WO2023279475A1 - 一种滚珠里程计及里程计算方法 - Google Patents
一种滚珠里程计及里程计算方法 Download PDFInfo
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- WO2023279475A1 WO2023279475A1 PCT/CN2021/112461 CN2021112461W WO2023279475A1 WO 2023279475 A1 WO2023279475 A1 WO 2023279475A1 CN 2021112461 W CN2021112461 W CN 2021112461W WO 2023279475 A1 WO2023279475 A1 WO 2023279475A1
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- ball
- odometer
- support
- support shaft
- axis
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- 238000004364 calculation method Methods 0.000 title abstract description 13
- 238000006073 displacement reaction Methods 0.000 claims abstract description 39
- 238000005096 rolling process Methods 0.000 claims abstract description 17
- 230000003287 optical effect Effects 0.000 claims description 26
- 238000000034 method Methods 0.000 claims description 5
- 238000001514 detection method Methods 0.000 description 3
- 230000009286 beneficial effect Effects 0.000 description 2
- 230000006698 induction Effects 0.000 description 2
- 238000004458 analytical method Methods 0.000 description 1
- 230000000903 blocking effect Effects 0.000 description 1
- 238000004140 cleaning Methods 0.000 description 1
- 238000004519 manufacturing process Methods 0.000 description 1
Classifications
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C22/00—Measuring distance traversed on the ground by vehicles, persons, animals or other moving solid bodies, e.g. using odometers, using pedometers
Definitions
- the invention relates to the technical field of mobile robot navigation and positioning, in particular to a ball odometer and a mileage calculation method.
- the optical flow sensor calculates the mileage by calculating the movement of the image seen by the optical lens. This solution can obtain the mileage of the two axes of x and y in the plane. It works well, but it will fail on a highly reflective or transparent plane. It is used in mobile robots operating in special environments such as window cleaning robots.
- the present invention provides a ball odometer and a mileage calculation method using the ball odometer, in which the odometer is set The ball, and then use the displacement sensor to monitor the rolling mileage of the ball, and indirectly obtain the displacement and direction of the robot on the contact plane.
- a ball odometer which is provided with balls, ball brackets, displacement sensors and a bottom support plate, the ball bracket is arranged on the bottom support plate, and the balls can roll is arranged in the ball holder, one side of the ball passes through the ball holder and abuts against the contact plane, and the displacement sensor is arranged on the ball holder to detect the rolling of the ball.
- the ball bracket includes support shafts, bearings and a bottom plate, more than three support shafts are arranged around the balls, and the number of the bearings is twice the number of the support shafts. number, the bearings are respectively arranged at the end of the support shaft and connected with the bottom plate, the diameter of the inscribed circle of the polygon where the support shaft is located is smaller than the diameter of the ball, and the support shaft is in contact with the outer surface of the ball connected, so that the support shaft rotates with the rolling of the ball.
- the displacement sensor is an optical flow sensor
- the optical flow sensor is arranged on one side of the ball
- the camera of the optical flow sensor is arranged facing the ball.
- the ball bracket is provided with a ball cover, the balls are arranged between the support shaft and the ball cover, and the ball cover is provided with a ball circle with a radius smaller than that of the ball.
- the ball is rotatably installed in the ball hole.
- the displacement sensor is an encoder, and there are more than two encoders, and the encoders are respectively arranged on two or more adjacent support shafts.
- the code disc is connected with the support shaft and rotates with the support shaft, and the encoder is connected with the counter.
- the encoder is a photoelectric encoder or a magnetic encoder.
- the bottom support plate and the ball bracket are connected through connecting columns, and there are more than two connecting columns arranged parallel to each other, and one end of the connecting columns is fixed to the bottom supporting plate connected, the other end of the connecting column is movably connected with the ball bracket, so that the ball bracket can reciprocate along the connecting column; a return spring is set on the connecting column, and one end of the returning spring is connected The bottom support plate is in contact with the bottom support plate, and the other end of the return spring is in contact with the ball support.
- the ball support includes a support shaft, a bearing, a bottom plate and a ball cover, the ball cover is arranged on the front side of the ball, and the ball cover is provided with a radius less than The ball hole of the ball, the ball is rotatably embedded in the ball hole and contacts the contact plane through the ball hole, the support shaft is arranged on the rear side of the ball, the support There are three shafts and they are arranged in a triangle around the balls. There are six bearings. The bearings are respectively arranged at both ends of the support shaft and connected with the bottom plate.
