CN2637136Y - 机器人的自定位机构 - Google Patents
机器人的自定位机构 Download PDFInfo
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- CN2637136Y CN2637136Y CNU032776098U CN03277609U CN2637136Y CN 2637136 Y CN2637136 Y CN 2637136Y CN U032776098 U CNU032776098 U CN U032776098U CN 03277609 U CN03277609 U CN 03277609U CN 2637136 Y CN2637136 Y CN 2637136Y
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- wheel
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- 239000003638 chemical reducing agent Substances 0.000 abstract 2
- 238000006073 displacement reaction Methods 0.000 description 2
- 125000006850 spacer group Chemical group 0.000 description 2
- 238000004140 cleaning Methods 0.000 description 1
- 230000001186 cumulative effect Effects 0.000 description 1
- 239000000428 dust Substances 0.000 description 1
- 238000009434 installation Methods 0.000 description 1
- 238000005259 measurement Methods 0.000 description 1
- 238000000034 method Methods 0.000 description 1
- 230000008447 perception Effects 0.000 description 1
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Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J5/00—Manipulators mounted on wheels or on carriages
- B25J5/007—Manipulators mounted on wheels or on carriages mounted on wheels
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J13/00—Controls for manipulators
- B25J13/08—Controls for manipulators by means of sensing devices, e.g. viewing or touching devices
- B25J13/088—Controls for manipulators by means of sensing devices, e.g. viewing or touching devices with position, velocity or acceleration sensors
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01D—MEASURING NOT SPECIALLY ADAPTED FOR A SPECIFIC VARIABLE; ARRANGEMENTS FOR MEASURING TWO OR MORE VARIABLES NOT COVERED IN A SINGLE OTHER SUBCLASS; TARIFF METERING APPARATUS; MEASURING OR TESTING NOT OTHERWISE PROVIDED FOR
- G01D5/00—Mechanical means for transferring the output of a sensing member; Means for converting the output of a sensing member to another variable where the form or nature of the sensing member does not constrain the means for converting; Transducers not specially adapted for a specific variable
- G01D5/26—Mechanical means for transferring the output of a sensing member; Means for converting the output of a sensing member to another variable where the form or nature of the sensing member does not constrain the means for converting; Transducers not specially adapted for a specific variable characterised by optical transfer means, i.e. using infrared, visible, or ultraviolet light
- G01D5/32—Mechanical means for transferring the output of a sensing member; Means for converting the output of a sensing member to another variable where the form or nature of the sensing member does not constrain the means for converting; Transducers not specially adapted for a specific variable characterised by optical transfer means, i.e. using infrared, visible, or ultraviolet light with attenuation or whole or partial obturation of beams of light
