Mobile robot having active obstacle avoidance capability

Abstract

The present invention relates to the technical field of mobile robots, and specifically relates to a mobile robot having active obstacle avoidance capability. The mobile robot comprises: a plurality of connecting platforms, the plurality of connecting platforms being sequentially and movably connected in an end-to-end manner; and flexible guide rails, fixedly mounted above each supporting platform, wherein a carrying platform is slidably sleeved above the periphery of the flexible guide rails, driving assemblies are provided below the carrying platform, and the carrying platform moves on the flexible guide rails by means of the driving assemblies. The position of the carrying platform on the flexible guide rails can be adjusted by means of the driving assemblies, thereby moving a new energy vehicle charging pile arranged on the carrying platform and actively adapting to the positions of charging interfaces located on different vehicles. Measurement by means of infrared distance measurement sensors allows active adaptation to the safe distances of new energy vehicles, thus achieving the effect of actively avoiding obstacles so as to prevent collisions between the new energy vehicles and the charging pile.

Description

An active obstacle-avoiding mobile robot Technical Field

[0001] The present invention relates to the technical field of mobile robots, and in particular to an active obstacle-avoiding mobile robot. Background Art

[0002] Due to the popularity of new energy vehicles, the types of charging piles currently on the market have become diverse. Since the locations of the charging interfaces of new energy vehicles are different, users need to prioritize placing the vehicle's charging interface close to the charging pile when parking their vehicles, so that the new energy vehicle can meet the parking requirements while being conveniently charged by the charging pile. Due to the user's driving level and vehicle failure considerations, the existing charging piles can no longer meet the needs of fixed installation. By installing the charging piles on mobile robots, the charging piles can be improved to adapt to the charging needs of new energy vehicles. However, in the process of actual use, the following problems in the patent usually occur. See the patent with publication number CN109461185B, which discloses a robot target active obstacle avoidance method suitable for complex scenes. The method consists of three parts: target detection and segmentation, target position relationship estimation and path planning. Although the patent can adaptively plan the camera movement path without pre-specifying the camera observation position and has higher execution efficiency, there is still the problem of loading the charging pile to adapt to the new energy vehicle charging interface, which affects the parking and charging experience of the new energy vehicle. Therefore, in the long-term research and development testing process: in the existing technology, it is difficult for the new energy vehicle charging pile to use the mobile robot to achieve active obstacle avoidance to prevent the new energy vehicle from colliding with the charging pile. Summary of the Invention

[0003] In view of this, the purpose of the present invention is to propose an active obstacle avoidance mobile robot to solve the problem that it is difficult to use a mobile robot to achieve active obstacle avoidance to prevent new energy vehicles from colliding with charging piles.

[0004] Based on the above-mentioned purpose, the present invention provides an active obstacle-avoiding mobile robot, comprising: a connecting platform; a plurality of connecting platforms are provided, and the plurality of connecting platforms are movably connected in sequence end to end; the connecting platform comprises: an installation cavity, which is opened inside the connecting platform, and a first servo motor is fixedly installed at the lower part of the interior of the installation cavity near the four corners, and a power output end of the first servo motor passes through the periphery of the connecting platform and is fixedly installed with a Mecanum wheel; a support platform, which is fixedly installed above the periphery of the connecting platform, and a plurality of infrared ranging sensors are arranged around the top of the support platform; an airbag, which is fixedly installed at both ends of the support platform; a flexible guide rail, which is fixedly installed above each support platform, and a sliding sleeve is provided on the upper periphery of the flexible guide rail, and a driving component is provided below the carrier, and the carrier moves on the flexible guide rail through the driving component;

[0005] Among them, the distance between the surrounding objects and the connecting platform is obtained by the infrared ranging sensor on the support platform, so that the multiple connecting platforms arranged linearly can synchronously drive the Mecanum wheels through the first servo motor to adjust the distance between each connecting platform and the surrounding objects, avoiding the surrounding objects and moving in the form of different serpentine curves. At the same time, the position of the carrier on the flexible guide rail is adjusted by the drive component to change the shipping orientation of the carrier.

