CN115056848B - Unmanned intelligent ball table cleaning robot running gear - Google Patents
Unmanned intelligent ball table cleaning robot running gear Download PDFInfo
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- CN115056848B CN115056848B CN202210871925.8A CN202210871925A CN115056848B CN 115056848 B CN115056848 B CN 115056848B CN 202210871925 A CN202210871925 A CN 202210871925A CN 115056848 B CN115056848 B CN 115056848B
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- table cleaning
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- 238000004140 cleaning Methods 0.000 title claims abstract description 108
- 230000007246 mechanism Effects 0.000 claims abstract description 87
- 230000005540 biological transmission Effects 0.000 claims description 28
- 238000005457 optimization Methods 0.000 claims description 10
- 238000004364 calculation method Methods 0.000 claims description 4
- 238000006243 chemical reaction Methods 0.000 claims description 3
- 239000000725 suspension Substances 0.000 claims description 3
- 230000009286 beneficial effect Effects 0.000 description 11
- 230000006378 damage Effects 0.000 description 4
- 238000003825 pressing Methods 0.000 description 4
- 208000027418 Wounds and injury Diseases 0.000 description 2
- 230000008676 import Effects 0.000 description 2
- 208000014674 injury Diseases 0.000 description 2
- 230000004048 modification Effects 0.000 description 2
- 238000012986 modification Methods 0.000 description 2
- 230000006978 adaptation Effects 0.000 description 1
- 230000004075 alteration Effects 0.000 description 1
- 238000004458 analytical method Methods 0.000 description 1
- 238000010276 construction Methods 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 238000005265 energy consumption Methods 0.000 description 1
- 230000002452 interceptive effect Effects 0.000 description 1
- 238000012423 maintenance Methods 0.000 description 1
- 238000004519 manufacturing process Methods 0.000 description 1
- 238000000034 method Methods 0.000 description 1
- 230000002265 prevention Effects 0.000 description 1
- 230000008569 process Effects 0.000 description 1
- 238000004445 quantitative analysis Methods 0.000 description 1
- 238000005096 rolling process Methods 0.000 description 1
Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D5/00—Power-assisted or power-driven steering
- B62D5/04—Power-assisted or power-driven steering electrical, e.g. using an electric servo-motor connected to, or forming part of, the steering gear
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60K—ARRANGEMENT OR MOUNTING OF PROPULSION UNITS OR OF TRANSMISSIONS IN VEHICLES; ARRANGEMENT OR MOUNTING OF PLURAL DIVERSE PRIME-MOVERS IN VEHICLES; AUXILIARY DRIVES FOR VEHICLES; INSTRUMENTATION OR DASHBOARDS FOR VEHICLES; ARRANGEMENTS IN CONNECTION WITH COOLING, AIR INTAKE, GAS EXHAUST OR FUEL SUPPLY OF PROPULSION UNITS IN VEHICLES
- B60K7/00—Disposition of motor in, or adjacent to, traction wheel
- B60K7/0007—Disposition of motor in, or adjacent to, traction wheel the motor being electric
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W60/00—Drive control systems specially adapted for autonomous road vehicles
- B60W60/001—Planning or execution of driving tasks
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D5/00—Power-assisted or power-driven steering
- B62D5/04—Power-assisted or power-driven steering electrical, e.g. using an electric servo-motor connected to, or forming part of, the steering gear
- B62D5/0403—Power-assisted or power-driven steering electrical, e.g. using an electric servo-motor connected to, or forming part of, the steering gear characterised by constructional features, e.g. common housing for motor and gear box
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D5/00—Power-assisted or power-driven steering
- B62D5/04—Power-assisted or power-driven steering electrical, e.g. using an electric servo-motor connected to, or forming part of, the steering gear
- B62D5/0418—Electric motor acting on road wheel carriers
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D6/00—Arrangements for automatically controlling steering depending on driving conditions sensed and responded to, e.g. control circuits
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- Engineering & Computer Science (AREA)
- Transportation (AREA)
- Mechanical Engineering (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Automation & Control Theory (AREA)
- Human Computer Interaction (AREA)
- Electric Vacuum Cleaner (AREA)
Abstract
The invention relates to the technical field of intelligent ball table cleaning robots, and particularly provides an unattended intelligent ball table cleaning robot running gear which comprises a controller, a direction adjusting mechanism and a steering wheel mechanism; the steering wheel mechanism is arranged at the bottom of the intelligent ball table cleaning robot; the steering mechanism is used for adjusting the direction of the steering wheel mechanism; the controller is electrically connected with the steering mechanism and the steering wheel mechanism respectively, and is used for planning a walking route of the intelligent ball table cleaning robot according to a preset ball table cleaning scheme and combining the position relation of the ball table to be cleaned and the intelligent ball table cleaning robot, and controlling the steering wheel mechanism and the steering mechanism to enable the intelligent ball table cleaning robot to move according to the walking route. According to the invention, a single intelligent ball table cleaning robot can be adopted to clean a plurality of ball tables, so that the initial investment cost and the labor cost of equipment are reduced, and the cleaning efficiency of the ball tables is improved; through walking route planning and mobile control, unmanned on duty demand can be realized.
