CN212569543U

CN212569543U - Obstacle avoidance robot

Info

Publication number: CN212569543U
Application number: CN202021418858.7U
Authority: CN
Inventors: 沈扣华; 唐旋来; 李通
Original assignee: Shanghai Keenlon Intelligent Technology Co Ltd
Current assignee: Shanghai Keenlon Intelligent Technology Co Ltd
Priority date: 2020-07-17
Filing date: 2020-07-17
Publication date: 2021-02-19
Anticipated expiration: 2030-07-17

Abstract

The utility model discloses a keep away barrier robot belongs to the robotechnology field. The obstacle avoidance robot comprises a machine shell and laser scanning equipment arranged at the bottom of the machine shell, wherein the laser scanning equipment projects laser beams to the periphery of the machine shell, the projection direction of the laser beams faces to a walking plane of the obstacle avoidance robot, and the projection direction of the laser beams is adjustable; the projection of the laser beam on the vertical plane consists of a first projection line and a second projection line which are arranged at an included angle; the first projection line and the second projection line are intersected with the walking plane. The utility model provides a keep away barrier robot throws the laser beam to the walking plane of keeping away barrier robot through laser scanning equipment to formed laser detection area on the walking plane, in case the barrier gets into laser detection area, no matter how small its height dimension, the homoenergetic can be detected, has avoided the production of blind area on the direction of height as far as possible, has guaranteed the safe removal of keeping away barrier robot.

Description

Obstacle avoidance robot

Technical Field

The utility model relates to the technical field of robot, especially, relate to a keep away barrier robot.

Background

With the rapid development of artificial intelligence, robots are often used to transport books, dishes, tableware and the like instead of workers in dining institutions, libraries, exhibition halls and various service places. In order to ensure normal walking, the existing robot is often equipped with a laser radar to realize obstacle avoidance. However, due to the structure of the laser radar, the robot is often arranged at a certain height from the walking plane of the robot, so that no laser is projected in the downward area of the laser radar installation plane, and a blind area with a large range is generated in the height direction of the robot; if the height dimension of the barrier is small, the barrier is just in the range of the blind area, the laser radar cannot detect the barrier, and then the barrier cannot be avoided in time, and the robot can move safely.

Therefore, it is desirable to provide an obstacle avoidance robot to solve the above problems.

SUMMERY OF THE UTILITY MODEL

An object of the utility model is to provide a keep away barrier robot can form laser detection area at the walking plane, in time detects the less barrier of height dimension, guarantees to keep away barrier robot's safe removal.

In order to realize the purpose, the following technical scheme is provided:

an obstacle avoidance robot comprises a machine shell and laser scanning equipment arranged at the bottom of the machine shell, wherein the laser scanning equipment projects laser beams to the periphery of the machine shell,

the projection direction of the laser beam faces to a walking plane of the obstacle avoidance robot, and the projection direction of the laser beam is adjustable;

the projection of the laser beam on the vertical plane consists of a first projection line and a second projection line which are arranged at an included angle; the first projection line and the second projection line are intersected with the walking plane.

Preferably, the projection distance of the first projection line is 2-5 m; the projection distance of the second projection line is 4cm at least; the projection distance is the horizontal distance from the intersection point of the first projection line or the second projection line and the walking plane to the obstacle avoidance robot.

Preferably, the included angle between the first projection line and the walking plane is [10 degrees, 90 degrees ].

Preferably, the projection of the laser beam on the walking plane is a plane or a straight line.

Preferably, the laser scanning device is arranged on the front side of the machine shell; and/or

The laser scanning equipment is arranged on the rear side of the shell; and/or

The laser scanning equipment is arranged on the left side and the right side of the machine shell.

Preferably, the number of the laser scanning apparatuses provided at the front, rear, left or right side of the cabinet is at least two.

Preferably, the projection of the laser beam of the laser scanning device on the walking plane is a sector, and two adjacent sectors overlap each other.

Preferably, the number of the laser scanning devices arranged on the front side, the rear side, the left side or the right side of the machine shell is two; the projections of the laser beams of the two laser scanning devices on the walking plane are symmetrical relative to the central axis of the machine shell.

