Laser radar self-stabilizing platform structure based on obstacle crossing spherical robot

Abstract

The utility model discloses a laser radar self-stabilizing platform structure based on an obstacle crossing spherical robot. The Y-axis steering engine assembly is arranged on the connecting base, the X-axis steering engine assembly is connected to the output end of the Y-axis steering engine assembly in a matched mode, the mounting platform is connected to the X-axis steering engine assembly through a connecting piece, the controller is in communication connection with the Y-axis steering engine assembly and the X-axis steering engine assembly, and the X-axis steering engine assembly and the Y-axis steering engine assembly form a self-stabilizing structure. The spherical robot is reliable in structure, solves the problem that a traditional spherical robot is insufficient in visual ability, has the advantage of visual stability of a laser radar in a complex environment, meets the requirement for reconnaissance in the modern complex environment, is compact in assembly connection, small and light in overall structure, low in gravity center and high in stability, and can guarantee the accuracy of the laser radar. And the fuselage is not easy to roll over, so that the stability of movement in a complex environment and the accuracy of laser radar scanning are improved.

Description

TECHNICAL FIELD

[0001] The utility model relates to the technical field of obstacle-surmounting spherical robot, specifically relates to a laser radar self-stabilizing platform structure based on obstacle-surmounting spherical robot. BACKGROUND

[0002] In order to solve market demand, researchers develop various forms of robots, common wheel type, tracked mobile robot, such as car, tank, etc., and is the mobile robot with bionic leg, such as biped robot, mechanical dog, etc.But these mobile robots generally exist the problems of limited application scene, complex structure, multiple degrees of freedom, high manufacturing cost.

[0003] In view of the problems existing in ordinary mobile robot, a kind of obstacle-surmounting spherical robot capable of multi-modal switching is developed, which can not only flexibly cope with various complex environments, but also simple operation, high efficiency.However, the traditional obstacle-surmounting spherical robot is controlled by remote control, and information delay may occur when monitoring nuclear environment, and the operator cannot judge the current environment in time, which may cause the spherical robot to yaw, collide with obstacles and the monitoring effect is not ideal. UTILITY MODEL CONTENT

[0004] In order to solve the above technical problems, the utility model provides a laser radar self-stabilizing platform structure based on obstacle-surmounting spherical robot.

[0005] The utility model solves the technical scheme as follows: a laser radar self-stabilizing platform structure based on obstacle-surmounting spherical robot, including connecting seat, Y axis steering engine assembly being arranged on connecting seat, X axis steering engine assembly being connected in output end of Y axis steering engine assembly in cooperation, installation platform being connected on X axis steering engine assembly through connecting piece and controller being connected with Y axis steering engine assembly and X axis steering engine assembly in communication, X axis steering engine assembly and Y axis steering engine assembly form self-stabilizing structure;

[0006] Installation platform includes support base being connected on X axis steering engine assembly, fixed platform being arranged on support base and support platform being arranged on fixed platform, and laser radar is arranged on support platform.

[0007] Further, Y axis steering engine assembly includes support and Y axis steering engine being arranged on support, support is vertically arranged on connecting seat, and Y axis steering engine is connected with controller in communication.

[0008] Further, X axis steering engine assembly includes L-shaped support and X axis steering engine being arranged on L-shaped support, L-shaped support is connected on the output end of Y axis steering engine in cooperation, and X axis steering engine is connected with controller in communication.

[0009] Further, the connecting piece comprises a U-shaped frame arranged at the output end of the X-axis steering engine and a vertical connecting frame arranged on the U-shaped frame, and the supporting base is arranged at the bottom of the connecting frame.

[0010] Further, the supporting base is provided with vertical columns of the same height at four corners of the supporting base, and the fixed platform is arranged on the vertical columns.

[0011] Further, the supporting base and the U-shaped frame are provided with hollow structures.

[0012] Further, the fixed platform is provided with a protection cover in a cross-shaped structure, and the laser radar is located in the protection cover.

