Roller detection structure of universal wheel and mobile robot
阅读说明：本技术 万向轮的滚轮检测结构以及移动机器人 (Roller detection structure of universal wheel and mobile robot ) 是由 张苗苗 肖刚军 于 2020-08-20 设计创作，主要内容包括：本发明公开了一种万向轮的滚轮检测结构以及移动机器人,包括：壳体,该壳体用于固定滚轮座和光强度传感器；滚轮座,该滚轮座设置在壳体的下方且可相对于壳体进行自转,所述滚轮座上设有用于传递光信号的传光结构；滚轮,该滚轮可活动的设置在滚轮座上,所述滚轮上设有用于反射光信号的反光标识；光强度传感器,该光强度传感器设置在壳体的上方,所述光强度传感器根据反射条纹的反馈信号来判断滚轮的转动情况。移动机器人通过检测万向轮的滚轮转动情况来实时检测万向轮的工作情况,使移动机器人一直保持高效率的工作状态；防止万向轮在工作过程中被快速磨损。(The invention discloses a roller detection structure of a universal wheel and a mobile robot, comprising: a housing for fixing the roller mount and the light intensity sensor; the roller seat is arranged below the shell and can rotate relative to the shell, and a light transmitting structure for transmitting light signals is arranged on the roller seat; the roller is movably arranged on the roller seat, and a reflective mark for reflecting light signals is arranged on the roller; the light intensity sensor is arranged above the shell and used for judging the rotation condition of the roller according to the feedback signal of the reflection stripe. The mobile robot detects the working condition of the universal wheels in real time by detecting the rotation condition of the idler wheels of the universal wheels, so that the mobile robot always keeps a high-efficiency working state; prevent that the universal wheel is by quick wearing and tearing in the course of the work.)
1. The utility model provides a gyro wheel of universal wheel detects structure which characterized in that includes:
a housing for fixing the roller mount and the light intensity sensor;
the roller seat is arranged below the shell and can rotate relative to the shell, and a light transmitting structure for transmitting light signals is arranged on the roller seat;
the roller is movably arranged on the roller seat, and a reflective mark for reflecting light signals is arranged on the roller;
the light intensity sensor is arranged above the shell and used for judging the rotation condition of the roller according to the feedback signal of the reflection stripe.
2. The wheel detecting structure of a universal wheel according to claim 1, wherein the wheel base includes an upper member and a lower member, the wheel base is connected to the housing through the upper member and locked to the housing through a fixing collar, and the wheel is movably disposed on the lower member of the wheel base.
3. The wheel detecting structure of a universal wheel according to claim 2, wherein the light transmitting structure is provided on a top surface of the lower member of the wheel mount, the top surface being circular, and a bottom end of the upper member is connected to a center of the top surface.
4. The wheel detecting structure of a universal wheel according to claim 1 or 3, wherein the light transmitting structure is a through hole having a semi-annular shape, and the through hole is provided on the top surface and below the light intensity sensor.
5. The wheel detecting structure of a universal wheel according to claim 1 or 3, wherein the light transmitting structure is an annular transparent block, and the annular transparent block is disposed on the top surface and sleeved at the connection position of the upper member and the lower member.
6. The wheel detecting structure of a universal wheel according to claim 1, wherein the reflective mark is a light stripe and a dark stripe having both ends located at both sides of the wheel, respectively, and the light stripe and the dark stripe are alternately arranged around the wheel.
7. The roller detecting structure of a universal wheel according to claim 1, wherein the reflective mark is a reflective stripe having two ends respectively located at two sides of the roller, the reflective stripe is equally distributed around the roller, the reflective stripe is light color, the roller is dark color, or the reflective stripe is dark color, and the roller is light color.
8. The roller detection structure of a universal wheel according to claim 1, wherein the reflective markers comprise light color blocks and dark color blocks, and the light color blocks and the dark color blocks are distributed on the roller in a staggered manner.
9. The wheel sensing structure of a universal wheel according to claim 1, wherein the light intensity sensor is an infrared sensor, and the infrared sensor includes a transmitting lamp and a receiving lamp.
10. A mobile robot having the universal wheel detecting structure of any one of claims 1 to 9.
Technical Field
The invention relates to the technical field of intelligent robots, in particular to a roller detection structure of a universal wheel and a mobile robot.
