CN215789881U - Obstacle avoidance processing circuit and security robot - Google Patents
Obstacle avoidance processing circuit and security robot Download PDFInfo
- Publication number
- CN215789881U CN215789881U CN202120561410.9U CN202120561410U CN215789881U CN 215789881 U CN215789881 U CN 215789881U CN 202120561410 U CN202120561410 U CN 202120561410U CN 215789881 U CN215789881 U CN 215789881U
- Authority
- CN
- China
- Prior art keywords
- robot
- detection
- main control
- obstacle avoidance
- control module
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Active
Links
Images
Landscapes
- Manipulator (AREA)
Abstract
The application relates to keep away barrier processing circuit and security protection robot, should keep away barrier processing circuit and include: the robot comprises a main control module, a motion mechanism and detection modules, wherein the main control module and the motion mechanism are arranged on a robot chassis; the detection module comprises a processor and a plurality of detectors; the processor is respectively connected with the detector and the main control module; the processor receives the detection result of the detector and outputs an obstacle signal to the main control module so that the main control module outputs an obstacle avoidance instruction; the motion mechanism comprises a motion control unit and a driving device; the motion control unit is respectively connected with the driving device and the main control module; the motion control unit receives the obstacle avoidance command to control the driving device to drive the corresponding mechanism to act. The obstacle avoidance processing circuit realizes multi-azimuth detection and driving obstacle avoidance, improves the sensitivity and accuracy of obstacle avoidance, and realizes the advantage of high obstacle avoidance reliability in robot movement.
Description
Technical Field
The application relates to the technical field of robots, in particular to an obstacle avoidance processing circuit and a security robot.
Background
Along with the steady increase of social economy in China, more and more giant enterprise factories, high and new parks and giant markets are continuously present in national life, and with the continuous expansion of inspection ranges, the factors of indoor and outdoor mixed environments, the rising of human cost and the like, the current security requirements cannot be met only by security personnel. With the development of science and technology, robots play an increasingly important role in the security field.
In the implementation process, the inventor finds that at least the following problems exist in the conventional technology: the traditional robot has the problems of low motion obstacle avoidance reliability and the like.
SUMMERY OF THE UTILITY MODEL
Therefore, it is necessary to provide an obstacle avoidance processing circuit and a security robot for solving the above technical problems.
An obstacle avoidance processing circuit comprising: the robot comprises a main control module, a motion mechanism and detection modules, wherein the main control module and the motion mechanism are arranged on a robot chassis;
the detection module comprises a processor and a plurality of detectors; the processor is respectively connected with the detector and the main control module; the processor receives the detection result of the detector and outputs an obstacle signal to the main control module so that the main control module outputs an obstacle avoidance instruction;
the motion mechanism comprises a motion control unit and a driving device; the motion control unit is respectively connected with the driving device and the main control module; the motion control unit receives the obstacle avoidance command to control the driving device to drive the corresponding mechanism to act.
In one embodiment, the detection module further comprises a signal input connection seat and a signal output connection seat;
the detector is connected with the processor through the signal input connecting seat;
the processor is connected with the main control module through the signal output connecting seat.
In one embodiment, the number of detection modules is two;
a plurality of detectors of any detection module are arranged on the side surface of the robot body and arranged around the robot body; the processor of any detection module is arranged in the robot body;
a plurality of detectors of the other detection module are arranged on the side surface of the robot chassis and are arranged around the robot chassis; and the processor of the other detection module is arranged in the robot chassis.
In one embodiment, the robot further comprises a camera unit arranged on the side surface of the robot body, an image processing module and a micro-processing unit arranged in the robot body;
the image processing module is respectively connected with the camera shooting unit and the main control module;
the micro-processing unit is respectively connected with the image processing module, the main control module and a processor arranged in the robot body.
In one embodiment, the system further comprises a danger detection module arranged on the robot chassis;
the danger detection module comprises a collision detection unit and a cliff detection unit; the collision detection unit and the cliff breaking detection unit are both connected with the main control module.
In one embodiment, the device further comprises a detection signal connecting seat;
the collision detection unit and the cliff breakage detection unit are connected with the main control module through the detection signal connecting seat.
In one embodiment, the method further comprises detecting radar;
the detection radar is connected with the main control module.
In one embodiment, the detection radar is arranged in a containing space formed by a connecting frame at the bottom of the robot body and the robot chassis.
In one embodiment, the probe is an ultrasound probe.
