Operation anti-toppling judgment mechanism of traffic control robot

Abstract

The utility model relates to the technical field of intelligent traffic robots, and provides a running anti-toppling judgment mechanism of a traffic control robot, which comprises a robot base, four walking mechanisms and a reference mechanism, and the four walking mechanisms are arranged at four end corners of the robot base and are used for the walking of the robot; the reference mechanism is located in the center of the robot base and used for judging the positions of the four walking mechanisms relative to the ground. The walking mechanisms are provided with light sensing assemblies, the reference mechanism is provided with linear light sources, the linear light sources irradiate the light sensing assemblies, the light sensing assemblies feed sensed light sensing positions back to the robot, and the probability that the robot topples over is judged according to the relative position relation between the reference mechanism and the four walking mechanisms. The robot can autonomously judge the inclination degree, and the purpose of actively acting to prevent toppling is achieved.

Description

Technical Field

[0001] The present application relates to the technical field of intelligent traffic robots, and in particular to an anti-dumping identification mechanism for a traffic control robot. Background Art

[0002] Due to the complexity and variability of urban traffic, traditional manual traffic supervision methods are gradually unable to meet the needs of urban traffic management, and traffic management robots are gradually becoming a trend in the field of traffic management. As a new type of traffic management method, traffic management robots are highly flexible automated machines. The original design of traffic management robots was to solve some problems in urban traffic management, such as insufficient manpower and management omissions.

[0003] With the continuous development of science and technology, more and more types and functions of traffic management robots are widely used in the field of traffic management, such as handling severe traffic accidents, diverting traffic jams during peak hours, traffic command, temporary signal light functions, driving accident vehicles, and even being used in multi-scenario comprehensive use of multiple police tasks such as special police bomb disposal, criminal police drug control, traffic police command, and fire emergency rescue. Traffic management robots need to adapt to various road conditions, such as flat or rugged. When the robot is moving, if it encounters uneven roads or obstacles, there is a risk of tipping over. The fall of the robot will cause great damage to the robot body and system. If it is not quickly straightened, it may cause misjudgment of sensors and other components, and the robot will not be able to enter normal operation, delaying emergency work and causing loss of life and property.

[0004] The anti-dumping design of existing traffic control robots generally adds spring shock absorbers or auxiliary wheels to prevent the probability of the traffic control robot tipping over when passing through uneven roads. However, adding spring shock absorbers or auxiliary wheels only passively reduces the probability of the robot tipping over. The robot itself cannot independently judge whether the current road surface will cause the robot to tip over, and cannot take active action to prevent tipping.

[0005] Therefore, it is of great practical significance to design a robot anti-dumping judgment mechanism to enable the robot to independently judge the unevenness of the road surface and to autonomously act according to the inclination to prevent dumping. Summary of the invention

[0006] The purpose of this application is to provide an anti-dumping identification mechanism for a traffic control robot. By setting a reference mechanism at the center of the robot base and judging the current road condition of the robot and the probability of the robot dumping through the relative position relationship between the reference mechanism and the four walking mechanisms of the robot.

[0007] To achieve the above objectives, this application provides the following solutions:

[0008] A traffic control robot anti-dumping identification mechanism, comprising:

[0009] A robot base, a walking mechanism and a reference mechanism; the four walking mechanisms are arranged at the four end corners of the robot base for the robot to walk; the reference mechanism is located at the center of the robot base and is used to determine the positions of the four walking mechanisms on the ground;

[0010] The reference mechanism includes a first reference part, a second reference part and a reference wheel; one end of the first reference part is slidably connected to the second reference part, and the other end is provided with a gravity universal shaft, and the gravity universal shaft is embedded in the robot base. The gravity universal shaft is used to keep the reference mechanism vertically downward at all times, and the bottom end of the second reference part is connected to the reference wheel; the reference wheel is a universal wheel, and the reference wheel always keeps in contact with the ground.

[0011] Among them, the walking mechanism is provided with a light sensing component, and the reference mechanism is provided with a linear light source. The linear light source shines on the light sensing component, and the light sensing component feeds back the sensed light sensing position to the robot to determine the current road condition of the robot.

[0012] In the technical solution of the present application, a further improvement is that a limiting groove is provided on the inner wall of the lower end portion of the first reference portion, and a convex groove is provided on the outer wall of the second reference portion, and the second reference portion slides in the limiting groove of the first reference portion through the convex groove;

[0013] With respect to the above improvement, a further improvement is that an elastic component is provided in the first reference portion, one end of the elastic component is fixedly connected to the first reference portion, and the other end is fixedly connected to the top end of the second reference portion;

[0014] Wherein, the elastic component is provided with a sensing element. When the robot is on a flat road surface, the elastic component is in a semi-compressed first state; when the robot is on a concave road surface, the elastic component is in a compressed state compared to the first state, and when the compression amount reaches the compression limit of the elastic component, the sensing element alarms; when the robot is on a convex road surface, the elastic component is in a rebound state compared to the first state, and when the elongation reaches the rebound limit of the elastic component, the sensing element alarms.

