A road surface detection robot moving device and zero point determination method thereof

Abstract

The present application discloses a road surface inspection robot mobile device and a zero point confirmation method thereof, wherein the road surface inspection robot mobile device comprises a base and a plurality of mobile components; the plurality of mobile components are arranged at the bottom of the base and are rotatably connected to the base through a connecting member; each of the mobile components comprises a bracket and a mobile member rotatably connected to the bracket, the bracket has at least one reference plane, and the reference plane can be used to determine the zero point position of the mobile component; wherein when the reference planes of two adjacent mobile components are located in the same plane, the two adjacent mobile components are both at the zero point position. Due to the setting of the reference plane, the zero point position of the road surface inspection robot mobile device is easy to confirm, and since the angles between the planes are unique, the accuracy is high.

Description

Technical Field

[0001] The present application relates to the technical field of industrial robots, and in particular to a road surface detection robot moving device and a zero point determination method thereof. Background Art

[0002] With existing industrial robot technology, when an industrial robot fails, it is necessary to disassemble the robot body, replace the reducer, and replace the motor to troubleshoot the problem. After the problem is solved, the robot needs to be re-aligned to the zero point to restore the original accuracy of the robot.

[0003] Traditional methods of mechanical zero-point alignment for robots include the marking method and labeling method. The marking method and labeling method are to mark two lines on both sides of the robot joint rotation axis, or to affix two arrow labels to each side, rotate the joint to align the lines and labels on both sides, and then determine the robot zero point by visually observing the alignment of the lines and labels on both sides. This method requires human visual observation, has large errors, and is difficult to guarantee accuracy.

[0004] Therefore, it is urgent to improve the defects in the prior art. Summary of the invention

[0005] The purpose of the present application is to provide a road surface inspection robot moving device and a zero point determination method thereof, so as to solve the problem that the zero point of the road surface inspection robot is difficult to determine after a fault.

[0006] An embodiment of the present application provides a road surface inspection robot mobile device, including a base and a plurality of mobile components; the plurality of mobile components are arranged at the bottom of the base and are rotatably connected to the base through a connecting member; each of the mobile components includes a bracket and a mobile member rotatably connected to the bracket, the bracket has at least one reference plane, and the reference plane can be used to determine the zero position of the mobile component; wherein when the reference planes of two adjacent mobile components are located in the same plane, the two adjacent mobile components are both at the zero position.

[0007] Optionally, in some embodiments of the present application, the base has a first direction and a second direction perpendicular to the first direction; the reference plane of the bracket includes a first reference plane and a second reference plane, the reference plane parallel to the first direction is defined as the first reference plane, and the reference plane parallel to the second direction is defined as the second reference plane; wherein when the first reference plane or the second reference plane of two adjacent moving components are located in the same plane, the two adjacent moving components are both in the zero position.

[0008] Optionally, in some embodiments of the present application, when the first reference planes of two adjacent moving components in the first direction are located in the same plane, the two adjacent moving components in the first direction are both at the zero position; when the second reference planes of two adjacent moving components in the second direction are located in the same plane, the two adjacent moving components in the second direction are both at the zero position.

[0009] Optionally, in some embodiments of the present application, the moving component further includes a control drive member, and the control drive member is capable of controlling the relative rotation between the moving component and the base, and controlling the relative rotation between the moving component and the bracket.

[0010] Optionally, in some embodiments of the present application, the control drive is fixedly connected to the bracket and is located in a direction adjacent to or opposite to the reference plane.

[0011] Optionally, in some embodiments of the present application, one end of the connecting member is fixedly connected to the base, and the other end is fixedly connected to the bracket, and the bracket is rotatably connected to the base via the connecting member.

[0012] Optionally, in some embodiments of the present application, the moving member is a wheel.

[0013] Correspondingly, an embodiment of the present application also provides a method for determining the zero point of the road surface detection robot moving device, comprising the following steps: Step S1: providing a reference body, the reference body having at least one plane, and placing the plane of the reference body against two adjacent moving components at the same time; Step S2: rotating the two adjacent moving components respectively so that the reference planes of the two adjacent moving components are in contact with the plane at the same time, and recording the positions of the two adjacent moving components respectively, which positions are the zero point positions of the two adjacent moving components.

[0014] Optionally, in some embodiments of the present application, when the reference planes of two adjacent moving components are in contact with the plane at the same time, the positions of the moving components are recorded multiple times and the average value is taken as the zero point position.

[0015] Optionally, in some embodiments of the present application, after the zero point position of the moving component is determined, a zero point mark is set on the moving component and the connecting member respectively.

