CN213276369U - Mobile robot with adjustable sensor height - Google Patents

Abstract

The utility model discloses a mobile robot with adjustable sensor height, wherein mobile robot includes a robot body, a sensor and a support, wherein the support is installed in the robot body, the sensor be installed in the support, the support is used for the adjustment by setting up the sensor for the position of robot body, so can avoid the navigation inefficacy and guarantee mobile robot's operational reliability.

Description

Mobile robot with adjustable sensor height

Technical Field

The utility model relates to a mobile robot, in particular to mobile robot with adjustable a sensor height.

Background

With the rapid development of scientific technology, mobile robots are beginning to appear and widely used in production and life, wherein the mobile robots need to be positioned and mapped by various sensors to realize autonomous navigation of the mobile robots, that is, the mobile robots need to be configured with a plurality of sensors to realize subsequent navigation. When the mobile robot is positioned by various sensors, for example, when the distance is positioned, due to the change of the geographic position and the height of the reference object in the work site of the mobile robot, if the height of the sensor of the mobile robot is not adjusted in time, the situation of navigation failure may occur. For example, for a pushing robot applied to a farm, the spacing between the pushing robot and a cow neck cangue of a cow pen is determined by using a laser post-ultrasonic navigation technology, so that the spacing between the pushing robot and the cow neck cangue of the cow pen can be kept within a certain range to allow the pushing robot to walk along the extending direction of the cow neck cangue. However, the cattle bodies of different age groups and different milk gas production need to be housed in different cowsheds, the heights of the cattle neck cangues of the cattle bodies are different for different cowsheds, and when the pushing robot works continuously between different cowsheds, the height of a sensor of the pushing robot needs to be adjusted manually, so that not only is the complexity of the operation increased and the universality of the pushing robot reduced, but also the manual work (workers in a farm) needs to enter and stay in the cowsheds for a long time, and the following problems are caused: (1) because the height of the sensor of the pushing robot needs manual auxiliary adjustment, the unmanned management of a farm is not facilitated, (2) the risk of people and livestock suffering from diseases is increased due to the fact that the sensor of the pushing robot needs to be manually contacted with a cow body for a long time, and serious potential safety hazards exist.

SUMMERY OF THE UTILITY MODEL

An object of the utility model is to provide a sensor height-adjustable's mobile robot, wherein mobile robot provides a robot body, a support and an at least sensor, the support be installed in the robot body, the sensor be installed in the support, wherein the support is set up and to be adjusted the sensor for the position of robot body.

It is an object of the present invention to provide a mobile robot with a sensor height adjustable, wherein the bracket is adjustably mounted to the robot body, for example the bracket is rotatably mounted to the robot body, such that the position of the sensor relative to the robot body can be adjusted by adjusting the manner in which the bracket is relative to the position of the robot body.

An object of the utility model is to provide a sensor height-adjustable's mobile robot, wherein the state of support can be adjusted, for example the support can be stretched out and drawn back, so through adjusting the mode of the state of support can be adjusted the sensor for the position of robot body.

An object of the utility model is to provide a sensor height-adjustable's mobile robot, wherein the support can be adjusted voluntarily the sensor for the position of robot body, so can improve mobile robot's automation level is favorable to the unmanned management of plant.

An object of the utility model is to provide a sensor height-adjustable's mobile robot, wherein the support can be adjusted voluntarily the sensor for the position of robot body, so can reduce the probability and the time of people and animals contact and reduce the risk that people and animals are sick altogether.

An object of the utility model is to provide a sensor height-adjustable's mobile robot, wherein work as when mobile robot is in the continuity of operation between the cowshed of difference, mobile robot the high position of sensor can be adjusted independently, so is favorable to improving mobile robot's commonality and the operation cost that reduces the plant.

According to the utility model discloses a further aspect, the utility model discloses a portable robot with adjustable sensor height is further provided, it includes:

a robot body;

a sensor; and

a bracket, wherein the bracket is mounted to the robot body, the sensor is mounted to the bracket, and the bracket is configured to adjust a position of the sensor relative to the robot body.

According to an embodiment of the present invention, the bracket has a connection end portion and a free end portion corresponding to the connection end portion, the connection end portion of the bracket is rotatably installed at the top of the robot body, and the sensor is installed at the free end portion of the bracket.

According to an embodiment of the invention, the support is a telescopic support.

According to an embodiment of the present invention, the mobile robot further comprises a driver, wherein the driver is provided at the top of the robot body, the connecting end of the support is drivably installed at the driver, so the driver allows the connecting end of the support to be rotatably installed at the top of the robot body.

According to an embodiment of the present invention, the mobile robot further comprises a pusher having an installation end and a pushing end corresponding to the installation end, wherein the pusher the installation end is installed in the top of the robot body, the pusher the pushing end is installed in the middle of the support.

According to an embodiment of the invention, the robot body has a holding groove, the holder being held in the holding groove of the robot body in such a way that the sensor is hidden between the holder and the robot body.