Description
Technical Field
The invention relates to the technical field of intelligent ball table cleaning robots, in particular to an unattended intelligent ball table cleaning robot walking device.
Background
Traditional ball table cleaning relies on the manual work to accomplish, has the problem that the cost of labor is high and cleaning efficiency is low, and in addition, the cleanness is influenced by the human factor greatly, appears cleaning the condition that does not accord with the requirement easily.
In order to reduce the labor cost and improve the cleaning efficiency, intelligent ball table cleaning robots are developed in recent years, but the existing intelligent ball table cleaning robots are required to be correspondingly arranged according to the number of ball tables or manually moved, and if the intelligent ball table cleaning robots are correspondingly arranged according to the number of ball tables, the initial investment is large and the investment cost is high; if the manually-moved intelligent ball table cleaning robot is selected, the unmanned requirement cannot be met.
Disclosure of Invention
In order to solve the technical problems, the invention provides an unattended intelligent ball table cleaning robot walking device which comprises a controller, a direction adjusting mechanism and a steering wheel mechanism;
the steering wheel mechanism is arranged at the bottom of the intelligent ball table cleaning robot;
the steering mechanism is used for adjusting the direction of the steering wheel mechanism;
the controller is electrically connected with the steering mechanism and the steering wheel mechanism respectively, and is used for planning a walking route of the intelligent ball table cleaning robot according to a preset ball table cleaning scheme and combining the position relation of the ball table to be cleaned and the intelligent ball table cleaning robot, and controlling the steering wheel mechanism and the steering mechanism to enable the intelligent ball table cleaning robot to move according to the walking route.
Optionally, the steering wheel mechanism comprises a steering wheel frame, a steering wheel, a wheel shaft and a first motor;
the wheel shaft is horizontally arranged on the rudder wheel frame through a bearing, and the rudder wheel is fixed on the wheel shaft;
the first motor is fixed on the rudder wheel frame, and an output shaft of the first motor is in transmission connection with the wheel shaft and is used for driving the wheel shaft and the steering wheel to rotate forwards/backwards;
the steering wheel frame comprises a connecting rod and a connecting plate, wherein the connecting rod and the connecting plate are positioned above the steering wheel, a through hole is formed in the middle of the connecting plate, a sleeve is fixed at the through hole, the connecting rod penetrates through the through hole and the sleeve and is connected with the sleeve through a bearing, and the connecting plate is fixed at the bottom of the intelligent ball table cleaning robot through a bolt;
the first motor is electrically connected with the controller.
Optionally, the wheel axle is provided with a brake, the brake is electrically connected with the controller, and the brake stops the wheel axle from rotating according to the instruction of the controller.
Optionally, the steering mechanism comprises a second motor and a transmission assembly, and the second motor drives a connecting rod in the steering wheel mechanism to rotate through the transmission assembly; the second motor is electrically connected with the controller.
Optionally, the transmission assembly comprises a transmission shaft, a first main bevel gear, a second main bevel gear, a first auxiliary bevel gear and a second auxiliary bevel gear;
the second motor is connected with a transmission shaft through a coupler, and the transmission shaft is provided with a first main bevel gear and a second main bevel gear; the coupler is connected with the controller;
two steering wheel mechanisms and two universal wheels are arranged at the bottom of the intelligent ball table cleaning robot, wherein a first slave bevel gear and a second slave bevel gear are respectively fixed at the upper ends of connecting rods in the two steering wheel mechanisms;
the first master bevel gear is meshed with the first slave bevel gear, and the second master bevel gear is meshed with the second slave bevel gear.
