CN108444469A - A kind of mobile robot of independent navigation - Google Patents
A kind of mobile robot of independent navigation Download PDFInfo
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
- G01C21/10—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration
- G01C21/12—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration executed aboard the object being navigated; Dead reckoning
- G01C21/16—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration executed aboard the object being navigated; Dead reckoning by integrating acceleration or speed, i.e. inertial navigation
- G01C21/165—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration executed aboard the object being navigated; Dead reckoning by integrating acceleration or speed, i.e. inertial navigation combined with non-inertial navigation instruments
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
- G01C21/20—Instruments for performing navigational calculations
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0231—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means
- G05D1/0246—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means using a video camera in combination with image processing means
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0268—Control of position or course in two dimensions specially adapted to land vehicles using internal positioning means
- G05D1/027—Control of position or course in two dimensions specially adapted to land vehicles using internal positioning means comprising intertial navigation means, e.g. azimuth detector
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Abstract
本发明公开了一种自主导航的移动机器人，包括传动履带、辅助传动轮、履带固定架、履带传动轮、连杆传动器、机器人主体、电气控制箱，所述顶部支撑带轮上方安装有所述连杆传动器，所述连杆传动器上方安装有所述机器人主体，所述机器人主体上方安装有所述电气控制箱，所述电气控制箱下方安装有摄像头，所述摄像头下方安装有驱动马达，所述驱动马达下方安装有测距感应探头，所述测距感应探头下方安装有信号发射器，所述驱动马达内部安装有消音降噪器。有益效果在于：采用履带进行传动，能够适用于复杂地形，同时能够对外侧地形进行拍摄，适用效果好。
The invention discloses a mobile robot for autonomous navigation, which includes a driving track, an auxiliary driving wheel, a track fixing frame, a track driving wheel, a connecting rod driver, a robot main body, and an electrical control box. The connecting rod driver, the robot main body is installed above the connecting rod driver, the electrical control box is installed above the robot main body, a camera is installed below the electrical control box, and a drive is installed below the camera. A motor, a distance-measuring induction probe is installed under the driving motor, a signal transmitter is installed under the distance-measuring induction probe, and a noise reduction device is installed inside the driving motor. The beneficial effect is that: adopting crawler belts for transmission, it can be applied to complex terrains, and at the same time, it can shoot outside terrains, and the application effect is good.
Description
技术领域technical field
本发明涉及机器人设备领域，本发明涉及一种自主导航的移动机器人。The invention relates to the field of robot equipment, and the invention relates to an autonomous navigation mobile robot.
背景技术Background technique
目前，移动机器人，例如清洁器机器人，已经开始广泛应用。多移动机器人在实际问题中得到了越来越广泛的应用。这主要是由于越来越多的实际任务都比较复杂，往往单移动机器人难以完成，而需要通过多移动机器人之间的合作来完成。此外，通过多移动机器人间的合作，可提高机器人系统在作业过程中的效率，进而当工作环境发生变化或机器人系统局部发生故障时，多移动机器人系统仍可通过本身具有的合作关系来完成预定的任务。然而，现有技术存在的缺点是，对不确定复杂环境、无法装置各种监测设备或由机器人局部故障引起的网络拓扑结构的变化没有较好地解决方案，从而使多移动机器人系统的服务对象或工作环境受到限制。首先，以往对于多机器人系统的研究大多集中在环境条件已知、可装置各种监测仪器的场景，机器人本身并没有过多的传感器、摄像头等监测设备，因此无法自主的感知外界环境的变化；其次，以往的通信组网系统可以较好的实现多机器人之间的通信，但当系统中的机器人因故障而停止运行或无法正常工作时，其网络拓扑结构应当改变而不能自主改变，这就会影响多机器人之间的协作。At present, mobile robots, such as cleaner robots, have begun to be widely used. Multi-mobile robots are increasingly used in practical problems. This is mainly due to the fact that more and more practical tasks are more complicated, which are often difficult to complete by a single mobile robot, but need to be completed through cooperation among multiple mobile robots. In addition, through the cooperation among multiple mobile robots, the efficiency of the robot system in the operation process can be improved, and then when the working environment changes or the robot system fails locally, the multi-mobile robot system can still complete the scheduled operation through its own cooperative relationship. task. However, the disadvantage of the existing technology is that there is no good solution to the uncertain and complex environment, the inability to install various monitoring equipment, or the change of the network topology caused by the local failure of the robot, so that the service object of the multi-mobile robot system Or the working environment is restricted. First of all, most of the previous research on multi-robot systems focused on the scene where the environmental conditions are known and various monitoring instruments can be installed. The robot itself does not have too many monitoring equipment such as sensors and cameras, so it cannot autonomously perceive changes in the external environment; Secondly, the communication networking system in the past can better realize the communication between multiple robots, but when the robot in the system stops running or cannot work normally due to a fault, its network topology should be changed instead of autonomously changing, which is It will affect the cooperation between multiple robots.
