CN109015704A - It is a kind of can obstacle detouring Pei Pao robot and its obstacle detouring control method - Google Patents
It is a kind of can obstacle detouring Pei Pao robot and its obstacle detouring control method Download PDFInfo
- Publication number
- CN109015704A CN109015704A CN201811245113.2A CN201811245113A CN109015704A CN 109015704 A CN109015704 A CN 109015704A CN 201811245113 A CN201811245113 A CN 201811245113A CN 109015704 A CN109015704 A CN 109015704A
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- obstacle
- wheel
- robot
- pao
- pei
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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
- B25J11/00—Manipulators not otherwise provided for
-
- 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
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- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
- Manipulator (AREA)
Abstract
The present invention relates to one kind can obstacle detouring Pei Pao robot and its obstacle detouring control method, by Pei Pao robot be arranged obstacle crossing device, it can be achieved that Pei Pao robot ingenious obstacle detouring.When Pei Pao robot encounters obstacle, detection to obstacle height and location information and control device is passed to by the detection device control panel, control obstacle crossing device is supported on blocking surface after control device receives corresponding information, and obstacle crossing device is controlled by telescopic device and is stretched to horizontal with front-wheel, it is then turned on the sliding of obstacle crossing device bottom pulley, realizes that front-wheel is advanced to blocking surface, wheel is under the drive of front-wheel, can crossing over blockage together, realize whole obstacle detouring., can also be by support device when the use of common stool and by the flexible of pillar, it can be convenient for users to resting everywhere.
Description
Technical field
The present invention relates to field in intelligent robotics, and in particular to one kind can obstacle detouring Pei Pao robot and its obstacle detouring controlling party
Method.
Background technique
Promotion with people to health perception, road-work are increasingly becoming a part of people's daily life.Therefore, it accompanies
It runs robot to come into being, however the current development of Pei Pao robot is still in infancy, and is not widely applied in the market
Product.
Although had already appeared near field it is a variety of follow robot, for example, be applied to household clean robot, answer
The unmanned plane that follows for taking photo by plane, and in the prior art, when following robot in face of obstacle, mostly use avoidance mode, i.e., it is logical
It crosses the modes such as detour or u-turn and realizes avoidance, and can not realize obstacle detouring well；In following in robot for unmanned plane, although
The technical issues of through obstacle detouring is not present, but unmanned plane follows the at high cost of robot, and average family is difficult to bear, and it is mainly used
In taking photo by plane, different from the concept of Pei Pao robot, the function of many fixations be cannot achieve.
Summary of the invention
The technical problem to be solved in the present invention is to provide it is a kind of it is simple, practical, low in cost, can obstacle detouring suitable for accompany race
Robot.
Technical proposal that the invention solves the above-mentioned problems is as follows: including control device, wheel, detection device control panel, preceding
Wheel, detection device, substrate, the two sides of substrate are arranged in the wheel, and substrate two sides have the groove for placing wheel, control dress
It sets and detection device is fixed at the upper face of substrate, and the front of control device is arranged in detection device, passes through fixation
The detection device control panel being disposed on the substrate realizes the data interaction of detection device and control device, and front-wheel is arranged in substrate
Lower front, and its height just places substrate level with two wheels, which further includes obstacle crossing device, more
Fault device includes telescopic device and pulley, and the bottom of obstacle crossing device is arranged in pulley, and obstacle crossing device is set by telescopic device respectively
It sets the two sides in front-wheel and is fixedly connected with substrate, and than front-wheel closer to substrate front, when Pei Pao robot encounters obstacle,
Detection to obstacle height and location information and control device, control device are passed to by detection device control panel
The pulley plate for receiving to control after corresponding information obstacle crossing device bottom is vertical with barrier side, and further control telescopic device receipts
Rise, make the pulley support of obstacle crossing device bottom on blocking surface, and by telescopic device control obstacle crossing device stretch to it is preceding
Wheel is horizontal, is then turned on the sliding of obstacle crossing device bottom pulley, realizes that front-wheel is advanced to blocking surface, wheel under the drive of front-wheel,
Can crossing over blockage together, realize whole obstacle detouring.
The present invention is further arranged to, including voice module, and voice module is arranged on control device, it can be achieved that voice is mutual
Dynamic, which is a Baffle Box of Bluetooth.
The Pei Pao robot further includes GPS module, and GPS module is arranged on control device.