- the diameter of the circle is smaller than the diameter of the ball, and the support shaft abuts against the outer surface of the ball, so that the ball is limited in the ball hole; the bottom support plate and the ball cover plate are arranged in parallel by four
- the connecting column is connected, the bottom plate is provided with a through hole for the connecting column to pass through, the connecting column is provided with a return spring, one end of the return spring is in contact with the bottom support plate, and the reset The other end of the spring abuts against the ball support.
- the displacement sensor is an optical flow sensor
- the optical flow sensor is arranged on the bottom plate at the rear side of the ball
- the camera of the optical flow sensor faces the ball
- the optical flow sensor A lens is provided between the flow sensor and the ball.
- a method for calculating mileage with a ball odometer as described above is characterized in that it comprises the following steps:
- the ball odometer moves, the ball rolls and drives the axis a and the axis b to rotate, and the displacement sensor acquires the displacement L1 of the axis a and the displacement L2 of the axis b per unit time of the ball odometer;
- the ball odometer of the present invention has a simple structure and is easy to produce.
- the ball is combined with a commonly used displacement sensor, and the rolling data of the ball is obtained by detecting the rolling action of the ball, which can be obtained through simple calculation.
- the precise mileage and even the detailed walking trajectory of the mobile robot on a highly reflective or transparent smooth surface are minimally affected by the use environment and have a very long service life; the corresponding mileage calculation method is simple and easy to use, and the error is small.
- the mileage data is also very convenient for the calculation of the walking path of the mobile robot, which is convenient for later path planning and control.
- Fig. 1 is a schematic view of the vertical section structure of Embodiment 1 of the ball odometer of the present invention
- Fig. 2 is a schematic view of the horizontal section structure of Embodiment 1 of the ball odometer of the present invention
- Fig. 3 is a schematic view of the horizontal section structure of Embodiment 2 of the ball odometer of the present invention.
- Fig. 4 is a schematic view of the horizontal section structure of Embodiment 3 of the ball odometer of the present invention.
- This embodiment is a preferred implementation mode of the present invention, and other principles and basic structures that are the same or similar to this embodiment are within the protection scope of the present invention.
- Embodiment 1 of the ball odometer of the present invention is shown in Fig. 1 and 2 with reference to, and is provided with ball 1, ball support, displacement sensor and bottom support plate 4, and ball support is arranged on the bottom support plate 4, and ball 1 can roll and be arranged on In the ball bracket, one side of the ball 1 passes through the ball bracket and abuts against the contact plane, and the displacement sensor is arranged on the ball bracket to detect the rolling of the ball 1 .
- the ball bracket is used to fix the ball 1 .
- the ball bracket includes a support shaft 21 , a bearing 22 , a bottom plate 23 and a ball cover 24 .
- the ball 1 is arranged between the support shaft 21 and the ball cover 24 .
- the ball cover 24 is arranged on the front side of the ball 1.
- the ball cover 24 is provided with a ball hole 241 with a radius smaller than that of the ball 1.
- the ball 1 is rotatably embedded in the ball hole 241 and passes through the ball hole 241 and contact flat contact.
- the support shaft 21 is arranged on the rear side of the ball 1. There are three support shafts 21 arranged around the ball 1 in a triangle shape.
- the diameter of the inscribed circle of the triangle formed by the support shaft 21 is smaller than the diameter of the ball 1, so that the support shaft 21 and the ball 1
- the outer surface abuts, the ball 1 can drive the support shaft 21, and the support shaft 21 can limit the ball 1 in the ball hole 241;
- there are six bearings 22, and the bearings 22 are respectively arranged at the two ends of the support shaft 21 and connected to the bottom plate 23 connected, so that the support shaft 21 is installed on the bottom plate 23, and the support shaft 21 can roll smoothly with the ball 21 when the ball 1 rolls.
- the bottom support plate 4 is arranged on the rear of the ball support, and the bottom support plate 4 and the ball cover plate 24 are connected by four connecting columns 41 arranged in parallel.
- the base plate 23 is provided with a through hole for the connecting column 41 to pass through.
- There is a return spring 42 one end of the return spring 42 is in contact with the bottom support plate 4, and the other end of the return spring 42 is in contact with the ball support, so that the ball support is pressed to the contact plane, and the balls 1 arranged in the ball support are in contact with the contact plane. Stay in touch.
- the displacement sensor is an optical flow sensor 31.
- the optical flow sensor 31 is arranged on the bottom plate 23 at the rear side of the ball 1.