发明内容Contents of the invention
本发明的目的就在于为了解决上述问题而提供一种自主导航的移动机器人。The object of the present invention is to provide a mobile robot with autonomous navigation in order to solve the above problems.
本发明通过以下技术方案来实现上述目的：The present invention achieves the above object through the following technical solutions:
一种自主导航的移动机器人，包括传动履带、辅助传动轮、履带固定架、履带传动轮、连杆传动器、机器人主体、电气控制箱，所述传动履带上方设置有所述辅助传动轮，所述辅助传动轮上方设置有所述履带固定架，所述履带固定架上方设置有所述履带传动轮，所述履带传动轮上方安装有顶部支撑带轮，所述顶部支撑带轮上方安装有所述连杆传动器，所述连杆传动器上方安装有所述机器人主体，所述机器人主体上方安装有所述电气控制箱，所述电气控制箱下方安装有摄像头，所述摄像头下方安装有驱动马达，所述驱动马达下方安装有测距感应探头，所述测距感应探头下方安装有信号发射器，所述驱动马达内部安装有消音降噪器。A mobile robot for autonomous navigation, comprising a drive track, an auxiliary drive wheel, a track fixed frame, a track drive wheel, a connecting rod drive, a robot main body, and an electrical control box, the auxiliary drive wheel is arranged above the drive track, and the The track fixing frame is arranged above the auxiliary driving wheel, the track driving wheel is arranged above the track fixing frame, a top supporting pulley is installed above the track driving wheel, and a The connecting rod driver, the robot main body is installed above the connecting rod driver, the electrical control box is installed above the robot main body, a camera is installed below the electrical control box, and a drive is installed below the camera. A motor, a distance-measuring induction probe is installed under the driving motor, a signal transmitter is installed under the distance-measuring induction probe, and a noise reduction device is installed inside the driving motor.
本实施例中，所述履带传动轮包含单向驱动器、导向轴、电动制动器、保护轴承、减震内套轮，所述单向驱动器下方安装有导向轴，所述导向轴下方安装有所述电动制动器，所述电动制动器下方安装有所述保护轴承，所述保护轴承下方安装有所述减震内套轮。In this embodiment, the crawler drive wheel includes a one-way drive, a guide shaft, an electric brake, a protective bearing, and a shock-absorbing inner pulley. The guide shaft is installed under the one-way drive, and the guide shaft is installed under the guide shaft. An electric brake, the protective bearing is installed under the electric brake, and the shock-absorbing inner sheave is installed under the protective bearing.
本实施例中，所述电气控制箱包含图像获取模块、图像处理模块、特征管理模块、微型处理器、惯性感应器、信息储存卡、蜂鸣警报器，所述图像获取模块下方安装有所述图像处理模块，所述图像处理模块下方安装有所述特征管理模块，所述特征管理模块下方安装有所述微型处理器，所述微型处理器下方安装有所述惯性感应器，所述惯性感应器下方安装有所述信息储存卡，所述信息储存卡上方安装有所述蜂鸣警报器。In this embodiment, the electrical control box includes an image acquisition module, an image processing module, a feature management module, a microprocessor, an inertial sensor, an information storage card, and a buzzer alarm, and the image acquisition module is installed below the An image processing module, the feature management module is installed under the image processing module, the microprocessor is installed under the feature management module, the inertial sensor is installed under the microprocessor, and the inertial sensor The information storage card is installed below the device, and the buzzer alarm is installed above the information storage card.
本实施例中，所述传动履带与所述辅助传动轮通过履带连接，所述履带固定架与所述履带传动轮通过螺栓连接。In this embodiment, the drive track is connected to the auxiliary drive wheel through a track, and the track fixing frame is connected to the track drive wheel through bolts.
