CN211415243U

CN211415243U - Self-path-finding obstacle-avoiding robot

Info

Publication number: CN211415243U
Application number: CN201922452127.8U
Authority: CN
Inventors: 夏勇
Original assignee: Wuhan Tuorui Chuanqi Technology Co ltd
Current assignee: Wuhan Tuorui Chuanqi Technology Co ltd
Priority date: 2019-12-31
Filing date: 2019-12-31
Publication date: 2020-09-04
Anticipated expiration: 2029-12-31

Abstract

The utility model discloses a self-path-finding obstacle-avoiding robot, which comprises a fixed disc, wherein the center of the upper surface of the fixed disc is provided with a rotating unit, the top end of the rotating unit is provided with a detecting unit, the center of the bottom end of the fixed disc is provided with a connecting rod, the bottom end of the front side of the connecting rod is provided with an infrared sensor, the left side and the right side of the connecting rod are correspondingly provided with two electric telescopic rods, the telescopic ends of the two electric telescopic rods are respectively provided with a connecting plate, the front end and the rear end of the bottom of the connecting plate are respectively provided with an electric lifting rod, the lifting end of the electric lifting rod is provided with a moving unit, the circumferential surface of the fixed disc is provided with an ultrasonic sensor along the circumferential direction, the upper surface of the fixed disc is sequentially provided with a battery and a microcomputer, the utility, the obstacle with lower height can directly cross the obstacle, and convenience is brought to daily use.

Description

Self-path-finding obstacle-avoiding robot

Technical Field

The utility model relates to the technical field of robot, specifically be a keep away barrier robot from seeking way.

Background

A Robot (Robot) is a machine device that automatically performs work. It can accept human command, run the program programmed in advance, and also can operate according to the principle outline action made by artificial intelligence technology. The task of which is to assist or replace human work, such as production, construction, or dangerous work. The self-route-finding obstacle-avoiding robot in the prior art is complex in structure and inconvenient to operate, can only bypass when meeting obstacles, can only return when the space is small, cannot directly cross the obstacles with low height, and brings influence to daily use.

SUMMERY OF THE UTILITY MODEL

In view of the problems in the prior art, the utility model discloses a self-path-finding obstacle-avoiding robot, which adopts the technical proposal that the robot comprises a fixed disc, a rotating unit is arranged at the center of the upper surface of the fixed disc, a detection unit is arranged at the top end of the rotating unit, a connecting rod is arranged at the center of the bottom end of the fixed disc, an infrared sensor is arranged at the bottom end of the front side of the connecting rod, two electric telescopic rods are correspondingly arranged at the left side and the right side of the connecting rod, the telescopic ends of the two electric telescopic rods are respectively provided with a connecting plate, electric lifting rods are respectively arranged at the front end and the rear end of the bottom of the connecting plate, a moving unit is arranged at the lifting end of each electric lifting rod, ultrasonic sensors are arranged along the circumferential direction of the fixed disc, a battery and a microcomputer are sequentially arranged on the upper surface of, the microcomputer is respectively and electrically connected with the ultrasonic sensor and the infrared sensor in a two-way mode, and the output end of the microcomputer is respectively and electrically connected with the output ends of the electric telescopic rod and the electric lifting rod.

As an optimal technical scheme of the utility model, the rotation unit includes worm wheel and pivot one, the center of connection at the fixed disk upper surface is rotated through the bearing in the bottom of pivot one, the middle part of a pivot periphery is equipped with the worm wheel.

As a preferred technical scheme of the utility model, detecting element includes fixing base and camera, the top at pivot one is established to the fixing base, the upper surface of fixing base is equipped with the camera, the camera is connected with microcomputer two-way electricity.

As a preferred technical scheme of the utility model, the mobile unit includes mount pad, pivot two, truckle and motor two, the lift end at solid electric lift pole is established to the mount pad, rotate through the bearing between the inner wall of mount pad and be connected with pivot two, the middle part of two periphery in pivot is equipped with the truckle, the outside of mount pad is fixed with motor two, motor two's output shaft and pivot two's one end fixed connection, motor two's input is connected with microcomputer's output electricity, and the front side that is located the mount pad of connecting plate bottom front end is equipped with infrared distance measuring sensor, infrared distance measuring sensor is located the inboard of truckle, infrared distance measuring sensor is connected with microcomputer's two-way electricity.

