阅读说明：本技术 传感器组件、底盘及机器人 (Sensor assembly, chassis and robot ) 是由 王书超 张占辉 王明 燕迎春 于 2019-08-30 设计创作，主要内容包括：本公开涉及机器人技术领域,提出了一种传感器组件、底盘及机器人,传感器组件包括激光传感器和距离传感器,激光传感器的激光发射头以预设直线为转轴沿预设轨迹可转动地设置,预设轨迹为圆形；距离传感器与激光传感器间隔设置,距离传感器用于设置在遮挡件上,并在激光发射头转动到预设位置时,遮挡件遮挡激光发射头；其中,遮挡件在预设轨迹上的投影占据预设轨迹的角度为a,距离传感器的采集区域在预设轨迹上的投影占据预设轨迹的角度为b,a≤b。本公开的传感器组件通过将激光传感器和距离传感器相配合,实现了对传感器组件所在环境四周全方位环境信息的探测,避免了出现探测盲区。(The disclosure relates to the technical field of robots, and provides a sensor assembly, a chassis and a robot, wherein the sensor assembly comprises a laser sensor and a distance sensor, a laser emitting head of the laser sensor is rotatably arranged along a preset track by taking a preset straight line as a rotating shaft, and the preset track is circular; the distance sensor and the laser sensor are arranged at intervals, the distance sensor is arranged on the shielding piece, and the shielding piece shields the laser emitting head when the laser emitting head rotates to a preset position; the angle of the projection of the shielding piece on the preset track occupying the preset track is a, the angle of the projection of the acquisition area of the distance sensor on the preset track occupying the preset track is b, and a is less than or equal to b. The sensor assembly disclosed by the invention has the advantages that the laser sensor and the distance sensor are matched, the all-around environment information of the environment where the sensor assembly is located is detected, and the detection blind area is avoided.)

1. A sensor assembly, comprising:

the laser sensor (40), the laser emission head of the laser sensor (40) is rotatably arranged along a preset track by taking a preset straight line as a rotating shaft, and the preset track is circular;

the distance sensor (50) and the laser sensor (40) are arranged at intervals, the distance sensor (50) is arranged on a shielding piece, and when the laser emitting head rotates to a preset position, the shielding piece shields the laser emitting head;

the angle of the projection of the shielding piece on the preset track occupying the preset track is a, the angle of the projection of the acquisition area of the distance sensor (50) on the preset track occupying the preset track is b, and a is not more than b.

2. The sensor assembly according to claim 1, characterized in that said distance sensor (50) is in plurality, said screen is in plurality, and at least one said distance sensor (50) is provided on each of said plurality of screens.

3. The sensor assembly according to claim 1, characterized in that the distance sensor (50) is an ultrasonic sensor or an infrared sensor.

4. The sensor assembly of any one of claims 1 to 3, further comprising:

and the processor is connected with the laser sensor (40) and the distance sensor (50) and is used for receiving and fusing the information acquired by the laser sensor (40) and the distance sensor (50) so as to obtain 360-degree environment information of an acquisition area corresponding to the preset track.

5. The sensor assembly according to claim 4, wherein the laser sensor (40) is configured to acquire a first set of environmental information within 360 degrees of an acquisition area corresponding to the predetermined trajectory, each datum of the first set of environmental information corresponding to a respective angle, the distance sensor (50) is configured to acquire a second set of environmental information within a predetermined angular range of the acquisition area corresponding to the shield, each datum of the second set of environmental information corresponding to a respective angle;

the processor is used for replacing data in the first group of environment information with the preset angle as a starting point and an angle of the sum of the preset angle and the preset angle as an end point with each data of the second group of environment information after acquiring the first group of environment information and the second group of environment information.

