A mobile robot simulation platform

Abstract

The invention belongs to the technical field of robot testing, and particularly relates to a mobile robot simulation platform, which comprises a control end, a mobile platform and a mobile robot. The mobile platform is provided with a plurality of point modules, and each point module is equidistantly distributed in a square grid. Each point module includes an installation round hole, a point signal transmitter and a transparent round plate. The point signal transmitter is installed at the bottom of the installation round hole, and the transparent round plate is arranged on the upper side of the installation round hole. A first point signal receiver is installed at the bottom of the mobile robot, and the mobile platform is further provided with an obstacle robot, and a second point signal receiver is installed at the bottom of the obstacle robot. By setting the obstacle robot, when simulating the ant colony algorithm program of the mobile robot, the invention can not only simulate the movement rule of the ant colony algorithm program, but also simulate the obstacle avoidance rule of the ant colony algorithm program.

Description

Technical Field

[0001] The present invention belongs to the technical field of robot testing, and particularly relates to a mobile robot simulation platform. Background Art

[0002] With the improvement of intelligent technology, the development level of intelligent robots has been increasingly improved. Optimizing the moving path of intelligent robots has always been a relatively crucial link. Inspired by ants searching for food, scientists have derived the ant colony algorithm applied to intelligent robots. The existing patent application number CN202120573994.1 discloses a mobile robot simulation platform based on the ant colony algorithm. This platform mainly consists of an intelligent operation console, a motion platform, and a movable drive structure, and can simulate the ant colony algorithm program of intelligent robots. However, this platform does not set corresponding obstacle structures. When simulating the ant colony algorithm program, it can only simulate the movement rules of the ant colony algorithm program and cannot simulate the obstacle avoidance rules of the ant colony algorithm program. Summary of the Invention

[0003] The purpose of the present invention is to provide a mobile robot simulation platform to solve the problems existing in the background art.

[0004] To achieve the above technical purpose, the technical solution adopted by the present invention is as follows:

[0005] A mobile robot simulation platform includes a control end, a mobile platform, and a mobile robot. The mobile platform is provided with a number of point modules, and each of the point modules is evenly distributed in a square grid. And the control end generates point coordinate information for each point module according to a rectangular coordinate system.

[0006] Each of the point modules includes an installation round hole, a point signal transmitter, and a transparent round plate. The installation round hole is opened on the upper side of the mobile platform, the point signal transmitter is installed at the bottom of the installation round hole, and the transparent round plate is arranged on the upper side of the installation round hole and is flush with the mobile platform.

[0007] The mobile robot is internally provided with a programming motion module and a storage module, and a first point signal receiver matching the point signal transmitter is installed at the bottom of the mobile robot.

[0008] The mobile platform is further provided with an obstacle robot. The obstacle robot is internally provided with a wireless control signal receiving module, and a second point signal receiver matching the point signal transmitter is installed at the bottom of the obstacle robot.

[0009] The transparent circular plate is slidably connected to the installation circular hole. A sliding connection assembly is provided between the bottom of the transparent circular plate and the installation circular hole. The sliding connection assembly includes two positioning slide rods, both of which are slidably connected to the bottom of the installation circular hole. The transparent circular plate is fixedly connected with springs sleeved on the outer sides of the positioning slide rods. The obstacle robot is equipped with a fixing mechanism matching the installation circular hole.

[0010] The fixing mechanism includes an annular platform which matches the installation circular hole. The annular platform is arranged at the bottom of the obstacle robot. A lifting assembly is provided between the obstacle robot and the annular platform. The annular platform matches the installation circular hole, and the second point signal receiver corresponds to the inner side of the annular platform.

[0011] The lifting assembly includes lifting rods. The number of the lifting rods is two, and they slidably penetrate through the upper and lower sides of the obstacle robot. A connecting platform is fixedly connected to the upper sides of the two lifting rods together. The lower sides of the two lifting rods are both fixedly connected to the annular platform. A motor is built in the obstacle robot, and the output end of the motor is rotationally connected with a rotating shaft extending upward through the obstacle robot. A screw rod is fixedly arranged on the rotating shaft. The screw rod penetrates through the connecting platform and is in threaded rotational connection with the connecting platform.

[0012] A first stop block is fixedly connected to the upper end of the screw rod.

[0013] The lower end of the positioning slide rod is fixedly provided with a limit slider. A limit chute matching the limit slider is opened at the bottom of the installation circular hole. The limit chute is also provided with a positioning through hole matching the positioning slide rod. The positioning slide rod extends through and reaches the inside of the positioning through hole.

[0014] A second stop block is fixedly arranged inside the installation circular hole.

[0015] An anti-collision airbag is installed on the side wall of the mobile robot.