As a preferred technical scheme of the utility model, still include drive unit, drive unit includes worm, motor one and fixed plate, one side at the fixed disk upper surface is established to the fixed plate, one side of fixed plate is rotated through the bearing and is connected with the worm, the worm corresponds the meshing with the worm wheel, the opposite side of fixed plate is fixed with motor one, the output shaft of motor one and the one end fixed connection of worm, the input of motor one is connected with microcomputer's output electricity.

The utility model has the advantages that: the utility model discloses simple structure, convenient operation, meet the barrier and can make detection and judgement to its height and width, can directly cross the barrier to the barrier that the height is lower, brought the facility for daily use, through the synchronous rotation of four motors two, drive the rotation of pivot two and truckle, can realize the normal forward movement of robot, can identify and detect positive road through the camera, and feed back information to microcomputer, simultaneously, can detect and feed back all directions through ultrasonic sensor; when an obstacle is encountered right ahead, the microcomputer controls the motor II to stop rotating, the microcomputer controls the electric telescopic rod to extend and the electric lifting rod to rise, meanwhile, the height and the width of the obstacle are detected through the infrared sensor and the infrared distance measuring sensor and are fed back to the microcomputer, if the obstacle can cross, the microcomputer controls the motor II to rotate, the robot continues to advance and directly crosses the obstacle, if the obstacle is too large and cannot directly cross, the microcomputer controls the motor I to rotate, drives the worm and the worm wheel to rotate, further drives the rotating shaft I to rotate, drives the camera to move and find a path, then the microcomputer controls the motor II below the same connecting plate to stop rotating, at the moment, the corresponding caster stops rotating, simultaneously controls the motor II below the other connecting plate to rotate, drives the corresponding caster to rotate, and the robot can complete steering, bypassing the obstacle.

Drawings

FIG. 1 is a schematic structural view of the present invention;

FIG. 2 is an enlarged schematic view of the structure at A of the present invention;

fig. 3 is a schematic structural diagram of a mobile unit according to the present invention;

fig. 4 is a schematic bottom view of the present invention.

In the figure: 1-fixed disk, 2-battery, 3-detection unit, 31-fixed seat, 32-camera, 4-drive unit, 41-worm, 42-motor I, 43-fixed plate, 5-rotation unit, 51-worm wheel, 52-rotating shaft I, 6-ultrasonic sensor, 7-moving unit, 71-mounting seat, 72-rotating shaft II, 73-caster, 74-motor II, 8-electric lifting rod, 9-connecting plate, 10-microcomputer, 11-electric telescopic rod, 12-connecting rod, 13-infrared sensor and 14-infrared distance measurement sensor.

Detailed Description

Example 1

As shown in fig. 1 to 4, the utility model discloses a self-path-finding obstacle-avoiding robot, which adopts the technical scheme that the robot comprises a fixed disc 1, a rotating unit 5 is arranged at the center of the upper surface of the fixed disc 1, a detecting unit 3 is arranged at the top end of the rotating unit 5, a connecting rod 12 is arranged at the center of the bottom end of the fixed disc 1, an infrared sensor 13 is arranged at the bottom end of the front side of the connecting rod 12, the height of an obstacle can be detected through the infrared sensor 13, two electric telescopic rods 11 are correspondingly arranged at the left side and the right side of the connecting rod 12, the telescopic ends of the two electric telescopic rods 11 are respectively provided with a connecting plate 9, electric lifting rods 8 are respectively arranged at the front end and the rear end of the bottom of the connecting plate 9, a moving unit 7 is arranged at the lifting end of the electric lifting rod 8, and the horizontal position and the height of the moving unit, the periphery of fixed disk 1 is arranged along the circumferencial direction and is equipped with ultrasonic sensor 6, can detect and feed back all directions through ultrasonic sensor 6, the upper surface of fixed disk 1 is equipped with battery 2 and microcomputer 10 in proper order, microcomputer 10's input and battery 2's output electricity are connected, microcomputer 10 is connected with ultrasonic sensor 6 and 13 two-way electricity of infrared sensor respectively, microcomputer 10's output is connected with electric telescopic handle 11 and electric lift rod 8's output electricity respectively.