Background
The bottom of mobile robot all is provided with drive wheel and driven universal wheel, and the drive wheel mainly used provides power for mobile robot's walking, and the universal wheel mainly used provides the support for mobile robot's walking and turning to. In real life, mobile robot is when walking, and the gyro wheel of universal wheel is twined and stops rolling by the hair easily, because provide power be the drive wheel, mobile robot still will walk forward under the effort of drive wheel, but the gyro wheel of universal wheel stops rolling the back, and the frictional force between mobile robot and the ground can increase, and mobile robot's moving speed will reduce, influences the smoothness degree of mobile robot work, and the gyro wheel is wearing and tearing more easily at mobile robot's removal in-process moreover.
Disclosure of Invention
In order to solve the problems, the invention provides a roller detection structure of a universal wheel and a mobile robot, and the working efficiency of the mobile robot is greatly improved. The specific technical scheme of the invention is as follows:
a roller detecting structure of a universal wheel, comprising: a housing for fixing the roller mount and the light intensity sensor; the roller seat is arranged below the shell and can rotate relative to the shell, and a light transmitting structure for transmitting light signals is arranged on the roller seat; the roller is movably arranged on the roller seat, and a reflective mark for reflecting light signals is arranged on the roller; the light intensity sensor is arranged above the shell and used for judging the rotation condition of the roller according to the feedback signal of the reflection stripe. The mobile robot detects the working condition of the universal wheels in real time by detecting the rotation condition of the idler wheels of the universal wheels, so that the mobile robot always keeps a high-efficiency working state; prevent that the universal wheel is by quick wearing and tearing in the course of the work.
In one or more aspects of the invention, the roller seat comprises an upper part and a lower part, the roller seat is connected with the shell through the upper part and locked on the shell through a fixed retainer ring, and the roller is movably arranged on the lower part of the roller seat. Simple structure and convenient assembly.
In one or more aspects of the present invention, the light transmitting structure is disposed on a top surface of the lower member of the roller seat, the top surface is circular, and a bottom end of the upper member is connected to a center of the top surface.
In one or more embodiments of the present invention, the light transmitting structure is a through hole, the through hole is a semi-ring shape, and the through hole is disposed on the top surface and below the light intensity sensor. The semi-annular through hole enables the robot to detect the motion state of the roller when turning, and the detection range of the robot is improved.
In one or more aspects of the present invention, the light transmitting structure is an annular transparent block, and the annular transparent block is disposed on the top surface and sleeved at a connection position of the upper member and the lower member. The annular transparent block does not influence the detection result when the robot turns, and also plays a role in reinforcing the roller seat.
In one or more aspects of the invention, the reflective mark is a light stripe and a dark stripe, both ends of which are respectively located at both sides of the roller, and the light stripe and the dark stripe are arranged around the roller in a staggered manner. The stripes with different colors are uniformly distributed, so that the accuracy of detecting the rotation condition of the roller by the light intensity sensor is improved.
In one or more schemes of the invention, the reflective mark is a reflective stripe with two ends respectively located at two sides of the roller, the reflective stripe is uniformly distributed around the roller at equal intervals, the color of the reflective stripe is light color, the color of the roller is dark color, or the color of the reflective stripe is dark color, and the color of the roller is light color. The light reflecting stripes with different colors from the roller are combined with the roller to form the light reflecting stripes, so that the roller has staggered stripes with different colors, and the structure is simple.
In one or more aspects of the invention, the reflective mark comprises light color blocks and dark color blocks, and the light color blocks and the dark color blocks are distributed on the roller in a staggered manner. The light signals are reflected by the color blocks with different colors, so that the detection sensitivity of the robot is higher.
In one or more aspects of the present invention, the light intensity sensor is an infrared sensor, and the infrared sensor includes a transmitting lamp and a receiving lamp. Simple structure and low production cost.
A mobile robot is provided with the roller detection structure of the universal wheel. The mobile robot and the rotation condition of the roller of the detection universal wheel prevent the reduction of the moving speed of the robot and the reduction of the working efficiency.
Drawings
FIG. 1 is an exploded view of a wheel detection structure of the universal wheel of the present invention;
FIG. 2 is a top view 1 of the roller mount of the present invention;
figure 3 is a top view 2 of the roller mount of the present invention.
Detailed Description
Reference will now be made in detail to the embodiments of the present invention, examples of which are illustrated in the accompanying drawings, wherein like reference numerals refer to the same or similar elements or elements having the same or similar functions throughout.
In the description of the present invention, it should be noted that, for the terms of orientation, such as "central", "lateral", "longitudinal", "length", "width", "thickness", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", "clockwise", "counterclockwise", etc., it indicates that the orientation and positional relationship shown in the drawings are based on the orientation or positional relationship shown in the drawings, and is only for the convenience of describing the present invention and simplifying the description, but does not indicate or imply that the device or element referred to must have a specific orientation, be constructed in a specific orientation, and be operated without limiting the specific scope of protection of the present invention.
