CN114532896B - Automatic keep away barrier intelligent robot - Google Patents
Automatic keep away barrier intelligent robot Download PDFInfo
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- CN114532896B CN114532896B CN202210014602.7A CN202210014602A CN114532896B CN 114532896 B CN114532896 B CN 114532896B CN 202210014602 A CN202210014602 A CN 202210014602A CN 114532896 B CN114532896 B CN 114532896B
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- 230000004888 barrier function Effects 0.000 title claims description 18
- 230000007246 mechanism Effects 0.000 claims abstract description 53
- 230000000007 visual effect Effects 0.000 claims abstract description 42
- 239000013589 supplement Substances 0.000 claims abstract description 13
- 239000003292 glue Substances 0.000 claims description 20
- 230000006835 compression Effects 0.000 claims description 12
- 238000007906 compression Methods 0.000 claims description 12
- 238000010030 laminating Methods 0.000 claims description 2
- 230000001502 supplementing effect Effects 0.000 abstract description 10
- 230000007613 environmental effect Effects 0.000 abstract description 7
- 238000001514 detection method Methods 0.000 description 4
- 238000010586 diagram Methods 0.000 description 3
- 210000004556 brain Anatomy 0.000 description 2
- 238000004880 explosion Methods 0.000 description 2
- 238000012986 modification Methods 0.000 description 2
- 230000004048 modification Effects 0.000 description 2
- 206010040007 Sense of oppression Diseases 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000003139 buffering effect Effects 0.000 description 1
- 238000004364 calculation method Methods 0.000 description 1
- 239000012636 effector Substances 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 238000002474 experimental method Methods 0.000 description 1
- 230000002068 genetic effect Effects 0.000 description 1
- 238000009434 installation Methods 0.000 description 1
- 239000000463 material Substances 0.000 description 1
- 210000003205 muscle Anatomy 0.000 description 1
- 210000000056 organ Anatomy 0.000 description 1
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- 210000002435 tendon Anatomy 0.000 description 1
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- A—HUMAN NECESSITIES
- A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
- A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
- A47L11/00—Machines for cleaning floors, carpets, furniture, walls, or wall coverings
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- A—HUMAN NECESSITIES
- A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
- A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
- A47L11/00—Machines for cleaning floors, carpets, furniture, walls, or wall coverings
- A47L11/40—Parts or details of machines not provided for in groups A47L11/02 - A47L11/38, or not restricted to one of these groups, e.g. handles, arrangements of switches, skirts, buffers, levers
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- A—HUMAN NECESSITIES
- A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
- A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
- A47L11/00—Machines for cleaning floors, carpets, furniture, walls, or wall coverings
- A47L11/40—Parts or details of machines not provided for in groups A47L11/02 - A47L11/38, or not restricted to one of these groups, e.g. handles, arrangements of switches, skirts, buffers, levers
- A47L11/4002—Installations of electric equipment
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- A—HUMAN NECESSITIES
- A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
- A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
- A47L11/00—Machines for cleaning floors, carpets, furniture, walls, or wall coverings
- A47L11/40—Parts or details of machines not provided for in groups A47L11/02 - A47L11/38, or not restricted to one of these groups, e.g. handles, arrangements of switches, skirts, buffers, levers
- A47L11/4011—Regulation of the cleaning machine by electric means; Control systems and remote control systems therefor
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- A—HUMAN NECESSITIES
- A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
- A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
- A47L11/00—Machines for cleaning floors, carpets, furniture, walls, or wall coverings
- A47L11/40—Parts or details of machines not provided for in groups A47L11/02 - A47L11/38, or not restricted to one of these groups, e.g. handles, arrangements of switches, skirts, buffers, levers
- A47L11/4061—Steering means; Means for avoiding obstacles; Details related to the place where the driver is accommodated
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0212—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory
- G05D1/0214—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory in accordance with safety or protection criteria, e.g. avoiding hazardous areas
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- A—HUMAN NECESSITIES
- A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
