The invention discloses a universal wheel detection structure and a mobile robot. The structure comprises a roller seat which is provided with a through hole and a reflection mark, a roller, and a light intensity sensor, wherein the roller is movably arranged below the roller seat, and reflective stripes are arranged on the surface of the roller; and the light intensity sensor is arranged above the roller seat, and the light intensity sensor is used for detecting a rotation condition of the roller seat orand detecting the rotation condition of the roller through the through hole. The mobile robot can judge whether the mobile robot is stuck or makes a turn or not by detecting universal wheels, and a judgment capacity and accuracy of the mobile robot are improved.
本发明公开了一种万向轮的检测结构以及移动机器人,包括:滚轮座,该滚轮座上设有通孔和反光标识;滚轮,该滚轮可活动的设置在所述滚轮座的下方,所述滚轮的表面设有反光条纹;光强度传感器,该光强度传感器设置在所述滚轮座的上方,所述光强度传感器用于检测滚轮座的转动情况或/和通过通孔检测滚轮的转动情况。移动机器人可以通过检测万向轮来判断自身是否被卡住或正在进行转弯,提高了移动机器人的判断能力和准确度。
Universal wheel detection structure and mobile robot
万向轮的检测结构以及移动机器人
2020-11-27
Patent
Electronic Resource
Chinese
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