A security robot comprises a robot body, a robot chassis, a connecting frame for connecting the robot body and the robot chassis, and an obstacle avoidance processing circuit;
the connecting frame comprises a base and a plurality of supporting legs arranged at the bottom of the base; the base is connected with the robot body, and the supporting legs are connected with the robot chassis; the robot chassis is provided with the through wires hole with the supporting leg junction, and the supporting leg is inside to be provided with the inside passageway of walking the line of intercommunication through wires hole and robot fuselage respectively.
One of the above technical solutions has the following advantages and beneficial effects:
the obstacle avoidance processing circuit can be applied to robot obstacle avoidance, and comprises a main control module, a movement mechanism and detection modules, wherein the main control module and the movement mechanism are all arranged on a robot chassis, and the detection modules are respectively arranged at detection positions on a robot body; the detection module comprises a processor and a plurality of detectors, and the movement mechanism comprises a movement control unit and a driving device; the processor is respectively connected with the detector and the main control module, and the motion control unit is respectively connected with the driving device and the main control module; the processor receives a detection result detected by the detector and outputs an obstacle signal to the main control module so that the main control module outputs an obstacle avoidance instruction, and the motion control unit receives the obstacle avoidance instruction to control the driving device to drive the corresponding mechanism to act. The utility model provides a keep away barrier processing circuit can carry out effectual information feedback, the detector in time exports the testing result to the treater, host system keeps away the barrier instruction through the obstacle signal output of treater output again and carries out corresponding mechanism action with control drive arrangement to avoid the barrier more efficiently, realized diversified detection and drive and kept away the barrier, promoted the sensitivity and the accuracy of keeping away the barrier, realized the robot motion and kept away the advantage that the barrier reliability is high.
Drawings
In order to more clearly illustrate the technical solutions in the embodiments or the conventional technologies of the present application, the drawings used in the descriptions of the embodiments or the conventional technologies will be briefly introduced below, it is obvious that the drawings in the following descriptions are only some embodiments of the present application, and for those skilled in the art, other drawings can be obtained according to the drawings without creative efforts.
Fig. 1 is a first block diagram of an obstacle avoidance processing circuit in an embodiment;
fig. 2 is a second block diagram of an obstacle avoidance processing circuit according to an embodiment;
fig. 3 is a third block diagram of an obstacle avoidance processing circuit according to an embodiment;
fig. 4 is a schematic structural diagram of the security robot in one embodiment.
Description of reference numerals:
20. a robot body; 30. a robot chassis; 40. a connecting frame; 41. a base; 42. and (5) supporting legs.
Detailed Description
To facilitate an understanding of the present application, the present application will now be described more fully with reference to the accompanying drawings. Embodiments of the present application are set forth in the accompanying drawings. This application may, however, be embodied in many different forms and should not be construed as limited to the embodiments set forth herein. Rather, these embodiments are provided so that this disclosure will be thorough and complete.
Unless defined otherwise, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this application belongs. The terminology used herein in the description of the present application is for the purpose of describing particular embodiments only and is not intended to be limiting of the application.
It will be understood that, as used herein, the terms "first," "second," and the like may be used herein to describe various elements, but these elements are not limited by these terms. These terms are only used to distinguish one element from another.
In the description of the present invention, it is to be understood that the terms "central," "longitudinal," "lateral," "length," "width," "thickness," "upper," "lower," "front," "rear," "left," "right," "vertical," "horizontal," "top," "bottom," "inner," "outer," "clockwise," "counterclockwise," "axial," "radial," "circumferential," and the like are used in the orientations and positional relationships indicated in the drawings for convenience in describing the utility model and to simplify the description, and are not intended to indicate or imply that the referenced device or element must have a particular orientation, be constructed and operated in a particular orientation, and are not to be considered limiting of the utility model.
In the present invention, unless otherwise expressly stated or limited, the terms "mounted," "connected," "secured," and the like are to be construed broadly and can, for example, be fixedly connected, detachably connected, or integrally formed; can be mechanically or electrically connected; they may be directly connected or indirectly connected through intervening media, or they may be connected internally or in any other suitable relationship, unless expressly stated otherwise. The specific meanings of the above terms in the present invention can be understood by those skilled in the art according to specific situations.
Spatial relational terms, such as "under," "below," "under," "over," and the like may be used herein to describe one element or feature's relationship to another element or feature as illustrated in the figures. It will be understood that the spatially relative terms are intended to encompass different orientations of the device in use or operation in addition to the orientation depicted in the figures. For example, if the device in the figures is turned over, elements or features described as "below" or "beneath" other elements or features would then be oriented "above" the other elements or features. Thus, the exemplary terms "under" and "under" can encompass both an orientation of above and below. In addition, the device may also include additional orientations (e.g., rotated 90 degrees or other orientations) and the spatial descriptors used herein interpreted accordingly.
