Milemeter of underground coal mine inspection robot

Abstract

The speedometer comprises a mounting sleeve, a coded disc, a photoelectric sensor and a controller, the coded disc is fixedly connected to one side of the mounting sleeve, a wheel spindle is sleeved with the mounting sleeve, a fixing assembly is arranged between the mounting sleeve and the wheel spindle, a motor and a speed reducer which are connected with each other are mounted in the robot, and the photoelectric sensor is connected with the controller. A bearing seat is installed on an output shaft of the speed reducer, the wheel main shaft is fixedly connected with the output shaft of the speed reducer, the photoelectric sensor is installed on the top of the side, close to the wheel main shaft, of the bearing seat, the coded disc is located between a light emitter and a light receiver of the photoelectric sensor, and the photoelectric sensor is connected with a controller installed in the robot. According to the utility model, the problem that the accumulative error of the odometer is increased under the use scene of larger acceleration and deceleration and frequent acceleration and deceleration caused by time difference is solved, the problem of pulse loss caused by factors such as friction is also solved, and compared with the prior art, the odometer is more accurate and more real-time in calculation.

Description

TECHNICAL FIELD

[0001] The utility model relates to the field of coal mine underground inspection robot, especially to a coal mine underground inspection robot's odometer. BACKGROUND

[0002] The coal mine underground inspection robot belongs to a kind of mobile robot, and the map construction and positioning of mobile robot are the key to its normal execution of inspection task in specific environment.The map construction and positioning of mobile robot need to use radar or vision, imu, odometer and other key technologies.Each technology has various implementation methods, but the data obtained ultimately is the same.

[0003] For this technology of odometer, the traditional technology mostly relies on the current speed of robot obtained from motor driver, and then calculates the driving distance according to the system time difference, that is, the odometer.The limitation of this technology is that the speed obtained from the driver has time loss in the process of calculation in the controller, and the speed may have changed, so that the odometer calculation result deviates, and in the use scene of large acceleration and deceleration change and frequent acceleration and deceleration, the odometer error will become larger and larger.

[0004] There is also a scheme to calculate the driving mileage according to the pulse number read by motor driver, which can avoid the time loss in the above scheme, and the read pulse number is the number of motor revolutions, but in reality, due to the weight of the car, the ground friction of the use environment is different, some pulses are emitted, and the motor also rotates, but the actual situation does not reach the distance that should be moved, resulting in the accumulation of odometer error. SUMMARY

[0005] The utility model aims at solving the problem that in the scheme of traditional odometer calculating driving distance by calculating speed and time difference, when acceleration and deceleration change greatly and frequently, the accumulated error will become larger and larger with the increase of driving distance, and the problem that when calculating driving mileage by reading pulse number, due to the weight of the car and the ground friction, the emitted pulse does not make the car move the distance that should be moved, resulting in the odometer error becoming larger and larger, and provides a kind of odometer of coal mine underground inspection robot.

[0006] To achieve the above purpose, the following technical scheme is adopted: a kind of odometer of coal mine underground inspection robot, including installation sleeve, code disc, photoelectric sensor, controller, code disc is fixedly connected on the side of installation sleeve, installation sleeve is sleeved on the wheel main shaft, and fixed assembly is arranged between installation sleeve and wheel main shaft, motor and speed reducer are installed in the robot and are connected with each other, bearing seat is installed on the output shaft of speed reducer, and wheel main shaft is connected and fixed with the output shaft of speed reducer, photoelectric sensor is installed on the top of the side of bearing seat close to wheel main shaft, and code disc is located between the light emitter and light receiver of photoelectric sensor, photoelectric sensor is connected with the controller installed in the robot.

[0007] Particularly, the number of gratings on the code disc is 50 lines.

[0008] Particularly, the fixing assembly comprises a fixing bolt, a rectangular plane is arranged on the circumferential side wall of the mounting sleeve, a through hole is arranged on the rectangular plane, a threaded hole corresponding to the through hole is arranged on the wheel spindle, the fixing bolt passes through the through hole and is screwed into the threaded hole, and a gasket is arranged between the fixing bolt and the rectangular plane.

[0009] Particularly, the bearing seat is provided with a support on the top of the side close to the wheel spindle, and the photoelectric sensor is mounted on the support.

[0010] The beneficial effects of the present application are as follows: the code disc is mounted on the wheel spindle to calculate the angle turned by the wheel in real time, the code disc signal is obtained by detecting the photoelectric sensor signal, and the driving distance is calculated, thereby solving the problem that the accumulated error of the odometer becomes large in the use scene with large acceleration and deceleration and frequent acceleration and deceleration due to time difference, and solving the problem of pulse loss due to factors such as friction, compared with the existing traditional technology, the odometer calculation is more accurate and more real-time. BRIEF DESCRIPTION OF DRAWINGS

[0011] Figure 1 It is a structural schematic diagram of the present application;

[0012] Figure 2 It is Figure 1 It is an enlarged schematic diagram of A in the middle;

[0013] Figure 3 It is a connection schematic diagram of the mounting sleeve and the code disc of the present application;

[0014] Figure 4 It is a photoelectric sensor structure schematic diagram of the present application;

[0015] In the figure: 1-mounting sleeve; 2-code disc; 3-photoelectric sensor; 4-wheel spindle; 5-motor; 6-reducer; 7-bearing seat; 8-fixing bolt; 9-rectangular plane; 10-support;

[0016] The embodiments of the present application will be described in detail below with reference to the accompanying drawings. DETAILED DESCRIPTION

[0017] The present application will be further described below in combination with the drawings and embodiments:

[0018] For example Figures 1-4As shown, an odometer for an underground coal mine inspection robot includes a mounting sleeve 1, an encoder 2, a photoelectric sensor 3, and a controller. The encoder 2 is fixed to one side of the mounting sleeve 1, and the mounting sleeve 1 is mounted on the wheel spindle 4. A fixing component is provided between the mounting sleeve 1 and the wheel spindle 4. The fixing component includes a fixing bolt 8. A rectangular plane 9 is provided on the circumferential side wall of the mounting sleeve 1. A through hole is provided on the rectangular plane 9. A threaded hole corresponding to the through hole is provided on the wheel spindle 4. The fixing bolt 9 passes through the through hole and is screwed into the threaded hole. A washer is provided between the fixing bolt 8 and the rectangular plane 9.

