Autonomous obstacle removal type intelligent vehicle system

A technology for smart cars and car bodies, which is applied to manipulators, program-controlled manipulators, and manufacturing tools, etc., can solve the problems of limited space for fixed manipulators, and the inability of pure mobile robots to perform automatic removal of operations. The effect of uniformity, reducing volume and increasing grip friction

Active Publication Date: 2016-06-08
BEIJING UNIV OF TECH
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AI Technical Summary

Problems solved by technology

[0004] Aiming at the defects of the limited movable space of the existing fixed manipulator and the inability of purely mobile robots to perform operations and automatically remove obstac

Method used

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  • Autonomous obstacle removal type intelligent vehicle system
  • Autonomous obstacle removal type intelligent vehicle system
  • Autonomous obstacle removal type intelligent vehicle system

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Embodiment Construction

[0028] The present invention will be further described in detail below in conjunction with examples and drawings.

[0029] Such as figure 2 As shown, 301 are the crawlers on both sides of the car body 1, 101 are the on-board power supply, 201 are the driving wheels on both sides of the car body 1, and 202 are the driven wheels on both sides of the car body 1. The track 301 modules on the left and right sides of the car body are completely symmetrical. The left and right crawler 301 modules have their own independent drive systems, and each crawler 301 module can realize the basic operation functions of forward and reverse rotation with adjustable speed. When the two crawler 301 modules cooperate with each other, multiple sports modes can be completed. If the two wing modules move in the same direction and at the same speed, the smart car realizes straight forward or straight backward; if the two wing modules move at different speeds, the car body 1 will be prompted to generate ...

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Abstract

The invention discloses an obstacle removal type intelligent vehicle system based on laser distance measurement. A vehicle body is driven to move in a track manner; wheels adopt right-angled steering speed reducing motors; a mechanical arm is mounted on a turntable base in the center of the vehicle body; the turntable base is of an all-aluminum alloy structure; a rotating part is a steel ball bearing, so that the arm can freely rotate; the mechanical arm is a six-degree-of-freedom arm, and a hard aluminum alloy two-degree-of-freedom mechanical jaw capable of grabbing objects is arranged at the tail end of the mechanical arm; the mechanical arm can be used for conventional grabbing operation, and also can autonomously remove non-fixed obstacles to develop an advancing road; the moving plan of the mechanical arm adopts a D-H coordinate system analysis method; the distance measurement adopts a pulse laser distance measurement system; and an emitting module, a receiving module and an MCU module for data processing are used for quickly removing any obstacle to measure the distance, so that the system reliability is improved. The system combines the autonomous mechanical arm with the intelligent vehicle, can help people to work under special environments untouchable by manpower, and is higher in reality application value.

Description

Technical field [0001] The invention relates to a control and driving principle of an autonomous obstacle-removing intelligent vehicle system capable of operating with a mechanical arm, and belongs to the field of robot automation. Background technique [0002] With the rapid development of modern technology, it has become a major trend to use intelligent robots to replace humans and serve humans under harsh working conditions or special environments. Without manual intervention, how to make intelligent robots reach the target quickly and remove obstacles has always been a difficult problem for people. Therefore, designing a fast-moving robot that can remove obstacles autonomously can assist humans in completing special environments. The next work is very necessary. [0003] At present, most of the robot arms in practical application are fixed, they can only be fixed in a certain position for operation, so their application scope is mostly limited to repetitive work in industrial ...

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Application Information

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IPC IPC(8): B25J5/00B25J9/16B25J13/08
CPCB25J5/007B25J9/1602B25J13/08
Inventor 许红霞花晓峰
Owner BEIJING UNIV OF TECH
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