The Pei Pao robot further includes support device, and support device is supported on substrate by 4 pillars, can be filled in support
Fixed-storage device is set, realizes storing.
The pillar of support device is scalable, and pillar stretching is followed by tread surface and fixes, and support device can be used as common stool and multiply
It sits.
The support device is acrylic board.
The detection device is ultrasonic sensor.
The pulley is universal wheel.
The invention solves second technical problem be to provide the obstacle-detouring method of Pei Pao robot a kind of, to solve the skill
Art problem proposes following operating method:
(1) when detection is to preceding object, position and the altitude signal of obstacle are obtained, and signal is passed into spy
Survey device control panel；
(2) after detection device control panel receives position and the altitude signal of obstacle, signal is passed into control device, is controlled
Device pretrigger obstacle crossing device processed carries out obstacle detouring preparation；
(3) when Pei Pao robot reaches before obstacle, control device controls the pulley plate and barrier of obstacle crossing device bottom
Side is vertical, and further control telescopic device is packed up, and is made the pulley support of obstacle crossing device bottom on blocking surface, is then stretched
Compression apparatus further reaches and front-wheel level；
(4) control device opens the pulley sliding of obstacle crossing device bottom, and front-wheel is advanced to barrier under the drive of obstacle crossing device
Hinder surface；
(5) wheel is under the drive of front-wheel, can crossing over blockage together, realize whole obstacle detouring.
The beneficial effects of the present invention are:
1. by obstacle crossing device, and combining corresponding obstacle detouring algorithm, the obstacle detouring of Pei Pao robot is cleverly realized.It is run when accompanying
When robot encounters obstacle, by telescopic device control obstacle crossing device stretch to front-wheel level, be then turned on obstacle crossing device bottom
Pulley sliding realizes that front-wheel is advanced to blocking surface, and wheel is under the drive of front-wheel, it can be achieved that the entirety of barrier-surpassing robot is got over
Barrier.
2. support device can support ground by flexible pillar, so that the function of stool is realized, convenient for users to everywhere
Rest.
Detailed description of the invention
Fig. 1 is the whole structural schematic diagram of the present invention；
Fig. 2 is internal structure chart of the invention；
Fig. 3 is the structural schematic diagram of another angle of the present invention.
Specific embodiment
As shown in Figure 1-3, it is a kind of can obstacle detouring Pei Pao robot, including control device 1, wheel 2, detection device control panel
3, voice module 4, pillar 5, front-wheel 6, detection device 7, support device 8, obstacle crossing device 9, substrate 10, wheel 2 are arranged in substrate
10 two sides, and 10 two sides of substrate have the groove for placing wheel, control device 1 includes GPS module, control device 1 and detection
Device 7 is fixed at the upper face of substrate 10, and the front of control device 1 is arranged in detection device 7, passes through fixed setting
Detection device control panel 3 on the substrate 10 realizes the data interaction of detection device 7 Yu control device 1, and front-wheel 6 is arranged in base
10 lower front of plate, and its height just makes substrate 10 horizontal positioned with two wheels 2, obstacle crossing device 9 includes telescopic device
11 and pulley 12, the bottom of obstacle crossing device 9 is arranged in pulley 12, and obstacle crossing device 9 is arranged by telescopic device 11 in front-wheel 6 respectively
Two sides and be fixedly connected with substrate 10, and than front-wheel 6 closer to 10 front of substrate, voice module 4 is arranged in control device 1
Above, it can be achieved that voice interface, the voice module are a Baffle Box of Bluetooth, support device 8 is supported on substrate by 4 pillars 5, can
Fixed-storage device (diagram is not shown) in support device 8 realizes storing, and the pillar 5 of support device 8 is scalable, and pillar 5 is stretched
It is followed by tread surface out to fix, support device 8 can be used as common stool and take, and support device 8 selects acrylic board, detection device 7
Ultrasonic sensor is selected, pulley 12 selects universal wheel.
