CN109940587A - A kind of robot being loaded with intelligent vehicle chassis system - Google Patents
A kind of robot being loaded with intelligent vehicle chassis system Download PDFInfo
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- CN109940587A CN109940587A CN201910230376.4A CN201910230376A CN109940587A CN 109940587 A CN109940587 A CN 109940587A CN 201910230376 A CN201910230376 A CN 201910230376A CN 109940587 A CN109940587 A CN 109940587A
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Abstract
The present invention relates to a kind of robots for being loaded with intelligent vehicle chassis system, including controller, transfer, wheel driver, angular transducer and vision system, transfer is for controlling robot wheel steering, wheel driver is for driving wheel rotary motion, angular transducer is for detecting wheel rotation angle, vision system is for collecting image and being compared with target image, transfer, wheel driver, angular transducer is connect with controller with vision system, controller carries out path planning according to target image position, wheel driver is driven to drive wheel movement simultaneously.Robot in the present invention is at low cost, high degree of automation, can automatic path planning according to the actual situation, and travel route can be adjusted in the process of moving.
Description
Technical field
The present invention relates to a kind of intelligent robot more particularly to a kind of robots for being loaded with intelligent vehicle chassis system.
Background technique
Robot includes the machinery of all simulation human behaviors or thought and simulation other biological.In contemporary industry, machine
Device people refers to the man-made machine device that can execute task automatically, to replace or assist human work.Highly emulated device in ideal
People is advanced integral traffic control opinion, mechano-electronic, computer and artificial intelligence, materialogy and bionic product, at present scientific circles
Researched and developed to this direction.The high-intelligentization of robot is known as a kind of inevitable trend, and existing industrial robot is mostly
Along setting route, though in the prior art there is also can automatic path planning according to the actual situation robot, cost compared with
It is high.
Summary of the invention
The present invention is at high cost for the robot for solving automatic path planning in the prior art, is not popularized on a large scale
Problem provides a kind of robot for being loaded with intelligent vehicle chassis system.
Scheme adopted by the present invention are as follows: a kind of robot for being loaded with intelligent vehicle chassis system, including controller, steering dress
It sets, wheel driver, angular transducer and vision system, the transfer is described for controlling robot wheel steering
For wheel driver for driving wheel rotary motion, the angular transducer is described for detecting the wheel rotation angle
Vision system is for collecting image and being compared with target image, the transfer, wheel driver, angular transducer
It being connect with the controller with vision system, the controller carries out path planning according to the target image position,
The wheel driver is driven to drive the wheel movement simultaneously.
Further, the controller is connected with infrared inductor, and the infrared inductor is used to incude barrier,
After the location information of barrier is transferred to controller by the infrared inductor, the controller according to location information again
Planning path, while starting the transfer adjustment wheel steering, it is anti-to the transfer by the angular transducer
Present the wheel rotation angle.
Further, the transfer includes two groups, and first group is used to control front-wheel steer, and another group for controlling
Rear-axle steering.
Further, the angular transducer is provided with two groups, and first group for detecting front-wheel rotation angle, second group of use
Angle is rotated in detection rear-wheel.
Further, the vision system includes image collecting device and image processing apparatus, described image acquisition device
For camera, described image processing unit compares described image acquisition device acquired image with target image, and will figure
As information is transferred to the controller.
It further, further include supersonic range finder, the supersonic range finder is sentenced in conjunction with the vision system
Disconnected target image position is simultaneously passed the information on to controller.
Beneficial effect caused by the present invention includes: that the robot in the present invention is at low cost, and high degree of automation can basis
Actual conditions automatic path planning, and travel route can be adjusted in the process of moving.
Detailed description of the invention
The attachment structure schematic diagram of robot in Fig. 1 present invention.
Specific embodiment
Further details of explanation is done to the present invention with reference to the accompanying drawings and detailed description, it should be appreciated that
The protection scope of the present invention is not limited by the specific implementation manner.
As shown in Figure 1, one of present invention is loaded with the robot of intelligent vehicle chassis system, including controller, steering dress
It sets, wheel driver, angular transducer and vision system, the transfer is described for controlling robot wheel steering
For wheel driver for driving wheel rotary motion, the angular transducer is described for detecting the wheel rotation angle
Vision system is for collecting image and being compared with target image, the transfer, wheel driver, angular transducer
It being connect with the controller with vision system, the controller carries out path planning according to the target image position,
The wheel driver is driven to drive the wheel movement simultaneously.
