Robot model with obstacle avoidance sensing structure

Abstract

The utility model relates to a robot model with an obstacle avoidance sensing structure, which comprises a main body, a central supporting leg and side supporting legs, a steering wheel is arranged at the bottom of the central supporting leg, and driving wheels are arranged at the bottoms of the two side supporting legs; a first sensing device is arranged at the bottom of the center supporting leg and right in front of a steering wheel, second sensing devices are arranged at the bottoms of the two side supporting legs and right behind respective driving wheels, a third sensing device is arranged at the front end of the body, and fourth sensing devices are arranged at the most front ends of the two side supporting legs. The first sensing device, the second sensing device, the third sensing device and the fourth sensing device form an obstacle avoidance sensing structure for sensing whether obstacles exist on the steering wheel and the driving wheel in the advancing direction or not and are electrically connected with a motor of the driving wheel. The obstacle avoidance sensing structure can well sense and recognize whether obstacles exist in front and on the ground or not, steering is carried out through differential rotation of the two driving wheels, the obstacles are avoided, and the obstacle avoidance function is achieved.

Description

Technical Field

[0001] The utility model relates to the technical field of toy models, in particular to a robot model with an obstacle avoidance sensing structure. Background Art

[0002] There are many robot models among toy models, such as transformable robots, mobile robots, etc. Robots are divided into wheeled, tracked, trunk and legged robots according to their movement methods. Wheeled robots move faster and are more stable, but their passability is not as good as tracked, trunk and legged robots. During the movement of wheeled robots, obstacle avoidance is a very important performance. During the autonomous movement of wheeled robots, if the obstacles around the robot can be accurately identified, the obstacles can be prevented from getting stuck in the robot's wheels, which is conducive to improving the passability of the wheeled robot. Utility Model Content

[0003] In order to solve the deficiencies of the prior art, the utility model provides a robot model with an obstacle avoidance sensing structure.

[0004] The utility model provides a robot model with an obstacle avoidance sensing structure, comprising a main body, a central support leg and two side support legs, wherein the central support leg is located on the center line of the main body, the two side support legs are symmetrically arranged on both sides of the main body, the central support leg is located in front of the two side support legs, the main body is tiltedly arranged between the central support leg and the side support legs, the bottom of the central support leg is provided with a non-powered steering wheel, and the bottoms of the two side support legs are both provided with driving wheels driven by a motor; the bottom of the central support leg is provided with a first sensing device just in front of the steering wheel, the bottoms of the two side support legs are both provided with a second sensing device just behind the respective driving wheels, the front end of the main body is provided with a third sensing device, and the front ends of the two side support legs are both provided with a fourth sensing device, the first sensing device, the second sensing device, the third sensing device and the fourth sensing device constitute an obstacle avoidance sensing structure for sensing whether there are obstacles in the traveling direction of the steering wheel and the driving wheel, and are respectively electrically connected to the motors of the driving wheels.

[0005] In some embodiments, the first sensing device and the second sensing device are both infrared sensors, and the infrared sensors are arranged downward.

[0006] In some of the embodiments, the third sensing device and the fourth sensing device are both ultrasonic radar probes, and the ultrasonic radar probes are arranged to face forward.

[0007] In some embodiments, the height of the fourth sensing device is higher than the height of the third sensing device.

[0008] In some of the embodiments, the detection direction of the fourth sensing device is set to be tilted downward.

[0009] In some embodiments, the length of the central support leg is shorter than the length of the side support legs.

[0010] In some embodiments, the side supporting leg is arranged to be inclined toward the front of the main body, and the front end of the side supporting leg is located at the connection between the side supporting leg and the main body.

[0011] In some embodiments, the steering wheel and the two driving wheels are distributed in a triangular shape below the main body, and the center of gravity of the main body falls within a triangular area formed by the steering wheel and the two driving wheels.

[0012] In some embodiments, the steering wheel is a universal wheel, a mounting groove is provided at the center of the bottom of the central supporting leg, and the universal wheel is installed in the mounting groove.