- G01D5/34—Mechanical means for transferring the output of a sensing member; Means for converting the output of a sensing member to another variable where the form or nature of the sensing member does not constrain the means for converting; Transducers not specially adapted for a specific variable characterised by optical transfer means, i.e. using infrared, visible, or ultraviolet light with attenuation or whole or partial obturation of beams of light the beams of light being detected by photocells
- G01D5/347—Mechanical means for transferring the output of a sensing member; Means for converting the output of a sensing member to another variable where the form or nature of the sensing member does not constrain the means for converting; Transducers not specially adapted for a specific variable characterised by optical transfer means, i.e. using infrared, visible, or ultraviolet light with attenuation or whole or partial obturation of beams of light the beams of light being detected by photocells using displacement encoding scales
- G01D5/3473—Circular or rotary encoders
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- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Human Computer Interaction (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Manipulator (AREA)
- Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
Abstract
一种机器人的自定位机构,包括机器人本体、设置于所述的机器人本体的下方的轮子,轮子包括至少两个设置于两侧部的驱动轮,驱动轮的轮轴与减速器的动力输出部分相连接,减速器的动力输入部分与电动机的输出轴相连接,轮子还包括至少两个从动轮,从动轮上沿圆周方向排列有多个栅格,从动轮的两外侧设有传感器。当驱动轮出现丢步或打滑现象时,从动轮没有相对地面运动,使得传感器不输出轮子转动的信号。以此真实地反映了机器人本体与地面之间的运动关系。
Description
技术领域
本实用新型涉及一种机器人的定位机构。
背景技术
现有技术中,机器人(例如全自动真空吸尘器)可在设定的区域内进行自动避障行走,但运行中机器人要判别自身所在的坐标位置并保持设定的路径行走(或清扫)是个很难解决的问题,绝大多数的机器人采用自主导航推算法,依靠虚拟家庭地图进行行走。航位推算法包含:采用典型的轴向编码器,通过对机器人驱动轮转角的测量,来反应机器人相对地面的位移,从而生成电子地图,并且以此电子地图为基准进行定位行走。但此技术隐含着一个问题:轮子丢步、打滑问题。当驱动轮丢步或打滑时,虽然驱动轮没有使得机器人相对地面作运动,但驱动轮上的编码器仍然计数,以致产生认为机器人相对于地面作运动的误信号,一旦驱动轮丢步(步电机有脉冲但驱动轮没有移动)或打滑的累计误差超过允许数值时,机器人将不可能可靠地运行。
发明内容
本实用新型的目的在于提供一种机器人的自定位机构,它将地面作为参照系,把机器人本体相对地面的位移直接转换为有效的信号作为电子地图或者成为机器人定位的依据。
本实用新型的技术方案是:一种机器人的自定位机构,包括机器人本体、设置于所述的机器人本体的下方的轮子,所述的轮子包括至少两个设置于两侧部的驱动轮,所述的驱动轮的轮轴与减速器的动力输出部分相连接,减速器的动力输入部分与电动机的输出轴相连接,轮子还包括至少两个从动轮,从动轮上沿圆周方向排列有多个栅格,从动轮的两外侧设有传感器。
本实用新型与现有技术相比具有下列优点:
当驱动轮出现丢步或打滑现象时,从动轮没有相对地面运动,使得传感器不输出轮子转动的信号,则机器人认为自身相对于地面没有做运动,以此真实地反映了机器人本体与地面之间的运动关系,从而解决了在现有技术中,通过检测驱动轮的转角来判定机器人本体是否运动而随之带来的定位不准的问题。
附图说明
附图1为本实用新型的结构主视图;
附图2为左侧驱动轮装置的结构主视图;
附图3为左侧驱动轮装置的结构主剖视图;
附图4为附图3的A向视图;
附图5为附图3的B向视图;
附图6为附图5所示的两组传感器的安装位置图;
其中:1、机器人本体;2、驱动轮;3、轮轴;4、减速器;5、延伸臂;6、电动机;7、从动轮;8、轴承;9、栅格;10、传感器;10’、传感器;11、内隔圈;12、外隔圈;13、轴套;14、滚轮;
具体实施方式
参见附图1至附图6,一种机器人的自定位机构,包括机器人本体1、设置于所述的机器人本体1的下方的轮子,所述的轮子包括两个分别设置于机器人本体1的两侧部的驱动轮2,所述的驱动轮2的轮轴与减速器4的动力输出部分相连接,减速器4的动力输入部分与电动机6的输出轴相连接,轮子还包括至少两个从动轮7,从动轮7上沿圆周方向排列有多个栅格9,从动轮7的两外侧分别设有传感器10,10’,该每对传感器为红外发射器和红外接收器。
如附图1和附图2所示,所述的从动轮7有两个,分别位于两侧的两个驱动轮2的内侧部,从动轮7的轴心线与驱动轮2的轴心线相重合,从动轮7与驱动轮2的直径相同。所述的从动轮7自由转动地设置于驱动轮2的轮轴上,从动轮7随机器人本体1的移动而转动,而驱动轮2是在电动机6的驱动下转动。
所述的从动轮7上沿圆周方向均匀排列有多个穿透的栅格9,通过一发一收的红外传感器感知从动轮7的移动。
如附图3所示,所述的电动机6上设有延伸臂5,该延伸臂5向从动轮7的两外侧部延伸,两组传感器10,10’固定地设置于该延伸臂5上。
如附图5和附图6所示,所述的从动轮7的两外侧设有两对传感器10,10’,从动轮7的轴心线与两对传感器10,10’的连线所构成的夹角α=360n/Nz+90/Nz,其中n为整数,Nz为栅格的个数。当从动轮7被带动正向或反向转动时,红外传感器可通过栅格测出从动轮7的正向或反向转动角度,再转换成正向或反向计数信号可换算出机器人所在的位置。
Claims (6)
