Robot moving platform with active obstacle avoidance mechanism

Abstract

The utility model discloses a robot moving platform with an active obstacle avoidance mechanism, which comprises a moving platform body, a radar sensor, an identification camera and an infrared sensor are embedded at the front end of the moving platform body, and a light supplement illuminating lamp is mounted at the front end of the moving platform body. A wheel brake system, an execution unit, a control processor and a steering moving system are installed in the moving platform body. According to the utility model, the active avoidance structure is arranged, the distance of an object is measured according to the measurement principle through the identification camera at the front end of the mobile platform body and the infrared sensor emitted by the radar sensor, signals obtained from the three parties are transmitted to the control processor, and the control processor analyzes the signals and transmits an avoidance instruction to the execution unit; the wheel brake system or the control processor is started through the execution unit, so that the mobile platform body performs brake avoidance and steering avoidance through the mobile omni-directional wheels, and the active avoidance function is achieved.

Description

Technical Field

[0001] The utility model relates to the technical field of mobile platforms, in particular to a robot mobile platform with an active obstacle avoidance mechanism. Background Art

[0002] Robots have become important tools and assistants in modern society, playing an important role in many fields. The ability of robot mobile platforms to adapt to various environments, especially unmanned vehicles and aircraft, has broad application prospects. With the advancement of technology, robot mobile platforms will continue to develop and innovate, bringing us more convenience and possibilities.

[0003] When using a robot mobile platform for mobile exploration, because the camera's field of view is limited, it is very limited to rely solely on the human eye to cooperate with the camera to avoid obstacles on the mobile platform, which is not conducive to use outdoors and in some complex geographical environments. Therefore, we propose a robot mobile platform with an active obstacle avoidance mechanism to improve the above problems. Utility Model Content

[0004] The purpose of the utility model is to provide a robot mobile platform with an active obstacle avoidance mechanism to solve the problems raised in the above background technology.

[0005] To achieve the above-mentioned purpose, the utility model provides the following technical solutions: a robot mobile platform with an active obstacle avoidance mechanism, comprising a mobile platform body, the front end of the mobile platform body is inlaid with a radar sensor, a recognition camera and an infrared sensor, the front end of the mobile platform body is installed with a fill light, and the interior of the mobile platform body is installed with a wheel brake system, an execution unit, a control processor and a steering system.

[0006] Preferably, the radar sensor, the recognition camera and the infrared sensor are embedded in the front end of the mobile platform body, and the control processor is installed inside the mobile platform body.

[0007] Preferably, a platform chassis is installed at the bottom of the mobile platform body, a buffer spring is installed at the front end of the platform chassis, a damper is inserted inside the buffer spring, an anti-collision block is installed at the front end of the damper, a rubber buffer block is inlaid inside the anti-collision block, mobile omnidirectional wheels are installed on both sides of the platform chassis, and a control panel is provided on one side of the mobile platform body.

[0008] Preferably, the rubber buffer block is embedded in the interior of the anti-collision block, and the anti-collision block carries the damper and is inserted into the interior of the buffer spring.

[0009] Preferably, the anti-collision block is extended and retracted with the platform chassis through a buffer spring, and the control panel is embedded in one side of the mobile platform body.

[0010] Preferably, an upper storage box is installed at the top of the mobile platform body, a magnetic block is embedded at the inner bottom end of the upper storage box, and a shaft is installed inside the upper storage box.

[0011] Preferably, a fixing rod is installed on one side of the shaft body, and a fixing knob is inserted into one side of the fixing rod.

[0012] Preferably, the upper storage box is arranged at the top of the mobile platform body, and the magnetic blocks are embedded at equal intervals at the inner bottom end of the upper storage box.

[0013] Preferably, the fixing rod is turned over inside the upper storage box through an axis, and the fixing knob is inserted on one side of the fixing rod.

[0014] Preferably, two groups of fixing rods are provided.