According to the utility model discloses an embodiment, the robot body further includes:

a traveling device, wherein the traveling device comprises a bearing mechanism, a power supply mechanism, two traveling driving motors, two driving wheels and a supporting wheel, wherein the bearing mechanism comprises a chassis, the power supply mechanism is arranged on the chassis, each traveling driving motor is respectively arranged at two sides of one end part of the chassis, each traveling driving motor is respectively electrically connected to the power supply mechanism, each driving wheel is respectively connected to each traveling driving motor in a driving way, and the supporting wheel is arranged at the middle part of the other end part of the bearing mechanism; and

the pushing device comprises a pushing wall, wherein the pushing wall comprises an annular wall main body and a connecting arm extending inwards from the high end of the annular wall main body, the connecting arm is connected to the bearing mechanism, and the annular wall main body surrounds the bearing mechanism in a rotatable mode.

According to the utility model discloses an embodiment, bearing mechanism includes two at least support columns, a load-bearing platform, an erection column and a drive ring, every the support column is certainly respectively the edge of chassis upwards extends to suitable high position, load-bearing platform is set up in every the high-end of support column, with the chassis with form an accommodation space and supply to hold between the load-bearing platform power supply mechanism, the erection column certainly load-bearing platform's central point puts upwards to extend, the drive ring rotationally the suit in the erection column, wherein the material pushing wall the linking arm extend to with be connected in the drive ring.

According to the utility model discloses an embodiment, running gear includes that one pushes away material driving motor, it is set up in load-bearing platform with be connected in the electrical supply mechanism to push away material driving motor, wherein the drive ring is connected with drivably push away material driving motor.

According to the utility model discloses an embodiment, running gear includes a driving belt, driving belt's both ends respectively by the suit in push away material driving motor's output shaft with bear the mechanism the drive ring, so that the drive ring be driveably connect in push away material driving motor.

According to the utility model discloses an embodiment, blevile of push includes two at least pulley mechanism, every pulley mechanism include respectively one install the main part and rotationally install in a pulley main part of installation main part, wherein every pulley mechanism respectively with the pulley main part is just withstood outwards push away the material wall the mode of the inboard of annular wall main part is installed in bear the weight of the mechanism.

According to the utility model discloses an embodiment, blevile of push includes two at least pulley mechanism, every pulley mechanism include respectively one install the main part and rotationally install in a pulley main part of installation main part, wherein every pulley mechanism respectively with the pulley main part is just withstood outwards push away the material wall the mode of the inboard of annular wall main part is installed in bear the weight of the mechanism.

According to an embodiment of the present invention, the mounting body of the pulley mechanism is mounted to the chassis; or wherein the mounting body of the pulley mechanism is mounted to the support post.

According to an embodiment of the present invention, the robot body further includes a cover, the cover is installed to the bearing mechanism, and the peripheral edge of the cover extends outward so that the diameter of the cover is greater than the diameter of the annular wall main body of the pusher wall, wherein the bracket is installed to the cover.

According to another aspect of the present invention, the present invention further provides a method for adjusting the height of a mobile robot sensor, wherein the method for adjusting the height of a mobile robot sensor comprises the following steps:

(a) detecting a marker on a current working route of a mobile robot to identify position information of the marker;

(b) determining the height of a reference object of the current working environment of the mobile robot according to the position information of the marker; and

(c) adjusting a height position of a sensor of the mobile robot to allow the height of the sensor to match a height of a reference.

According to an embodiment of the present invention, before the step (a), the sensor height adjusting method further includes the steps of:

(d) recording the height of each reference object of the working environment of the mobile robot; and

(e) the height of each reference object is correlated with the position information of the marker corresponding to the reference object.

According to an embodiment of the present invention, in the step (c), the connecting end portion of a support of the mobile robot is allowed to rotate with respect to a robot body of the mobile robot to adjust the height position of the sensor provided at the free end portion of the support.

According to an embodiment of the present invention, in the above method, the support is driven by a driver to allow the connecting end portion of the support to make a rotation relative to the robot body.

According to an embodiment of the present invention, in the above method, the support is pushed by a pusher at a middle portion of the support to allow the connecting end portion of the support to rotate relative to the robot body.

According to an embodiment of the present invention, in the above method, the bracket is allowed to be extended and retracted to adjust the height position of the sensor.

Drawings

Fig. 1A and 1B are schematic perspective views of a mobile robot with a height-adjustable sensor according to a preferred embodiment of the present invention.

Fig. 2A and 2B are schematic perspective views of the mobile robot according to the above preferred embodiment of the present invention in different states.

Fig. 3 is an exploded view of the mobile robot according to the above preferred embodiment of the present invention, which illustrates a structural relationship between a traveling device and a pushing device of a robot body of the mobile robot.

Fig. 4 is a partial perspective view of the mobile robot according to the above preferred embodiment of the present invention, which illustrates a structural relationship between the traveling device of the mobile robot and a material pushing wall of the material pushing device.

Fig. 5 is a partially exploded view of the mobile robot according to the above preferred embodiment of the present invention, which illustrates the structural relationship between the components of the pusher wall.

Fig. 6 is a partial perspective view of the mobile robot according to the above preferred embodiment of the present invention, which illustrates the structural relationship between the components of the walking device.

Fig. 7A and 7B are schematic views of the mobile robot according to the above preferred embodiment of the present invention, respectively, illustrating structural relationships between the components of the walking device.

Fig. 8A and 8B are schematic views of the working process of the mobile robot according to the above preferred embodiment of the present invention.

Fig. 9 is a schematic view of a working process of the mobile robot according to the above preferred embodiment of the present invention.

