CN215177789U

CN215177789U - Ball odometer

Info

Publication number: CN215177789U
Application number: CN202121528984.2U
Authority: CN
Inventors: 张振; 梁春林; 段云峰; 杨锴
Original assignee: Shenzhen Galileo Robot Co ltd
Current assignee: Shenzhen Galileo Robot Co ltd
Priority date: 2021-07-06
Filing date: 2021-07-06
Publication date: 2021-12-14
Anticipated expiration: 2031-07-06

Abstract

The utility model discloses a ball odometer and mileage calculation method, ball odometer is equipped with ball, ball support, displacement sensor and bottom support board, the ball support sets up in the bottom support board, the setting that the ball can roll is in the ball support, one side of ball is passed ball support and contact plane butt, displacement sensor sets up detect on the ball support the roll of ball. The utility model discloses a ball odometer simple structure, production is convenient, combines ball and commonly used displacement inductor, through the rolling action that detects the ball, obtains the roll data of ball, just can obtain the accurate mileage or even detailed walking orbit of mobile robot on high reflection of light or transparent smooth plane through simple calculation, receives service environment's influence minimum moreover, and life is also very long, and corresponding mileage calculation method is simple easy-to-use error little moreover.

Description

Ball odometer

Technical Field

The utility model relates to a mobile robot navigation location technical field, concretely relates to ball odometer.

Background

The traditional method for calculating the mileage by calculating the rolling distance of the roller can only obtain one axial mileage, and in order to enable the moving mileage of the robot to be calculated more accurately, the new mobile robot generally adopts an optical flow sensor to calculate the moving mileage of the robot. The optical flow sensor calculates the mileage by calculating the movement of an image seen by the optical lens, and the scheme can obtain the mileage of x and y axes in a plane, has good use effect, but fails on a high-reflectivity or transparent plane, and cannot be used on a mobile robot such as a window cleaning robot and the like which operates in a special environment.

SUMMERY OF THE UTILITY MODEL

To the problem that the odometer among the above-mentioned prior art can't use on high reflection of light degree or transparent plane, the utility model provides a ball odometer sets up the ball in the odometer, then utilizes the roll mileage of displacement sensor monitoring ball, indirectly obtains displacement and the direction of robot on the contact plane, not only can be used for calculating mobile robot's removal mileage, can also be used for acquireing mobile robot's removal orbit on the contact plane.

The utility model provides a technical scheme that its technical problem adopted is: a ball odometer is provided with a ball, a ball support, a displacement sensor and a bottom support plate, wherein the ball support is arranged on the bottom support plate, the ball can be arranged in the ball support in a rolling mode, one side of the ball penetrates through the ball support to be abutted against a contact plane, and the displacement sensor is arranged on the ball support to detect the rolling of the ball.

The utility model provides a technical scheme that its technical problem adopted further still includes:

the ball bearing odometer comprises a support shaft, bearings and a bottom plate, wherein the support shaft is provided with more than three support shafts and arranged around the balls, the number of the bearings is twice that of the support shaft, the bearings are respectively arranged at the end parts of the support shafts and connected with the bottom plate, the diameter of an inscribed circle of a polygon where the support shaft is located is smaller than that of the balls, and the support shaft is abutted to the outer surfaces of the balls so that the support shaft rotates along with the rolling of the balls.

In the ball odometer as described above, the displacement sensor is an optical flow sensor, the optical flow sensor is disposed on one side of the ball, and a camera of the optical flow sensor is disposed toward the ball.

According to the ball odometer, the ball support is provided with the ball cover plate, the balls are arranged between the support shaft and the ball cover plate, the ball cover plate is provided with the ball round holes with the radius smaller than that of the balls, and the balls are rotatably arranged in the ball round holes.

According to the ball odometer, the displacement sensor is an encoder, more than two encoders are arranged, the encoders are respectively arranged on more than two adjacent supporting shafts, a coded disc of each encoder is connected with the supporting shafts and rotates along with the supporting shafts, and the encoder is connected with the counter.

The ball odometer as described above, wherein the encoder is an opto-electrical encoder or a magnetic encoder.