1、一种机器人的自定位机构,包括机器人本体[1]、设置于所述的机器人本体[1]的下方的轮子,所述的轮子包括至少两个设置于两侧部的驱动轮[2],所述的驱动轮[2]的轮轴与减速器[4]的动力输出部分相连接,减速器[4]的动力输入部分与电动机[6]的输出轴相连接,其特征在于:轮子还包括至少两个从动轮[7],从动轮[7]上沿圆周方向排列有多个栅格[9],从动轮[7]的两外侧设有传感器[10,10’]。
2、根据权利要求1所述的机器人的自定位机构,其特征在于:所述的从动轮[7]有两个,分别位于两侧的两个驱动轮[2]的内侧部,从动轮[7]的轴心线与驱动轮[2]的轴心线相重合,从动轮[7]与驱动轮[2]的直径相同。
3、根据权利要求1所述的机器人的自定位机构,其特征在于:所述的从动轮[7]可自由转动地设置于驱动轮[2]的轮轴上。
4、根据权利要求1所述的机器人的自定位机构,其特征在于:所述的从动轮[7]上沿圆周方向均匀排列有多个穿透的栅格[9]。
5、根据权利要求1所述的机器人的自定位机构,其特征在于:所述的电动机[6]上设有延伸臂[5],该延伸臂[5]向从动轮[7]的两外侧部延伸,传感器[10,10’]设置于该延伸臂[5]上。
6、根据权利要求1所述的机器人的自定位机构,其特征在于:所述的从动轮[7]的两外侧设有两对传感器[10,10’],从动轮[7]的轴心线与两对传感器[10,10’]的连线所构成的夹角α=360n/Nz+90/Nz,其中n为整数,Nz为栅格的个数。
Priority Applications (3)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
CNU032776098U CN2637136Y (zh) | 2003-08-11 | 2003-08-11 | 机器人的自定位机构 |
PCT/CN2004/000931 WO2005037496A1 (fr) | 2003-08-11 | 2004-08-11 | Dispositif de determination automatique de la position d'un robot |
US10/567,559 US20060293808A1 (en) | 2003-08-11 | 2004-08-11 | Device for self-determination position of a robot |
Applications Claiming Priority (1)
Application Number | Priority Date | Filing Date | Title |
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CNU032776098U CN2637136Y (zh) | 2003-08-11 | 2003-08-11 | 机器人的自定位机构 |
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CN2637136Y true CN2637136Y (zh) | 2004-09-01 |
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CNU032776098U Expired - Lifetime CN2637136Y (zh) | 2003-08-11 | 2003-08-11 | 机器人的自定位机构 |
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US (1) | US20060293808A1 (zh) |
CN (1) | CN2637136Y (zh) |
WO (1) | WO2005037496A1 (zh) |
Cited By (4)
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CN104345730A (zh) * | 2013-07-25 | 2015-02-11 | 科沃斯机器人科技(苏州)有限公司 | 带行走状态判断装置的自移动机器人及行走状态判断方法 |
CN106530449A (zh) * | 2015-09-11 | 2017-03-22 | 上海冠豪网络科技有限公司 | 智能家居安防*** |
CN107127747A (zh) * | 2017-05-24 | 2017-09-05 | 大鹏高科(武汉)智能装备有限公司 | 一种辅助无人船回收机器人的装置、***和方法 |
CN112549072A (zh) * | 2019-09-10 | 2021-03-26 | 苏州科瓴精密机械科技有限公司 | 机器人的打滑检测方法 |
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US8412377B2 (en) | 2000-01-24 | 2013-04-02 | Irobot Corporation | Obstacle following sensor scheme for a mobile robot |
US6956348B2 (en) | 2004-01-28 | 2005-10-18 | Irobot Corporation | Debris sensor for cleaning apparatus |
US6690134B1 (en) | 2001-01-24 | 2004-02-10 | Irobot Corporation | Method and system for robot localization and confinement |
US7571511B2 (en) | 2002-01-03 | 2009-08-11 | Irobot Corporation | Autonomous floor-cleaning robot |
US7663333B2 (en) | 2001-06-12 | 2010-02-16 | Irobot Corporation | Method and system for multi-mode coverage for an autonomous robot |
US8428778B2 (en) | 2002-09-13 | 2013-04-23 | Irobot Corporation | Navigational control system for a robotic device |
US7332890B2 (en) | 2004-01-21 | 2008-02-19 | Irobot Corporation | Autonomous robot auto-docking and energy management systems and methods |
ATE536577T1 (de) | 2004-06-24 | 2011-12-15 | Irobot Corp | Fernbediente ablaufsteuerung und verfahren für eine autonome robotervorrichtung |
US7706917B1 (en) | 2004-07-07 | 2010-04-27 | Irobot Corporation | Celestial navigation system for an autonomous robot |