Preferably, a projection of the laser beam of the laser scanning device on the walking plane is a straight line, and a horizontal distance between two straight lines located on the same side of the housing gradually increases along a direction away from the housing.

Preferably, a projection of the laser beam of the laser scanning device on the walking plane is a plane, and a horizontal distance between two planes located on the same side of the machine shell gradually increases along a direction away from the machine shell.

Compared with the prior art, the beneficial effects of the utility model are that:

the utility model provides a keep away barrier robot throws the laser beam to the walking plane of keeping away barrier robot through the laser scanning equipment that sets up at chassis bottom to make laser beam and walking plane crossing, and then formed the laser detection area on the walking plane, in case the barrier gets into the laser detection area, no matter how small its height-size, the homoenergetic can be detected, has avoided the production of blind area on the direction of height as far as possible, has guaranteed the safe removal of keeping away barrier robot.

Drawings

Fig. 1 is a side view of an obstacle avoidance robot according to the present invention;

fig. 2 is a first top view of an obstacle avoidance robot according to the present invention;

fig. 3 is a second top view of an obstacle avoidance robot according to the present invention;

fig. 4 is a third top view of the obstacle avoidance robot of the present invention;

fig. 5 is a fourth top view of the obstacle avoidance robot of the present invention;

fig. 6 is a fifth top view of the obstacle avoidance robot of the present invention.

Reference numerals:

10-obstacle avoidance robot; 20-a housing; 30-a laser scanning device;

101-a first projection line; 102-a second projection line; 103-a third projection line; 104-fourth projection line.

Detailed Description

In order to make the objects, technical solutions and advantages of the embodiments of the present invention clearer, the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present invention, and it is obvious that the described embodiments are some, but not all, embodiments of the present invention. The components of embodiments of the present invention, as generally described and illustrated in the figures herein, may be arranged and designed in a wide variety of different configurations.

Thus, the following detailed description of the embodiments of the present invention, presented in the accompanying drawings, is not intended to limit the scope of the invention, as claimed, but is merely representative of selected embodiments of the invention. Based on the embodiments in the present invention, all other embodiments obtained by a person skilled in the art without creative efforts belong to the protection scope of the present invention.

It should be noted that: like reference numbers and letters refer to like items in the following figures, and thus, once an item is defined in one figure, it need not be further defined and explained in subsequent figures.

In the description of the present invention, it should be noted that the terms "upper", "lower", "left", "right", "vertical", "horizontal", "inner", "outer", etc. indicate the position or positional relationship based on the position or positional relationship shown in the drawings, or the position or positional relationship which is usually placed when the product of the present invention is used, and are only for convenience of description of the present invention and simplification of description, but do not indicate or imply that the device or element referred to must have a specific position, be constructed and operated in a specific orientation, and thus, should not be construed as limiting the present invention. Furthermore, the terms "first," "second," "third," and the like are used solely to distinguish one from another and are not to be construed as indicating or implying relative importance. In the description of the present invention, "a plurality" means two or more unless otherwise specified.

In the description of the present invention, it should also be noted that, unless otherwise explicitly specified or limited, the terms "disposed" and "connected" are to be interpreted broadly, and may be, for example, fixedly connected, detachably connected, or integrally connected; either mechanically or electrically. The specific meaning of the above terms in the present invention can be understood in specific cases to those skilled in the art.

In the present disclosure, unless expressly stated or limited otherwise, the first feature "on" or "under" the second feature may comprise direct contact between the first and second features, or may comprise contact between the first and second features not directly. Also, the first feature being "on," "above" and "over" the second feature includes the first feature being directly on and obliquely above the second feature, or merely indicating that the first feature is at a higher level than the second feature. A first feature being "under," "below," and "beneath" a second feature includes the first feature being directly under and obliquely below the second feature, or simply meaning that the first feature is at a lesser elevation than the second feature.

Reference will now be made in detail to embodiments of the present invention, examples of which are illustrated in the accompanying drawings, wherein like reference numerals refer to the same or similar elements or elements having the same or similar function throughout. The embodiments described below with reference to the drawings are exemplary only for the purpose of explaining the present invention, and should not be construed as limiting the present invention.