[0015] In the technical solution of the present application, a further improvement is that two linear light sources are symmetrically arranged near the groove end of the first reference part, and the light emitted by the linear light source is a straight line light source; each linear light source scans the two walking mechanisms located on one side of the robot base;

[0016] With respect to the previous improvement, a further improvement is that the bottom end of the light sensing component is lower than the position where the linear light source irradiates the walking mechanism when the elastic component is at the compression limit, and the top end of the light sensing component is higher than the position where the linear light source irradiates the walking mechanism when the elastic component is at the rebound limit.

[0017] Beneficial effects of the technical solution of this application:

[0018] The present application provides an anti-dumping identification mechanism for a traffic control robot. The design of the gravity universal joint of the reference mechanism and the elastic component ensures that no matter how the four walking mechanisms are tilted, the reference mechanism always remains vertically downward and the reference wheels always remain in contact with the ground; the position of the linear light source fixed to the first reference part relative to the robot base remains unchanged, thereby improving the accuracy of the calculation of the robot's tilt degree.

[0019] The present application provides an anti-dumping identification mechanism for a traffic control robot. The relative sliding of the first reference part and the second reference part and the design of the universal reference wheel do not affect the flexibility of the robot's normal walking.

[0020] The present application provides an anti-dumping identification mechanism for a traffic control robot. When the robot walks on an uneven road surface, it can independently determine the degree of inclination and can take active actions to prevent dumping, thereby more effectively reducing the possibility of the robot falling during movement, reducing the loss of the robot itself and the social loss caused by the dumping of the robot. BRIEF DESCRIPTION OF THE DRAWINGS

[0021] In order to more clearly illustrate the embodiments of the present application or the technical solutions in the prior art, the drawings required for use in the embodiments will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present application. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative labor.

[0022] Figure 1 A schematic diagram of a state where an anti-dumping identification mechanism of a traffic control robot provided by the utility model is located on a flat road surface;

[0023] Figure 2 A schematic diagram of a state where an anti-dumping judgment mechanism of a traffic control robot provided by the utility model is located on a raised road surface;

[0024] Figure 3 A schematic diagram of a state where an anti-dumping identification mechanism of a traffic control robot provided by the utility model is located on a sunken road surface;

[0025] Figure 4 A top view of an anti-dumping identification mechanism of a traffic control robot provided by the utility model;

[0026] Description of the numbers in the figure:

[0027] 1. Robot base; 2. Walking mechanism; 21. Light sensing component; 3. Reference mechanism; 31. First reference part; 311. Limiting groove; 32. Second reference part; 321. Convex groove; 33. Reference wheel; 34. Gravity universal shaft; 35. Linear light source; 36. Elastic component; 361. Sensing element; 4. Flat road surface; 5. Raised road surface; 6. Concave road surface; 001. First left photosensitive scale; 002. Second left photosensitive scale; 003. Third left photosensitive scale; 011. First right photosensitive scale; 012. Second right photosensitive scale; 013. Third right photosensitive scale; DETAILED DESCRIPTION

[0028] 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 ordinary technicians in this field without creative work are within the scope of protection of this application.

[0029] In order to make the above-mentioned objects, features and advantages of the present application more obvious and easy to understand, the present application is further described in detail below in conjunction with the accompanying drawings and specific implementation methods.

[0030] A traffic control robot anti-dumping identification mechanism, comprising:

[0031] A robot base 1, a walking mechanism 2 and a reference mechanism 3; four walking mechanisms 2 are arranged at four end corners of the robot base 1 for the robot to walk; the reference mechanism 3 is located at the center of the robot base 1 and is used to determine the positions of the four walking mechanisms 2 relative to the ground;

[0032] The reference mechanism 3 includes a first reference portion 31, a second reference portion 32 and a reference wheel 33; one end of the first reference portion 31 is slidably connected to the second reference portion 32, and the other end is provided with a gravity universal shaft 34, which is embedded in the robot base 1. The gravity universal shaft 34 is used to keep the reference mechanism 3 always vertically downward, and the bottom end of the second reference portion 32 is connected to the reference wheel 33; the reference wheel 33 is a universal wheel, and the reference wheel 33 always keeps in contact with the ground.