Optionally, the first main bevel gear and the second main bevel gear are double-sided bevel gears, and the transmission shaft is slidably provided with the first main bevel gear and the second main bevel gear through shaft keys;
the first main bevel gear is provided with a first one-way clutch at the side deviating from the first auxiliary bevel gear, and the second main bevel gear is provided with a second one-way clutch at the side deviating from the second auxiliary bevel gear;
the intelligent ball table cleaning robot comprises a steering wheel mechanism, wherein the steering wheel mechanism is arranged on the bottom of the intelligent ball table cleaning robot, the steering wheel mechanism is connected with a steering wheel, the bottom of the intelligent ball table cleaning robot is provided with a steering wheel mechanism, the steering wheel mechanism is connected with a steering wheel, and the steering wheel mechanism is connected with a steering wheel;
one end of the rotating rod stretches into the fixed rod and the hollow cavity, an inner bevel gear disc is fixed at the other end of the rotating rod, and when the first one-way clutch and the second one-way clutch are electrified, the first main bevel gear and the second main bevel gear can respectively move in the directions of being separated from the first auxiliary bevel gear and the second auxiliary bevel gear, so that the first main bevel gear and the second main bevel gear are respectively meshed with the inner bevel gears of the inner bevel gear discs of the corresponding telescopic rods;
the first one-way clutch and the second one-way clutch are both electrically connected with a controller.
Optionally, the controller includes a positioning module and a route planning module;
the positioning module is configured with a field layout model and a dynamic coordinate system, the field layout model is used for reflecting the field range, the ball table and various auxiliary equipment and facility arrangement conditions, and the dynamic coordinate system is constructed by taking the intelligent ball table cleaning robot as a coordinate origin and carries out coordinate conversion along with the movement of the intelligent ball table cleaning robot; the positioning module is used for determining the position of the intelligent ball table cleaning robot in the field, and determining coordinate values of the ball table and various auxiliary equipment facilities according to the dynamic coordinate system and the ball table and various auxiliary equipment facilities;
the route planning module is used for planning a walking route of the ball table to be cleaned according to the ball table cleaning scheme.
Optionally, the route planning module comprises a node determining sub-module, a preliminary planning sub-module and a route optimizing sub-module;
the node determining submodule is used for determining the ball table to be cleaned according to the ball table cleaning scheme, and takes the origin of the dynamic coordinate system and coordinate points of the ball tables to be cleaned as nodes;
the preliminary planning submodule is used for enumerating different ordering schemes for each node, and connecting wires according to the ordering sequence of each node in each ordering scheme to form different planning routes; if auxiliary equipment facilities exist on the connecting lines between adjacent nodes in the sequence, determining obstacle detouring points for detouring the auxiliary equipment facilities, and inserting the obstacle detouring points as added nodes between the adjacent nodes in the original sequence;
and the route optimization submodule is used for carrying out travel calculation on each planned route according to the coordinates and selecting the planned route with the shortest travel as the executed walking route.
Optionally, the controller includes a model import module for importing and updating the site layout model.
Optionally, the control is connected with a data collector, the data collector is connected with a millimeter wave radar sensor, and the millimeter wave radar sensor is used for detecting an obstacle in front of a walking route during traveling;
the controller comprises an obstacle avoidance module, wherein the obstacle avoidance module divides the obstacle into a fixed object or a moving object according to the detected obstacle data in front, the fixed object is avoided by adopting a walking route modifying mode, and the moving object is avoided by adopting a traveling speed reducing or temporary traveling suspension mode through time sequence position prediction.
According to the unattended intelligent ball table cleaning robot travelling device, the steering wheel mechanism is arranged at the bottom of the intelligent ball table cleaning robot, the steering wheel mechanism is provided with the steering mechanism, the travelling route is planned according to the preset ball table cleaning scheme through the controller, and the adjusting mechanism and the steering wheel mechanism are controlled to enable the intelligent ball table cleaning robot to move according to the travelling route, so that a single intelligent ball table cleaning robot can be used for cleaning a plurality of ball tables, the initial investment cost and the labor cost of equipment are reduced, and the cleaning efficiency of the ball table is improved; through walking route planning and mobile control, unmanned on duty demand can be realized.
Additional features and advantages of the invention will be set forth in the description which follows, and in part will be obvious from the description, or may be learned by practice of the invention. The objectives and other advantages of the invention will be realized and attained by the structure particularly pointed out in the written description and claims thereof as well as the appended drawings.
The technical scheme of the invention is further described in detail through the drawings and the embodiments.
