CN217552445U

CN217552445U - Dynamic obstacle simulator

Info

Publication number: CN217552445U
Application number: CN202221613909.0U
Authority: CN
Inventors: 夏舸; 周洪辉; 丁平安
Original assignee: Uditech Co Ltd
Current assignee: Uditech Co Ltd
Priority date: 2022-06-23
Filing date: 2022-06-23
Publication date: 2022-10-11
Anticipated expiration: 2032-06-23

Abstract

The utility model relates to the technical field of robot testing, in particular to a dynamic obstacle simulation device, which comprises a supporting seat, obstacles and a driving assembly, wherein the supporting seat comprises a testing surface, and the testing surface of the supporting seat is used for testing the obstacle avoidance capability of a robot; the barrier is movably arranged on the supporting seat and is positioned on the test surface; the driving assembly is arranged on the supporting seat and located below the test surface, and the driving assembly is used for driving the barrier to move on the test surface. The utility model discloses a developments barrier analogue means is through setting up the barrier to drive the barrier through drive assembly and remove at the test surface, can simulate the dynamic barrier in the robot work environment, thereby promote the robot and keep away the accuracy of barrier test result.

Description

Dynamic obstacle simulator

Technical Field

The utility model relates to a robot test technical field especially relates to a developments barrier analogue means.

Background

The distribution robot is a type of robot which is rapidly developed and widely used in recent years, and the application range of the distribution robot mainly comprises catering, hotels, logistics and the like. The distribution robot is mainly used for transporting goods, catering and other objects to a specified place, and the distribution robot can pass through various terrains in the moving process, such as crossing doorsills, climbing uphill and downhill, crossing gaps on the ground, bypassing obstacles, avoiding stairs and the like. The distribution robot is crossing threshold, going up and down a slope, crossing the subaerial space, circumventing the barrier and dodging the performance of ladder etc. influence the distribution robot and carry out the success rate of task under complicated various topography and environment, but under these complicated various topography and environment, the distribution robot dodges and the performance of passing through and can't direct detection or measurement, need carry out many times simulation test and just can obtain relevant data.

In the simulation test process of the distribution robot, the test for avoiding obstacles is usually the avoidance test for static obstacles, while in the working environment of the distribution robot, a large number of dynamic obstacles exist, which will cause inaccurate test results, and the distribution robot passing the test still has a large collision risk.

SUMMERY OF THE UTILITY MODEL

The utility model provides a developments barrier analogue means can simulate developments barrier to a keep away barrier ability for testing robot.

In order to solve the above technical problem, the utility model discloses a technical scheme that embodiment adopted is: the dynamic obstacle simulation device comprises a supporting seat, an obstacle and a driving assembly, wherein the supporting seat comprises a testing surface, and the testing surface of the supporting seat is used for testing the obstacle avoidance capacity of a robot; the barrier is movably arranged on the supporting seat and is positioned on the test surface; the driving assembly is arranged on the supporting seat and located below the testing surface, and the driving assembly is used for driving the barrier to move on the testing surface.

In some embodiments, moving across the test surface includes linear back and forth movement and/or circular track movement.

In some embodiments, the supporting seat further comprises a test panel, a fixing bracket and a ramp plate, and the top of the test panel is the test surface; the fixed bracket is erected to install the test panel; the ramp plate comprises a first panel and a second panel, and the first panel and the second panel are respectively connected to two sides of the test panel to form a test runway for testing the obstacle avoidance capability of the robot.

In some embodiments, the test panel is horizontally disposed, and an included angle between the first panel and the test panel is less than or equal to 8 degrees; the included angle between the second panel and the test panel is smaller than or equal to 8 degrees.

In some embodiments, the test panel defines a chute, and the barrier is driven by the driving assembly to move along the chute.

In some embodiments, the chute is an annular track, and a mounting opening is formed in a ring of the annular track of the test panel; the supporting seat is further provided with a protective cover, and the protective cover is used for covering the mounting opening.

In some embodiments, the width of the chute is less than the width of a wheel of the robot.

In some embodiments, the driving assembly comprises at least two rotating wheels, a motor and a chain, wherein the at least two rotating wheels are rotatably arranged on the fixed bracket; the motor is arranged on the fixed support and is in transmission connection with at least one rotating wheel; the chain is sleeved on the at least two rotating wheels and is in transmission connection with the obstacle, so that the chain can drive the obstacle to move on the test surface.

In some embodiments, the obstacle includes a plurality of obstacles having different shapes and sizes.