[0013] In some embodiments, the obstacle avoidance sensing structure also includes a collision front cover arranged at the front end of the central support leg, the collision front cover is pivotally connected to the central support leg, and an induction switch for monitoring the status of the collision front cover is arranged between the central support leg and the collision front cover, and the induction switch is electrically connected to the motor of the driving wheel.

[0014] Compared with the prior art, the utility model has the following beneficial effects: the first sensing device and the second sensing device detect whether there are obstacles on the ground, and the third sensing device and the fourth sensing device detect whether there are obstacles in front, so that the obstacle avoidance sensing structure can well sense and identify whether there are obstacles in front and on the ground, and turn through the differential rotation of the two drive wheels to avoid obstacles, thereby realizing the obstacle avoidance function. BRIEF DESCRIPTION OF THE DRAWINGS

[0015] Figure 1 It is a schematic diagram of the three-dimensional structure of a robot model with an obstacle avoidance sensing structure according to an embodiment of the present application.

[0016] Figure 2 It is a side view structural schematic diagram of a robot model with an obstacle avoidance sensing structure according to an embodiment of the present application.

[0017] Figure 3 It is a schematic diagram of the upward structure of the robot model with obstacle avoidance sensing structure according to an embodiment of the present application.

[0018] Figure 4 It is a schematic diagram of the skeleton structure of a robot model with an obstacle avoidance sensing structure according to an embodiment of the present application.

[0019] Figure 5 It is a schematic diagram of the three-dimensional structure of the central supporting leg of an embodiment of the present application.

[0020] Figure 6 It is a schematic diagram of the exploded structure of the side support leg of an embodiment of the present application.

[0021] Reference numerals: 1, main body; 11, skeleton;

[0022] 2. Center support leg; 21. Steering wheel; 22. Mounting slot; 23. Collision front cover; 24. Induction switch;

[0023] 3. Side support legs; 31. Driving wheels; 32. Motor; 33. Support plate; 34. Bearing plate; 35. Speed ​​reducer; 36. Connector;

[0024] 4. The first sensing device;

[0025] 5. Second sensing device;

[0026] 6. The third sensing device;

[0027] 7. The fourth sensing device. DETAILED DESCRIPTION

[0028] The specific implementation modes of the present utility model are introduced with reference to the accompanying drawings.

[0029] refer to Figure 1 The figure is a schematic diagram of the three-dimensional structure of a robot model with an obstacle avoidance sensing structure. The middle part of the figure is the main body 1, and the two sides are side support legs 3. The lower part of the main body 1 is the central support leg 2. The side support legs 3 and the central support leg 2 are both fixedly connected to the main body 1. The reversing wheel of the central support leg 2 is used for steering, and the driving wheel 31 of the side support leg 3 is a power wheel. The driving wheel 31 drives the robot model forward and backward, and the steering of the robot model is achieved by the differential rotation of the two driving wheels 31.

[0030] refer to Figure 1A robot model with an obstacle avoidance sensing structure includes a main body 1, a central support leg 2 and two side support legs 3, the central support leg 2 is located on the center line of the main body 1, the two side support legs 3 are symmetrically arranged on both sides of the main body 1, the central support leg 2 is located in front of the two side support legs 3, the main body 1 is tilted between the central support leg 2 and the side support legs 3, the bottom of the central support leg 2 is provided with a non-powered steering wheel 21, and the bottoms of the two side support legs 3 are both provided with driving wheels 31 driven by a motor 32; the bottom of the central support leg 2 A first sensing device 4 is provided in front of the steering wheel 21, a second sensing device 5 is provided at the bottom of the two side supporting legs 3 directly behind the respective driving wheels 31, a third sensing device 6 is provided at the front end of the main body 1, and a fourth sensing device 7 is provided at the front ends of the two side supporting legs 3. The first sensing device 4, the second sensing device 5, the third sensing device 6 and the fourth sensing device 7 constitute an obstacle avoidance sensing structure for sensing whether there are obstacles in the traveling direction of the steering wheel 21 and the driving wheel 31, and are electrically connected to the motor 32 of the driving wheel 31 respectively.

