CN213859284U

CN213859284U - Self-moving robot

Info

Publication number: CN213859284U
Application number: CN202020763034.7U
Authority: CN
Inventors: 胡海波; 向喜梅; 梁力文; 赵汉
Original assignee: Guangzhou Iclean Robot Co ltd
Current assignee: Guangzhou Iclean Robot Co ltd
Priority date: 2020-05-09
Filing date: 2020-05-09
Publication date: 2021-08-03
Anticipated expiration: 2030-05-09

Abstract

The utility model relates to a from mobile robot, it includes the organism, sets up moving mechanism, the controller of setting on the organism of bottom of the body, arrive along the top of organism the direction of the bottom of organism has set gradually camera, 3D laser sensor, first ultrasonic sensor, second ultrasonic sensor, TOF camera, 2D laser sensor on the week side of organism, and camera, 3D laser sensor, first ultrasonic sensor, second ultrasonic sensor, TOF camera, 2D laser sensor distribute on same straight line, controller respectively with moving mechanism, camera, 3D laser sensor, first ultrasonic sensor, second ultrasonic sensor, TOF camera, 2D laser sensor electric connection. The self-moving robot can accurately establish a map of a working environment and comprehensively detect obstacles around the self-moving robot, so that the self-moving robot can still effectively walk in a complex environment.

Description

Self-moving robot

Technical Field

The utility model relates to the technical field of robot, especially, relate to a self-moving robot.

Background

At present, various self-moving robots exist in the market, and the self-moving robots are suitable for walking in various environments, distance measuring sensors are often required to be arranged, the distance measuring sensors are generally one or more of ultrasonic distance measuring sensors, infrared distance measuring sensors, laser distance measuring sensors or collision plates, the implementation method is single, whether obstacles are people or objects cannot be judged, transparent glass cannot be detected, detection blind areas exist, and the obstacle avoidance requirements for complex environments such as people, objects, ascending or descending steps, door frame crossing, transparent glass cannot be met simultaneously.

SUMMERY OF THE UTILITY MODEL

Based on this, the utility model aims at providing a from mobile robot, its map that can establish operation environment accurately to comprehensive detection is from the peripheral barrier of mobile robot, makes from mobile robot still can effectual walking in complex environment.

A self-moving robot comprises a machine body, a moving mechanism arranged at the bottom of the machine body, a controller arranged on the machine body, a moving mechanism arranged on the moving mechanism, a controller arranged on the controller, a moving mechanism arranged on the moving mechanism, a controller arranged on the controller, a camera, a 3D laser sensor, a first ultrasonic sensor, a second ultrasonic sensor, a TOF camera and a 2D laser sensor are sequentially arranged on the peripheral side surface of the machine body, the camera, the 3D laser sensor, the first ultrasonic sensor, the second ultrasonic sensor, the TOF camera and the 2D laser sensor are distributed on the same straight line, the controller respectively with moving mechanism, the camera 3D laser sensor, first ultrasonic sensor second ultrasonic sensor TOF camera 2D laser sensor electric connection.

Compared with the prior art, self-moving robot utilize camera, 3D laser sensor, first ultrasonic sensor, second ultrasonic sensor, TOF camera, 2D laser sensor to detect the operational environment of robot, the controller detects the work of controlling the moving mechanism according to the aforesaid. The camera is used for shooting an external environment to achieve cloud end monitoring. The 3D laser sensor is used for spatial modeling navigation. The first ultrasonic sensor is used for high obstacle avoidance, and is designed mainly for glass obstacles. The second ultrasonic sensor is used for avoiding obstacles of medium and low obstacles, and is mainly designed aiming at glass obstacles. The TOF camera is used for identifying objects in the front rectangular frame and avoiding obstacles. The 2D laser sensor is used for identifying low obstacles and avoiding obstacles. Through the arrangement mode of the sensors, a map of a working environment can be accurately established, and obstacles around the self-moving robot can be comprehensively detected, so that the self-moving robot can still effectively walk in a complex environment.