It will be understood that when an element is referred to as being "connected" to another element, it can be directly connected to the other element or be connected to the other element through intervening elements. Further, "connection" in the following embodiments is understood to mean "electrical connection", "communication connection", or the like, if there is a transfer of electrical signals or data between the connected objects.
As used herein, the singular forms "a", "an" and "the" may include the plural forms as well, unless the context clearly indicates otherwise. It will be further understood that the terms "comprises/comprising," "includes" or "including," etc., specify the presence of stated features, integers, steps, operations, components, parts, or combinations thereof, but do not preclude the presence or addition of one or more other features, integers, steps, operations, components, parts, or combinations thereof. Also, as used in this specification, the term "and/or" includes any and all combinations of the associated listed items.
As described in the background art, the robot in the prior art has a problem of low reliability of moving obstacle avoidance, and based on the problem, the application provides an obstacle avoidance processing circuit capable of improving the reliability of moving obstacle avoidance of the robot.
In one embodiment, as shown in fig. 1, an obstacle avoidance processing circuit is provided, which may include: the robot comprises a main control module, a motion mechanism and detection modules, wherein the main control module and the motion mechanism are arranged on a robot chassis;
the detection module may include a processor and a number of detectors; the processor is respectively connected with the detector and the main control module; the processor receives the detection result of the detector and outputs an obstacle signal to the main control module so that the main control module outputs an obstacle avoidance instruction;
the motion mechanism may comprise a motion control unit and a drive device; the motion control unit is respectively connected with the driving device and the main control module; the motion control unit receives the obstacle avoidance command to control the driving device to drive the corresponding mechanism to act.
The main control module may be an MCU (Microcontroller Unit), which may be implemented by an STM32 embedded single chip microcomputer; the motion control unit and the processor can also be an MCU; the driving device can comprise a double-drive/four-drive MOS bridge and a motor, and the corresponding driving device can be selected according to actual requirements; the detection module can be arranged at each detection position of the robot body, and the detection positions can be selected according to actual needs; the detector is used to detect the condition of the surrounding environment.
Specifically, the detector may continuously detect the surrounding environment, and output detected environment data, that is, detection results, where the detection results include the distance between the robot body and the surrounding objects, the shapes and sizes of the surrounding objects, and the like; the processor receives a detection result output by the detector, calculates the detection result through an internal amplifying circuit and an operation circuit, analyzes the operation result, and outputs an obstacle signal to the main control module under the condition of detecting an obstacle; the obstacle can be an object which blocks the movement direction of the robot within a certain range, and the specific range and the size or the shape of the object which is judged as the obstacle can be set according to the actual situation; under the condition that the master control module receives the obstacle signal, outputting a corresponding obstacle avoidance instruction; the motion control unit receives the obstacle avoidance instruction and controls the driving device to drive corresponding mechanisms to act according to the obstacle avoidance instruction, such as motion pause, motion deceleration, motion acceleration, turning and the like; the obstacle avoidance instruction is determined according to detection data contained in the obstacle signal in an actual situation, for example, when the motion control unit receives the obstacle avoidance instruction, the drive device is controlled to drive the motor to turn right and reduce the running speed, and the like, so that the effect of avoiding the obstacle is achieved.
The obstacle avoidance processing circuit can receive the detection result of the detector through the processor, outputs obstacle signals to the main control module, the main control module receives the obstacle signals and outputs obstacle avoidance instructions, and the motion control unit receives the obstacle avoidance instructions to control the driving device to drive the corresponding mechanism to act, so that the motion obstacle avoidance is completed. The utility model provides a keep away barrier processing circuit can avoid the barrier effectively in the robot motion process, has realized that diversified detection and drive keep away the barrier for the robot motion keeps away the barrier reliability height, keeps away barrier sensitivity and accuracy and promotes greatly, and then has also ensured the security of robot.
In a specific embodiment, the detection module may further include a signal input connection socket and a signal output connection socket;
the detector is connected with the processor through the signal input connecting seat;
the processor is connected with the main control module through the signal output connecting seat.
In one example, the detector may be an ultrasonic detector, and other suitable detectors may be selected according to actual needs, such as a microwave detector. The ultrasonic detector measures the measured distance by using ultrasonic emission and through the reflection of the measured object and the time difference after echo reception.