Drawings
The accompanying drawings are included to provide a further understanding of the invention and are incorporated in and constitute a part of this specification, illustrate the invention and together with the embodiments of the invention, serve to explain the invention. In the drawings:
fig. 1 is a schematic diagram of an unattended intelligent ball table cleaning robot walking device in an embodiment of the invention;
FIG. 2 is a schematic view of a steering wheel mechanism employed by an embodiment of an unattended intelligent ball table cleaning robot running gear of the invention;
fig. 3 is a schematic view of a steering mechanism adopted by an embodiment of the unmanned intelligent ball table cleaning robot walking device of the invention.
Detailed Description
The preferred embodiments of the present invention will be described below with reference to the accompanying drawings, it being understood that the preferred embodiments described herein are for illustration and explanation of the present invention only, and are not intended to limit the present invention.
As shown in fig. 1, the embodiment of the invention provides an unattended intelligent ball table cleaning robot walking device, which comprises a controller 1, a direction adjusting mechanism 2 and a steering wheel mechanism 3;
the steering wheel mechanism 3 is arranged at the bottom of the intelligent ball table cleaning robot;
the steering mechanism 2 is used for adjusting the direction of the steering wheel mechanism 3;
the controller 1 is respectively and electrically connected with the steering mechanism 2 and the steering wheel mechanism 3, the controller 1 is used for planning a walking route of the intelligent ball table cleaning robot according to a preset ball table cleaning scheme and combining the position relation between a ball table to be cleaned and the intelligent ball table cleaning robot, and the steering wheel mechanism 3 and the adjusting mechanism 2 are controlled to enable the intelligent ball table cleaning robot to move according to the walking route.
The working principle and beneficial effects of the technical scheme are as follows: according to the scheme, the steering wheel mechanism is arranged at the bottom of the intelligent ball table cleaning robot, the steering wheel mechanism is provided with the steering wheel mechanism, the controller is used for planning a walking route according to a preset ball table cleaning scheme, and the adjusting mechanism and the steering wheel mechanism are controlled to enable the intelligent ball table cleaning robot to move according to the walking route, so that a single intelligent ball table cleaning robot can be used for cleaning a plurality of ball tables, the initial investment cost and the labor cost of equipment are reduced, and the cleaning efficiency of the ball tables is improved; through walking route planning and mobile control, unmanned on duty demand can be realized.
In one embodiment, as shown in fig. 2, the steering wheel mechanism 3 includes a steering wheel frame 31, a steering wheel 32, a wheel axle, and a first motor 33;
the wheel shaft is horizontally arranged on a rudder wheel frame 31 through a bearing, and the rudder wheel 32 is fixed on the wheel shaft;
the first motor 33 is fixed on the rudder wheel frame 31, and an output shaft of the first motor 33 is in transmission connection with the wheel shaft and is used for driving the wheel shaft and the steering wheel 32 to rotate forwards/backwards;
the steering wheel frame 31 comprises a connecting rod 34 and a connecting plate 35, the connecting rod 34 and the connecting plate 35 are positioned above the steering wheel 32, a through hole is formed in the middle of the connecting plate 35, a sleeve 36 is fixed at the through hole, the connecting rod 34 passes through the through hole and the sleeve 36 and is connected with the sleeve 36 through a bearing, and the connecting plate 35 is fixed at the bottom of the intelligent ball table cleaning robot through a spring 37, a spring pressing sleeve 38 and a bolt 39;
the first motor 33 is electrically connected to the controller 1.
The working principle and beneficial effects of the technical scheme are as follows: the steering wheel mechanism adopts the scheme that an output shaft of a first motor drives a wheel shaft and a steering wheel to rotate forwards/backwards, and the intelligent ball table cleaning robot is moved through the rolling of the steering wheel relative to the ground; the connecting plate on the rudder wheel frame is fixed at the bottom of the intelligent ball table cleaning robot through the spring, the spring pressing sleeve and the bolt, namely the bolt penetrates through the spring and the spring pressing sleeve to fixedly connect the connecting plate with the bottom of the intelligent ball table cleaning robot, the spring is arranged in front of the spring pressing sleeve and the connecting plate, and the intelligent ball table cleaning robot is subjected to vibration prevention through the elasticity of the spring, so that the service life of the intelligent ball table cleaning robot is prevented from being influenced by vibration generated during traveling; the connecting rod is connected with the sleeve at the connecting rod through hole through the bearing, so that the connecting rod of the rudder wheel frame and the steering wheel can rotate relative to the bottom of the intelligent ball table cleaning robot and the connecting plate, and the advancing direction is adjusted.