According to the ball odometer, the bottom supporting plate and the ball support are connected through the connecting column, more than two connecting columns are arranged in parallel, one end of each connecting column is fixedly connected with the bottom supporting plate, and the other end of each connecting column is movably connected with the ball support, so that the ball support can reciprocate along the connecting column; the connecting column is sleeved with a return spring, one end of the return spring is abutted to the bottom supporting plate, and the other end of the return spring is abutted to the ball support.

The ball odometer comprises a support shaft, bearings, a bottom plate and a ball cover plate, wherein the ball cover plate is arranged on the front side of the balls, the ball cover plate is provided with ball round holes with the radius smaller than that of the balls, the balls are rotatably embedded in the ball round holes and are in contact with a contact plane through the ball round holes, the support shaft is arranged on the rear side of the balls, the support shaft is provided with three support shafts which are arranged around the balls in a triangular shape, the bearings are provided with six support shafts, the bearings are respectively arranged at two ends of the support shaft and are connected with the bottom plate, the diameter of an inscribed circle of the triangle formed by the support shafts is smaller than that of the balls, and the support shaft is abutted against the outer surfaces of the balls so that the balls are limited in the ball round holes; the bottom support plate and the ball cover plate are connected through four connecting columns arranged in parallel, through holes for the connecting columns to penetrate through are formed in the bottom plate, return springs are arranged on the connecting columns, one ends of the return springs are abutted to the bottom support plate, and the other ends of the return springs are abutted to the ball supports.

In the ball odometer, the displacement sensor is an optical flow sensor, the optical flow sensor is arranged on a bottom plate at the rear side of the ball, a camera of the optical flow sensor faces the ball, and a lens is arranged between the optical flow sensor and the ball.

The utility model has the advantages that: the utility model discloses a ball odometer simple structure, production is convenient, combines ball and the displacement inductor of commonly used, through the rolling action that detects the ball, obtains the roll data of ball, just can obtain the accurate mileage of mobile robot on high reflection of light or transparent smooth plane even detailed walking orbit through simple calculation, and receive the influence of service environment minimum, life is also very long; the ball mileage calculation method is simple, easy to use and small in error, accurate mileage data can be obtained, the walking path of the mobile robot can be measured and calculated conveniently, and path planning and control in the later period are facilitated.

The present invention will be further described with reference to the accompanying drawings and the detailed description.

Drawings

Fig. 1 is a schematic view of a vertical cross-section structure of a first embodiment of the ball odometer of the present invention;

fig. 2 is a schematic horizontal sectional structure diagram of a first embodiment of the ball odometer of the present invention;

fig. 3 is a schematic view of a horizontal cross-section structure of a second embodiment of the ball odometer of the present invention;

fig. 4 is a schematic view of a horizontal cross-section structure of a third embodiment of the ball odometer of the present invention;

in the figure, 1, a ball, 21, a support shaft, 22, a bearing, 23, a bottom plate, 24, a ball cover plate, 241, a ball round hole, 31, an optical flow sensor, 311, a lens, 321, a grating code disc, 322, a photoelectric detection device, 331, a Hall magnetic disc, 332, a Hall sensing device, 4, a bottom support plate, 41, a connecting column, 42 and a return spring.

Detailed Description

The embodiment is a preferred embodiment of the present invention, and other principles and basic structures are the same as or similar to those of the embodiment, and are within the protection scope of the present invention.

It will be understood that when an element is referred to as being "secured to" or "disposed on" another element, it can be directly on the other element or be indirectly on the other element. When an element is referred to as being "connected to" another element, it can be directly connected to the other element or be indirectly connected to the other element.

It will be understood that the terms "length," "width," "upper," "lower," "front," "rear," "left," "right," "vertical," "horizontal," "top," "bottom," "inner," "outer," and the like are used in an orientation or positional relationship indicated in the drawings for convenience in describing the invention and to simplify the description, and are not intended to indicate or imply that the device or element so referred to must have a particular orientation, be constructed and operated in a particular orientation, and thus should not be construed as limiting the invention.

The utility model discloses a ball odometer embodiment one is shown with reference to fig. 1 and 2, is equipped with ball 1, ball support, displacement sensor and bottom sprag board 4, and the ball support sets up on bottom sprag board 4, and ball 1 can rolling setting in the ball support, and ball support and contact plane butt are passed to one side of ball 1, and displacement sensor sets up the roll that detects ball 1 on the ball support.

