Mobile robot
By combining infrared and Time-of-Flight (TOF) sensors, the problem of robots struggling to detect near-black bodies, dark-colored, and transparent objects has been solved, enabling early identification of obstacles, collision avoidance, and applicability to various environments.
Patent Information
- Application Number
- CN202421828561.6
- Authority / Receiving Office
- CN · China
- Patent Type
- Utility models(China)
- Current Assignee / Owner
- Filing Date
- 2024-07-30
- Publication Date
- 2025-11-04
- Estimated Expiration
- 2034-07-30
AI Technical Summary
Existing robot infrared sensors have difficulty detecting near-black bodies, dark-colored, and transparent objects, while ultrasonic detection has low accuracy and cannot effectively identify obstacles.
It uses a combination of infrared and TOF sensors to detect the distance to objects in front, and combines this with a drive component to rotate the rollers, thereby obtaining obstacle information in advance.
It achieves effective recognition of transparent, mirror-reflective, and dark-colored objects, avoids robot collisions with obstacles, has a compact structure, and is widely applicable.
Smart Images
Figure CN223507177U_ABST
Abstract
Description
Technical Field
[0001] This utility model relates to the field of robotics technology, and in particular to a mobile robot. Background Technology
[0002] Currently, infrared sensors (20-150cm) commonly used by robots have a simple structure, low cost, and high sensitivity, making them suitable for detecting road conditions at close range. However, they are subject to certain requirements regarding ambient light and may be unable to detect distances to near-blackbody, dark, or transparent objects. Ultrasonic detection, on the other hand, has low accuracy and strict requirements regarding the shape of the object. Utility Model Content
[0003] Therefore, it is necessary to provide a mobile robot that can effectively identify obstacles to address the above problems.
[0004] A mobile robot includes a housing, a control component, and a drive component. The control component includes a PCB board, an infrared sensor, and a Time-of-Flight (TOF) sensor. The PCB board is installed inside the housing. The infrared sensor and the TOF sensor are both installed at one end of the housing in the forward direction and are electrically connected to the PCB board. The drive component includes a first roller, a second roller, a first power element, and a second power element. The first roller and the second roller are rotatably connected to both sides of the housing. The first power element and the second power element are both installed inside the housing. The first power element drives the first roller to rotate, and the second power element drives the second roller to rotate.
[0005] In one embodiment, the drive assembly further includes a first driving wheel, a first rotating shaft, a first driven wheel, a second driving wheel, a second rotating shaft, and a second driven wheel. The first driving wheel is mounted on the output end of the first power element, and the first rotating shaft is rotatably connected to the housing, driving the first roller to rotate. The first driven wheel is mounted on the first rotating shaft and meshes with the first driving wheel. The second driving wheel is mounted on the output end of the second power element, and the second rotating shaft is rotatably connected to the housing, driving the second roller to rotate. The second driven wheel is mounted on the second rotating shaft and meshes with the second driving wheel.
[0006] In one embodiment, the drive assembly further includes a synchronous shaft, a first synchronous pulley, and a second synchronous pulley. One end of the synchronous shaft is connected to the first pulley, and the other end is connected to the second pulley. The first synchronous pulley and the second synchronous pulley are respectively mounted at both ends of the synchronous shaft. The first rotating shaft meshes with the first synchronous pulley, and the second rotating shaft meshes with the second synchronous pulley.
[0007] In one embodiment, the drive assembly further includes a control board, a first code disk, a first speedometer, a second code disk, and a second speedometer. The PCB board, the first power element, the second power element, the first speedometer, and the second speedometer are all electrically connected to the control board. The first code disk is installed at the output end of the first power element, and the first speedometer is used to detect the first code disk. The second code disk is installed at the output end of the second power element, and the second speedometer is used to detect the second code disk.
[0008] In one embodiment, the first code disk includes a transparent sheet and a shielding layer, the shielding layer being coated on the transparent sheet to form a plurality of light-transmitting holes, and the first speedometer being used to sense the light-transmitting holes.
[0009] In one embodiment, the housing includes an outer shell, a base plate, and a cover plate. The base plate is mounted on the bottom of the outer shell, and the first roller and the second roller pass through the base plate. The cover plate covers the top of the outer shell, the infrared sensor is mounted on the outer shell, and the TOF sensor is mounted on the cover plate.