US8972052B2 (en) | 2004-07-07 | 2015-03-03 | Irobot Corporation | Celestial navigation system for an autonomous vehicle |
US8392021B2 (en) | 2005-02-18 | 2013-03-05 | Irobot Corporation | Autonomous surface cleaning robot for wet cleaning |
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US7620476B2 (en) | 2005-02-18 | 2009-11-17 | Irobot Corporation | Autonomous surface cleaning robot for dry cleaning |
US8930023B2 (en) | 2009-11-06 | 2015-01-06 | Irobot Corporation | Localization by learning of wave-signal distributions |
ATE442619T1 (de) | 2005-12-02 | 2009-09-15 | Irobot Corp | Modularer roboter |
EP2466411B1 (en) | 2005-12-02 | 2018-10-17 | iRobot Corporation | Robot system |
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US20090044370A1 (en) | 2006-05-19 | 2009-02-19 | Irobot Corporation | Removing debris from cleaning robots |
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KR100843096B1 (ko) * | 2006-12-21 | 2008-07-02 | 삼성전자주식회사 | 이동 로봇의 주행 상태 판별 장치 및 방법 |
KR101529848B1 (ko) | 2007-05-09 | 2015-06-17 | 아이로보트 코퍼레이션 | 표면 처리 로봇 |
US9215962B2 (en) | 2014-03-13 | 2015-12-22 | Ecovacs Robotics, Inc. | Autonomous planar surface cleaning robot |
US9259838B1 (en) | 2014-07-24 | 2016-02-16 | Google Inc. | Systems and methods for ground plane estimation |
US10556630B1 (en) | 2016-06-29 | 2020-02-11 | X Development Llc | Friction drive system and methods for use |
CN107186691B (zh) * | 2017-06-13 | 2023-05-23 | 浙江工业大学 | 一种用于特定路面的机器人导向机构 |
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KR940006567B1 (ko) * | 1992-01-06 | 1994-07-22 | 삼성전자 주식회사 | 관성을 이용한 네비게이션 시스템이 부착된 이동로보트 |
GB2273865A (en) * | 1992-12-19 | 1994-07-06 | Fedag | A vacuum cleaner with an electrically driven brush roller |
KR970066776A (ko) * | 1996-03-29 | 1997-10-13 | 헨리 D.G. 웰레스 | 차량의 제어장치 |
JPH10240343A (ja) * | 1997-02-27 | 1998-09-11 | Minolta Co Ltd | 自律走行車 |
EP1049964B1 (fr) * | 1997-11-27 | 2002-03-13 | Solar & Robotics | Ameliorations a des robots mobiles et a leur systeme de commande |
SE518683C2 (sv) * | 2001-03-15 | 2002-11-05 | Electrolux Ab | Förfarande och anordning för positionsbestämning av en autonom apparat |
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2003
- 2003-08-11 CN CNU032776098U patent/CN2637136Y/zh not_active Expired - Lifetime
-
2004
- 2004-08-11 WO PCT/CN2004/000931 patent/WO2005037496A1/zh active Application Filing
- 2004-08-11 US US10/567,559 patent/US20060293808A1/en not_active Abandoned
Cited By (4)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
CN104345730A (zh) * | 2013-07-25 | 2015-02-11 | 科沃斯机器人科技(苏州)有限公司 | 带行走状态判断装置的自移动机器人及行走状态判断方法 |
CN106530449A (zh) * | 2015-09-11 | 2017-03-22 | 上海冠豪网络科技有限公司 | 智能家居安防*** |
CN107127747A (zh) * | 2017-05-24 | 2017-09-05 | 大鹏高科(武汉)智能装备有限公司 | 一种辅助无人船回收机器人的装置、***和方法 |
CN112549072A (zh) * | 2019-09-10 | 2021-03-26 | 苏州科瓴精密机械科技有限公司 | 机器人的打滑检测方法 |
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Publication number | Publication date |
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US20060293808A1 (en) | 2006-12-28 |
WO2005037496A1 (fr) | 2005-04-28 |
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