Fig. 10A and 10B are schematic perspective views of a mobile robot according to another preferred embodiment of the present invention in different states.

Detailed Description

The following description is presented to disclose the invention so as to enable any person skilled in the art to practice the invention. The preferred embodiments in the following description are given by way of example only, and other obvious variations will occur to those skilled in the art. The basic principles of the invention, as defined in the following description, may be applied to other embodiments, variations, modifications, equivalents and other technical solutions without departing from the spirit and scope of the invention.

It will be understood by those skilled in the art that in the present disclosure, the terms "longitudinal," "lateral," "upper," "lower," "front," "rear," "left," "right," "vertical," "horizontal," "top," "bottom," "inner," "outer," and the like are used in a generic and descriptive sense only and not for purposes of limitation, as the terms are used in the description to indicate that the referenced device or element must have the specified orientation, be constructed and operated in the specified orientation, and not for the purposes of limitation.

It is understood that the terms "a" and "an" should be interpreted as meaning that a number of one element or element is one in one embodiment, while a number of other elements is one in another embodiment, and the terms "a" and "an" should not be interpreted as limiting the number.

Referring to fig. 1A to 9 of the drawings of the present application, a mobile robot with adjustable sensor height according to a preferred embodiment of the present invention is disclosed and illustrated in the following description, wherein the mobile robot includes a robot body 10, a bracket 20 and at least one sensor 30, the bracket 20 is mounted to the robot body 10, the sensor 30 is mounted to the bracket 20, wherein the bracket 20 is configured to adjust the position of the sensor 30 relative to the robot body 10, so that the height of the sensor 30 can be adjusted in time to avoid the occurrence of navigation failure when the height of a reference object in the work site of the mobile robot changes. Preferably, when the height of the reference object in the work site of the mobile robot changes, the height of the sensor 30 can be automatically and timely adjusted to avoid the situation of navigation failure, so as to improve the automation level of the mobile robot.

It is worth mentioning that the sensor 30 may be a distance measuring sensor for measuring the distance between the mobile robot and a reference object within the work site of the mobile robot.

Further, the stand 20 has a connection end 21 and a free end 22 corresponding to the connection end 21, wherein the connection end 21 of the stand 20 is rotatably mounted on the top of the robot body 10 to allow the height of the free end 22 of the stand 20 to be adjusted as the connection end 21 of the stand 20 rotates relative to the robot body 10, and wherein the sensor 30 is mounted on the free end 22 of the stand 20 to adjust the height of the sensor 30 when the height of the free end 22 of the stand 20 is adjusted. Preferably, the stand 20 can be extended and retracted, for example, the stand 20 is a telescopic rod, so that the height of the sensor 30 can be adjusted by adjusting the state of the stand 20.

Further, the mobile robot includes a driver 40, wherein the driver 40 is disposed on the robot body 10, and the connecting end 21 of the support 20 is drivably mounted on the driver 40, so that the connecting end 21 of the support 20 is driven to rotate relative to the robot body 10 by the driver 40. Specifically, the driver 40 may be a driving motor or a driving motor set, when the driver 40 rotates in one direction, the driver 40 can drive the connecting end portion 21 of the bracket 20 to rotate relative to the robot body 10 to raise the height position of the sensor 30 mounted on the free end portion 22 of the bracket 20, and correspondingly, when the driver 40 rotates in the opposite direction, the driver 40 can drive the connecting end portion 21 of the bracket 20 to rotate relative to the robot body 10 to lower the height position of the sensor 30 mounted on the free end portion 22 of the bracket 20.

Further, the top of the robot body 10 has a holding groove 100, wherein the bracket 20 can be held in the holding groove 100 of the robot body 10 in a manner of hiding the sensor 30, so that when the bracket 20 is driven to rotate relative to the robot body 10 and is held in the holding groove 100 of the robot body 10, the bracket 20 can be prevented from protruding out of the top of the robot body 10, which not only can ensure the appearance of the mobile robot, but also can protect the sensor 30 and prolong the service life of the sensor 30.

Unlike the mobile robot shown in fig. 1A to 9, in a modified example of the mobile robot shown in fig. 10A and 10B, the mobile robot includes a length-adjustable thruster 50, wherein the thruster 50 includes a mounting end 51 and a thrusting end 52 corresponding to the mounting end 51, the mounting end 51 of the thruster 50 is mounted to the robot body 10, and the thrusting end 52 of the thruster 50 is mounted to the middle of the bracket 20, wherein when the length of the thruster 50 is adjusted, the thrusting end 52 of the thruster 50 can push the bracket 20 upward to rotate the connecting end 21 of the bracket 20 relative to the robot body 10, thus allowing the free end 22 of the bracket 20 to be rotated as the connecting end 21 of the bracket 20 rotates relative to the robot body 10 Adjusting to increase the height of the sensor 30, and correspondingly, when the length of the pusher 50 is adjusted to be short, the pushing end 52 of the pusher 50 can pull the bracket 20 downwards to make the connecting end 21 of the bracket 20 rotate relative to the robot body 10, so as to allow the free end 22 of the bracket 20 to be adjusted along with the rotation of the connecting end 21 of the bracket 20 relative to the robot body 10, thereby decreasing the height of the sensor 30.