The present embodiment provides an obstacle avoidance robot, as shown in fig. 1, the obstacle avoidance robot 10 includes a housing 20 and a laser scanning device 30 disposed at the bottom of the housing 20, the laser scanning device 30 projects a laser beam to the periphery of the housing 20; specifically, the projection direction of the laser beam is toward the walking plane of the obstacle avoidance robot 10, and the projection direction of the laser beam is adjustable; by projecting the laser beam to the walking plane, the defect that the traditional laser radar can only detect in the area above the installation plane can be overcome.

Specifically, the projection of the laser beam on the vertical plane is composed of a first projection line 101 and a second projection line 102 which are arranged at an included angle; the first projection line 101 and the second projection line 102 are intersected with the walking plane; namely, the first projection line 101 and the second projection line 102 are two boundaries of the projection of the laser beam on the vertical plane, the two boundaries intersect with the walking plane at the point A and the point B respectively, a laser detection area is formed between the point A and the point B, and once an obstacle enters the area between the line segments AB, no matter how small the height size is, the obstacle can be detected; meanwhile, the first projection line 101 and the second projection line 102 can cover the height range from the installation plane of the laser scanner to the walking plane, so that the obstacles can be fully captured only by entering the height range, and the sensitivity of obstacle detection is obviously improved.

In this embodiment, specifically, optionally, the projection distance of the first projection line 101 is 2 to 5 m; the projection distance of the second projection line 102 is 4cm at the minimum, and here, the projection distance is the horizontal distance from the intersection point of the first projection line 101 or the second projection line 102 and the walking plane to the obstacle avoidance robot 10. Referring to fig. 1, the projection distance of the first projection line 101 is the length of the line segment OA, and the projection distance of the second projection line 102 is the length of the line segment OB. As can be seen from fig. 1, although the laser beam forms a certain laser detection area in the vertical plane, there is a blind area M in the area below the second projection line 102, but considering that the obstacle avoidance robot 10 is moving, and the obstacle is approaching gradually, the laser scanning device 30 should be able to detect the obstacle before entering the blind area M. In specific implementation, the dead zone M can be reduced by reducing the projection distance of the second projection line 102, in this embodiment, the projection distance of the second projection line 102 is at least 4cm, that is, the forward extension length of the dead zone M is 4cm, which can basically meet the obstacle avoidance requirement of the obstacle avoidance robot 10.

It should be noted that the length of the projection distance is not only related to the form of the laser beam that can be output by the laser scanning device 30, but also related to the projection direction of the laser beam, and when the form of the laser beam output by the laser scanning device 30 is fixed, the projection direction of the laser beam is adjusted according to the specific obstacle avoidance requirement, that is, according to the required size of the laser detection area and the size of the blind area M. With continued reference to fig. 1, the angle between the first projection line 101 and the walking plane is set as θ, the projection direction of the laser beam is different, and the value of θ is also different. Optionally, the value range of θ is [10 °, 90 °); the smaller the value of θ, the larger the projection distance of the first projection line 101. In the implementation, the value of θ is properly selected according to the specific shape of the laser beam, the projection distance of the first projection line 101, and the projection distance of the second projection line 102, taking the size of the blind area M into consideration.

In summary, the obstacle avoidance robot 10 provided in this embodiment projects a laser beam to the walking plane of the obstacle avoidance robot 10 through the laser scanning device 30 disposed at the bottom of the housing 20, and the laser beam intersects with the walking plane, so as to form a laser detection area on the walking plane, once an obstacle enters the laser detection area, the obstacle can be detected no matter how small the height of the obstacle is, thereby avoiding the generation of a dead zone in the height direction as much as possible, and ensuring the safe movement of the obstacle avoidance robot 10.