- the camera of the optical flow sensor 31 faces the ball 1. Due to the blocking of the ball 1 and the ball cover 24, the light The light will not directly shine into the camera of the optical flow sensor, making the optical flow sensor 31 invalid.
- a lens 311 is provided between the optical flow sensor 31 and the ball 1 to enlarge the surface of the ball 1 .
- the optical flow sensor 31 can establish a plane Cartesian coordinate system by analyzing the surface image of the ball 1, calculate the displacement of the ball 1 in the x direction and the y direction, and then calculate the moving mileage of the mobile robot. The analysis of the moving mileage and direction per unit time can also get the precise walking route.
- Embodiment 2 of the ball odometer of the present invention is shown in FIG. 3 , with a ball 1, a ball bracket, a displacement sensor and a bottom support plate 4, the ball bracket is arranged on the bottom support plate 4, and the ball 1 is rotatably arranged on the ball bracket. Among them, one side of the ball 1 passes through the ball bracket and abuts against the contact plane, and the displacement sensor is arranged on the ball bracket to detect the rolling of the ball 1 .
- the ball support includes a support shaft 21, a bearing 22 and a bottom plate 23. There are three support shafts 21 and they are arranged in a triangle around the ball 1.
- the diameter of the inscribed circle of the triangle formed by the support shaft 21 is smaller than the diameter of the ball 1, so that the support shaft 21 and the ball 1, the ball 1 can drive the support shaft 21, and the support shaft 21 can limit the ball 1 in the ball hole 241; there are six bearings 22, and the bearings 22 are respectively arranged at both ends of the support shaft 21 and connected with The bottom plate 23 is connected so that the support shaft 21 is installed on the bottom plate 23 , and the support shaft 21 can roll smoothly with the ball 21 when the ball 1 rolls.
- the displacement sensor in the present embodiment is a photoelectric encoder, and there are two photoelectric encoders, and the photoelectric encoder is arranged on one end of two adjacent supporting shafts 21, and the 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 to the corresponding support shafts 21 and rotate 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 a pulse signal to the counter connected to the encoder.
- the counter Calculate the displacement of the mobile robot in the direction of rotation of the corresponding support shaft 21 according to the received pulse signal, calculate the coordinates of the end position in the plane Cartesian coordinate system established with the intersection of the two support shafts 21 as the origin, and then calculate the mobile robot mileage and trajectory of travel.
- Embodiment 3 of the ball odometer of the present invention is shown in FIG. 4 , and is provided with a ball 1, a ball bracket, a displacement sensor and a bottom support plate 4, the ball bracket is arranged on the bottom support plate 4, and the ball 1 is rotatably arranged on the ball bracket. Among them, one side of the ball 1 passes through the ball bracket and abuts against the contact plane, and the displacement sensor is arranged on the ball bracket to detect the rolling of the ball 1 .
- the ball support includes a support shaft 21, a bearing 22 and a bottom plate 23. There are three support shafts 21 and they are arranged in a triangle around the ball 1.
- the diameter of the inscribed circle of the triangle formed by the support shaft 21 is smaller than the diameter of the ball 1, so that the support shaft 21 and the ball 1, the ball 1 can drive the support shaft 21, and the support shaft 21 can limit the ball 1 in the ball hole 241; there are six bearings 22, and the bearings 22 are respectively arranged at both ends of the support shaft 21 and connected with the
- the bottom plate 23 is connected so that the support shaft 21 is installed on the bottom plate 23 , and the support shaft 21 can roll smoothly with the ball 21 when the ball 1 rolls.
- the displacement sensor in this embodiment is a magnetic encoder, and the magnetic encoder includes a Hall magnetic disk 331 and a Hall inductor 332.
- the magnetic encoder is respectively arranged at one end of two adjacent supporting shafts 21, and the Hall magnetic disk 331 is respectively Connected with the corresponding support shaft 21 and rotate with the support shaft 21, the Hall induction device 332 monitors the rotation of the Hall disk 331 and sends a pulse signal to the counter connected to the encoder, and the counter calculates the mobile robot according to the received pulse signal.
- the coordinates of the end position in the plane Cartesian coordinate system established with the intersection of the two support shafts 21 as the origin are calculated, and then the moving mileage and trajectory of the mobile robot are calculated.
- the number of support shafts 21 can also be increased according to needs, set to four perpendicular to each other, and the encoders are arranged on two adjacent support shafts 21, then the straight lines where the two support shafts 21 are located can be directly used as
- the x-axis and the y-axis establish a plane Cartesian coordinate system, and the rotational displacement of the two support shafts 21 per unit time is the coordinate of the end point.
