CN201626318U - Remotely-controlled wheel type mobile robot platform - Google Patents
Remotely-controlled wheel type mobile robot platform Download PDFInfo
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- CN201626318U CN201626318U CN2010201191291U CN201020119129U CN201626318U CN 201626318 U CN201626318 U CN 201626318U CN 2010201191291 U CN2010201191291 U CN 2010201191291U CN 201020119129 U CN201020119129 U CN 201020119129U CN 201626318 U CN201626318 U CN 201626318U
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
- Y02T10/00—Road transport of goods or passengers
- Y02T10/60—Other road transportation technologies with climate change mitigation effect
- Y02T10/70—Energy storage systems for electromobility, e.g. batteries
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Abstract
The utility model discloses a remotely-controlled wheel type mobile robot platform. A platform frame uses a box-type structure, and the inside part of the platform frame is provided with a vehicle-mounted electronic device and a battery box. The platform frame is provided with a wheel-mounted four-wheel drive traveling gear driven by a traction motor. The vehicle-mounted electronic device mainly comprises a motor driver, an ultrasonic sensor, an IP camera, a vehicle control unit, a GPS, an inertial navigation system, and a wireless communication system. The video image, the position coordinate and the exact posture of the platform at the front part and the rear part of the robot platform can be seen on a ground remote console. The robot platform is controlled to work by operating a control handle and a button. The front part and the rear part of the robot platform are respectively provided with the ultrasonic sensor which is capable of automatically avoiding the obstacle to a certain extent. The robot platform is used for transporting, detecting and rescuing under the hazardous environment including earthquake, fire disaster and the like, carrying the agricultural equipment including pesticide spraying device and the like for civil use, and conducting detection, patrol and carrying detection devices or weapons for military use.
Description
Technical field
The utility model relates to a kind of mobile robot platform, particularly relates to a kind of remote control wheel type mobile robot platform.
Background technology
Remote control wheel type mobile robot has its outstanding preceence, and it can reduce people's labour intensity greatly, promotes work efficiency, is particularly useful for the work of some character danger, as speedily carry out rescue work, the detection of fire, unknown region and military surveillance etc.At present, remote control wheel type mobile robot purposes militarily is increasingly extensive, and is civilian less relatively, especially less to the research of universal remote control wheel type mobile robot platform.
The utility model content
But technical problem to be solved in the utility model provides a kind of ultra-viewing distance remote control operation, can match the remote control wheel type mobile robot platform of multiple equipment.
In order to solve the problems of the technologies described above, the remote control wheel type mobile robot platform that the utility model provides, comprise the platform vehicle frame, vehicle electronic device and ground remote control control desk, described platform vehicle frame adopts case structure, described vehicle electronic device is installed in the casing of described platform vehicle frame, on described platform vehicle frame, be provided with the equipment bearing, in described platform vehicle frame, be provided with storage battery, be respectively equipped with by driven off by shaft former and later two drive wheels of transmission in described platform vehicle frame both sides, described drive wheel in described platform vehicle frame both sides has a described drive wheel to be in transmission connection by reductor and traction electric machine respectively, described traction electric machine is provided with traction electric machine actuator and magnet stopper, work drive motor is connected with work drive motor actuator and Hydraulic Pump, described Hydraulic Pump is connected with hydraulic reservoir and oil sources piece, and described traction electric machine actuator and work drive motor actuator are electrically connected with described vehicle electronic device.
Described vehicle electronic device is a plurality of ultrasonic transduters that install entire car controller, gps system, inertial navigation system, wireless telecommunication system, preposition IP camera, rearmounted IP camera and front and back, described entire car controller links to each other with traction electric machine actuator, work drive motor actuator, gps system, inertial navigation system, wireless telecommunication system, preposition IP camera, rearmounted IP camera and ultrasonic transduter electricity by the CAN bus, and described entire car controller is by described wireless telecommunication system and the wireless connections of described ground remote control control desk.
Relative type rotary encoder is installed on the described traction electric machine, traction electric machine, rotary encoder and magnet stopper are connected with motor driver respectively, described motor driver is gathered rotating speed of motor and control motor braking, and output U, V, W three phase current carry out variable frequency control to motor.
Described preposition IP camera changes optical signal into digital format that vision signal becomes its encoding compression MPEG4 again with rearmounted IP camera, again by the video signal transmission of wireless bridge after with encoding compression to described ground remote control control desk, through after the decoding vision signal being presented on the screen of described ground remote control control desk.
