CN206984165U - A kind of mobile underpan - Google Patents
A kind of mobile underpan Download PDFInfo
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- CN206984165U CN206984165U CN201720887543.9U CN201720887543U CN206984165U CN 206984165 U CN206984165 U CN 206984165U CN 201720887543 U CN201720887543 U CN 201720887543U CN 206984165 U CN206984165 U CN 206984165U
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- chassis body
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- driving wheel
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- 230000005540 biological transmission Effects 0.000 claims abstract description 3
- 238000003032 molecular docking Methods 0.000 claims description 7
- 238000001514 detection method Methods 0.000 claims description 4
- 230000005484 gravity Effects 0.000 claims description 2
- 238000003466 welding Methods 0.000 claims 1
- 238000000034 method Methods 0.000 abstract description 6
- 230000008569 process Effects 0.000 abstract description 6
- 230000006870 function Effects 0.000 description 7
- 230000004888 barrier function Effects 0.000 description 3
- 238000005516 engineering process Methods 0.000 description 3
- 230000008054 signal transmission Effects 0.000 description 3
- 238000009826 distribution Methods 0.000 description 2
- 239000000203 mixture Substances 0.000 description 2
- 230000009471 action Effects 0.000 description 1
- 238000013473 artificial intelligence Methods 0.000 description 1
- 238000013475 authorization Methods 0.000 description 1
- 238000010276 construction Methods 0.000 description 1
- 230000007547 defect Effects 0.000 description 1
- 238000009434 installation Methods 0.000 description 1
- 238000004519 manufacturing process Methods 0.000 description 1
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- 230000005855 radiation Effects 0.000 description 1
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Abstract
A kind of mobile underpan, including chassis body, ultrasonic wave module, infrared module and controller are the utility model is related to, wherein, chassis body is provided with driving wheel and the universal wheel rolled with driving wheel；Ultrasonic wave module is in chassis body, and for detecting, whether the direction of motion has obstacle and the first detectable signal of transmission is to controller；Whether to be multiple, multiple infrared modules are uniformly arranged infrared module along the internal perisporium of chassis body, spread from the table for detecting chassis body and send the second detectable signal to controller；Controller is in chassis body, for receiving the first detectable signal and the second detectable signal, and controls the driving wheel to stop or change direction with avoidance or dropproof.The utility model and machine human body are detachably connected use, avoidance and dropproof can be effectively carried out in motion process, intelligence degree is higher.
Description
Technical field
It the utility model is related to technologies of intelligent mobile field, and in particular to a kind of mobile underpan.
Background technology
Robot (Robot) is the automatic installations for performing work.It can both receive mankind commander, can run again
The program of advance layout, can also be according to the principle guiding principle action formulated with artificial intelligence technology.Its task is to assist or take
For the work of human work, such as production industry, construction industry, or dangerous work.
Often robot is required for moving during efforts, but can exist in moving process barrier or
Person's road breaks the problem of can not arriving at, although can realize in the prior art robot move or
More steady (such as the Chuan Cai robots) moved when mobile, or itself can anticollision, but seldom fundamentally solve
Robot obstacle-avoiding and it is dropproof the problem of.
Such as the Chinese utility model patent that application publication number is CN105415379A discloses a kind of emulation guest-greeting machine
People, including head machine, mechanical hand, machine body, shell, electrical control gear, adjusting means, mobile chassis and remote control.It is logical
Increase is crossed to be used to control the remote control in mobile domain, can random mobile robot, it is not necessary to which clumsy removing or pushing away.But the robot
Remote control can only by chassis Manipulation of the machine people advance, retreat, turn left or turn right, i.e., the robot chassis only have move
Function, do not possess avoidance and dropproof function but.
