CN210605475U

CN210605475U - Intelligent obstacle avoidance robot

Info

Publication number: CN210605475U
Application number: CN201922179204.7U
Authority: CN
Inventors: 李茂松; 李志海; 邹金秋
Original assignee: Institute of Agricultural Resources and Regional Planning of CAAS
Current assignee: Institute of Agricultural Resources and Regional Planning of CAAS
Priority date: 2019-12-05
Filing date: 2019-12-05
Publication date: 2020-05-22
Anticipated expiration: 2029-12-05

Abstract

The utility model relates to the technical field of crop growth monitoring equipment, in particular to an intelligent obstacle avoidance robot, which comprises a moving mechanism, a machine body and a telescopic supporting arm, wherein the machine body is arranged between the moving mechanism and the supporting arm, and the supporting arm is rotatably connected with the machine body through a rotating mechanism; the machine body and/or the supporting arm are/is provided with a detection assembly for detecting the information of surrounding obstacles, the machine body is also provided with a control system capable of controlling the movement of the moving mechanism, and the detection assembly is connected with the control system. Through above-mentioned technical scheme, the barrier robot is kept away to intelligence that this disclosure provided can in time avoid the barrier.

Description

Intelligent obstacle avoidance robot

Technical Field

The utility model relates to a crops growth monitoring facilities technical field specifically, relates to an obstacle robot is kept away to intelligence.

Background

With the improvement of living standard, the demand of crops (such as corn and rice) is more and more. For this reason, many growers choose to grow crops in a wide area to facilitate scientific management of the crops, thereby increasing yield.

At present, many growers manually monitor the growth environment and growth condition of crops to loosen soil, fertilize, irrigate and the like to the crops according to actual conditions. However, manual inspection is labor-intensive, and subjective deviation exists in the monitoring result. In order to ensure the accuracy and timeliness of monitoring results, part of growers choose to put growth environment monitoring robots in the planting area and detect the growth environment and growth conditions of plants in time. In the monitoring process, the growing environment monitoring robot can walk according to a preset road track, however, the planting area environment is complex, terrains such as ramps and curves exist, and workers can work on the road, so that the growing environment monitoring robot is extremely easy to collide with operating personnel, or fall down on the ramps, normal monitoring work is influenced, and great potential safety hazards exist.

SUMMERY OF THE UTILITY MODEL

The utility model aims at providing an obstacle robot is kept away to intelligence to and avoid the barrier in time.

In order to achieve the purpose, the utility model provides an intelligent obstacle avoidance robot, which comprises a moving mechanism, a machine body and a telescopic supporting arm, wherein the machine body is arranged between the moving mechanism and the supporting arm, and the supporting arm is rotatably connected with the machine body through a rotating mechanism; the machine body and/or the supporting arm are/is provided with a detection assembly for detecting the information of surrounding obstacles, the machine body is also provided with a control system capable of controlling the movement of the moving mechanism, and the detection assembly is connected with the control system; the detection assembly comprises an ultrasonic radar and an infrared radar.

Optionally, the number of the ultrasonic radars is two, one of the ultrasonic radars is arranged on the front side of the machine body, the other ultrasonic radar is arranged on the back side of the machine body, and the infrared radar is arranged on the front side of the machine body.

Optionally, the ultrasonic radars are respectively disposed on opposite corners of the body that are not adjacent to each other, and the infrared radar is located at a center of the front surface.

Optionally, the ultrasonic radar is connected with the body through a bracket, and the height of the ultrasonic radar arranged on the front surface is smaller than that of the ultrasonic radar arranged on the back surface.

Optionally, the number of the ultrasonic radars is four, one of the ultrasonic radars is arranged on the supporting arm, and the other three ultrasonic radars are respectively arranged on the machine body; the infrared radar is arranged on the machine body.

Optionally, the rotating mechanism comprises a flange plate and a motor, the flange plate is arranged on the machine body, the motor is arranged between the flange plate and the supporting arm, and the output end of the motor is connected with the supporting arm.

Optionally, the moving mechanism is provided with a baffle plate at the periphery.

