Mobile robot

Abstract

The utility model relates to a mobile robot which comprises a robot body, a positioning radar and an obstacle avoidance radar. The robot body comprises a movable chassis and a vehicle head support. The positioning radar comprises a first positioning radar for outdoor positioning and a second positioning radar for indoor positioning; the obstacle avoidance radar comprises a first obstacle avoidance radar arranged at the top of the vehicle head support and a second obstacle avoidance radar arranged at the bottom of the vehicle head support. The first obstacle avoidance radar is set to scan and detect the front of the robot main body in a fan-shaped scanning range; the second obstacle avoidance radar is arranged to scan and detect the front of the robot body in a conical scanning range, and the axes of the scanning ranges of the first obstacle avoidance radar and the second obstacle avoidance radar are inclined upwards and form acute angles with the advancing direction of the robot body. Compared with the prior art, the mobile robot provided by the utility model can cope with emergencies in complex scenes, and has relatively high obstacle detection and avoidance capabilities.

Description

Technical Field

[0001] The utility model relates to the technical field of robots, in particular to a mobile robot. Background Art

[0002] A mobile robot is a robot that can be used both indoors and outdoors. Because it has the ability to move across regions indoors and outdoors, it has a good application scenario in cross-regional transportation scenarios.

[0003] The scene of indoor movement is relatively simple. Under the dispatch of the dispatch system, the mobile robot usually only needs to move along the preset path. However, when the mobile robot moves outdoors, the scene it encounters is more complicated and often encounters unexpected situations. For example, vehicles, pedestrians, and even animals that appear temporarily. This places high demands on the obstacle avoidance ability of the mobile robot.

[0004] Therefore, it is urgent to design a mobile robot with high obstacle avoidance capability. Utility Model Content

[0005] Aiming at the deficiencies of the prior art, the utility model discloses a mobile robot.

[0006] The technical solution adopted by the utility model is as follows:

[0007] A mobile robot, comprising:

[0008] The robot body includes a mobile chassis and a head support provided at the head of the mobile chassis;

[0009] The positioning radar comprises a first positioning radar arranged on the top of the vehicle head support and a second positioning radar arranged on the head of the mobile chassis; the first positioning radar is arranged to perform outdoor positioning; the second positioning radar is arranged to perform indoor positioning;

[0010] The obstacle avoidance radar comprises a first obstacle avoidance radar arranged on the top of the vehicle head support and a second obstacle avoidance radar arranged on the bottom of the vehicle head support; the first obstacle avoidance radar is configured to scan and detect the front of the robot body with a fan-shaped scanning range; the second obstacle avoidance radar is configured to scan and detect the front of the robot body with a conical scanning range, and the scanning range axes of the first obstacle avoidance radar and the second obstacle avoidance radar are inclined upward and form an acute angle with the forward direction of the robot body.

[0011] In one embodiment of the present utility model, the first positioning radar adopts a 3D laser radar and is used for three-dimensional scanning and positioning; the second positioning radar adopts a planar 2D laser radar and is used for two-dimensional scanning and positioning.

[0012] In one embodiment of the utility model, the scanning surface of the first obstacle avoidance radar is a sector-shaped plane; the angle between the scanning surface of the first obstacle avoidance radar and the vertical direction is, and the angle satisfies:

[0013]

[0014] Wherein, L represents the warning distance of the first obstacle avoidance radar scanning obstacles; H represents the height of the first obstacle avoidance radar from the ground; and h represents the maximum height of the mobile robot's obstacle crossing.

[0015] In one embodiment of the present invention, the second obstacle avoidance radar is a solid-state laser radar.

[0016] In one embodiment of the utility model, it also includes a mounting bracket arranged on the top of the front bracket; the mounting bracket includes a crossbeam, connecting arms arranged on both sides of the crossbeam, and a base connected to the connecting arms and fixed to the top of the front bracket, and the first obstacle avoidance radar is installed between the two connecting arms.

[0017] In one embodiment of the utility model, a driving recorder is also included which is arranged on the top of the vehicle head support.