It is a kind of with anti-collision that Authorization Notice No. is that CN205184815U Chinese utility model patent discloses
Intelligent mobile robot, its Anti-collision mechanism are located at the front side of robot body, it include anticollision backplate, two guidance axis and with
Guidance axis corresponds the elastomeric element set；Anticollision backplate is laterally set, and side left and right ends are hingedly connected to two thereafter
The front end of root guidance axis, the rear end of guidance axis are slideably plugged in inside robot body, and rear end end have prevent from leading
Draw the limiting section that axle departs from robot body, elastomeric element is set on its corresponding guidance axis and has pretightning force；Robot sheet
Internal portion is provided with limit switch, and limit switch electrically connects with the control unit of intelligent mobile robot.Utility model structure letter
Single, anti-collision is reliable, can be applicable for the intelligent mobile robot of any load situation.But the utility model is still
Do not solve the problems, such as how robot effectively carries out avoidance and dropproof.
Utility model content
Therefore, the technical problems to be solved in the utility model is in overcoming robot of the prior art in motion process
Can not effectively avoidance and it is dropproof the defects of, so as to provide a kind of mobile underpan.The mobile chassis can be with movement machine
People is moved, and avoidance can be effectively carried out in robot moving process.
A kind of mobile underpan, including chassis body, ultrasonic wave module, infrared module and controller, wherein,
The chassis body is provided with driving wheel and the universal wheel rolled with the driving wheel；
The ultrasonic wave module is in the chassis body, for detecting whether the direction of motion has obstacle and transmission first
Detectable signal gives the controller；
Infrared module described in the infrared module is multiple, and multiple infrared modules are along between internal perisporium of the chassis body etc.
Away from setting, whether spread from the table for detecting the chassis body and send the second detectable signal to the controller；
The controller is in the chassis body, for receiving first detectable signal and the second detection letter
Number, and control the driving wheel to stop or change direction with avoidance or dropproof.
Preferably：The driving wheel is two, and the universal wheel is on the perpendicular bisector of two driving wheel lines.
Further：The line of the universal wheel and two driving wheels is triangle, the weight of the chassis body
The heart is located in the triangle.
Yet further, each driving wheel is corresponding is connected with a motor, the motor respectively with institute
Controller connection is stated, the controller controls the motor to produce chassis body change direction described in rotating speed official post with avoidance
It is or dropproof.
Preferably：The ultrasonic wave module is three, and three ultrasonic wave modules are at equal intervals along close to described universal
Take turns the perisporium distribution of side.
Preferably：The infrared module is six, and six infrared modules are along between internal perisporium of the chassis body etc.
Away from distribution.
Preferably：The upper surface of the chassis body is additionally provided with the docking elastic plugin for connecting machine human body, institute
State chassis body and the machine human body and electric signal transmission is carried out by the docking elastic plugin.
Technical solutions of the utility model, have the following advantages that：
1. ultrasonic wave module, multiple infrared modules and control mould are provided with chassis body provided by the utility model
The obstacle that block, wherein ultrasonic wave module can be used for during detection advance, and the first detectable signal is reflected by sound wave, control
Device can control the driving wheel to stop or change direction after receiving first detectable signal, so as to realize the function of avoidance；
Infrared module is arranged to multiple, and along the internal perisporium spaced set of chassis body, when chassis body any direction spreads from the table,
Infrared module may detect, and the second detectable signal of transmitting to controller, controller can after receiving second detectable signal
Control the driving wheel to stop or change direction, so as to realize dropproof function；In addition, motion of the present utility model
The form that driving wheel is combined with universal wheel is arranged to, can both save power source, can make the motion of chassis body more again
Flexibly；
2. driving wheel of the present utility model is arranged to two, and the perpendicular bisector by universal wheel located at two driving wheel lines
On, the firm triangle of three's composition, the stability that chassis body is moved can be increased；
3. the direction of chassis body changes to control by controller and is connected with each driving wheel in the utility model
The rotating speed of motor realize that chassis body carries out anticlockwise or right rotation to keep away by setting different speed discrepancy to realize
Barrier is dropproof；
4. in order to more sensitive detectable signal, the utility model is provided with described in three ultrasonic wave modules and six
Infrared mould, three ultrasonic wave modules are distributed along the perisporium close to universal wheel side at equal intervals, and six infrared modules are the bottom of along
The internal perisporium equidistantly distributed of disk body；
5. mobile chassis of the present utility model is detachably connected with machine human body, mobile chassis both can be with the machine person
Body is used alone, and can also carry out electric signal transmission by docking elastic plugin.