In one embodiment, the axle is provided with a brake, which is electrically connected to the controller, and which stops the rotation of the axle upon command of the controller.
The working principle and beneficial effects of the technical scheme are as follows: this scheme is through setting up the stopper for automatic stop when intelligent ball table cleaning robot marches to target position or runs into the obstacle and advance, prevent to take place the collision and cause the incident, can avoid equipment damage or personnel injury.
In one embodiment, as shown in fig. 3, the steering mechanism 2 includes a second motor 21 and a transmission assembly, and the second motor 21 rotates a connecting rod 34 in the steering wheel mechanism 3 through the transmission assembly; the second motor 21 is electrically connected with the controller 1;
the transmission assembly comprises a transmission shaft 22, a first main bevel gear 23, a second main bevel gear 24, a first secondary bevel gear 25 and a second secondary bevel gear 26;
the second motor 21 is connected with a transmission shaft 22 through a coupler 29, and the transmission shaft 22 is provided with a first main bevel gear 23 and a second main bevel gear 24; the coupler 29 is connected with the controller 1;
the bottom of the intelligent ball table cleaning robot is provided with two steering wheel mechanisms 3 and two universal wheels, wherein a first slave bevel gear 25 and a second slave bevel gear 26 are respectively fixed at the upper ends of connecting rods 34 in the two steering wheel mechanisms 3;
the first master bevel gear 23 is meshed with a first slave bevel gear 25, and the second master bevel gear 24 is meshed with a second slave bevel gear 26.
The working principle and beneficial effects of the technical scheme are as follows: the steering mechanism drives the steering wheel mechanism to adjust the advancing direction by arranging the second motor and the transmission assembly, and the second motor can adopt a servo motor capable of rotating forward and backward, so that the steering control precision is improved; the bottom of the intelligent ball table cleaning robot is provided with two steering wheel mechanisms and two universal wheels for supporting, so that on one hand, the travelling balance can be ensured, and the overturning is avoided, and on the other hand, as the universal wheels are lower in cost than the steering wheel mechanisms, the steering wheel mechanisms are reduced by adopting the two universal wheels, the cost can be reduced, and the difficulty of coordination control of the steering wheel mechanisms can be reduced; the two steering wheel mechanisms can realize the synchronism of direction adjustment through the same transmission shaft transmission, and the movement difficulty and the direction deviation caused by the asynchronous direction adjustment of the two steering wheel mechanisms are avoided.
In one embodiment, as shown in fig. 3, the first main bevel gear 23 and the second main bevel gear 24 are double-sided bevel gears, i.e. bevel gears are provided on both sides; the transmission shaft 22 is slidably provided with a first main bevel gear 23 and a second main bevel gear 24 through shaft keys;
the first main bevel gear 23 is provided with a first one-way clutch 27 on the side facing away from the first auxiliary bevel gear 25, and the second main bevel gear 24 is provided with a second one-way clutch 28 on the side facing away from the second auxiliary bevel gear 26;
the bottom of the intelligent ball table cleaning robot is correspondingly provided with a telescopic rod with a steering wheel mechanism 3, the telescopic rod comprises a fixed rod and a rotating rod 4, the fixed rod is provided with a hollow cavity with internal threads, the rotating rod 4 is provided with external threads matched with the internal threads of the hollow cavity of the fixed rod, and the fixed rod is fixedly connected with the bottom of the intelligent ball table cleaning robot;
one end of the rotating rod 4 extends into the fixed rod and the hollow cavity, the other end of the rotating rod 4 is fixedly provided with an inner bevel gear disc 5, and when the first one-way clutch 27 and the second one-way clutch 28 are electrified, the first main bevel gear 23 and the second main bevel gear 24 can respectively move in the directions of separating from the first auxiliary bevel gear 25 and the second auxiliary bevel gear 26, so that the first main bevel gear 23 and the second main bevel gear 24 are respectively meshed with the inner bevel gears of the inner bevel gear discs 5 of the corresponding telescopic rods;
the first one-way clutch 27 and the second one-way clutch 28 are both electrically connected to the controller 1.