The signal input connecting seat and the signal output connecting seat are used for connecting signals. When the detector is an ultrasonic detector, the signal input connecting seat can be an ultrasonic signal input connecting seat, and the signal output connecting seat can be an ultrasonic signal output connecting seat.
Specifically, the ultrasonic detector detects the surrounding environment by emitting ultrasonic waves, and sends a detection result to the processor by inputting an ultrasonic signal into the connecting seat; the processor receives the detection result, and outputs an obstacle signal to the main control module through the ultrasonic signal output connecting seat under the condition that the obstacle is detected; the main control module outputs a corresponding obstacle avoidance instruction according to the received obstacle signal; the motion control unit receives the obstacle avoidance instruction output by the main control module, and controls the driving device to drive the corresponding mechanism to act according to the obstacle avoidance instruction, so that the robot is controlled to avoid the obstacle.
The utility model provides an keep away barrier processing circuit can carry out effectual information feedback, the detector in time exports the detection result to the treater through the signal input connecting seat, under the condition that detects the barrier, the treater in time exports the barrier signal to main control module through the signal output connecting seat to make the main control module output keep away the barrier instruction so that the corresponding mechanism action of motion control unit control drive arrangement drive keeps away the barrier, the efficiency of keeping away the barrier and the reliability that the barrier was kept away in the robot motion have been improved.
In a specific embodiment, the number of detection modules may be two;
a plurality of detectors of any detection module are arranged on the side surface of the robot body and arranged around the robot body; the processor of any detection module is arranged in the robot body;
a plurality of detectors of the other detection module are arranged on the side surface of the robot chassis and are arranged around the robot chassis; and the processor of the other detection module is arranged in the robot chassis.
Wherein, each unit module arranged in the machine body can be integrated into a function control panel, and each unit module arranged in the chassis can be integrated into a chassis control panel.
Specifically, the side of the robot body can be provided with a plurality of detectors of any detection module arranged around the robot body, the first detector can be positioned at the top of the robot body, and a processor of any detection module can be arranged in the robot body; and the side of the robot chassis may be provided with a plurality of probes of another inspection module arranged around the chassis, and the inside of the robot chassis may be provided with probes of another inspection module. The detector on the side of the robot body and the detector on the side of the bottom of the robot can be matched with each other to detect the information of the surrounding environment, the detector on the side of the robot body can detect the part of the periphery at a higher position more accurately, and the detector on the side of the chassis can detect the part of the periphery at a lower position more accurately; by arranging the plurality of detectors at each position of the side surface of the body and the side surface of the chassis, the environment in each direction around can be detected more accurately.
The detector on the side of the machine body transmits the detection result to the processor in the machine body for processing through the signal input connecting seat of the detection module, and when the obstacle is detected, the processor in the machine body outputs an obstacle signal to the main control module through the signal output connecting seat of the detection module; similarly, the detector on the side of the chassis transmits the detection result to the processor in the chassis for processing through the signal input connecting seat of the other detection module, and the processor in the chassis outputs a barrier signal to the main control module through the signal output connecting seat of the other detection module when a barrier is detected; the main control module integrates the obstacle information transmitted by the processor in the machine body and the obstacle information output by the processor in the chassis and outputs a corresponding obstacle avoidance instruction; and when receiving the obstacle avoidance instruction, the motion control unit controls the driving device to drive the corresponding mechanism to act so as to avoid the obstacle in time.
In the obstacle avoidance processing circuit, the robot body and the chassis are respectively provided with two detection modules, namely a plurality of detectors are arranged on the side surface of the robot body and a plurality of detectors are arranged on the side surface of the chassis, and the detectors are matched with each other to detect the surrounding environment; and the processor in the machine body and the processor in the chassis transmit the obstacle signals to the main control module of the chassis for comprehensive obstacle avoidance analysis and processing, so that effective obstacle avoidance instructions can be output, and the motion control unit controls the driving device to drive the corresponding mechanism to act. The utility model provides a keep away barrier processing circuit surveys through setting up detection module mutually supporting respectively at fuselage and chassis, can further improve the accuracy that the barrier was surveyed, and then improves greatly and keeps away the reliability that barrier efficiency and robot motion kept away the barrier.