The specific obstacle-detouring method that the present invention is implemented is as follows: (1) when detection device 7 detects preceding object, obtaining obstacle
Position and altitude signal, and signal is passed into detection device control panel 3；(2) detection device control panel 3 receives the position of obstacle
Set and altitude signal after, signal is passed into control device 1,1 pretrigger obstacle crossing device 9 of control device carries out obstacle detouring preparation；
(3) when Pei Pao robot reaches before obstacle, the telescopic device 11 that control device 1 controls obstacle crossing device 9 starts, so that obstacle detouring fills
The pulley plate 13 for setting 9 bottoms is vertical with barrier side, and further control telescopic device 11 will be packed up control device 1, makes obstacle detouring
The pulley 12 of 9 bottom of device is supported on blocking surface, and then telescopic device 11 further reaches horizontal with front-wheel 6；(4) it controls
The pulley 12 that device 1 processed opens 9 bottom of obstacle crossing device slides, and front-wheel 6 is advanced to blocking surface under the drive of obstacle crossing device 9；
(5) wheel 2 is under the drive of front-wheel 6, can crossing over blockage together, realize whole obstacle detouring.
Claims (10)
1. one kind can obstacle detouring Pei Pao robot, which is characterized in that including control device (1), wheel (2), detection device control
Plate (3), front-wheel (6), detection device (7), substrate (10), the wheel (2) setting are and described in the two sides of the substrate (10)
Substrate (10) two sides have the groove for placing the wheel (2), and the control device (1) and the detection device (7) fixation are set
The upper face in the substrate (10) is set, and the detection device (7) is arranged in the front of the control device (1), passes through
The detection device control panel (3) on the substrate (10) is fixed to realize the detection device (7) and the control
The data interaction of device (1) processed, the front-wheel (6) setting in the substrate (10) lower front, and its height with described in two
The height of wheel (2) just makes the substrate (10) horizontal positioned, which further includes obstacle crossing device (9), described
Obstacle crossing device (9) includes telescopic device (11), pulley (12) and pulley plate (13), and there are two the pulleys (12), is set respectively
It sets at the pulley plate (13) bottom both ends, described telescopic device (11) one end is fixed in the middle part of pulley plate (13), another
End is fixedly connected with the substrate (10), and there are two the obstacle crossing devices (9), and is separately positioned on the two sides of the front-wheel (6),
When Pei Pao robot encounters obstacle, the detection device (7) detects the height and location information and by the spy of obstacle
It surveys device control panel (3) to pass to the control device (1), the control device (1) controls described get over after receiving corresponding information
The pulley plate (13) of fault device (9) bottom is vertical with barrier side, and further controls the telescopic device (11) receipts
It rises, is supported on the pulley (12) of the obstacle crossing device (9) bottom on blocking surface, and pass through the telescopic device (11)
Control the obstacle crossing device (9) stretch to the front-wheel (6) level, be then turned on pulley described in the obstacle crossing device (9) bottom
(12) it slides, realizes that the front-wheel (6) is advanced to blocking surface, the wheel (2), can one under the drive of the front-wheel (6)
And crossing over blockage, realize whole obstacle detouring.
2. as described in claim 1 can obstacle detouring Pei Pao robot, which is characterized in that the Pei Pao robot further includes voice mould
Block (4), the voice module (4) are arranged on control device (1), it can be achieved that voice interface.
3. as claimed in claim 2 can obstacle detouring Pei Pao robot, which is characterized in that the voice module (4) be a bluetooth
Speaker.
4. as described in claim 1 can obstacle detouring Pei Pao robot, which is characterized in that the Pei Pao robot further includes GPS mould
Block, the GPS module are arranged on the control device (1).
5. as described in claim 1 can obstacle detouring Pei Pao robot, which is characterized in that the Pei Pao robot further include support dress
It sets (8), the support device (8) is supported on the substrate (10) by 4 pillars (5), can be on the support device (8)
Fixed-storage device realizes storing.
6. as claimed in claim 5 can obstacle detouring Pei Pao robot, which is characterized in that the branch of the support device (8)
Column (5) is scalable, and the pillar (5), which is stretched out, to be followed by tread surface and fix, and the support device (8) can be used as common stool and multiply at this time
It sits.
7. as claimed in claim 5 can obstacle detouring Pei Pao robot, which is characterized in that the support device (8) be acrylic
Plate.
8. as described in claim 1 can obstacle detouring Pei Pao robot, which is characterized in that the detection device (7) be ultrasonic wave
Sensor.
9. as described in claim 1 can obstacle detouring Pei Pao robot, which is characterized in that the pulley (12) be universal wheel.