Described ground remote control control desk sends remote signal, wireless bridge receives the data format that the back is converted into remote signal by CAN/ ethernet modular converter the CAN bus, and be transferred to described entire car controller by CAN bus 19, described entire car controller 15 sends executive command according to remote signal again, thereby realizes remote manipulation.
Adopt the remote control wheel type mobile robot platform of technique scheme, comprise platform vehicle frame, vehicle electronic device and ground remote control control desk composition.Described platform vehicle frame adopts case structure, in be provided with vehicle electronic device, Battery case.Platform truck has set up wheeled four wheel drive running gear, and running gear is made up of traction electric machine actuator, traction motor, reductor, transmission shaft and wheel.On described platform vehicle frame, be provided with the equipment bearing, be used for carrying the equipment of apolegamy.Described vehicle electronic device is installed in the described platform vehicle frame casing, mainly comprises motor driver, ultrasonic transduter, IP camera, entire car controller, GPS, inertial navigation system, wireless telecommunication system.Described ground remote control control desk mainly comprises Liquid Crystal Display (LCD), operating handle, state display instrument, scram button and input keyboard.The utility model remote control wheel type mobile robot platform is owing to adopt GPS and inertial navigation system to combine observer robot flat-bed position and attitude, the telecommand control robot platform work of sending by the ground remote control control desk, finish and advance, fall back, turn to and drive operation such as apolegamy equipment action, particularly have the function of ultra-viewing distance remote control.Described robot platform adopts case structure and wheeled four wheel drive traveling gear, and travelling performance is strong, and good environmental adaptability adopts storage battery power supply, does not have exhaust emissions, and noise is little, shakes little.Can realize different functions by carrying the different operating device in use.Be used for transportation on civilian, the scouting under the hazardous environments such as earthquake, fire is speedily carried out rescue work, and reaches farming devices such as carrying pesticide spraying, militarily can be used as the instrument of tasks such as carrying out scouting, patrol, lift-launch detector or weapon.
Description of drawings
Fig. 1 is the utility model remote control wheel type mobile robot platform inner structure scheme drawing;
Fig. 2 is a ground remote control control desk structural representation.
The specific embodiment
The utility model is described in further detail below in conjunction with the drawings and specific embodiments.
Referring to Fig. 1 and Fig. 2, platform vehicle frame 28 adopts case structure, on platform vehicle frame 28, be provided with the equipment bearing, in platform vehicle frame 28, be provided with storage battery 1, be respectively equipped with former and later two drive wheels 29 by transmission shaft 2 transmissions in platform vehicle frame 28 both sides, drive wheel 29 in platform vehicle frame 28 both sides has a drive wheel 29 to be in transmission connection by reductor 6 and traction electric machine 4 respectively, traction electric machine 4 is provided with traction electric machine actuator 3 and magnet stopper 5, work drive motor 9 is connected with work drive motor actuator 10 and Hydraulic Pump 11, Hydraulic Pump 11 is connected with hydraulic reservoir 13 and oil sources piece 12, in platform vehicle frame 28, be provided with power module 14, entire car controller 15, gps system 17, inertial navigation system 18 and wireless telecommunication system 20, platform vehicle frame 28 also is provided with preposition IP camera 16, rearmounted IP camera 8, front and back are equipped with a plurality of ultrasonic transduters 7, entire car controller 15 is by CAN bus 19 and traction electric machine actuator 3, work drive motor actuator 10, gps system 17, inertial navigation system 18, wireless telecommunication system 20, preposition IP camera 16, rearmounted IP camera 8 links to each other with ultrasonic transduter 7 electricity, and entire car controller 15 is by wireless telecommunication system 20 and 27 wireless connections of ground remote control control desk.Relative type rotary encoder is installed on the traction electric machine 4, traction electric machine 14, rotary encoder and magnet stopper 5 are connected with traction electric machine actuator 3 respectively, traction electric machine actuator 3 is gathered the rotating speed and the control motor braking of traction electric machines 4, and output U, V, W three phase current carry out variable frequency control to traction electric machine 4.
