CN209615483U - A kind of loading stair climbing robot with target following and automatic obstacle-avoiding - Google Patents
A kind of loading stair climbing robot with target following and automatic obstacle-avoiding Download PDFInfo
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- CN209615483U CN209615483U CN201821756348.3U CN201821756348U CN209615483U CN 209615483 U CN209615483 U CN 209615483U CN 201821756348 U CN201821756348 U CN 201821756348U CN 209615483 U CN209615483 U CN 209615483U
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Abstract
The utility model discloses a kind of loading stair climbing robot with target following and automatic obstacle-avoiding；Including shell, vehicle frame mechanism, wheel leg mechanism and control system；Wherein there is on shell article carrying platform, vehicle frame mechanism includes the first vehicle frame and the second vehicle frame, taking turns leg mechanism includes the first wheel leg group and the second wheel leg group, and control system includes power supply, hardware circuit, driving motor, encoder, single-chip microcontroller, PC machine, cell phone application, 4G communication module, ultrasonic distance sensor, laser radar and camera；Loading stair climbing robot provided by the utility model has automatic obstacle-avoiding, image recognition tracking and cell phone application remote control function, has achieved the effect that efficiently to climb building and steady delivery.
Description
Technical field
The utility model belongs to robotic technology field, is related to a kind of loading stair climbing robot, and in particular to one kind has
The loading stair climbing robot of target following and automatic obstacle-avoiding.
Background technique
Now with the rising of economic level, the increase of people's disposable income allows one to purchase service-delivery machine
People and its service obtain more free times to liberate the simple duplication of labour.
Especially for delivery industry and industry is taken out, the important idea of service is to save the time for people, bring
Convenience in life, for express self-taking point, pickup number is more, and expending can not estimate in the time for being lined up pickup, this is
For Express Logistics last one kilometer problem.Meanwhile supermarket shopping etc. equally produces the need for carrying article in mankind's daily life
It asks.In the case that the weight of cargo is excessive or people is beyond power, an even more problem.Therefore, loading robot is answered
Use logistics distribution, weight carry and the scenes such as the trip that solves the problems, such as handicapped crowd in, before there is development well
Scape.
The merchandising machine people of existing market nearly all only has the ability in flat overground locomotion, does not have the function for climbing building
Can, therefore be restricted very much in practice scene.
Therefore, the maneuverability of robot is improved, can cross the obstacles such as stair becomes the difficulty of robot motion's system design
Point.
Utility model content
The purpose of this utility model be solve robot in the prior art maneuverability it is insufficient, building cannot be climbed and can not
The problem of crossing terraced bank obstacle provides a kind of loading stair climbing robot with target following and automatic obstacle-avoiding.
To realize the utility model aim the technical solution adopted is that such, one kind having target following and keeps away automatically
The loading stair climbing robot of barrier, it is characterised in that: including shell, vehicle frame mechanism, wheel leg mechanism and control system.
The shell has hollow inner cavity, and article carrying platform is arranged.Vehicle frame mechanism is installed in the housing hollow.
The vehicle frame mechanism includes the first vehicle frame and the second vehicle frame.
Second vehicle frame is a rectangle frame.The length direction of the rectangle frame is denoted as X to width direction is denoted as Y
To.X is to the direction for the forward or backward for being stair climbing robot.
First vehicle frame includes the crossbeam and stringer being supported on above the second vehicle frame.The crossbeam and stringer are T-shaped
Connection.The crossbeam is parallel to Y-direction, stringer be parallel to X to.In normally travel, stringer is relative to crossbeam, closer to climbing machine
The direction of advance of device people.
The wheel leg mechanism includes the first wheel leg group and the second wheel leg group.
The first wheel leg group includes two wheel legs I.The wheel leg I includes Retractive leg I and universal wheel.The Retractive leg I
Upper end be fixed on the stringer, lower end is connect with the universal wheel.Two wheel legs I are located along the same line, just
Often when driving, wherein a wheel leg I is relative to another wheel leg I, closer to the direction of advance of stair climbing robot.
The first wheel leg group is relative to the second wheel leg group, closer to the direction of advance of stair climbing robot.