[0016] In summary, the embodiment of the present application provides a road surface detection robot mobile device and a zero point confirmation method thereof, wherein the road surface detection robot mobile device includes a base and a plurality of mobile components; the plurality of mobile components are arranged at the bottom of the base and are rotatably connected to the base through a connecting member; each of the mobile components includes a bracket and a moving member rotatably connected to the bracket, and the bracket has at least one reference plane, and the reference plane can be used to determine the zero point position of the mobile component; wherein when the reference planes of two adjacent mobile components are located in the same plane, the two adjacent mobile components are both at the zero point position. Due to the setting of the reference plane, the zero point position of the road surface detection robot mobile device is easy to confirm, and since the angles between the planes are unique, its accuracy is relatively high.

[0017] Furthermore, after the zero point position is confirmed, a preliminary zero point alignment can be performed by using zero point markers respectively provided on the moving component and the connecting member, thereby making it easier to return the moving device of the road surface inspection robot to zero. BRIEF DESCRIPTION OF THE DRAWINGS

[0018] In order to more clearly illustrate the technical solutions in the embodiments of the present application, the drawings required for use in the description of the embodiments will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present application. For those skilled in the art, other drawings can be obtained based on these drawings without creative work.

[0019] Figure 1 is a schematic diagram of the three-dimensional structure of the road surface inspection robot mobile device described in an embodiment of the present application;

[0020] Figure 2 It is a schematic diagram of a partial three-dimensional structure of the mobile device of the road surface inspection robot described in the embodiment of the present application;

[0021] Figure 3 It is a partial planar structural diagram of the road surface detection robot mobile device described in the embodiment of the present application;

[0022] Figure 4 It is a flow chart of the zero-point confirmation method of the road surface detection robot mobile device described in the embodiment of the present application.

[0023] Description of main reference numerals:

[0024]

[0025] DETAILED DESCRIPTION

[0026] The following will be combined with the drawings in the embodiments of the present application to clearly and completely describe the technical solutions in the embodiments of the present application. Obviously, the described embodiments are only part of the embodiments of the present application, not all of the embodiments. Based on the embodiments in the present application, all other embodiments obtained by those skilled in the art without creative work are within the scope of protection of this application.

[0027] In the description of the present application, it should be understood that the terms "center", "longitudinal", "lateral", "length", "width", "thickness", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inside", "outside", "clockwise", "counterclockwise", "axial", "radial", "circumferential" and the like indicate positions or positional relationships based on the positions or positional relationships shown in the drawings, and are only for the convenience of describing the present application and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as a limitation on the present application. In addition, the terms "first" and "second" are only used for descriptive purposes, and cannot be understood as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Therefore, the features defined as "first" and "second" may explicitly or implicitly include at least one of the features. In the description of the present application, the meaning of "multiple" is at least two, such as two, three, etc., unless otherwise clearly and specifically defined.

[0028] In this application, unless otherwise clearly specified and limited, the terms "installed", "connected", "connected", "fixed" and the like should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be a direct connection or an indirect connection through an intermediate medium, it can be the internal connection of two elements or the interaction relationship between two elements, unless otherwise clearly defined. For ordinary technicians in this field, the specific meanings of the above terms in this application can be understood according to specific circumstances.

[0029] In the present application, unless otherwise clearly specified and limited, a first feature being “above” or “below” a second feature may mean that the first and second features are in direct contact, or the first and second features are in indirect contact through an intermediate medium. Moreover, a first feature being “above”, “above”, and “above” a second feature may mean that the first feature is directly above or obliquely above the second feature, or simply means that the first feature is higher in level than the second feature. A first feature being “below”, “below”, and “below” a second feature may mean that the first feature is directly below or obliquely below the second feature, or simply means that the first feature is lower in level than the second feature.

[0030] Please refer to Figures 1 to 3Specifically, the embodiment of the present application provides a road surface inspection robot mobile device 1, including a base 100 and a plurality of mobile components 200; the plurality of mobile components 200 are arranged at the bottom of the base 100, and are rotatably connected to the base 100 through a connecting member 300; each of the mobile components 200 includes a bracket 210 and a mobile component 220 rotatably connected to the bracket 210, the bracket 210 has at least one reference plane 211, and the reference plane 211 can be used to determine the zero position of the mobile component 200; wherein when the reference planes 211 of two adjacent mobile components 200 are located in the same plane, the two adjacent mobile components 200 are both in the zero position. The mobile component 200 also includes a control drive member 230, which is fixedly connected to the bracket 210 and is located in a direction adjacent to or opposite to the reference plane 211. The control driving member 230 can control the relative rotation between the moving component 200 and the base 100 , and control the relative rotation between the moving member 220 and the bracket 210 .