Further, still be provided with first dropproof sensor, second dropproof sensor on the week side of organism, first dropproof sensor the second dropproof sensor sets up respectively the both sides of straight line, the controller respectively with first dropproof sensor the second dropproof sensor electric connection. The first anti-falling sensor and the second anti-falling sensor are used for falling detection, so that the robot is effectively prevented from falling.

Furthermore, the first anti-falling sensor and the second anti-falling sensor are respectively arranged on two sides of the 2D laser sensor, and the 2D laser sensor, the first anti-falling sensor and the second anti-falling sensor are arranged on the same horizontal plane. The obstacle of the general tripping robot is a short obstacle, and the first anti-falling sensor and the second anti-falling sensor are arranged on two sides of the 2D laser sensor for detecting the short obstacle, so that the detection precision is improved.

Further, still be provided with mechanical crashproof strip on the week side of organism, mechanical crashproof strip sets up week side edge of organism, mechanical crashproof strip with controller electric connection. When the obstacle collides with the mechanical anti-collision strip, the mechanical anti-collision strip sends a trigger signal to the controller, and the controller controls the robot to suddenly stop according to the trigger signal.

Further, the mechanical bumper strip is arranged below the 2D laser sensor. Helping to prevent the robot from tripping over low obstacles.

Further, the distance between the 2D laser sensor and the ground is 117mm, the distance between the TOF camera and the 2D laser sensor is 282mm, the distance between the second ultrasonic sensor and the TOF camera is 100mm, the distance between the first ultrasonic sensor and the second ultrasonic sensor is 120mm, and the distance between the 3D laser sensor and the first ultrasonic sensor is 131 mm.

Further, still be provided with the WIFI module on the organism, the controller with WIFI module electric connection is in order to with high in the clouds wireless communication. The controller can upload the information that camera, 3D laser sensor, first ultrasonic sensor, second ultrasonic sensor, TOF camera, 2D laser sensor gathered to the high in the clouds according to the WIFI module for can monitor the robot through the high in the clouds.

Further, the moving mechanism includes: the chassis is arranged at the bottom of the machine body and is provided with a first through hole; the connecting plate is arranged on the bottom surface of the chassis and provided with a second through hole for a guide column to penetrate through, the second through hole is coaxial with the first through hole, and the aperture of the second through hole is the same as that of the first through hole; the guide post is vertically arranged on the bottom surface of the connecting plate and penetrates through the first through hole and the second through hole; a drive wheel assembly that moves up and down along the guide post; a spring disposed between the chassis and the drive wheel assembly. The length of the first through hole on the chassis is prolonged through the second through hole of the connecting plate, and the perpendicularity between the guide column and the chassis is improved. And the connecting plate is positioned in the orthographic projection range of the chassis, so that the area of the connecting plate is smaller than that of the chassis, the chassis can be thinned as much as possible under the condition of ensuring the verticality between the guide post and the chassis, and the weight of the whole machine is favorably reduced.

Furthermore, the connecting plate comprises two thickened plates and a connecting strip, the thickened plates are used for mounting one driving wheel assembly, the second through hole is formed in each thickened plate, and the connecting strip is used for connecting the two thickened plates.

Furthermore, the thickening plate is also provided with lightening holes; the connecting plate is installed on the chassis through bolts, and the at least two thickening plates and the connecting strip are integrally manufactured; the bottom surface of the chassis is provided with three universal wheels, the two driving wheel assemblies and the three universal wheels form a virtual circle, a connecting line of the two driving wheel assemblies passes through the circle center of the virtual circle, the three universal wheels form a virtual isosceles triangle, and the central line of the virtual isosceles triangle is mutually vertical to the connecting line of the two driving wheel assemblies; the spring is sleeved outside the guide post, one end of the spring abuts against the connecting plate, and the other end of the spring abuts against the driving wheel assembly; a first limiting part and a second limiting part are respectively arranged at two ends of the guide post, the first limiting part is positioned above the chassis, and the driving wheel module moves up and down between the chassis and the second limiting part; the first limiting piece or the second limiting piece is in threaded connection with the guide post; the driving wheel assembly comprises a support, a driving wheel and a driving motor, the support moves up and down along the guide column, the driving wheel is rotatably arranged on the support, the driving motor is arranged on the support, and the driving motor is used for driving the driving wheel to rotate; the bracket is provided with a guide sleeve matched with the guide post, the guide sleeve is sleeved outside the guide post, and the spring is sleeved outside the shaft part of the guide sleeve; the guide sleeve is provided with a special-shaped hole matched with the guide column, the diameter of the opening at two ends of the special-shaped hole is larger than that of the middle part of the special-shaped hole, and the special-shaped hole is hourglass-shaped. Two driving wheel assemblies and three universal wheels are arranged on the bottom surface of the chassis, the two driving wheel assemblies and the three universal wheels are arranged on the same virtual circle, the three universal wheels form a virtual isosceles triangle, and the central line of the virtual isosceles triangle is perpendicular to the connecting line of the two driving wheel assemblies, so that pivot turning can be realized, pivot rotation can be realized, and the bearing capacity and the stability of the walking mechanism can be improved.