[0016] In use, first, the programming motion module can write the ant colony algorithm program into the mobile robot. Then, a control signal is sent through the control terminal to move the obstacle robot to the designated point module on the mobile platform. The second point signal receiver at the bottom of the obstacle robot receives the point signal from the point signal transmitter of the designated point module for positioning and stopping the movement, thereby generating an obstacle point. The mobile robot moves on the mobile platform according to the ant colony algorithm program. During the movement of the mobile robot, the first point signal receiver at the bottom receives the point signal from the point signal transmitter, thereby obtaining the point coordinate information of the point transmitter, and storing the point coordinate information through the storage module. The stored point coordinates can generate the movement trajectory of the mobile robot in sequence, simulating the movement rules of the ant colony algorithm program, and the set obstacle robot can simulate the obstacle avoidance rules of the mobile robot during movement. BRIEF DESCRIPTION OF THE DRAWINGS

[0017] The present invention can be further illustrated by the non-limiting embodiments given in the drawings.

[0018] Figure 1 FIG. 1 is a schematic structural diagram of the mobile platform of Embodiment 1 of a mobile robot simulation platform according to the present invention;

[0019] Figure 2 FIG. 2 is a schematic cross-sectional structural diagram of the point module of Embodiment 1 according to the present invention;

[0020] Figure 3 FIG. 3 is a schematic structural diagram of the mobile robot and the obstacle robot of Embodiment 1 according to the present invention;

[0021] Figure 4 FIG. 4 is a schematic cross-sectional structural diagram of the mobile robot moving to the point module of Embodiment 1 according to the present invention;

[0022] Figure 5 FIG. 5 is a schematic cross-sectional structural diagram of the point module of Embodiment 2 according to the present invention;

[0023] Figure 6 FIG. 6 is a schematic structural diagram of the obstacle robot of Embodiment 2 according to the present invention;

[0024] Figure 7 FIG. 7 is a schematic cross-sectional structural diagram of the positioning between the obstacle robot and the point module of Embodiment 2 according to the present invention;

[0025] Figure 8 FIG. 8 is a schematic cross-sectional structural diagram of the mobile robot and the point module of Embodiment 3 according to the present invention;

[0026] The main component symbols are explained as follows:

[0027] Embodiment 1: Mobile platform 100, mobile robot 101, mounting round hole 102, position signal transmitter 103, transparent round plate 104, first position signal receiver 105, obstacle robot 106, second position signal receiver 107;

[0028] Embodiment 2: Positioning slide bar 200, spring 201, annular platform 202, lifting rod 203, connecting platform 204, rotating shaft 205, screw 206, first stop block 207;

[0029] Embodiment 3: Limit slider 300, limit chute 301, second stop block 302, anti-collision airbag 303. Specific implementation

[0030] In order to enable those skilled in the art to better understand the present invention, the technical solution of the present invention will be further described below with reference to the drawings and embodiments.

[0031] Embodiment 1:

[0032] As Figures 1 to 4 shown, a mobile robot simulation platform includes a control end, a mobile platform 100 and a mobile robot 101. The mobile platform 100 is provided with a plurality of position modules, and each position module is evenly distributed in a square grid. The control end generates position coordinate information for each position module according to a rectangular coordinate system. Each position module includes a mounting round hole 102, a position signal transmitter 103 and a transparent round plate 104. The mounting round hole 102 is opened on the upper side of the mobile platform 100. The position signal transmitter 103 is installed at the bottom of the mounting round hole 102. The transparent round plate 104 is arranged on the upper side of the mounting round hole 102 and is flush with the mobile platform 100. The mobile robot 101 is internally provided with a programmed motion module and a storage module. A first position signal receiver 105 matching the position signal transmitter 103 is installed at the bottom of the mobile robot 101. The mobile platform 100 is further provided with an obstacle robot 106. The obstacle robot 106 is internally provided with a wireless control signal receiving module. A second position signal receiver 107 matching the position signal transmitter 103 is installed at the bottom of the obstacle robot 106.

[0033] The installation round hole 102 is used for installing the point signal transmitter 103 and the transparent round plate 104. Installing the point signal transmitter 103 at the bottom of the installation round hole 102 can prevent the point signal transmitter 103 from protruding from the moving platform 100 and can protect the point signal transmitter 103 at the same time. The point signal transmitter 103 and the first point signal receiver 105 as well as the second point signal receiver 107 all use infrared rays to send and receive point signals. Through the transparent round plate 104 arranged on the upper side of the installation round hole 102, light can pass through to avoid blocking the infrared signal. Through the programming motion module, an ant colony algorithm program can be written into the mobile robot 101, so that the mobile robot 101 moves on each point module according to the ant colony algorithm. When the mobile robot 101 moves to a point module, as Figure 4 shown, the first point signal receiver 105 at the bottom receives the point signal of the point signal transmitter 103, thereby obtaining the point coordinate information of the point transmitter 103, and storing the point coordinate information through the storage module. The wireless control signal receiving module of the obstacle robot 106 can receive the control signal sent by the control end, and thus move to the specified point module. Similarly, the second point signal receiver 107 at the bottom receives the point signal of the point signal transmitter 103 of the specified point module for positioning and stopping the movement;