[0033] The walking mechanism 2 is provided with a light sensing component 21, and the reference mechanism 3 is provided with a linear light source 35. The linear light source 35 irradiates the light sensing component 21, and the light sensing component 21 feeds back the sensed light sensing position to the robot to determine the current road condition of the robot.

[0034] In one embodiment provided in the present application, a limiting groove 311 is provided on the inner wall of the lower end of the first reference portion 31, and a convex groove 321 is provided on the outer wall of the second reference portion 32. The second reference portion 32 slides in the limiting groove 311 of the first reference portion 31 through the convex groove 321.

[0035] The first reference portion 31 is provided with an elastic component 36, one end of the elastic component 36 is fixedly connected to the first reference portion 31, and the other end is fixedly connected to the top end of the second reference portion 32;

[0036] The elastic component 36 is provided with a sensing element 361. When the robot is on a flat road surface 4, the elastic component 36 is in a semi-compressed first state; when the robot is on a concave road surface 6, the elastic component 36 is in a compressed state compared to the first state, and when the compression reaches the compression limit of the elastic component 36, the sensing element 361 alarms; when the robot is on a convex road surface 5, the elastic component 36 is in a rebound state compared to the first state, and when the elongation reaches the rebound limit of the elastic component 36, the sensing element 361 alarms;

[0037] The bottom end of the light sensing component 21 is lower than the position where the linear light source 35 irradiates the walking mechanism 2 when the elastic component 36 is at the compression limit, and the top end of the light sensing component 21 is higher than the position where the linear light source 35 irradiates the walking mechanism 2 when the elastic component 36 is at the rebound limit.

[0038] In one embodiment provided in the present application, a gravity universal shaft 34 is provided at one end of the first reference part 31, so that the reference mechanism 3 is always kept vertically downward, and a linear light source 35 is symmetrically arranged at the end near the groove of the first reference part 31, so as to ensure that no matter how the four walking mechanisms 2 are tilted, the position of the linear light source 35 relative to the robot base 1 remains unchanged; the linear light source 35 is preferably a straight line light source, and each linear light source 35 can scan the two walking mechanisms 2 located on one side of the robot base 1;

[0039] For ease of description, an embodiment provided in the present application assumes that when the robot is walking, the two left walking mechanisms 2 are in the same state, and the scale of the light sensing components 21 of the two left walking mechanisms 2 irradiated by the left linear light source 35 is simply recorded as the left photosensitive scale, and the two right walking mechanisms 2 are in the same state, and the scale of the light sensing components 21 of the two right walking mechanisms 2 irradiated by the right linear light source 35 is simply recorded as the right photosensitive scale;

[0040] When the robot is located on the flat road surface 4, the linear light source 35 irradiates the position of the light sensing component 21 on the walking mechanism 2. Figure 1 As shown, the first left photosensitive scale 001 and the first right photosensitive scale 011; when the robot is located on the raised road surface 5, the linear light source 35 irradiates the position of the photosensitive component 21 on the walking mechanism 2 as shown in FIG. Figure 2As shown, the second left photosensitive scale 002 and the second right photosensitive scale 012 are recorded; when the robot is located on the concave road surface 6, the linear light source 35 irradiates the position of the photosensitive component 21 on the walking mechanism 2 as shown in FIG. Figure 3 As shown, it is recorded as the third left photosensitivity scale 003 and the third right photosensitivity scale 013;

[0041] Combination Figure 1 , Figure 2 , the position of the light sensing component 21 on the left walking mechanism 2 irradiated by the linear light source 35 changes from the first left photosensitive scale 001 to the second left photosensitive scale 002, and the position of the light sensing component 21 on the right walking mechanism 2 changes from the first right photosensitive scale 011 to the second right photosensitive scale 012. At this time, the compression amount of the elastic component 36 sensed by the sensing element 361 is less than the compression amount in the first state and greater than the rebound limit of the elastic component 36. It can be judged that the robot has walked from the flat road surface 4 to the road surface on the left side which is more convex than the right side. The inclination degree of the robot is obtained by the difference between the first left photosensitive scale 001 and the second left photosensitive scale 002 and the difference between the first right photosensitive scale 011 and the second right photosensitive scale 012; when the compression amount reaches the rebound limit of the elastic component 36, the inclination degree of the robot reaches the limit, and the sensing element 361 alarms;

[0042] Combination Figure 1 , Figure 3 , the position of the light sensing component 21 on the left walking mechanism 2 irradiated by the linear light source 35 changes from the first left photosensitive scale 001 to the third left photosensitive scale 003, and the position of the light sensing component 21 on the right walking mechanism 2 changes from the first right photosensitive scale 011 to the third right photosensitive scale 013. At this time, the compression of the elastic component 36 sensed by the sensing element 361 is greater than the compression in the first state and less than the compression limit of the elastic component 36. It can be judged that the robot has walked from the flat road surface 4 to the road surface on the left side which is more concave than the right side. The inclination degree of the robot is obtained by the difference between the first left photosensitive scale 001 and the third left photosensitive scale 003 and the difference between the first right photosensitive scale 011 and the third right photosensitive scale 013; when the compression reaches the compression limit of the elastic component 36, the inclination degree of the robot reaches the limit, and the sensing element 361 alarms.