[0010] In one embodiment, the housing further includes a bracket and a fixing frame. The bracket is mounted on the base plate, and both the first power element and the second power element are mounted on the bracket. The fixing frame covers the bracket, and the PCB board is mounted on the fixing frame.
[0011] In one embodiment, the control component further includes a display screen, a microphone, and a speaker, all of which are electrically connected to the PCB board. The display screen is mounted on the cover plate, the microphone is mounted on one side of the display screen, and the speaker is mounted on the housing.
[0012] In one embodiment, the control component further includes a charging interface electrically connected to the PCB board.
[0013] In one embodiment, the drive assembly further includes an auxiliary wheel mounted on the base plate.
[0014] Compared with the prior art, the beneficial effects of this utility model are as follows:
[0015] This mobile robot, through the cooperation of infrared and TOF sensors, can detect the distance of objects in front in advance, identify obstacles in advance, and avoid collisions with obstacles. It is suitable for objects containing transparent, reflective, and dark-colored materials. This mobile robot has a compact structure and a wide range of applications. Attached Figure Description
[0016] Figure 1 This is a schematic diagram of the assembly structure of a mobile robot according to one embodiment of the present invention;
[0017] Figure 2 for Figure 1 The diagram shows the structure of the mobile robot, but the cover plate, infrared sensor, TOF sensor, display screen, and microphone are not shown.
[0018] Figure 3 for Figure 2 An exploded view of the mobile robot shown.
[0019] Figure 4 for Figure 3 A schematic diagram of the structure of the driving component.
[0020] The meanings of the numbers in the attached diagram are as follows:
[0021] 100. Mobile robots;
[0022] 10. Housing; 11. Outer shell; 110. Through hole; 12. Base plate; 13. Cover plate; 14. Bracket; 15. Mounting bracket; 20. Control components; 21. PCB board; 22. Infrared sensor; 23. TOF sensor; 24. Display screen; 25. Microphone; 26. Speaker; 27. Charging interface;
[0023] 30. Drive assembly; 31. First roller; 32. Second roller; 33. First power element; 34. First drive wheel; 35. First shaft; 36. First driven wheel; 37. Synchronous shaft; 38. First synchronous wheel; 39. Control board; 41. First encoder; 411. Transparent sheet; 412. Shielding layer; 413. Light-transmitting hole; 42. First speedometer; 43. Auxiliary wheel; 44. Power supply. Detailed Implementation
[0024] To make the above-mentioned objects, features, and advantages of this utility model more apparent and understandable, the specific embodiments of this utility model will be described in detail below with reference to the accompanying drawings. Many specific details are set forth in the following description to provide a full understanding of this utility model. However, this utility model can be implemented in many other ways different from those described herein, and those skilled in the art can make similar modifications without departing from the spirit of this utility model. Therefore, this utility model is not limited to the specific embodiments disclosed below.
[0025] In the description of this utility model, it should be understood that the terms "center", "longitudinal", "transverse", "length", "width", "thickness", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", "clockwise", "counterclockwise", "axial", "radial", "circumferential", etc., indicating the orientation or positional relationship are based on the orientation or positional relationship shown in the accompanying drawings, and are only for the convenience of describing this utility model and simplifying the description, and are not intended to indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation, and therefore should not be construed as a limitation of this utility model.
[0026] Furthermore, the terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of indicated technical features. Thus, a feature defined as "first" or "second" may explicitly or implicitly include at least one of that feature. In the description of this utility model, "a plurality of" means at least two, such as two, three, etc., unless otherwise explicitly specified.
[0027] In this utility model, unless otherwise explicitly specified and limited, the terms "installation," "connection," "joining," and "fixing," etc., should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral part; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium; they can refer to the internal communication of two components or the interaction between two components, unless otherwise explicitly limited. Those skilled in the art can understand the specific meaning of the above terms in this utility model according to the specific circumstances.
[0028] In this utility model, unless otherwise explicitly specified and limited, "above" or "below" the second feature can mean that the first feature is in direct contact with the second feature, or that the first feature is in indirect contact with the second feature through an intermediate medium. Furthermore, "above," "on top of," and "over" the second feature can mean that the first feature is directly above or diagonally above the second feature, or simply that the first feature is at a higher horizontal level than the second feature. "Below," "below," and "under" the second feature can mean that the first feature is directly below or diagonally below the second feature, or simply that the first feature is at a lower horizontal level than the second feature.