Brief description of the drawings
, below will be right in order to illustrate more clearly of the utility model embodiment or technical scheme of the prior art
The required accompanying drawing used is briefly described in embodiment or description of the prior art, it should be apparent that, describe below
In accompanying drawing be some embodiments of the present utility model, for those of ordinary skill in the art, do not paying creativeness
On the premise of work, other accompanying drawings can also be obtained according to these accompanying drawings.
Fig. 1 is a kind of perspective view of embodiment of the utility model；
Fig. 2 is the stereogram of mobile underpan shown in Fig. 1；
Fig. 3 is the top view of mobile underpan shown in Fig. 1 or Fig. 2.
Description of reference numerals：
1- chassis bodies；11- driving wheels；12- universal wheels；13- motors；2- ultrasonic wave modules；3- infrared modules；4-
Controller；5- docks elastic plugin.
Embodiment
The technical solution of the utility model is clearly and completely described below in conjunction with accompanying drawing, it is clear that described
Embodiment is the utility model part of the embodiment, rather than whole embodiments.Based on the embodiment in the utility model, sheet
The every other embodiment that field those of ordinary skill is obtained under the premise of creative work is not made, belongs to this practicality
Novel protected scope.
, it is necessary to explanation in description of the present utility model, term " " center ", " on ", " under ", it is "left", "right", " perpendicular
Directly ", the orientation of the instruction such as " level ", " interior ", " outer " or position relationship are based on orientation shown in the drawings or position relationship, are only
Described for the ease of description the utility model and simplifying, rather than instruction or imply signified device or element must have it is specific
Orientation, with specific azimuth configuration and operation, therefore it is not intended that to limitation of the present utility model.In addition, term " the
One ", " second ", " the 3rd " are only used for describing purpose, and it is not intended that instruction or hint relative importance.
, it is necessary to which explanation, unless otherwise clearly defined and limited, term " are pacified in description of the present utility model
Dress ", " connected ", " connection " should be interpreted broadly, for example, it may be fixedly connected or be detachably connected, or integratedly
Connection；Can be mechanical connection or electrical connection；Can be joined directly together, can also be indirectly connected by intermediary,
It can be the connection of two element internals.For the ordinary skill in the art, above-mentioned art can be understood with concrete condition
Concrete meaning of the language in the utility model.
In addition, as long as technical characteristic involved in the utility model different embodiments disclosed below is each other
Conflict can is not formed to be combined with each other.
As shown in Figure 1-2, the utility model provides a kind of mobile underpan, including chassis body 1, ultrasonic wave mould
Block 2, infrared module 3 and controller 4；Wherein, the downside of chassis body 1 is provided with two driving wheels 11 and one with driving wheel 11
The universal wheel 12 of rolling；Whether ultrasonic wave module 2 has obstacle and sends the in the chassis body 1 for detecting the direction of motion
One detectable signal is to controller 4；Infrared module 3 is multiple, and internal perisporium of multiple infrared modules 3 along chassis body 1 is equidistantly set
Put, whether spread from the table for detecting chassis body 1 and send the second detectable signal to the controller 4；Controller 4 is located at institute
State in chassis body 1, for receiving the first detectable signal and the second detectable signal, and control driving wheel 11 to stop or change direction
With avoidance or dropproof.
