CN210895126U

CN210895126U - Autonomous robot

Info

Publication number: CN210895126U
Application number: CN201922340792.8U
Authority: CN
Inventors: 杨勇; 吴泽晓; 郑志帆; 罗志佳
Original assignee: Shenzhen 3irobotix Co Ltd
Current assignee: Shenzhen 3irobotix Co Ltd
Priority date: 2019-12-20
Filing date: 2019-12-20
Publication date: 2020-06-30
Anticipated expiration: 2029-12-20

Abstract

The utility model discloses an it has obstacle-crossing height to state autonomous robot, autonomous robot includes: a robot main body, a driving structure, an obstacle sensor, and a control device; the driving structure is connected with the robot main body and is used for bearing and driving the robot main body to move on the ground; the obstacle sensor is mounted on the front surface of the robot main body, and is provided with a view field, and the distance between the view field and the ground at an effective measuring distance is the obstacle crossing height; the control device is electrically connected with the driving structure and the obstacle sensor so as to control the driving structure to drive the robot main body to move according to a detection signal of the obstacle sensor. The utility model discloses technical scheme is intelligent degree high to the barrier response from the main robot, has the effect of protection from the main robot.

Description

Autonomous robot

Technical Field

The utility model relates to a robot field, in particular to autonomic robot.

Background

The use of robots in people's daily life is more and more common, especially the autonomous robot that degree of intellectuality is high, for example sweep floor the robot and sort robot etc. robot that moves on ground. Due to the scenes in daily life, the ground conditions are complex, various obstacles with different heights exist, the response operation of the existing autonomous robot moving on the ground to the obstacles is not intelligent enough, for example, a sweeping robot confirms the obstacles in a collision mode and then selects to avoid the obstacles.

SUMMERY OF THE UTILITY MODEL

The utility model aims at providing an autonomic robot aims at promoting the intelligent degree of autonomic robot to the barrier response, has the effect of protection autonomic robot.

In order to achieve the above object, the utility model provides an autonomous robot, autonomous robot has obstacle-crossing height, autonomous robot includes:

a robot main body;

the driving structure is connected with the robot main body and used for bearing and driving the robot main body to move on the ground; and the number of the first and second groups,

an obstacle sensor mounted to a front surface of the robot main body, the obstacle sensor having a field of view at a distance from a ground surface at an effective measurement distance as the obstacle crossing height; and the number of the first and second groups,

and the control device is electrically connected with the driving structure and the obstacle sensor so as to control the driving structure to drive the robot main body to move according to the detection signal of the obstacle sensor.

Optionally, the obstacle crossing height is 1 cm-3 cm.

Optionally, the obstacle sensor comprises a photosensor.

Optionally, the photoelectric sensor comprises a laser sensor, and the field angle of the laser sensor is 12-20 °.

Optionally, the effective measurement distance of the laser sensor is 7 cm-15 cm.

Optionally, the installation height of the laser sensor is 1.74 cm-5.65 cm, and the installation height is the height of the laser sensor relative to a horizontal plane when the autonomous robot is naturally placed on the horizontal plane.

Optionally, the autonomous robot is provided with 2 ~ 70 laser sensor, laser sensor follows robot main part circumference interval sets up.

Optionally, the autonomous robot is provided with 8-12 laser sensors.

Optionally, the robot main body is in a shape of a disk, and both ends of the front surface are provided with the laser sensors.

Optionally, the measurement areas of any two adjacent laser sensors at the effective measurement distance are adjacent or have an overlapping portion.

Optionally, the autonomous robot is a sweeping robot.

The utility model discloses technical scheme adopts the barrier that barrier sensor launched does at the distance of effective measurement distance department with ground obstacle crossing height, specifically, the barrier that barrier sensor launched has a measuring area, this measuring area distance in effective measurement distance department the height on ground for obstacle crossing height. When the obstacle sensor detects an obstacle, the height of the obstacle is larger than the obstacle crossing height, and the control device drives the robot main body to carry out obstacle avoidance operation according to the control of the driving structure, so that the autonomous robot is prevented from colliding with the obstacle, and the autonomous robot is protected. When the obstacle sensor does not detect the obstacle, the fact that no obstacle exists below the measuring area is indicated, or the height of the obstacle below the measuring area is smaller than the obstacle crossing height is indicated, at the moment, the control device controls the driving structure to drive the robot main body to move continuously to finish work continuously, and the intelligent robot has the advantage of being high in intelligent degree.

Drawings

In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings needed to be used in the description of the embodiments or the prior art will be briefly described below, it is obvious that the drawings in the following description are only some embodiments of the present invention, and for those skilled in the art, other drawings can be obtained according to the structures shown in the drawings without creative efforts.