[0029] It should be noted that when an element is referred to as being "fixed to" or "set on" another element, it can be directly on the other element or there may be an intervening element. When an element is considered to be "connected to" another element, it can be directly connected to the other element or there may be an intervening element. The terms "vertical," "horizontal," "upper," "lower," "left," "right," and similar expressions used herein are for illustrative purposes only and do not represent the only possible implementation.
[0030] Please refer to Figures 1 to 4 A mobile robot 100 according to one embodiment of the utility model includes a housing 10, a control component 20, and a drive component 30. The control component 20 includes a PCB board 21, an infrared sensor 22, and a TOF sensor 23. The PCB board 21 is installed inside the housing 10. The infrared sensor 22 and the TOF sensor 23 are both installed at one end of the housing 10 in the forward direction and are electrically connected to the PCB board 21. The drive component 30 includes a first roller 31, a second roller 32, a first power element 33, and a second power element (not shown in the figure). The first roller 31 and the second roller 32 are rotatably connected to both sides of the housing 10. The first power element 33 and the second power element are both installed inside the housing 10. The first power element 33 is used to drive the first roller 31 to rotate, and the second power element is used to drive the second roller 32 to rotate. This mobile robot 100, through the cooperation of infrared sensor 22 and TOF sensor 23, can detect the distance of objects in front in advance, acquire obstacles in advance, and avoid collisions with obstacles. It is suitable for objects containing transparent objects, mirror reflections, and dark objects.
[0031] like Figures 1 to 3 As shown, in this embodiment, the housing 10 includes an outer shell 11, a base plate 12, and a cover plate 13. The base plate 12 is installed at the bottom of the outer shell 11, and the cover plate 13 covers the top of the outer shell 11. Optionally, the outer shell 11 has a through hole 110; the top of the cover plate 13 is flat to support items. Further, the housing 10 also includes a bracket 14 and a fixing frame 15. The bracket 14 is installed on the base plate 12, and the fixing frame 15 covers the bracket 14.
[0032] like Figure 1 and Figure 2As shown, the control component 20 includes a PCB board 21, an infrared sensor 22, and a TOF sensor 23. The PCB board 21 is installed inside the housing 10. The infrared sensor 22 and the TOF sensor 23 are both installed at one end of the housing 10 in the forward direction. The infrared sensor 22 and the TOF sensor 23 are both electrically connected to the PCB board 21. The TOF sensor 23 can accurately measure depth within a certain distance. Optionally, the PCB board 21 is installed on the mounting bracket 15. The infrared sensor 22 is installed on the outer shell 11, and the TOF sensor 23 is installed on the cover plate 13. Further, there are at least two infrared sensors 22 and at least two TOF sensors 23. The TOF sensor 23 is installed between the two infrared sensors 22.
[0033] like Figures 1 to 3 As shown, the control component 20 also includes a display screen 24, a microphone 25, and a speaker 26. The display screen 24, microphone 25, and speaker 26 are all electrically connected to the PCB board 21. The display screen 24 is mounted on the cover plate 13, the microphone 25 is mounted on one side of the display screen 24, and the speaker 26 is mounted on the housing 11. Optionally, the display screen 24 is a touch screen. Further, the speaker 26 is provided corresponding to the through hole 110 to facilitate sound propagation. The speaker 26 is mounted on the bracket 14. The control component 20 also includes a charging interface 27, which is electrically connected to the PCB board 21.