The working principle and beneficial effects of the technical scheme are as follows: the axial lead of the telescopic rod in the scheme can be overlapped with the axial lead of the connecting rod of the steering wheel mechanism, the first one-way clutch and the second one-way clutch are respectively connected with the first main bevel gear and the second main bevel gear through elastic devices, and the first one-way clutch and the second one-way clutch are arranged on the transmission shaft; according to the scheme, the first main bevel gear and the second main bevel gear are double-sided bevel gears, and the actions of the first one-way clutch and the second one-way clutch which are correspondingly configured are matched, so that under the control of the controller, the direction adjusting mechanism and the telescopic rod can be respectively controlled by driving through a second motor, the number of motors of the equipment is reduced, and the manufacturing and maintenance cost is reduced; through setting up the telescopic link, when there is the height drop in place, according to the slope of accessible ramp that sets up on the walking route in the place overall arrangement, can adjust telescopic link adaptation slope for it is more steady to advance, reduces the risk of advancing that the place difference in height brought.
In one embodiment, the controller includes a positioning module and a route planning module;
the positioning module is configured with a field layout model and a dynamic coordinate system, the field layout model is used for reflecting the field range, the ball table and various auxiliary equipment and facility arrangement conditions, and the dynamic coordinate system is constructed by taking the intelligent ball table cleaning robot as a coordinate origin and carries out coordinate conversion along with the movement of the intelligent ball table cleaning robot; the positioning module is used for determining the position of the intelligent ball table cleaning robot in the field, and determining coordinate values of the ball table and various auxiliary equipment facilities according to the dynamic coordinate system and the ball table and various auxiliary equipment facilities;
the route planning module is used for planning a walking route of the ball table to be cleaned according to the ball table cleaning scheme.
The working principle and beneficial effects of the technical scheme are as follows: according to the scheme, a positioning module and a route planning module are arranged, a site layout model and a dynamic coordinate system are configured in the positioning module, and site and in-site equipment facility arrangement is stored through the site layout model, so that a foundation is laid for walking route planning; the walking route planning process is simplified through the dynamic coordinate system construction, and the accurate control of positioning and travelling is realized; the travel route planning module is used for carrying out travel route planning in advance, so that the cleaning work of the intelligent ball table cleaning robot can be orderly and smoothly completed.
In one embodiment, the route planning module includes a node determination sub-module, a preliminary planning sub-module, and a route optimization sub-module;
the node determining submodule is used for determining the ball table to be cleaned according to the ball table cleaning scheme, and takes the origin of the dynamic coordinate system and coordinate points of the ball tables to be cleaned as nodes;
the preliminary planning submodule is used for enumerating different ordering schemes for each node, and connecting wires according to the ordering sequence of each node in each ordering scheme to form different planning routes; if auxiliary equipment facilities exist on the connecting lines between adjacent nodes in the sequence, determining obstacle detouring points for detouring the auxiliary equipment facilities, and inserting the obstacle detouring points as added nodes between the adjacent nodes in the original sequence;
and the route optimization submodule is used for carrying out travel calculation on each planned route according to the coordinates and selecting the planned route with the shortest travel as the executed walking route.
The working principle and beneficial effects of the technical scheme are as follows: according to the scheme, the node determination submodule, the preliminary planning submodule and the route optimization submodule are arranged, so that the origin of a dynamic coordinate system and coordinate points of all the ball tables to be cleaned (in the scheme, the coordinate points of all the ball tables to be cleaned refer to station positions when the intelligent ball table cleaning robot cleans the ball tables) are abstracted into nodes, and the route planning can be simpler, more convenient and more accurate; the route optimization submodule is used for carrying out route selection, so that the shortest walking route of the intelligent ball table cleaning robot can be realized, the energy consumption and the advancing time of the intelligent ball table cleaning robot are saved, and the working efficiency is improved.
In one embodiment, the route optimization sub-module performs the journey calculation for each planned route using the following formula:
in the above, D i Representing the travel of the ith planned route; n represents the number of nodes of the ith planned route; x is X ij And Y ij Respectively representing the horizontal coordinate and the vertical coordinate of a plane of a j-th node in an i-th planned route; x is X i(j+1) And Y i(j+1) Respectively representing the horizontal coordinate and the vertical coordinate of a plane of a (j+1) th node in the ith planned route;
D i the shortest planned route is the shortest planned route.
The working principle and beneficial effects of the technical scheme are as follows: according to the scheme, the formula is adopted to calculate the travel of different planned routes, the planned route with the minimum travel (namely the shortest planned route) is taken as the walking route to be executed, quantitative analysis of route optimization is realized, artificial influence is avoided, and analysis and route optimization are objective.
In one embodiment, the controller includes a model import module for importing and updating a site layout model.