6. A chassis comprising the sensor assembly of any one of claims 1 to 5, the chassis further comprising:

the laser sensor (40) is arranged on the base (10), and the roller (11) is arranged on the base (10);

the supporting frame (20), the supporting frame (20) and the base (10) are arranged oppositely;

a bracket (30), the bracket (30) being disposed between the base (10) and the stand (20) to connect the base (10) and the stand (20), the distance sensor (50) being disposed on the bracket (30);

wherein the bracket (30) is the shield.

7. The chassis of claim 6, wherein the sensor assembly is the sensor assembly of claim 2, a plurality of the brackets (30) being disposed at intervals along a circumferential outer surface of the laser sensor (40) between the base (10) and the support bracket (20);

the bracket (30) and the laser sensor (40) are arranged at intervals, and the laser sensor (40) is arranged in the middle of the base (10).

8. The chassis according to claim 6, wherein a mounting groove (12) is provided on the base (10), the laser sensor (40) being disposed in the mounting groove (12);

wherein, the laser emitting head of the laser sensor (40) is positioned at the outer side of the mounting groove (12).

9. The chassis of claim 8, wherein a mounting block is provided between the laser sensor (40) and the bottom of the mounting slot (12), the mounting block being selectively positionable to adjust the distance between the laser sensor (40) and the bottom of the mounting slot (12);

or a lifting part is arranged in the mounting groove (12), and the lifting part is in driving connection with the laser sensor (40) so as to drive the laser sensor (40) to move along the direction close to or far away from the groove bottom of the mounting groove (12).

10. A robot, characterized in that it comprises a chassis according to any of claims 6 to 9 and a robot body (60), said robot body (60) being arranged on a support frame (20) of said chassis.

Technical Field

The disclosure relates to the technical field of robots, in particular to a sensor assembly, a chassis and a robot.

Background

In the prior art, an indoor and outdoor robot is a multipurpose sensor for detecting the surrounding environment, but the sensor is always shielded by a mechanical mechanism when a robot chassis is installed, so that the surrounding environment information cannot be detected in a 360-degree full range.

Currently, there are two main design schemes:

firstly, the method comprises the following steps: the all-round environmental information detection of chassis is realized through installing a plurality of sensors in chassis front and back different positions about. For example: the two-wheel differential chassis is provided with sensors only in the front direction and the rear direction and is respectively used for the advancing and the retreating of the robot. This design can directly lead to the increase of robot cost, causes the waste of resource, and the blind area still can appear in the detection process.

Secondly, the method comprises the following steps: the information of part of the directions is discarded, and only the environment information of the visible directions is collected, for example, the robot can only move forward and turn regardless of the backward function of the robot, namely, only the information in front of the robot is collected. The design scheme can lose part of azimuth information, and can directly cause that the robot cannot accurately sense the information of the immediate environment in some environments. Movement in only one direction severely affects the mobility of the robot. The robot is required to rotate 360 degrees in place frequently to effectively collect the information of the surrounding environment.

Disclosure of Invention

It is a primary object of the present disclosure to overcome at least one of the above-mentioned deficiencies of the prior art and to provide a sensor assembly, a chassis and a robot.

According to a first aspect of the present invention, there is provided a sensor assembly comprising:

the laser sensor is characterized in that a laser emitting head of the laser sensor is rotatably arranged along a preset track by taking a preset straight line as a rotating shaft, and the preset track is circular;

the distance sensor is arranged at a distance from the laser sensor and is used for being arranged on the shielding piece, and the shielding piece shields the laser emitting head when the laser emitting head rotates to a preset position;

the angle of the projection of the shielding piece on the preset track occupying the preset track is a, the angle of the projection of the acquisition area of the distance sensor on the preset track occupying the preset track is b, and a is less than or equal to b.

In one embodiment of the present invention, the distance sensor is provided in plurality, the shade is provided in plurality, and at least one distance sensor is provided on each of the plurality of shades.

In one embodiment of the invention, the distance sensor is an ultrasonic sensor or an infrared sensor.

In one embodiment of the invention, the sensor assembly further comprises:

and the processor is connected with the laser sensor and the distance sensor and used for receiving and fusing the information acquired by the laser sensor and the distance sensor so as to obtain 360-degree environment information of an acquisition area corresponding to the preset track.