As a preferred technical scheme of the utility model, rotating unit 5 includes worm wheel 51 and a pivot 52, the center of connection at fixed disk 1 upper surface is rotated through the bearing in the bottom of a pivot 52, the middle part of a pivot 52 periphery is equipped with worm wheel 51.

As a preferred technical scheme of the utility model, detecting element 3 includes fixing base 31 and camera 32, fixing base 31 is established on the top of a pivot 52, the upper surface of fixing base 31 is equipped with camera 32, camera 32 is connected with microcomputer 10 two-way electricity, can discern and detect positive road through camera 32 to give microcomputer 10 with information feedback.

As a preferred technical scheme of the utility model, the mobile unit 7 includes the mount pad 71, the second pivot 72, the truckle 73 and the second motor 74, the mount pad 71 is established at the lift end of solid electric lifter 8, be connected with the second pivot 72 through the bearing rotation between the inner wall of mount pad 71, the middle part of the second pivot 72 periphery is equipped with the truckle 73, the outside of mount pad 71 is fixed with the second motor 74, the output shaft of the second motor 74 and the one end fixed connection of the second pivot 72, the input of the second motor 74 is connected with the output electricity of microcomputer 10, the front side of the mount pad 71 that is located the bottom front end of connecting plate 9 is equipped with infrared distance measuring sensor 14, infrared distance measuring sensor 14 is located the inboard of truckle 73, infrared distance measuring sensor 14 is connected with microcomputer 10 both-way electricity, can detect the width of barrier through infrared distance measuring sensor 14, the second motor 74 rotates step by step to drive the second rotating shaft 72 and the caster 73 to rotate, so that the robot can move.

As a preferred technical scheme of the utility model, still include drive unit 4, drive unit 4 includes worm 41, motor 42 and fixed plate 43, fixed plate 43 establishes the one side at fixed disk 1 upper surface, one side of fixed plate 43 is rotated through the bearing and is connected with worm 41, worm 41 corresponds the meshing with worm wheel 51, the opposite side of fixed plate 43 is fixed with motor 42, the output shaft of motor 42 and worm 41's one end fixed connection, the input of motor 42 is connected with microcomputer 10's output electricity, and rotation through motor 42 drives worm 41 and worm wheel 51's rotation, and then drives the rotation of pivot 52, can adjust the angle of camera 32.

The utility model discloses a theory of operation: the power is switched on, the two rotating shafts 72 and the caster wheels 73 are driven to rotate through the synchronous rotation of the four motors 74, the robot can normally move forwards, the front road can be identified and detected through the camera 32, information is fed back to the microcomputer 10, and meanwhile, the detection and feedback can be carried out in all directions through the ultrasonic sensor 6; when an obstacle is encountered right ahead, the microcomputer 10 controls the second motor 74 to stop rotating, the microcomputer 10 controls the electric telescopic rod 11 to extend and the electric lifting rod 8 to lift, meanwhile, the height and the width of the obstacle are detected through the infrared sensor 13 and the infrared distance measuring sensor 14 and are fed back to the microcomputer 10, if the obstacle can cross over, the microcomputer 10 controls the second motor 74 to rotate, the robot continues to move forward and directly cross over the obstacle, if the obstacle is too large and cannot directly cross over, the microcomputer 10 controls the first motor 42 to rotate, drives the worm 41 and the worm wheel 51 to rotate, further drives the first rotating shaft 52 to rotate, drives the camera 32 to move and seek a path, then the microcomputer 10 controls the second motor 74 located below the same connecting plate 9 to stop rotating, at the moment, the corresponding caster 73 stops rotating, and simultaneously controls the second motor 74 below the other connecting plate 9 to rotate, the corresponding caster 73 is driven to rotate, the robot can complete steering and bypass the barrier, the robot can be effectively prevented from colliding with the barrier through the ultrasonic sensor 6 in the moving process, and the forward and reverse rotation angles of the worm wheel 51 and the first rotating shaft 52 are not more than 180 degrees.

