Obstacle avoidance test column of obstacle avoidance robot

Abstract

The utility model discloses an obstacle avoidance test column of an obstacle avoidance robot. The obstacle avoidance test column comprises a chassis; the number of the driving wheels is two groups, the two groups of driving wheels respectively rotate on the rear two sides of the chassis, and the driving wheels are connected with a driving motor; the steering shaft is fixed to the front end of the chassis, a wheel shaft rotates in the center of the steering shaft, a steering wheel rotates in the center of the wheel shaft, a steering motor is arranged on the steering shaft, and the input end of the wheel shaft is connected with the output end of the steering motor. The obstacle avoidance test column of the obstacle avoidance robot can flexibly move to a robot path to simulate a dynamic obstacle, and can adjust the angle, the height and the transverse extension length of the obstacle to simulate a multi-dimensional obstacle scene.

Description

Technical Field

[0001] This utility model relates to the technical field of robots, and in particular to an obstacle avoidance test column for an obstacle avoidance robot. Background Technology

[0002] Obstacle avoidance robots, as the core carriers of intelligent equipment, play a crucial role in industrial automation, intelligent warehousing, and service robots. In industrial settings, they need to accurately avoid obstacles on production line equipment and transportation paths; in intelligent warehousing environments, they need to efficiently navigate around shelves, handling machinery, and dynamic goods; and service robots must safely avoid pedestrians, furniture, and other dynamic or static objects in complex indoor environments. All of these applications place stringent demands on the robots' real-time obstacle avoidance capabilities.

[0003] Existing obstacle avoidance testing methods mostly rely on static obstacles with fixed positions and single forms, such as fixed pillars and step models, which can only simulate obstacle scenarios with specific angles, heights, and fixed positions. However, in real-world operating environments, obstacles may exhibit complex states such as multi-angle movement (e.g., dynamic vehicles at intersections), height changes (e.g., cargo stacking during loading and unloading), and shape expansion (e.g., an extended robotic arm). Static testing methods cannot cover the robot's environmental perception, path planning, and emergency response capabilities in dynamic interactions, leading to discrepancies between test results and actual application scenarios, and failing to fully verify the robustness and reliability of the robot's obstacle avoidance algorithm. Utility Model Content

[0004] This utility model aims to at least partially solve one of the technical problems in the related art.

[0005] Therefore, the purpose of this utility model is to propose an obstacle avoidance test column for an obstacle avoidance robot, which can be flexibly moved to the robot path to simulate dynamic obstacles and can adjust the obstacle angle, height and lateral extension length to simulate multi-dimensional obstacle scenarios.

[0006] To achieve the above objectives, this utility model proposes an obstacle avoidance test column for an obstacle avoidance robot, comprising: a chassis; two sets of drive wheels, each set rotating on the rear sides of the chassis, and each drive wheel connected to a drive motor; and a steering shaft fixed to the front end of the chassis, with an axle rotating at the center of the steering shaft, a steering wheel rotating at the center of the axle, and a steering motor mounted on the steering shaft, the input end of the axle being connected to the output of the steering motor.

[0007] The obstacle avoidance test column of this utility model can be flexibly moved to the robot path to simulate dynamic obstacles, and the angle, height and lateral extension length of the obstacle can be adjusted to simulate multi-dimensional obstacle scenarios.

[0008] In addition, the obstacle avoidance test column of the obstacle avoidance robot proposed in this application may also have the following additional technical features:

[0009] Furthermore, it also includes an angle obstacle-setting component, which includes: a large gear that rotates on the upper surface of the chassis; a small gear that meshes with the large gear; and an angle motor whose output is connected to the central shaft of the small gear.

[0010] Furthermore, it also includes a height-obstacle-prone component, which comprises: a lead screw bearing seat located at the center of the top surface of the large gear; a slide rail vertically disposed on the top surface of the large gear; a rotating lead screw rotatably connected to the center of the lead screw bearing seat; a sliding disk slidably connected to the slide rail via a slider, the slider being provided with a screw engagement block that engages with the rotating lead screw; and a height motor located on the bottom surface of the chassis, the height motor being connected to the bottom end of the rotating lead screw.

[0011] Furthermore, it also includes an extended obstacle-setting component, the extended obstacle-setting component comprising:

[0012] A sliding frame, fixed to the outer wall of the sliding disk; a rack, slidably connected inside the sliding frame and slidably connected to the inner wall of the sliding frame; a length drive gear, rotatably connected to the sliding frame and meshing with the rack;

[0013] A drive motor is fixed on a sliding frame, and the output shaft of the drive motor is connected to the length drive gear.

[0014] Furthermore, the top surface of the chassis is provided with a ring frame.