10. it is a kind of according to claim 1 described in -8 can obstacle detouring Pei Pao robot obstacle detouring control method, which is characterized in that
The following steps are included:
1) when the detection device (7) detects preceding object, position and the altitude signal of obstacle are obtained, and signal is passed to
The detection device control panel (3)；
2) after the detection device control panel (3) receives position and the altitude signal of obstacle, signal is passed into the control
Device (1), obstacle crossing device (9) described in control device (1) pretrigger carry out obstacle detouring preparation；
3) when Pei Pao robot reaches before obstacle, the control device (1) controls the cunning of obstacle crossing device (9) bottom
Wheel plate (13) is vertical with barrier side, and further controls the telescopic device (11) and pack up, and makes the obstacle crossing device (9) bottom
The pulley (12) in portion is supported on blocking surface, and then the telescopic device (11) further reaches and the front-wheel
(6) horizontal；
4) control device (1) opens the pulley (12) sliding of obstacle crossing device (9) bottom, and the front-wheel (6) exists
Blocking surface is advanced under the drive of the obstacle crossing device (9)；
5) wheel (2) is under the drive of the front-wheel (6), can crossing over blockage together, realize whole obstacle detouring.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811245113.2A CN109015704A (en) | 2018-10-24 | 2018-10-24 | It is a kind of can obstacle detouring Pei Pao robot and its obstacle detouring control method |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811245113.2A CN109015704A (en) | 2018-10-24 | 2018-10-24 | It is a kind of can obstacle detouring Pei Pao robot and its obstacle detouring control method |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN109015704A true CN109015704A (en) | 2018-12-18 |
Family
ID=64614137
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201811245113.2A Pending CN109015704A (en) | 2018-10-24 | 2018-10-24 | It is a kind of can obstacle detouring Pei Pao robot and its obstacle detouring control method |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN109015704A (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111317995A (en) * | 2020-02-28 | 2020-06-23 | 新石器慧通（北京）科技有限公司 | Vehicle-based motion auxiliary system and interaction mode |
Citations (6)
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|---|---|---|---|---|
| CN2673583Y (en) * | 2004-02-16 | 2005-01-26 | 中国科学技术大学 | High power passive obstacle crossing robot |
| CN106627828A (en) * | 2016-11-30 | 2017-05-10 | 中国人民解放军国防科学技术大学 | Swing-type elevating and descending obstacle-surmounting robot |
| CN106740738A (en) * | 2016-11-18 | 2017-05-31 | 云南电网有限责任公司电力科学研究院 | One kind may span across formula detection robot, control method and device |
| CN107284544A (en) * | 2017-07-30 | 2017-10-24 | 福州大学 | A kind of multi-functional General Mobile robot chassis and its application process |
| CN207283779U (en) * | 2017-09-15 | 2018-04-27 | 深圳市城市漫步科技有限公司 | Intelligent watch accompanies robot with the intelligence that Baffle Box of Bluetooth combines |
| CN108594820A (en) * | 2018-05-04 | 2018-09-28 | 中国矿业大学 | A kind of crawler type Intelligent Mobile Robot active obstacle system and its control method |
-
2018
- 2018-10-24 CN CN201811245113.2A patent/CN109015704A/en active Pending
Patent Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN2673583Y (en) * | 2004-02-16 | 2005-01-26 | 中国科学技术大学 | High power passive obstacle crossing robot |
| CN106740738A (en) * | 2016-11-18 | 2017-05-31 | 云南电网有限责任公司电力科学研究院 | One kind may span across formula detection robot, control method and device |
| CN106627828A (en) * | 2016-11-30 | 2017-05-10 | 中国人民解放军国防科学技术大学 | Swing-type elevating and descending obstacle-surmounting robot |
| CN107284544A (en) * | 2017-07-30 | 2017-10-24 | 福州大学 | A kind of multi-functional General Mobile robot chassis and its application process |
| CN207283779U (en) * | 2017-09-15 | 2018-04-27 | 深圳市城市漫步科技有限公司 | Intelligent watch accompanies robot with the intelligence that Baffle Box of Bluetooth combines |
| CN108594820A (en) * | 2018-05-04 | 2018-09-28 | 中国矿业大学 | A kind of crawler type Intelligent Mobile Robot active obstacle system and its control method |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111317995A (en) * | 2020-02-28 | 2020-06-23 | 新石器慧通（北京）科技有限公司 | Vehicle-based motion auxiliary system and interaction mode |
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| WD01 | Invention patent application deemed withdrawn after publication |
Application publication date: 20181218 |
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| WD01 | Invention patent application deemed withdrawn after publication |