The utility model provides a method for dodging the barrier is used for the aforesaid intelligence keep away barrier robot, including following step:

s1, acquiring the moving speed and the turning radius of the moving mechanism, and judging the transverse position information and the longitudinal position information of the intelligent obstacle avoidance robot;

s2, acquiring obstacle information around the intelligent obstacle avoidance robot by using the detection assembly;

s3, the control system analyzes the distance information of the intelligent obstacle avoidance robot relative to the obstacle according to the obstacle information detected by the detection assembly, and calculates the collision time and the collision position of the intelligent obstacle avoidance robot and the obstacle;

s4, calculating the avoidance time of the intelligent obstacle avoidance robot according to the collision time and the collision position;

and S5, the control system corrects the moving route of the moving mechanism to avoid the obstacle.

Optionally, in step S5, the manner of modifying the moving mechanism by the control system includes one or more of the following operations: stopping moving, reversely moving, adjusting speed and turning radius.

Compared with the prior art, the beneficial effects of the utility model reside in that:

1. the detection assembly capable of detecting the information of surrounding obstacles is arranged, the monitored environment information can be fed back to the control system, and the control system controls the moving state of the moving mechanism (such as stopping moving, moving reversely, adjusting speed and turning radius), so that the obstacles are avoided in time, and the potential safety hazard of the intelligent obstacle avoidance robot in moving is reduced.

2. Through setting up in the front of organism with ultrasonic radar, a setting can enough survey barrier distance and corresponding information in the place ahead at the back of organism, can survey the barrier distance in rear again to improve the timeliness and the accuracy of detection result, with effectively dodging the barrier, guarantee that intelligence keeps away the security of barrier robot at the in-process of traveling.

3. Owing to be equipped with four ultrasonic radar, and with one of them setting on the support arm, the other three sets up respectively on the organism, like this, ultrasonic radar and the infrared radar of setting on the organism can discern the barrier around the organism, and the infrared radar of setting on the support arm can be located the high department and discern the barrier more far away, can all-roundly keep away the barrier around the barrier robot and discern from this, improved detection range and detection result's accuracy.

4. The baffle can be arranged at the periphery of the moving mechanism, so that weeds or mud can be prevented from clamping the moving mechanism of the intelligent obstacle avoidance robot, the smoothness of the intelligent obstacle avoidance robot in the moving process is guaranteed, and the service life is guaranteed.

Other features and advantages of the present invention will be described in detail in the detailed description which follows.

Drawings

The accompanying drawings, which are included to provide a further understanding of the invention and are incorporated in and constitute a part of this specification, illustrate embodiments of the invention and together with the description serve to explain the principles of the invention and not to limit the invention. In the drawings:

fig. 1 is a schematic perspective view of an intelligent obstacle avoidance robot according to an embodiment of the present disclosure;

fig. 2 is a schematic perspective view of an intelligent obstacle avoidance robot according to another embodiment of the present disclosure;

fig. 3 is a block flow diagram of a method for avoiding an obstacle according to an embodiment of the present disclosure.

Description of the reference numerals

1-moving mechanism, 2-machine body, 3-supporting arm, 4-rotating mechanism, 41-flange plate, 42-motor, 5-detecting component, 51-ultrasonic radar, 52-infrared radar, 6-bracket and 7-baffle.

Detailed Description

The present invention will be further described with reference to the accompanying drawings and specific embodiments. It should be noted that the description of the embodiments is provided to help understanding of the present invention, but the present invention is not limited thereto. Specific structural and functional details disclosed herein are merely illustrative of example embodiments of the invention. The present invention may, however, be embodied in many alternate forms and should not be construed as limited to the embodiments set forth herein.

It should be understood that the terms first, second, etc. are used merely for distinguishing between descriptions and are not intended to indicate or imply relative importance. Although the terms first, second, etc. may be used herein to describe various elements, these elements should not be limited by these terms. These terms are only used to distinguish one element from another. For example, a first element could be termed a second element, and, similarly, a second element could be termed a first element, without departing from the scope of example embodiments of the present invention.

It should be understood that the term "and/or" herein is merely one type of association relationship that describes an associated object, meaning that three relationships may exist, e.g., a and/or B may mean: a exists alone, B exists alone, and A and B exist at the same time, and the term "/and" is used herein to describe another association object relationship, which means that two relationships may exist, for example, A/and B, may mean: a alone, and both a and B alone, and further, the character "/" in this document generally means that the former and latter associated objects are in an "or" relationship.