Fig. 1 is an axial view of an autonomous robot according to an embodiment of the present invention;

FIG. 2 is a schematic diagram of the obstacle detection principle of the autonomous robot of FIG. 1;

fig. 3 is a schematic view of the obstacle detection principle of another embodiment of the autonomous robot of the present invention;

fig. 4 is a schematic diagram illustrating the obstacle detection principle according to still another embodiment of the autonomous robot of the present invention.

The reference numbers illustrate:

reference numerals	Name (R)	Reference numerals	Name (R)
				100	Robot main body	110	Front surface
200	Driving structure	300	Obstacle sensor
				310	Measuring area

The objects, features and advantages of the present invention will be further described with reference to the accompanying drawings.

Detailed Description

The technical solutions in the embodiments of the present invention will be described clearly and completely with reference to the accompanying drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only some embodiments of the present invention, not all embodiments. Based on the embodiments in the present invention, all other embodiments obtained by a person skilled in the art without creative efforts belong to the protection scope of the present invention.

It should be noted that, if directional indications (such as upper, lower, left, right, front and rear … …) are involved in the embodiment of the present invention, the directional indications are only used to explain the relative position relationship between the components, the motion situation, etc. in a specific posture (as shown in the drawings), and if the specific posture is changed, the directional indications are changed accordingly.

In addition, if there is a description relating to "first", "second", etc. in the embodiments of the present invention, the description of "first", "second", etc. is for descriptive purposes only and is not to be construed as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include at least one such feature. In addition, if appearing throughout the text, "and/or" is meant to include three juxtaposed aspects, taking "A and/or B" as an example, including either the A aspect, or the B aspect, or both A and B satisfied aspects. In addition, the technical solutions in the embodiments may be combined with each other, but it must be based on the realization of those skilled in the art, and when the technical solutions are contradictory or cannot be realized, the combination of the technical solutions should not be considered to exist, and is not within the protection scope of the present invention.

The utility model provides an autonomic robot.

It should be noted that, the autonomous robot described in this embodiment is a sweeping robot, as shown in fig. 1 and fig. 2, the sweeping robot is an autonomous robot for cleaning the ground sanitation, and has the characteristics of high degree of autonomy and convenience in use. Of course, the autonomous robot is not limited to the sweeping robot, and in other embodiments, the autonomous robot is an automatic sorting robot, and the automatic sorting robot can move on the ground to carry the object to the target place.

Further, in the embodiment of the present invention, as shown in fig. 1 and fig. 2, the autonomous robot has an obstacle crossing height h, and the autonomous robot includes: a robot main body 100, a driving structure 200, an obstacle sensor 300, and a control device; the driving structure 200 is connected to the robot main body 100, and the driving structure 200 is used for bearing and driving the robot main body 100 to move on the ground; the obstacle sensor 300 is mounted on the front surface 110 of the robot main body 100, the obstacle sensor 300 has a field of view, and the distance between the field of view and the ground at an effective measurement distance L is the obstacle crossing height h; the control device is electrically connected to the driving structure 200 and the obstacle sensor to control the driving structure 200 to drive the robot main body 100 to move according to a detection signal of the obstacle sensor 300. The floor sweeping robot is generally used in a home or an office, a carpet or a floor mat is laid in many homes or office, the carpet or the floor mat is also an environment needing to be swept, and the robot needs certain obstacle crossing capability in order to climb up the carpet or the floor mat from the ground.

The autonomous robot of this embodiment has an obstacle crossing capability, so that the autonomous robot can cross an obstacle with a height that is the obstacle crossing height h of this embodiment, that is, when the height of the obstacle exceeds the obstacle crossing height h, the autonomous robot cannot pass through the obstacle, and when the height of the obstacle is lower than or equal to the obstacle crossing height h, the autonomous robot can continue to move over the obstacle. As shown in fig. 1, in the present embodiment, the obstacle sensor 300 is mounted on the front surface 110 of the robot main body 100, specifically, the front surface 110 of the robot main body 100 is provided with a mounting structure, the obstacle sensor 300 is connected to the mounting structure, for example, the front surface 110 of the robot main body 100 is provided with a mounting hole, and the obstacle sensor 300 is disposed in the mounting hole; it may also mean that the obstacle sensor 300 is directly connected to the housing of the robot main body 100.

Further, in this embodiment, the obstacle sensor 300 may be implemented by a photoelectric sensor, and the photoelectric sensor has the characteristics of fast and quick measurement response and low cost.

Further, the photoelectric sensor is preferably a laser sensor to improve detection accuracy. The infrared type sensor has a disadvantage of being too sensitive to black and white colors, that is, if the surface of the obstacle belt has a partial white color, the infrared type sensor is liable to misjudge that there is no obstacle in front. The embodiment adopts the laser sensor, has the characteristic of low sensitivity of black and white two-color colors, can effectively reduce the interference of the black and white two colors on detection, and simultaneously, the laser sensor has the characteristic of high detection precision. Of course, the obstacle sensor 300 in this embodiment is not limited to a laser sensor, and in other embodiments, the obstacle sensor may be an infrared sensor; it is also possible that the obstacle sensor is a camera module or the like.