[0031] The robot model with an obstacle avoidance sensing structure in the embodiment of the present application detects whether there are obstacles on the ground through the first sensing device 4 and the second sensing device 5, and detects whether there are obstacles in front through the third sensing device 6 and the fourth sensing device 7, so that the obstacle avoidance sensing structure can well sense and identify whether there are obstacles in front and on the ground, and steer through the differential rotation of the two drive wheels 31 to avoid obstacles, thereby realizing the obstacle avoidance function.

[0032] In order to sense whether there are obstacles on the ground, in this embodiment, reference Figure 1 and Figure 5 The first sensing device 4 and the second sensing device 5 are both infrared sensors, and the infrared sensors are arranged downward.

[0033] It can be understood that, in such a configuration, the first sensing device 4 is used to sense whether there is an obstacle in front of the steering wheel 21 whose height is less than the height between the bottom surface of the center support leg 2 and the ground, so as to avoid smaller obstacles getting stuck in the steering wheel 21 during forward movement and steering, and the second sensing device 5 is used to sense whether there is an obstacle in the backward direction of the driving wheel 31 whose height is less than the height between the bottom surface of the side support leg 3 and the ground, so as to avoid smaller obstacles getting stuck in the driving wheel 31 during reversing and steering.

[0034] In order to sense whether there is an obstacle ahead, in this embodiment, reference Figure 1 and Figure 3 The third sensing device 6 and the fourth sensing device 7 are both ultrasonic radar probes, and the ultrasonic radar probes are arranged to face forward.

[0035] It can be understood that, with such a configuration, the third sensing device 6 is used to sense the central area in front, and the two fourth sensing devices 7 are used to sense the side areas. The third sensing device 6 has the widest detection range, the fourth sensing device 7 has the second widest detection range, and the first sensing device 4 and the second sensing device 5 have the smallest detection range. Correspondingly, the third sensing device 6 senses larger obstacles such as walls and tables, the fourth sensing device 7 senses smaller obstacles such as steps and stools, and the first sensing device 4 and the second sensing device 5 sense small obstacles such as books, pencils, and stone seeds, thereby realizing hierarchical perception, which can improve the accuracy of perception and recognition and effectively avoid obstacles.

[0036] In order to expand the detection range of the fourth sensing device 7, in this embodiment, reference Figure 1 , the height of the fourth sensing device 7 is higher than the height of the third sensing device 6.

[0037] It can be understood that with such an arrangement, when the ultrasonic radar probe meets the detection accuracy, the higher the height, the larger the detection range. The side support leg 3 is arranged to be tilted forward, and the fourth sensing device 7 is further back than the third sensing device 6. The fourth sensing device 7 is arranged higher than the third sensing device 6, so that a larger range can be detected, and the detection area of ​​the fourth sensing device 7 can cover more detection blind areas of the third sensing device 6.

[0038] In order to reduce the detection blind area, in this embodiment, reference Figure 1 and Figure 2 , the detection direction of the fourth sensing device 7 is set obliquely downward.

[0039] It can be understood that, with such an arrangement, the center support leg 2 is positioned relatively forward and the main body 1 is tilted backward, so that the third sensing device 6 has a certain detection blind spot in front of the center support leg 2. The fourth sensing device 7 is positioned at a higher position and can detect the area in front of the side support leg 3, and can also detect the area in front of the center support leg 2, thereby reducing the detection blind spot.

[0040] In order to lower the center of gravity of the robot model, in this embodiment, reference Figure 2 , the length of the central supporting leg 2 is smaller than the length of the side supporting leg 3.

[0041] It can be understood that, with such a configuration, the central support leg 2 and the side support leg 3 integrally support the overall weight of the robot model, the central support leg 2 is located in the center, and the two side support legs 3 are located on both sides of the main body 1. The length of the main body 1 is smaller than the length of the side support legs 3, thereby lowering the center of gravity of the main body 1, effectively lowering the center of gravity of the robot model, improving the stability of the robot model, and reducing the possibility of rollover.

[0042] In order to improve the stability of the robot model, in this embodiment, reference Figure 1 and Figure 4 The side supporting leg 3 is tilted toward the front of the main body 1 , and the front end of the side supporting leg 3 is located at the connection between the side supporting leg 3 and the main body 1 .