In one embodiment of the invention, the laser sensor is used for acquiring a first set of environmental information within 360 degrees of an acquisition area corresponding to a preset track, each data of the first set of environmental information corresponds to a corresponding angle, the distance sensor is used for acquiring a second set of environmental information within a preset angle range of the acquisition area corresponding to the shielding piece, and each data of the second set of environmental information corresponds to a corresponding angle;

the processor replaces data in the first group of environment information with the preset angle as the starting point and the angle of the sum of the preset angle and the preset angle as the terminal point with each data of the second group of environment information after acquiring the first group of environment information and the second group of environment information.

According to a second aspect of the present invention, there is provided a chassis comprising the sensor assembly described above, the chassis further comprising:

the laser sensor is arranged on the base, and rollers are arranged on the base;

the supporting frame is arranged opposite to the base;

the bracket is arranged between the base and the support frame so as to connect the base and the support frame, and the distance sensor is arranged on the bracket;

wherein, the support is a shielding piece.

In one embodiment of the invention, a plurality of brackets are arranged between the base and the support frame at intervals along the circumferential outer surface of the laser sensor;

wherein, support and laser sensor interval set up, and laser sensor sets up the middle part at the base.

In one embodiment of the invention, the base is provided with a mounting groove, and the laser sensor is arranged in the mounting groove;

wherein, the laser emission head of laser sensor is located the outside of mounting groove.

In one embodiment of the invention, a mounting cushion block is arranged between the laser sensor and the bottom of the mounting groove, and the mounting cushion block can be selectively arranged to adjust the distance between the laser sensor and the bottom of the mounting groove;

or a lifting part is arranged in the mounting groove and is in driving connection with the laser sensor so as to drive the laser sensor to move along the direction close to or far away from the groove bottom of the mounting groove.

According to a third aspect of the present invention, there is provided a robot, comprising the above-mentioned chassis and a robot body, wherein the robot body is arranged on a support frame of the chassis.

The sensor assembly can acquire all-dimensional environmental information corresponding to the circumferential outer surface of the laser sensor, namely 360-degree environmental information, through the mutual matching of the laser sensor and the distance sensor. When specifically using, because the shielding piece can block laser sensor and survey the environmental information in some position, so be provided with distance sensor on the shielding piece for detect laser sensor's detection blind area. The sensor component realizes the detection of all-around environment information of the environment where the sensor component is located by matching the laser sensor with the distance sensor, and avoids the detection blind zone.

Drawings

Various objects, features and advantages of the present disclosure will become more apparent from the following detailed description of preferred embodiments thereof, which is to be read in connection with the accompanying drawings. The drawings are merely exemplary illustrations of the disclosure and are not necessarily drawn to scale. In the drawings, like reference characters designate the same or similar parts throughout the different views. Wherein:

FIG. 1 is a schematic diagram illustrating a first perspective of a chassis according to an exemplary embodiment;

FIG. 2 is a schematic diagram illustrating a second perspective of a chassis according to an exemplary embodiment;

FIG. 3 is a third perspective structural view of a chassis according to an exemplary embodiment;

FIG. 4 is a schematic diagram illustrating a fourth perspective of a chassis according to an exemplary embodiment;

FIG. 5 is a fifth perspective structural schematic view of a chassis shown in accordance with an exemplary embodiment;

FIG. 6 is a schematic diagram illustrating a sixth perspective of a chassis according to an exemplary embodiment;

FIG. 7 is a schematic diagram illustrating a seventh perspective of a chassis according to an exemplary embodiment;

FIG. 8 is a schematic diagram illustrating a first perspective of a robot, according to an exemplary embodiment;

FIG. 9 is a schematic diagram illustrating a second perspective of a robot, according to an exemplary embodiment;

fig. 10 is a third perspective structural schematic of a robot, according to an exemplary embodiment.