The utility model discloses technical scheme adopts laser that laser sensor launched does at the distance of effective measurement distance L department with ground obstacle-crossing height h, specifically, laser that laser sensor launched has a measurement area region 310 in effective measurement distance L department, this measurement area region 310 distance highly for obstacle-crossing height h on ground. When the laser sensor detects an obstacle, it indicates that the height of the obstacle is greater than the obstacle crossing height h, and at this time, the control device drives the robot main body 100 to perform obstacle avoidance operation according to control of the driving structure 200, so as to prevent the autonomous robot from colliding with the obstacle, and protect the autonomous robot. When the laser sensor does not detect an obstacle, it is indicated that no obstacle is located below the measurement area 310, or the height of the obstacle below the measurement area 310 is smaller than the obstacle crossing height h, and at this time, the control device controls the driving structure 200 to drive the robot main body 100 to move continuously to continuously complete the sweeping work, so that the intelligent robot has the characteristic of high intelligent degree. Specifically, the obstacle avoidance operation may be to control the robot main body 100 to decelerate, and stop at a first preset distance from the obstacle, so as to avoid collision between the robot main body 100 and the obstacle; alternatively, the robot main body 100 may be controlled to turn; and controlling the robot to back up and the like.

Further, in this embodiment, as shown in fig. 2, the obstacle crossing height h is 1cm to 3cm, specifically, the obstacle crossing height h may be 2cm, or 1cm, or 3cm, and the like, when the obstacle crossing height h is 2cm, the height of the measurement area 310 at the effective distance of the laser sensor from the ground is 2cm, so when the effective distance in front of the laser sensor is an obstacle with a height greater than 2cm, the obstacle is at least partially located in the monitoring area, the laser sensor detects the obstacle, and when the height of the obstacle is less than 2cm, the laser sensor cannot detect the information of the obstacle, that is, when the laser sensor does not detect the obstacle, the obstacle crossing height h is less than 2cm or no obstacle, the obstacle crossing height h is 1cm to 2cm, the movement of crossing the ground, the robot moves up and the like, which meets the requirement of the robot sweeping room, the requirement, the cleaning capability of the robot is improved, and the detection accuracy of the laser sensor is improved when the laser sensor detects the obstacle crossing angle of the laser sensor is a high angle of the laser sensor 3612, the laser sensor is a high angle of the laser sensor 3615 ° reflected light angle of the laser sensor, the laser sensor which is required detection range of the laser sensor, the laser sensor which is required to detect the laser angle of the laser sensor, and the laser angle of the detection unit 3618 angle of the detection unit which is required detection of the detection unit 3618, the laser sensor, the detection of the laser sensor, the detection unit 3620 which is required detection of the laser sensor, the detection of.

Further, in the present embodiment, as shown in fig. 2, the effective measurement distance L of the laser sensor is 7cm to 15 cm. Specifically, the effective measurement distance L of the laser sensor described in this embodiment may be 10cm, or 12cm, or 15cm, or 7cm, or the like. When the effective measurement distance L of the laser sensor is too small, the reaction time from the detection of the obstacle by the moving autonomous robot to the collision with the obstacle is too short, so that the autonomous robot is easy to have no time to perform corresponding obstacle avoidance actions. When the effective measurement distance L of the laser sensor is too long, the energy density of the laser sensor is easily reduced, and the detection accuracy of the laser sensor is reduced. The embodiment sets the effective measurement distance L of the laser sensor to be 7 cm-15 cm, has high detection precision of the laser sensor, and leaves enough reaction time for the autonomous robot, thereby being convenient for making obstacle avoidance actions.

In the present embodiment, as shown in fig. 2, the installation height H of the laser sensor is 1.74cm to 5.65cm, and the installation height H is the height of the laser sensor relative to a horizontal plane when the autonomous robot is naturally placed on the horizontal plane, it should be noted that the installation height H of the laser sensor is to match the effective measurement distance L and the view angle α, so as to achieve that the height of the measurement area 310 of the laser sensor at the effective measurement distance L is located on the ground is an obstacle crossing height H, specifically, the installation direction of the laser sensor in the present embodiment is parallel or approximately parallel to the horizontal plane, the installation height H of the laser sensor is H + L · tan (α/2), as a matter of course, the installation direction of the laser sensor in the present embodiment is not limited to the above technical solution, in other embodiments, the laser sensor may be downward inclined as shown in fig. 3, the installation height H + L · tan + 56 of the laser sensor is β, and the installation height H + L · tan + 34 is equal to γ + 34 — 5.5.5.5.5.5.5.5.5.5.5.5.5.5.5.5.5.5.5.5.5.5.5.5.5.5.5.5.5.5.5.5.5.5.19.5.5.5.5.5.5.5.5.5.5.5.5.5.5.