Referring to Fig. 1 and Fig. 2, storage battery 1 is powered to traction electric machine 4 and work drive motor 9 respectively by traction electric machine actuator 3 and work drive motor actuator 10, traction electric machine 4 one ends link to each other with magnet stopper 5, the other end links to each other with reductor 6 input ends, the mouth of reductor 6 is distributed to former and later two drive wheels 29 by transmission shaft 2 with moment of torsion and rotating speed, work drive motor 9 links to each other with Hydraulic Pump 11 and produces the hydraulic pressure energy, so that hydraulic efficiency power unit is provided for the equipment of apolegamy.Entire car controller 15, traction electric machine actuator 3, work drive motor actuator 10, gps system 17, inertial navigation system 18, wireless telecommunication system 20 pass through control bus--CAN bus 19 (Controller Area Network, be controller local area network) link to each other, entire car controller 15 is handled the onboard sensor signal gathered and car status information that wireless telecommunication system 20 is passed to by CAN bus 19 in the packing back and then compressed video signal that CAN bus 19 data, preposition IP camera 16 and rearmounted IP camera 8 are gathered transfers to ground remote control control desk 27.The teleoperator of ground remote control control desk 27 is by coming operate ground push-button control console 27 to send the remote manipulation signal with reference to vehicle-state of passing back (being shown by state display instrument 23) and real time video image (being shown by LCDs 21).Mainly contain equipment operating handle 22, running gear operating handle 24, scram button 25 and 4X4 keyboard 26 on the control panel of ground remote control control desk 27.Wireless telecommunication system 20 is sent to entire car controller 15 with it by CAN bus 19 after receiving the remote manipulation signal that sends of ground remote control control desk 27.Entire car controller 15 will send command adapted thereto to traction electric machine actuator 3 and work drive motor actuator 10 after receiving the remote manipulation signal, to drive traction electric machine 4 and work drive motor 9 realization stepless frequency controls respectively.Traction electric machine 4 drive wheels have realized moving of robot platform like this; Work drive motor 9 drives Hydraulic Pump 11 and provides hydraulic efficiency power unit for the equipment of matching.Entire car controller 15 is reserved with multiple I/O interfaces such as 12 passage PWM output, the output of 8 passage digital quantities, the input of 8 tunnels analogy amounts, the input of 8 passage digital quantities and 4 passage high-speed pulse inputs, being used for driving executive device such as electro-hydraulic proportional valve on the equipment of being matched, and then realized selected allotment of labor is done the control of device.So, realized remote manipulation to this mobile robot platform.Equipment bearing at the different described robot platforms of operating mode can be installed the multi freedom degree mechanical hand, multiple equipments such as backhoe excavating device, crowd shovel loading attachment, hydraulic breaking hammer, hydraulic pressure are cut, auger, can in hazardous environment, realize removing/destroying the robotization of work such as dangerous article, excavation of earthwork loading, stone fragmentation, safe and reliable, can guarantee staff's safety and health.Described robot platform is used for transportation on civilian, the scouting under the hazardous environments such as earthquake, fire is speedily carried out rescue work, and reaches farming devices such as carrying pesticide spraying, militarily can be used as the instrument of tasks such as carrying out scouting, patrol, lift-launch detector or weapon.
Used up-to-date technologys such as CAN bus 19, the conversion of CAN/ ethernet, wireless network transmissions to realize distant control function.Specific implementation is: ground remote control control desk 27 sends remote signal, wireless bridge receives the data format that the back is converted into remote signal by CAN/ ethernet modular converter CAN bus 19, and be transferred to entire car controller 15 by CAN bus 19, entire car controller 19 sends executive command according to remote signal again, thereby realizes remote manipulation.
Used the integrated navigation mode of GPS, realized the positioning and directing of described robot platform in conjunction with inertial navigation.
Ultrasonic transduter 7 has been installed in its front-end and back-end, realizes the detection to peripheral obstacle, thus the effectively generation of crash-avoidance accident.
Be reserved with multi-channel PWM/digital quantity signal output interface and hydraulic power source apparatus, can match multiple supporting equipment.
Advantage of the present utility model:
1, adopt storage battery power supply, use the variable-frequency control technique drive motors, emission-free discharging, noise is little, vibration is little, and speed governing is steady, high efficiency.
2, distinctive four-wheel drive walking mechanism, two traction electric machine difference drive both sides wheels can be realized 360 degree pivot studs, and travelling performance is good, and environmental suitability is strong.
3, adopt the motor regenerative braking, braking moment is big, and braking procedure is steady, adopts simultaneously electromagnetic brake to stop in emergency when the contingency guaranteeing.