[0043] It needs to be further explained that there is a cylindrical frame 11 inside the main body 1, the central support leg 2 and the side support leg 3 are directly fixedly connected to the frame 11, the support plate 33 of the side support leg 3 is fixed to the frame 11 through a cylindrical connector 36, and the two sides of the driving wheel 31 are connected to the lower end of the support plate 33 through a bearing plate 34. The motor 32 and the reduction gearbox 35 are installed on one side bearing plate 34, and the motor 32 drives the driving wheel 31 through the reduction gearbox 35.

[0044] It can be understood that, with such a configuration, the main body 1 and the central supporting leg 2 are tilted toward the rear, and the side supporting leg 3 is tilted toward the front, and the connecting line between the main body 1 and the central supporting leg 2 and the side supporting leg 3 forms a herringbone structure, which prevents the robot model from shaking back and forth, thereby improving the stability of the robot model.

[0045] In order to further improve the stability of the robot model, in this embodiment, reference Figures 1 to 3 The steering wheel 21 and the two driving wheels 31 are distributed in a triangular shape below the main body 1 , and the center of gravity of the main body 1 falls within a triangular area formed by the steering wheel 21 and the two driving wheels 31 .

[0046] It is understandable that, with such an arrangement, when the robot model passes a slope with a small slope during its movement, the slope will cause the robot model to tilt, and the center of gravity of the tilted robot model will still fall in the triangular area formed by the reversing wheel and the two driving wheels 31, ensuring that the robot model will not tip over.

[0047] In order to facilitate the steering of the robot model, in this embodiment, reference Figure 5 The steering wheel 21 is a universal wheel. A mounting groove 22 is provided in the center of the bottom of the central support leg 2, and the universal wheel is mounted in the mounting groove 22.

[0048] It is understandable that, with such a configuration, the universal wheel is installed through the mounting groove 22, and the mounting groove 22 provides the universal wheel with space for 360° rotation around the axis, thereby facilitating the robot model to move forward, backward, turn and turn.

[0049] It should be further explained that the two driving wheels 31 are driven by their own motors 32, and the forward, backward, turning and steering of the robot model are all controlled by the two driving wheels 31. When the two driving wheels 31 rotate forward at the same speed, the robot model is driven forward; when the two driving wheels 31 rotate backward at the same speed, the robot model is driven backward; when the left driving wheel 31 stops rotating (or slows down) and the right driving wheel 31 rotates forward, the robot model is driven to turn left forward; when the left driving wheel 31 stops rotating (or slows down) and the right driving wheel 31 rotates backward, the robot model is driven to turn right backward; when the right driving wheel 31 stops rotating (or slows down) and the left driving wheel 31 rotates forward, the robot model is driven to turn right forward; when the right driving wheel 31 stops rotating (or slows down) and the left driving wheel 31 rotates backward, the robot model is driven to turn left backward; when one driving wheel 31 rotates forward and the other driving wheel 31 rotates backward, the robot model is driven to turn around on the spot.

[0050] In order to improve the obstacle avoidance performance, in this embodiment, reference Figure 1 and Figure 5 The obstacle avoidance sensing structure also includes a collision front cover 23 arranged at the front end of the central support leg 2, the collision front cover 23 is pivotally connected to the central support leg 2, and an induction switch 24 for monitoring the state of the collision front cover 23 is arranged between the central support leg 2 and the collision front cover 23. The induction switch 24 is electrically connected to the motor 32 of the driving wheel 31, and the induction switch 24 is a touch switch.

[0051] It should be further explained that, during the movement of the robot model, the objects on the path of the robot model will change dynamically. For example, small dynamic obstacles such as kittens and moving toy cars, the height of these small dynamic obstacles is slightly higher than the distance between the bottom of the central support leg 2 and the ground. Because the moving speed is too fast, they will quickly enter the detection blind area of ​​the third sensing device 6 and the fourth sensing device 7, but will not enter the detection range of the first sensing device 4 and the second sensing device 5. When the robot model encounters these small dynamic obstacles while moving forward, the robot model can avoid collision with these dynamic obstacles by colliding with the front cover 23 and the induction switch 24.