[0034] When in use, it includes the following steps:

[0035] Step 100: Write the movement program. Through the programming motion module, an ant colony algorithm program can be written into the mobile robot 101;

[0036] Step 200: Set the obstacle point. By sending a control signal from the control end, move the obstacle robot 106 to the specified point module of the moving platform 100. The second point signal receiver 107 at the bottom of the obstacle robot 106 receives the point signal of the point signal transmitter 103 of the specified point module for positioning and stopping the movement, thereby generating an obstacle point;

[0037] Step 300: The mobile robot 101 moves on the moving platform 100 according to the ant colony algorithm program. During the movement of the mobile robot 101, the first point signal receiver 105 at the bottom receives the point signal of the point signal transmitter 103, thereby obtaining the point coordinate information of the point transmitter 103, and storing the point coordinate information through the storage module;

[0038] The stored point coordinates can generate the movement trajectory of the mobile robot 101 in sequence, simulate the movement rules of the ant colony algorithm program, and the set obstacle robot 106 can simulate the obstacle avoidance rules when the mobile robot 101 moves.

[0039] Embodiment 2:

[0040] Based on Embodiment 1, when the obstacle robot 106 stops on the designated point module, it is likely to slide and deviate from the designated point module due to the shaking of the mobile platform and the collision of the mobile robot 101. Therefore, the following improvements are made, as Figures 5 to 7 shown, the transparent circular plate 104 is slidably connected to the installation circular hole 102. A sliding connection assembly is provided between the bottom of the transparent circular plate 104 and the installation circular hole 102. The sliding connection assembly includes two positioning slide bars 200. Both of the two positioning slide bars 200 are slidably connected to the bottom of the installation circular hole 102. The transparent circular plate 104 is fixedly connected with a spring 201 sleeved on the outer side of the positioning slide bar 200. The obstacle robot 106 is equipped with a fixing mechanism matching the installation circular hole 102;

[0041] The fixing mechanism includes an annular platform 202. The annular platform 202 matches the installation circular hole 102. The annular platform 202 is arranged at the bottom of the obstacle robot 106. A lifting assembly is provided between the obstacle robot 106 and the annular platform 202. The annular platform 202 matches the installation circular hole 102. The second point signal receiver 107 corresponds to the inner side of the annular platform 202;

[0042] The lifting assembly includes a lifting rod 203. The number of the lifting rods 203 is two and they slidably penetrate through the upper and lower sides of the obstacle robot 106. A connecting platform 204 is fixedly connected to the upper sides of the two lifting rods 203. The lower sides of the two lifting rods 203 are both fixedly connected to the annular platform 202. A motor is built in the obstacle robot 106. The output end of the motor is rotatably connected with a rotating shaft 205 extending upward through the obstacle robot 106. A screw rod 206 is fixedly arranged on the rotating shaft 205. The screw rod 206 penetrates through the connecting platform 204 and is in threaded rotation connection with the connecting platform 204.

[0043] The transparent circular plate 104 is slidably connected to the bottom of the installation circular hole 102 through two positioning slide bars 200, so that the transparent circular plate 104 can slide in the installation circular hole 102. At the same time, the arranged spring 201 can elastically push up the transparent circular plate 104 to the upper side of the installation circular hole 102;

[0044] When the obstacle robot 106 stops on the designated point module, the built-in motor in the lifting assembly is started to drive the rotating shaft 205 and the screw rod 206 to rotate. Since the connecting platform 204 is connected with two lifting rods 203, the connecting platform 204 can move downward relative to the screw rod 206, so that the two lifting rods 203 and the annular platform 202 move downward, pushing the transparent circular plate 104 to slide downward and compressing the spring 201, so that the annular platform 202 extends into the installation circular hole 102, thereby limiting the obstacle robot 106, as Figure 7As shown in the figure, the second position signal receiver 107 is corresponding to the inner side of the ring platform 202, so that the infrared signal will not be blocked by the ring platform 202;

[0045] When moving or changing the position of the obstacle robot 106, the motor built in the lifting assembly is also started, which can make the two lifting rods 203 and the ring platform 202 move upward to disengage from the installation round hole 102. After the ring platform 202 returns to the bottom of the obstacle robot 106, the position of the obstacle robot 106 can be moved or changed. During this process, the transparent circular plate 104 can return to the upper side of the installation round hole 102 under the resilience of the spring 201.