4, front and back are equipped with a plurality of ultrasonic sensors, can in time find the platform peripheral obstacle, and can send the automatic obstacle avoiding order or alert is manually kept away barrier by entire car controller.
5, the High Performance IP camera is equipped with, can real-time coding compressed video signal, and can be implemented in the vision signal of high quality under the condition that takies littler wireless telecommunications bandwidth resources.
6, being equipped with hydraulic power source apparatus and multichannel automatically controlled signal I/O interface, can refuting and connect the equipment that multiple electric liquid drives, is that collection is mechanical, electrical, integrated typical case's application at night.
7, adopt GPS and inertial navigation system integrated navigation, can position orientation to platform accurately.
Claims (5)
1. remote control wheel type mobile robot platform, comprise platform vehicle frame (28), vehicle electronic device and ground remote control control desk (27), it is characterized in that: described platform vehicle frame (28) adopts case structure, described vehicle electronic device is installed in the casing of described platform vehicle frame (28), on described platform vehicle frame (28), be provided with the equipment bearing, in described platform vehicle frame (28), be provided with storage battery (1), be respectively equipped with former and later two drive wheels (29) by transmission shaft (2) transmission in described platform vehicle frame (28) both sides, described drive wheel (29) in described platform vehicle frame (28) both sides has a described drive wheel (29) to be in transmission connection by reductor (6) and traction electric machine (4) respectively, described traction electric machine (4) is provided with traction electric machine actuator (3) and magnet stopper (5), work drive motor (9) is connected with work drive motor actuator (10) and Hydraulic Pump (11), described Hydraulic Pump (11) is connected with hydraulic reservoir (13) and oil sources piece (12), and described traction electric machine actuator (3) and work drive motor actuator (10) are electrically connected with described vehicle electronic device.
2. remote control wheel type mobile robot platform according to claim 1, it is characterized in that: described vehicle electronic device is entire car controller (15), gps system (17), inertial navigation system (18), wireless telecommunication system (20), preposition IP camera (16), a plurality of ultrasonic transduters (7) that install rearmounted IP camera (8) and front and back, described entire car controller (15) is by CAN bus (19) and traction electric machine actuator (3), work drive motor actuator (10), gps system (17), inertial navigation system (18), wireless telecommunication system (20), preposition IP camera (16), rearmounted IP camera (8) links to each other with ultrasonic transduter (7) electricity, and described entire car controller (15) is by described wireless telecommunication system (20) and described ground remote control control desk (27) wireless connections.
3. remote control wheel type mobile robot platform according to claim 1 and 2, it is characterized in that: relative type rotary encoder is installed on the described traction electric machine (4), traction electric machine, rotary encoder and magnet stopper are connected with motor driver respectively, described motor driver is gathered rotating speed of motor and control motor braking, and output U, V, W three phase current carry out variable frequency control to motor.
4. remote control wheel type mobile robot platform according to claim 2, it is characterized in that: described preposition IP camera (16) changes optical signal into digital format that vision signal becomes its encoding compression MPEG4 again with rearmounted IP camera (8), again by the video signal transmission of wireless bridge after with encoding compression to described ground remote control control desk (27), through after the decoding vision signal being presented on the screen of described ground remote control control desk (27).