本实施例中，所述顶部支撑带轮与所述连杆传动器通过螺栓连接，所述机器人主体与所述电气控制箱通过螺栓连接。In this embodiment, the top support pulley is connected to the connecting rod driver through bolts, and the main body of the robot is connected to the electrical control box through bolts.
本实施例中，所述摄像头与所述电气控制箱通过螺栓连接，所述信号发射器与所述机器人主体通过螺栓。In this embodiment, the camera is connected to the electrical control box through bolts, and the signal transmitter is connected to the robot main body through bolts.
本实施例中，所述传动履带由合金钢压制而成，表面喷涂耐磨涂层，厚度为5μm。In this embodiment, the transmission track is made of pressed alloy steel, and the surface is sprayed with a wear-resistant coating with a thickness of 5 μm.
本实施例中，所述消音降噪器与所述驱动马达通过导线连接。In this embodiment, the noise reduction device is connected to the driving motor through wires.
本实施例中，所述单向驱动器与所述导向轴通过轴连接，所述电动制动器与所述单向驱动器通过导线连接，所述保护轴承与所述减震内套轮嵌套。In this embodiment, the one-way driver is connected to the guide shaft through a shaft, the electric brake is connected to the one-way driver through wires, and the protective bearing is nested with the shock-absorbing inner sheave.
本实施例中，所述图像处理模块与所述图像获取模块通过导线连接，所述特征管理模块与所述微型处理器通过导线连接，所述惯性感应器与所述微型处理器通过导线连接，所述信息储存卡与所述微型处理器通过导线连接通过导线连接。In this embodiment, the image processing module is connected to the image acquisition module by wires, the feature management module is connected to the microprocessor by wires, the inertial sensor is connected to the microprocessor by wires, The information storage card is connected with the microprocessor through wires.
本发明的有益效果在于：采用履带进行传动，能够适用于复杂地形，同时能够对外侧地形进行拍摄，适用效果好。The beneficial effect of the present invention is that: adopting crawler belts for transmission, it can be applied to complex terrains, and at the same time, it can take pictures of the outer terrains, and the application effect is good.
附图说明Description of drawings
图1是本发明所述一种自主导航的移动机器人的主视结构简图；Fig. 1 is the main view structural diagram of a kind of autonomous navigation mobile robot of the present invention;
图2是本发明所述一种自主导航的移动机器人的驱动马达结构简图；Fig. 2 is a schematic structural diagram of a driving motor of a mobile robot with autonomous navigation according to the present invention;
图3是本发明所述一种自主导航的移动机器人的履带传动轮主视结构简图；Fig. 3 is a schematic diagram of the front view structure of a crawler drive wheel of a mobile robot with autonomous navigation according to the present invention;
图4是本发明所述一种自主导航的移动机器人的电气控制箱主视结构简图。Fig. 4 is a schematic front view structure diagram of an electrical control box of an autonomous navigation mobile robot according to the present invention.
附图标记说明如下：The reference signs are explained as follows:
1、传动履带；2、辅助传动轮；3、履带固定架；4、履带传动轮；401、单向驱动器；402、导向轴；403、电动制动器；404、保护轴承；405、减震内套轮；5、顶部支撑带轮；6、连杆传动器；7、机器人主体；8、电气控制箱；801、图像获取模块；802、图像处理模块；803、特征管理模块；804、微型处理器；805、惯性感应器；806、信息储存卡；807、蜂鸣警报器；9、摄像头；10、驱动马达；11、测距感应探头；12、信号发射器；13、消音降噪器。1. Drive track; 2. Auxiliary drive wheel; 3. Track fixing frame; 4. Track drive wheel; 401. One-way driver; 402. Guide shaft; 403. Electric brake; 404. Protective bearing; 405. Shock-absorbing inner sleeve 5. Top supporting pulley; 6. Connecting rod drive; 7. Robot body; 8. Electric control box; 801. Image acquisition module; 802. Image processing module; 803. Feature management module; 804. Microprocessor ; 805, inertial sensor; 806, information storage card; 807, buzzer siren; 9, camera; 10, drive motor;
具体实施方式Detailed ways
下面结合附图对本发明作进一步说明：The present invention will be further described below in conjunction with accompanying drawing:
如图1-图4所示，一种自主导航的移动机器人，包括所述传动履带1、所述辅助传动轮2、所述履带固定架3、所述履带传动轮4、所述连杆传动器6、所述机器人主体7、所述电气控制箱8，所述传动履带1上方设置有所述辅助传动轮2，所述辅助传动轮2上方设置有所述履带固定架3，所述履带固定架3上方设置有所述履带传动轮4，所述履带传动轮4上方安装有所述顶部支撑带轮5，所述顶部支撑带轮5上方安装有所述连杆传动器6，所述连杆传动器6上方安装有所述机器人主体7，所述机器人主体7上方安装有所述电气控制箱8，所述电气控制箱8下方安装有所述摄像头9，所述摄像头9下方安装有驱动马达10，所述驱动马达10下方安装有所述测距感应探头11，所述测距感应探头11下方安装有所述信号发射器12，所述驱动马达10内部安装有所述消音降噪器13。As shown in Figures 1-4, a mobile robot for autonomous navigation includes the transmission track 1, the auxiliary transmission wheel 2, the track fixing frame 3, the track transmission wheel 4, the connecting rod transmission 6, the robot main body 7, the electrical control box 8, the auxiliary transmission wheel 2 is arranged above the transmission crawler 1, the crawler fixing frame 3 is arranged above the auxiliary transmission wheel 2, and the crawler The above fixed mount 3 is provided with the crawler belt drive wheel 4, the top support pulley 5 is installed above the crawler belt drive wheel 4, and the connecting rod driver 6 is installed above the top support pulley 5, the The robot main body 7 is installed above the connecting rod driver 6, the electrical control box 8 is installed above the robot main body 7, the camera 9 is installed below the electrical control box 8, and the camera 9 is installed below the camera 9. Drive motor 10, the distance measuring induction probe 11 is installed under the driving motor 10, the signal transmitter 12 is installed under the distance measuring induction probe 11, and the noise reduction and noise reduction are installed inside the driving motor 10 Device 13.
本实施例中，所述履带传动轮4包含单向驱动器401、导向轴402、电动制动器403、保护轴承404、减震内套轮405，所述单向驱动器401下方安装有所述导向轴402，所述导向轴402下方安装有所述电动制动器403，所述电动制动器403下方安装有所述保护轴承404，所述保护轴承404下方安装有所述减震内套轮405。In this embodiment, the track transmission wheel 4 includes a one-way driver 401, a guide shaft 402, an electric brake 403, a protective bearing 404, and a shock-absorbing inner pulley 405, and the guide shaft 402 is installed below the one-way driver 401 The electric brake 403 is installed under the guide shaft 402 , the protection bearing 404 is installed under the electric brake 403 , and the shock-absorbing inner pulley 405 is installed under the protection bearing 404 .
本实施例中，所述电气控制箱8包含图像获取模块801、图像处理模块802、特征管理模块803、微型处理器804、惯性感应器805、信息储存卡806、蜂鸣警报器807，所述图像获取模块801下方安装有所述图像处理模块802，所述图像处理模块802下方安装有所述特征管理模块803，所述特征管理模块803下方安装有所述微型处理器804，所述微型处理器804下方安装有所述惯性感应器805，所述惯性感应器805下方安装有所述信息储存卡806，所述信息储存卡806上方安装有所述蜂鸣警报器807。In this embodiment, the electrical control box 8 includes an image acquisition module 801, an image processing module 802, a feature management module 803, a microprocessor 804, an inertia sensor 805, an information storage card 806, and a buzzer alarm 807. The image processing module 802 is installed under the image acquisition module 801, the feature management module 803 is installed under the image processing module 802, the microprocessor 804 is installed under the feature management module 803, and the microprocessor The inertia sensor 805 is installed under the sensor 804, the information storage card 806 is installed under the inertia sensor 805, and the buzzer alarm 807 is installed above the information storage card 806.
本实施例中，所述传动履带1与所述辅助传动轮2通过履带连接，所述履带固定架3与所述履带传动轮4通过螺栓连接。In this embodiment, the drive track 1 is connected to the auxiliary drive wheel 2 through a track, and the track fixing frame 3 is connected to the track drive wheel 4 through bolts.
本实施例中，所述顶部支撑带轮5与所述连杆传动器6通过螺栓连接，所述机器人主体7与所述电气控制箱8通过螺栓连接。In this embodiment, the top support pulley 5 is connected to the link drive 6 by bolts, and the robot main body 7 is connected to the electrical control box 8 by bolts.