For a better understanding and an implementation, the present invention is described in detail below with reference to the accompanying drawings.

Drawings

Fig. 1 is a schematic structural diagram of a self-moving robot according to an embodiment;

FIG. 2 is a schematic view of the connection between the chassis and the connection plate according to the embodiment;

FIG. 3 is a schematic structural diagram of a moving mechanism according to an embodiment;

FIG. 4 is a top view of the moving mechanism according to the embodiment;

FIG. 5 is a side view of the moving mechanism according to the embodiment;

FIG. 6 is a cross-sectional view of a guide sleeve according to an embodiment;

FIG. 7 is an electrical connection diagram of a self-moving robot according to an embodiment;

reference numerals:

100. a body; 111. a camera; 112. a 3D laser sensor; 113. a first ultrasonic sensor; 114. a second ultrasonic sensor; 115. a TOF camera; 116. a 2D laser sensor; 117. a first fall arrest sensor; 118. a second fall arrest sensor; 119. a mechanical bumper strip; 120. a WIFI module; 200. a controller; 300. a chassis; 310. a guide post; 311. a first limit piece; 312. a second limiting member; 320. a spring; 400. a connecting plate; 410. increasing the thickness of the plate; 411. lightening holes; 420. a connecting strip; 500. a drive wheel assembly; 510. a support; 520. a drive wheel; 530. a guide sleeve; 531. a profiled hole; 540. a drive motor; 600. a universal wheel; a. a virtual circle; b. a virtual isosceles triangle.

Detailed Description

A self-moving robot, see fig. 1 to 7, includes a body 100, a moving mechanism disposed at the bottom of the body 100, and a controller 200 disposed on the body 100.

Referring to fig. 1, a camera 111, a 3D laser sensor 112, a first ultrasonic sensor 113, a second ultrasonic sensor 114, a TOF camera 115, and a 2D laser sensor 116 are sequentially disposed on the front surface of the body 100 in a direction from the top of the body 100 to the bottom of the body 100. The camera 111, the 3D laser sensor 112, the first ultrasonic sensor 113, the second ultrasonic sensor 114, the TOF camera 115, and the 2D laser sensor 116 are distributed on a straight line on the front surface of the body 100. A first fall prevention sensor 117 and a second fall prevention sensor 118 are also provided on the front surface of the machine body 100. The first anti-falling sensor 117 and the second anti-falling sensor 118 are respectively disposed on two sides of the straight line, in this embodiment, the first anti-falling sensor 117 and the second anti-falling sensor 118 are respectively disposed on two sides of the 2D laser sensor 116, and the 2D laser sensor 116, the first anti-falling sensor 117 and the second anti-falling sensor 118 are disposed on the same horizontal plane. A mechanical bumper strip 119 is also provided on the front surface of the machine body 100, the mechanical bumper strip 119 being provided at the peripheral side edge of the machine body 100, and the mechanical bumper strip 119 being provided below the 2D laser sensor 116. A WIFI module 120 is further disposed in the body 100. In this embodiment, the above detection modules are all detection modules in the prior art, the distance between the 2D laser sensor 116 and the ground surface 117mm, the distance between the TOF camera 115 and the 2D laser sensor 116 is 282mm, the distance between the second ultrasonic sensor 114 and the TOF camera 115 is 100mm, the distance between the first ultrasonic sensor 113 and the second ultrasonic sensor 114 is 120mm, and the distance between the 3D laser sensor 112 and the first ultrasonic sensor 113 is 131 mm.