[0018] The above technical solution of the utility model has the following advantages compared with the prior art:

[0019] The mobile robot of the utility model is combined with a positioning radar and an obstacle avoidance radar, and can realize accurate positioning indoors and outdoors.

[0020] The mobile robot described in the utility model utilizes the obstacle avoidance radar in outdoor mobile scenarios, can better cope with emergencies and improve obstacle detection and avoidance capabilities. BRIEF DESCRIPTION OF THE DRAWINGS

[0021] In order to make the content of the utility model more clearly understood, the utility model is further described in detail below based on specific embodiments of the utility model in combination with the accompanying drawings.

[0022] Figure 1 It is a structural diagram of a mobile robot.

[0023] Figure 2 It is the front view of the mobile robot.

[0024] Figure 3 is a side view of the mobile robot.

[0025] Figure 4 It is a schematic diagram of the angle between the scanning surface of the first obstacle avoidance radar and the vertical direction.

[0026] Figure 5 It is a structural schematic diagram of the mounting bracket and the first obstacle avoidance radar.

[0027] Explanation of the reference numerals in the specification: 10. Mobile chassis; 20. Robot body; 31. First positioning radar; 32. Second positioning radar; 41. First obstacle avoidance radar; 42. Second obstacle avoidance radar; 50. Front bracket; 51. Mounting bracket; 511. Crossbeam; 512. Connecting arm; 513. Base; 60. Driving recorder. DETAILED DESCRIPTION

[0028] The present invention will be further described below in conjunction with the accompanying drawings and specific embodiments so that those skilled in the art can better understand the present invention and implement it, but the embodiments are not intended to limit the present invention.

[0029] Research has found that when existing mobile robots move outdoors, they encounter complex scenarios and often encounter unexpected situations, such as vehicles, pedestrians, and even animals that appear temporarily. Existing mobile robots have limited obstacle recognition capabilities and poor obstacle avoidance capabilities.

[0030] In order to solve the above problems, this embodiment provides a mobile robot.

[0031] like Figure 1 As shown, this embodiment discloses a mobile robot, a robot body 20, a positioning radar and an obstacle avoidance radar.

[0032] The robot body 20 includes a mobile chassis 10 and a head support 50 disposed at the head of the mobile chassis 10 .

[0033] In this embodiment, the mobile chassis 10 is used to realize the autonomous movement of the mobile robot between different locations. Generally, the mobile chassis 10 can adopt a chassis structure of the type such as IGV (Intelligent Guided Vehicle), AGV (Automated Guided Vehicles) or AMR (Autonomous Mobile Robot).

[0034] The positioning radar includes a first positioning radar 31 disposed on the top of the vehicle head support 50 and a second positioning radar 32 disposed on the head of the mobile chassis 10. The first positioning radar 31 is configured to perform outdoor scanning positioning; the second positioning radar 32 is configured to perform indoor scanning positioning. Figure 1 and Figure 2 In the figure, the head of the mobile chassis 10 corresponds to the end on the right side of the mobile chassis 10. Accordingly, the movement of the mobile chassis 10 to the right is also defined as moving forward; on the contrary, it is moving backward.

[0035] In this embodiment, the first positioning radar 31 is used for the mobile robot to perform three-dimensional scanning and positioning outdoors. The first positioning radar 31 adopts a 3D laser radar, which emits multiple laser beams, measures the echo time and incident angle of each laser beam, and combines the position information of the sensor to obtain the position and shape of the object in the three-dimensional space. The use of 3D laser radar has at least the following advantages: First, it can obtain the three-dimensional information of the target object with higher accuracy and efficiency, and can achieve very high distance measurement accuracy. The measurement error of the laser radar can reach the level of plus or minus millimeters. Second, it can achieve all-round scanning in the horizontal and vertical directions, and can fully obtain the three-dimensional shape of the target object in space. Third, it can scan at a faster speed and obtain a large amount of three-dimensional data in a short time; it can detect multiple target objects at the same time, and can independently obtain the position, speed and other information of each object. Fourth, it can penetrate some optical filters, such as fog, smoke, etc., and will not be disturbed by the environment, which makes the application of 3D laser radar in harsh environments more reliable, such as thunderstorms, dense fog and other weather conditions. 5. It is not limited by light intensity and color. Even at night or in low-light conditions, the LiDAR can still work normally and obtain accurate measurement results. 6. It has a long service life and high working stability and is not easily affected by external interference. Its structure is simple and its components are stable, so it is not easy to fail during operation and the maintenance cost is relatively low. 7. It has high safety and will not cause harm to the human body and the environment.