[0013] Further, the attitude sensor is further included, and the attitude sensor is in communication connection with the controller, and the real-time attitude of the laser radar platform is transmitted to the controller through the attitude sensor.

[0014] The utility model has the following beneficial effects: a laser radar self-stabilizing platform structure based on an obstacle-surmounting spherical robot provided by the utility model has reliable structure, good use performance, solves the problem of insufficient visual ability of a traditional spherical robot, simultaneously has the advantages of visual stability of a laser radar in a complex environment, meets the demand of reconnaissance in a modern complex environment, various components are closely connected, the overall structure is small and light, does not bring too much burden to the body, and the overall structure has low gravity center and strong stability, can guarantee the accuracy of the laser radar, the body is not easy to roll over, improves the stability of movement and the accuracy of laser radar scanning in a complex environment. BRIEF DESCRIPTION OF DRAWINGS

[0015] Fig. 1 It is a structural schematic view of the utility model;

[0016] Fig. 2 It is an explosion structural schematic view of the utility model;

[0017] Fig. 3 It is a control flow block diagram in the utility model;

[0018] Figs. 1-3 The reference signs shown in the drawings respectively represent: 1-connecting seat, 2-Y-axis steering engine assembly, 3-X-axis steering engine assembly, 4-connecting piece, 5-mounting platform, 50-supporting base, 51-fixed platform, 52-supporting platform, 20-bracket, 21-Y-axis steering engine, 30-L-shaped bracket, 31-X-axis steering engine, 40-U-shaped frame, 41-connecting frame, 53-vertical column, 54-protection cover. DETAILED DESCRIPTION

[0019] The principles and characteristics of the utility model are described below in combination with the drawings, and the examples are only used for explaining the utility model and are not used for limiting the scope of the utility model.

[0020] As Figs. 1-3 shown, a laser radar self-stabilizing platform structure based on an obstacle-crossing spherical robot, comprising a connecting seat 1, a Y-axis servo assembly 2 arranged on the connecting seat 1, an X-axis servo assembly 3 connected with the output end of the Y-axis servo assembly 2, a mounting platform 5 connected with the X-axis servo assembly 3 through a connecting piece 4, and a controller in communication connection with the Y-axis servo assembly 2 and the X-axis servo assembly 3 respectively, the X-axis servo assembly 3 and the Y-axis servo assembly 2 form a self-stabilizing structure. The connecting seat 1 is used to connect the self-stabilizing platform and the body, the Y-axis servo assembly 2 is used to control the pitch angle of the laser radar 6 platform, the X-axis servo assembly 3 is used to control the roll angle of the laser radar 6 platform, the mounting platform 5 is connected with the X-axis servo assembly 3 through the connecting piece 4, and is used to mount the laser radar 6, so as to ensure that the laser radar 6 can be stably fixed on the platform and adjust the angle with the rotation of the X-axis and Y-axis servo assemblies 2. The Y-axis servo 21 in the Y-axis servo assembly 2 and the X-axis servo 31 in the X-axis servo assembly 3 can rotate 180 degrees respectively. The controller adopts a single-chip microcomputer with model STM32 as the control center of the whole self-stabilizing platform, is responsible for receiving external instructions, and controls the rotation of the Y-axis servo assembly 2 and the X-axis servo assembly 3 according to the instructions, so as to realize the self-stabilization and angle adjustment of the laser radar 6.

[0021] In addition, a posture sensor is also included, which is in communication connection with the controller, and transmits the real-time posture of the laser radar 6 platform to the controller through the posture sensor. The posture sensor adopts a nine-axis posture sensor JY901, and transmits the real-time posture of the laser radar 6 platform to the controller through serial communication mode. According to the deviation of the roll angle (X) and the pitch angle (Y) detected by the posture sensor, the output of the fuzzy self-tuning position type PID control single-chip microcomputer PWM wave duty cycle is adopted, so as to control the two servos to realize the self-stabilization control of the laser radar 6 platform.