In this embodiment, the ball holder is used to fix the ball 1, and includes a support shaft 21, a bearing 22, a bottom plate 23, and a ball cover 24, and the ball 1 is disposed between the support shaft 21 and the ball cover 24. The ball cover 24 is disposed in front of the balls 1, and the ball cover 24 is provided with a ball round hole 241 having a smaller radius than the balls 1, and the balls 1 are rotatably fitted into the ball round hole 241 and contact the contact plane through the ball round hole 241. The support shafts 21 are arranged on the rear sides of the balls 1, the three support shafts 21 are arranged around the balls 1 in a triangular shape, the diameter of an inscribed circle of the triangle formed by the support shafts 21 is smaller than that of the balls 1, so that the support shafts 21 are abutted to the outer surfaces of the balls 1, the balls 1 can drive the support shafts 21, and the support shafts 21 can limit the balls 1 in the ball round holes 241; six bearings 22 are provided, and the bearings 22 are respectively provided at both ends of the support shaft 21 and connected to the bottom plate 23, so that the support shaft 21 is mounted to the bottom plate 23, and the support shaft 21 can smoothly roll along with the balls 21 when the balls 1 roll. Bottom support plate 4 sets up the rear at ball support, bottom support plate 4 and ball apron 24 are connected through four parallel arrangement's spliced pole 41, be equipped with the through-hole that supplies spliced pole 41 to pass on the bottom plate 23, be equipped with reset spring 42 on the spliced pole 41, reset spring 42's one end and bottom support plate 4 butt, reset spring 42's the other end and ball support butt for ball support is pressed to the contact plane, the ball 1 and the contact plane keep in touch of setting in ball support.

In this embodiment, the displacement sensor is an optical flow sensor 31, the optical flow sensor 31 is disposed on the bottom plate 23 behind the ball 1, and the camera of the optical flow sensor 31 faces the ball 1, so that light is not directly irradiated into the camera of the optical flow sensor due to the shielding of the ball 1 and the ball cover plate 24, and the optical flow sensor 31 is disabled. In order to make the monitoring of the rolling motion of the ball 1 by the optical flow sensor 31 more accurate, a lens 311 is provided between the optical flow sensor 31 and the ball 1, and the surface of the ball 1 can be enlarged. When the mobile robot moves, the optical flow sensor 31 can establish a plane rectangular coordinate system through analysis of the surface image of the ball 1, calculate the displacement of the ball 1 moving in the x direction and the y direction, further calculate the moving mileage of the mobile robot, and obtain an accurate walking route through analysis of the moving mileage and the moving direction in unit time.

The utility model discloses a ball odometer embodiment two is shown with reference to figure 3, is equipped with ball 1, ball support, displacement sensor and bottom support plate 4, and the ball support sets up on bottom support plate 4, and ball 1 can rolling setting in the ball support, and ball support and contact plane butt are passed to one side of ball 1, and displacement sensor sets up the roll that detects ball 1 on the ball support. The ball support comprises a support shaft 21, a bearing 22 and a bottom plate 23, the support shaft 21 is provided with three triangular support shafts which surround the balls 1, the diameter of an inscribed circle of the triangle formed by the support shafts 21 is smaller than that of the balls 1, so that the support shaft 21 is abutted against the outer surfaces of the balls 1, the balls 1 can drive the support shaft 21, and the support shaft 21 can limit the balls 1 in the ball round holes 241; six bearings 22 are provided, and the bearings 22 are respectively provided at both ends of the support shaft 21 and connected to the bottom plate 23, so that the support shaft 21 is mounted to the bottom plate 23, and the support shaft 21 can smoothly roll along with the balls 21 when the balls 1 roll.