It will be appreciated that when the length of the pusher 50 is maintained in the adjusted state, the free end portion 22 of the bracket 20 can be maintained at the adjusted height, so that the sensor 30 mounted to the free end portion 22 of the bracket 20 is maintained at the adjusted height. Preferably, the bracket 20 can be extended or contracted, for example, the bracket 20 is a telescopic rod, so that the height of the sensor 30 mounted to the free end portion 22 of the bracket 20 can be adjusted by adjusting the length of the bracket 20 even though the length of the pusher 50 remains unchanged.

It is worth mentioning that the type of the pusher 50 is not limited in the mobile robot of the present invention, for example, the pusher 50 may be an electric push rod assembly to allow the length of the pusher 50 to be adjusted by electric control, thereby facilitating the improvement of the automation level of the mobile robot.

With continued reference to fig. 1A to 9, the work flow of the mobile robot of the present invention includes the following steps:

step one, recording the height of a reference object of the work site of the mobile robot, and associating the height of the reference object with the position information of the marker 2000 of the work site. Specifically, taking the mobile robot applied to a farm as an example, the reference object 1000 of the work site may be a cattle neck cangue of a cattle pen, and the marker 2000 of the work site may be a magnetic nail of a magnetic navigation system, that is, after recording the height of the cattle neck cangue of the cattle pen of the farm and the position information of the magnetic nail, the height of the cattle neck cangue of the cattle pen of the farm and the position information of the magnetic nail are correlated.

And step two, in the working process of the mobile robot, the mobile robot detects the marker (magnetic nail) 2000 on the current working route and identifies the position information of the marker (magnetic nail) 2000. It is understood that after the positional information of the marker (magnetic nail) 2000 is identified, the height of the reference object (cow neck flails of a cow pen) 1000 associated with the marker (magnetic nail) 2000 is identified.

And step three, after the height of the reference object (the cattle neck flails of the cattle pen) 1000 is determined, controlling the driver 40 to rotate towards the corresponding direction to drive the connecting end part 21 of the bracket 20 to rotate relative to the robot body 10 so as to adjust the height position of the sensor 30 mounted on the free end part 22 of the bracket 20, so that the height of the sensor 30 is matched with the height of the reference object (the cattle neck flails of the cattle pen) 1000, and therefore the sensor 30 is allowed to accurately detect the relative positions of the mobile robot and the reference object (the cattle neck flails of the cattle pen) to ensure that the navigation is effective.

With continued reference to fig. 1A to 9, the mobile robot may be a pushing robot for pushing food such as forage far from the cowshed to a position close to the cowshed so as to be eaten by the cattle body confined in the cowshed, wherein the robot body 10 of the mobile robot includes a traveling device 11 and a pushing device 12 provided to the traveling device 11.

Specifically, the traveling device 11 includes a carrying mechanism 111, a power supply mechanism 112, a two-traveling driving motor 113, two driving wheels 114, and a supporting wheel 115. The carrying mechanism 111 further includes a chassis 1111, wherein the power supply mechanism 112 is disposed on the chassis 1111 to be carried by the chassis 1111. Each of the walking driving motors 113 is respectively disposed at both sides of one end of the chassis 1111, and each of the walking driving motors 113 is respectively connected to the power supply mechanism 112. Each of the driving wheels 114 is drivably connected to each of the travel driving motors 113 such that each of the driving wheels 114 is held on both sides of one end of the chassis 1111, respectively. The supporting wheel 115 is installed at the middle of the other end of the base pan 1111 such that the two driving wheels 114 and the supporting wheel 115 are arranged in a delta structure and the two driving wheels 114 and the supporting wheel 115 cooperate with each other such that the base pan 1111 is carried away from the ground.

Preferably, the driving wheel 114 is mounted to an output shaft of the travel driving motor 113 such that the driving wheel 114 is drivably connected to the travel driving motor 113. The support wheels 115 are preferably universal wheels to facilitate steering of the mobile robot.

It should be noted that the shape of the chassis 1111 of the supporting mechanism 111 is not limited in the mobile robot of the present invention, for example, in the preferred example of the mobile robot shown in fig. 1A to 9, the chassis 1111 is square, and the gravity center of the power supply mechanism 112 and the gravity center of the chassis 1111 coincide with each other in the height direction, so that the gravity center of the mobile robot can be prevented from being inclined, thereby ensuring the reliability and stability of the mobile robot. Alternatively, in other examples of the mobile robot of the present invention, the chassis 1111 may be, but not limited to, circular, oval, polygonal.

The material pushing device 12 includes a material pushing wall 121, wherein the material pushing wall 121 includes a circular wall main body 1211 and a connecting arm 1212 extending from a high end of the circular wall main body 1211 to a middle direction of the circular wall main body 1211, wherein the connecting arm 1212 of the material pushing wall 121 is rotatably mounted on the supporting mechanism 111, and the circular wall main body 1211 of the material pushing wall 121 rotatably surrounds the supporting mechanism 111, so that the material pushing wall 121 forms a general appearance of the mobile robot, and thus food such as grass and the like cannot enter the mobile robot when the mobile robot pushes the material, so as to prevent the traveling device 11 from being affected. For example, food such as forage is straw or the mixture of straw and fodder usually, and the characteristics of straw are long and thin form, mobile robot pass through blevile of push 12 the push wall 121 cover is established running gear 11 the outside of load-bearing mechanism 111 forms the mode of mobile robot's approximate outward appearance all around, can avoid food such as forage to insert the inside of mobile robot and influence the work of running gear 11 to be favorable to guaranteeing mobile robot's reliability and stability.