The second wheel leg group includes four wheel legs II.The wheel leg II includes Retractive leg II and driving wheel.It is described flexible
The upper end of leg II is fixed on the second vehicle frame rectangle frame, and lower end is connect with the driving wheel.Four wheel legs II are in square
Shape is distributed in that the second vehicle frame rectangle frame X is upward, and in normally travel, two of them wheel leg II is relative to two other wheel leg
II, closer to the direction of advance of stair climbing robot.
The control system includes power supply, hardware circuit, driving motor, encoder, single-chip microcontroller, PC machine, mobile phone
APP, 4G communication module, ultrasonic distance sensor, laser radar and camera.
The power supply and monolithic mechatronics.The single-chip microcontroller has Beidou positioning module and compass module.Institute
State the position coordinates of Beidou positioning module positioning robot.The direction of travel of compass module feedback robot.The list
Piece machine is installed in the cavity of the shell.The single-chip microcontroller receives the signal from ultrasonic distance sensor and encoder
And signal is handled, control command is generated to hardware circuit according to processing result and then controls driving motor and takes turns the flexible of leg mechanism
Leg.
The PC machine realizes the control command for remotely receiving cell phone application by 4G communication module.The PC machine passes through USB
Realize the serial communication with single-chip microcontroller.The PC machine is installed in the cavity of the shell.The PC machine receives laser radar
Data and by obstacle avoidance algorithm handle, send control signals to single-chip microcontroller and control motor driven robot realize avoidance.Institute
The PC machine stated receives the data of camera and is handled by track algorithm, sends control signals to single-chip microcontroller and controls motor driven
Robot realizes the real-time tracking to people.
The driving motor is mounted on the inside of the driving wheel, driving driving wheel rotation.The driving motor is equipped with
Encoder is to detect motor speed.The driving motor is connect with the hardware circuit.
The ultrasonic distance sensor is mounted on the driving wheel and the universal wheel.The ultrasonic distance passes
Sensor includes the ultrasonic wave module of horizontal direction and the ultrasonic wave module of vertical direction.The ultrasonic wave module of the horizontal direction is surveyed
Horizontal distance of the span from stairway step.The height of the ultrasonic wave module measurement stairway step of the vertical direction simultaneously judges machine
The retracted position of people's wheel leg.
The laser radar is installed on the top surface of the shell.
The camera is installed on the leading flank of the shell.
Further, the shell is plastic housing.The material of the vehicle frame is aluminium alloy.
Further, the driving form of the Retractive leg I and Retractive leg II is electric transmission.
Having the technical effect that for the utility model is unquestionable, and the utility model has the advantage that
1) wheel leg type scheme is used, realization is converted freely under the road conditions on stair and level land, and movement speed is very fast, operation
Building movement is climbed in barycentre steadiness in the process, optimization, and two groups of wheel legs, which alternately move ahead, climbs building, is substantially increased and is climbed building efficiency.
2) machine vision and image processing techniques are utilized, the feature of people is identified, realizes robot automatically with people
The function of walking.
3) robot realizes the function of advance of independently creeping, telescopic rod visual environment and change, can be in different sizes
The function of creeping on stair, environmental suitability are strong.
4) article carrying platform remains horizontal during climbing building and obstacle detouring, is more suitable for steady delivery demand.
5) using the operating status of cell phone application wireless 4G network control robot, it can be achieved that advancing, retreating, turn to and climbing building
Etc. functions, have stronger practicability and operability.
6) it combines image transmission system and cell phone application to pass the video of robot local environment back mobile phone, and then realizes to machine
The real-time control of people.
Detailed description of the invention
Fig. 1 is the schematic three dimensional views of the utility model；
Fig. 2 is the front view of Fig. 1；
Fig. 3 is the rearview of Fig. 1；
Fig. 4 is the left view of Fig. 1；
Fig. 5 is the right view of Fig. 1；
Fig. 6 is the top view of Fig. 1；
Fig. 7 is the bottom view of Fig. 1；
Fig. 8 is vehicle frame mechanism and the schematic three dimensional views for taking turns leg mechanism；
Fig. 9 is the front view of Fig. 8；
Figure 10 is the rearview of Fig. 8；
Figure 11 is the left view of Fig. 8；
Figure 12 is the right view of Fig. 8；
Figure 13 is the top view of Fig. 8；
Figure 14 is the bottom view of Fig. 8；
Figure 15 is control system block diagram.