Further, in this embodiment, the autonomous robot is provided with 2 ~ 70 laser sensor, laser sensor follows robot main part 100 circumference interval sets up. A plurality of laser sensor follows the 100 circumference of robot main part distribute make the information that laser sensor obtained more comprehensive, be favorable to reducing the field of vision blind area of autonomic robot, reduce the probability that autonomic robot and barrier bump or avoid bumping with the barrier. However, considering that the cost of the laser sensor and the installation space of the front surface 110 of the autonomous robot are limited, and it is not suitable to use too many laser sensors, the embodiment controls the laser sensors on the autonomous robot to be 2-70, and has the characteristics of convenient installation and relatively proper price.

Furthermore, in the present embodiment, as shown in fig. 1, the autonomous robot is provided with 8 to 12 laser sensors. The autonomous robot is provided with 8-12 laser sensors, can meet the requirements of measuring obstacles in the front and on two sides of the autonomous robot, and has the characteristics of wide visual field range, more convenience in installation and lower cost.

Further, in the present embodiment, as shown in fig. 1, the robot main body 100 has a disk shape, and the laser sensors are provided at both ends of the front surface 110. The robot main body 100 has a front surface 110 and a rear surface, and both ends of the front surface 110 are respectively adjacent to both ends of the rear surface, so that the front surface 110 and the rear surface surround a peripheral side surface of the robot main body 100. Specifically, both ends of the front surface 110 are located on a central axis of the robot main body 100, and the laser sensors at both ends of the front surface 110 can be used to detect information of obstacles on both left and right sides of the autonomous robot, so that collision between both sides of the autonomous robot and the obstacles can be avoided. Certainly, the two ends of the front surface 110 in this embodiment are not limited to the technical solution located on the central axis of the robot main body 100, and in other embodiments, an included angle formed by connecting lines from the two ends of the front surface 110 to the center of the robot main body 100 may be 120 °; an included angle formed by connecting lines from both ends of the front surface 110 to the center of the robot main body 100 may be 160 °; alternatively, a line connecting both ends of the front surface 110 to the center of the robot main body 100 forms an included angle of 80 °. In addition, the driving structure 200 described in the present embodiment is a driving wheel structure, and in other embodiments, the driving structure 200 may be a crawler driving structure 200.

The autonomous robot in this embodiment is not limited to the above technical solution, and in other embodiments, any two adjacent laser sensors may have adjacent measurement regions 310 at the effective measurement distance L, and the measurement regions 310 of the laser sensors on the front surface 110 are connected into one piece, so that no view blind area exists in the view range between the laser sensors at two ends; alternatively, or any two adjacent laser sensors have an overlapping portion in the measurement area 310 at the effective measurement distance L, and the measurement areas 310 of the laser sensors on the front surface 110 can also be connected together, so that no blind field area exists in the field of view between the laser sensors at the two ends.

The above is only the optional embodiment of the present invention, and not the scope of the present invention is limited thereby, all the equivalent structure changes made by the contents of the specification and the drawings are utilized under the inventive concept of the present invention, or the direct/indirect application in other related technical fields is included in the patent protection scope of the present invention.

Claims

1. An autonomous robot having an obstacle crossing height, the autonomous robot comprising:

a robot main body;

the driving structure is connected with the robot main body and used for bearing and driving the robot main body to move on the ground;

2. The autonomous robot of claim 1, wherein the obstacle crossing height is 1cm to 3 cm.

3. The autonomous robot of claim 1, wherein the obstacle sensor comprises a photosensor.

4. The autonomous robot of claim 3, wherein the photoelectric sensor comprises a laser sensor having a field angle of 12 ° to 20 °.

5. The autonomous robot of claim 4, wherein the laser sensor has an effective measurement distance of 7cm to 15 cm.

6. The autonomous robot of claim 5, wherein the laser sensor has a mounting height of 1.74cm to 5.65cm, the mounting height being a height of the autonomous robot relative to a horizontal plane on which the laser sensor is naturally placed.

7. The autonomous robot of claim 4, wherein the autonomous robot is provided with 2 to 70 of the laser sensors, the laser sensors being arranged at intervals in a circumferential direction of the robot main body.

8. The autonomous robot of claim 7, wherein there are 8 to 12 of the laser sensors.

9. The autonomous robot of claim 7, wherein the robot body has a disk shape, and the laser sensor is provided at both ends of the front surface.

10. The autonomous robot of claim 7, wherein measurement areas of any two adjacent laser sensors at an effective measurement distance abut or have an overlapping portion.

11. The autonomous robot of any of claims 1 to 10, wherein the autonomous robot is a sweeping robot.