (720) are symmetrically distributed at two opposite edges of the walking platform (20), the first support group (710) and the second support group (720) respectively comprise a plurality of supports (701), the plurality of supports (701) are abutted between the walking platform (20) and the top plate (30), and the plurality of barrier devices (40) are distributed between the first support group (710) and the second support group (720).
6. The robot dynamic obstacle avoidance detection experiment device of claim 5, further comprising:
the mounting seat (80), the support piece (701) passes through the mounting seat (80) and is fixed in the walking platform (20).
7. The robot dynamic obstacle avoidance detection experimental device according to claim 6, further comprising:
the baffle (800), the baffle (800) is fixed in walking platform (20), and sets up in the edge of walking route, is used for blockking the robot breaks away from walking platform (20).
8. The robot dynamic obstacle avoidance detection experiment device according to claim 7, wherein a plurality of grooves (210) corresponding to the plurality of barrier devices (40) one by one are formed in the surface, close to the top plate (30), of the walking platform (20), and the plurality of barrier devices (40) abut against the corresponding grooves (210) when descending.
9. The robot dynamic obstacle avoidance detection experimental device according to claim 1, further comprising:
the shell (300) is arranged on the surface, far away from the walking platform (20), of the top plate (30), and the control device (50) is arranged on the shell (300).
10. The robot dynamic obstacle avoidance detection experiment device according to claim 9, wherein the housing (300) encloses and forms a first accommodating space (310), and the robot dynamic obstacle avoidance detection experiment device further comprises:
an energy storage device (90), the energy storage device (90) being disposed in the first receiving space (310), the energy storage device (90) being electrically connected with the control device (50) and the plurality of barrier devices (40).
11. The robot dynamic obstacle avoidance detection experimental device according to claim 1, further comprising:
and the lighting device (900) is arranged on the surface, close to the walking platform (20), of the top plate (30), and the lighting device (900) is electrically connected with the control device (50).
12. The robot dynamic obstacle avoidance detection experimental device according to claim 1, further comprising:
the supporting legs (220) are arranged on the surface of the walking platform (20) far away from the top plate (30).
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| Application Number | Priority Date | Filing Date | Title |
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| CN201920972545.7U CN210732503U (en) | 2019-06-26 | 2019-06-26 | Robot dynamic obstacle avoidance detection experimental device |
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| CN201920972545.7U CN210732503U (en) | 2019-06-26 | 2019-06-26 | Robot dynamic obstacle avoidance detection experimental device |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112798304A (en) * | 2020-12-07 | 2021-05-14 | 北京云迹科技有限公司 | Robot avoidance performance testing method and device |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112798304A (en) * | 2020-12-07 | 2021-05-14 | 北京云迹科技有限公司 | Robot avoidance performance testing method and device |
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