[0022] The Y-axis steering engine assembly 2 comprises a support 20 and a Y-axis steering engine 21 arranged on the support 20, the support 20 is vertically arranged on the connecting seat 1, and the Y-axis steering engine 21 is in communication connection with the controller. The X-axis steering engine assembly 3 comprises an L-shaped support 30 and an X-axis steering engine 31 arranged on the L-shaped support 30, the L-shaped support 30 is connected to the output end of the Y-axis steering engine 21 in a matched mode, and the X-axis steering engine 31 is in communication connection with the controller. The Y-axis steering engine 21 is arranged on the support 20 and is responsible for rotation in the Y-axis direction. The Y-axis steering engine 21 adjusts the rotation angle accurately by receiving the control signal from the controller, and the output end of the Y-axis steering engine 21 is connected to the L-shaped support 30 to drive the X-axis steering engine assembly 3 and the laser radar 6 to adjust the angle in the Y-axis direction. The X-axis steering engine 31 is arranged on the L-shaped support 30 and is responsible for rotation in the X-axis direction, i.e., the horizontal direction. The X-axis steering engine 31 also adjusts the rotation angle accurately by receiving the control signal from the controller. The output end of the X-axis steering engine 31 is connected to the mounting platform 5 to drive the laser radar 6 to adjust the angle in the X-axis direction.

[0023] The connecting piece 4 comprises a U-shaped frame 40 arranged on the output end of the X-axis steering engine 31 and a connecting frame 41 arranged on the U-shaped frame 40 in a vertical mode, and the supporting base 50 is arranged at the bottom of the connecting frame 41. The supporting base 50 and the U-shaped frame 40 are both provided with a hollow structure. The U-shaped frame 40 is arranged on the output end of the X-axis steering engine 31 and serves as the main component of the connecting piece 4. The design of the U-shaped frame 40 facilitates stable connection with the output end of the X-axis steering engine 31 and provides sufficient strength and stability to support the subsequent connecting frame 41 and supporting base 50. The U-shaped structure of the U-shaped frame 40 helps to maintain the stability and rigidity of the structure during rotation and reduces deformation or loosening caused by rotation. The connecting frame 41 is arranged on the U-shaped frame 40 in a vertical mode and serves as the mounting basis of the supporting base 50. The design of the connecting frame 41 needs to ensure stable connection with the U-shaped frame 40 and provide sufficient support area and strength to support the weight of the supporting base 50 and the laser radar 6. The vertical structure of the connecting frame 41 helps to achieve stable support and force transmission in the vertical direction. The hollow structure on the supporting base 50 and the U-shaped frame 40 helps to reduce the weight of the entire connecting piece 4, thereby reducing the load and energy consumption of the entire self-stabilizing platform structure, and the hollow structure increases the air flow channel, which helps to improve the heat dissipation performance of the connecting piece 4 and its surrounding components. This helps to reduce the accumulation of heat caused by long-time operation and improves the stability and reliability of the entire self-stabilizing platform structure.

[0024] The mounting platform 5 comprises a support base 50 connected to the X-axis steering engine assembly 3, a fixed platform 51 arranged on the support base 50, and a support platform 52 arranged on the fixed platform 51, and the laser radar 6 is arranged on the support platform 52. The support base 50 bears the rotating force from the X-axis steering engine assembly 3 and the weight of the laser radar 6, and ensures the stability and reliability of the structure. The support base 50 is provided with columns 53 of the same height at four corners of the periphery, and the fixed platform 51 is arranged on the columns 53.

[0025] The fixed platform 51 is provided with a protective cover 54 in a cross-shaped structure, and the laser radar 6 is located in the protective cover 54. The protective cover 54 is designed in a cross shape, which can widen the field of view of the spherical robot and avoid external impact while observing the actual situation of the laser radar 6.

