CN109571401A - A kind of mobile robot of multi-layer laser radar - Google Patents
A kind of mobile robot of multi-layer laser radar Download PDFInfo
- Publication number
- CN109571401A CN109571401A CN201811380333.6A CN201811380333A CN109571401A CN 109571401 A CN109571401 A CN 109571401A CN 201811380333 A CN201811380333 A CN 201811380333A CN 109571401 A CN109571401 A CN 109571401A
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- China
- Prior art keywords
- radar
- top plate
- driving wheel
- mobile robot
- laser radar
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- 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.)
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Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
- B25J19/02—Sensing devices
- B25J19/021—Optical sensing devices
- B25J19/022—Optical sensing devices using lasers
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
- B25J19/02—Sensing devices
- B25J19/026—Acoustical sensing devices
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J5/00—Manipulators mounted on wheels or on carriages
- B25J5/007—Manipulators mounted on wheels or on carriages mounted on wheels
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S17/00—Systems using the reflection or reradiation of electromagnetic waves other than radio waves, e.g. lidar systems
- G01S17/88—Lidar systems specially adapted for specific applications
- G01S17/93—Lidar systems specially adapted for specific applications for anti-collision purposes
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S7/00—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00
- G01S7/48—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00 of systems according to group G01S17/00
- G01S7/497—Means for monitoring or calibrating
- G01S7/4972—Alignment of sensor
Landscapes
- Engineering & Computer Science (AREA)
- Physics & Mathematics (AREA)
- Mechanical Engineering (AREA)
- Robotics (AREA)
- Computer Networks & Wireless Communication (AREA)
- General Physics & Mathematics (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- Optics & Photonics (AREA)
- Acoustics & Sound (AREA)
- Electromagnetism (AREA)
- Manipulator (AREA)
- Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
Abstract
The invention discloses a kind of mobile robots of multi-layer laser radar.The mobile robot of the multi-layer laser radar includes mobile chassis, main radar, ultrasonic sensor, backup radar, driving wheel, driven wheel；Driving wheel, driven wheel are set on the mobile chassis, driving wheel；The mobile chassis includes the top plate, intermediate support plate, horizonal base plate being parallel to each other, and the top plate, intermediate support plate are linked together by support frame between horizonal base plate；The top plate includes upper and lower surfaces, and the position of the upper surface of the top plate and close immediate vicinity opens up main radar container and sinks to accommodate the main radar, and the lower surface of the top plate is equipped with ultrasonic sensor close to the position in front；One surface of the separate top plate of the horizonal base plate opens up groove and sinks to accommodate backup radar；The backup radar is installed in the groove using upside-down mounting mode.Multilayer radar of the invention can perceive the spatial information of different level.
Description
Technical field
The invention belongs to robotic technology field more particularly to a kind of mobile robots of multi-layer laser radar.
Background technique
Existing mobile robot mostly uses single laser radar, ultrasonic wave, depth camera to carry out navigation avoidance, due to one
Usually except the visual field of sensor detection, conventional single laser radar surpasses a little relatively low barriers such as shoes, socket etc.
The sensors such as sound wave, depth camera are all difficult to detect, and the mobile robot in work is caused often to grind lower barrier,
Lead to robot fluctuation of service；Additionally, due to an only level cross-sectionn for single laser radar detection, cause existing at present
Some laser navigation schemes for sudden obstacle detection react not enough, cause the stability problem of robot.
Therefore, existing mobile robot still has much room for improvement and develops.
Summary of the invention
In order to solve the above technical problems, the present invention provides a kind of moving machine of multi-layer laser radar that can solve the above problem
Device people.
The mobile robot of the multi-layer laser radar includes mobile chassis, main radar, ultrasonic sensor, auxiliary thunder
It reaches, driving wheel, driven wheel；Driving wheel, driven wheel are set on the mobile chassis, driving wheel；The mobile chassis includes phase
Mutually parallel top plate, intermediate support plate, horizonal base plate, the top plate, intermediate support plate pass through support frame company between horizonal base plate
It is connected together；The top plate includes upper and lower surfaces, and the position of the upper surface of the top plate and close immediate vicinity opens up
Main radar container and sink to accommodate the main radar, the lower surface of the top plate is equipped with ultrasound close to the position in front
Wave sensor；One surface of the separate top plate of the horizonal base plate opens up groove and sinks to accommodate backup radar；It is described
Backup radar is installed in the groove using upside-down mounting mode.
First driving wheel accepting hole there are two symmetrically being opened up on the intermediate support plate in one of the embodiments,；
The horizonal base plate is symmetrically opened up there are two the second driving wheel accepting hole, and two the second driving wheel accepting holes and two the
One driving wheel accepting hole is opposite respectively to be opened up, respectively to accommodate driving wheel.