In the mobile robot of the present invention, when the power supply mechanism 112 is controlled to each of the walking drive motor 113 supplies power, each of the walking drive motor 113 can convert electric energy into kinetic energy and drive each of the driving wheels 114 rotates, so the walking device 11 can walk. It is understood that the traveling unit 11 is configured to travel along a straight path if the rotational speeds of the two traveling drive motors 113 are the same, and the traveling unit 11 is configured to travel along a curved path if there is a difference in the rotational speeds of the two traveling drive motors 113. For example, when one of the travel driving motors 113 rotates and the other travel driving motor 113 does not operate, the traveling device 11 can make a turn.

It is worth mentioning that the type of the power supply mechanism 112 is not limited in the mobile robot of the present invention, for example, the power supply mechanism 112 may be a storage battery (for example, but not limited to, a lithium battery), and the power supply mechanism 112 is allowed to supplement the electric power when the electric power stored in the power supply mechanism 112 is consumed. Alternatively, the power supply mechanism 112 may comprise a battery (such as, but not limited to, a lithium battery), and the power supply mechanism 112 is allowed to replenish the stored power of the power supply mechanism 112 when consumed.

Further, the present invention provides a mobile robot the traveling device 11 of the robot body 10 includes a controller 116, wherein the power supply mechanism 112 and each of the traveling driving motors 113 are respectively connected to the controller 116, so as to control the power supply mechanism 112 to supply power to the traveling driving motors 113 by the controller 116. Preferably, the controller 116 is disposed to the chassis 1111 to be carried by the chassis 1111. Alternatively, the controller 116 is provided to the power supply mechanism 112, or the controller 116 and the power supply mechanism 112 are integrated.

It is worth mentioning that the type of the controller 116 is not limited in the mobile robot of the present invention, as long as it has a calculation function and a control function. For example, the controller 116 may control the power supply mechanism 112 to supply power to each of the travel driving motors 13 according to the real-time state of the mobile robot so as to adjust the travel path of the mobile robot.

With continued reference to fig. 1A to 9, the carrying mechanism 111 comprises at least two supporting columns 1112, a lower carrying platform 1113 and an upper carrying platform 1114, wherein the lower end of each supporting column 1112 is disposed at the edge of the chassis 1111 and extends upwards from the edge of the chassis 1111 to a proper height position, the periphery of the lower carrying platform 1113 is disposed at the middle of each supporting column 1112 to support and hold the lower carrying platform 1113 at the upper part of the chassis 1111 by each supporting column 1112 and form a first accommodating space 11101 of the carrying mechanism 111 between the chassis 1111 and the lower carrying platform 1113, wherein the periphery of the upper carrying platform 1114 is disposed at the high end of each supporting column 1112 to support and hold the upper carrying platform 1114 at the upper part of the lower carrying platform 1113 by each supporting column 1112 and the lower carrying platform 1113 and the upper carrying platform 1113 1114 define a second receiving space 11102 for the carrying mechanism 111.

In other words, the bearing mechanism 111 has the first accommodation space 11101 and the second accommodation space 11102, wherein the first accommodation space 11101 is formed between the chassis 1111 and the lower bearing platform 1113 for accommodating the power supply mechanism 112 mounted to the chassis 1111, wherein the second accommodation space 11102 is formed between the lower bearing platform 1113 and the upper bearing platform 1114 for accommodating the controller 116 mounted to the lower bearing platform 1113. It is understood that other electrical units (such as, but not limited to, a fuse, a power manager, a communication module) of the walking device 11 can be carried on the lower carrying platform 1113 in such a way as to be accommodated in the second accommodating space 11102.

Alternatively, in another example of the mobile robot of the present invention, the supporting mechanism 111 has only one supporting platform, and the supporting platform is disposed at the high end of each supporting pillar 1112, so as to form an accommodating space between the chassis 1111 and the supporting platform, wherein the power supply mechanism 112 and the controller 116 disposed on the chassis 1111 are respectively accommodated in the accommodating space of the supporting mechanism 111.

Specifically, in this specific example of the mobile robot shown in fig. 1A to 9, the carrying mechanism 111 of the mobile robot includes four supporting columns 1112, wherein a lower end of each supporting column 1112 is respectively disposed at each corner of the chassis 111, wherein each corner of the lower carrying platform 1113 is respectively disposed at a middle portion of each supporting column 1112, so as to hold the lower carrying platform 1113 at an upper portion of the chassis 1111 by each supporting column 1112 and form the first accommodating space 11101 between the chassis 1111 and the lower carrying platform 1113, wherein each corner of the upper carrying platform 1114 is respectively disposed at a higher end of each supporting column 1112, so as to hold the upper carrying platform 1114 at an upper portion of the lower carrying platform 1113 by each supporting column 1112 and form the second accommodating space 11101 between the lower carrying platform 1113 and the upper carrying platform 1114 by each supporting column 1112 Space 11102.

With continued reference to fig. 1A-9, the support mechanism 111 further includes a mounting post 1115 and a drive ring 1116, wherein the mounting post 1115 is disposed to extend upwardly from a central location of the upper support platform 1114 to form a free end 11150, and the drive ring 1116 is rotatably mounted to a central portion of the mounting post 1115.