In some embodiments, the dynamic obstacle simulator further comprises a placing rack, and one side of the placing rack is detachably connected with the obstacle; the other side of the placing frame is in driving connection with the driving assembly.

Be different from the condition of correlation technique, the utility model discloses a dynamic barrier analogue means is through setting up the barrier to drive through drive assembly the barrier removes at the test surface, can simulate the dynamic barrier in the robot work environment, thereby promotes the robot and keeps away the accuracy of barrier test result, reduces and has passed through the test the collision risk of robot in actual operational environment.

Drawings

Fig. 1 is a schematic structural diagram of a dynamic obstacle simulation apparatus according to an embodiment of the present invention;

fig. 2 is a schematic partial structural diagram of a dynamic obstacle simulation apparatus according to an embodiment of the present invention;

fig. 3 is a schematic diagram of a robot obstacle avoidance testing method.

The reference numbers in the detailed description are as follows:

100. a dynamic obstacle simulation device;

1. a supporting seat; 11. testing the surface; 12. fixing a bracket; 13. testing the panel; 131. a chute; 132. an installation port; 14. a protective cover; 15. a ramp plate; 151. a first panel; 152. a second panel;

2. an obstacle; 3. placing a rack; 4. a drive assembly; 41. a rotating wheel; 42. a motor; 43. and a chain.

Detailed Description

In order to facilitate understanding of the present invention, the present invention will be described in more detail with reference to the accompanying drawings and specific embodiments. It will be understood that when an element is referred to as being "secured to" another element, it can be directly on the other element or intervening elements may be present. When an element is referred to as being "connected" to another element, it can be directly connected to the other element or intervening elements may be present. The terms "vertical," "horizontal," "left," "right," and the like as used herein are for descriptive purposes only.

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 invention belongs. The terminology used in the description of the invention herein is for the purpose of describing particular embodiments only and is not intended to be limiting of the invention. As used herein, the term "and/or" includes any and all combinations of one or more of the associated listed items.

In addition, the technical features mentioned in the different embodiments of the present application described below may be combined with each other as long as they do not conflict with each other.

In order to solve the technical problem, as shown in fig. 1 and fig. 2, an embodiment of the present invention provides a dynamic obstacle simulation apparatus 100, where the dynamic obstacle simulation apparatus 100 includes a supporting seat 1, an obstacle 2, a placing frame 3, and a driving assembly 4, the supporting seat 1 is used to set the placing frame 3 and the driving assembly 4, and is used to provide a testing surface 11, and the testing surface 11 of the supporting seat 1 is used to test the obstacle avoidance capability of the robot; the obstacle 2 is used for simulating the obstacle 2 in the working environment of the robot; the placing rack 3 is used for installing the barrier 2; the driving assembly 4 is used for driving the placing frame 3 to move, and further driving the barrier 2 to move.

Next, specific configurations of the support base 1, the obstacle 2, the placing frame 3, and the driving unit 4 will be described in order.

As for the support seat 1, as shown in fig. 1 and 2, the support seat 1 includes a fixing bracket 12, a test panel 13, a protective cover 14 and a ramp plate 15; wherein fig. 2 compares to fig. 1 with the test panel 13 and the protective cover 14 removed. Optionally, the height of the support seat 1 is smaller than the height of a safety step identified by the robot radar, so as to avoid the problem that the robot does not travel above the support seat 1 due to avoiding the support seat 1.

As shown in fig. 1 and 2, the fixing bracket 12 is used to mount the test panel 13 in a set-up manner, thereby raising the test panel 13 to facilitate mounting of the driving assembly 4 below the test panel 13. Optionally, the fixing bracket 12 is a metal frame, and the test panel 13 is connected to the fixing bracket 12 by welding or bolts.

As shown in fig. 1, the top of the test panel 13 is the test surface 11, the test panel 13 is horizontally disposed, the test panel 13 is provided with a chute 131, and the chute 131 is used for limiting the rack 3 to move along the chute 131. Optionally, the chute 131 is an annular track, so that the rack 3 can move circularly along the chute 131. Optionally, the circular trajectory comprises a straight line and/or an arc. Optionally, the width of the chute 131 is smaller than the width of the wheels of the robot, so as to improve the problem that the wheels of the robot fall into the chute 131. Optionally, the test panel 13 is a metal plate.

