The invention provides a mobile robot capable of tracking and advancing along brick joints, which comprises a mobile robot main body provided with a head part and a tail part, the bottom of the mobile robot main body is provided with steering wheels, and the head part and the tail part are respectively provided with a laser transmitter; a first group of photoelectric sensor array and a second group of photoelectric sensor array are arranged on the head part, a third group of photoelectric sensor array corresponding to the first group of photoelectric sensor array is arranged on the tail part, and the photoelectric sensor arrays are electrically connected with a signal receiving end of the mobile robot main body. The photoelectric sensor arrays in the first group of photoelectric sensor arrays correspond to the photoelectric sensor arrays in the third group of photoelectric sensor arrays in pairs so as to judge whether the robot is in a linear advancing state or not; and the second group of photoelectric sensor array is used for further judging the deviation direction of the robot, so that the steering wheel is adjusted to enable the robot to move forward along the tile joint in a tracking manner. The invention aims to solve the problem that the robot can complete the driving of the predetermined route by judging the brick joint under the condition of unmanned guidance in an indoor environment.

    本发明提供一种能沿砖缝循迹前行的移动机器人,包括设有头部和尾部的移动机器人主体,移动机器人主体的底部设有转向轮,头部和尾部分别设有激光发射器;头部上装有第一组光电传感器阵列和第二组光电传感器阵列,尾部上装有与第一组光电传感器阵列对应的第三组光电传感器阵列,且光电传感器阵列均与移动机器人主体的信号接收端电连接。第一组光电传感器阵列与第三组光电传感器阵列中的光电传感器阵列两两对应,以判断机器人是否处于直线前进状态;第二组光电传感器阵列用于进一步判断机器人偏移的方向,从而调整转向轮以使得机器人沿砖缝循迹前行。本发明旨在解决室内环境下,机器人能在无人引导的情况下通过判别砖缝来完成预定路线的行驶。


    Access

    Download


    Export, share and cite



    Title :

    Mobile robot capable of moving forward along brick joint in tracking mode and tracking method of mobile robot


    Additional title:

    一种能沿砖缝循迹前行的移动机器人及其循迹方法


    Contributors:
    FANG QIU (author) / HE ZHIHAO (author) / GUO XINGHAO (author) / HUANG ZHIYUAN (author)

    Publication date :

    2023-08-22


    Type of media :

    Patent


    Type of material :

    Electronic Resource


    Language :

    Chinese


    Classification :

    IPC:    G01S RADIO DIRECTION-FINDING , Funkpeilung / B62D MOTOR VEHICLES , Motorfahrzeuge



    Tracking Multiple Moving Objects with a Mobile Robot

    Schulz, D. / Burgard, W. / Fox, D. et al. | British Library Conference Proceedings | 2001


    Tracking multiple moving objects with a mobile robot

    Schulz, D. / Burgard, W. / Fox, D. et al. | IEEE | 2001


    Mobile robot moving platform capable of climbing stairs

    GAO XUESHAN / YE JUNJIE / HAO LIANGCHAO et al. | European Patent Office | 2022

    Free access


    People Tracking on a Mobile Companion Robot

    Volkhardt, Michael / Weinrich, Christoph / Gross, Horst-Michael | IEEE | 2013