It is worth mentioning that the manner in which the mounting posts 1115 are disposed on the upper load-bearing platform 1114 is not limited in the present invention, for example, the mounting posts 1115 and the upper load-bearing platform 1114 may be integrally formed, or the mounting posts 1115 may be bolted to the upper load-bearing platform 1114, or the mounting posts 1115 may be welded to the upper load-bearing platform 1114.

It is worth mentioning that the manner in which the driving ring 1116 is rotatably sleeved on the mounting post 1115 is not limited in the mobile robot of the present invention, for example, the driving ring 1116 is rotatably sleeved on the mounting post 1115 through a bearing.

The traveling device 11 further includes a pushing driving motor 117, wherein the pushing driving motor 117 is disposed on the upper bearing platform 1114, and the pushing driving motor 117 is electrically connected to the power supply mechanism 112, so that when the power supply mechanism 112 supplies power to the pushing driving motor 117, the pushing driving motor 117 can convert electric energy into kinetic energy. Preferably, the pushing material driving motor 117 is connected to the controller 116, so that the controller 116 controls the power supply mechanism 112 to supply power to the pushing material driving motor 117. The driving ring 1116 of the carrying mechanism 111 is drivingly connected to the pusher driving motor 117, and the connecting arm 1212 of the pusher wall 121 of the pusher device 12 extends to and is fixedly mounted to the driving ring 1116 of the carrying mechanism 111. When the power supply mechanism 112 supplies power to the pushing material driving motor 117, the pushing material driving motor 117 can drive the driving ring 1116 of the supporting mechanism 111 to rotate, so as to drive the annular wall main body 1211 of the pushing material wall 121 to rotate relative to the traveling device 11 in a manner of surrounding the periphery of the supporting mechanism 111.

The traveling device 11 further includes a driving belt 118, wherein two ends of the driving belt 118 are respectively sleeved on the output shaft of the pushing material driving motor 117 and the driving ring 1116 of the bearing mechanism 111, so that the driving ring 1116 is drivably connected to the pushing material driving motor 117. Optionally, in other examples of the mobile robot of the present invention, the output shaft of the material pushing driving motor 117 is provided with a gear structure, and the driving ring 1116 is provided with a gear structure, so that the driving ring 1116 is drivably connected to the material pushing driving motor 117 in a manner that the gear structure of the driving ring 1116 is engaged with the gear structure of the material pushing driving motor 117.

With continued reference to fig. 1A to 9, the pushing device 12 further includes at least two pulley mechanisms 122, wherein each of the pulley mechanisms 122 includes a mounting body 1221 and a pulley body 1222 rotatably mounted to the mounting body 1221, wherein the pulley mechanism 122 is held between the annular wall body 1211 of the pushing wall 121 and the bearing mechanism 111, and the pulley mechanism 122 is mounted to the bearing mechanism 111 through the mounting body 1221 in a manner that the pulley body 1222 abuts against the annular wall body 1211 of the pushing wall 121, so that each of the pulley mechanisms 122 can prevent the annular wall body 1211 from shaking when a force is applied to one side of the annular wall body 1211 of the pushing wall 121 during the pushing process of the mobile robot, thereby preventing the mobile robot from having the disadvantages of eccentricity and shaking, to ensure the reliability and stability of the mobile robot.

Preferably, the mounting body 1221 of each pulley mechanism 122 is respectively mounted at the lower end of each supporting column 1112 of the carrying mechanism 111, so that the pulley mechanism 122 can abut against the annular wall body 1211 at the lower end of the annular wall body 1211 of the pushing wall 121, so that each pulley mechanism 122 can prevent the annular wall body 1211 from shaking when a force is applied to one side of the annular wall body 1211 of the pushing wall 121 during pushing by the mobile robot.

Optionally, the mounting body 1221 of each pulley mechanism 122 is respectively mounted to the bottom plate 1111 of the carrying mechanism 111, such that the pulley mechanism 122 can abut against the annular wall body 1211 at the lower end of the annular wall body 1211 of the pushing wall 121, so that each pulley mechanism 122 can prevent the annular wall body 1211 from shaking when a force is applied to one side of the annular wall body 1211 of the pushing wall 121 during pushing by the mobile robot.

Preferably, the number of the pulley mechanisms 122 of the pushing device 12 is the same as the number of the supporting columns 1112 of the carrying mechanism 111, for example, in the specific example of the mobile robot shown in fig. 1A to 9, the number of the pulley mechanisms 122 of the pushing device 12 and the number of the supporting columns 1112 of the carrying mechanism 111 are four, and one pulley mechanism 122 is disposed at the lower end of each supporting column 1112.

With continued reference to fig. 1A to 9, the pushing device 12 further includes an annular rail 123, wherein the annular rail 123 is disposed on the annular wall body 1211 in such a manner that the annular rail 123 fits the inner wall of the annular wall body 1211 of the pushing wall 121, so that the annular rail 123 can enhance the strength of the annular wall body 1211 of the pushing wall 121 and prevent the annular wall body 1211 from being out of round. The pulley main body 1222 of each pulley mechanism 122 of the pushing device 12 abuts against the annular wall main body 1211 of the pushing wall 121 in a manner of being attached to the smooth surface of the annular rail 123, so that when the annular wall main body 1211 of the pushing wall 121 is driven to rotate relative to the bearing mechanism 111, the pulley main body 1222 of each pulley mechanism 122 can roll along the smooth surface of the annular rail 123, so that noise generated when the pulley mechanism 122 and the annular rail 123 rub against each other can be reduced, and the mobile robot is more silent.