- the mileage of the mobile robot per unit time can be calculated by using the distance formula between two points.
- the present invention also provides a method for calculating mileage using the ball odometer of embodiment two or three, comprising the following steps:
- the ball odometer moves, the ball rolls and drives the axis a and the axis b to rotate, and the displacement sensor obtains the displacement La of the axis a and the displacement Lb of the axis b per unit time of the ball odometer;
- the ball odometer of the present invention has a simple structure and is easy to produce.
- the ball is combined with a commonly used displacement sensor, and the rolling data of the ball is obtained by detecting the rolling motion of the ball.
- Accurate mileage and even detailed walking tracks on a smooth surface are minimally affected by the use environment and have a very long service life; the corresponding mileage calculation method is simple and easy to use with little error, not only can obtain accurate mileage data, but also is very convenient to move
- the calculation of the robot's walking path is convenient for later path planning and control.
Abstract
一种滚珠里程计及里程计算方法。滚珠里程计设有滚珠（1）、滚珠支架、位移传感器和底部支撑板（4），滚珠支架设置在底部支撑板（4）上，滚珠（1）可滚动的设置在滚珠支架中，滚珠（1）的一侧穿过滚珠支架与接触平面抵接，位移传感器设置在滚珠支架上检测滚珠（1）的滚动。滚珠里程计结构简单，生产方便，将滚珠（1）和常用的位移感应器结合起来，通过检测滚珠（1）的滚动动作，得到滚珠（1）的滚动数据，经过简单的计算就能够得到移动机器人在高反光或透明光滑平面上的精确里程甚至详细的行走轨迹，而且受使用环境的影响极小，使用寿命也十分长，而且相应的里程计算方法简单易用误差小。
Description
本发明涉及移动机器人导航定位技术领域，具体涉及一种滚珠里程计及里程计算方法。
传统的计算滚轴滚动的距离来计算里程的方法只能够得到一个轴向的里程，为了使得机器人的移动里程计算更准确，新的移动机器人一般采用光流传感器计算机器人的移动里程。
光流传感器通过计算光学镜头看到的图像的移动来计算里程，此方案可以获得平面中x、y两个轴向的里程，使用效果良好，但是在高反光度或透明平面上会失效，无法使用在擦窗机器人等在特殊环境中运作的移动机器人上。
针对上述提到的现有技术中的里程计无法在高反光度或透明的平面上使用的问题，本发明提供一种滚珠里程计及使用该滚珠里程计的里程计算方法，在里程计中设置滚珠，然后利用位移传感器监测滚珠的滚动里程，间接得到机器人在接触平面上的位移和方向，不仅能够用于计算移动机器人的移动里程，还能够用于获取移动机器人在接触平面上的移动轨迹。