[0015] Compared with the prior art, the beneficial effects of the utility model are: the robot mobile platform with active obstacle avoidance mechanism not only realizes the active avoidance function and the impact buffering function, but also realizes the upper object placement function;

[0016] (1) By setting an active avoidance structure, the utility model is beneficial in that: when the mobile platform body is used, the mobile platform body is driven to move by the omnidirectional wheels at both ends of the bottom platform chassis, and the identification camera at the front end of the mobile platform body will shoot the front view of the mobile platform body to identify the person or object at the front end, and the radar sensor at the front end of the mobile platform body uses the time difference between the transmission and reception of ultrasonic signals to measure the distance of the object. The infrared sensor at the front end of the mobile platform body uses the principle of infrared reflection to measure the distance of the object by triangulation principle. The signals obtained by the three parties are transmitted to the control processor, and the control processor analyzes and transmits the avoidance instruction to the execution unit, and the execution unit starts the wheel brake system or the control processor to allow the mobile platform body to avoid and turn by moving the omnidirectional wheels to avoid, thereby realizing the active avoidance function;

[0017] (2) By setting up the impact buffer structure, the utility model is beneficial in that: when the mobile platform body is used, the mobile platform body is driven to move by the omnidirectional wheels on both sides of the lower platform chassis, and there is a risk that the mobile platform body will collide with objects. The anti-collision block at the front end of the platform chassis at the bottom of the mobile platform body will reduce the risk of deformation of the rubber buffer block before the mobile platform body is hit. The buffer spring and damper connecting the anti-collision block and the platform chassis can play a buffering role, reduce the damage to the mobile platform body, and thus realize the impact buffer function;

[0018] (3) By setting up an upper storage structure, the utility model is beneficial in that: when in use, the robot is placed on the upper storage box at the top of the mobile platform body to contact the magnetic block inside the upper storage box, and then the fixing rod is flipped through the shaft body and the inside of the upper storage box, and the fixing knob is inserted into the fixing rod to contact the robot base inside the upper storage box, thereby fixing the robot and realizing the upper storage function. BRIEF DESCRIPTION OF THE DRAWINGS

[0019] Figure 1 This is a front view structural schematic diagram of the utility model;

[0020] Figure 2 This is a schematic diagram of the side structure of the mobile platform of the utility model;

[0021] Figure 3 It is a schematic diagram of the structure diagram of the utility model;

[0022] Figure 4 This is a schematic diagram of the side structure of the anti-collision block of the utility model;

[0023] Figure 5 It is a schematic diagram of the top structure of the upper storage box of the utility model.

[0024] In the figure: 1. upper storage box; 2. mobile platform body; 3. mobile omnidirectional wheel; 4. platform chassis; 5. anti-collision block; 6. radar sensor; 7. identification camera; 8. infrared sensor; 9. fill light; 10. control panel; 11. rubber buffer block; 12. buffer spring; 13. damper; 14. magnetic block; 15. shaft; 16. fixing rod; 17. fixing knob; 18. wheel brake system; 19. execution unit; 20. control processor; 21. steering movement system. DETAILED DESCRIPTION

[0025] The following will be combined with the drawings in the embodiments of the utility model to clearly and completely describe the technical solutions in the embodiments of the utility model. Obviously, the described embodiments are only part of the embodiments of the utility model, not all of the embodiments. Based on the embodiments in the utility model, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the utility model.

[0026] Example 1: Please refer to Figure 1-5 A robot mobile platform with an active obstacle avoidance mechanism includes a mobile platform body 2, a radar sensor 6, a recognition camera 7 and an infrared sensor 8 are embedded at the front end of the mobile platform body 2, a fill light 9 is installed at the front end of the mobile platform body 2, and a wheel brake system 18, an execution unit 19, a control processor 20 and a steering system 21 are installed inside the mobile platform body 2;

[0027] The radar sensor 6, the recognition camera 7 and the infrared sensor 8 are embedded in the front end of the mobile platform body 2, and the control processor 20 is installed inside the mobile platform body 2;

[0028] Specifically, Figure 1 and Figure 3 As shown, by setting an active avoidance structure, when the mobile platform body 2 is used, the omnidirectional wheels 3 at both ends of the bottom platform chassis 4 drive the mobile platform body 2 to move, and the recognition camera 7 at the front end of the mobile platform body 2 will shoot the front view of the mobile platform body 2 to identify the person or object at the front end, and the radar sensor 6 at the front end of the mobile platform body 2 transmits and receives the ultrasonic signal. The time difference is used to measure the distance of the object. The infrared sensor 8 at the front end of the mobile platform body 2 uses the principle of infrared reflection to measure the distance of the object through the triangulation principle. The signals obtained by the three parties are transmitted to the control processor 20, and the control processor 20 is analyzed and passed to the execution unit 19. The wheel brake system 18 or the control processor 20 is started by the execution unit 19 to allow the mobile platform body 2 to avoid braking and steering by moving the omnidirectional wheels 3, thereby realizing the active avoidance function.