The reference numerals are explained below:

10. a base; 11. a roller; 12. mounting grooves; 20. a support frame; 30. a support; 40. a laser sensor; 50. a distance sensor; 60. the robot body.

Detailed Description

Exemplary embodiments that embody features and advantages of the present disclosure are described in detail below in the specification. It is to be understood that the disclosure is capable of various modifications in various embodiments without departing from the scope of the disclosure, and that the description and drawings are to be regarded as illustrative in nature, and not as restrictive.

In the following description of various exemplary embodiments of the disclosure, reference is made to the accompanying drawings, which form a part hereof, and in which is shown by way of illustration various exemplary structures in which aspects of the disclosure may be practiced. Other specific arrangements of systems and steps, and structural and functional modifications may be made without departing from the scope of the present disclosure. Moreover, although the terms "over", "between", "within", and the like may be used in this specification to describe various example features and elements of the disclosure, these terms are used herein for convenience only, e.g., in accordance with the orientation of the examples in the drawings. Nothing in this specification should be construed as requiring a specific three dimensional orientation of structures in order to fall within the scope of this disclosure.

One embodiment of the present invention provides a sensor assembly comprising: the laser sensor 40 is characterized in that a laser emitting head of the laser sensor 40 is rotatably arranged along a preset track by taking a preset straight line as a rotating shaft, and the preset track is circular; the distance sensor 50 is arranged at an interval with the laser sensor 40, the distance sensor 50 is arranged on the shielding piece, and the shielding piece shields the laser emitting head when the laser emitting head rotates to a preset position; the angle of the projection of the shielding piece on the preset track occupying the preset track is a, the angle of the projection of the acquisition area of the distance sensor 50 on the preset track occupying the preset track is b, and a is less than or equal to b.

The sensor assembly according to an embodiment of the present invention can acquire the all-around environmental information, i.e., the 360-degree environmental information, corresponding to the circumferential outer surface of the laser sensor 40 by the mutual cooperation of the laser sensor 40 and the distance sensor 50. When the device is used specifically, because the shielding piece can block the laser sensor 40 from detecting the environmental information in certain directions, the distance sensor 50 is arranged on the shielding piece and used for detecting the detection blind area of the laser sensor 40. The sensor component of one embodiment of the invention realizes the detection of all-around environment information of the environment where the sensor component is located by matching the laser sensor 40 with the distance sensor 50, and avoids the detection blind zone.

In one embodiment, the laser emitting head of the laser sensor 40 can rotate 360 degrees in all directions, i.e. to ensure the scanning reliability, and the shielding of the shielding member to the scanning area of the laser sensor 40 is compensated by the distance sensor 50, so it is required to ensure that the detection area of the distance sensor 50 is greater than or equal to the shielding area of the bracket 30 to the laser sensor 40.

In one embodiment, the projection of the shield onto the predetermined trajectory is within the projection of the acquisition area of the distance sensor 50 onto the predetermined trajectory, i.e. ensuring that the acquisition area covers the shielded area.

In one embodiment, the distance sensor 50 is provided in plurality, and the shield is provided in plurality, each of which has at least one distance sensor 50 provided thereon.

For a specific selection of the distance sensor 50, the distance sensor 50 is an ultrasonic sensor or an infrared sensor.

In one embodiment, the sensor assembly further comprises: and the processor is connected with the laser sensor 40 and the distance sensor 50 and used for receiving and fusing the information acquired by the laser sensor 40 and the distance sensor 50 to obtain the 360-degree environment information of the acquisition area corresponding to the preset track. The processor is mainly configured to perform fusion on the environmental information acquired by the laser sensor 40 and the distance sensor 50, that is, ensure that the environmental information acquired by the laser sensor and the distance sensor constitutes 360-degree environmental information.