In figure: shell 1, vehicle frame mechanism 2, the first vehicle frame 21, crossbeam 211, stringer 212, the second vehicle frame 22, wheel leg mechanism 3,
Wheel leg I 31, Retractive leg I 311, universal wheel 312, wheel leg II 32, Retractive leg II 321, driving wheel 332, laser radar 4 and camera
5。
Specific embodiment
Below with reference to embodiment, the utility model is described in further detail, but should not be construed the above-mentioned master of the utility model
Topic range is only limitted to following embodiments.It is common according to this field in the case where not departing from the above-mentioned technical idea of the utility model
Technological know-how and customary means make various replacements and change, should all include within the protection scope of the present utility model.
Embodiment:
As shown in Fig. 1 to Figure 15, a kind of loading stair climbing robot with target following and automatic obstacle-avoiding, feature exists
In: including shell 1, vehicle frame mechanism 2, wheel leg mechanism 3 and control system.
The shell 1 has hollow inner cavity, and article carrying platform is arranged.Vehicle frame mechanism is installed in 1 cavity of shell
2。
The vehicle frame mechanism 2 includes the first vehicle frame 21 and the second vehicle frame 22.
Second vehicle frame 22 is a rectangle frame.The length direction of the rectangle frame is denoted as X to width direction is denoted as Y
To.X is to the direction for the forward or backward for being stair climbing robot.
Crossbeam 211 and stringer 212 of first vehicle frame 21 including being supported on 22 top of the second vehicle frame, i.e., described first
The end of three branches of vehicle frame 21, by upright supports in the top of rectangle frame.The crossbeam 211 and the T-shaped company of stringer 212
It connects.The crossbeam 211 is parallel to Y-direction, stringer 212 be parallel to X to.In normally travel, stringer 212 relative to crossbeam 211,
Closer to the direction of advance of stair climbing robot.
The wheel leg mechanism 3 includes the first wheel leg group and the second wheel leg group.
The first wheel leg group includes two wheel legs I 31.The wheel leg I 31 includes Retractive leg I 311 and universal wheel 312.Institute
The upper end for stating Retractive leg I 311 is fixed on the stringer 212, and lower end is connect with the universal wheel 312.Two wheel legs I
31 are located along the same line, in normally travel, wherein a wheel leg I 31 is relative to another wheel leg I 31, closer to climbing machine
The direction of advance of device people.
The first wheel leg group is relative to the second wheel leg group, closer to the direction of advance of stair climbing robot.
The second wheel leg group includes four wheel legs II 32.The wheel leg II 32 includes Retractive leg II 321 and driving wheel
322.The upper end of the Retractive leg II 321 is fixed on 22 rectangle frame of the second vehicle frame, and lower end and the driving wheel 322 connect
It connects.Four wheel legs II 32 are upward in the 22 rectangle frame X of the second vehicle frame in distributed rectangular, in normally travel, wherein two
Wheel leg II 32 is relative to two other wheel leg II 32, closer to the direction of advance of stair climbing robot.
The control system includes power supply, hardware circuit, driving motor, encoder, single-chip microcontroller, PC machine, mobile phone
APP, 4G communication module, ultrasonic distance sensor, laser radar 4 and camera 5.
The power supply and monolithic mechatronics.In the present embodiment, single-chip microcontroller model STM32 single-chip microcontroller, the list
Beidou positioning module and compass module are connected on piece machine system circuit board.The position of the Beidou positioning module positioning robot
Set coordinate.The direction of travel of compass module feedback robot.The STM32 single-chip microcontroller is installed on the sky of the shell 1
It is intracavitary.The STM32 single-chip microcontroller receive from ultrasonic distance sensor, encoder signal and handle signal, according to place
Result is managed to generate control command to hardware circuit and then control driving motor and take turns the Retractive leg of leg mechanism.
The PC machine realizes that the control command for remotely receiving cell phone application, i.e. cell phone application can pass through by 4G communication module
Motion control or scheme control is selected to send control command.The PC machine realizes the serial ports with STM32 single-chip microcontroller by USB
Communication；The PC machine is installed in the cavity of the shell 1；The PC machine receives the data of laser radar 4 and passes through avoidance
Algorithm process sends control signals to single-chip microcontroller and controls motor driven robot and realizes avoidance；The PC machine receives camera shooting
First 5 data are simultaneously handled by track algorithm, are sent control signals to single-chip microcontroller and are controlled motor driven robot and realize to people
Real-time tracking.