In one of the embodiments, the horizonal base plate close to front positional symmetry open up there are two driven wheel receive
Rong Kong, to accommodate driven wheel；It is realized and is connected by connecting rod between the driven wheel and driving wheel.
The backup radar is located between two driven wheels in one of the embodiments,.
The ultrasonic sensor is five in one of the embodiments, wherein three described ultrasonic sensors etc.
It is set to spacing on the position in the close front of the lower surface of the top plate, two ultrasonic sensors are set to the top plate
Lower surface close rear position on.
The chassis further includes two DC brushless motors, two DC brushless motors point in one of the embodiments,
It is not arranged adjacent to two driving wheels, to drive drive wheel.
The mobile robot of the multi-layer laser radar in one of the embodiments, further includes automatic charging socket；It is described
The outside of the mobile chassis is hung on outside automatic charging socket.
The upper surface of the top plate is equipped with socket panel close to the position of main radar in one of the embodiments,.
The main radar can perceive the spatial information for the horizontal cross-section that height is h1, institute in one of the embodiments,
The spatial information for the horizontal cross-section that height is h2 can be perceived by stating backup radar.
The main radar can perceive the sky for the horizontal cross-section that height is 200mm~300mm in one of the embodiments,
Between information, the backup radar can perceive height be 20mm~60mm horizontal cross-section spatial information.
The present invention has at least the following advantages:
For main radar, it is placed in the immediate vicinity of mobile chassis, 360 degree of spatial informations that height is h1 can be perceived；It is right
In backup radar, by the way of upside-down mounting, the spatial information of lower level can be perceived, is conducive to hide low layer barrier；This hair
It is bright to form three-dimensional avoidance also in such a way that multilayer radar is in conjunction with ultrasonic sensor, that is, being located at high-rise main radar side
The spatial perception for overweighting 360 degree of high-rise non-blind areas, the spatial perception of low layer is laid particular emphasis on positioned at the backup radar of low layer, multilayer
Radar emphasis is different, forms complete multi-level space avoidance, is designed in this way, multilayer radar can perceive the space of different level
Information can be obviously improved robot for the obstacle avoidance ability of low layer barrier, while can be obviously improved robot for prominent
Send out the avoidance corresponding speed of sexual dysfunction object.
Detailed description of the invention
Fig. 1 is the stereoscopic schematic diagram of the mobile robot for the multi-layer laser radar that one embodiment of the invention provides；And
Fig. 2 is the side diagram of the mobile robot for the multi-layer laser radar that one embodiment of the invention provides；
Label involved in figure: mobile robot 100, mobile chassis 10, main radar 20, the ultrasound of multi-layer laser radar
Wave sensor 30, backup radar 40, driving wheel 50, driven wheel 60, top plate 11, intermediate support plate 12, horizonal base plate 13, upper surface
111, lower surface 112, main radar container 113, socket panel 114, the first driving wheel accepting hole 121, the receiving of the second driving wheel
Hole 131, driven wheel accepting hole 132, groove 133, DC brushless motor 70, automatic charging socket 80.
Specific embodiment
In order to make the foregoing objectives, features and advantages of the present invention clearer and more comprehensible, with reference to the accompanying drawing to the present invention
Specific embodiment be described in detail.
Term as used herein in the specification of the present invention is only for the purpose of describing specific embodiments not
It is intended in the limitation present invention.Term " and or " used herein includes any of one or more relevant listed items
And all combination.
Herein, it is possible to understand that ground, before being by the direction definition that the mobile robot 100 for moving multi-layer laser radar is advanced
Side is rear with front contrary.
Fig. 1 is the stereoscopic schematic diagram of the mobile robot 100 for the multi-layer laser radar that one embodiment of the invention provides.Fig. 2
It is the side diagram of the mobile robot 100 for the multi-layer laser radar that one embodiment of the invention provides；
Also referring to Fig. 1 and Fig. 2, the mobile robot 100 of the multi-layer laser radar, including mobile chassis 10, master
Radar 20, ultrasonic sensor 30, backup radar 40, driving wheel 50, driven wheel 60.Driving wheel 50, driven wheel 60 are set to institute
It states on mobile chassis 10, driving wheel 50 drives, and driven wheel 60 is driven.The mobile chassis 10 include be parallel to each other top plate 11,
Intermediate support plate 12, horizonal base plate 13；Top plate 11, intermediate support plate 12 are connected to by support frame 14 between horizonal base plate 13
Together.