Referring to fig. 2 to 6, the moving mechanism includes a chassis 300, a connecting plate 400, two driving wheel assemblies 500, and three universal wheels 600. Wherein, the chassis 300 is disposed at the bottom of the machine body 100. The connection plate 400 is fixedly installed at the bottom surface of the base plate 300 by bolts. Two driving wheel assemblies 500 are detachably mounted to the bottom surface of the coupling plate 400. Three universal wheels 600 are mounted on the bottom surface of the chassis 300 by bolts. And, the distribution of the two driving wheel assemblies 500 and the three universal wheels 600 at the bottom of the chassis 300 forms a virtual circle a. The line connecting the two drive wheel assemblies 500 passes through the circle of the virtual circle a, and the line connecting the two drive wheel assemblies 500 is the diameter of the virtual circle a. The three universal wheels 600 are distributed at the bottom of the chassis 300 to form a virtual isosceles triangle b, three points of the virtual isosceles triangle b are all on the virtual circle a, the center line of the virtual isosceles triangle b passes through the center of the virtual circle a, and the center line of the virtual isosceles triangle b is perpendicular to the connecting line of the two driving wheel assemblies 500.

Referring to fig. 2 to 6, the base plate 300 is made of a metal aluminum plate, and the base plate 300 has a plate shape. Corresponding to the position of each driving wheel 520 module, four first through holes are formed in the bottom surface of the chassis 300, the first through holes vertically extend from the top surface of the chassis 300 to the bottom surface of the chassis 300, and the axes of the first through holes are perpendicular to the bottom surface of the chassis 300.

Referring to fig. 2 to 6, the connection plate 400 is located in the top orthographic projection of the chassis 300. The connecting plate 400 is provided with a second through hole, the second through hole vertically extends from the top surface of the connecting plate 400 to the bottom surface of the connecting plate 400, the axis of the second through hole is perpendicular to the bottom surface of the connecting plate 400, the axis of the second through hole and the axis of the first through hole are positioned on the same straight line, and the aperture of the second through hole is the same as that of the first through hole. Specifically, the connecting plate 400 includes at least two increased plates 410 and a connecting strip 420. Each of the thickening plates 410 is used for mounting a driving wheel assembly 500, the thickening plates 410 are fixedly mounted on the bottom surface of the chassis 300 through bolts, the second through holes are formed in the thickening plates 410, lightening holes 411 are formed in the thickening plates 410, the lightening holes 411 vertically extend from the top surfaces of the thickening plates 410 to the bottom surfaces of the thickening plates 410, and the positions and the sizes of the lightening holes 411 do not affect the strength of the connecting plate 400 and the strength of the second through holes. The connecting bar 420 is fixedly installed on the bottom surface of the base plate 300 by bolts, the connecting bar 420 is used for connecting the thickening plates 410 together, and all the thickening plates 410 are integrally formed with the connecting bar 420.

Referring to fig. 2 to 6, the driving wheel assembly 500 includes four guide posts 310, a spring 320, a bracket 510, a driving wheel 520, and a driving motor 540. The guide post 310 passes through the first through hole and the second through hole, and the guide post 310 can move up and down in the first through hole and the second through hole. The two ends of the guiding column 310 are respectively connected with a first limiting member 311 and a second limiting member 312 through threads, the first limiting member 311 is located above the chassis 300, the second limiting member 312 is located below the connecting plate 400, and the floating space of the driving wheel 520 module can be controlled by adjusting the relative distance between the first limiting member 311 and the second limiting member 312. The spring 320 is sleeved outside each guide pillar 310, and the spring 320 is located between the connecting plate 400 and the second stopper 312. The bracket 510 moves up and down along the four guiding posts 310, the top surface of the bracket 510 abuts against the spring 320, and the bottom surface of the bracket 510 abuts against the second stopper 312. The driving wheel 520 is rotatably provided on the bracket 510. The driving motor 540 is fixed on the bracket 510 through a bolt, an output shaft of the driving motor 540 is detachably connected with the driving wheel 520, and the driving motor 540 provides power for the rotation of the driving wheel 520. Also, the rolling directions of the driving wheels 520 of the two driving wheel assemblies 500 are parallel to each other.