- A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
- A47L2201/00—Robotic cleaning machines, i.e. with automatic control of the travelling movement or the cleaning operation
- A47L2201/04—Automatic control of the travelling movement; Automatic obstacle detection
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02B—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO BUILDINGS, e.g. HOUSING, HOUSE APPLIANCES OR RELATED END-USER APPLICATIONS
- Y02B20/00—Energy efficient lighting technologies, e.g. halogen lamps or gas discharge lamps
- Y02B20/40—Control techniques providing energy savings, e.g. smart controller or presence detection
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- Engineering & Computer Science (AREA)
- Aviation & Aerospace Engineering (AREA)
- Radar, Positioning & Navigation (AREA)
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- General Physics & Mathematics (AREA)
- Automation & Control Theory (AREA)
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Abstract
The invention discloses an automatic obstacle avoidance intelligent robot, which comprises an intelligent robot body, a visual obstacle avoidance mechanism, a contact obstacle avoidance mechanism and a light supplementing mechanism, wherein the visual obstacle avoidance mechanism comprises a round hole A, a screw hole A, a positioning groove, a fixing disc, a positioning block, a round hole B, a screw hole B, a visual sensor, an acquisition lens, a base disc, a screw hole C and a fastening bolt, the round hole A is formed in the top end of the intelligent robot body, the screw hole A is formed in the surface of the intelligent robot body on the outer side of the round hole A, the accurate acquisition of the environmental data around the intelligent robot body is guaranteed by means of the double data acquisition ends of the visual obstacle avoidance mechanism and the contact obstacle avoidance mechanism, the intelligent robot body with the double acquisition ends can normally avoid obstacles when one group of the acquisition structures fails, and the light supplementing mechanism supplements light when the intelligent robot body is operated to a place with dim light so as to guarantee the acquisition accuracy of the visual sensor.
Description
Technical Field
The invention relates to the technical field of intelligent robots, in particular to an intelligent robot capable of automatically avoiding obstacles.
Background
An intelligent robot is called an intelligent robot because it has a well-developed "brain". Functioning in the brain is a central processor, which is in direct contact with the person operating it. Most importantly, such computers can perform purposely arranged actions. Because of this, we say that such robots are true robots, and although their appearance may vary, we understand in a broad sense so-called intelligent robots, which give the most profound impression of a unique "living thing" that is self-controlling. In fact, the major organs of this self-controlled "living thing" are not as delicate and complex as a real person. The intelligent robot is provided with various internal information sensors and external information sensors, such as vision, hearing, touch and smell. In addition to having a receptor, it has an effector as a means of acting on the surrounding environment. This is the muscle or tendon, or self-paced motor, which moves the hands, feet, long nose, tentacles, etc. From this, it can be seen that the intelligent robot has at least three elements: sensory elements, reactive elements and thought elements. We refer to this robot as an autonomous robot in order to distinguish it from the robots mentioned above. It is the result of the control theory claiming the fact that: the intended behavior of life and non-life is consistent in many respects. As an intelligent robot maker said, a robot is a functional description of a system that in the past could only be derived from the results of the growth of living cells, and they have become something we can make themselves. The intelligent robot can understand human language, converse with operator by human language, and form an external environment-actual situation detailed mode for ' living ' in self ' consciousness. It can analyze the situation that occurs, can adjust its own actions to meet all the requirements set by the operator, can draw up the desired actions, and can perform these actions in situations where there is insufficient information and where the environment changes rapidly.
The automatic obstacle avoidance intelligent robot in the prior art mostly detects and avoids obstacles by means of a single obstacle avoidance detection structure, such as detection of a visual sensor or detection components of an ultrasonic sensor and an infrared sensor, and after detection, calculation processing is performed by means of algorithms such as a genetic algorithm or a potential field algorithm, so that automatic information acquisition processing and obstacle avoidance of the automatic obstacle avoidance intelligent robot are achieved.