[0019] The robot has an internally connected motor 5 and reducer 6. A bearing housing 7 is mounted on the output shaft of the reducer 6, and the wheel spindle 4 is connected and fixed to the output shaft of the reducer 6. A photoelectric sensor 3 is mounted on the top of the bearing housing 7 near the wheel spindle 4, and the encoder 2 is located between the light emitter and the light receiver of the photoelectric sensor 3. A support 10 is provided on the top of the bearing housing 7 near the wheel spindle 4, and the photoelectric sensor 3 is mounted on the support 10. The photoelectric sensor 3 is connected to a controller installed inside the robot.

[0020] The odometer of this invention relies on a code disk 2 installed on the main shaft 4 of the wheel, and a photoelectric sensor 3 installed in a fixed position. The signal of the photoelectric sensor 3 is directly connected to the controller. During the rotation of the wheel, interrupt signals will be continuously triggered to the controller. The controller program calculates the number of interrupt signals triggered, and then calculates the rotation angle of the main shaft 4 of the wheel according to the number of lines on the code disk 2. After calculating the rotation angle, the mileage can be calculated according to the circumference of the wheel.

[0021] The encoder 2 has 50 lines of grating, the controller's CPU processor is an Intel Core i7-1165G7, and the photoelectric sensor 3 is directly connected to the controller's GPIO interface. During installation, in order to obtain the position of each wheel of the differential chassis more accurately, the encoder 2 and photoelectric sensor 3 need to be installed on the wheel spindle 4 of each of the four wheels.

[0022] Example: The grating of encoder 2 has 50 lines. Each interrupt signal trigger is 360 / 50 = 7.2 degrees. If it is triggered 3 times, the rotation degree is 7.2 * 3 = 21.6 degrees. Assuming the wheel circumference is 0.5m, then 21.6 degrees corresponds to a travel distance of (0.5 / 360) * 21.6 = 0.03 meters.

[0023] When this invention is in operation, the encoder 2 is fixed to the main shaft 4 of the traveling wheel by bolts. As the wheel rotates, the encoder 2 also rotates. During the rotation of the encoder 2, the grid blocking the photoelectric sensor 3 will generate an interrupt signal, which is transmitted to the controller. There is almost no time loss during this period, which allows the controller to obtain the position information in time. In addition, the connection between the encoder 2 and the main shaft 4 of the wheel can also shield the pulse loss caused by friction. The actual travel distance of the wheel can be directly calculated by triggering the photoelectric sensor 3 by rotating the encoder 2.

[0024] This invention calculates the real-time rotation angle of the wheel by installing a code disk 2 on the wheel spindle 4, and obtains the signal of the code disk 2 by detecting the signal of the photoelectric sensor 3, thereby calculating the mileage. It solves the problem of increased cumulative error of the odometer due to time difference in usage scenarios with large and frequent acceleration and deceleration, and also solves the problem of pulse loss due to friction and other factors. Compared with existing traditional technologies, this odometer is more accurate and more real-time.

[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] 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, an electrical connection, or a connection that allows communication between them; 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.

[0027] The present invention has been described above with reference to the accompanying drawings. Obviously, the specific implementation of the present invention is not limited to the above-described manner. Any improvements made using the inventive concept and technical solution of the present invention, or direct application to other situations without modification, are all within the protection scope of the present invention.

Claims

1. An odometer for an underground coal mine inspection robot, characterized in that, The robot includes a mounting sleeve (1), a code disk (2), a photoelectric sensor (3), and a controller. The code disk (2) is fixed to one side of the mounting sleeve (1). The mounting sleeve (1) is fitted onto the wheel spindle (4). A fixing component is provided between the mounting sleeve (1) and the wheel spindle (4). The robot is equipped with a motor (5) and a reducer (6) that are connected to each other. A bearing seat (7) is installed on the output shaft of the reducer (6). The wheel spindle (4) is connected and fixed to the output shaft of the reducer (6). The photoelectric sensor (3) is installed on the top of the bearing seat (7) near the wheel spindle (4). The code disk (2) is located between the light emitter and the light receiver of the photoelectric sensor (3). The photoelectric sensor (3) is connected to the controller installed inside the robot.

2. The odometer for an underground coal mine inspection robot according to claim 1, characterized in that, The number of gratings on the code disk (2) is 50 lines.

3. The odometer for an underground coal mine inspection robot according to claim 1, characterized in that, The fixing component includes a fixing bolt (8), a rectangular plane (9) is provided on the circumferential side wall of the mounting sleeve (1), a through hole is provided on the rectangular plane (9), a threaded hole corresponding to the through hole is provided on the wheel spindle (4), the fixing bolt (9) passes through the through hole and is screwed into the threaded hole, and a washer is provided between the fixing bolt (8) and the rectangular plane (9).

4. The odometer for an underground coal mine inspection robot according to claim 1, characterized in that, The bearing housing (7) has a support (10) on the top side near the wheel spindle (4), and the photoelectric sensor (3) is mounted on the support (10).

Images