The working principle and beneficial effects of the technical scheme are as follows: according to the technical scheme, the model importing module is used for importing and updating the field layout model, so that the intelligent ball table cleaning robot can be used for various ball table fields, can adapt to different ball table field layouts, improves flexibility adaptability of the intelligent ball table cleaning robot, and is beneficial to popularization and use of the intelligent ball table cleaning robot.
In one embodiment, the control is connected with a data collector, and the data collector is connected with a millimeter wave radar sensor, and the millimeter wave radar sensor is used for detecting obstacles in front of a walking route when the vehicle is walking;
the controller comprises an obstacle avoidance module, wherein the obstacle avoidance module divides an obstacle into a fixed object or a moving object according to the detected obstacle data in front, the fixed object is avoided by adopting a walking route modifying mode, and the moving object is avoided by adopting a traveling speed reducing or temporary traveling suspension mode through time sequence position prediction;
for a fixture, a bounding box algorithm may be used to determine the obstacle profile in front, and modify the travel route based on the obstacle profile.
The working principle and beneficial effects of the technical scheme are as follows: according to the scheme, the data collector and the millimeter wave radar sensor are arranged, when the robot travels, obstacles (including temporarily placed objects, persons participating in billiard sports and the like) in front of a travelling route are detected in real time, and the obstacle avoidance module arranged by the controller is matched, so that the intelligent billiard cleaning robot can be prevented from being interfered by the obstacles, and the intelligent billiard cleaning robot can also be prevented from interfering customers (players) to participate in the billiard sports, and equipment damage or personnel injury are avoided;
it will be apparent to those skilled in the art that various modifications and variations can be made to the present invention without departing from the spirit or scope of the invention. Thus, it is intended that the present invention also include such modifications and alterations insofar as they come within the scope of the appended claims or the equivalents thereof.
Claims (7)
1. An unattended intelligent ball table cleaning robot walking device is characterized by comprising a controller, a direction adjusting mechanism and a steering wheel mechanism;
the steering wheel mechanism is arranged at the bottom of the intelligent ball table cleaning robot;
the steering mechanism is used for adjusting the direction of the steering wheel mechanism;
the controller is respectively and electrically connected with the steering mechanism and the steering wheel mechanism, and is used for planning a walking route of the intelligent ball table cleaning robot according to a preset ball table cleaning scheme and combining the position relation of the ball table to be cleaned and the intelligent ball table cleaning robot, and controlling the steering wheel mechanism and the steering mechanism to enable the intelligent ball table cleaning robot to move according to the walking route;
the steering mechanism comprises a second motor and a transmission assembly, and the second motor drives a connecting rod in the steering wheel mechanism to rotate through the transmission assembly; the second motor is electrically connected with the controller;
the transmission assembly comprises a transmission shaft, a first main bevel gear, a second main bevel gear, a first auxiliary bevel gear and a second auxiliary bevel gear;
the second motor is connected with a transmission shaft through a coupler, and the transmission shaft is provided with a first main bevel gear and a second main bevel gear; the coupler is connected with the controller;
two steering wheel mechanisms and two universal wheels are arranged at the bottom of the intelligent ball table cleaning robot, wherein a first slave bevel gear and a second slave bevel gear are respectively fixed at the upper ends of connecting rods in the two steering wheel mechanisms;
the first main bevel gear is meshed with the first auxiliary bevel gear, and the second main bevel gear is meshed with the second auxiliary bevel gear;
the transmission shaft is slidably provided with the first main bevel gear and the second main bevel gear through shaft keys;
the first main bevel gear is provided with a first one-way clutch at the side deviating from the first auxiliary bevel gear, and the second main bevel gear is provided with a second one-way clutch at the side deviating from the second auxiliary bevel gear;
the intelligent ball table cleaning robot comprises a steering wheel mechanism, wherein the steering wheel mechanism is arranged on the bottom of the intelligent ball table cleaning robot, the steering wheel mechanism is connected with a steering wheel, the bottom of the intelligent ball table cleaning robot is provided with a steering wheel mechanism, the steering wheel mechanism is connected with a steering wheel, and the steering wheel mechanism is connected with a steering wheel;
one end of the rotating rod stretches into the fixed rod and the hollow cavity, an inner bevel gear disc is fixed at the other end of the rotating rod, and when the first one-way clutch and the second one-way clutch are electrified, the first main bevel gear and the second main bevel gear can respectively move in the directions of being separated from the first auxiliary bevel gear and the second auxiliary bevel gear, so that the first main bevel gear and the second main bevel gear are respectively meshed with the inner bevel gears of the inner bevel gear discs of the corresponding telescopic rods;
the first one-way clutch and the second one-way clutch are both electrically connected with a controller.