It should be understood that in the description of the present invention, the terms "upper", "vertical", "inner", "outer", and the like, refer to the orientation or positional relationship that is conventionally used to place the product of the present invention, or that is conventionally understood by those skilled in the art, and are used merely to facilitate the description of the present invention and to simplify the description, and do not indicate or imply that the device or element so referred to must have a particular orientation, be constructed and operated in a particular orientation, and are not to be considered as limiting the present invention.

It will be understood that when an element is referred to as being "connected," "connected," or "coupled" to another element, it can be directly connected or coupled to the other element or intervening elements may be present. In contrast, when an element is referred to as being "directly adjacent" or "directly coupled" to another element, there are no intervening elements present. Other words used to describe the relationship between elements should be interpreted in a similar manner (e.g., "between … …" versus "directly between … …", "adjacent" versus "directly adjacent", etc.).

In the description of the present invention, it should also be noted that, unless otherwise explicitly specified or limited, the terms "disposed," "mounted," and "connected" are to be construed broadly, e.g., as meaning fixedly connected, detachably connected, or integrally connected; can be mechanically or electrically connected; they may be connected directly or indirectly through intervening media, or they may be interconnected between two elements. The specific meaning of the above terms in the present invention can be understood in specific cases to those skilled in the art.

The terminology used herein is for the purpose of describing particular embodiments only and is not intended to be limiting of example embodiments of the invention. As used herein, the singular forms "a", "an" and "the" are intended to include the plural forms as well, unless the context clearly indicates otherwise. It will be further understood that the terms "comprises," "comprising," "includes," and/or "including," when used herein, specify the presence of stated features, integers, steps, operations, elements, and/or components, but do not preclude the presence or addition of one or more other features, numbers, steps, operations, elements, components, and/or groups thereof.

Example 1

According to the specific embodiment of the present disclosure, an intelligent obstacle avoidance robot is provided, as shown in fig. 1 and fig. 2, the obstacle avoidance robot includes a moving mechanism 1, a machine body 2 and a telescopic support arm 3, the machine body 2 is disposed between the moving mechanism 1 and the support arm 3, and the support arm 3 is rotatably connected to the machine body 2 through a rotating mechanism 4; the machine body 2 and/or the supporting arm 3 are/is provided with a detection assembly 5 for detecting the information of surrounding obstacles, the machine body 2 is also provided with a control system capable of controlling the movement of the moving mechanism 1, and the detection assembly 5 is connected with the control system. The detection assembly 5 may include an ultrasonic radar 51 and an infrared radar 52. The detection range of the ultrasonic radar 51 is large, the distance information of surrounding obstacles can be accurately judged, the infrared radar 52 can accurately identify the distance and the type of the obstacles, and the distance and the type of the obstacles can be accurately analyzed through the matching of the ultrasonic radar 51 and the infrared radar 52, so that corresponding avoidance actions can be made. It should be noted that, in the present disclosure, both the ultrasonic radar 51 and the infrared radar 52 are non-directional radars, so as to perform all-directional recognition on the environment around the intelligent obstacle avoidance robot, and thus accurately perform an avoidance operation according to the collected information.

Through the technical scheme, the detection assembly 5 capable of detecting the information of surrounding obstacles is arranged on the intelligent obstacle avoidance robot, so that the monitored environment information can be fed back to the control system, and the control system controls the moving state (such as stopping moving, moving in the reverse direction, adjusting the speed and adjusting the turning radius) of the moving mechanism 1, so that the obstacles are avoided in time, and the potential safety hazard of the intelligent obstacle avoidance robot in moving is reduced.

Because the supporting arm 3 can be extended and retracted and can rotate, obstacles on the road can be avoided through extension and/or rotation in the moving process, and the flexibility is good.

In the present disclosure, the control system may be configured in any suitable manner. Alternatively, the control system can comprise a controller, and further, a Mitsubishi Q series PLC programmable controller is selected as the controller. The controller is connected to the detection assembly 5. As a control center, the PLC may be connected to the detection component 5 by a wire through a signal cable, and may also use various wireless transmission protocols known in the art, such as GPRS and bluetooth, to implement signal transmission, which is not described in detail in this disclosure.