[0046] As a further optimization of this embodiment, as Figure 6 and Figure 7 shown, a first stopper 207 is fixedly connected to the upper end of the screw rod 206. By setting the first stopper 207 at the upper end of the screw rod 206, it is used to limit the stroke of the connecting platform 204 and avoid excessive stroke, resulting in the ring platform 202 colliding with the bottom of the obstacle robot 106.

[0047] Embodiment Three:

[0048] On the basis of Embodiment Two, further explanation and optimization are made. As Figure 8 shown, a limit slider 300 is fixedly arranged at the lower end of the positioning slide bar 200. A limit chute 301 matching the limit slider 300 is opened at the bottom of the installation round hole 102. The limit chute 301 is also provided with a positioning through hole matching the positioning slide bar 200. The positioning slide bar 200 penetrates and extends into the positioning through hole. A second stopper 302 is fixedly arranged inside the installation round hole 102, and an anti-collision airbag 303 is installed on the side wall of the mobile robot 101.

[0049] The limit chute 301, the limit slider 300 and the positioning through hole are set so that when the positioning slide bar 200 moves up and down, the stroke of the positioning slide bar 200 can be limited to avoid the transparent circular plate 104 protruding from the installation round hole 102. At the same time, the second stopper 302 is set to limit the downward stroke of the transparent circular plate 104. Installing the anti-collision airbag 303 on the side wall of the mobile robot 101 can effectively reduce the collision and impact suffered by the mobile robot 101 during movement.

[0050] The above embodiments only exemplarily illustrate the principles and effects of the present invention, rather than being used to limit the present invention. Any person familiar with this technology can modify or change the above embodiments without departing from the spirit and scope of the present invention. Therefore, all equivalent modifications or changes completed by those with ordinary knowledge in the technical field without departing from the spirit and technical idea disclosed by the present invention should still be covered by the claims of the present invention.

Claims

1. A mobile robot simulation platform, comprising a control terminal, a mobile platform and a mobile robot, characterized in that: The mobile platform is provided with a number of point modules, and each of the point modules is evenly distributed in a square grid, and the control end generates point coordinate information for each point module according to a rectangular coordinate system; Each of the point modules includes an installation round hole, a point signal transmitter, and a transparent round plate. The installation round hole is opened on the upper side of the mobile platform. The point signal transmitter is installed at the bottom of the installation round hole. The transparent round plate is arranged on the upper side of the installation round hole and is flush with the mobile platform; The mobile robot is built-in with a programming motion module and a storage module, and a first point signal receiver matching the point signal transmitter is installed at the bottom of the mobile robot; The mobile platform is further provided with an obstacle robot. The obstacle robot is built-in with a wireless control signal receiving module, and a second point signal receiver matching the point signal transmitter is installed at the bottom of the obstacle robot; The transparent round plate is slidably connected to the installation round hole. A sliding connection assembly is arranged between the bottom of the transparent round plate and the installation round hole. The sliding connection assembly includes two positioning slide bars. Both of the positioning slide bars are slidably connected to the bottom of the installation round hole. The transparent round plate is fixedly connected with a spring sleeved on the outer side of the positioning slide bar. The obstacle robot is provided with a fixing mechanism matching the installation round hole; The fixing mechanism includes a ring platform. The ring platform matches the installation round hole. The ring platform is arranged at the bottom of the obstacle robot. An elevating assembly is arranged between the obstacle robot and the ring platform. The ring platform matches the installation round hole. The second point signal receiver corresponds to the inner side of the ring platform; The elevating assembly includes elevating rods. The number of the elevating rods is two and they slidably penetrate through the upper and lower sides of the obstacle robot. A connecting platform is fixedly connected to the upper sides of the two elevating rods. The lower sides of the two elevating rods are both fixedly connected to the ring platform. The obstacle robot is built-in with a motor. The output end of the motor is rotationally connected to a rotating shaft extending upward through the obstacle robot. The rotating shaft is fixedly provided with a screw rod. The screw rod penetrates through the connecting platform and is rotationally connected to the connecting platform in a threaded manner.

2. The mobile robot simulation platform according to claim 1, characterized in that: A first stop block is fixedly connected to the upper end of the screw rod.

3. The mobile robot simulation platform according to claim 2, wherein: A limit slider is fixedly arranged at the lower end of the positioning slide bar. A limit chute matching the limit slider is opened at the bottom of the installation round hole. The limit chute is further provided with a positioning through hole matching the positioning slide bar. The positioning slide bar penetrates and extends into the positioning through hole.

4. The mobile robot simulation platform according to claim 3, wherein: A second stop block is fixedly arranged inside the installation round hole.

5. The mobile robot simulation platform according to claim 4, wherein: An anti-collision airbag is installed on the side of the mobile robot.

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