Disclosure of Invention
The invention mainly aims to provide an automatic obstacle avoidance intelligent robot, wherein a visual obstacle avoidance mechanism and a contact obstacle avoidance mechanism are respectively arranged at the top end and the outer side of an intelligent robot body, a positioning block at the bottom end of a fixed disc is downwards embedded into a positioning groove on the surface of the intelligent robot body for positioning, a round hole A at the intelligent robot body is vertically communicated with a round hole B at the fixed disc, a screw hole C at a base disc at the outer side of a visual sensor is vertically communicated with a screw hole B at the surface of the fixed disc and a screw hole A at the outer side of the intelligent robot body, then a circuit of the visual sensor is sent into the intelligent robot body from the round holes B and A for wiring, a circuit at a light filling lamp and a circuit at a luminosity sensor can be sent into the intelligent robot body from a through hole and along the round holes B and A for wiring, a fastening bolt is screwed into the screw hole C at the base disc at the moment, and the bolt body of the fastening bolt is screwed, locked and fixed from the screw hole B in which the screw hole C is screwed into the surface of the fixed disc and the screw hole A in the outer side of the intelligent robot body, the collision sensor can open a hole in the outer wall of the intelligent robot body from the bottom of the column hole and connect the wire, the collision sensor is arranged in the column hole and can bond and fix the arc glue block A and the arc glue block B on the surface of the arc plate with the outer wall of the intelligent robot body, the pressure column in the middle of the arc plate is embedded into the column hole to contact the collision sensor, the threaded hole between the mounting plate of the light supplementing mechanism and the visual sensor can be screwed with the threaded nail for locking and fixing, the light supplementing lamp and the luminosity sensor can be mounted at the mounting plate by means of locking of the threaded nail, the visual sensor at the top end of the intelligent robot body can acquire external environment image information by means of the acquisition lens and input the external environment image information into the controller of the intelligent robot body by means of an algorithm built-in the intelligent robot body Processing, after obtaining environmental information, the intelligent robot body has environmental data support to avoid barriers, the contact barrier avoiding mechanism at the outer side of the intelligent robot body is provided with an arc plate which can replace the intelligent robot body to contact external objects, when the arc plate contacts and collides the external objects, pressure is generated to press the arc rubber blocks A and B to deform and elastically contract, at the moment, the compression column is also stressed to press the collision sensor, the collision sensor can send collision values into a controller of the intelligent robot body for processing and recording after receiving data, so that intelligent robot body carries out the position study and keeps away the barrier, the intelligent robot body of this kind of two collection ends still can normally keep away the barrier operation when one of them set of collection structure trouble to when intelligent robot body moves the dim place of light, luminosity inductor discerns the luminosity of environment all around, so that control light filling lamp carries out the circular telegram light filling, thereby realized that intelligent robot body's better data acquisition keeps away the barrier, can effectively solve the problem in the background art.
In order to achieve the purpose, the invention adopts the technical scheme that:
an automatic obstacle avoidance intelligent robot comprises an intelligent robot body, a visual obstacle avoidance mechanism, a contact obstacle avoidance mechanism and a light supplement mechanism, wherein the visual obstacle avoidance mechanism comprises a round hole A, a screw hole A, a positioning groove, a fixing disc, a positioning block, a round hole B, a screw hole B, a visual sensor, an acquisition lens, a base disc, a screw hole C and a fastening bolt, the round hole A is formed in the top end of the intelligent robot body, the screw hole A is formed in the surface of the intelligent robot body outside the round hole A, the positioning groove is formed in the surface of the intelligent robot body outside the screw hole A, the positioning block protrudes downwards from the fixing disc above the positioning groove, the screw hole B is formed in the surface of the fixing disc between the positioning blocks, the round hole B is formed in the position of the fixing disc between the screw holes B, the visual sensor is attached to the surface of the fixing disc, and the acquisition lens extends out of one side of the surface of the visual sensor, the utility model discloses a visual sensor of collecting lens below, including collecting lens, screw C, bolt A, collision sensor, compression leg, arc glue piece A and arc glue piece B, the lateral wall department of intelligent robot body has seted up the post hole, and installs collision sensor in the downthehole end of post hole, the compression leg is embedded to the post hole in the collision sensor outside, and compression leg fixed connection in the middle part of arc, be fixed with arc glue piece A and arc glue piece B between the surface of arc and the intelligent robot body, light filling mechanism is installed on the top of visual sensor, and light filling mechanism is by mounting panel, screw C has been seted up on the surface of base plate, screw C, screw B and screw A between screw C, screw B and the screw A, the outside of intelligent robot body is provided with the contact and keeps away barrier mechanism, and the contact keeps away barrier mechanism and glues a constitution by post hole, collision sensor, compression leg, arc glue piece B, light filling mechanism is installed on the top of intelligent robot body, through-hole, screw nail, light filling lamp and luminosity inductor constitute, the power end and the inside power end electric connection of intelligent robot body of vision sensor, collision sensor, light filling lamp and luminosity inductor, and the data end and the inside data processing end of intelligent robot body of vision sensor, collision sensor and luminosity inductor are connected.