The driving motor is mounted on the inside of the driving wheel 322, and driving driving wheel 322 rotates.The driving motor
Encoder is installed to detect motor speed.The driving motor is connect with the hardware circuit.
The ultrasonic distance sensor is mounted on the driving wheel 322 and the universal wheel 312.The ultrasonic wave
Range sensor includes the ultrasonic wave module of horizontal direction and the ultrasonic wave module of vertical direction.The ultrasonic wave of the horizontal direction
Module measures the horizontal distance apart from stairway step.The height of the ultrasonic wave module measurement stairway step of the vertical direction is simultaneously sentenced
The retracted position of disconnected robot wheel leg.The range information surveyed is fed back to STM32 single-chip microcontroller by ultrasonic distance sensor.
The laser radar 4 is installed on the top surface of the shell 1, and the information scanned is fed back to STM32 single-chip microcontroller.
The camera 5 is installed on the leading flank of the shell 1, and the image data that will acquire is sent to STM32 single-chip microcontroller.
The shell 1 is plastic housing.The material of the vehicle frame 2 is aluminium alloy.
The driving form of the Retractive leg I 311 and Retractive leg II 321 is electric transmission.
Claims (3)
1. a kind of loading stair climbing robot with target following and automatic obstacle-avoiding, it is characterised in that: including shell (1), vehicle frame
Mechanism (2), wheel leg mechanism (3) and control system；
The shell (1) has hollow inner cavity, and article carrying platform is arranged；Vehicle frame mechanism is installed in shell (1) cavity
(2)；
The vehicle frame mechanism (2) includes the first vehicle frame (21) and the second vehicle frame (22)；
Second vehicle frame (22) is a rectangle frame；The length direction of the rectangle frame is denoted as X to width direction is denoted as Y-direction；
X is to the direction for the forward or backward for being stair climbing robot；
First vehicle frame (21) includes the crossbeam (211) and stringer (212) being supported on above the second vehicle frame (22)；The cross
Beam (211) and stringer (212) T-shaped connection；The crossbeam (211) is parallel to Y-direction, stringer (212) be parallel to X to；Normal
When driving, stringer (212) is relative to crossbeam (211), closer to the direction of advance of stair climbing robot；
The wheel leg mechanism (3) includes the first wheel leg group and the second wheel leg group；
The first wheel leg group includes two wheel legs I (31)；The wheel leg I (31) includes Retractive leg I (311) and universal wheel
(312)；The upper end of the Retractive leg I (311) is fixed on the stringer (212), and lower end is connect with the universal wheel (312)；
Two wheel legs I (31) are located along the same line, in normally travel, wherein a wheel leg I (31) is taken turns relative to another
Leg I (31), closer to the direction of advance of stair climbing robot；
The first wheel leg group is relative to the second wheel leg group, closer to the direction of advance of stair climbing robot；
The second wheel leg group includes four wheel legs II (32)；The wheel leg II (32) includes Retractive leg II (321) and driving wheel
(322)；The upper end of the Retractive leg II (321) is fixed on the second vehicle frame (22) rectangle frame, lower end and the driving wheel
(322) it connects；Four wheel legs II (32) are upward in the second vehicle frame (22) rectangle frame X in distributed rectangular, in normal row
When sailing, two of them wheel leg II (32) is relative to two other wheel leg II (32), closer to the direction of advance of stair climbing robot；
The control system includes power supply, hardware circuit, driving motor, encoder, single-chip microcontroller, PC machine, cell phone application, 4G
Communication module, ultrasonic distance sensor, laser radar (4) and camera (5)；
The power supply and monolithic mechatronics；The single-chip microcontroller has Beidou positioning module and compass module；The north
The position coordinates of bucket locating module positioning robot；The direction of travel of compass module feedback robot；The single-chip microcontroller
It is installed in the cavity of the shell (1)；The single-chip microcontroller receives from ultrasonic distance sensor, the signal of encoder
And signal is handled, control command is generated to hardware circuit according to processing result and then controls driving motor and takes turns leg mechanism (3)
Retractive leg；