The displacement sensors in this embodiment are two photoelectric encoders, the two photoelectric encoders are disposed at one end of two adjacent support shafts 21, and each photoelectric encoder is provided with a grating code disc 321 and a photoelectric detection device 322. The two grating code discs 321 are respectively connected with the corresponding support shafts 21 and rotate along with the support shafts 21, the photoelectric detection device 322 of the photoelectric encoder monitors the rotation of the grating code discs 321 and sends pulse signals to the counter connected with the encoder, the counter calculates the displacement of the mobile robot in the rotation direction of the corresponding support shafts 21 according to the received pulse signals, calculates the coordinates of the end point position in a plane rectangular coordinate system established by taking the intersection point of the two support shafts 21 as the origin point, and further calculates the moving mileage and the track of the mobile robot.

The utility model discloses a ball odometer embodiment three refers to as shown in figure 4, is equipped with ball 1, ball support, displacement sensor and bottom support plate 4, and the ball support sets up on bottom support plate 4, and ball 1 can rolling setting in the ball support, and ball support and contact plane butt are passed to one side of ball 1, and displacement sensor sets up the roll that detects ball 1 on the ball support. The ball support comprises a support shaft 21, a bearing 22 and a bottom plate 23, the support shaft 21 is provided with three triangular support shafts which surround the balls 1, the diameter of an inscribed circle of the triangle formed by the support shafts 21 is smaller than that of the balls 1, so that the support shaft 21 is abutted against the outer surfaces of the balls 1, the balls 1 can drive the support shaft 21, and the support shaft 21 can limit the balls 1 in the ball round holes 241; six bearings 22 are provided, and the bearings 22 are respectively provided at both ends of the support shaft 21 and connected to the bottom plate 23, so that the support shaft 21 is mounted to the bottom plate 23, and the support shaft 21 can smoothly roll along with the balls 21 when the balls 1 roll.

The displacement sensor in this embodiment is a magnetic encoder, the magnetic encoder includes hall magnetic disks 331 and hall sensors 332, the magnetic encoder is respectively disposed at one end of two adjacent support shafts 21, the hall magnetic disks 331 are respectively connected with the corresponding support shafts 21 and rotate along with the support shafts 21, the hall sensing device 332 monitors the rotation of the hall magnetic disks 331 and sends out pulse signals to a counter connected with the encoder, the counter calculates the displacement of the mobile robot in the rotation direction of the corresponding support shafts 21 according to the received pulse signals, calculates the coordinates of the end point position in a plane rectangular coordinate system established by taking the intersection point of the two support shafts 21 as the origin, and further calculates the moving mileage and the track of the mobile robot.

In the actual production process, the number of the support shafts 21 can be increased as required, the support shafts are arranged to be four mutually perpendicular, the encoders are arranged on two adjacent support shafts 21, a plane rectangular coordinate system can be established by directly taking the straight lines where the two support shafts 21 are located as an x axis and a y axis, the rotational displacement of the two support shafts 21 in unit time is taken as a coordinate of a terminal point, and the mileage of the mobile robot in unit time can be calculated by using a distance formula between the two points.

A method of calculating mileage using the ball odometer of embodiment two or three, comprising the steps of:

s10, establishing a plane rectangular coordinate system by taking the intersection point of two adjacent support shaft shafts a and b provided with encoders as an origin, wherein the included angle between the rotation direction of the shaft a and the x axis is alpha, and the included angle between the rotation direction of the shaft b and the x axis is beta;

s20, moving the ball odometer, rolling the balls and driving the shaft a and the shaft b to rotate, and acquiring the displacement La of the shaft a and the displacement Lb of the shaft b in unit time by the displacement sensor;

s30, calculating coordinates (x, y) of the end point of the ball odometer per unit time, where x is La, cos (α) and Lb, cos (β), and y is La, sin (α) and Lb, sin (β);

s40, calculating the distance L between the end point and the origin point,

and S50, moving the ball odometer from the initial starting point to the final destination point for n unit times, calculating L1 and L2 … … Ln corresponding to n units, and adding the L1 to Ln to obtain the total travel mileage of the ball odometer.

The utility model discloses a ball odometer simple structure, production is convenient, combines ball and the displacement inductor of commonly used, through the rolling action that detects the ball, obtains the roll data of ball, just can obtain the accurate mileage of mobile robot on high reflection of light or transparent smooth plane even detailed walking orbit through simple calculation, and receive the influence of service environment minimum, life is also very long; the ball mileage calculation method is simple, easy to use and small in error, accurate mileage data can be obtained, the walking path of the mobile robot can be measured and calculated conveniently, and path planning and control in the later period are facilitated.