As shown in fig. 1 and fig. 2, the detecting component 5 may be disposed on the machine body 2, or disposed on the supporting arm 3, or both of them may be disposed with the detecting component 5, which is not limited in this disclosure.

On the basis, a displacement sensor can be additionally arranged to judge the moving speed of the obstacle. Therefore, the control system can control the moving mechanism 1 to make corresponding actions according to the collected information, so that the obstacle can be accurately avoided. As an option, the present disclosure selects a laser displacement sensor of type HG-C1200.

In one embodiment of the present disclosure, as shown in fig. 1 and 2, the number of the ultrasonic radars 51 may be two, wherein one ultrasonic radar 51 is disposed on the front surface of the body 2, the other ultrasonic radar 51 is disposed on the back surface of the body 2, and the infrared radar 52 is disposed on the front surface of the body 2. Therefore, the distance and the size of the front obstacle can be accurately identified according to the position difference of the two ultrasonic radars 51, prejudgment is made according to the current moving state of the moving mechanism 1, corresponding avoidance actions are made, the timeliness and the accuracy of obstacle avoidance are improved, and the safety of the intelligent obstacle avoidance robot in the driving process is further ensured.

It should be noted that the "front" and "rear" mentioned herein refer to two opposite surfaces of the body 2. Specifically, the front surface of the machine body 2 in front of the intelligent obstacle avoidance robot on the moving route may be a front surface, and the surface of the machine body 2 opposite to the front surface may be a back surface, specifically, refer to the drawing direction of fig. 1.

As shown in fig. 1, the ultrasonic radars 51 are respectively disposed on the opposite corners of the body 2 that are not adjacent to each other, so that the monitoring range of the ultrasonic radars 51 can be increased and the obstacle can be accurately avoided at all times. The infrared radar 52 is located at the center of the front surface so as to accurately recognize information of an obstacle in front and avoid the obstacle at the same time.

As shown in fig. 1, the ultrasonic radar 51 is connected to the body 2 through a bracket 6, and the height of the ultrasonic radar 51 disposed on the front surface is smaller than the height of the ultrasonic radar 51 disposed on the rear surface. In this way, the detection range of the ultrasonic radar 51 on the back surface can be increased, and the information on the obstacle behind can be transmitted to the control system.

In another embodiment, the number of the ultrasonic radars 51 may be four, one of which is disposed on the supporting arm 3, and the other three are disposed on the body 2; the infrared radar 52 is provided on the body 2. Like this, ultrasonic radar 51 and infrared radar 52 of setting on organism 2 can discern the barrier around organism 2, and the infrared radar 52 of setting on support arm 3 can be located the high department and discern the barrier to more distant place, can all-roundly discern the barrier around the barrier robot is kept away to intelligence from this, has improved detection range and detection result's accuracy.

In other specific embodiments, the ultrasonic radar 51 and the infrared radar 52 may be configured in any suitable number, such as 3, 5, 7, etc., which may be determined according to practical requirements, and the present disclosure does not limit this.

In particular embodiments of the present disclosure, the rotation mechanism 4 may be configured in any suitable manner.

Alternatively, as shown in fig. 1 and 2, the rotating mechanism 4 may include a flange 41 and a motor 42, the flange 41 is disposed on the machine body 2, the motor 42 is disposed between the flange 41 and the support arm 3, and an output end of the motor 42 is connected to the support arm 3. In this way, the rotational direction of the support arm 3 can be changed by the forward rotation and the reverse rotation of the motor 42. In addition, a speed reducer can be additionally arranged on the basis, and the speed reducer is not limited by the disclosure.

As another option, the rotating mechanism 4 may be a gear (or a rack and pinion, a worm and worm gear) engaged with each other, and includes a driving wheel and a driven wheel, the driven wheel is rotatably connected with the machine body 2 through a connecting shaft, the supporting arm 3 is fixedly disposed on the driven wheel, and the driving wheel is connected with an output shaft of the motor 42, so that the driven wheel is driven by the motor 42 to rotate, thereby realizing the rotation of the supporting arm 3.