[0036] In this embodiment, the second positioning radar 32 is used for the mobile robot to perform two-dimensional scanning positioning indoors. The second positioning radar 32 adopts a planar 2D laser radar, and the 2D laser radar obtains the contour information of the object on the plane.

[0037] The second positioning radar 32 is used to identify the physical environment around the mobile robot to capture 2D visual data. At the same time, the first positioning radar 31 is installed on the top of the front bracket 50 to capture 3D position data for precise target positioning, thereby improving the mobile robot's ability to measure the shape and contour of objects and estimate the position and speed of surrounding objects.

[0038] The obstacle avoidance radar includes a first obstacle avoidance radar 41 disposed at the top of the vehicle head support 50 and a second obstacle avoidance radar 42 disposed at the bottom of the vehicle head support 50. The first obstacle avoidance radar 41 is configured to scan and detect the front of the robot body 20 with a fan-shaped scanning range. The second obstacle avoidance radar 42 is configured to scan and detect the front of the robot body 20 with a conical scanning range. The scanning range axes of the first obstacle avoidance radar 41 and the second obstacle avoidance radar 42 are tilted upward and form an acute angle with the forward direction of the robot body 20, that is, within the range of 0-90°. In this way, the blind spot of the mobile robot to low obstacles at a close distance can be reduced or even eliminated.

[0039] In this embodiment, if Figure 1 As shown, the first obstacle avoidance radar 41 is disposed on the top of the vehicle head support 50, and the first obstacle avoidance radar 41 is a planar 2D laser radar. Figure 3 and Figure 4 , the scanning surface of the first obstacle avoidance radar 41 is a sector plane, and the angle between the scanning surface of the first obstacle avoidance radar 41 and the vertical direction is α. The angle satisfies:

[0040]

[0041] In the formula, L represents the warning distance of the first obstacle avoidance radar 41 for scanning obstacles; H represents the height of the first obstacle avoidance radar 41 from the ground, which is determined according to the specific structure of the mobile robot; and h represents the maximum height of the obstacle that the mobile robot can cross. Therefore, the first obstacle avoidance radar 41 can detect obstacles that are close to the mobile robot from a high place.

[0042] In this embodiment, if Figure 1 As shown, the second obstacle avoidance radar 42 is disposed at the bottom of the vehicle head support 50, and the second obstacle avoidance radar 42 is a solid-state laser radar. Figure 2 As shown, the scanning surface of the second obstacle avoidance radar 42 is a conical scanning surface. The second obstacle avoidance radar 42 can detect obstacles far away from the mobile robot from a low position.

[0043] By jointly detecting obstacles in front of the mobile robot by the first obstacle avoidance radar 41 and the second obstacle avoidance radar 42 , emergencies can be effectively dealt with, and the obstacle detection and obstacle avoidance capabilities of the mobile robot can be improved.

[0044] In a further embodiment, Figure 2 As shown, the second obstacle avoidance radar 42 is tilted, and the center line of its scanning is tilted upward to form a preset angle β with the horizontal direction, thereby increasing the scanning range of the second obstacle avoidance radar 42. Preferably, β is set to 15°-30°, and this angle setting is mainly used for the mobile robot to detect long-distance targets.

[0045] In a further embodiment, in combination Figure 1 and Figure 5 The mobile robot further includes a mounting bracket 51 disposed on the top of the vehicle head bracket 50, and the first obstacle avoidance radar 41 is mounted on the mounting bracket 51. Specifically, Figure 5As shown, the mounting bracket 51 includes a crossbeam 511, connecting arms 512 disposed on both sides of the crossbeam 511, and a base 513 connected to the connecting arms 512 and fixed to the top of the vehicle head bracket 50, and the first obstacle avoidance radar 41 is installed between the two connecting arms 512. Preferably, the crossbeam 511, the connecting arms 512 and the base 513 are integrally formed, and the connecting arms 512 and the base 513 are arranged at an angle, thereby achieving different ranges of coverage and detection capabilities of the first obstacle avoidance radar 41, and the inclination angle of the center line of the first obstacle avoidance radar 41 scanning relative to the horizontal plane depends on the specific radar system and application requirements.