Claims

1. The ball odometer is characterized by being provided with a ball (1), a ball support, a displacement sensor and a bottom support plate (4), wherein the ball support is arranged on the bottom support plate (4), the ball (1) can be arranged in the ball support in a rolling mode, one side of the ball (1) penetrates through the ball support to be abutted against a contact plane, and the displacement sensor is arranged on the ball support to detect the rolling of the ball (1).

2. The ball odometer according to claim 1, characterized in that the ball holder comprises three or more support shafts (21), bearings (22) and a bottom plate (23), the support shafts (21) are arranged around the balls (1), the number of the bearings (22) is twice the number of the support shafts (21), the bearings (22) are respectively arranged at the ends of the support shafts (21) and connected with the bottom plate (23), the support shafts (21) are positioned in a polygon having an inscribed circle diameter smaller than the diameter of the balls (1), and the support shafts (21) are abutted against the outer surfaces of the balls (1) so that the support shafts (21) rotate with the rolling of the balls (1).

3. The ball odometer according to claim 2, characterized in that the displacement sensor is an optical flow sensor (31), the optical flow sensor (31) being arranged on one side of the ball (1), the camera of the optical flow sensor (31) being arranged towards the ball (1).

4. The ball odometer according to claim 3, characterized in that the ball holder is provided with a ball cover plate (24), the balls (1) are arranged between the support shaft (21) and the ball cover plate (24), the ball cover plate (24) is provided with a ball round hole (241) having a smaller radius than the balls (1), and the balls (1) are rotatably mounted in the ball round hole (241).

5. The ball odometer according to claim 2, characterized in that the displacement sensor is an encoder, the encoder is provided with more than two, the encoders are respectively provided on more than two adjacent support shafts (21), the code disc of the encoder is connected with the support shafts (21) and rotates along with the support shafts (21), and the encoder is connected with the counter.

6. The ball odometer of claim 5, wherein the encoder is an opto-electrical encoder or a magnetic encoder.

7. The ball odometer according to claim 1, characterized in that the bottom support plate (4) and the ball holder are connected by a connecting column (41), wherein two or more connecting columns (41) are provided and arranged in parallel with each other, one end of the connecting column (41) is fixedly connected with the bottom support plate (4), and the other end of the connecting column (41) is movably connected with the ball holder, so that the ball holder can reciprocate along the connecting column (41); the connecting column (41) is sleeved with a return spring (42), one end of the return spring (42) is abutted to the bottom supporting plate (4), and the other end of the return spring (42) is abutted to the ball support.

8. The ball odometer according to claim 1, wherein the ball holder comprises a support shaft (21), a bearing (22), a bottom plate (23) and a ball cover plate (24), the ball cover plate (24) is disposed at a front side of the ball (1), the ball cover plate (24) is provided with a ball round hole (241) having a smaller radius than the ball (1), the ball (1) is rotatably inserted into the ball round hole (241) and contacts a contact plane through the ball round hole (241), the support shaft (21) is disposed at a rear side of the ball (1), the support shaft (21) is provided with three and is disposed around the ball (1) in a triangular shape, the bearing (22) is provided with six, the bearings (22) are respectively disposed at both ends of the support shaft (21) and connected with the bottom plate (23), and an inscribed circle diameter of the triangle formed by the support shaft (21) is smaller than a diameter of the ball (1), the support shaft (21) abuts against the outer surface of the ball (1) so that the ball (1) is confined in the ball round hole (241); bottom sprag board (4) and ball apron (24) are connected through four parallel arrangement's spliced pole (41), be equipped with the confession on bottom plate (23) the through-hole that spliced pole (41) passed, be equipped with reset spring (42) on spliced pole (41), the one end of reset spring (42) with bottom sprag board (4) butt, the other end of reset spring (42) with ball support butt.

9. The ball odometer according to claim 8, characterized in that the displacement sensor is an optical flow sensor (31), the optical flow sensor (31) being arranged on a base plate (23) behind the ball (1), the camera of the optical flow sensor (31) facing the ball (1), a lens being arranged between the optical flow sensor (31) and the ball (1).