[0015] Additional aspects and advantages of this invention will be set forth in part in the description which follows, and in part will be obvious from the description, or may be learned by practice of the invention. Attached Figure Description

[0016] The above and / or additional aspects and advantages of this utility model will become apparent and readily understood from the following description of the embodiments taken in conjunction with the accompanying drawings, in which:

[0017] Figure 1 This is a schematic diagram of the obstacle avoidance test column of the obstacle avoidance robot of this utility model;

[0018] Figure 2 This is a schematic diagram of the obstacle avoidance test column of the obstacle avoidance robot of this utility model without the chassis;

[0019] Figure 3This is a schematic diagram of the obstacle avoidance test column sliding disk and its connecting components of the obstacle avoidance robot of this utility model.

[0020] As shown in the figure: 1. Chassis; 2. Drive wheel; 3. Steering shaft and axle; 4. Steering wheel; 5. Steering motor; 6. Height obstacle component; 7. Extension obstacle component; 8. Angle obstacle component; 601. Lead screw bearing seat; 602. Slide rail; 603. Rotating lead screw; 604. Sliding disc; 605. Screw engagement block; 601. Sliding frame; 602. Gear rack; 603. Length drive gear; 604. Drive motor; 801. Large gear; 802. Small gear; 803. Angle motor. Detailed Implementation

[0021] The embodiments of the present invention are described in detail below, examples of which are shown in the accompanying drawings, wherein the same or similar reference numerals denote the same or similar elements or elements having the same or similar functions throughout. The embodiments described below with reference to the accompanying drawings are exemplary and intended to explain the present invention, and should not be construed as limiting the present invention. Rather, the embodiments of the present invention include all variations, modifications, and equivalents falling within the spirit and scope of the appended claims.

[0022] The obstacle avoidance test column of the obstacle avoidance robot of this utility model embodiment will be described below with reference to the accompanying drawings.

[0023] like Figures 1-3 As shown, the obstacle avoidance test column of the obstacle avoidance robot in this embodiment of the present invention includes:

[0024] Chassis 1.

[0025] There are two sets of drive wheels 2, which rotate on the rear sides of the chassis 1 respectively, and the drive wheels are connected to drive motors.

[0026] Steering shaft 3 is fixed to the front end of chassis 1. A wheel axle rotates at the center of steering shaft 3, and a steering wheel 4 rotates at the center of wheel axle. A steering motor 5 is installed on steering shaft, and the input end of wheel axle is connected to the output of steering motor 5.

[0027] Specifically, during the obstacle avoidance test, the test column is driven by two sets of drive wheels 2 on both sides of the rear of the chassis 1 and connected drive motors. The drive motors rotate, causing the drive wheels 2 to rotate, making the test column move forward, backward, or at different speeds. When a change of direction is required, the steering motor 5 fixed on the steering shaft 3 at the front of the chassis 1 comes into play. The steering motor 5 rotates, driving the wheel shaft to rotate, thereby causing the steering wheel 4 to adjust its angle.

[0028] The test column can be flexibly moved onto the robot's movement path to achieve dynamic obstacle simulation.

[0029] In one embodiment of this utility model, an angle-setting barrier component 8 is further included, the angle-setting barrier component 8 comprising:

[0030] Large gear 801 rotates on the upper surface of chassis 1.

[0031] Pinion 802 meshes with gear 801.

[0032] Angle motor 803, the output of angle motor 803 is connected to the central shaft of pinion 802.

[0033] Specifically, during the obstacle avoidance test, the angle obstacle setting component 8 can drive the pinion 802 to rotate through the angle motor 803. By using the meshing transmission between the pinion 802 and the large gear 801, the large gear 801 is driven to rotate on the upper surface of the chassis 1, thereby changing the angle of the obstacle installed on the large gear 801, simulating obstacle scenarios in different directions, and thus testing the obstacle avoidance robot's ability to perceive and respond to obstacles at multiple angles.

[0034] In one embodiment of this utility model, a height-obstacle component 6 is further included, which includes:

[0035] The lead screw bearing housing 601 is located at the center of the top surface of the large gear 801.

[0036] The slide rail 602 is vertically mounted on the top surface of the large gear 801.

[0037] Rotary lead screw 603 is rotatably connected to the center of lead screw bearing housing 601.

[0038] The sliding disk 604 is slidably connected to the slide rail 602 via a slider. A screw engagement block 605 is provided on the slider, and the screw engagement block 605 is engaged with the rotating lead screw 603. A height motor is provided on the bottom surface of the chassis 1, and the height motor is connected to the bottom end of the rotating lead screw 603.

[0039] Specifically, in the obstacle avoidance test, the height obstacle component 6 is driven by the height motor on the bottom of the chassis 1 to rotate the lead screw 603. With the support of the lead screw bearing seat 601, the rotating lead screw 603 drives the screw engagement block 605 and the sliding disk 604 to rise and fall vertically along the slide rail 602, thereby changing the height of the obstacle and simulating obstacle scenarios of different heights, which is used to test the obstacle avoidance robot's ability to cope with obstacles of varying heights.

[0040] In one embodiment of this utility model, an extended obstacle-setting member 7 is further included, the extended obstacle-setting member 7 comprising:

[0041] Sliding frame 701 is fixed to the outer wall of sliding disk 604.