In one embodiment, as shown in fig. 2, an obstacle avoidance processing circuit is provided, which may include: the robot comprises a main control module, a motion mechanism and detection modules, wherein the main control module and the motion mechanism are arranged on a robot chassis; the detection module may include a processor and a number of detectors; wherein, the detector can be an ultrasonic detector; the detection module can also comprise a signal input connecting seat and a signal output connecting seat; the detector is connected with the processor through the signal input connecting seat; the processor is connected with the main control module through the signal output connecting seat; the number of the detection modules can be two; a plurality of detectors of any detection module are arranged on the side surface of the robot body and arranged around the robot body; the processor of any detection module is arranged in the robot body; a plurality of detectors of the other detection module are arranged on the side surface of the robot chassis and are arranged around the robot chassis; the processor of the other detection module is arranged in the robot chassis; the motion mechanism may comprise a motion control unit and a drive device; the motion control unit is respectively connected with the driving device and the main control module; the processor receives the detection result of the detector and outputs an obstacle signal to the main control module so that the main control module outputs an obstacle avoidance instruction; the motion control unit receives an obstacle avoidance instruction to control the driving device to drive the corresponding mechanism to act;
the obstacle avoidance processing circuit can also comprise a danger detection module arranged on the robot chassis;
the danger detection module may include a collision detection unit and a cliff detection unit; the collision detection unit and the cliff breaking detection unit are both connected with the main control module.
The danger detection module is used for detecting whether the surrounding environment has risks which may cause dangers to the robot or not; the collision detection module can be arranged on the side surface of a chassis of the robot or on the side surface of a machine body according to actual requirements; the cliff detection unit is used for detecting whether the robot is located at the edge and is easy to cause falling, and can be arranged at the bottom of the chassis.
In a specific example, the obstacle avoidance processing circuit further comprises a detection signal connecting seat; the collision detection unit and the cliff breakage detection unit are connected with the main control module through the detection signal connecting seat.
Specifically, in the process of the robot moving, the detector detects the surrounding environment, and when the obstacle is detected, the motion control unit controls the driving device to drive the corresponding mechanism to act, so that the obstacle is avoided; when some sudden situations occur, for example, an object suddenly collides with the robot, the robot does not detect the obstacle due to too high speed or the robot detects the obstacle but fails to avoid the object, the collision detection unit detects the collision, so that collision information is output to the main control module through the detection signal connection seat, the main control module immediately outputs a first protection instruction to the motion control unit after receiving the collision information, and the motion control unit controls the driving device to brake emergently and replan motion route according to the first protection instruction, so that more accidents are avoided.
And when the cliff detection unit detects that the robot moves to other cliff areas such as the ground edge and the like, the cliff information is output to the main control module through the detection signal connection seat, when the main control module receives the cliff information, a second protection instruction is immediately output to the motion control unit, and the motion control unit controls the driving device to brake emergently according to the second control instruction and plans the motion path again, so that accidents such as falling are avoided. Further, the corresponding warning means may be provided, and the warning means may output the corresponding warning information to prompt when the collision detection means detects the collision information or the cliff detection means detects the cliff information.
The utility model provides a keep away barrier processing circuit not only detects the environment through the detector on fuselage and chassis to carry out effectual obstacle avoidance to the barrier on the movement route, and, the obstacle avoidance processing circuit of this application still further protects the robot through setting up collision detecting element and cliff detecting element, reduces the injury that the robot received when taking place emergency, has improved the efficiency and the degree of accuracy that the robot kept away the barrier, has further strengthened the robot and has kept away the reliability that the barrier.
In a specific embodiment, as shown in fig. 3, a detection radar may also be included;
the detection radar is connected with the main control module.
The detection radar is an electronic device for detecting a target by using electromagnetic waves, and emits electromagnetic waves to irradiate the target and receive an echo of the target, so that information such as the distance from the target to an electromagnetic wave emission point, the distance change rate (radial speed), the azimuth, the altitude and the like is obtained; the detection radar may be a 360 degree light radar.
In one example, the detection radar can be arranged in a containing space formed by a connecting frame at the bottom of the robot body and the robot chassis.
The connecting frame is connected with the chassis and encloses an accommodating space together with the chassis, and the detection radar is positioned in the accommodating space; the connecting frame comprises a base and a plurality of supporting legs arranged at the bottom of the base, the base is connected with the machine body, the supporting legs are connected with the chassis, threading holes are formed in the joints of the chassis and the supporting legs, and wiring channels respectively communicated with the threading holes and the interior of the machine body are arranged in the supporting legs; the detection radar is arranged among the plurality of supporting legs. The wiring channel is used for wiring wires and the like from the body to the chassis. In addition, it should be noted that the supporting leg may be partially or completely provided with the routing channel.
Specifically, the detection radar detects the surrounding environment through constantly emitting electromagnetic waves, and with survey data transmission to host system, under the condition that detects the object that influences the normal motion track of robot, host system exports corresponding obstacle avoidance instruction to the motion control unit, and the motion control unit is according to this obstacle avoidance instruction control drive arrangement drive corresponding mechanism action, and the detector mutually supports with the detection radar, surveys the surrounding environment, thereby carries out more effective motion and keeps away the obstacle.