Referring to fig. 2 to 6, a guide sleeve 530 engaged with the corresponding guide post 310 is bolted to the top surface of the bracket 510, the guide sleeve 530 is located between the chassis 300 and the bracket 510, and the guide sleeve 530 is sleeved on the outer side of the corresponding guide post 310, so that the sliding of the bracket 510 on the guide post 310 is more stable. In addition, the spring 320 is sleeved on the outer side of the guide post 310 and the outer side of the shaft portion of the guide sleeve 530, so that the shaft portion of the guide sleeve 530 is disposed between the chassis 300 and the bracket 510, which is helpful for saving space and preventing the guide sleeve 530 from affecting the normal operation of the traveling mechanism. In addition, in order to improve the smoothness of the up-and-down movement of the driving wheel assembly 500, the guide sleeve 530 is provided with a special-shaped hole 531 which is matched with the guide post 310, the diameter of the opening at the two ends of the special-shaped hole 531 is larger than the diameter of the middle part of the special-shaped hole, and in the embodiment, the special-shaped hole 531 is hourglass-shaped.

Referring to fig. 2 to 6, the universal wheel 600 is a universal wheel 600 in the prior art, which can rotate horizontally by 360 degrees in a dynamic load or a static load.

Referring to fig. 7, the controller 200 is electrically connected to the camera 111, the 3D laser sensor 112, the first ultrasonic sensor 113, the second ultrasonic sensor 114, the TOF camera 115, the 2D laser sensor 116, the first fall prevention sensor 117, the second fall prevention sensor 118, the mechanical anti-collision bar 119, the WIFI module 120, and the driving motor 540, respectively. The controller 200 controls the operation of the driving motor 540 according to the information collected by the camera 111, the 3D laser sensor 112, the first ultrasonic sensor 113, the second ultrasonic sensor 114, the TOF camera 115, the 2D laser sensor 116, the first anti-falling sensor 117, the second anti-falling sensor 118 and the mechanical anti-collision bar 119, and uploads the collected data to the cloud end through the WIFI module 120.

The above-mentioned embodiments only represent some embodiments of the present invention, and the description thereof is specific and detailed, but not to be construed as limiting the scope of the present invention. It should be noted that, for those skilled in the art, without departing from the spirit of the present invention, several variations and modifications can be made, which are within the scope of the present invention.

Claims

1. A self-moving robot, characterized by:

including organism (100), set up and be in moving mechanism, the setting of organism (100) bottom are in controller (200) on organism (100), along the top of organism (100) is to the direction of the bottom of organism (100), camera (111), 3D laser sensor (112), first ultrasonic sensor (113), second ultrasonic sensor (114), TOF camera (115), 2D laser sensor (116) have set gradually on the week side of organism (100), camera (111), 3D laser sensor (112), first ultrasonic sensor (113), second ultrasonic sensor (114), TOF camera (115), 2D laser sensor (116) distribute on same straight line, controller (200) respectively with moving mechanism, camera (111), The 3D laser sensor (112), the first ultrasonic sensor (113), the second ultrasonic sensor (114), the TOF camera (115) and the 2D laser sensor (116) are electrically connected.

2. The self-moving robot according to claim 1, wherein: still be provided with first dropproof sensor (117), second dropproof sensor (118) on the week side of organism (100), first dropproof sensor (117), second dropproof sensor (118) set up respectively the both sides of straight line, controller (200) respectively with first dropproof sensor (117), second dropproof sensor (118) electric connection.

3. The self-moving robot according to claim 2, wherein: the first anti-falling sensor (117) and the second anti-falling sensor (118) are respectively arranged on two sides of the 2D laser sensor (116), and the 2D laser sensor (116), the first anti-falling sensor (117) and the second anti-falling sensor (118) are arranged on the same horizontal plane.