In one embodiment, when the detection area of the distance sensor 50 is equal to the shielding area of the bracket 30 for the laser sensor 40, the processor directly splices the environmental information acquired by the laser sensor 40 and the distance sensor 50 to obtain 360-degree environmental information. When the detection area of the distance sensor 50 is larger than the shielding area of the bracket 30 for the laser sensor 40, at this time, the environmental information acquired by the laser sensor 40 and the distance sensor 50 may have an overlapping portion, the processor removes the overlapping portion of the two acquired by a certain sensor, and then the processed environmental information is spliced to obtain the environmental information of 360 degrees. The processor has multiple modes for processing and fusing the environmental information acquired by the laser sensor 40 and the distance sensor 50, as long as the environmental information acquired by the laser sensor and the distance sensor can be spliced into complete 360-degree environmental information.

Aiming at a specific mode that a processor fuses information acquired by a laser sensor 40 and a distance sensor 50, the laser sensor 40 is used for acquiring a first group of environment information within a 360-degree range of an acquisition area corresponding to a preset track, each data of the first group of environment information corresponds to a corresponding angle, the distance sensor 50 is used for acquiring a second group of environment information within a preset angle range of the acquisition area corresponding to a shielding piece, and each data of the second group of environment information corresponds to a corresponding angle; after the processor acquires the first group of environmental information and the second group of environmental information, the processor replaces data in the first group of environmental information with the preset angle as the starting point and the angle of the sum of the preset angle and the preset angle as the end point with the data in the second group of environmental information.

In one embodiment, the laser of the laser sensor 40 cannot cover a 360 degree range due to the shielding of the shield. For example, the angular resolution of the laser is 0.2 degrees, that is, the distance data is collected every 0.2 degrees of rotation of the motor inside the laser sensor 40, the data collected every turn of the laser is 360/0.2 of 1800 points, a digit array with size of 1800 is used to store the points, and the corresponding relationship between the index of the digit array and the angle deg is: the deg is index 0.2, that is, the first set of context information includes 1800 data, and each data corresponds to a corresponding angle, and the angle starts from 0 degrees and ends at 360 degrees.

If the shielding part of the shielding piece is 5 degrees, namely the preset angle is 5 degrees, 25(5/0.2) points are shielded, if the angle of the first point acquired by the distance sensor 50 is 0 degree, namely the preset angle is 0 degree, at this time, the shielding piece shields the angle from 0 degree to 5 degrees, and the data subscript of the second group of environmental information is as follows: 0-25, i.e. the first data corresponds to 0 degrees. And the processor replaces the data with the index of 0-25 of the first group of environmental information with the data with the index of 0-25 of the second group of environmental information, and then the 360-degree non-shielding fusion data is completed.

In one embodiment, considering that there is a certain distance between the laser sensor 40 and the distance sensor 50, after the processor receives the first set of environmental information and the second set of environmental information, the two sets of data are processed to compensate the distance value between the laser sensor 40 and the distance sensor 50, so as to ensure that the data finally fused by the processor can be regarded as being collected by the laser sensor 40, i.e. the reference is unique.

An embodiment of the present invention further provides a chassis, referring to fig. 1 to 7, the chassis includes the above-mentioned sensor assembly, and the chassis further includes: the laser sensor 40 is arranged on the base 10, and the roller 11 is arranged on the base 10; the supporting frame 20, the supporting frame 20 is arranged opposite to the base 10; a bracket 30, the bracket 30 being disposed between the base 10 and the stand 20 to connect the base 10 and the stand 20, the distance sensor 50 being disposed on the bracket 30; the bracket 30 is a shield.

The chassis of one embodiment of the present invention comprises a base 10, a supporting frame 20, a support 30, a laser sensor 40 and a distance sensor 50, wherein the base 10 moves through a roller 11 arranged at the bottom thereof, the supporting frame 20 is arranged on the base 10 through the support 30, the laser sensor 40 positioned in the middle of the base 10 is used for performing all-around environment information detection on the periphery of the base 10, and the support 30 can prevent the laser sensor 40 from detecting environment information in certain directions, so the distance sensor 50 is arranged on the support 30 and used for detecting a detection blind area of the laser sensor 40. In the chassis of one embodiment of the invention, the laser sensor 40 is matched with the distance sensor 50, so that the all-around environment information of the base 10 is detected, and a detection blind area is avoided.