[0031] One end of the connector 300 is fixedly connected to the base 100, and the other end is fixedly connected to the bracket 210, and the bracket 210 is rotatably connected to the base 100 through the connector 300. The connector 300 and the base 100 are connected by threads, including but not limited to the matching connection of bolts and nuts. The connector 300 and the bracket 210 are connected by threads, including but not limited to the matching connection of bolts and nuts. It is understood that the connector 300 itself can be rotated, and its specific rotation method is not limited in this application.

[0032] The road surface detection robot mobile device 1 can be moved by the mobile assembly 200 under the control of the control drive member 230, and due to the setting of the connecting member 300, each of the mobile assemblies 200 can be relatively rotated relative to the base 100 to achieve the movement of the road surface detection robot mobile device 1 in different directions. Preferably, the mobile member 220 is a wheel, and the wheel can be a conventional wheel in the art, which is not limited in this application.

[0033] In one embodiment, the base 100 has a first direction X and a second direction Y perpendicular to the first direction X; the reference plane 211 of the bracket 210 includes a first reference plane 2111 and a second reference plane 2112, the reference plane 211 parallel to the first direction X is defined as the first reference plane 2111, and the reference plane 211 parallel to the second direction Y is defined as the second reference plane 2112; wherein when the first reference plane 2111 or the second reference plane 2112 of two adjacent moving components 200 are located in the same plane, the two adjacent moving components 200 are both in the zero position. Specifically, when the first reference plane 2111 of the two adjacent moving components 200 in the first direction X are located in the same plane, the two adjacent moving components 200 in the first direction X are both in the zero position; when the second reference plane 2112 of the two adjacent moving components 200 in the second direction Y are located in the same plane, the two adjacent moving components 200 in the second direction Y are both in the zero position.

[0034] See also Figure 4 The embodiment of the present application also provides a method for determining the zero point of the road surface detection robot moving device 1, comprising the following steps:

[0035] Step S1: providing a reference body, wherein the reference body has at least one plane, and placing the plane of the reference body against two adjacent moving components 200 at the same time;

[0036] Step S2: respectively rotating the two adjacent moving components 200 so that the reference planes 211 of the two adjacent moving components 200 are in contact with the plane at the same time, and respectively recording the positions of the two adjacent moving components 200, which are the zero positions of the two adjacent moving components 200.

[0037] In the application's one embodiment, specifically, the described moving member 220 of described mobile assembly 200 is a wheel, and described wheel comprises two front wheels and two rear wheels, and wherein two wheels that are defined in being arranged side by side on described first direction X are front wheels, and then other two wheels are rear wheels. With the described plane of described datum body, respectively abut against two described front wheels or two described rear wheels simultaneously, when the described first reference plane 2111 of two described front wheels or two described rear wheels contacts with described plane simultaneously, the position where two described front wheels or two described rear wheels reside is zero point position. In addition, if with the described plane of described datum body, abut against adjacent one described front wheel and one described rear wheel simultaneously, when the described second reference plane 2112 of one described front wheel and one described rear wheel contacts with described plane simultaneously, the position where adjacent one described front wheel and one described rear wheel reside is zero point position respectively.

[0038] Furthermore, when the reference planes 211 of two adjacent moving components 200 are in contact with the plane at the same time, the positions of the moving components 200 are recorded multiple times and the average value is taken as the zero position. The zero position recorded in the present application can be recorded by the control drive 230, and when the road surface detection robot moving device 1 needs to be reset to zero, the control drive 230 can control each moving component 200 to automatically rotate to the recorded zero position.

[0039] In one embodiment of the present application, after the zero position of the mobile component 200 is determined, a zero mark is set on the mobile component 200 and the connecting member 300, respectively. Specifically, two lines are respectively engraved on the bracket 210 of the mobile component 200 and the connecting member 300, or two arrow labels are affixed to each. When the two lines or arrow labels on the bracket 210 and the connecting member 300 are aligned, the zero position can be preliminarily confirmed. It is understandable that, after the zero position of the mobile component 200 is determined, setting a zero mark can provide preliminary zeroing when the road surface detection robot mobile device 1 needs to be zeroed later, and then each of the mobile components can be controlled to a precise zero position through the control drive 230.