[0034] like Figure 1 , Figure 3 and Figure 4As shown, the drive assembly 30 includes a first roller 31, a second roller 32, a first power element 33, and a second power element (not shown). The first roller 31 and the second roller 32 are rotatably connected to both sides of the housing 10. The first power element 33 and the second power element are both installed inside the housing 10. The first power element 33 drives the first roller 31 to rotate, and the second power element drives the second roller 32 to rotate. Optionally, both the first roller 31 and the second roller 32 pass through the base plate 12, and the first roller 31 and the second roller 32 are respectively disposed on both sides of the bracket 14; the first power element 33 and the second power element are both installed on the bracket 14. In one embodiment, the drive assembly 30 further includes a first drive wheel 34, a first rotating shaft 35, a first driven wheel 36, a second drive wheel (not shown), a second rotating shaft (not shown), and a second driven wheel (not shown). The first drive wheel 34 is mounted on the output end of the first power element 33. The first rotating shaft 35 is rotatably connected to the housing 10 and is used to drive the first roller 31 to rotate. The first driven wheel 36 is mounted on the first rotating shaft 35 and meshes with the first drive wheel 34. The second drive wheel is mounted on the output end of the second power element. The second rotating shaft is rotatably connected to the housing 10 and is used to drive the second roller 32 to rotate. The second driven wheel is mounted on the second rotating shaft and meshes with the second drive wheel. Optionally, both the first rotating shaft 35 and the second rotating shaft are rotatably connected to the bracket 14.
[0035] like Figure 4 As shown, the drive assembly 30 also includes a synchronous shaft 37, a first synchronous pulley 38, and a second synchronous pulley (not shown). One end of the synchronous shaft 37 is connected to the first roller 31, and the other end is connected to the second roller 32. The first synchronous pulley 38 and the second synchronous pulley are respectively installed at both ends of the synchronous shaft 37. The first rotating shaft 35 meshes with the first synchronous pulley 38, and the second rotating shaft meshes with the second synchronous pulley. In use, the first driving wheel 34 is driven to rotate by the first power element 33, the first driving wheel 34 drives the first driven wheel 36 to rotate, thereby driving the first rotating shaft 35 to rotate, the first rotating shaft 35 drives the first synchronous pulley 38 to rotate, the first synchronous pulley 38 drives the synchronous shaft 37 to rotate, thereby driving the first roller 31 to rotate; the second roller 32 operates in the same way.
[0036] Please check again. Figure 3 and Figure 4The drive assembly 30 also includes a control board 39, a first code disk 41, a first speedometer 42, a second code disk (not shown in the figure), and a second speedometer (not shown in the figure). The PCB board 21, the first power element 33, the second power element, the first speedometer 42, and the second speedometer are all electrically connected to the control board 39. The first code disk 41 is installed at the output end of the first power element 33, and the first speedometer 42 is used to detect the first code disk 41. The second code disk is installed at the output end of the second power element, and the second speedometer is used to detect the second code disk. Optionally, the control board 39 is fixed to the bracket 14 via the base plate 12. Further... The first code disk 41 includes a transparent sheet 411 and a shielding layer 412. The shielding layer 412 is coated on the transparent sheet 411 to form a plurality of light-transmitting holes 413. The first speedometer 42 is used to sense the light-transmitting holes 413. The second code disk has the same structure as the first code disk 41, and will not be described in detail below. In one embodiment, the transparent sheet 411 is transparent PET, and the shielding layer 412 is a black ink layer. Each light-transmitting hole 413 is arranged along the periphery of the transparent sheet 411. In use, the first speedometer 42 detects the rotation speed of the first code disk 41 by detecting the light-transmitting holes 413, thereby controlling the rotation speed of the first power element 33.
[0037] like Figure 1 As shown, the drive assembly 30 also includes auxiliary wheels 43, which are mounted on the base plate 12 to ensure stable movement; as Figure 2 As shown, the drive assembly 30 also includes a power supply 44, which is installed in the mounting bracket 15. The first power element 33, the second power element, the PCB board 21 and the control board 39 are all electrically connected to the power supply 44.
[0038] In use, the first power element 33 drives the first roller 31 to rotate through the cooperation of the first driving wheel 34, the first driven wheel 36, the first rotating shaft 35, the first synchronous wheel 38, and the synchronous shaft 37; similarly, the second power element drives the second roller 32 to rotate through the cooperation of the second driving wheel, the second driven wheel, the second rotating shaft, the second synchronous wheel, and the synchronous shaft 37; with the cooperation of the infrared sensor 22 and the TOF sensor 23, the distance of objects in front can be detected in advance, obstacles can be acquired in advance, and the robot can avoid collisions with obstacles. It is suitable for objects containing transparent objects, mirror reflections, and dark objects.
[0039] The mobile robot 100 of this invention, through the cooperation of infrared sensor 22 and TOF sensor 23, can detect the distance of objects in front in advance, obtain obstacles in advance, and avoid collisions with obstacles. It is suitable for objects containing transparent objects, mirror reflections, and dark objects. The mobile robot 100 has a compact structure and a wide range of applications.
