The robot chassis of wireless controlTechnical field
The present invention relates to robot fields, and in particular, to a kind of robot chassis of wireless control.
Background technique
With the development of industrial automation, machine intelligence is received more and more attention, and intelligent robot therein is even moreIt is acknowledged as following mainstream development direction.And robot will once move, just inevitably involve understanding to environment,Path planning, autonomous positioning, avoidance and anticollision etc., it is self-evident.
In general, robot mainly includes chassis and trunk two parts composition, chassis primarily serves firm and movementEffect.The height on robot chassis in the prior art is typically all fixation, and chassis is too low when encountering barrier, is easy hairThe problem of bottom is dragged on chassis is given birth to, with influencing robot proper motion；Chassis is excessively high, although passability becomes larger, stability reduction,The problem of being easy to happen rollover.
Therefore it provides a kind of can automatically adjust the height on chassis in use with the size of intelligent measurement barrier,Height adjustment can also be carried out with wireless control chassis, so that the robot chassis for passing through the wireless control of barrier is this hairThe problem of bright urgent need to resolve.
Summary of the invention
In view of the above technical problems, the purpose of the present invention is overcome the height on robot chassis in the prior art generally allBe it is fixed, chassis is too low when encountering barrier, is easy to happen the problem of bottom is dragged on chassis, with influencing robot proper motion；Chassis is excessively high, although passability becomes larger, stability reduction, and the problem of being easy to happen rollover, to provide a kind of usingThe height on chassis can be automatically adjusted with the size of intelligent measurement barrier in the process, height can also be carried out with wireless control chassisIt adjusts, to pass through the robot chassis of the wireless control of barrier.
To achieve the goals above, the present invention provides a kind of robot chassis of wireless control, the wireless controlRobot chassis includes: chassis body, drive axle, rear drive shaft and chassis control system；The drive axle and it is described afterDrive shaft is arranged in parallel in respectively in the chassis body, and the both ends of the drive axle are respectively arranged with front-wheel, after describedThe both ends of drive shaft are respectively arranged with rear-wheel, and opposite two sides are provided with first respectively along vertical direction in the chassis bodySliding slot, the both ends of the drive axle engage respectively to be arranged in the first sliding groove, opposite two sides in the chassis bodyVertical direction is also provided with second sliding slot, the both ends of the rear drive shaft engage respectively to be arranged in the second sliding slotIn, the chassis control system is arranged in the chassis body, and the chassis control system can control the preceding drivingAxis is slided along the first sliding groove, and the rear drive shaft is slided along the second sliding slot；And the chassis control system energyEnough receive the wireless control directives that background server issues.
Preferably, the chassis control system includes: master controller and what is be connected respectively with the master controller infrared take the photographAs head, power module, lifting motor and wireless module；The front end of the chassis body is arranged in the infrared camera；InstituteInfrared camera is stated for obtaining the image information of the chassis body front obstacle, the master controller is according to the figure of acquisitionAs information analysis goes out the height of barrier, in the case where the height of barrier is less than the maximum height of chassis body, the masterController control the lifting motor drive the drive axle and the rear drive shaft move downwardly to the chassis body withGround distance is maximum, and the master controller receives the wireless control directives from background server by the wireless module.
Preferably, the wireless module includes: 3G module, 4G module, WiFi module and ZigBee module.
Preferably, the chassis control system further includes the high-definition camera being connected with the master controller, the high definitionThe front end of the chassis body is arranged in camera.
Preferably, the control switch being electrically connected with the power module is additionally provided in the chassis body.
Preferably, the upper surface of the chassis body is provided with trunk connector, and the trunk connector is in the form of a column, machineThe bottom of people's trunk is provided with the fixing groove matched with the trunk connector, and the trunk connector can be fixedIn the fixing groove.
Preferably, the trunk connector is at least arranged four, and the upper surface for being separately positioned on the chassis body is turnedAt angle.
Preferably, the front-wheel is bolted on drive axle；The rear-wheel drives after being fixed on also by boltOn axis.