[0046] It should be noted that the base 513 can be a plate for supporting the first obstacle avoidance radar 41. The base 513 can also be a plate for supporting the first obstacle avoidance radar 41. Figure 5 The rod shown is used to support the first obstacle avoidance radar 41 .

[0047] In a further embodiment, Figure 1 As shown, the mobile robot also includes a driving recorder 60 disposed on the top of the front bracket 50. The driving recorder 60 records the images and sounds of the mobile robot during its movement, and can also capture whether obstacles are successfully identified and avoid them. Considering the complex road conditions of indoor operation, after the mobile robot collides or encounters other abnormal situations, the driving recorder 60 can be used to review the operation of the mobile robot, which is convenient for improving the mobile robot. It should be noted that the installation of the driving recorder 60 does not affect the operation of the first positioning radar 31 and / or the first obstacle avoidance radar 41.

[0048] Obviously, the above embodiments are merely examples for the purpose of clear explanation and are not intended to limit the implementation methods. For those skilled in the art, other different forms of changes or modifications can be made based on the above description. It is not necessary and impossible to list all the implementation methods here. The obvious changes or modifications derived from these are still within the scope of protection of the invention of the utility model.

Claims

1. A mobile robot, characterized in that: include: The robot body (20) comprises a mobile chassis (10) and a head support (50) arranged at the head of the mobile chassis (10); A positioning radar, comprising a first positioning radar (31) arranged on the top of the vehicle head support (50) and a second positioning radar (32) arranged on the head of the mobile chassis (10); the first positioning radar (31) is configured to perform outdoor positioning; and the second positioning radar (32) is configured to perform indoor positioning; The obstacle avoidance radar comprises a first obstacle avoidance radar (41) arranged at the top of the vehicle head bracket (50) and a second obstacle avoidance radar (42) arranged at the bottom of the vehicle head bracket (50); the first obstacle avoidance radar (41) is configured to scan and detect the front of the robot body (20) with a fan-shaped scanning range; the second obstacle avoidance radar (42) is configured to scan and detect the front of the robot body (20) with a conical scanning range, and the scanning range axes of the first obstacle avoidance radar (41) and the second obstacle avoidance radar (42) are inclined upward and form an acute angle with the forward direction of the robot body (20).

2. The mobile robot according to claim 1, characterized in that: The first positioning radar (31) adopts a 3D laser radar and is used for three-dimensional scanning positioning; the second positioning radar (32) adopts a planar 2D laser radar and is used for two-dimensional scanning positioning.

3. The mobile robot according to claim 1, characterized in that: The scanning surface of the first obstacle avoidance radar (41) is a sector-shaped plane; the included angle between the scanning surface of the first obstacle avoidance radar (41) and the vertical direction is α, and the included angle satisfies: In the formula, L represents the warning distance of the first obstacle avoidance radar (41) scanning obstacles; H represents the height of the first obstacle avoidance radar (41) from the ground; and h represents the maximum height of the mobile robot for crossing obstacles.

4. The mobile robot according to claim 1, characterized in that: The second obstacle avoidance radar (42) is a solid-state laser radar.

5. The mobile robot according to claim 1, characterized in that: It also includes a mounting bracket (51) arranged on the top of the vehicle head bracket (50); the mounting bracket (51) includes a crossbeam (511), connecting arms (512) arranged on both sides of the crossbeam (511), and a base (513) connected to the connecting arms (512) and fixed to the top of the vehicle head bracket (50), and the first obstacle avoidance radar (41) is installed between the two connecting arms (512).

6. The mobile robot according to claim 5, characterized in that: It also includes a driving recorder (60) arranged on the top of the vehicle head support (50).

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