Further, the top laminating of vision sensor has the mounting panel, and the top of vision sensor and the surface department of mounting panel set up the through-hole and the screw hole of vertical intercommunication, the screw hole department screw thread between vision sensor and the mounting panel has connect the screw thread soon, and the surface of mounting panel can be dismantled and be connected with light filling lamp and luminosity inductor.
Furthermore, arc-shaped rubber blocks B and arc-shaped rubber blocks A are bonded on the upper end surface and the lower end surface of the arc-shaped plate on the outer side of the compression column, the arc-shaped rubber blocks B and the arc-shaped rubber blocks A are bonded on the outer side of the intelligent robot body, and two groups of arc-shaped plates are symmetrically bonded on the outer side of the intelligent robot body by means of the arc-shaped rubber blocks B and the arc-shaped rubber blocks A; the arc-shaped rubber block B and the arc-shaped rubber block A are bonded between the arc-shaped plate and the intelligent robot body and connected, and the two sets of plate bodies of the arc-shaped plate play a certain anti-collision protection role after being bonded and fixed outside the intelligent robot body, so that the intelligent robot body can be protected.
Furthermore, the arc-shaped rubber blocks B and A are made of rubber, and air holes are formed in the middle of the arc-shaped rubber blocks B and A; the arc of rubber material glues piece B and the arc and glues piece A middle part and have the gas pocket, and when the arc received the collision to lead to the arc to glue piece B and the arc and glue piece A and warp, the arc is glued piece B and the arc and is glued piece A and can warp and produce certain elastic buffer capacity.
Furthermore, a bottom hole of the round hole A is formed in the inner wall of the intelligent robot body, and a bottom hole opening of the through hole is vertically communicated with a shell cavity of the visual sensor; the intelligent robot body of round hole A department can stretch into external lines and carry out the wiring, and the through-hole department of vision sensor also can stretch into external lines and carry out the wiring.
Compared with the prior art, the invention has the following beneficial effects:
the invention is characterized in that a visual obstacle avoidance mechanism and a contact obstacle avoidance mechanism are respectively arranged at the top end and the outer side of an intelligent robot body, a positioning block at the bottom end of a fixed disc is downwards embedded into a positioning groove on the surface of the intelligent robot body for positioning, a round hole A at the position of the intelligent robot body is vertically communicated with a round hole B at the position of the fixed disc, a screw hole C at the position of a base disc at the outer side of a visual sensor is vertically communicated with a screw hole B at the surface of the fixed disc and a screw hole A at the outer side of the intelligent robot body, then a circuit of the visual sensor is sent into the intelligent robot body from the round holes B and A for wiring, a circuit of a light filling lamp and a circuit of a luminosity sensor can be sent into the intelligent robot body from a through hole and along the round holes B and A for wiring, at the moment, a fastening bolt is screwed into the screw hole C at the base disc, and the bolt body of the fastening bolt is screwed into the screw hole B on the surface of the fixed disc and the screw hole A on the outer side of the intelligent robot body from the screw hole C for screwing, locking and fixing, the collision sensor can open a hole on the outer wall of the intelligent robot body from the bottom of the column hole and connect the wire, the collision sensor is arranged at the column hole and can bond and fix the arc-shaped rubber block A and the arc-shaped rubber block B on the surface of the arc-shaped plate with the outer wall of the intelligent robot body, the pressure column in the middle of the arc-shaped plate is embedded into the column hole to contact the collision sensor, the threaded hole between the mounting plate of the light filling mechanism and the visual sensor can be screwed with a threaded nail for locking and fixing, the light filling lamp and the luminosity sensor can be locked at the mounting plate by the aid of the threaded nail for mounting, the visual sensor at the top end of the intelligent robot body can acquire external environment image information by the aid of the acquisition lens and input the controller of the intelligent robot body for processing by the aid of the algorithm built-in the intelligent robot body, the intelligent robot body has environmental data to support and can keep away the barrier after obtaining environmental information, and the contact in the intelligent robot body outside is kept away barrier mechanism department and has the arc to replace intelligent robot body contact external object, produce pressure oppression arc and glue piece A and arc and glue piece B deformation elastic shrinkage when the arc contact collides the external object, the compression leg is also atress oppressed collision sensor this moment, collision sensor can be sent into the controller of intelligent robot body with collision numerical value after accepting the data and handle the record, so that the intelligent robot body carries out position study and keeps away the barrier, the intelligent robot body of this kind of two collection ends still can normally keep away the barrier operation when one set of collection structure trouble among them, and when the intelligent robot body transports the dark place of light, luminosity inductor discerns the luminosity of environment all around, so that the control light filling lamp carries out the circular telegram light filling, thereby the better data acquisition of intelligent robot body has been realized and has kept away the barrier.