[0043] Another embodiment provided by the present application assumes that when the robot is walking on an uneven road surface, the states of the four walking mechanisms 2 are all inconsistent. The changes in the sensitivity scales of the photosensitive components 21 on the four walking mechanisms 2 and the compression amounts of the elastic components 36 are comprehensively calculated to determine the overall tilt degree of the robot.

[0044] In the description of the present application, it should be understood that the terms "upper", "lower", "far", "near", etc. indicate orientations or positional relationships based on the orientations or positional relationships shown in the accompanying drawings, and the terms "installed", "connected", "connected", and "fixed" should be understood in a broad sense. For example, it can be a fixed connection, a detachable connection, or a sliding connection. For ordinary technicians in this field, it is only for the convenience of describing the present application, and does not indicate or imply 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.

[0045] It should be noted that, in this document, relational terms such as first and second, etc. are merely used to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply any actual relationship or order between these entities or operations.

[0046] The embodiments described above are only descriptions of the preferred methods of the present application, and are not intended to limit the scope of the present application. Without departing from the design spirit of the present application, various modifications and improvements made to the technical solutions of the present application by ordinary technicians in this field should fall within the protection scope determined by the claims of the present application.

Claims

1. A traffic control robot anti-dumping identification mechanism, characterized in that: include: Robot base, walking mechanism and reference mechanism; The reference mechanism includes a first reference part, a second reference part and a reference wheel; One end of the first reference part is slidably connected to the second reference part, and the other end is provided with a gravity universal shaft, the gravity universal shaft is embedded in the robot base, the gravity universal shaft is used to keep the reference mechanism always vertically downward, and the bottom end of the second reference part is connected to the reference wheel; Among them, the walking mechanism is provided with a light sensing component, and the reference mechanism is provided with a linear light source. The linear light source shines on the light sensing component, and the light sensing component feeds back the sensed light sensing position to the robot to determine the current road condition of the robot.

2. The anti-dumping identification mechanism of a traffic control robot according to claim 1, characterized in that: The four walking mechanisms are arranged at the four end corners of the robot base for the robot to walk; the reference mechanism is located at the center of the robot base and is used to determine the positions of the four walking mechanisms on the ground.

3. The anti-dumping identification mechanism for a traffic control robot according to claim 1, characterized in that: A limiting groove is disposed on the inner wall of the lower end portion of the first reference portion, and a convex groove is disposed on the outer wall of the second reference portion. The second reference portion slides in the limiting groove of the first reference portion through the convex groove.

4. The anti-dumping identification mechanism for a traffic control robot according to claim 3, characterized in that: An elastic component is disposed in the first reference portion, one end of the elastic component is fixedly connected to the first reference portion, and the other end of the elastic component is fixedly connected to the top end of the second reference portion.

5. The anti-dumping judging mechanism for a traffic control robot according to claim 4, characterized in that: Two linear light sources are symmetrically arranged at the end of the first reference portion near the groove, and each linear light source scans the two walking mechanisms located at one side of the robot base.

6. The anti-dumping identification mechanism for a traffic control robot according to claim 4, characterized in that: The elastic component is provided with a sensing element. When the robot is on a flat road, the elastic component is in a semi-compressed first state; when the robot is on a concave road, the elastic component is in a compressed state compared to the first state. When the compression amount reaches the compression limit of the elastic component, the sensing element alarms; When the robot is on a raised road surface, the elastic component is in a rebound state compared to the first state, and when the elongation reaches the rebound limit of the elastic component, the sensing element alarms.

7. The anti-dumping identification mechanism for a traffic control robot according to claim 4, characterized in that: The bottom end of the light sensing component is lower than the position where the linear light source irradiates the walking mechanism when the elastic component is at the compression limit, and the top end of the light sensing component is higher than the position where the linear light source irradiates the walking mechanism when the elastic component is at the rebound limit.

8. The anti-dumping identification mechanism for a traffic control robot according to claim 2, characterized in that: The reference wheel is a universal wheel, and the reference wheel always keeps in contact with the ground.

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