The utility model provides a keep away barrier processing circuit surveys the barrier through setting up the detector, sets up simultaneously and surveys the radar and carry out the auxiliary detection to set up dangerous detection module on the chassis of robot, including collision detecting element and cliff detecting element promptly, detect the proruption situation that probably takes place to the surrounding environment, thereby further improved the accuracy of keeping away the barrier, avoided the injury that proruption situation caused the robot, improved the robot motion and kept away the barrier reliability.
In a specific embodiment, as shown in fig. 3, the robot may further include a camera unit disposed on a side surface of the robot body, an image processing module disposed inside the robot body, and a micro-processing unit;
the image processing module is respectively connected with the camera shooting unit and the main control module;
the micro-processing unit is respectively connected with the image processing module, the main control module and a processor arranged in the robot body.
The image processing module and the micro processing unit can communicate based on UART (Universal Asynchronous Receiver/Transmitter); the camera unit may include a plurality of cameras arranged around the robot body, and the cameras may be located in the middle of the body; in one example, 3 cameras are arranged on the machine body and uniformly arranged on the side surface of the machine body, and the shooting angle of each camera is more than or equal to 120 degrees; the video camera may be a starlight camera. The main control module MCU in the application can also realize the power management function, for example, only the MCU is reserved for working when in standby, so that the power consumption can be reduced; when the computer is started, the MCU turns on other modules to supply power; furthermore, the main control module MCU in the application has single function, has high stability compared with an image processing SOC (for example, RK3399), and can be reset and restarted by the MCU when the RK3399 is abnormal. In addition, the application proposes that STM32 is adopted to realize the related functions of the MCU, namely the temperature range which can be supported by the MCU in the application is high and is generally-40-85 ℃; it should be noted that the common specification of the ARM chip is 0-60 ℃ or-20-60 ℃, and the temperature can reach-40 ℃ in outdoor winter in northern China, and at this time, the MCU in the application can be used for driving the heating module, so that after the whole body is heated up, the ARM (advanced RISC machine) chip is started.
Specifically, the detector can also output the detected detection result, the processor performs operation through an internal amplifying circuit and an operation circuit after receiving the detection result, sends the operation result to the microprocessing unit MCU for analysis, outputs an obstacle signal to the main control module when an obstacle is detected, outputs a corresponding obstacle avoidance instruction when the main control module receives the obstacle signal, and the motion control unit receives the obstacle avoidance instruction and controls the driving device to drive the corresponding mechanism to act according to the obstacle avoidance instruction. The camera shooting unit shoots surrounding environment images (videos) and transmits the shot images (videos) to the image processing module, the image processing module outputs image identification control information according to the received images, and the main control module receives the image identification control information and outputs corresponding control instructions to instruct the motion control unit to control the driving device to drive corresponding mechanisms to act.
In a specific example, the image processing module may further include an image processing unit and a force calculating unit, where the image processing unit is connected to the camera unit, the force calculating unit and the main control module respectively; the obstacle avoidance processing circuit can also comprise a navigation processing unit, and the navigation processing unit is respectively connected with the image processing unit and the main control module; the navigation processing unit is also connected with the detection radar. The force calculating unit can be a force calculating chip, and the model can be RK 1808; the image processing unit and the navigation processing unit can be both SOC (System on Chip) chips, and the Chip type number can be RK 3399.
Specifically, the image pickup unit transmits a picked-up image (video) to the image processing unit; the image processing unit sends the image (video) to the force calculating unit, the force calculating unit carries out image recognition processing on the image to obtain an image recognition result and returns the image recognition result to the image processing unit, the image processing unit sends image recognition control information (or the image recognition result per se) to the navigation processing unit according to the image recognition result, and the image recognition control information can comprise the direction, distance, shape size and the like of the obstacle; the navigation processing unit generates motion control information according to a pre-stored laser point cloud map, laser radar data, image (video) data and/or image identification control information, and the main control module outputs a corresponding control instruction according to the motion control information to instruct the driving device to control the driving device to drive a corresponding mechanism to act so as to avoid obstacles.
In the obstacle avoidance processing circuit, on the basis of the detector, the detection radar and the image processing module are arranged for matched detection, so that the obstacle can be avoided more accurately; and the danger detection module comprising the collision detection unit and the cliff detection unit is arranged, so that the damage to the robot under some emergency situations is reduced, and the effectiveness of obstacle avoidance and the reliability of obstacle avoidance during movement are greatly improved.