With continued reference to fig. 1A to 9, the pusher wall 121 of the pusher 12 comprises at least two roller halves 1210, wherein each roller half 1210 comprises a roller wall 12101 and an extension arm 12102 extending at a high end of the roller wall 12101, wherein the roller walls 12101 of adjacent roller halves 1210 can be mounted to each other such that, after the roller halves 1210 are mounted, the roller wall 12101 of each roller half 1210 forms the annular wall body 1211 of the pusher wall 121 and the extension arm 12102 of each roller half 1210 forms the connecting arm 1212 of the pusher wall 121.

In particular, the pusher wall 121 comprises two roller halves 1210, wherein one roller half 1210 is defined as a first roller half 1210a and the other roller half 1210 is defined as a second roller half 1210b, wherein the first roller half 1210a and the second roller half 1210b comprise one roller wall 12101 and one extension arm 12102, respectively, wherein the roller wall 12101 of the first roller half 1210a and the roller wall 12101 of the second roller half 1210b are mounted to each other to form the annular wall body 1211, and the extension arm 12102 of the first roller half 1210a and the extension arm 12102 of the second roller half 1210b form the connecting arm 1212. Accordingly, the looped track 123 includes a first looped track 123a and a second looped track 123b, wherein the first looped track 123a is disposed on the drum wall 12101 of the first drum half 1210a, and the second looped track 123b is disposed on the drum wall 12101 of the second drum half 1210b, wherein the first looped track 123a and the second looped track 123b form the complete looped track 123 after the drum wall 12101 of the first drum half 1210a and the drum wall 12101 of the second drum half 1210b are mounted to each other to form the looped wall body 1211.

With continued reference to fig. 1A to 9, the robot body 10 of the mobile robot further includes a magnetic sensor 13, wherein the magnetic sensor 13 is disposed at a lower portion of the chassis 1111 of the carrying mechanism 111 of the traveling device 11, wherein the magnetic sensor 13 can communicate with a magnetic navigation path laid on an outer side of a cowshed for guiding the traveling device 13 of the mobile robot to travel along a route. It is understood that the marker 2000 may be disposed on a magnetic navigation path for communicating with the magnetic sensor 13 of the robot body 10 of the mobile robot, thereby allowing the mobile robot to recognize the position information of the marker 2000.

With continued reference to fig. 1A to 9, the robot body 10 of the mobile robot further includes a cover 14, the center of the cover 14 is mounted on the free end 11150 of the mounting post 1115 of the supporting mechanism 111, so that the cover 14 is supported by the supporting mechanism 111, and the peripheral edges of the cover 14 respectively extend outward to the periphery of the annular wall main body 1211 of the material pushing wall 1221 of the material pushing device 12, so that the cover 14 can prevent the upper opening of the annular wall main body 1211 from being exposed. The connecting end portion 21 of the bracket 20 is rotatably mounted to the cover 14, for example, the connecting end portion 21 of the bracket 20 is rotatably mounted to a middle portion of the cover 14. Preferably, the holding groove 100 of the robot body 10 is formed in the cover 14.

Further, the mounting post 1115 of the bearing mechanism 111 is a tubular mounting post, that is, the mounting post 1115 has a communication channel 11151 for communicating the second accommodating space 11102 of the bearing mechanism 111 with the space outside the upper bearing platform 1114, wherein the electric wire connected to the sensor 30 can extend from the space outside the upper bearing platform 1114 to the second accommodating space 11102 of the bearing mechanism 111 through the communication channel 11151 of the mounting post 1115.

With continued reference to fig. 1A to 9, the robot body 10 of the mobile robot further includes a charging port 15, wherein the charging port 15 is disposed on the cover 14, and wherein a wire electrically connected to the charging port 15 can extend from the outer space of the upper supporting platform 11141 to the second accommodating space 11102 of the supporting mechanism 111 through the communication channel 11151 of the mounting post 115.

According to another aspect of the present invention, the present invention further provides a method for adjusting the height of a mobile robot sensor, wherein the method for adjusting the height of a mobile robot sensor comprises the following steps:

(a) detecting a marker 2000 on a current working route of the mobile robot to identify position information of the marker 2000;

(b) determining the height of a reference object 1000 of the current working environment of the mobile robot according to the position information of the marker 2000; and

(c) the height position of the sensor 30 of the mobile robot is adjusted to allow the height of the sensor 30 to match the height of a reference object 1000.

Further, before the step (a), the height adjustment method of the sensor 30 further comprises the steps of:

(d) recording the height of each reference object 1000 of the working environment of the mobile robot; and

(e) the height of each reference object 1000 and the position information of the marker corresponding to the reference object 1000 are associated.