[0006] Preferably, the connecting platform further comprises: an insert plate, fixedly mounted on the middle of one side of the outer periphery of the connecting platform; and an insert rack, fixedly mounted on the other side of the outer periphery of the connecting platform; the insert plates of any two adjacent connecting platforms are rotated and inserted into the insert rack through a pin shaft, and the arrangement angle of any two adjacent connecting platforms is adjusted through the insert plates and the insert rack.

[0007] Preferably, the airbag includes: a one-way valve, fixedly installed at one end of the bottom of the airbag; an air pressure sensor, fixedly installed at the top of the airbag near the side of the support; an air pump, fixedly installed in the center of the installation cavity; an air pipe, fixedly inserted in the support, one end of the air pipe penetrates into the interior of the airbag and is fixedly connected to the airbag, and the other end of the air pipe penetrates into the installation cavity and is fixedly connected to the output end of the air pump.

[0008] Preferably, two groups of flexible guide rails are provided, and the two groups of flexible guide rails are arranged in parallel.

[0009] Preferably, the driving assembly includes: a accommodating groove, which is opened around the bottom of the platform, a positioning frame is fixedly installed at one end of the interior of the accommodating groove, a gear rod is rotatably connected to one end of the middle of the positioning frame through a bearing, a roller is fixedly installed at one end of the gear rod, and the roller is attached to one side of the outer periphery of the flexible guide rail, a second servo motor is fixedly installed at one end of the interior of the accommodating groove, a gear is fixedly installed at the power output end of the second servo motor, and the gear is meshed with one end of the gear rod for transmission.

[0010] Preferably, support rods that can be raised and lowered are fixedly installed around the top of the support platform, and the infrared ranging sensor is fixedly installed on the top of the support rods.

[0011] Preferably, the liftable and adjustable support rod is an electric telescopic rod.

[0012] Preferably, a controller is fixedly mounted on one end above the connecting platform, and a power supply is fixedly mounted on the other end above the connecting platform.

[0013] The beneficial effects of the present invention are as follows: the distance between the surrounding objects and the connecting platform can be obtained by the infrared ranging sensors arranged around the upper portion of the support platform, so that when the multiple connecting platforms arranged linearly are moved by the first servo motor synchronously driving the Mecanum wheels, the distance between each connecting platform and the surrounding objects can be actively adjusted, so that the multiple connecting platforms can avoid the surrounding objects and move synchronously in the form of different serpentine curves, and the position of the carrier on the flexible guide rail can be adjusted by the driving component, and then the new energy vehicle charging pile placed on the carrier can be transferred, so that the position of the charging interface on different vehicles can be actively adapted, and the safety distance of the new energy vehicle can be actively adapted through the detection function of the infrared ranging sensor, thereby achieving the effect of active obstacle avoidance to prevent the new energy vehicle from colliding with the charging pile. BRIEF DESCRIPTION OF THE DRAWINGS

[0014] In order to more clearly illustrate the technical solutions in the present invention or the prior art, the following briefly introduces the drawings required for use in the embodiments or the description of the prior art. Obviously, the drawings described below are only for the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying any creative work.

[0015] FIG1 is a schematic diagram of the connection structure of the connection platform of the present invention;

[0016] FIG2 is a schematic diagram of a top view of the connecting platform of the present invention;

[0017] FIG3 is a top view of a half-section structure of a connecting platform according to the present invention;

[0018] FIG4 is a schematic diagram of the main structure of the connection platform of the present invention;

[0019] FIG5 is a schematic diagram of a half-section structure of a support platform according to the present invention;

[0020] FIG6 is a schematic diagram of the structure of the carrier of the present invention when viewed from above;

[0021] FIG7 is a schematic diagram of the bending arrangement structure of the connecting platform of the present invention.

[0022] The markings in the figure are: 1. Connecting platform; 11. Insert plate; 12. Insert rack; 13. Mounting cavity; 14. First servo motor; 15. Mecanum wheel; 2. Controller; 21. Power supply; 3. Support platform; 31. Support rod; 32. Infrared ranging sensor; 4. Airbag; 41. One-way valve; 42. Air pressure sensor; 43. Air pipe; 44. Air pump; 5. Flexible guide rail; 51. Carrier; 52. Receiving groove; 53. Positioning frame; 54. Gear rod; 55. Roller; 56. Second servo motor; 57. Gear. DETAILED DESCRIPTION

[0023] In order to make the objectives, technical solutions and advantages of the present invention more clearly understood, the present invention is further described in detail below with reference to specific embodiments. Example 1:

[0024] As shown in Figures 1, 2, 3, 4, 5, 6 and 7, an active obstacle-avoiding mobile robot comprises: a connecting platform 1; the connecting platform 1 is provided with a plurality of connecting platforms 1, and the plurality of connecting platforms 1 are movably connected in sequence end to end to form a mobile robot with a linear structure, the connecting platform 1 comprises: a plug-in plate 11, which is fixedly installed on the middle part of one side of the outer periphery of the connecting platform 1 by bolts; a plug-in rack 12, which is fixedly installed on the other side of the outer periphery of the connecting platform 1 by bolts; the plug-in plates 11 of any two adjacent connecting platforms 1 are rotatably plugged into the inside of the plug-in rack 12 by a pin shaft, and the arrangement angle of any two adjacent connecting platforms 1 is adjusted by the plug-in plates 11 and the plug-in rack 12, so that the plurality of connecting platforms 1 can move in a serpentine structure during movement; the connecting platform 1 also comprises: an installation cavity 13, which is opened inside the connecting platform 1, and a first servo motor 14 is fixedly installed at the bottom of the installation cavity 13 near the four corners by bolts, and the power output end of the first servo motor 14 passes through the connecting cavity The periphery of the platform 1 is fixed with Mecanum wheels 15 by bolts. The Mecanum wheels 15 provided on the first servo motor 14 can effectively achieve the effect of moving in multiple directions such as lateral, vertical and oblique directions; the support platform 3 is fixed with bolts above the periphery of the connecting platform 1. A plurality of infrared ranging sensors 32 are provided around the top of the support platform 3. The positions of objects around the connecting platform 1 can be detected in real time by the plurality of infrared ranging sensors 32, so that real-time adjustments can be made during the movement to achieve the effect of actively avoiding obstacles; the airbag 4 is fixed with bolts at both ends of the support platform 3. The airbag 4 can fill the gap between two adjacent support platforms 3 in real time, so that the connection above the two adjacent support platforms 3 remains intact; the flexible guide rail 5 is fixed with bolts above each support platform 3. A carrier 51 is provided on the sliding sleeve above the periphery of the flexible guide rail 5. A drive component is provided below the carrier 51, and the carrier 51 moves on the flexible guide rail 5 through the drive component.

[0025] Among them, the infrared ranging sensors 32 provided around the top of the support platform 3 can obtain the distance between the surrounding objects and the connecting platform 1, so that when the linearly arranged multiple connecting platforms 1 are synchronously driven by the first servo motor 14 to move the Mecanum wheels 15, the distance between each connecting platform 1 and the surrounding objects can be actively adjusted, so that the multiple connecting platforms 1 can avoid the surrounding objects and move synchronously in the form of different serpentine curves. During the movement, the position of the carrier 51 on the flexible guide rail 5 can be adjusted by the driving component, and then the new energy vehicle charging pile placed on the carrier 51 can be transferred, so that the charging interface located on different vehicles can be actively adapted. At the same time, when the user drives a new energy vehicle close to the charging pile, the detection function of the infrared ranging sensor 32 can actively adapt to the safety distance of the new energy vehicle, thereby achieving the effect of active obstacle avoidance to prevent the new energy vehicle from colliding with the charging pile, and then changing the consignment orientation of the carrier 51 to achieve active obstacle avoidance and actively approach the new energy charging interface to facilitate charging and user parking. Example 2:

[0026] The difference from the previous embodiment is that the airbag 4 includes: a one-way valve 41, which is fixedly installed at one end of the bottom of the airbag 4 by bolts; an air pressure sensor 42, which is fixedly installed at the top of the airbag 4 near the side of the support 3 by bolts; an air pump 44, which is fixedly installed in the center of the installation cavity 13 by bolts; an air pipe 43, which is fixedly inserted in the support 3, and one end of the air pipe 43 penetrates into the interior of the airbag 4 and is fixedly connected to the airbag 4 by bolts, and the other end of the air pipe 43 penetrates into the installation cavity 13 and is fixedly connected to the output end of the air pump 44 by bolts.