According to the above technical scheme, when in use, the chassis is controlled on the robot chassis of wireless control provided by the inventionSystem processed is used to detect the barrier identified in front of the chassis body, and analyzes the elevation information of acquired disturbance object, describedThe height that chassis body is liftoff be also it is adjustable, when terrain clearance has a maximum value, and the maximum value is certain, is detectingWhen the elevation information of the barrier of acquisition is less than chassis body liftoff maximum height, before the chassis control system control is describedDrive shaft and rear drive shaft decline, increase the liftoff height of the chassis body indirectly, to pass through the barrier in frontHinder object.When the height of barrier is greater than the maximum terrain clearance of chassis body, the chassis control system is directly anti-by informationIt is fed to the general control system of robot, so that programming movement path, avoids barrier；In order to more effectively control robot,Chassis body in the present invention also can be carried out wireless control, send wireless controlled to the chassis control system by background serverSystem instruction controls the chassis body progress height adjustment to more be smoothly through barrier and is also convenient for staff moreClearly obtain the real time information of robot.The robot chassis of wireless control provided by the invention overcomes machine in the prior artThe height on device people chassis is typically all fixation, and chassis is too low when encountering barrier, is easy to happen the problem of bottom is dragged on chassis, shadowWith ringing robot proper motion；Chassis is excessively high, although passability becomes larger, stability reduction, and the problem of being easy to happen rollover.
Other features and advantages of the present invention will the following detailed description will be given in the detailed implementation section.
Detailed description of the invention
The drawings are intended to provide a further understanding of the invention, and constitutes part of specification, with following toolBody embodiment is used to explain the present invention together, but is not construed as limiting the invention.In the accompanying drawings:
Fig. 1 is the structural representation on the robot chassis of the wireless control provided in a kind of preferred embodiment of the inventionFigure；
Fig. 2 is drive axle on the robot chassis of the wireless control provided in a kind of preferred embodiment of the inventionWith rear drive shaft chassis body installation diagram；
Fig. 3 is the robot chassis top bottom-disc control of the wireless control provided in a kind of preferred embodiment of the inventionThe structural schematic diagram of system.
Description of symbols
1 chassis body, 2 trunk connector
31 drive axle, 32 rear drive shaft
41 front-wheel, 42 rear-wheel
5 control switch, 6 infrared camera
7 high-definition camera, 81 first sliding groove
82 second sliding slots
Specific embodiment
Below in conjunction with attached drawing, detailed description of the preferred embodiments.It should be understood that this place is retouchedThe specific embodiment stated is merely to illustrate and explain the present invention, and is not intended to restrict the invention.
In the present invention, in the absence of explanation to the contrary, " upper and lower, front, back, inside, outside " etc. is included in the termThe noun of locality only represents orientation of the term under normal service condition, or be those skilled in the art understand that be commonly called as, without answeringIt is considered as the limitation to the term.
As shown in Figure 1-3, the present invention provides a kind of robot chassis of wireless control, the robot of the wireless controlChassis includes: chassis body 1, drive axle 31, rear drive shaft 32 and chassis control system；The drive axle 31 and it is described afterDrive shaft 32 is arranged in parallel in respectively in the chassis body 1, and the both ends of the drive axle 31 are respectively arranged with front-wheel 41,The both ends of the rear drive shaft 32 are respectively arranged with rear-wheel 42, and opposite two sides are respectively along vertical side in the chassis body 1To first sliding groove 81 is provided with, the both ends of the drive axle 31 engage respectively to be arranged in the first sliding groove 81, the bottomOpposite two sides are also provided with second sliding slot 82, the both ends point of the rear drive shaft 32 respectively along vertical direction on disk ontology 1It Ka He not be arranged in the second sliding slot 82, the chassis control system is arranged in the chassis body 1, and the chassisControl system can control the drive axle 31 and slide along the first sliding groove 81, and the rear drive shaft 32 is along describedThe sliding of two sliding slots 82；And the chassis control system can receive the wireless control directives of background server sending.