本实施例中，所述摄像头9与所述电气控制箱8通过螺栓连接，所述信号发射器12与所述机器人主体7通过螺栓。In this embodiment, the camera 9 is connected to the electrical control box 8 through bolts, and the signal transmitter 12 is connected to the robot main body 7 through bolts.
本实施例中，所述传动履带1由合金钢压制而成，表面喷涂耐磨涂层，厚度为5μm。In this embodiment, the drive track 1 is made of pressed alloy steel, and the surface is sprayed with a wear-resistant coating with a thickness of 5 μm.
本实施例中，所述消音降噪器13与所述驱动马达10通过导线连接。In this embodiment, the noise reduction device 13 is connected to the driving motor 10 through wires.
本实施例中，所述单向驱动器401与所述导向轴402通过轴连接，所述电动制动器403与所述单向驱动器401通过导线连接，所述保护轴承404与所述减震内套轮405嵌套。In this embodiment, the one-way driver 401 is connected to the guide shaft 402 through a shaft, the electric brake 403 is connected to the one-way driver 401 through wires, and the protective bearing 404 is connected to the shock-absorbing inner pulley 405 nested.
本实施例中，所述图像处理模块802与所述图像获取模块801通过导线连接，所述特征管理模块803与所述微型处理器804通过导线连接，所述惯性感应器805所述微型处理器804通过导线连接，所述信息储存卡806与所述微型处理器804通过导线连接通过导线连接。In this embodiment, the image processing module 802 is connected to the image acquisition module 801 through a wire, the feature management module 803 is connected to the microprocessor 804 through a wire, and the inertial sensor 805 is connected to the microprocessor 804 is connected by a wire, and the information storage card 806 is connected with the microprocessor 804 by a wire.
具体工作原理为：所述驱动马达10为机器人工作提供动力，所述电气控制箱8对机器人进行自动控制，所述摄像头9对外界物体进行拍摄，所述图像获取模块801获取图像信息，所述图像处理模块802对获取图像信息进行处理，所述特征管理模块803对图像特征进行管理，所述微型处理器804对机器人内部电信号进行处理，所述惯性感应器805对机器人移动惯性进行感应，所述蜂鸣警报器807在机器人遇到紧急情况时发出警报声，所述测距感应探头11对机器人与物体之间距离进行计算，所述履带传动轮4带动所述传动履带1进行运动，带动机器人运动，所述顶部支撑带轮5与所述顶部支撑带轮5对所述传动履带1顶部进行支撑传动，防止所述传动履带1顶部因张力过小而下垂，造成机器人行走不便，所述辅助传动轮2辅助所述传动履带1进行运动。The specific working principle is: the drive motor 10 provides power for the robot to work, the electrical control box 8 automatically controls the robot, the camera 9 takes pictures of external objects, the image acquisition module 801 acquires image information, and the The image processing module 802 processes the acquired image information, the feature management module 803 manages the image features, the microprocessor 804 processes the internal electrical signals of the robot, and the inertial sensor 805 senses the moving inertia of the robot, The buzzer alarm 807 sends out an alarm sound when the robot encounters an emergency, the distance measuring sensor probe 11 calculates the distance between the robot and the object, and the track drive wheel 4 drives the drive track 1 to move, Drive the robot to move, the top support pulley 5 and the top support pulley 5 support and drive the top of the transmission crawler 1 to prevent the top of the transmission crawler 1 from drooping due to too small tension, causing the robot to walk inconveniently, so The auxiliary transmission wheel 2 assists the transmission track 1 to move.
以上显示和描述了本发明的基本原理、主要特征和优点。本行业的技术人员应该了解，本发明不受上述实施例的限制，上述实施例和说明书中描述的只是说明本发明的原理，在不脱离本发明精神和范围的前提下，本发明还会有各种变化和改进，这些变化和改进都落入要求保护的本发明范围内。The basic principles, main features and advantages of the present invention have been shown and described above. Those skilled in the industry should understand that the present invention is not limited by the above-mentioned embodiments. What are described in the above-mentioned embodiments and the description only illustrate the principle of the present invention. Without departing from the spirit and scope of the present invention, the present invention will also have Variations and improvements are possible, which fall within the scope of the claimed invention.
Claims (10)
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