[0027] Among them, when an offset occurs between two adjacent platforms 3, the air pump 44 replenishes gas into the airbag 4 with the help of the air pipe 43, and cooperates with the control of the one-way valve 41, so that when the two adjacent platforms 3 encounter falling objects or short-range collisions, the rapid replenishment of gas can cause the two adjacent platforms 3 to quickly twist, thereby correcting the position of the adjacent connecting platforms 1 to achieve an emergency avoidance effect in a crisis situation, further improving the flexibility of active obstacle avoidance, and at the same time controlling the gas capacity in the airbag 4 by the air pump 44 and the one-way valve 41, which can effectively adapt to the gap between the two adjacent platforms 3 after swinging, and the supplementary effect of the airbag 4 can replenish the generated gap in real time, thereby improving the flatness effect between the two adjacent platforms 3.

[0028] The flexible guide rails 5 are provided with two groups, and the two groups of flexible guide rails 5 are arranged in parallel. The driving assembly includes: a accommodating groove 52, which is opened around the bottom of the carrier 51, and a positioning frame 53 is fixedly installed at one end of the interior of the accommodating groove 52 by bolts. One end of the middle part of the positioning frame 53 is rotatably connected to a gear rod 54 through a bearing, and one end of the gear rod 54 is fixedly installed with a roller 55 by bolts. The roller 55 is attached to one side of the outer periphery of the flexible guide rail 5, and a second servo motor 56 is fixedly installed at one end of the interior of the accommodating groove 52 by bolts. A gear 57 is fixedly installed at the power output end of the second servo motor 56 by bolts, and the gear 57 is meshed with one end of the gear rod 54 for transmission.

[0029] Among them, the two sets of flexible guide rails 5 can improve the stability of the platform 51 when moving on each support 3. The second servo motor 56 drives the gear 57, and the meshing action with the gear rod 54 can drive the roller 55 to rotate, so that the platform 51 can move under the guidance of the orientation of the flexible guide rail 5 to realize the movement and adjustment of the charging pile, so that various types of new energy vehicles can effectively and quickly adapt to the charging port when charging, which greatly reduces the tediousness of users needing to adjust the parking position according to the orientation of the charging pile.

[0030] The support platform 3 is fixed with adjustable support rods 31 by bolts on all sides, and the infrared ranging sensor 32 is fixed with bolts on the top of the support rod 31; the adjustable support rod 31 is an electric telescopic rod; a controller 2 is fixed with bolts on one end above the connecting platform 1, which is convenient for users to operate and use through the controller 2; a power supply 21 is fixed with bolts on the other end above the connecting platform 1, and the power supply 21 provides electrical energy in the form of a backup power supply 21.

[0031] Among them, by installing the support rod 31 on a support rod 31 with adjustable height, the detection position can be adjusted according to different types of vehicles, thereby adapting to more types of vehicle charging effects.

[0032] Working principle: When in use, the position of the carrier 51 on the flexible guide rail 5 can be adjusted through the driving component, and the new energy vehicle charging pile placed on the carrier 51 can be transferred, so that the charging interface on different vehicles can be actively adapted. At the same time, when the user drives the new energy vehicle close to the charging pile, the infrared ranging sensor 32 can be used to actively adapt to the safety distance of the new energy vehicle, thereby achieving the effect of active obstacle avoidance to prevent the new energy vehicle from colliding with the charging pile, and then changing the consignment direction of the carrier 51 to achieve active obstacle avoidance and actively approach the new energy charging interface to facilitate charging and user parking. When an offset occurs between two adjacent carriers 3, the air pump 44 uses the air pipe 43 to replenish gas into the airbag 4, and cooperates with the one-way The control of the valve 41 allows the two adjacent platforms 3 to be quickly twisted by quickly replenishing gas when encountering falling objects or short-range collisions between the two adjacent platforms 3, thereby correcting the positions of the adjacent connecting platforms 1 to achieve emergency risk avoidance in crisis situations, further improving the flexibility of active obstacle avoidance, and driving the gear 57 through the second servo motor 56, which can drive the roller 55 to rotate with the help of the meshing action with the gear rod 54, so that the platform 51 can be moved under the guidance of the orientation of the flexible guide rail 5 to realize the movement and adjustment of the charging pile, so that various types of new energy vehicles can effectively and quickly adapt to the charging port when charging, greatly reducing the tediousness of users needing to adjust the parking position according to the orientation of the charging pile.