[0029] Embodiment 2: A platform chassis 4 is installed at the bottom of the mobile platform body 2, a buffer spring 12 is installed at the front end of the platform chassis 4, a damper 13 is inserted inside the buffer spring 12, an anti-collision block 5 is installed at the front end of the damper 13, a rubber buffer block 11 is embedded inside the anti-collision block 5, mobile omnidirectional wheels 3 are installed on both sides of the platform chassis 4, and a control panel 10 is provided on one side of the mobile platform body 2;

[0030] The rubber buffer block 11 is embedded in the anti-collision block 5, the anti-collision block 5 carries the damper 13 and is inserted into the buffer spring 12, the anti-collision block 5 is telescoped with the platform chassis 4 through the buffer spring 12, and the control panel 10 is embedded in one side of the mobile platform body 2;

[0031] Specifically, Figure 1 , Figure 2 and Figure 4 As shown, by setting up an impact buffering structure, when the mobile platform body 2 is used, the omnidirectional wheels 3 on both sides of the lower platform chassis 4 are used to drive the mobile platform body 2 to move, and there is a risk that the mobile platform body 2 will collide with objects. The anti-collision block 5 at the front end of the platform chassis 4 at the bottom of the mobile platform body 2 will be before the mobile platform body 2 is collided. The rubber buffer block 11 inside the anti-collision block 5 will reduce the risk of deformation of the rubber buffer block 11. The buffer spring 12 and the damper 13 connected to the anti-collision block 5 and the platform chassis 4 can play a buffering role, reduce the damage to the mobile platform body 2, and thus realize the impact buffering function.

[0032] Embodiment 3: An upper storage box 1 is installed on the top of the mobile platform body 2, a magnetic block 14 is embedded in the bottom of the upper storage box 1, a shaft 15 is installed inside the upper storage box 1, a fixing rod 16 is installed on one side of the shaft 15, and a fixing knob 17 is inserted on one side of the fixing rod 16;

[0033] The upper storage box 1 is arranged at the top of the mobile platform body 2, and the magnetic blocks 14 are evenly spaced and embedded in the inner bottom of the upper storage box 1. The fixing rod 16 is turned inside the upper storage box 1 through the shaft 15, and the fixing knob 17 is inserted on one side of the fixing rod 16. The fixing rod 16 is provided with two groups;

[0034] Specifically, Figure 1 , Figure 2 and Figure 5 As shown, by setting up an upper storage structure, when in use, the robot is placed on the upper storage box 1 at the top of the mobile platform body 2 to contact the magnetic block 14 inside the upper storage box 1, and then the fixing rod 16 is flipped over with the interior of the upper storage box 1 through the shaft 15, and the fixing knob 17 is inserted into the fixing rod 16 to contact the robot base inside the upper storage box 1, so as to fix the robot, thereby realizing the upper storage function.

[0035] Working principle: When the utility model is in use, the robot is placed on the top of the mobile platform body 2 to contact the magnetic block 14 inside the upper storage box 1, and then the fixing rod 16 is flipped through the shaft 15 and the inside of the upper storage box 1, and the fixing knob 17 is inserted into the fixing rod 16 and contacts the robot base inside the upper storage box 1, and then the control panel 10 on one side of the mobile platform body 2 is used to start the mobile platform body 2, and when the mobile platform body 2 is driven to move by the omnidirectional wheels 3 at both ends of the bottom platform chassis 4, the recognition camera 7 at the front end of the mobile platform body 2 will shoot the front view of the mobile platform body 2 to identify the person or object at the front end, and the radar sensor 6 at the front end of the mobile platform body 2 will emit and receive ultrasonic signals. The difference and infrared sensor 8 use the principle of infrared reflection to measure the distance of the object through the principle of triangulation. The signals obtained by the three parties are transmitted to the control processor 20, which allows the control processor 20 to analyze and pass the avoidance instruction to the execution unit 19. The wheel brake system 18 or the control processor 20 is activated by the execution unit 19 to allow the mobile omnidirectional wheel 3 at the bottom of the mobile platform body 2 to start the rotation brake avoidance or steering avoidance. Finally, the anti-collision block 5 at the front end of the platform chassis 4 at the bottom of the mobile platform body 2 will be before the mobile platform body 2 is collided. The rubber buffer block 11 inside the anti-collision block 5 will reduce the deformation risk of the rubber buffer block 11. The buffer spring 12 and the damper 13 connecting the anti-collision block 5 and the platform chassis 4 can play a buffering role to reduce the damage to the mobile platform body 2.