5. remote control wheel type mobile robot platform according to claim 1 and 2, it is characterized in that: described ground remote control control desk (27) sends remote signal, wireless bridge receives the data format that the back is converted into remote signal by CAN/ ethernet modular converter CAN bus (19), and be transferred to described entire car controller (15) by CAN bus (19), described entire car controller (15) sends executive command according to remote signal again, thereby realizes remote manipulation.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN2010201191291U CN201626318U (en) | 2010-02-26 | 2010-02-26 | Remotely-controlled wheel type mobile robot platform |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN2010201191291U CN201626318U (en) | 2010-02-26 | 2010-02-26 | Remotely-controlled wheel type mobile robot platform |
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| CN201626318U true CN201626318U (en) | 2010-11-10 |
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| CN2010201191291U Expired - Lifetime CN201626318U (en) | 2010-02-26 | 2010-02-26 | Remotely-controlled wheel type mobile robot platform |
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Cited By (12)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101850727A (en) * | 2010-02-26 | 2010-10-06 | 湖南山河智能机械股份有限公司 | Remote control wheel type mobile robot platform |
| CN102621986A (en) * | 2012-04-13 | 2012-08-01 | 西北农林科技大学 | Navigation control system based on vision and ultrasonic waves |
| CN103771074A (en) * | 2014-01-24 | 2014-05-07 | 南通耀华机电有限公司 | Domestic remote-control transporting device |
| CN103926924A (en) * | 2014-04-15 | 2014-07-16 | 哈尔滨工程大学 | Method for controlling ice and snow robot |
| CN104057835A (en) * | 2013-03-22 | 2014-09-24 | 中国人民解放军装甲兵工程学院 | General remote control wheeled mobile robot |
| CN104216406A (en) * | 2013-06-05 | 2014-12-17 | 中国石油天然气集团公司 | Device and method for controlling four-wheel drive omni-directional chassis |
| CZ305593B6 (en) * | 2013-09-25 | 2015-12-30 | Vysoké Učení Technické V Brně | Self-propelled mobile platform |
| CN106803331A (en) * | 2015-11-26 | 2017-06-06 | 衡阳市利美电瓶车制造有限责任公司 | A kind of railless electric flatcar remote control |
| CN107656525A (en) * | 2017-09-28 | 2018-02-02 | 佛山科学技术学院 | A kind of distance type flexible transport platform truck |
| CN110005009A (en) * | 2019-05-06 | 2019-07-12 | 浙江君泰生态环保科技有限公司 | A submersible dredging robot and its dredging method |
| CN110587610A (en) * | 2019-09-23 | 2019-12-20 | 芜湖安普机器人产业技术研究院有限公司 | Independent suspension mobile robot control system for farm based on 5G cloud scheduling system |
| CN113022286A (en) * | 2021-04-19 | 2021-06-25 | 安徽工程大学 | Full-line control omnidirectional vehicle chassis system and control method |
-
2010
- 2010-02-26 CN CN2010201191291U patent/CN201626318U/en not_active Expired - Lifetime
Cited By (15)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101850727A (en) * | 2010-02-26 | 2010-10-06 | 湖南山河智能机械股份有限公司 | Remote control wheel type mobile robot platform |
| CN102621986A (en) * | 2012-04-13 | 2012-08-01 | 西北农林科技大学 | Navigation control system based on vision and ultrasonic waves |
| CN104057835B (en) * | 2013-03-22 | 2017-08-29 | 中国人民解放军装甲兵工程学院 | A kind of universal remote control wheeled mobile robot |
| CN104057835A (en) * | 2013-03-22 | 2014-09-24 | 中国人民解放军装甲兵工程学院 | General remote control wheeled mobile robot |
| CN104216406B (en) * | 2013-06-05 | 2017-07-14 | 中国石油天然气集团公司 | The control device and control method on a kind of four-wheel drive omnidirectional chassis |
| CN104216406A (en) * | 2013-06-05 | 2014-12-17 | 中国石油天然气集团公司 | Device and method for controlling four-wheel drive omni-directional chassis |
| CZ305593B6 (en) * | 2013-09-25 | 2015-12-30 | Vysoké Učení Technické V Brně | Self-propelled mobile platform |
| CN103771074A (en) * | 2014-01-24 | 2014-05-07 | 南通耀华机电有限公司 | Domestic remote-control transporting device |
| CN103926924A (en) * | 2014-04-15 | 2014-07-16 | 哈尔滨工程大学 | Method for controlling ice and snow robot |
| CN106803331A (en) * | 2015-11-26 | 2017-06-06 | 衡阳市利美电瓶车制造有限责任公司 | A kind of railless electric flatcar remote control |
| CN107656525A (en) * | 2017-09-28 | 2018-02-02 | 佛山科学技术学院 | A kind of distance type flexible transport platform truck |
| CN110005009A (en) * | 2019-05-06 | 2019-07-12 | 浙江君泰生态环保科技有限公司 | A submersible dredging robot and its dredging method |
| CN110587610A (en) * | 2019-09-23 | 2019-12-20 | 芜湖安普机器人产业技术研究院有限公司 | Independent suspension mobile robot control system for farm based on 5G cloud scheduling system |
| CN113022286A (en) * | 2021-04-19 | 2021-06-25 | 安徽工程大学 | Full-line control omnidirectional vehicle chassis system and control method |
| CN113022286B (en) * | 2021-04-19 | 2023-12-05 | 安徽工程大学 | Full-line-control omnidirectional vehicle chassis system and control method |
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| Date | Code | Title | Description |
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| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant | ||
| CX01 | Expiry of patent term | ||
| CX01 | Expiry of patent term |
Granted publication date: 20101110 |