The top plate 11 includes upper surface 111 and lower surface 112.The upper surface 111 of the top plate 11 and close to center it is attached
Close position opens up main radar container 113 and sinks to accommodate main radar 20.Main radar 20 is set to immediate vicinity, it can
To perceive height as 360 degree of spatial informations of h1；So sink design, avoid 20 blind area of main radar be exposed to mobile chassis it
Outside, be conducive to short distance avoidance.Further, the upper surface 111 of the top plate 11 is equipped with socket face close to the position of main radar
Plate 114.The lower surface 111 of the top plate 11 is equipped with ultrasonic sensor 30 close to the position in front.
Specific in present embodiment, the ultrasonic sensor 30 is five, wherein three ultrasonic sensors 30 are set
In on the position in the close front of the lower surface 111 of the top plate 11, other two ultrasonic sensor 30 is set to the top plate
On the position at the close rear of 11 lower surface 111.
Specific to symmetrically being opened up in present embodiment on the intermediate support plate 12, there are two the first driving wheel accepting holes
121.Correspondingly, the horizonal base plate 13 is symmetrically opened up there are two the second driving wheel accepting hole 131, and two described second drive
Wheel accepting hole 131 opens up relatively respectively with two the first driving wheel accepting holes 121, respectively to accommodate driving wheel 50.
The horizonal base plate 13 close to front positional symmetry open up there are two driven wheel accepting hole 132, to accommodate
Driven wheel 60.It is realized and is connected by connecting rod between driven wheel 60 and driving wheel 50.
One surface of the separate top plate 11 of the horizonal base plate 13 opens up groove 133 and sinks to accommodate backup radar
40.Specific in present embodiment, backup radar 40 is installed in the groove 133 using upside-down mounting mode, more specifically, auxiliary
The laser hole of radar is located at the upper part of backup radar, the spatial information of lower level can be perceived by the way of upside-down mounting, favorably
In hiding low layer barrier.Specific in present embodiment, the backup radar is located between two driven wheels.
Further, the mobile chassis 10 further includes two DC brushless motors 70, and two DC brushless motors 70 divide
It is not arranged adjacent to two driving wheels 50, to drive driving wheel 50 to drive.Specific in present embodiment, two brush DC electricity
Machine 70 is between intermediate support plate 12 and horizonal base plate 13.
The mobile robot 100 of the multi-layer laser radar further includes automatic charging socket 80.It is hung on outside automatic charging socket 80
The outside of mobile chassis 10, to the mobile offer automatic charging service to mobile chassis 10.
Specific in present embodiment, main radar 20 can perceive the spatial information for the horizontal cross-section that height is h1, be used for
Positioning and map making are carried out, thus navigate, avoiding barrier.It is highly preferred that main radar can perceive height h1 is
200mm~300mm.
Specific in present embodiment, backup radar 40 can perceive the spatial information for the horizontal cross-section that height is h2, use
In the barrier of the short object in detection front, thus avoiding barrier.It is highly preferred that backup radar can perceive height h2 is
20mm~60mm.
In the mobile robot of multi-layer laser radar provided by the present invention, the center that main radar is placed in mobile chassis is attached
Closely, main radar sets the 360 degree of spatial informations that can perceive that height is h1；Before backup radar is placed in the horizonal base plate of mobile chassis
Side is simultaneously installed using upside-down mounting mode, and backup radar can perceive the spatial information of height h2；It is designed in this way, main radar, auxiliary thunder
The emphasis reached is different, adds ultrasonic sensor, forms complete multi-level space avoidance.
To there is low layer barrier as example: when low layer barrier appears in the mobile robot of multi-layer laser radar
When front, the backup radar positioned at low layer will be perceived, and navigation module calculated, analysis strategy, thus get around in advance or
Slow down and stops.
The present invention has at least the following advantages:
For main radar, it is placed in the immediate vicinity of mobile chassis, 360 degree of spatial informations that height is h1 can be perceived；It is right
In backup radar, by the way of upside-down mounting, the spatial information of lower level can be perceived, is conducive to hide low layer barrier；This hair
It is bright to form three-dimensional avoidance also in such a way that multilayer radar is in conjunction with ultrasonic sensor, that is, being located at high-rise main radar side
The spatial perception for overweighting 360 degree of high-rise non-blind areas, the spatial perception of low layer is laid particular emphasis on positioned at the backup radar of low layer, multilayer
Radar emphasis is different, forms complete multi-level space avoidance, is designed in this way, multilayer radar can perceive the space of different level
Information can be obviously improved robot for the obstacle avoidance ability of low layer barrier, while can be obviously improved robot for prominent
Send out the avoidance corresponding speed of sexual dysfunction object.
It is to be appreciated that it is an object of the invention to propose the common aware space information of multi-level radar, and should not necessarily be limited by
The dual radars that example is enumerated in the present embodiment.