4. The self-moving robot according to claim 1, wherein: still be provided with mechanical anticollision strip (119) on the week side of organism (100), mechanical anticollision strip (119) set up week side edge of organism (100), mechanical anticollision strip (119) with controller (200) electric connection.

5. The self-moving robot according to claim 4, wherein: the mechanical bumper strip (119) is arranged below the 2D laser sensor (116).

6. The self-moving robot according to claim 1, wherein: the 2D laser sensor (116) is 117mm from the ground, the TOF camera (115) is 282mm from the 2D laser sensor (116), the second ultrasonic sensor (114) is 100mm from the TOF camera (115), the first ultrasonic sensor (113) is 120mm from the second ultrasonic sensor (114), and the 3D laser sensor (112) is 131mm from the first ultrasonic sensor (113).

7. The self-moving robot according to claim 1, wherein: still be provided with WIFI module (120) on organism (100), controller (200) with WIFI module (120) electric connection is in order with high in the clouds wireless communication.

8. The self-moving robot according to claim 1, wherein the moving mechanism comprises:

a chassis (300) disposed at the bottom of the body (100) and provided with a first through hole;

the connecting plate (400) is arranged on the bottom surface of the chassis (300) and is provided with a second through hole for a guide post (310) to penetrate through, the second through hole is coaxial with the first through hole, and the aperture of the second through hole is the same as that of the first through hole;

the guide column (310) is vertically arranged on the bottom surface of the connecting plate (400) and penetrates through the first through hole and the second through hole;

a driving wheel assembly (500) moving up and down along the guide post (310);

a spring (320) disposed between the chassis (300) and the drive wheel assembly (500).

9. The self-moving robot according to claim 8, wherein: the connecting plate (400) comprises two thickening plates (410) and a connecting strip (420), the thickening plates (410) are used for mounting one driving wheel assembly (500), the second through holes are formed in the thickening plates (410), and the connecting strip (420) is used for connecting the two thickening plates (410).

10. The self-moving robot according to claim 9, wherein:

the thickening plate (410) is also provided with lightening holes (411);

the connecting plate (400) is mounted on the chassis (300) by bolts, and the at least two thickening plates (410) are integrally made with a connecting strip (420);

the bottom surface of the chassis (300) is provided with three universal wheels (600), the two driving wheel assemblies (500) and the three universal wheels (600) form a virtual circle (a), the connecting line of the two driving wheel assemblies (500) passes through the circle center of the virtual circle (a), the three universal wheels (600) form a virtual isosceles triangle (b), and the central line of the virtual isosceles triangle (b) is mutually perpendicular to the connecting line of the two driving wheel assemblies (500);

the spring (320) is sleeved on the outer side of the guide column (310), one end of the spring (320) abuts against the connecting plate (400), and the other end of the spring (320) abuts against the driving wheel assembly (500);

a first limiting part (311) and a second limiting part (312) are respectively arranged at two ends of the guide column (310), the first limiting part (311) is positioned above the chassis (300), and the driving wheel (520) module moves up and down between the chassis (300) and the second limiting part (312);

the first limiting piece (311) or the second limiting piece (312) is in threaded connection with the guide column (310);

the driving wheel assembly (500) comprises a bracket (510), a driving wheel (520) and a driving motor (540), wherein the bracket (510) moves up and down along the guide column (310), the driving wheel (520) is rotatably arranged on the bracket (510), the driving motor (540) is arranged on the bracket (510), and the driving motor (540) is used for driving the driving wheel (520) to rotate;

a guide sleeve (530) matched with the guide post (310) is arranged on the bracket (510), the guide sleeve (530) is sleeved on the outer side of the guide post (310), and the spring (320) is sleeved on the outer side of the shaft part of the guide sleeve (530);

the guide sleeve (530) is provided with a special-shaped hole (531) matched with the guide column (310), the diameter of the opening at the two ends of the special-shaped hole (531) is larger than that of the middle part of the special-shaped hole, and the special-shaped hole (531) is hourglass-shaped.