Drawings
Fig. 1 is a schematic view of an overall structure of an automatic obstacle avoidance intelligent robot according to the present invention.
Fig. 2 is an explosion diagram of a visual obstacle avoidance mechanism of the automatic obstacle avoidance intelligent robot.
Fig. 3 is an explosion diagram of a contact obstacle avoidance mechanism of an automatic obstacle avoidance intelligent robot of the present invention.
Fig. 4 is an exploded view of a light supplement mechanism of an automatic obstacle avoidance intelligent robot according to the present invention.
Fig. 5 is a schematic structural diagram of a fixed disk of an automatic obstacle avoidance intelligent robot according to the present invention.
In the figure: 1. an intelligent robot body; 2. a visual obstacle avoidance mechanism; 201. a circular hole A; 202. a screw hole A; 203. positioning a groove; 204. fixing the disc; 205. positioning blocks; 206. a circular hole B; 207. a screw hole B; 208. a vision sensor; 209. acquiring a lens; 210. a base plate; 211. a screw hole C; 212. fastening a bolt; 3. a contact obstacle avoidance mechanism; 301. a post hole; 302. a collision sensor; 303. pressing the column; 304. an arc-shaped plate; 305. an arc-shaped rubber block A; 306. an arc-shaped rubber block B; 4. air holes; 5. a light supplement mechanism; 501. mounting a plate; 502. a through hole; 503. a threaded hole; 504. a threaded nail; 505. a light supplement lamp; 506. a luminosity sensor.
Detailed Description
In order to make the technical means, the creation characteristics, the achievement purposes and the effects of the invention easy to understand, the invention is further explained by combining the specific embodiments.
As shown in fig. 1-5, an automatic obstacle avoidance intelligent robot comprises an intelligent robot body 1, and further comprises a visual obstacle avoidance mechanism 2, a contact obstacle avoidance mechanism 3, and a light supplement mechanism 5, wherein the visual obstacle avoidance mechanism 2 is composed of a circular hole a201, a screw hole a202, a positioning groove 203, a fixed disk 204, a positioning block 205, a circular hole B206, a screw hole B207, a visual sensor 208, a collecting lens 209, a base disk 210, a screw hole C211, and a fastening bolt 212, the top end of the intelligent robot body 1 is provided with the circular hole a201, the surface of the intelligent robot body 1 outside the circular hole a201 is provided with the screw hole a202, the surface of the intelligent robot body 1 outside the screw hole a202 is provided with the positioning groove 203, the positioning block 205 protrudes downwards from the fixed disk 204 above the positioning groove 203, the surface of the fixed disk 204 between the positioning blocks 205 is provided with the screw hole B207, and the fixed disk 204 between the screw holes B207 is provided with the circular hole B206, the surface of the fixed disc 204 is attached with a visual sensor 208, one side of the surface of the visual sensor 208 extends out to form an acquisition lens 209, the bottom end of the visual sensor 208 below the acquisition lens 209 is provided with a base disc 210, the surface of the base disc 210 is provided with a screw hole C211, a fastening bolt 212 is screwed between the screw hole C211, a screw hole B207 and the screw hole A202, the outer side of the intelligent robot body 1 is provided with a contact obstacle avoidance mechanism 3, the contact obstacle avoidance mechanism 3 is composed of a column hole 301, a collision sensor 302, a pressing column 303, an arc-shaped plate 304, an arc-shaped rubber block A305 and an arc-shaped rubber block B306, the outer side wall of the intelligent robot body 1 is provided with a column hole 301, the bottom of the column hole 301 is internally provided with the collision sensor 302, the pressing column 303 is embedded into the column hole 301 at the outer side of the collision sensor 302, and the pressing column 303 is fixedly connected to the middle part of the arc-shaped plate 304, an arc-shaped rubber block A305 and an arc-shaped rubber block B306 are fixed between the surface of the arc-shaped plate 304 and the intelligent robot body 1, a light supplementing mechanism 5 is installed at the top end of the vision sensor 208, the light supplementing mechanism 5 is composed of an installation plate 501, a through hole 502, a threaded hole 503, a threaded nail 504, a light supplementing lamp 505 and a luminosity sensor 506, power ends of the vision sensor 208, the collision sensor 302, the light supplementing lamp 505 and the luminosity sensor 506 are electrically connected with a power end inside the intelligent robot body 1, and data ends of the vision sensor 208, the collision sensor 302 and the luminosity sensor 506 are connected with a data processing end inside the intelligent robot body 1.