[0026] In the working process of the structure, when the obstacle-avoiding spherical robot starts and needs to adjust the angle of the laser radar 6, the controller first performs initialization to ensure that each component is in a normal working state. Then the controller receives external instructions from the obstacle-avoiding spherical robot, which can include target angles, speed and other parameters that the laser radar 6 needs to adjust. The controller calculates the control signals to be sent to the Y-axis steering engine assembly 2 and the X-axis steering engine assembly 3 according to the received instructions and the current angle information of the laser radar 6. Then the controller sends the calculated control signals to the Y-axis steering engine assembly 2 and the X-axis steering engine assembly 3 to control their rotation. The Y-axis steering engine assembly 2 and the X-axis steering engine assembly 3 rotate according to the received control signals, and drive the laser radar 6 on the mounting platform 5 to adjust the angle. During the adjustment process, the controller can need to make feedback adjustment according to the actual angle information of the laser radar 6 to ensure that the laser radar 6 can accurately reach the target angle.

[0027] The above is only a preferred embodiment of the present application, and is not used to limit the present application, and any modification, equivalent replacement, improvement, etc. made within the spirit and principles of the present application shall be included in the protection scope of the present application.

Claims

1. A laser radar self-stabilizing platform structure based on an obstacle-surmounting spherical robot, characterized in that, The application relates to a laser radar device, which comprises a connecting base (1), a Y-axis steering engine assembly (2) arranged on the connecting base (1), an X-axis steering engine assembly (3) connected with the output end of the Y-axis steering engine assembly (2), a mounting platform (5) connected with the X-axis steering engine assembly (3) through a connecting piece (4), and a controller in communication connection with the Y-axis steering engine assembly (2) and the X-axis steering engine assembly (3) respectively, wherein the X-axis steering engine assembly (3) and the Y-axis steering engine assembly (2) form a self-stabilizing structure. The mounting platform (5) comprises a supporting base (50) connected with the X-axis steering engine assembly (3), a fixed platform (51) arranged on the supporting base (50), and a supporting platform (52) arranged on the fixed platform (51), wherein a laser radar (6) is arranged on the supporting platform (52).

2. The laser radar self-stable platform structure based on the obstacle-surmounting spherical robot according to claim 1, characterized in that, The Y-axis steering engine assembly (2) comprises a bracket (20) and a Y-axis steering engine (21) arranged on the bracket (20), wherein the bracket (20) is vertically arranged on the connecting base (1), and the Y-axis steering engine (21) is in communication connection with the controller.

3. The laser radar self-stable platform structure based on the obstacle-surmounting spherical robot according to claim 2, characterized in that, The X-axis steering engine assembly (3) comprises an L-shaped bracket (30) and an X-axis steering engine (31) arranged on the L-shaped bracket (30), wherein the L-shaped bracket (30) is connected with the output end of the Y-axis steering engine (21), and the X-axis steering engine (31) is in communication connection with the controller.

4. The laser radar self-stable platform structure based on the obstacle-surmounting spherical robot according to claim 3, characterized in that, The connecting piece (4) comprises a U-shaped frame (40) arranged on the output end of the X-axis steering engine (31) and a vertical connecting frame (41) arranged on the U-shaped frame (40), wherein the supporting base (50) is arranged at the bottom of the connecting frame (41).

5. The laser radar self-stable platform structure based on the obstacle-surmounting spherical robot according to claim 1, characterized in that, The supporting base (50) is provided with vertical columns (53) with the same height at the four corners, and the fixed platform (51) is arranged on the vertical columns (53).

6. The laser radar self-stable platform structure based on the obstacle-surmounting spherical robot according to claim 4, characterized in that, The supporting base (50) and the U-shaped frame (40) are both provided with a hollow structure.

7. The laser radar self-stable platform structure based on the obstacle- climbing spherical robot according to any one of claims 1 to 6, characterized in that, The fixed platform (51) is provided with a protection cover (54) in a cross-shaped structure, and the laser radar (6) is located in the protection cover (54).

8. The laser radar self-stable platform structure based on the obstacle- climbing spherical robot according to claim 1, characterized in that, The application further comprises a posture sensor in communication connection with the controller, which transmits the real-time posture of the laser radar (6) platform to the controller through the posture sensor.

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