本发明解决其技术问题采用的技术方案是：一种滚珠里程计，设有滚珠、滚珠支架、位移传感器和底部支撑板，所述滚珠支架设置在所述底部支撑板上，所述滚珠可滚动的设置在所述滚珠支架中，所述滚珠的一侧穿过所述滚珠支架与接触平面抵接，所述位移传感器设置在所述滚珠支架上检测所述滚珠的滚动。
本发明解决其技术问题采用的技术方案进一步还包括：
如上所述的一种滚珠里程计，所述滚珠支架包括支撑轴、轴承和底板，所述支撑轴设有三条以上且环绕所述滚珠设置，所述轴承的数量两倍于所述支撑轴的数量，所述轴承分别设置在支撑轴的端部并与所述底板连接，所述支撑轴所在的多边形内切圆直径小于所述滚珠的直径，所述支撑轴与所述滚珠的外表面抵接，使得所述支撑轴随着所述滚珠的滚动而转动。
如上所述的一种滚珠里程计，所述位移传感器为光流传感器，所述光流传感器设置在所述滚珠的一侧，所述光流传感器的摄像头朝向所述滚珠设置。
如上所述的一种滚珠里程计，所述滚珠支架设有滚珠盖板，所述滚珠设置在所述支撑轴和滚珠盖板之间，所述滚珠盖板上设有半径小于滚珠的滚珠圆孔，所述滚珠可转动的安装在所述滚珠圆孔中。
如上所述的一种滚珠里程计，所述位移传感器为编码器，所述编码器设有两个以上，所述编码器分别设置在两条以上相邻的支撑轴上，所述编码器的码盘与所述支撑轴连接并随所述支撑轴转动，所述编码器与计数器连接。
如上所述的一种滚珠里程计，所述编码器为光电编码器或磁性编码器。
如上所述的一种滚珠里程计，所述底部支撑板和滚珠支架通过连接柱连接，所述连接柱设有两条以上且相互平行设置，所述连接柱的一端与所述底部支撑板固定连接，所述连接柱的另一端与所述滚珠支架活动连接，使得所述滚珠支架能够沿着所述连接柱往复运动；所述连接柱上套装有复位弹簧，所述复位弹簧的一端与所述底部支撑板抵接，所述复位弹簧的另一端与所述滚珠支架抵接。
如上所述的一种滚珠里程计，所述滚珠支架包括支撑轴、轴承、底板和滚珠盖板，所述滚珠盖板设置在所述滚珠的前侧，所述滚珠盖板上设有半径小于滚珠的滚珠圆孔，所述滚珠可转动的嵌装在所述滚珠圆孔中且透过所述滚珠圆孔与接触平面接触，所述支撑轴设置在所述滚珠的后侧，所述支撑轴设有三条且呈三角形环绕所述滚珠设置，所述轴承设有六个，所述轴承分别设置在所述支撑轴两端且与所述底板连接，所述支撑轴组成的三角形的内切圆直径小于所述滚珠的直径，所述支撑轴与所述滚珠的外表面抵接，使得所述滚珠被限制在所述滚珠圆孔中；所述底部支撑板和滚珠盖板通过四条平行设置的连接柱连接，所述底板上设有供所述连接柱穿过的通孔，所述连接柱上设有复位弹簧，所述复位弹簧的一端与所述底部支撑板抵接，所述复位弹簧的另一端与所述滚珠支架抵接。
如上所述的一种滚珠里程计，所述位移传感器为光流传感器，所述光流传感器设置在所述滚珠后侧的底板上，所述光流传感器的摄像头朝向所述滚珠，所述光流传感器和滚珠之间设有透镜。
一种如上任一所述的滚珠里程计计算里程的方法，其特征在于，包括以下步骤：
S10，以其中两条相邻且设有编码器的支撑轴轴a和轴b的交点为原点建立平面直角坐标系，轴a转动方向与x轴之间的夹角为α，轴b转动方向与x轴之间的夹角为β；
S20，滚珠里程计移动，滚珠滚动并带动轴a和轴b转动，位移传感器获取获取滚珠里程计单位时间内轴a的位移L1和轴b的位移L2；
S30，计算单位时间内滚珠里程计的终点坐标（x，y），x = L1 * cos（α） = L2
* cos（β），y = L2 * sin（α） = L2 * sin（β）；
S40、计算终点与原点之间的距离L，L=；
S50，将滚珠里程计从初始起点移动到最终目的点经过了n个单位时间，计算出n个单位对应的L1、L2……Ln，将L1至Ln相加，就得到滚珠里程计的总行进里程。
本发明的有益效果是：本发明的滚珠里程计结构简单，生产方便，将滚珠和常用的位移感应器结合起来，通过检测滚珠的滚动动作，得到滚珠的滚动数据，经过简单的计算就能够得到移动机器人在高反光或透明光滑平面上的精确里程甚至详细的行走轨迹，而且受使用环境的影响极小，使用寿命也十分长；对应的里程计算方法简单易用误差小，不仅能够得到准确的里程数据，也十分便于移动机器人行走路径的测算，方便后期路径规划和控制。