The top end of the vision sensor 208 is attached to a mounting plate 501, a through hole 502 and a threaded hole 503 which are vertically communicated with each other are formed in the top end of the vision sensor 208 and the surface of the mounting plate 501, a threaded nail 504 is screwed in the threaded hole 503 between the vision sensor 208 and the mounting plate 501, and a light supplement lamp 505 and a luminosity inductor 506 are detachably connected to the surface of the mounting plate 501.
The upper end surface and the lower end surface of the arc-shaped plate 304 outside the compression column 303 are bonded with arc-shaped rubber blocks B306 and arc-shaped rubber blocks A305, the arc-shaped rubber blocks B306 and the arc-shaped rubber blocks A305 are bonded on the outer side of the intelligent robot body 1, and the arc-shaped plate 304 is symmetrically bonded with two groups on the outer side of the intelligent robot body 1 by means of the arc-shaped rubber blocks B306 and the arc-shaped rubber blocks A305; the arc-shaped rubber block B306 and the arc-shaped rubber block A305 are bonded between the arc-shaped plate 304 and the intelligent robot body 1 to be connected, and the two sets of plate bodies of the arc-shaped plate 304 are bonded and fixed outside the intelligent robot body 1 to play a certain anti-collision protection role and can protect the intelligent robot body 1.
The arc-shaped rubber block B306 and the arc-shaped rubber block A305 are made of rubber, and the middle parts of the arc-shaped rubber block B306 and the arc-shaped rubber block A305 are provided with air holes 4; the middle parts of the arc-shaped rubber block B306 and the arc-shaped rubber block A305 made of rubber are provided with air holes 4, and when the arc-shaped plate 304 is collided to cause the arc-shaped rubber block B306 and the arc-shaped rubber block A305 to deform, the arc-shaped rubber block B306 and the arc-shaped rubber block A305 can deform to generate certain elastic buffering capacity.
The bottom end hole of the round hole A201 is formed in the inner wall of the intelligent robot body 1, and the bottom end hole opening of the through hole 502 is vertically communicated with the shell cavity of the visual sensor 208; the intelligent robot body 1 at the round hole A201 can stretch into an external line for wiring, and the through hole 502 of the vision sensor 208 can also stretch into the external line for wiring.