As shown in fig. 1, the test panel 13 is provided with a mounting opening 132 and is located in a ring of the annular track of the test panel 13, the mounting opening 132 facilitates the mounting and dismounting of the driving component 4, and the protective cover 14 is used for covering the mounting opening 132. Optionally, an edge of the protecting cover 14 abuts against an edge of the sliding slot 131, and the sliding slot 131 is a gap between the protecting cover 14 and the test panel 13. Optionally, the protective cover 14 is mounted to the fixed bracket 12.

As shown in fig. 1, the ramp plate 15 includes a first panel 151 and a second panel 152, the first panel 151 and the second panel 152 are respectively connected to two sides of the test panel 13 to form a test runway for testing obstacle avoidance capability of the robot, and the robot can travel to and from the test surface 11 through the first panel 151 and the second panel 152. Optionally, an included angle between the first panel 151 and the test panel 13 is less than or equal to 8 degrees; the angle between the second panel 152 and the test panel 13 is less than or equal to 8 degrees. Optionally, the ramp plate 15 is a metal plate.

As for the obstacle 2, as shown in fig. 1, the obstacle 2 is movably disposed on the supporting seat 1 and is located on the testing surface 11, and the obstacle 2 can move along the sliding groove 131 under the driving of the driving component 4. Optionally, the obstacle 2 comprises a plurality of obstacles 2, and the plurality of obstacles 2 have different shapes and sizes, so that the various obstacles 2 in the actual working environment of the robot can be simulated, and the use function is enhanced. Optionally, the obstacle 2 is cylindrical, with a diameter of 200mm and a height of 600mm; or 70mm in diameter and 400 mm in height, respectively, for simulating the torso or limbs of a human body. Optionally, the surface of the obstacle 2 is grey.

As for the placing rack 3, as shown in fig. 2, one side of the placing rack 3 is detachably connected with the obstacle 2; the other side of the placing frame 3 is in driving connection with the driving component 4. Optionally, the placing frame 3 is cylindrical, and one end of the placing frame extends into the sliding groove 131 and is in transmission connection with the driving assembly 4. Optionally, the placing rack 3 is further slidably disposed on the fixing bracket 12 and can slide along the sliding groove 131.

As for the driving assembly 4, as shown in fig. 2, the driving assembly 4 is disposed on the supporting base 1 and is located below the testing surface 11, i.e. below the testing panel 13; the driving assembly 4 comprises at least two rotating wheels 41, a motor 42, a chain 43 and a speed adjusting knob, wherein the at least two rotating wheels 41 are rotatably arranged on the fixed bracket 12; the motor 42 is mounted on the fixed bracket 12, and the motor 42 is in transmission connection with at least one rotating wheel 41; the chain 43 is sleeved on the at least two rotating wheels 41, and the chain 43 is in transmission connection with the obstacle 2 so that the chain 43 can drive the obstacle 2 to move on the test surface 11, thereby realizing the linear movement and the circular track movement of the obstacle 2 on the test surface 11, that is, the movement of the obstacle 2 on the test surface 11 includes the linear back-and-forth movement and/or the circular track movement; the speed adjustment knob is used to adjust the rotational speed of the motor 42, thereby adjusting the moving speed of the obstacle 2. Optionally, the length of the straight reciprocating motion is greater than 9 times the length of the robot. Alternatively, the chain 43 may be replaced by a belt, and the rotating wheel 41 may be replaced by a pulley.

Optionally, the driving assembly 4 further includes a battery disposed on the fixing bracket 12, so that the dynamic obstacle simulation apparatus 100 does not need an external power supply when operating, the problem of limited placement position due to the need of the external power supply is reduced, and the problem of interference with the robot due to the connection of the external power supply through a wire is reduced.

The utility model discloses a dynamic barrier analogue means 100 is when using:

as shown in fig. 3, the dynamic obstacle simulation apparatus 100 is placed at the center of the driving route of the robot, so that the robot can meet the dynamic obstacle simulation apparatus 100 at point P0;

adjusting an included angle between the length direction of the dynamic obstacle simulation device 100 and the traveling direction of the robot, wherein the length direction of the dynamic obstacle simulation device 100 is parallel to the direction in which the obstacle 2 moves along a straight line under the driving of the chain 43, that is, the included angle between the moving direction of the obstacle 2 and the moving direction of the robot;

the moving speed of the obstacle 2 of the dynamic obstacle simulation apparatus 100 is adjusted so that the obstacle 2 and the robot can meet at the point P0.