[0040] In summary, the embodiment of the present application provides a road surface detection robot mobile device 1 and a zero point confirmation method thereof, wherein the road surface detection robot mobile device 1 includes a base 100 and a plurality of mobile components 200; the plurality of mobile components 200 are arranged at the bottom of the base 100 and are rotatably connected to the base through a connecting member 300; each of the mobile components 200 includes a bracket 210 and a mobile component 220 rotatably connected to the bracket 210, the bracket 210 has at least one reference plane 211, and the reference plane 211 can be used to determine the zero point position of the mobile component 200; wherein when the reference planes 211 of two adjacent mobile components 200 are located in the same plane, the two adjacent mobile components 200 are both at the zero point position. Due to the setting of the reference plane 211, the zero point position of the road surface detection robot mobile device 1 is easy to confirm, and since the angle between the planes is unique, its accuracy is relatively high.

[0041] Furthermore, after the zero point position is confirmed, the zero point can be initially aligned by using the zero point marks respectively provided on the moving component 200 and the connecting member 300, so as to make it easier to return the moving device of the road surface inspection robot to zero.

[0042] In the above embodiments, the description of each embodiment has its own emphasis. For parts that are not described in detail in a certain embodiment, reference can be made to the relevant descriptions of other embodiments.

[0043] The technical solutions provided by the embodiments of the present application are introduced in detail above. Specific examples are used herein to illustrate the principles and implementation methods of the present application. The description of the above embodiments is only used to help understand the method of the present application and its core idea. At the same time, for technical personnel in this field, according to the idea of ​​the present application, there will be changes in the specific implementation methods and application scope. In summary, the content of this specification should not be understood as a limitation on the present application.

Claims

1. A road surface inspection robot mobile device, characterized in that: It includes a base and a plurality of moving components; The plurality of movable components are arranged at the bottom of the base and are rotatably connected to the base through a connecting member; each of the movable components comprises a bracket and a movable member rotatably connected to the bracket, and the bracket has at least one reference plane, and the reference plane can be used to determine the zero point position of the movable component; in When the reference planes of two adjacent moving components are located in the same plane, the two adjacent moving components are both at zero position.

2. The road surface inspection robot mobile device according to claim 1, characterized in that: The base has a first direction and a second direction perpendicular to the first direction; The reference plane of the bracket includes a first reference plane and a second reference plane, wherein the reference plane parallel to the first direction is defined as the first reference plane, and the reference plane parallel to the second direction is defined as the second reference plane; in When the first reference plane or the second reference plane of two adjacent moving components are located in the same plane, the two adjacent moving components are both at the zero position.

3. The road surface inspection robot mobile device according to claim 2, characterized in that: When the first reference planes of two adjacent moving components in the first direction are located in the same plane, the two adjacent moving components in the first direction are both at the zero position; when the second reference planes of two adjacent moving components in the second direction are located in the same plane, the two adjacent moving components in the second direction are both at the zero position.

4. The road surface inspection robot mobile device according to claim 1, characterized in that: The moving component further comprises a control driving member, which can control the relative rotation between the moving component and the base, and control the relative rotation between the moving component and the bracket.

5. The road surface inspection robot mobile device according to claim 4, characterized in that: The control drive member is fixedly connected to the bracket and is located in a direction adjacent to or opposite to the reference plane.

6. The road surface inspection robot mobile device according to claim 1, characterized in that: One end of the connecting piece is fixedly connected to the base, and the other end is fixedly connected to the bracket. The bracket is rotatably connected to the base through the connecting piece.

7. The road surface inspection robot mobile device according to claim 1, characterized in that: The moving part is a wheel.

8. A method for determining the zero point of a road surface inspection robot mobile device according to any one of claims 1 to 7, characterized in that: The steps include: Step S1: providing a reference body, wherein the reference body has at least one plane, and placing the plane of the reference body against two adjacent moving components at the same time; Step S2: respectively rotating the two adjacent moving components so that the reference planes of the two adjacent moving components are in contact with the plane at the same time, and respectively recording the positions of the two adjacent moving components, which are the zero positions of the two adjacent moving components.

9. The zero point determination method of the road surface inspection robot mobile device according to claim 8, characterized in that: When the reference planes of two adjacent moving components are in contact with the plane at the same time, the positions of the moving components are recorded multiple times and the average value is taken as the zero point position.

10. The zero point determination method of the road surface inspection robot mobile device according to claim 8, characterized in that: When the zero point position of the moving component is determined, zero point marks are respectively set on the moving component and the connecting member.

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