In one embodiment, the chassis comprises a plurality of brackets 30 and a plurality of distance sensors 50, the supporting frame 20 is disposed on the base 10 through the plurality of brackets 30, and at least one distance sensor 50 is disposed on each bracket 30.

In one embodiment, the laser emitting head within laser sensor 40 may be rotated 360 degrees, i.e., to ensure detection of various orientations. The laser emitting head may rotate around the body of the laser sensor 40, or the laser sensor 40 may rotate integrally with respect to the base 10.

In one embodiment, a plurality of brackets 30 are disposed between the base 10 and the support stand 20 at intervals along the circumferential outer surface of the laser sensor 40; wherein, support 30 and laser sensor 40 interval set up, and laser sensor 40 sets up the middle part at base 10. The arrangement of the plurality of brackets 30 is mainly to ensure that the mechanism to be supported on the supporting frame 20 can be stably arranged on the base 10, that is, the base 10 has sufficient bearing capacity, and this bearing capacity needs to be ensured by the brackets 30 first, so that there is a relatively high requirement on the arrangement position of the brackets 30, which reduces the shielding area of the laser sensor 40 as much as possible, but may ensure sufficient bearing capacity.

In one embodiment, the laser sensor 40 is a cylinder, and the minimum distances between the laser sensor 40 and the plurality of brackets 30 are all equal. This arrangement is primarily to ensure that the load bearing capacity of each support 30 is relatively uniform, without some problems of excessive load bearing capacity.

In one embodiment, there are three brackets 30, and three brackets 30 are disposed on the side of the base 10 near the outer circumferential edge of the base 10. By arranging the number of the brackets 30 to be 3, that is, on the basis of minimizing the shielding area for the laser sensor 40, sufficient load-bearing capacity of the brackets 30 is ensured.

In one embodiment, the spacing between two adjacent brackets 30 is equal, i.e., they are equally mounted on the base 10.

Regarding the structure of the base 10, the base 10 is a disk, and the laser sensor 40 is disposed at the center of the disk; wherein the cross-section of the bracket 30 is rectangular, and the distance sensor 50 is disposed at the middle of the bracket 30.

In one embodiment, the base 10 and the support 20 are both circular disks, i.e., they have similar shapes, but the thickness of the base 10 is greater than that of the support 20, the bracket 30 for supporting the base 10 and the support 20 is a rectangular body, and the distance sensor 50 is disposed in the middle of the bracket 30.

In one embodiment, the distance sensor 50 is positionally adjustably disposed on the support 30.

As shown in fig. 6, the base 10 is provided with a mounting groove 12, and the laser sensor 40 is arranged in the mounting groove 12; wherein, the laser emitting head of the laser sensor 40 is positioned at the outer side of the mounting groove 12.

In one embodiment, the mounting groove 12 is formed in the middle of the base 10, the mounting groove 12 is a circular groove, and the laser sensor 40 is located in the middle of the circular groove and spaced apart from the wall of the mounting groove 12, which ensures that the laser sensor 40 can be conveniently mounted and dismounted.

In one embodiment, the laser sensor 40 is positionally adjustably positioned within the mounting slot 12. Considering the different application scenarios of the chassis, the scanning height of the laser sensor 40 will also change, so it is necessary to ensure that the position of the laser sensor 40 relative to the supporting frame 20 is adjustable, i.e. the height of the protruding base 10 can be changed.

Aiming at the specific adjustment mode of the laser sensor 40, a mounting cushion block is arranged between the laser sensor 40 and the bottom of the mounting groove 12, and the mounting cushion block can be selectively arranged to adjust the distance between the laser sensor 40 and the bottom of the mounting groove 12; or, a lifting part is arranged in the mounting groove 12, and the lifting part is in driving connection with the laser sensor 40 so as to drive the laser sensor 40 to move along the direction close to or far away from the groove bottom of the mounting groove 12.