As shown in fig. 3, the included angle may be 90 degrees (the obstacle 2 moves from P5 to P6), 45 degrees (the obstacle 2 moves from P3 to P4), 0 degrees (the obstacle 2 moves from P7 to P0), and the like, so that the meeting at various angles can be realized, the test data is increased, the test is more comprehensive, and the accuracy of the test result is improved.

As shown in fig. 3, if the robot fails to reach the P2 position or encounters the obstacle 2 during the movement, the test is considered to be failed; the above obstacle avoidance test may be repeated multiple times, and the same robot may be regarded as passing the obstacle avoidance test if the multiple tests are all qualified, for example, the tests are continuously performed 3 times and 3 times are all passed.

As shown in fig. 3, L is the length of the robot, and when the robot is placed, the distance between the robot and the dynamic obstacle simulation apparatus 100 is greater than 3L, so that the robot has enough reaction time, and the accuracy of the test is improved; when the device is placed, the distance between the barrier 2 and the point P0 is larger than 3L, and the problem that the test result is influenced because the barrier 2 is too close to the point P0 is solved.

The dynamic obstacle simulation device 100 of the present invention can simulate the dynamic obstacle 2 in the robot working environment by setting the obstacle 2 and driving the obstacle to move on the test surface 11 through the driving component 4, so as to improve the accuracy of the robot obstacle avoidance test result and reduce the collision risk of the robot passing the test in the actual working environment; the obstacles 2 comprise a plurality of obstacles with different shapes and sizes, so that various obstacles 2 in the actual working environment of the robot can be simulated, and the use function is enhanced; the dynamic obstacle simulation device 100 has a simple structure and high reliability, and is suitable for robot testing in a laboratory environment.

It should be noted that the preferred embodiments of the present invention are shown in the specification and the drawings, but the present invention can be realized in many different forms, and is not limited to the embodiments described in the specification, which are not intended as additional limitations to the present invention, and are provided for the purpose of making the understanding of the present disclosure more thorough and complete. Moreover, the above technical features are combined with each other to form various embodiments which are not listed above, and all the embodiments are regarded as the scope of the present invention; further, modifications and variations will occur to those skilled in the art in light of the foregoing description, and it is intended to cover all such modifications and variations as fall within the true spirit and scope of the invention as defined by the appended claims.

Claims

1. A dynamic obstacle simulation apparatus, comprising:

the support seat comprises a test surface, and the test surface of the support seat is used for testing the obstacle avoidance capability of the robot;

the barrier is movably arranged on the supporting seat and is positioned on the test surface;

the driving assembly is arranged on the supporting seat and located below the test surface, and the driving assembly is used for driving the barrier to move on the test surface.

2. A dynamic obstacle simulation apparatus according to claim 1, wherein moving across the test surface comprises a straight traverse and/or a circular trajectory movement.

3. The dynamic barrier simulation apparatus of claim 1, wherein the support base further comprises:

the top of the test panel is the test surface;

the fixed bracket is used for erecting and mounting the test panel;

the slope board comprises a first panel and a second panel, and the first panel and the second panel are respectively connected to two sides of the test panel to form a test runway for testing the obstacle avoidance capability of the robot.

4. The dynamic obstacle simulator of claim 3, wherein the test panel is horizontally positioned, and the angle between the first panel and the test panel is less than or equal to 8 degrees; and an included angle between the second panel and the test panel is less than or equal to 8 degrees.

5. The dynamic obstacle simulator of claim 3, wherein the test panel defines a chute along which the obstacle is driven by the drive assembly.

6. The dynamic obstacle simulation device according to claim 5, wherein the chute is an annular track, and a mounting opening is formed in a ring of the annular track of the test panel; the supporting seat is further provided with a protective cover, and the protective cover is used for covering the mounting opening.

7. The dynamic obstacle simulation device according to claim 5, wherein the width of the chute is smaller than the width of a wheel of the robot.

8. The dynamic obstacle simulation device of claim 3, wherein the drive assembly comprises:

the at least two rotating wheels are rotatably arranged on the fixed bracket;

the motor is arranged on the fixed bracket and is in transmission connection with at least one rotating wheel;

the chain is sleeved on the at least two rotating wheels and is in transmission connection with the obstacle, so that the chain can drive the obstacle to move on the test surface.

9. The dynamic obstacle simulation device according to claim 1, wherein the obstacle includes a plurality of obstacles having different shapes and sizes.

10. The dynamic obstacle simulation device according to claim 1, further comprising a placement frame, wherein one side of the placement frame is detachably connected with the obstacle; the other side of the placing frame is in driving connection with the driving assembly.