[0040] The technical features of the above embodiments can be combined in any way. For the sake of brevity, not all possible combinations of the technical features in the above embodiments are described. However, as long as there is no contradiction in the combination of these technical features, they should be considered to be within the scope of this specification.
[0041] The embodiments described above are merely illustrative of several implementations of this utility model, and while the descriptions are relatively specific and detailed, they should not be construed as limiting the scope of the utility model patent. It should be noted that those skilled in the art can make various modifications and improvements without departing from the concept of this utility model, and these all fall within the protection scope of this utility model. Therefore, the protection scope of this utility model patent should be determined by the appended claims.
Claims
1. A mobile robot, characterized in that, The device includes a housing, a control component, and a drive component. The control component includes a PCB board, an infrared sensor, and a TOF sensor. The PCB board is installed inside the housing. The infrared sensor and the TOF sensor are both installed at one end of the housing in the forward direction and are electrically connected to the PCB board. The drive component includes a first roller, a second roller, a first power element, and a second power element. The first roller and the second roller are rotatably connected to both sides of the housing. The first power element and the second power element are both installed inside the housing. The first power element drives the first roller to rotate, and the second power element drives the second roller to rotate.
2. The mobile robot according to claim 1, characterized in that, The drive assembly further includes a first driving wheel, a first rotating shaft, a first driven wheel, a second driving wheel, a second rotating shaft, and a second driven wheel. The first driving wheel is mounted on the output end of the first power element, and the first rotating shaft is rotatably connected to the housing, driving the first roller to rotate. The first driven wheel is mounted on the first rotating shaft and meshes with the first driving wheel. The second driving wheel is mounted on the output end of the second power element, and the second rotating shaft is rotatably connected to the housing, driving the second roller to rotate. The second driven wheel is mounted on the second rotating shaft and meshes with the second driving wheel.
3. The mobile robot according to claim 2, characterized in that, The drive assembly further includes a synchronous shaft, a first synchronous pulley, and a second synchronous pulley. One end of the synchronous shaft is connected to the first roller, and the other end is connected to the second roller. The first synchronous pulley and the second synchronous pulley are respectively installed at both ends of the synchronous shaft. The first rotating shaft meshes with the first synchronous pulley, and the second rotating shaft meshes with the second synchronous pulley.
4. The mobile robot according to claim 2, characterized in that, The drive assembly further includes a control board, a first code disk, a first speedometer, a second code disk, and a second speedometer. The PCB board, the first power element, the second power element, the first speedometer, and the second speedometer are all electrically connected to the control board. The first code disk is installed at the output end of the first power element, and the first speedometer is used to detect the first code disk. The second code disk is installed at the output end of the second power element, and the second speedometer is used to detect the second code disk.
5. The mobile robot according to claim 4, characterized in that, The first code disk includes a transparent sheet and a shielding layer. The shielding layer is coated on the transparent sheet to form a plurality of light-transmitting holes, and the first speedometer is used to sense the light-transmitting holes.
6. The mobile robot according to claim 1, characterized in that, The housing includes an outer shell, a base plate, and a cover plate. The base plate is installed at the bottom of the outer shell, and the first roller and the second roller pass through the base plate. The cover plate covers the top of the outer shell, the infrared sensor is installed on the outer shell, and the TOF sensor is installed on the cover plate.
7. The mobile robot according to claim 6, characterized in that, The housing also includes a bracket and a fixing frame. The bracket is mounted on the base plate, and both the first power element and the second power element are mounted on the bracket. The fixing frame covers the bracket, and the PCB board is mounted on the fixing frame.
8. The mobile robot according to claim 6, characterized in that, The control component also includes a display screen, a microphone, and a speaker. The display screen, the microphone, and the speaker are all electrically connected to the PCB board. The display screen is mounted on the cover plate, the microphone is mounted on one side of the display screen, and the speaker is mounted on the housing.
9. The mobile robot according to claim 6, characterized in that, The control component also includes a charging interface, which is electrically connected to the PCB board.
10. The mobile robot according to claim 6, characterized in that, The drive assembly also includes an auxiliary wheel, which is mounted on the base plate.