According to the above technical scheme, when in use, the chassis is controlled on the robot chassis of wireless control provided by the inventionSystem processed is used to detect the barrier identified in front of the chassis body, and analyzes the elevation information of acquired disturbance object, describedThe height that chassis body is liftoff be also it is adjustable, when terrain clearance has a maximum value, and the maximum value is certain, is detectingWhen the elevation information of the barrier of acquisition is less than chassis body liftoff maximum height, before the chassis control system control is describedDrive shaft and rear drive shaft decline, increase the liftoff height of the chassis body indirectly, to pass through the barrier in frontHinder object.When the height of barrier is greater than the maximum terrain clearance of chassis body, the chassis control system is directly anti-by informationIt is fed to the general control system of robot, so that programming movement path, avoids barrier；In order to more effectively control robot,Chassis body in the present invention also can be carried out wireless control, send wireless controlled to the chassis control system by background serverSystem instruction controls the chassis body progress height adjustment to more be smoothly through barrier and is also convenient for staff moreClearly obtain the real time information of robot.The robot chassis of wireless control provided by the invention overcomes machine in the prior artThe height on device people chassis is typically all fixation, and chassis is too low when encountering barrier, is easy to happen the problem of bottom is dragged on chassis, shadowWith ringing robot proper motion；Chassis is excessively high, although passability becomes larger, stability reduction, and the problem of being easy to happen rollover.
In a preferred embodiment of the invention, the robot chassis of wireless control, which is characterized in that the bottomDisk control system includes: master controller and the infrared camera being connected respectively with the master controller 6, power module, lifting electricityMachine and wireless module；
The front end of the chassis body 1 is arranged in the infrared camera 6；The infrared camera 6 is described for obtainingThe image information of 1 front obstacle of chassis body, the master controller go out the height of barrier according to the image information analysis of acquisitionDegree, in the case where the height of barrier is less than the maximum height of chassis body 1, lifting motor described in the main controller controlsThe drive axle 31 and the rear drive shaft 32 is driven to move downwardly to the chassis body 1 and ground distance maximum, it is describedMaster controller receives the wireless control directives from background server by the wireless module.To be smoothly through obstacleObject, in the case where the height of the barrier is greater than the maximum height of chassis body 1, then robot planning motion path is kept awayAllow barrier.
In a preferred embodiment of the invention, the wireless module includes: 3G module, 4G module, WiFi mouldBlock and ZigBee module.Wireless module abundant facilitates staff to send control instruction to chassis control system, thus moreThe chassis body 1 is controlled well.
In a preferred embodiment of the invention, the chassis control system further includes and the master controller phaseThe front end of the chassis body 1 is arranged in high-definition camera 7 even, the high-definition camera 7, and the high-definition camera 7 obtainsThe image information in 1 front of chassis body, so that the main control more accurately analyzes the information of front obstacle, fromAnd effectively avoid barrier.
In a preferred embodiment of the invention, it is additionally provided with and the power module in the chassis body 1The control switch 5 of electrical connection, the external control switch 5 facilitates user to switch the chassis control system, using moreIt is convenient.
In a preferred embodiment of the invention, the upper surface of the chassis body 1 is provided with trunk connector2, the trunk connector 2 is in the form of a column, and the bottom of robot trunk is provided with the fixation matched with the trunk connector 2Slot, the trunk connector 2 can be fixed in the fixing groove, which facilitates robot chassis and robot bodyIt does quickly and is firmly secured at together.
In order to further increase fixed stability, in a preferred embodiment of the invention, the trunk connectsFitting 2 is at least arranged four, and is separately positioned on the upper surface corner of the chassis body 1.
In a preferred embodiment of the invention, the front-wheel 41 is bolted on drive axle 31；InstituteIt states rear-wheel 42 to be fixed on rear drive shaft 32 also by bolt, thus front-wheel 41 and the rear-wheel 42 described in easy disassembly.
It is described the prefered embodiments of the present invention in detail above in conjunction with attached drawing, still, the present invention is not limited to above-mentioned realitiesThe detail in mode is applied, within the scope of the technical concept of the present invention, a variety of letters can be carried out to technical solution of the present inventionMonotropic type, these simple variants all belong to the scope of protection of the present invention.
It is further to note that specific technical features described in the above specific embodiments, in not lanceIn the case where shield, can be combined in any appropriate way, in order to avoid unnecessary repetition, the present invention to it is various canNo further explanation will be given for the combination of energy.
In addition, various embodiments of the present invention can be combined randomly, as long as it is without prejudice to originallyThe thought of invention, it should also be regarded as the disclosure of the present invention.