[0052] It is understandable that, with such a configuration, when the robot model encounters an obstacle, the collision front cover 23 will retract when it touches the obstacle, and at the same time press against the sensor switch 24, causing the sensor switch 24 to generate a signal, controlling the motor 32 to stop driving the driving wheel 31 to rotate, thereby preventing the robot model from colliding with the obstacle.

[0053] The robot model with an obstacle avoidance sensing structure in the embodiment of the present application detects whether there are obstacles on the ground through the first sensing device 4 and the second sensing device 5 of the infrared sensor, and detects whether there are obstacles in front through the third sensing device 6 and the fourth sensing device 7 of the ultrasonic radar probe. When an obstacle is encountered in front of the center support leg 2, the robot model is prevented from colliding with the obstacle through the collision front cover 23 and the sensing switch 24, so that the robot model can well sense and identify whether there are obstacles in front and on the ground, and turn through the differential operation of the two drive wheels 31 to avoid the obstacles, thereby realizing the obstacle avoidance function.

[0054] The above does not limit the technical scope of the present invention. Any modifications, equivalent changes and modifications made to the above embodiments based on the technical essence of the present invention are still within the scope of the technical solution of the present invention.

Claims

1. A robot model with an obstacle avoidance perception structure, characterized in that: The invention comprises a main body, a central supporting leg and two side supporting legs, wherein the central supporting leg is located on the center line of the main body, the two side supporting legs are symmetrically arranged on both sides of the main body, the central supporting leg is located in front of the two side supporting legs, the main body is obliquely arranged between the central supporting leg and the side supporting legs, the bottom of the central supporting leg is provided with an unpowered steering wheel, and the bottoms of the two side supporting legs are both provided with driving wheels driven by a motor; a first sensing device is provided at the bottom of the central supporting leg just in front of the steering wheel, a second sensing device is provided at the bottom of the two side supporting legs just behind their respective driving wheels, a third sensing device is provided at the front end of the main body, and a fourth sensing device is provided at the very front ends of the two side supporting legs, the first sensing device, the second sensing device, the third sensing device and the fourth sensing device constitute an obstacle avoidance sensing structure for sensing whether there are obstacles in the traveling direction of the steering wheel and the driving wheel, and are respectively electrically connected to the motors of the driving wheels.

2. The robot model with obstacle avoidance sensing structure according to claim 1, characterized in that: The first sensing device and the second sensing device are both infrared sensors, and the infrared sensors are arranged downward.

3. The robot model with obstacle avoidance sensing structure according to claim 1, characterized in that: The third sensing device and the fourth sensing device are both ultrasonic radar probes, and the ultrasonic radar probes are arranged to face forward.

4. The robot model with obstacle avoidance sensing structure according to claim 3, characterized in that: The height of the fourth sensing device is higher than that of the third sensing device.

5. The robot model with obstacle avoidance sensing structure according to claim 4, characterized in that: The detection direction of the fourth sensing device is set obliquely downward.

6. The robot model with obstacle avoidance sensing structure according to claim 1, characterized in that: The length of the central supporting leg is smaller than that of the side supporting legs.

7. The robot model with obstacle avoidance sensing structure according to claim 6, characterized in that: The side supporting legs are arranged to be inclined toward the front of the main body, and the front ends of the side supporting legs are located at the connection between the side supporting legs and the main body.

8. The robot model with obstacle avoidance sensing structure according to claim 1, characterized in that: The steering wheel and the two driving wheels are distributed in a triangular shape below the main body, and the center of gravity of the main body falls within a triangular area formed by the steering wheel and the two driving wheels.

9. The robot model with obstacle avoidance sensing structure according to claim 1, characterized in that: The steering wheel is a universal wheel, a mounting groove is provided at the center of the bottom of the central supporting leg, and the universal wheel is mounted in the mounting groove.

10. The robot model with obstacle avoidance sensing structure according to claim 1, characterized in that: The obstacle avoidance sensing structure also includes a collision front cover arranged at the front end of the central support leg, the collision front cover is pivotally connected to the central support leg, and an induction switch for monitoring the state of the collision front cover is arranged between the central support leg and the collision front cover, and the induction switch is electrically connected to the motor of the driving wheel.

Images