In order to the road conditions in real-time monitoring driving process, the controller is connected with infrared inductor, described red
Outer sensing device is for incuding barrier, after the location information of barrier is transferred to controller by the infrared inductor,
The controller starts the transfer adjustment wheel steering according to location information again planning path, by described
Angular transducer feeds back the wheel to the transfer and rotates angle.
In order to realize that robot wheel steering during forward or backward, the transfer include two groups,
First group is used to control front-wheel steer, and another group for controlling rear-axle steering.
In order to monitor the rotation angle information of front wheels and rear wheels, the angular transducer is provided with two groups, first group
For detecting front-wheel rotation angle, second group for detecting rear-wheel rotation angle.
In order to recognition target image position, the vision system includes image collecting device and image procossing dress
It sets, described image acquisition device is camera, and target image is pre-stored in image processing module, and described image processing unit is by institute
State image acquisition device to image compared with target image, when acquire image it is consistent with target image after, that is, have found
Target image is transferred to the controller at this time and by image information.
For the driving path of planning robot, the robot in the present invention further includes supersonic range finder, described super
Sound ranging device judges target image position in conjunction with the vision system and passes the information on to controller.
Robot in the present invention is at low cost, high degree of automation, can automatic path planning according to the actual situation, and can
Travel route is adjusted in the process of moving.
The above is only a preferred embodiment of the present invention, and the present invention is not limited in the content of embodiment.For in this field
Technical staff for, can have various change and change within the scope of technical solution of the present invention, made any variation and
Change, within that scope of the present invention.
Claims (6)
1. a kind of robot for being loaded with intelligent vehicle chassis system, it is characterised in that: including controller, transfer, wheel driving
Device, angular transducer and vision system, the transfer is for controlling robot wheel steering, the wheel driver
For driving wheel rotary motion, the angular transducer is used for for detecting the wheel rotation angle, the vision system
It collects image and is compared with target image, the transfer, wheel driver, angular transducer and vision system are equal
It is connect with the controller, the controller carries out path planning according to the target image position, while described in driving
Wheel driver drives the wheel movement.
2. the robot according to claim 1 for being loaded with intelligent vehicle chassis system, it is characterised in that: the controller connection
There is an infrared inductor, the infrared inductor is for incuding barrier, when the infrared inductor is by the position of barrier
After confidence breath is transferred to controller, the controller starts the transfer according to location information again planning path
Wheel steering is adjusted, the wheel is fed back to the transfer by the angular transducer and rotates angle.
3. the robot according to claim 1 for being loaded with intelligent vehicle chassis system, it is characterised in that: the transfer packet
Two groups are included, first group is used to control front-wheel steer, and another group for controlling rear-axle steering.
4. the robot according to claim 1 for being loaded with intelligent vehicle chassis system, it is characterised in that: the angular transducer
Two groups are provided with, first group rotates angle for detecting front-wheel, and second group for detecting rear-wheel rotation angle.
5. the robot according to claim 1 for being loaded with intelligent vehicle chassis system, it is characterised in that: the vision system packet
Image collecting device and image processing apparatus are included, described image acquisition device is camera, and described image processing unit will be described
Image acquisition device to image compared with target image, and image information is transferred to the controller.
6. the robot according to claim 1 for being loaded with intelligent vehicle chassis system, it is characterised in that: further include ultrasound
Away from device, the supersonic range finder judges target image position in conjunction with the vision system and passes the information on to control
Device.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910230376.4A CN109940587A (en) | 2019-03-26 | 2019-03-26 | A kind of robot being loaded with intelligent vehicle chassis system |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910230376.4A CN109940587A (en) | 2019-03-26 | 2019-03-26 | A kind of robot being loaded with intelligent vehicle chassis system |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN109940587A true CN109940587A (en) | 2019-06-28 |
Family
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201910230376.4A Pending CN109940587A (en) | 2019-03-26 | 2019-03-26 | A kind of robot being loaded with intelligent vehicle chassis system |
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| Country | Link |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114771657A (en) * | 2022-06-02 | 2022-07-22 | 安徽安凯汽车股份有限公司 | Steering wheel angle detection system |
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| CN101293539A (en) * | 2008-04-15 | 2008-10-29 | 上海中为智能机器人有限公司 | Modularized portable mobile robot system |
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Application publication date: 20190628 |