2. The unattended intelligent ball table cleaning robot walker as claimed in claim 1, wherein the steering wheel mechanism comprises a steering wheel frame, a steering wheel, a wheel shaft and a first motor;
the wheel shaft is horizontally arranged on the rudder wheel frame through a bearing, and the rudder wheel is fixed on the wheel shaft;
the first motor is fixed on the rudder wheel frame, and an output shaft of the first motor is in transmission connection with the wheel shaft and is used for driving the wheel shaft and the steering wheel to rotate forwards/backwards;
the steering wheel frame comprises a connecting rod and a connecting plate, wherein the connecting rod and the connecting plate are positioned above the steering wheel, a through hole is formed in the middle of the connecting plate, a sleeve is fixed at the through hole, the connecting rod penetrates through the through hole and the sleeve and is connected with the sleeve through a bearing, and the connecting plate is fixed at the bottom of the intelligent ball table cleaning robot through a bolt;
the first motor is electrically connected with the controller.
3. The unattended intelligent ball table cleaning robot walking apparatus as claimed in claim 2, wherein the wheel axle is provided with a brake, the brake is electrically connected with the controller, and the brake stops the wheel axle from rotating according to the instruction of the controller.
4. The unattended intelligent ball table cleaning robot walker as claimed in claim 1, wherein the controller comprises a positioning module and a route planning module;
the positioning module is configured with a field layout model and a dynamic coordinate system, the field layout model is used for reflecting the field range, the ball table and auxiliary equipment arrangement condition, and the dynamic coordinate system is constructed by taking the intelligent ball table cleaning robot as a coordinate origin and carries out coordinate conversion along with the movement of the intelligent ball table cleaning robot; the positioning module is used for determining the position of the intelligent ball table cleaning robot in the field, and determining coordinate values of the ball table and auxiliary equipment according to the dynamic coordinate system and the ball table and auxiliary equipment arrangement;
the route planning module is used for planning a walking route of the ball table to be cleaned according to the ball table cleaning scheme.
5. The unattended intelligent ball table cleaning robot walker of claim 4 wherein the route planning module comprises a node determination sub-module, a preliminary planning sub-module, and a route optimization sub-module;
the node determining submodule is used for determining the ball table to be cleaned according to the ball table cleaning scheme, and takes the origin of the dynamic coordinate system and coordinate points of the ball tables to be cleaned as nodes;
the preliminary planning submodule is used for enumerating different ordering schemes for each node, and connecting wires according to the ordering sequence of each node in each ordering scheme to form different planning routes; if auxiliary equipment facilities exist on the connecting lines between adjacent nodes in the sequence, determining obstacle detouring points for detouring the auxiliary equipment facilities, and inserting the obstacle detouring points as added nodes between the adjacent nodes in the original sequence;
and the route optimization submodule is used for carrying out travel calculation on each planned route according to the coordinates and selecting the planned route with the shortest travel as the executed walking route.
6. The unattended intelligent ball table cleaning robot walkway assembly as claimed in claim 4, wherein the controller includes a model importation module for importation and updating of a floor layout model.
7. The unattended intelligent ball table cleaning robot walking device according to claim 4, wherein the controller is connected with a data collector, the data collector is connected with a millimeter wave radar sensor, and the millimeter wave radar sensor is used for detecting obstacles in front of a walking route during walking;
the controller comprises an obstacle avoidance module, wherein the obstacle avoidance module divides the obstacle into a fixed object or a moving object according to the detected obstacle data in front, the fixed object is avoided by adopting a walking route modifying mode, and the moving object is avoided by adopting a traveling speed reducing or temporary traveling suspension mode through time sequence position prediction.
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| CN113110441A (en) * | 2021-04-09 | 2021-07-13 | 江苏大学 | Agricultural unmanned vehicle cluster operation method based on ultra wide band |
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| CN105250088A (en) * | 2015-11-17 | 2016-01-20 | 南京康尼机电股份有限公司 | Intelligent seat |
| CN109396138A (en) * | 2018-11-29 | 2019-03-01 | 华东交通大学 | Intelligent ore sweeping robot |
| CN112389561A (en) * | 2019-08-12 | 2021-02-23 | 诸暨市蓝了电子科技有限公司 | Tiltable wheel type foot of multi-foot wheel type robot |
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