Furthermore, if the terms "first" and "second" are used for descriptive purposes only, they are not to be construed as indicating or implying relative importance or implicitly indicating the number of technical features. Thus, a definition of "a first" or "a second" feature may explicitly or implicitly include one or more of the feature, and in the description of the invention, "at least" means one or more unless specifically defined otherwise.
In the present invention, unless otherwise expressly specified or limited, the terms "assembled", "connected", and "connected" are to be construed broadly, e.g., as meaning fixedly connected, detachably connected, or integrally connected; or may be a mechanical connection; the two elements can be directly connected or connected through an intermediate medium, and the two elements can be communicated with each other. The specific meanings of the above terms in the present invention can be understood by those of ordinary skill in the art according to specific situations.
In the present invention, unless otherwise specified and limited, "above" or "below" a first feature may include the first and second features being in direct contact, and may also include the first and second features not being in direct contact but being in contact with each other through another feature therebetween. Also, the first feature being "above," "below," and "above" the second feature includes the first feature being directly above and obliquely above the second feature, or simply an elevation which indicates a level of the first feature being higher than an elevation of the second feature. The first feature being "above", "below" and "beneath" the second feature includes the first feature being directly below or obliquely below the second feature, or merely means that the first feature is at a lower level than the second feature.
The technical scheme and the beneficial effects of the invention are clearer and clearer by further describing the specific embodiment of the invention with the accompanying drawings of the specification. The embodiments described below are exemplary and are intended to be illustrative of the invention, but are not to be construed as limiting the invention.
Referring to fig. 1 to 3, a detection structure for a wheel 4 of a universal wheel includes: a housing 6, the housing 6 being used for fixing the roller base 1 and the light intensity sensor 5; the roller seat 1 is arranged below the shell 6 and can rotate relative to the shell 6, and the roller seat 1 is provided with a light transmitting
As one embodiment, the roller seat 1 comprises an
As an example, the reflective mark 12 is a light stripe and a dark stripe, both ends of which are respectively located at both sides of the roller 4, and the light stripe and the dark stripe are transversely arranged on the roller 4 and are alternately arranged around the roller 4. The stripes with different colors are uniformly distributed, and the accuracy of the light intensity sensor 5 for detecting the rotation condition of the roller 4 is improved. The light-reflecting marks 12 are light-reflecting stripes, two ends of each light-reflecting mark are respectively located on two sides of the roller 4, the light-reflecting stripes are uniformly distributed around the roller 4 at equal intervals, the color of each light-reflecting stripe is light, the color of the roller 4 is deep, or the color of each light-reflecting stripe is deep, and the color of the roller 4 is light. The light reflecting stripes with different colors from the roller 4 are combined with the roller 4 to be used as the light reflecting stripes, so that the roller 4 has staggered stripes with different colors and has a simple structure. The reflective mark 12 comprises light color blocks and dark color blocks, and the light color blocks and the dark color blocks are distributed on the roller 4 in a staggered manner. The light signals are reflected by the color blocks with different colors, so that the detection sensitivity of the robot is higher. The light color is white, the dark color is black, the white color and the black color are the most common colors of the body of the mobile robot, the capacity difference of the white color and the black color for reflecting light signals is large, the light-reflecting mark 12 is arranged in a black-white color mode, the robot is not affected by the color of the body during detection, and production cost is low. The reflective marker 12 is used for reflecting light signals with the same intensity irradiated on the reflective marker 12 with different signal intensities when the roller 4 rolls, and patterns playing the role can be used as the reflective marker 12. The robot can set the style of the reflective mark according to actual requirements, and the operation is simple.
A mobile robot is provided with the roller 4 detection structure of the universal wheel. The mobile robot and the roller 4 of the detection universal wheel prevent the reduction of the moving speed of the robot and the reduction of the working efficiency.
In the description of the specification, reference to the description of "one embodiment", "preferably", "an example", "a specific example" or "some examples", etc., means that a particular feature, structure, material, or characteristic described in connection with the embodiment or example is included in at least one embodiment or example of the invention, and schematic representations of the terms in this specification do not necessarily refer to the same embodiment or example. Furthermore, the particular features, structures, materials, or characteristics described may be combined in any suitable manner in any one or more embodiments or examples. The connection mode connected in the description of the specification has obvious effects and practical effectiveness.
With the above structure and principle in mind, those skilled in the art should understand that the present invention is not limited to the above embodiments, and modifications and substitutions based on the known technology in the field are within the scope of the present invention, which should be limited by the claims.
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