[0036] It is obvious to those skilled in the art that the present invention is not limited to the details of the exemplary embodiments described above, and that the present invention can be implemented in other specific forms without departing from the spirit or essential features of the present invention. Therefore, the embodiments should be regarded as exemplary and non-restrictive from any point of view, and the scope of the present invention is defined by the appended claims rather than the above description, and it is intended that all changes falling within the meaning and scope of the equivalent elements of the claims be included in the present invention. Any reference numeral in a claim should not be regarded as limiting the claim to which it relates.

Claims

1. A robot mobile platform with an active obstacle avoidance mechanism, comprising a mobile platform body (2), characterized in that: The front end of the mobile platform body (2) is inlaid with a radar sensor (6), an identification camera (7) and an infrared sensor (8), the front end of the mobile platform body (2) is installed with a fill light (9), and the interior of the mobile platform body (2) is installed with a wheel brake system (18), an execution unit (19), a control processor (20) and a steering system (21).

2. A robot mobile platform with an active obstacle avoidance mechanism according to claim 1, characterized in that: The radar sensor (6), the recognition camera (7) and the infrared sensor (8) are embedded in the front end of the mobile platform body (2), and the control processor (20) is installed inside the mobile platform body (2).

3. The robot mobile platform with an active obstacle avoidance mechanism according to claim 1, characterized in that: A platform chassis (4) is installed at the bottom of the mobile platform body (2), a buffer spring (12) is installed at the front end of the platform chassis (4), a damper (13) is inserted inside the buffer spring (12), an anti-collision block (5) is installed at the front end of the damper (13), a rubber buffer block (11) is embedded inside the anti-collision block (5), mobile omnidirectional wheels (3) are installed on both sides of the platform chassis (4), and a control panel (10) is provided on one side of the mobile platform body (2).

4. The robot mobile platform with active obstacle avoidance mechanism according to claim 3, characterized in that: The rubber buffer block (11) is embedded in the anti-collision block (5), and the anti-collision block (5) carries the damper (13) and is inserted into the buffer spring (12).

5. The robot mobile platform with active obstacle avoidance mechanism according to claim 3, characterized in that: The anti-collision block (5) is extended and retracted with the platform chassis (4) via a buffer spring (12), and the control panel (10) is embedded in one side of the mobile platform body (2).

6. The robot mobile platform with active obstacle avoidance mechanism according to claim 1, characterized in that: An upper storage box (1) is installed at the top of the mobile platform body (2), a magnetic attraction block (14) is embedded at the inner bottom of the upper storage box (1), and a shaft (15) is installed inside the upper storage box (1).

7. The robot mobile platform with active obstacle avoidance mechanism according to claim 6, characterized in that: A fixing rod (16) is installed on one side of the shaft body (15), and a fixing knob (17) is inserted into one side of the fixing rod (16).

8. The robot mobile platform with active obstacle avoidance mechanism according to claim 6, characterized in that: The upper storage box (1) is arranged at the top of the mobile platform body (2), and the magnetic blocks (14) are embedded at equal intervals at the inner bottom of the upper storage box (1).

9. The robot mobile platform with active obstacle avoidance mechanism according to claim 7, characterized in that: The fixing rod (16) is turned over inside the upper storage box (1) via the shaft (15), and the fixing knob (17) is inserted on one side of the fixing rod (16).

10. The robot mobile platform with active obstacle avoidance mechanism according to claim 7, characterized in that: The fixing rods (16) are provided in two groups.

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