In specific implementation, the laser scanning device 30 determines the obstacle by blocking laser light by the obstacle and causing laser reflection, and a corresponding determination module may be disposed inside the obstacle avoidance robot 10 to determine whether the obstacle exists after obtaining a signal that the laser light is reflected back, so as to provide a reference for the walking motion of the obstacle avoidance robot 10. Of course, the laser scanning device 30 may also judge the distance and shape of the obstacle by collecting the reflected light, so as to upgrade the obstacle avoidance function of the obstacle avoidance robot 10. Further, the laser scanning device 30 has an auxiliary driving function, and when scanning an obstacle on the walking plane, the laser scanning device can also transmit a signal of the obstacle avoidance robot 10 moving to a certain position to a control system of the obstacle avoidance robot 10 by scanning the position two-dimensional code arranged on the walking plane, so that the control system can know the specific position of the obstacle avoidance robot 10 conveniently.

Referring to fig. 2, the projection of the laser beam on the walking plane is a straight line; at this time, if an obstacle in front of the obstacle avoidance robot 10 in the traveling direction contacts the straight line, the obstacle avoidance robot 10 can be detected and can avoid the obstacle in time. The straight line and the walking direction (i.e. the front side direction in fig. 2) of the obstacle avoidance robot 10 may be arranged at an included angle, or may be arranged in parallel to each other, wherein the included angle is preferably arranged, so that the laser covers a wider range in the direction perpendicular to the walking direction (i.e. the left and right direction in fig. 2), and the detection range is expanded.

Of course, in some other embodiments, referring to fig. 3, the projection of the laser beam onto the walking plane may also be a plane; the area of a laser detection area on the walking plane can be obviously increased relative to a straight line, and the speed of detecting the obstacle is improved. Specifically, the plane is composed of a third projection line 103 and a fourth projection line 104 which are arranged at an included angle; the projection of the laser beam on the walking plane has a certain width in the left-right direction, and the obstacle can be detected once entering the plane with the width. Alternatively, referring to fig. 4, the projection of the laser beam of the laser scanning device 30 on the walking plane is a fan shape, i.e. the plane is a fan-shaped plane, and the third projection line 103 and the fourth projection line 104 are symmetrically arranged with respect to an axis parallel to the walking direction; the area of the laser detection area can be remarkably increased by adopting the fan-shaped projection.

With continued reference to fig. 2-4, the front side of the housing 20 (here, the walking direction of the obstacle avoidance robot 10) is provided with the above-described laser scanning device 30, thereby being able to provide detection of obstacles in the walking direction. Alternatively, referring to fig. 5, the laser scanning device 30 is also disposed at the rear side of the housing 20, so that the obstacle avoidance robot 10 can detect a rear obstacle at the same time. Further alternatively, referring to fig. 6, the laser scanning devices 30 are disposed on both left and right sides of the housing 20, so that the obstacle avoidance robot 10 can detect obstacles on both left and right sides. The above situation can significantly improve the ability of the obstacle avoidance robot 10 to detect obstacles, and is particularly suitable for the obstacle avoidance robot 10 to suddenly change the traveling direction, or to suddenly appear an obstacle having movement in another direction of the obstacle avoidance robot 10, so as to further improve the safety of the obstacle avoidance robot 10 in walking.

Alternatively, the number of the laser scanning apparatuses 30 provided on the front side, the rear side, the left side, or the right side of the cabinet 20 is at least two; the provision of a plurality of laser scanning devices 30 can improve the coverage of the laser detection area and thus more effectively improve the likelihood of detecting obstacles. Referring to fig. 4, the obstacle avoidance robot 10 is provided with two laser scanning devices 30 disposed at the front side of the housing 20; referring to fig. 5, the obstacle avoidance robot 10 is provided with two laser scanning devices 30 on both the front side and the rear side of the housing 20; referring to fig. 6, the obstacle avoidance robot 10 is provided with two laser scanning devices 30 on each of the front, rear, left, and right sides of the cabinet 20. Of course, in other embodiments, the number of the laser scanning devices 30 is not particularly limited according to the laser coverage required by different sides of the obstacle avoidance robot 10.