下面将结合附图和具体实施方式对本发明做进一步说明
图1为本发明的滚珠里程计实施例一的垂直剖面结构示意图；
图2为本发明的滚珠里程计实施例一的水平剖面结构示意图；
图3为本发明的滚珠里程计实施例二的水平剖面结构示意图；
图4为本发明的滚珠里程计实施例三的水平剖面结构示意图；
图中，1、滚珠，21、支撑轴，22、轴承，23、底板，24、滚珠盖板，241、滚珠圆孔，31、光流传感器，311、透镜，321、光栅码盘、322、光电检测装置，331、霍尔磁盘，332、霍尔感应装置，4、底部支撑板，41、连接柱，42、复位弹簧。
本实施例为本发明优选实施方式，其他凡其原理和基本结构与本实施例相同或近似的，均在本发明保护范围之内。
需要说明的是，当元件被称为“固定于”或“设置于”另一个元件，它可以直接在另一个元件上或者间接在该另一个元件上。当一个元件被称为是“连接于”另一个元件，它可以是直接连接到另一个元件或间接连接至该另一个元件上。
需要理解的是，术语“长度”、“宽度”、“上”、“下”、“前”、“后”、“左”、“右”、“竖直”、“水平”、“顶”、“底”“内”、“外”等指示的方位或位置关系为基于附图所示的方位或位置关系，仅是为了便于描述本发明和简化描述，而不是指示或暗示所指的装置或元件必须具有特定的方位、以特定的方位构造和操作，因此不能理解为对本发明的限制。
本发明的滚珠里程计实施例一参照图1和2所示，设有滚珠1、滚珠支架、位移传感器和底部支撑板4，滚珠支架设置在底部支撑板4上，滚珠1可滚动的设置在滚珠支架中，滚珠1的一侧穿过滚珠支架与接触平面抵接，位移传感器设置在滚珠支架上检测滚珠1的滚动。
本实施例中，滚珠支架用于固定滚珠1，滚珠支架包括支撑轴21、轴承22、底板23和滚珠盖板24，滚珠1设置在支撑轴21和滚珠盖板24之间。滚珠盖板24设置在滚珠1的前侧，滚珠盖板24上设有半径小于滚珠1的滚珠圆孔241，滚珠1可转动的嵌装在滚珠圆孔241中且透过滚珠圆孔241与接触平面接触。支撑轴21设置在滚珠1的后侧，支撑轴21设有三条且呈三角形环绕滚珠1设置，支撑轴21组成的三角形的内切圆直径小于滚珠1的直径，使得支撑轴21与滚珠1的外表面抵接，滚珠1能够带动支撑轴21，支撑轴21又能够将滚珠1限制在滚珠圆孔241中；轴承22设有六个，轴承22分别设置在支撑轴21两端且与底板23连接，使支撑轴21被安装到底板23上，而且在滚珠1滚动时支撑轴21能够随着滚珠21顺滑的滚动。底部支撑板4设置在滚珠支架的后方，底部支撑板4和滚珠盖板24通过四条平行设置的连接柱41连接，底板23上设有供连接柱41穿过的通孔，连接柱41上设有复位弹簧42，复位弹簧42的一端与底部支撑板4抵接，复位弹簧42的另一端与滚珠支架抵接，使得滚珠支架被压向接触平面，设置在滚珠支架中的滚珠1与接触平面保持接触。
本实施例中，位移传感器为光流传感器31，光流传感器31设置在滚珠1后侧的底板23上，光流传感器31的摄像头朝向滚珠1，由于滚珠1和滚珠盖板24的遮挡，光线不会直接照射入光流传感器的摄像头中，使得光流传感器31失效。为了使得光流传感器31对滚珠1的滚动动作的监测更加精确，光流传感器31和滚珠1之间设有透镜311，能够放大滚珠1的表面。移动机器人移动时，光流传感器31通过对滚珠1表面图像的分析，能够建立平面直角坐标系，计算滚珠1移动的在x方向和y方向上的位移，进而计算出移动机器人的移动里程，通过对单位时间的移动里程和方向的分析还能够得到精确的行走路线。
本发明的滚珠里程计实施例二参照图3所示，设有滚珠1、滚珠支架、位移传感器和底部支撑板4，滚珠支架设置在底部支撑板4上，滚珠1可滚动的设置在滚珠支架中，滚珠1的一侧穿过滚珠支架与接触平面抵接，位移传感器设置在滚珠支架上检测滚珠1的滚动。滚珠支架包括支撑轴21、轴承22和底板23，支撑轴21设有三条且呈三角形环绕滚珠1设置，支撑轴21组成的三角形的内切圆直径小于滚珠1的直径，使得支撑轴21与滚珠1的外表面抵接，滚珠1能够带动支撑轴21，支撑轴21又能够将滚珠1限制在滚珠圆孔241中；轴承22设有六个，轴承22分别设置在支撑轴21两端且与底板23连接，使支撑轴21被安装到底板23上，而且在滚珠1滚动时支撑轴21能够随着滚珠21顺滑的滚动。