In one embodiment, as shown in fig. 4, there is provided a security robot, including a robot body 20, a robot chassis 30, a connecting frame 40 for connecting the robot body 20 and the robot chassis 30, and an obstacle avoidance processing circuit as described above;
the connecting frame 40 comprises a base 41 and a plurality of supporting legs 42 arranged at the bottom of the base 41; the base 41 is connected with the robot body 20, and the supporting legs 42 are connected with the robot chassis 30; the junction of the robot chassis 30 and the supporting leg 42 is provided with a threading hole, and the supporting leg 42 is internally provided with a routing channel respectively communicated with the threading hole and the inside of the robot body 20.
Specifically, the connecting frame 40 is connected with the chassis 30 and encloses an accommodating space together with the chassis 30, and the detection radar is located in the accommodating space; the connecting frame 40 comprises a base 41 and a plurality of supporting legs 42 arranged at the bottom of the base 41, the base 41 is connected with the machine body 20, the supporting legs 42 are connected with the chassis 30, threading holes are formed at the joints of the chassis 30 and the supporting legs 42, and routing channels respectively communicated with the threading holes and the interior of the machine body 20 are arranged in the supporting legs 42; the detection radar is arranged in the middle of several support legs 42. The routing channels provide for routing of electrical wires and the like from the fuselage 20 to the chassis 30. In addition, it should be noted that the supporting leg 42 may be partially or completely provided with a routing channel. The robot can detect the surrounding environment, and can avoid the obstacle in time when the obstacle is detected; in some emergency situations, for example, when the security robot collides with other objects, the robot can brake and change the movement direction immediately, so that the damage to the robot is reduced; or the movement path can be immediately braked and re-planned under the condition of running to the edge of the stairs, so that the accidents such as falling and the like are avoided.
More than, the security robot of this application is including keeping away barrier processing circuit to can effectively, accurately avoid the barrier at the in-process that carries out the security and protection patrol, and when taking place proruption situation, the injury that the minimize body received, the barrier reliability height is kept away in the motion, and stability is strong.
In the description herein, references to the description of "some embodiments," "other embodiments," "desired embodiments," etc., mean that a particular feature, structure, material, or characteristic described in connection with the embodiment or example is included in at least one embodiment or example of the utility model. In this specification, a schematic description of the above terminology may not necessarily refer to the same embodiment or example.
The technical features of the above embodiments can be arbitrarily combined, and for the sake of brevity, all possible combinations of the technical features in the above embodiments are not described, but should be considered as the scope of the present specification as long as there is no contradiction between the combinations of the technical features.
The above-mentioned embodiments only express several embodiments of the present application, and the description thereof is more specific and detailed, but not construed as limiting the scope of the utility model. It should be noted that, for a person skilled in the art, several variations and modifications can be made without departing from the concept of the present application, which falls within the scope of protection of the present application. Therefore, the protection scope of the present patent shall be subject to the appended claims.
Claims (10)
1. An obstacle avoidance processing circuit, comprising: the robot comprises a main control module, a motion mechanism and detection modules, wherein the main control module and the motion mechanism are arranged on a robot chassis;
the detection module comprises a processor and a plurality of detectors; the processor is respectively connected with the detector and the main control module; the processor receives a detection result of the detector and outputs an obstacle signal to the main control module so that the main control module outputs an obstacle avoidance instruction;
the motion mechanism comprises a motion control unit and a driving device; the motion control unit is respectively connected with the driving device and the main control module; and the motion control unit receives the obstacle avoidance instruction to control the driving device to drive the corresponding mechanism to act.
2. An obstacle avoidance processing circuit according to claim 1, wherein the detection module further comprises a signal input connection base and a signal output connection base;
the detector is connected with the processor through the signal input connecting seat;
the processor is connected with the main control module through the signal output connecting seat.
3. The obstacle avoidance processing circuit according to claim 1, wherein the number of the detection modules is two;
a plurality of detectors of any one detection module are arranged on the side surface of the robot body and arranged around the robot body; the processor of any one detection module is arranged in the robot body;
a plurality of detectors of the other detection module are arranged on the side surface of the robot chassis and are arranged around the robot chassis; and the processor of the other detection module is arranged in the robot chassis.
4. The obstacle avoidance processing circuit according to claim 3, further comprising a camera unit disposed on a side surface of the robot body, an image processing module and a micro-processing unit disposed inside the robot body;
the image processing module is respectively connected with the camera unit and the main control module;
the micro-processing unit is respectively connected with the image processing module, the main control module and a processor arranged in the robot body.