Claims

1. An active obstacle-avoiding mobile robot, comprising: A connecting platform (1); characterized in that the connecting platform (1) is provided with a plurality of connecting platforms (1), and the plurality of connecting platforms (1) are movably connected in sequence end to end; the connecting platform (1) comprises: An installation cavity (13) is provided inside the connecting platform (1), and first servo motors (14) are fixedly installed at the lower part of the interior of the installation cavity (13) near four corners, and a Mecanum wheel (15) is fixedly installed at the power output end of the first servo motor (14) extending out to the periphery of the connecting platform (1); A support platform (3) is fixedly installed above the outer periphery of the connecting platform (1), and a plurality of infrared distance measuring sensors (32) are arranged around the support platform (3); The airbags (4) are fixedly mounted on both ends of the support platform (3); A flexible guide rail (5) is fixedly installed above each support platform (3); a carrier (51) is slidably sleeved above the outer periphery of the flexible guide rail (5); a driving assembly is arranged below the carrier (51); and the carrier (51) moves on the flexible guide rail (5) through the driving assembly; The distance between the surrounding objects and the connecting platform (1) is obtained by an infrared distance measuring sensor (32) on the support platform (3), so that the linearly arranged multiple connecting platforms (1) synchronously drive the Mecanum wheel (15) through the first servo motor (14) to adjust the distance between each connecting platform (1) and the surrounding objects, avoid the surrounding objects and move in the form of different serpentine curves, and at the same time, adjust the position of the carrier (51) on the flexible guide rail (5) through the driving component to change the consignment direction of the carrier (51).

2. The active obstacle-avoiding mobile robot according to claim 1, characterized in that: The connection platform (1) further comprises: The plug board (11) is fixedly mounted on the middle part of one side of the outer periphery of the connecting platform (1); A plug-in frame (12) is fixedly mounted on the other side of the outer periphery of the connecting platform (1); The plugging plates (11) of any two adjacent connecting platforms (1) are plugged into the inside of the plugging rack (12) by rotating through a pin shaft, and the arrangement angle of any two adjacent connecting platforms (1) is adjusted through the plugging plates (11) and the plugging rack (12).

3. The active obstacle-avoiding mobile robot according to claim 1, characterized in that: The airbag (4) comprises: A one-way valve (41) is fixedly mounted at one end of the bottom of the air bag (4); An air pressure sensor (42) is fixedly mounted on the top of the air bag (4) near one side of the support platform (3); An air pump (44) is fixedly mounted in the center of the mounting cavity (13); The air pipe (43) is fixedly inserted in the support platform (3), one end of the air pipe (43) penetrates into the air bag (4) and is fixedly connected to the air bag (4), and the other end of the air pipe (43) penetrates into the installation cavity (13) and is fixedly connected to the output end of the air pump (44).

4. The active obstacle-avoiding mobile robot according to claim 1, characterized in that: The flexible guide rails (5) are provided in two groups, and the two groups of flexible guide rails (5) are arranged in parallel.

5. The active obstacle-avoiding mobile robot according to claim 4, characterized in that: The drive assembly comprises: The accommodating groove (52) is arranged around the bottom of the carrier (51), a positioning frame (53) is fixedly installed at one end of the accommodating groove (52), a gear rod (54) is rotatably connected to one end of the middle part of the positioning frame (53) through a bearing, a roller (55) is fixedly installed at one end of the gear rod (54), and the roller (55) is attached to one side of the outer periphery of the flexible guide rail (5), a second servo motor (56) is fixedly installed at one end of the accommodating groove (52), a gear (57) is fixedly installed at the power output end of the second servo motor (56), and the gear (57) is meshed with one end of the gear rod (54) for transmission.

6. The active obstacle-avoiding mobile robot according to claim 1, characterized in that: Support rods (31) that can be raised and lowered are fixedly installed around the top of the support platform (3), and the infrared distance measuring sensor (32) is fixedly installed on the top of the support rod (31).

7. The active obstacle-avoiding mobile robot according to claim 6, characterized in that: The lifting and lowering adjustable support rod (31) is an electric telescopic rod.

8. The active obstacle-avoiding mobile robot according to claim 1, characterized in that: A controller (2) is fixedly mounted on one end above the connection platform (1), and a power supply (21) is fixedly mounted on the other end above the connection platform (1).

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