本实施例中的位移传感器为光电编码器，光电编码器设有两个，光电编码器设置在其中两条相邻的支撑轴21的一端，光电编码器设有光栅码盘321和光电检测装置322。两个光栅码盘321分别与对应的支撑轴21连接并随着支撑轴21转动，光电编码器的光电检测装置322监测光栅码盘321的转动并向与编码器连接的计数器发出脉冲信号，计数器根据接收到的脉冲信号计算移动机器人在对应支撑轴21转动方向上的位移，计算出终点位置在以两条支撑轴21的交点为原点建立的平面直角坐标系中的坐标，进而计算出移动机器人的移动里程和轨迹。
本发明的滚珠里程计实施例三参照图4所示，设有滚珠1、滚珠支架、位移传感器和底部支撑板4，滚珠支架设置在底部支撑板4上，滚珠1可滚动的设置在滚珠支架中，滚珠1的一侧穿过滚珠支架与接触平面抵接，位移传感器设置在滚珠支架上检测滚珠1的滚动。滚珠支架包括支撑轴21、轴承22和底板23，支撑轴21设有三条且呈三角形环绕滚珠1设置，支撑轴21组成的三角形的内切圆直径小于滚珠1的直径，使得支撑轴21与滚珠1的外表面抵接，滚珠1能够带动支撑轴21，支撑轴21又能够将滚珠1限制在滚珠圆孔241中；轴承22设有六个，轴承22分别设置在支撑轴21两端且与底板23连接，使支撑轴21被安装到底板23上，而且在滚珠1滚动时支撑轴21能够随着滚珠21顺滑的滚动。
本实施例中的位移传感器为磁性编码器，磁性编码器包括霍尔磁盘331和霍尔感应器332，磁性编码器分别设置在其中两条相邻的支撑轴21的一端，霍尔磁盘331分别与对应的支撑轴21连接并随着支撑轴21转动，霍尔感应装置332监测霍尔磁盘331的转动并向与编码器连接的计数器发出脉冲信号，计数器根据接收到的脉冲信号计算移动机器人在对应支撑轴21转动方向上的位移，计算出终点位置在以两条支撑轴21的交点为原点建立的平面直角坐标系中的坐标，进而计算出移动机器人的移动里程和轨迹。
在实际生产过程中，支撑轴21的数量还可以根据需要增加，设置为相互垂直的四条，编码器设置在相邻的两条支撑轴21，则可以直接以两条支撑轴21所在的直线为x轴和y轴建立平面直角坐标系，两条支撑轴21在单位时间内的转动位移为终点的坐标，利用两点之间的距离公式就可以计算出移动机器人单位时间内的里程。
本发明还提供一种利用实施例二或三的滚珠里程计计算里程的方法，包括以下步骤：
S10，以其中两条相邻且设有编码器的支撑轴轴a和轴b的交点为原点建立平面直角坐标系，轴a转动方向与x轴之间的夹角为α，轴b转动方向与x轴之间的夹角为β；
S20，滚珠里程计移动，滚珠滚动并带动轴a和轴b转动，位移传感器获取获取滚珠里程计单位时间内轴a的位移La和轴b的位移Lb；
S30，计算单位时间内滚珠里程计的终点坐标（x，y），x =La* cos（α） =Lb*
cos（β），y = La * sin（α） = Lb * sin（β）；
S40、计算终点与原点之间的距离L，L=；
S50，将滚珠里程计从初始起点移动到最终目的点经过了n个单位时间，计算出n个单位对应的L1、L2……Ln，将L1至Ln相加，就得到滚珠里程计的总行进里程。
本发明的滚珠里程计结构简单，生产方便，将滚珠和常用的位移感应器结合起来，通过检测滚珠的滚动动作，得到滚珠的滚动数据，经过简单的计算就能够得到移动机器人在高反光或透明光滑平面上的精确里程甚至详细的行走轨迹，而且受使用环境的影响极小，使用寿命也十分长；对应的里程计算方法简单易用误差小，不仅能够得到准确的里程数据，也十分便于移动机器人行走路径的测算，方便后期路径规划和控制。
Claims (10)
- 一种滚珠里程计，其特征在于，设有滚珠（1）、滚珠支架、位移传感器和底部支撑板（4），所述滚珠支架设置在所述底部支撑板（4）上，所述滚珠（1）可滚动的设置在所述滚珠支架中，所述滚珠（1）的一侧穿过所述滚珠支架与接触平面抵接，所述位移传感器设置在所述滚珠支架上检测所述滚珠（1）的滚动。