[0042] The rack 702 is slidably connected to the inner wall of the sliding frame 701.

[0043] The length drive gear 703 is rotatably connected to the sliding frame 701 and meshes with the rack 702.

[0044] The drive motor 704 is fixed on the sliding frame 701, and the output shaft of the drive motor 704 is connected to the length drive gear 703.

[0045] Specifically, in the obstacle avoidance test, the extended obstacle component 7 drives the length drive gear 703 to rotate via the drive motor 704, causing the rack 702 to slide linearly within the sliding frame 701, thereby changing the lateral extension length of the obstacle and simulating obstacle scenarios with different widths or extension ranges, in order to test the obstacle avoidance robot's ability to cope with laterally extended obstacles.

[0046] In one embodiment of this utility model, the top surface of the chassis 1 is provided with a ring frame.

[0047] Specifically, it prevents foreign objects from entering the gear transmission area.

[0048] During testing, the obstacle avoidance test column is moved to the test site and the equipment is started. The movement path of the test column is set via the control terminal. Driven by the drive motors, the drive wheels 2 on both sides of the rear of the chassis 1 move forward, backward, or turn along the planned path, simulating dynamic obstacle movement. The obstacle avoidance robot's ability to perceive and respond to obstacles at multiple angles is tested via the angle obstacle component 8, its ability to handle obstacles with varying heights is tested via the height obstacle component 6, and its ability to handle laterally extending obstacles is tested via the extension obstacle component 7.

[0049] In summary, the obstacle avoidance test column of the obstacle avoidance robot in this embodiment of the utility model can be flexibly moved to simulate dynamic obstacles on the robot path, and the angle, height and lateral extension length of the obstacle can be adjusted to simulate multi-dimensional obstacle scenarios.

[0050] In the description of this specification, 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.

[0051] In the description of this specification, the references to terms such as "one embodiment," "some embodiments," "example," "specific example," or "some examples," etc., indicate that a specific feature, structure, material, or characteristic described in connection with that embodiment or example is included in at least one embodiment or example of the present invention. In this specification, the illustrative expressions of the above terms do not necessarily refer to the same embodiment or example. Furthermore, the specific features, structures, materials, or characteristics described may be combined in any suitable manner in one or more embodiments or examples. Moreover, without contradiction, those skilled in the art can combine and integrate the different embodiments or examples described in this specification, as well as the features of different embodiments or examples.

[0052] Although embodiments of the present invention have been shown and described above, it is understood that the above embodiments are exemplary and should not be construed as limiting the present invention. Those skilled in the art can make changes, modifications, substitutions and variations to the above embodiments within the scope of the present invention.

Claims

1. An obstacle avoidance test column for an obstacle avoidance robot, characterized in that, include: Chassis (1); The number of drive wheels (2) is two sets, and the two sets of drive wheels (2) rotate on the rear sides of the chassis (1) respectively. The drive wheels are connected to drive motors. Steering shaft (3) is fixed to the front end of the chassis (1). A wheel axle rotates at the center of the steering shaft (3), and a steering wheel (4) rotates at the center of the wheel axle. A steering motor (5) is provided on the steering shaft, and the input end of the wheel axle is connected to the output of the steering motor (5).

2. The obstacle avoidance test column for the obstacle avoidance robot according to claim 1, characterized in that, It also includes an angled obstacle component (8), which comprises: A large gear (801) rotates on the upper surface of the chassis (1); A small gear (802) meshes with a large gear (801); An angle motor (803) is provided, the output of which is connected to the central shaft of the pinion (802).

3. The obstacle avoidance test column for the obstacle avoidance robot according to claim 2, characterized in that, It also includes a height barrier component (6), which comprises: A lead screw bearing housing (601) is provided at the center of the top surface of the large gear (801); A slide rail (602) is vertically disposed on the top surface of the large gear (801); A rotating lead screw (603) is rotatably connected to the center of the lead screw bearing seat (601); A sliding disk (604) is slidably connected to a slide rail (602) via a slider. A screw engagement block (605) is provided on the slider. The screw engagement block (605) is engaged with the rotating lead screw (603). A height motor is provided on the bottom surface of the chassis (1). The height motor is connected to the bottom end of the rotating lead screw (603).

4. The obstacle avoidance test column for the obstacle avoidance robot according to claim 3, characterized in that, It also includes an extension barrier component (7), which comprises: A sliding frame (701) is fixed to the outer wall of the sliding disk (604); A rack (702) is slidably connected to the sliding frame (701) and slidably connected to the inner wall of the sliding frame (701); A length drive gear (703) is rotatably connected to the sliding frame (701) and meshes with the rack (702); A drive motor (704) is fixed on a sliding frame (701), and the output shaft of the drive motor (704) is connected to the length drive gear (703).

5. The obstacle avoidance test column for the obstacle avoidance robot according to claim 1, characterized in that, The top surface of the chassis (1) is provided with a ring frame.

Images