Because the planting area weeds of crops, mire are more, for avoiding weeds or mire to carry intelligent moving mechanism 1 of keeping away barrier robot, influence its normal operation, moving mechanism 1's periphery can be equipped with baffle 7 to guarantee that intelligence keeps away the smooth and easy nature of barrier robot at the removal in-process, and guarantee its life.

Example 2

s1, acquiring the moving speed and the turning radius of the moving mechanism 1, and judging the transverse position information and the longitudinal position information of the intelligent obstacle avoidance robot;

s2, acquiring obstacle information around the intelligent obstacle avoidance robot by using the detection assembly 5;

s3, the control system analyzes the distance information of the intelligent obstacle avoidance robot relative to the obstacle according to the obstacle information detected by the detection assembly 5, and calculates the collision time and the collision position of the intelligent obstacle avoidance robot and the obstacle;

s5, the control system corrects the moving path of the moving mechanism 1 to avoid the obstacle.

In step S5, the manner of modifying the moving mechanism 1 by the control system includes one or more of the following operations: stopping moving, reversely moving, adjusting speed and turning radius. Of course, the control system may modify the moving mechanism 1 to avoid the obstacle through any other suitable operation, which is not limited by this disclosure.

The preferred embodiments of the present invention have been described in detail with reference to the accompanying drawings, however, the present invention is not limited to the details of the above embodiments, and the technical concept of the present invention can be within the scope of the present invention to perform various simple modifications to the technical solution of the present invention, and these simple modifications all belong to the protection scope of the present invention.

It should be noted that the various features described in the above embodiments may be combined in any suitable manner without departing from the scope of the invention. In order to avoid unnecessary repetition, the present invention does not separately describe various possible combinations.

In addition, various embodiments of the present invention can be combined arbitrarily, and the disclosed content should be regarded as the present invention as long as it does not violate the idea of the present invention.

Claims

1. The utility model provides an obstacle robot is kept away to intelligence for plant species plants the region, its characterized in that: the device comprises a moving mechanism (1), a machine body (2) and a telescopic supporting arm (3), wherein the machine body (2) is arranged between the moving mechanism (1) and the supporting arm (3), and the supporting arm (3) is rotatably connected with the machine body (2) through a rotating mechanism (4); the machine body (2) and/or the supporting arm (3) are/is provided with a detection assembly (5) for detecting the information of surrounding obstacles, the machine body (2) is also provided with a control system capable of controlling the movement of the moving mechanism (1), and the detection assembly (5) is connected with the control system; the detection assembly (5) comprises an ultrasonic radar (51) and an infrared radar (52).

2. The intelligent obstacle avoidance robot of claim 1, wherein: the number of the ultrasonic radars (51) is two, one ultrasonic radar (51) is arranged on the front surface of the machine body (2), the other ultrasonic radar (51) is arranged on the back surface of the machine body (2), and the infrared radar (52) is arranged on the front surface of the machine body (2).

3. The intelligent obstacle avoidance robot of claim 2, wherein: the ultrasonic radar (51) is respectively arranged on the opposite angles which are not adjacent on the machine body (2), and the infrared radar (52) is positioned in the center of the front surface.

4. The intelligent obstacle avoidance robot of claim 2, wherein: the ultrasonic radar (51) is connected with the machine body (2) through a support (6), and the height of the ultrasonic radar (51) arranged on the front surface is smaller than that of the ultrasonic radar (51) arranged on the back surface.

5. The intelligent obstacle avoidance robot of claim 1, wherein: the number of the ultrasonic radars (51) is four, one of the ultrasonic radars is arranged on the supporting arm (3), and the other three ultrasonic radars are respectively arranged on the machine body (2); the infrared radar (52) is arranged on the machine body (2).

6. The intelligent obstacle avoidance robot of claim 1, wherein: the rotating mechanism (4) comprises a flange plate (41) and a motor (42), the flange plate (41) is arranged on the machine body (2), the motor (42) is arranged between the flange plate (41) and the supporting arm (3), and the output end of the motor (42) is connected with the supporting arm (3).

7. The intelligent obstacle avoidance robot of claim 1, wherein: and a baffle (7) is arranged on the periphery of the moving mechanism (1).