It should be noted that the invention is an automatic obstacle avoidance intelligent robot, the top end and the outer side of an intelligent robot body 1 are respectively provided with a visual obstacle avoidance mechanism 2 and a contact obstacle avoidance mechanism 3, a positioning block 205 at the bottom end of a fixed disk 204 is downwards embedded into a positioning groove 203 on the surface of the intelligent robot body 1 for positioning, at this time, a round hole A201 at the position of the intelligent robot body 1 is vertically communicated with a round hole B206 at the position of the fixed disk 204, a screw hole C211 at a base disk 210 at the outer side of a visual sensor 208 is vertically communicated with a screw hole B207 at the surface of the fixed disk 204 and a screw hole A202 at the outer side of the intelligent robot body 1, then a circuit of the visual sensor 208 is sent into the intelligent robot body 1 from the round hole B206 and the round hole A201 for wiring, and circuits at a light supplement lamp 505 and a luminosity sensor 506 can be sent into the intelligent robot body 1 from the through hole 502 and along the round hole B206 and the round hole A201 for wiring, at this time, the fastening bolt 212 is screwed into the screw hole C211 at the base plate 210, and the bolt body of the fastening bolt 212 is screwed into the screw hole B207 on the surface of the fixing plate 204 and the screw hole a202 at the outer side of the intelligent robot body 1 from the screw hole C211 to be screwed and locked for fixation, the collision sensor 302 can open the hole on the outer wall of the intelligent robot body 1 from the hole bottom of the column hole 301 and connect the wire, the collision sensor 302 is installed at the column hole 301 to bond and fix the arc-shaped rubber block a305 and the arc-shaped rubber block B306 on the surface of the arc-shaped plate 304 and the outer wall of the intelligent robot body 1, the pressing column 303 at the middle part of the arc-shaped plate 304 is embedded into the column hole 301 to contact the collision sensor 302, the screw thread 504 can be screwed and locked and fixed in the screw hole 503 between the mounting plate 501 of the light supplementing mechanism 5 and the vision sensor 208, and the light supplementing lamp 505 and the luminosity sensor 506 can be installed at the mounting plate 501 by means of screw locking, the vision sensor 208 on the top end of the intelligent robot body 1 can acquire external environment image information by means of the acquisition lens 209 and input the external environment image information into the controller of the intelligent robot body 1 to be processed by means of an algorithm built in the intelligent robot body 1, the intelligent robot body 1 can support environmental data to avoid an obstacle after the environmental information is acquired, the arc plate 304 at the contact obstacle avoiding mechanism 3 outside the intelligent robot body 1 can replace the intelligent robot body 1 to contact an external object, when the arc plate 304 contacts and collides with the external object, pressure is generated to press the arc rubber block A305 and the arc rubber block B306 to deform and elastically shrink, at the moment, the pressing column 303 is also stressed to press the collision sensor 302, after the collision sensor 302 receives the data, the collision value can be sent into the controller of the intelligent robot body 1 to be processed and recorded, so that the intelligent robot body 1 can learn positions to avoid the obstacle, the intelligent robot body 1 with double acquisition ends can still normally avoid the obstacle when a group of acquisition structures fails, and when the intelligent robot body 1 runs to a dim place, the luminosity sensor 506 recognizes the environment, so that the illuminance sensor 505 can realize intelligent robot body 1 can carry out light supplement and can be powered on and can well acquire the obstacle.
The invention relates to an automatic obstacle avoidance intelligent robot, which comprises an intelligent robot body 1 and a robot control system, wherein the intelligent robot body comprises a robot control system and a robot control system; 2. a visual obstacle avoidance mechanism; 201. a circular hole A; 202. a screw hole A; 203. positioning a groove; 204. fixing the disc; 205. positioning blocks; 206. a circular hole B; 207. a screw hole B; 208. a vision sensor; 209. acquiring a lens; 210. a base plate; 211. a screw hole C; 212. fastening a bolt; 3. a contact obstacle avoidance mechanism; 301. a post hole; 302. a collision sensor; 303. pressing the column; 304. an arc-shaped plate; 305. an arc-shaped rubber block A; 306. an arc-shaped rubber block B; 4. air holes; 5. a light supplement mechanism; 501. mounting a plate; 502. a through hole; 503. a threaded hole; 504. a threaded nail; 505. a light supplement lamp; 506. the photometric sensor, components are all common standard components or components known to those skilled in the art, and the structure and principle thereof can be known to those skilled in the art through technical manuals or through routine experimental methods.
The foregoing shows and describes the general principles and broad features of the present invention and advantages thereof. It will be understood by those skilled in the art that the present invention is not limited to the embodiments described above, which are given by way of illustration of the principles of the present invention, but that various changes and modifications may be made without departing from the spirit and scope of the invention, and such changes and modifications are within the scope of the invention as claimed. The scope of the invention is defined by the appended claims and equivalents thereof.