In one embodiment, the height of the laser sensor 40 protruding from the base 10 can be adjusted by mounting blocks with different thicknesses, that is, the mounting blocks with different thicknesses are selected according to different use scenes to meet the scanning height of the laser sensor 40.

In one embodiment, the laser sensor 40 may be mounted on a lift, i.e., the lift drives the laser sensor 40 up or down to meet the scanning height of the laser sensor 40. Wherein the lifting part can be a cylinder or a cylinder.

In one embodiment, the plurality of distance sensors 50 includes at least one of an ultrasonic sensor and an infrared sensor.

In one embodiment, each of the brackets 30 is provided with an ultrasonic sensor for compensating for the shielding of the bracket 30 from the scanning area of the laser sensor 40.

In one embodiment, the laser emitting head of the laser sensor 40 is rotatably disposed along a predetermined track with a predetermined straight line as a rotating shaft, the predetermined track is circular, the projection of the bracket 30 on the predetermined track occupies an angle a of the predetermined track, the projection of the detection area of the distance sensor 50 on the predetermined track occupies an angle b of the predetermined track, and a is less than or equal to b.

The laser emitting head of the laser sensor 40 can rotate 360 degrees in all directions, that is, the scanning reliability is ensured, and the shielding of the bracket 30 on the scanning area of the laser sensor 40 is compensated by the distance sensor 50, so that the detection area of the distance sensor 50 needs to be larger than or equal to the shielding area of the bracket 30 on the laser sensor 40.

An embodiment of the present invention further provides a robot, please refer to fig. 8 to fig. 10, the robot includes the chassis and a robot body 60, and the robot body 60 is disposed on the supporting frame 20 of the chassis.

In one embodiment, the robot body 60 is supported on the supporting frame 20, the base 10 drives the robot body 60 to move through the rollers 11, and the laser sensor 40 and the distance sensor 50 cooperate to ensure that the robot body 60 does not interfere with the external environment.

In one embodiment, the rollers 11 are plural, and at least one of the plural rollers 11 is a universal wheel. Wherein, the rollers 11 are 4, 2 power wheels and two steering universal wheels.

The chassis is a technical scheme for jointly using the laser sensor and the ultrasonic sensor, so that the problem that the laser sensor of the robot chassis cannot acquire information in 360 degrees is solved.

Wherein, a laser sensor capable of 360-degree scanning is installed at the middle position of the base, and the upper support frame 20 is supported by three support columns 30. An ultrasonic sensor is arranged in the middle of each support and used for acquiring laser environment information of three angles lost due to the fact that the support is shielded. The information collected by the ultrasonic sensor and the laser sensor is fused together, so that the environment information of 360 degrees is obtained.

The chassis of the invention reduces the cost of acquiring 360-degree environmental information by adopting a plurality of laser sensors and saves resources. And a single laser sensor is utilized to collect more information to the maximum extent. The laser sensor which is expensive is arranged in the middle of the robot, so that the damage of the laser sensor caused by collision can be effectively reduced. And (3) a scheme for acquiring 360 environmental information by fusing laser and ultrasound. The structure of the laser sensor is maximally utilized.

Other embodiments of the invention will be apparent to those skilled in the art from consideration of the specification and practice of the invention disclosed herein. This invention is intended to cover any variations, uses, or adaptations of the invention following, in general, the principles of the invention and including such departures from the present disclosure as come within known or customary practice within the art to which the invention pertains. It is intended that the specification and exemplary embodiments be considered as exemplary only, with a true scope and spirit of the invention being indicated by the following claims.

It will be understood that the invention is not limited to the precise arrangements described above and shown in the drawings and that various modifications and changes may be made without departing from the scope thereof. The scope of the invention is limited only by the appended claims.