Each technical characteristic of embodiment described above can be combined arbitrarily, for simplicity of description, not to above-mentioned reality
It applies all possible combination of each technical characteristic in example to be all described, as long as however, the combination of these technical characteristics is not deposited
In contradiction, all should be considered as described in this specification.
The embodiments described above only express several embodiments of the present invention, and the description thereof is more specific and detailed, but simultaneously
It cannot therefore be construed as limiting the scope of the patent.It should be pointed out that coming for those of ordinary skill in the art
It says, without departing from the inventive concept of the premise, various modifications and improvements can be made, these belong to protection of the invention
Range.Therefore, the scope of protection of the patent of the invention shall be subject to the appended claims.
Claims (10)
1. a kind of mobile robot of multi-layer laser radar characterized by comprising mobile chassis, main radar, supersonic sensing
Device, backup radar, driving wheel, driven wheel；Driving wheel, driven wheel are set on the mobile chassis, driving wheel；The mobile bottom
Disk includes the top plate, intermediate support plate, horizonal base plate being parallel to each other, and the top plate, intermediate support plate pass through between horizonal base plate
Support frame links together；The top plate includes upper and lower surfaces, the upper surface of the top plate and close to immediate vicinity
Position opens up main radar container and sinks to accommodate the main radar, the position of the lower surface of the top plate close to front
Equipped with ultrasonic sensor；One surface of the separate top plate of the horizonal base plate opens up groove and sinks to accommodate auxiliary thunder
It reaches；The backup radar is installed in the groove using upside-down mounting mode.
2. the mobile robot of multi-layer laser radar according to claim 1, which is characterized in that on the intermediate support plate
First driving wheel accepting hole there are two symmetrically opening up；The horizonal base plate symmetrically open up there are two the second driving wheel accommodate
Hole, two the second driving wheel accepting holes are opened up relatively respectively with two the first driving wheel accepting holes, are driven respectively to accommodate
Driving wheel.
3. the mobile robot of multi-layer laser radar according to claim 2, which is characterized in that the horizonal base plate is close
Driven wheel accepting hole there are two opening up to the positional symmetry in front, to accommodate driven wheel；Between the driven wheel and driving wheel
It is realized and is connected by connecting rod.
4. the mobile robot of multi-layer laser radar according to claim 3, which is characterized in that the backup radar is located at
Between two driven wheels.
5. the mobile robot of multi-layer laser radar according to claim 1, which is characterized in that the ultrasonic sensor
It is five, wherein three ultrasonic sensors are set on the position in the close front of the lower surface of the top plate, two institutes
Ultrasonic sensor is stated on the position at the close rear of the lower surface of the top plate.
6. the mobile robot of multi-layer laser radar according to claim 1, which is characterized in that the chassis further includes two
A DC brushless motor, two DC brushless motors are respectively adjacent to two driving wheel settings, to drive drive wheel.
7. the mobile robot of multi-layer laser radar according to claim 1, which is characterized in that the multi-layer laser radar
Mobile robot, further include automatic charging socket；The outside of the mobile chassis is hung on outside the automatic charging socket.
8. the mobile robot of multi-layer laser radar according to claim 1, which is characterized in that the upper surface of the top plate
Socket panel is equipped with close to the position of main radar.
9. the mobile robot of multi-layer laser radar according to any one of claims 1 to 8, which is characterized in that the master
Radar can perceive the spatial information for the horizontal cross-section that height is h1, and the backup radar can perceive the level that height is h2 and cut
The spatial information in face.
10. the mobile robot of multi-layer laser radar according to claim 9, which is characterized in that the main radar can be with
Perception height be 200mm~300mm horizontal cross-section spatial information, the backup radar can perceive height be 20mm~
The spatial information of the horizontal cross-section of 60mm.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811380333.6A CN109571401A (en) | 2018-11-20 | 2018-11-20 | A kind of mobile robot of multi-layer laser radar |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811380333.6A CN109571401A (en) | 2018-11-20 | 2018-11-20 | A kind of mobile robot of multi-layer laser radar |
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| Publication Number | Publication Date |
|---|---|
| CN109571401A true CN109571401A (en) | 2019-04-05 |
Family
ID=65923317
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201811380333.6A Pending CN109571401A (en) | 2018-11-20 | 2018-11-20 | A kind of mobile robot of multi-layer laser radar |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN112091927A (en) * | 2020-09-09 | 2020-12-18 | 南华大学 | Method for nuclear emergency robot to avoid ground obstacles |
| CN116008970A (en) * | 2023-03-27 | 2023-04-25 | 南京牧镭激光科技股份有限公司 | Method for verifying radar null value inversion accuracy based on video image |
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Application publication date: 20190405 |