When the obstacle avoidance robot 10 is provided with two laser scanning devices 30 on a certain side, projections of laser beams of the two laser scanning devices 30 on a walking plane can be made symmetrical with respect to a central axis of the housing 20. Specifically, referring to fig. 2, when the projection of the laser beam of the laser scanning device 30 on the walking plane is a straight line, the horizontal distance between two straight lines located on the same side of the housing 20 gradually increases along the direction away from the housing 20, which is helpful to enlarge the laser detection area compared to the design in which two straight lines are parallel to each other; similarly, referring to fig. 3, when the projection of the laser beam of the laser scanning device 30 on the walking plane is a plane, the distance between the two planes can be gradually increased along the direction away from the housing 20, so as to improve the detection range. Referring to fig. 4, when the projection of the laser beams of the laser scanning device 30 on the walking plane is a sector, the laser beams of the two laser scanning devices 30 form two sectors on the walking plane, so that the two sectors can be overlapped with each other, and the laser detection area can be completely covered on the front side of the obstacle avoidance robot 10 in the walking direction as much as possible. Of course, in the case that the projection of the laser beam on the walking plane is a fan shape, since the fan shape itself is an axisymmetric pattern, three or more laser scanning devices 30 may be disposed on each side of the housing 20 as required, and then a plurality of fan shapes are formed on the walking plane and overlapped in sequence, and finally, it is still satisfied that the projections of all the laser scanning devices 30 are axisymmetric with respect to the central axis of the housing 20.

It should be noted that the foregoing is only a preferred embodiment of the present invention and the technical principles applied. It will be understood by those skilled in the art that the present invention is not limited to the particular embodiments described herein, but is capable of various obvious changes, rearrangements and substitutions as will now become apparent to those skilled in the art without departing from the scope of the invention. Therefore, although the present invention has been described in greater detail with reference to the above embodiments, the present invention is not limited to the above embodiments, and may include other equivalent embodiments without departing from the scope of the present invention.

Claims

1. An obstacle avoidance robot, comprising a casing (20) and a laser scanning device (30) arranged at the bottom of the casing (20), wherein the laser scanning device (30) projects laser beams to the periphery of the casing (20),

the projection direction of the laser beam faces to a walking plane of the obstacle avoidance robot (10), and the projection direction of the laser beam is adjustable;

the projection of the laser beam on the vertical plane consists of a first projection line (101) and a second projection line (102) which form an included angle; the first projected line (101) and the second projected line (102) both intersect the walking plane.

2. An obstacle avoidance robot according to claim 1, wherein the first projection line (101) has a projection distance of 2-5 m; the projection distance of the second projection line (102) is at least 4 cm; the projection distance is the horizontal distance from the intersection point of the first projection line (101) or the second projection line (102) and the walking plane to the obstacle avoidance robot (10).

3. The obstacle avoidance robot according to claim 2, wherein an included angle between the first projection line (101) and the walking plane is [10 °, 90 °).

4. An obstacle avoidance robot according to any one of claims 1 to 3, wherein the projection of said laser beam onto said walking plane is a plane or a straight line.

5. An obstacle avoidance robot according to claim 1, wherein the laser scanning device (30) is arranged at a front side of the housing (20); and/or

The laser scanning device (30) is arranged on the rear side of the machine shell (20); and/or

The laser scanning equipment (30) is arranged on the left side and the right side of the machine shell (20).

6. An obstacle avoidance robot according to claim 5, wherein the number of the laser scanning devices (30) provided on the front, rear, left or right side of the housing (20) is at least two.

7. An obstacle avoidance robot according to claim 6, wherein the projection of the laser beam of the laser scanning device (30) onto the walking plane is a sector, and two adjacent sectors overlap each other.

8. The obstacle avoidance robot according to claim 5, wherein the number of the laser scanning devices (30) provided on the front side, the rear side, the left side or the right side of the housing (20) is two; the projections of the laser beams of the two laser scanning devices (30) on the walking plane are symmetrical relative to the central axis of the machine shell (20).

9. An obstacle avoidance robot according to claim 8, wherein the projection of the laser beam of the laser scanning device (30) on the walking plane is a straight line, and the horizontal distance between two said straight lines located on the same side of the housing (20) gradually increases in a direction away from the housing (20).

10. An obstacle avoidance robot according to claim 8, wherein the projection of the laser beam of the laser scanning device on the walking plane is a plane, and the horizontal distance between two of said planes located on the same side of the housing (20) gradually increases in a direction away from the housing (20).