Claims (5)
1. The utility model provides an automatic keep away barrier intelligent robot, includes intelligent robot body (1), its characterized in that: still keep away barrier mechanism (2), contact and keep away barrier mechanism (3) and light filling mechanism (5) including the vision, barrier mechanism (2) is kept away to the vision comprises round hole A (201), screw A (202), constant head tank (203), fixed disk (204), locating piece (205), round hole B (206), screw B (207), vision sensor (208), acquisition lens (209), base plate (210), screw C (211) and fastening bolt (212), round hole A (201) have been seted up on the top of intelligent robot body (1), and the intelligent robot body (1) surface in the round hole A (201) outside has seted up screw A (202), constant head tank (203) has been seted up on intelligent robot body (1) surface in the screw A (202) outside, and fixed disk (204) department of constant head tank (203) top downward arch has locating piece (205), fixed disk (204) surface between locating piece (205) has seted up B (207), and fixed disk (204) between screw B (207) has seted up constant head tank (206) and the fixed disk (204) department of constant head tank (204) bottom has set up the constant head tank (206), and the surface laminating of vision sensor (208) has the vision sensor (209), acquisition lens (209) one side has been provided with acquisition lens sensor (209), acquisition lens (209) And the surface of the base plate (210) is provided with a screw hole C (211), a fastening bolt (212) is screwed between the screw hole C (211), a screw hole B (207) and a screw hole A (202), the outer side of the intelligent robot body (1) is provided with a contact obstacle avoidance mechanism (3), the contact obstacle avoidance mechanism (3) consists of a column hole (301), a collision sensor (302), a compression column (303), an arc-shaped plate (304), an arc-shaped rubber block A (305) and an arc-shaped rubber block B (306), the outer side wall of the intelligent robot body (1) is provided with the column hole (301), and the bottom of the column hole (301) is internally provided with the collision sensor (302), embedding has compression leg (303) in post hole (301) in collision sensor (302) outside, and compression leg (303) fixed connection in the middle part of arc (304), be fixed with arc between the surface of arc (304) and intelligent robot body (1) and glue piece A (305) and arc and glue piece B (306), light filling mechanism (5) are installed to the top of vision sensor (208), and light filling mechanism (5) comprise mounting panel (501), through-hole (502), screw hole (503), screw (504), light filling lamp (505) and luminosity inductor (506), vision sensor (208), the power ends of the collision sensor (302), the light supplement lamp (505) and the luminosity sensor (506) are electrically connected with the power end inside the intelligent robot body (1), and the data ends of the vision sensor (208), the collision sensor (302) and the luminosity sensor (506) are connected with the data processing end inside the intelligent robot body (1).
2. The automatic obstacle avoidance intelligent robot of claim 1, characterized in that: the visual sensor is characterized in that a mounting plate (501) is attached to the top end of the visual sensor (208), a through hole (502) and a threaded hole (503) which are vertically communicated with each other are formed in the top end of the visual sensor (208) and the surface of the mounting plate (501), a threaded nail (504) is screwed in the threaded hole (503) between the visual sensor (208) and the mounting plate (501), and a light supplement lamp (505) and a luminosity sensor (506) are detachably connected to the surface of the mounting plate (501).
3. The automatic obstacle avoidance intelligent robot of claim 1, characterized in that: the utility model discloses a robot, including the arc, the arc glues the piece A (305) of piece B (306) and arc glue on the arc surface (304) in the compression leg (303) outside, and the arc glues the outside that piece B (306) and arc glue piece A (305) and bond in intelligent robot body (1), the arc (304) are glued piece B (306) and arc with the help of the arc and are glued piece A (305) and bond in the outside symmetry of intelligent robot body (1) and have two sets ofly.
4. The automatic obstacle avoidance intelligent robot of claim 1, characterized in that: the arc-shaped rubber block B (306) and the arc-shaped rubber block A (305) are made of rubber, and the middle parts of the arc-shaped rubber block B (306) and the arc-shaped rubber block A (305) are provided with air holes (4).
5. The automatic obstacle avoidance intelligent robot of claim 1, characterized in that: the bottom end hole of the round hole A (201) is formed in the inner wall of the intelligent robot body (1), and the bottom end hole opening of the through hole (502) is vertically communicated with the shell cavity of the visual sensor (208).
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| CN202210014602.7A CN114532896B (en) | 2022-01-07 | 2022-01-07 | Automatic keep away barrier intelligent robot |
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| CN202210014602.7A CN114532896B (en) | 2022-01-07 | 2022-01-07 | Automatic keep away barrier intelligent robot |
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| CN114532896B true CN114532896B (en) | 2023-04-18 |
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| CN114532896A (en) | 2022-05-27 |
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