- 如权利要求1所述的滚珠里程计，其特征在于，所述滚珠支架包括支撑轴（21）、轴承（22）和底板（23），所述支撑轴（21）设有三条以上且环绕所述滚珠（1）设置，所述轴承（22）的数量两倍于所述支撑轴（21）的数量，所述轴承（22）分别设置在支撑轴（21）的端部并与所述底板（23）连接，所述支撑轴（21）所在的多边形内切圆直径小于所述滚珠（1）的直径，所述支撑轴（21）与所述滚珠（1）的外表面抵接，使得所述支撑轴（21）随着所述滚珠（1）的滚动而转动。
- 如权利要求2所述的滚珠里程计，其特征在于，所述位移传感器为光流传感器（31），所述光流传感器（31）设置在所述滚珠（1）的一侧，所述光流传感器（31）的摄像头朝向所述滚珠（1）设置。
- 如权利要求3所述的滚珠里程计，其特征在于，所述滚珠支架设有滚珠盖板（24），所述滚珠（1）设置在所述支撑轴（21）和滚珠盖板（24）之间，所述滚珠盖板（24）上设有半径小于滚珠（1）的滚珠圆孔（241），所述滚珠（1）可转动的安装在所述滚珠圆孔（241）中。
- 如权利要求2所述的滚珠里程计，其特征在于，所述位移传感器为编码器，所述编码器设有两个以上，所述编码器分别设置在两条以上相邻的支撑轴（21）上，所述编码器的码盘与所述支撑轴（21）连接并随所述支撑轴（21）转动，所述编码器与计数器连接。
- 如权利要求5所述的滚珠里程计，其特征在于，所述编码器为光电编码器或磁性编码器。
- 如权利要求1所述的滚珠里程计，其特征在于，所述底部支撑板（4）和滚珠支架通过连接柱（41）连接，所述连接柱（41）设有两条以上且相互平行设置，所述连接柱（41）的一端与所述底部支撑板（4）固定连接，所述连接柱（41）的另一端与所述滚珠支架活动连接，使得所述滚珠支架能够沿着所述连接柱（41）往复运动；所述连接柱（41）上套装有复位弹簧（42），所述复位弹簧（42）的一端与所述底部支撑板（4）抵接，所述复位弹簧（42）的另一端与所述滚珠支架抵接。
- 如权利要求1所述的滚珠里程计，其特征在于，所述滚珠支架包括支撑轴（21）、轴承（22）、底板（23）和滚珠盖板（24），所述滚珠盖板（24）设置在所述滚珠（1）的前侧，所述滚珠盖板（24）上设有半径小于滚珠（1）的滚珠圆孔（241），所述滚珠（1）可转动的嵌装在所述滚珠圆孔（241）中且透过所述滚珠圆孔（241）与接触平面接触，所述支撑轴（21）设置在所述滚珠（1）的后侧，所述支撑轴（21）设有三条且呈三角形环绕所述滚珠（1）设置，所述轴承（22）设有六个，所述轴承（22）分别设置在所述支撑轴（21）两端且与所述底板（23）连接，所述支撑轴（21）组成的三角形的内切圆直径小于所述滚珠（1）的直径，所述支撑轴（21）与所述滚珠（1）的外表面抵接，使得所述滚珠（1）被限制在所述滚珠圆孔（241）中；所述底部支撑板（4）和滚珠盖板（24）通过四条平行设置的连接柱（41）连接，所述底板（23）上设有供所述连接柱（41）穿过的通孔，所述连接柱（41）上设有复位弹簧（42），所述复位弹簧（42）的一端与所述底部支撑板（4）抵接，所述复位弹簧（42）的另一端与所述滚珠支架抵接。
- 如权利要求8所述的滚珠里程计，其特征在于，所述位移传感器为光流传感器（31），所述光流传感器（31）设置在所述滚珠（1）后侧的底板（23）上，所述光流传感器（31）的摄像头朝向所述滚珠（1），所述光流传感器（31）和滚珠（1）之间设有透镜。
- 一种利用如权利要求5或6任一所述的滚珠里程计计算里程的方法，其特征在于，包括以下步骤：S10，以其中两条相邻且设有编码器的支撑轴（21）轴a和轴b的交点为原点建立平面直角坐标系，轴a转动方向与x轴之间的夹角为α，轴b转动方向与x轴之间的夹角为β；S20，滚珠里程计移动，滚珠（1）滚动并带动轴a和轴b转动，位移传感器获取获取滚珠里程计单位时间内轴a的位移L1和轴b的位移L2；S30，计算单位时间内滚珠里程计的终点坐标（x，y），x = L1 * cos（α） = L2 * cos（β），y = L2 * sin（α） = L2 * sin（β）；S40、计算终点与原点之间的距离L，L=；S50，将滚珠里程计从初始起点移动到最终目的点经过了n个单位时间，计算出n个单位对应的L1、L2……Ln，将L1至Ln相加，就得到滚珠里程计的总行进里程。
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