In a preferred example of the sensor height adjusting method of the present invention, in the step (c), the connecting end portion 21 of the support 20 of the mobile robot is allowed to rotate relative to the robot body 10 of the mobile robot to adjust the height position of the sensor 30 provided at the free end portion 22 of the support 20. In another preferred example of the sensor height adjusting method of the present invention, the support 20 is driven by the driver 40 to allow the connecting end portion 21 of the support 20 to rotate relative to the robot body 10. In another preferred example of the sensor height adjusting method of the present invention, the support 20 is pushed by the pusher 50 at the middle of the support 20 to allow the connecting end portion 21 of the support 20 to rotate relative to the robot body 10. In another preferred example of the sensor height adjusting method of the present invention, the holder 20 is allowed to be extended or contracted to adjust the height position of the sensor 30.

It will be appreciated by persons skilled in the art that the above embodiments are only examples, wherein features of different embodiments may be combined with each other to obtain embodiments which are easily imaginable in accordance with the disclosure of the invention, but which are not explicitly indicated in the drawings.

It will be understood by those skilled in the art that the embodiments of the present invention as described above and shown in the drawings are given by way of example only and are not limiting of the present invention. The objects of the present invention have been fully and effectively accomplished. The functional and structural principles of the present invention have been shown and described in the embodiments without departing from the principles, embodiments of the present invention may have any deformation or modification.

Claims (14)

1. A mobile robot with adjustable sensor height, comprising:

a robot body;

a sensor; and

a bracket, wherein the bracket is mounted to the robot body, the sensor is mounted to the bracket, and the bracket is configured to adjust a position of the sensor relative to the robot body.

2. The mobile robot of claim 1 wherein the cradle has a connected end and a free end corresponding to the connected end, the connected end of the cradle being rotatably mounted to the top of the robot body, the sensor being mounted to the free end of the cradle.

3. The mobile robot of claim 2 wherein the cradle is a telescoping cradle.

4. The mobile robot of claim 2 wherein the mobile robot further comprises a drive, wherein the drive is disposed on top of the robot body, the connecting end of the cradle being drivably mounted to the drive such that the drive allows the connecting end of the cradle to be rotatably mounted on top of the robot body.

5. The mobile robot of claim 2, wherein the mobile robot further comprises a pusher having a mounting end and a pushing end corresponding to the mounting end, wherein the mounting end of the pusher is mounted at a top of the robot body and the pushing end of the pusher is mounted at a middle of the bracket.

6. The mobile robot of claim 2, wherein the robot body has a holding groove, the cradle being held in the holding groove of the robot body in such a manner as to hide the sensor between the cradle and the robot body.

7. The mobile robot of any of claims 1-6 wherein the robot body further comprises:

a traveling device, wherein the traveling device comprises a bearing mechanism, a power supply mechanism, two traveling driving motors, two driving wheels and a supporting wheel, wherein the bearing mechanism comprises a chassis, the power supply mechanism is arranged on the chassis, each traveling driving motor is respectively arranged at two sides of one end part of the chassis, each traveling driving motor is respectively electrically connected to the power supply mechanism, each driving wheel is respectively connected to each traveling driving motor in a driving way, and the supporting wheel is arranged at the middle part of the other end part of the bearing mechanism; and

the pushing device comprises a pushing wall, wherein the pushing wall comprises an annular wall main body and a connecting arm extending inwards from the high end of the annular wall main body, the connecting arm is connected to the bearing mechanism, and the annular wall main body surrounds the bearing mechanism in a rotatable mode.

8. The mobile robot of claim 7, wherein the support mechanism comprises at least two support posts, a support platform, a mounting post, and a drive ring, each support post extends upward from an edge of the chassis to a suitable height position, the support platform is disposed at a high end of each support post to form a receiving space between the chassis and the support platform for receiving the power supply mechanism, the mounting post extends upward from a center position of the support platform, the drive ring is rotatably mounted on the mounting post, and the connecting arm of the pusher wall extends to and is connected to the drive ring.

9. The mobile robot of claim 8 wherein the traveling device includes a pusher drive motor disposed on the support platform and electrically connected to the power mechanism, wherein the drive ring is drivably connected to the pusher drive motor.

10. The mobile robot as claimed in claim 9, wherein the traveling means includes a driving belt, both ends of which are respectively fitted over the output shaft of the material pushing driving motor and the driving ring of the bearing mechanism, so that the driving ring is drivably connected to the material pushing driving motor.

11. The mobile robot of claim 7 wherein the pushing device comprises at least two pulley mechanisms, each of the pulley mechanisms comprising a mounting body and a pulley body rotatably mounted to the mounting body, wherein each of the pulley mechanisms is mounted to the carrier mechanism with the pulley body facing outward and against an inner side of the annular wall body of the pusher wall.

12. The mobile robot of claim 8 wherein the pushing device comprises at least two pulley mechanisms, each of the pulley mechanisms comprising a mounting body and a pulley body rotatably mounted to the mounting body, wherein each of the pulley mechanisms is mounted to the carrier mechanism with the pulley body facing outward and against an inner side of the annular wall body of the pusher wall.

13. The mobile robot of claim 12 wherein the mounting body of the pulley mechanism is mounted to the chassis; or wherein the mounting body of the pulley mechanism is mounted to the support post.

14. The mobile robot of claim 7 wherein the robot body further comprises a cover mounted to the carrier and having a peripheral edge extending outwardly to a diameter greater than a diameter of the annular wall body of the pusher wall, wherein the bracket is mounted to the cover.

Images