5. The obstacle avoidance processing circuit according to claim 1, further comprising a hazard detection module provided on the robot chassis;
the danger detection module comprises a collision detection unit and a cliff detection unit; the collision detection unit and the cliff detection unit are both connected with the main control module.
6. An obstacle avoidance processing circuit according to claim 5, further comprising a detection signal connecting base;
the collision detection unit and the cliff detection unit are connected with the main control module through the detection signal connecting seat.
7. An obstacle avoidance processing circuit according to claim 1, further comprising a detection radar;
the detection radar is connected with the main control module.
8. An obstacle avoidance processing circuit according to claim 7, wherein the detection radar is disposed in an accommodation space formed by a connecting frame at the bottom of a robot body and the robot chassis.
9. An obstacle avoidance processing circuit according to any one of claims 1 to 7, wherein the detector is an ultrasonic detector.
10. A security robot is characterized by comprising a robot body, a robot chassis, a connecting frame for connecting the robot body and the robot chassis, and an obstacle avoidance processing circuit according to any one of claims 1 to 9;
the connecting frame comprises a base and a plurality of supporting legs arranged at the bottom of the base; the base is connected with the robot body, and the supporting legs are connected with the robot chassis; the robot chassis with the supporting leg junction is provided with the through wires hole, the supporting leg is inside to be provided with respectively communicate the through wires hole with the line passageway of walking inside the robot fuselage.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202120561410.9U CN215789881U (en) | 2021-03-18 | 2021-03-18 | Obstacle avoidance processing circuit and security robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202120561410.9U CN215789881U (en) | 2021-03-18 | 2021-03-18 | Obstacle avoidance processing circuit and security robot |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN215789881U true CN215789881U (en) | 2022-02-11 |
Family
ID=80162493
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202120561410.9U Active CN215789881U (en) | 2021-03-18 | 2021-03-18 | Obstacle avoidance processing circuit and security robot |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN215789881U (en) |
-
2021
- 2021-03-18 CN CN202120561410.9U patent/CN215789881U/en active Active
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN107650908B (en) | Unmanned vehicle environment sensing system | |
| CN112180941A (en) | Multi-sensor fusion unmanned vehicle detection obstacle avoidance system and obstacle avoidance method | |
| CN103342101B (en) | Induction type non-contact charge location alignment device and localization method thereof | |
| CN105699985A (en) | Single-line laser radar device | |
| CN108958284B (en) | Unmanned aerial vehicle obstacle avoidance system and method | |
| CN104953709A (en) | Intelligent patrol robot of transformer substation | |
| CN203773051U (en) | Radar and photoelectric integrated detection apparatus | |
| US20200290605A1 (en) | Apparatus, system, and method for vehicle collision avoidance control | |
| US20180239351A1 (en) | Autonomous mobile device | |
| WO2021243696A1 (en) | Vehicle navigation positioning method and apparatus, and base station, system and readable storage medium | |
| CN107977004A (en) | A kind of round-the-clock high speed unmanned vehicle detection obstacle avoidance system of Multi-sensor Fusion | |
| CN108379764A (en) | Unattended operation transformer station remote control emission-type extinguishing vehicle | |
| CN114237277A (en) | Unmanned aerial vehicle keeps away barrier system based on millimeter wave radar and nearly electric induction | |
| CN215789881U (en) | Obstacle avoidance processing circuit and security robot | |
| WO2022099243A1 (en) | Radar interference reduction techniques for autonomous vehicles | |
| CN113758482B (en) | Vehicle navigation positioning method, device, base station, system and readable storage medium | |
| EP3683780A1 (en) | Obstacle detection using camera mounted on protrusion of vehicle | |
| JP2001334896A (en) | Peripheral monitoring method and it's device for vehicle | |
| CN206671565U (en) | A kind of preceding anti-collision early warning and drive assist system built using laser sensor | |
| CN111301374B (en) | Automatic anti-collision system for automobile panoramic detection | |
| CN210416497U (en) | Electric automobile multisensor intelligence collection system | |
| CN207937876U (en) | A kind of Intelligent unattended machine hunting system | |
| CN113376658A (en) | Unmanned aerial vehicle autonomous obstacle avoidance method and system based on single line laser radar | |
| JP7145422B2 (en) | Mobile device and mobile system | |
| CN113178046A (en) | Indoor unmanned aerial vehicle fire-fighting inspection method and system based on radio positioning |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| GR01 | Patent grant | ||
| GR01 | Patent grant |