The PC machine realizes the control command for remotely receiving cell phone application by 4G communication module；The PC machine is realized by USB
With the serial communication of single-chip microcontroller；The PC machine is installed in the cavity of the shell (1)；The PC machine receives laser radar
(4) data are simultaneously handled by obstacle avoidance algorithm, are sent control signals to single-chip microcontroller and are controlled motor driven robot and realize avoidance；
The PC machine receives the data of camera (5) and is handled by track algorithm, sends control signals to single-chip microcontroller and controls electricity
Machine drives robot to realize the real-time tracking to people；
The driving motor is mounted on the inside of the driving wheel (322), driving driving wheel (322) rotation；The driving motor
Encoder is installed to detect motor speed；The driving motor is connect with the hardware circuit；
The ultrasonic distance sensor is mounted on the driving wheel (322) and the universal wheel (312)；The ultrasonic wave
Range sensor includes the ultrasonic wave module of horizontal direction and the ultrasonic wave module of vertical direction；The ultrasonic wave of the horizontal direction
Module measures the horizontal distance apart from stairway step；The height of the ultrasonic wave module measurement stairway step of the vertical direction is simultaneously sentenced
The retracted position of disconnected robot wheel leg；
The laser radar (4) is installed on the top surface of the shell (1)；
The camera (5) is installed on the leading flank of the shell (1).
2. a kind of loading stair climbing robot with target following and automatic obstacle-avoiding according to claim 1, feature exist
In: the shell (1) is plastic housing；The material of the vehicle frame mechanism (2) is aluminium alloy.
3. a kind of loading stair climbing robot with target following and automatic obstacle-avoiding according to claim 1, feature exist
In: the driving form of the Retractive leg I (311) and Retractive leg II (321) is electric transmission.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201821756348.3U CN209615483U (en) | 2018-10-29 | 2018-10-29 | A kind of loading stair climbing robot with target following and automatic obstacle-avoiding |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201821756348.3U CN209615483U (en) | 2018-10-29 | 2018-10-29 | A kind of loading stair climbing robot with target following and automatic obstacle-avoiding |
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| Publication Number | Publication Date |
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| CN209615483U true CN209615483U (en) | 2019-11-12 |
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| CN201821756348.3U Expired - Fee Related CN209615483U (en) | 2018-10-29 | 2018-10-29 | A kind of loading stair climbing robot with target following and automatic obstacle-avoiding |
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Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109434795A (en) * | 2018-10-29 | 2019-03-08 | 华中科技大学 | A kind of loading stair climbing robot with target following and automatic obstacle-avoiding |
| CN112441160A (en) * | 2020-11-06 | 2021-03-05 | 广东嘉腾机器人自动化有限公司 | AGV with unmanned aerial vehicle maintenance function and unmanned aerial vehicle mobile base maintenance method |
| CN115447655A (en) * | 2022-09-21 | 2022-12-09 | 清华大学天津高端装备研究院洛阳先进制造产业研发基地 | Stair climbing shopping cart and stair climbing method thereof |
-
2018
- 2018-10-29 CN CN201821756348.3U patent/CN209615483U/en not_active Expired - Fee Related
Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109434795A (en) * | 2018-10-29 | 2019-03-08 | 华中科技大学 | A kind of loading stair climbing robot with target following and automatic obstacle-avoiding |
| CN112441160A (en) * | 2020-11-06 | 2021-03-05 | 广东嘉腾机器人自动化有限公司 | AGV with unmanned aerial vehicle maintenance function and unmanned aerial vehicle mobile base maintenance method |
| CN112441160B (en) * | 2020-11-06 | 2022-02-22 | 广东嘉腾机器人自动化有限公司 | AGV with unmanned aerial vehicle maintenance function and unmanned aerial vehicle mobile base maintenance method |
| CN115447655A (en) * | 2022-09-21 | 2022-12-09 | 清华大学天津高端装备研究院洛阳先进制造产业研发基地 | Stair climbing shopping cart and stair climbing method thereof |
| CN115447655B (en) * | 2022-09-21 | 2023-11-14 | 清华大学天津高端装备研究院洛阳先进制造产业研发基地 | Shopping cart capable of climbing stairs and stair climbing method thereof |
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Granted publication date: 20191112 |