The utility model relates to a circuit connection is the conventional means that technical staff adopted in this field, and accessible limited number of tests obtains the technological inspiration, belongs to the widely used prior art.

Components not described in detail herein are prior art.

Although the present invention has been described in detail with reference to the specific embodiments, the present invention is not limited to the above embodiments, and various changes can be made without departing from the spirit of the present invention within the knowledge range of those skilled in the art, and modifications or variations without creative efforts are still within the scope of the present invention.

Claims

1. The utility model provides a keep away barrier robot from seeking way, includes fixed disk (1), its characterized in that: the center of the upper surface of the fixed disk (1) is provided with a rotating unit (5), the top of the rotating unit (5) is provided with a detection unit (3), the center of the bottom of the fixed disk (1) is provided with a connecting rod (12), the bottom of the front side of the connecting rod (12) is provided with an infrared sensor (13), the left side and the right side of the connecting rod (12) are correspondingly provided with two electric telescopic rods (11), the telescopic ends of the two electric telescopic rods (11) are respectively provided with a connecting plate (9), the front end and the rear end of the bottom of the connecting plate (9) are respectively provided with an electric lifting rod (8), the lifting end of the electric lifting rod (8) is provided with a moving unit (7), the circumferential surface of the fixed disk (1) is provided with ultrasonic sensors (6) along the circumferential direction, the upper surface of the fixed disk (1) is sequentially, the input end of the microcomputer (10) is electrically connected with the output end of the battery (2), the microcomputer (10) is respectively and bidirectionally electrically connected with the ultrasonic sensor (6) and the infrared sensor (13), and the output end of the microcomputer (10) is respectively and electrically connected with the output ends of the electric telescopic rod (11) and the electric lifting rod (8).

2. The self-seeking obstacle-avoiding robot according to claim 1, wherein: the rotating unit (5) comprises a worm wheel (51) and a first rotating shaft (52), the bottom end of the first rotating shaft (52) is rotatably connected to the center of the upper surface of the fixed disc (1) through a bearing, and the middle of the circumferential surface of the first rotating shaft (52) is provided with the worm wheel (51).

3. The self-seeking obstacle-avoiding robot according to claim 1, wherein: detection element (3) include fixing base (31) and camera (32), the top at pivot (52) is established in fixing base (31), the upper surface of fixing base (31) is equipped with camera (32), camera (32) and microcomputer (10) two-way electricity are connected.

4. The self-seeking obstacle-avoiding robot according to claim 1, wherein: the moving unit (7) comprises a mounting seat (71), a second rotating shaft (72), a caster (73) and a second motor (74), the mounting seat (71) is arranged at the lifting end of the fixed electric lifting rod (8), a second rotating shaft (72) is rotatably connected between the inner walls of the mounting seat (71) through a bearing, a caster (73) is arranged in the middle of the circumferential surface of the second rotating shaft (72), a second motor (74) is fixed on the outer side of the mounting seat (71), an output shaft of the second motor (74) is fixedly connected with one end of the second rotating shaft (72), the input end of the second motor (74) is electrically connected with the output end of the microcomputer (10), an infrared distance measuring sensor (14) is arranged on the front side of the mounting seat (71) positioned at the front end of the bottom of the connecting plate (9), the infrared distance measuring sensor (14) is positioned on the inner side of the caster (73), and the infrared distance measuring sensor (14) is electrically connected with the microcomputer (10) in a two-way mode.

5. The self-seeking obstacle-avoiding robot according to claim 2, wherein: still include drive unit (4), drive unit (4) include worm (41), motor (42) and fixed plate (43), establish the one side at fixed disk (1) upper surface in fixed plate (43), one side of fixed plate (43) is rotated through the bearing and is connected with worm (41), worm (41) correspond the meshing with worm wheel (51), the opposite side of fixed plate (43) is fixed with motor (42), the output shaft of motor (42) and the one end fixed connection of worm (41), the input of motor (42) is connected with the output electricity of microcomputer (10).