Ultrasonic wave module 2, infrared module 3 and control module 4 are provided with chassis body 1 provided by the utility model,
The obstacle that wherein ultrasonic wave module 2 can be used for during detection advance, and the first signal is reflected by sound wave, controller 4 connects
The wheel of driving 11 can control to retreat or rotate after receiving first signal, so as to realize the function of avoidance；Infrared module 3 is set
It is set to multiple, and is uniformly arranged along the internal perisporium of chassis body 1, when any direction of chassis body 1 spreads from the table, infrared module 3
It may detect, and launch secondary signal to controller 4, controller 4 can control the driving wheel after receiving the secondary signal
11 retreat or rotate, so as to realize dropproof function；In addition, motion of the present utility model be arranged to driving wheel 11 with
The form that universal wheel 12 is combined, power source can be both saved, can make the motion of chassis body 1 more flexible again.
As a kind of enforceable mode, driving wheel 11 of the present utility model is arranged to two, and universal wheel 12 is located at
On the perpendicular bisector of two lines of driving wheel 11, the firm triangle of three's composition, the center of gravity of chassis body 1 falls within the triangle
It is interior, in this way, further increasing the stability of the motion of chassis body 1.
In order to more improve intelligence degree of the present utility model, the utility model passes through on each driving wheel 11
A motor 13 being connected with controller 4 is correspondingly arranged, when occurring obstacle in motion process or having falling hazard, is passed through
Controller 4 controls motor 13 to produce speed discrepancy, so that chassis body 1 changes direction effectively to carry out avoidance or prevent falling
Fall.
Specifically, the ultrasonic wave module 2 can be ultrasonic detector, in robot moving process, ultrasonic wave
Detector is launched using ultrasonic wave, tested distance is measured by the time difference after the reflection of testee, echo reception, and then sentence
Whether fixed have barrier in front, when tested closer to the distance or alarm threshold value less than setting, that is, gives the control letter of controller one
Number, it is changed stroke；Infrared module 3 can be infrared detector, and each infrared detector includes RF transmitter, connect
Receive device and signal processor, the signal output part of signal processor are connected through infrared transmitter with RF transmitter；
Signal input part is connected through infrared radiation receiving circuit with infrared receiver, in proper motion, each infrared detector and water
The distance of flat surface is fixed, such as 20mm, and now the distance of infrared detector and level table is worked as in write-in in signal processor
During more than 30mm or other data, signal processor sends feedback signal to controller 4, the controller 4 fallen and controls chassis sheet
Body 1 changes stroke, so as to realize dropproof purpose, in the present embodiment in order to more sensitive detectable signal, improves
Avoidance performance of the present utility model and dropproof performance, the utility model is provided with three ultrasonic wave modules 2 and six described red
Outer mold piece 3, three ultrasonic wave modules 2 are distributed along the perisporium close to universal wheel side at equal intervals, six edges of infrared module 3
The internal perisporium equidistantly distributed of chassis body 1.
As shown in figure 3, as a kind of enforceable mode, the utility model can be set in the upper surface of chassis body 1
For connecting the docking elastic plugin 5 of machine human body, chassis body 1 and the machine human body can be inserted by docking elasticity
Part 5 is detachably connected horizontal electrical signal transmission of going forward side by side；When the two is used alone, respective function is not influenceed, when the two is connected,
Can be by chassis body 1 with the movement of mobile robot body, rotation, avoidance etc., easy to operate, using flexible.
Obviously, above-described embodiment is only intended to clearly illustrate example, and is not the restriction to embodiment.It is right
For those of ordinary skill in the art, can also make on the basis of the above description it is other it is various forms of change or
Change.There is no necessity and possibility to exhaust all the enbodiments.And the obvious change thus extended out or
Among the protection domain that variation is created still in the utility model.
Claims (7)
- A kind of 1. mobile underpan, it is characterised in that including chassis body, ultrasonic wave module, infrared module and controller, Wherein,The chassis body is provided with driving wheel and the universal wheel rolled with the driving wheel；The ultrasonic wave module is in the chassis body, for detecting whether the direction of motion has obstacle and the detection of transmission first Signal gives the controller；The infrared module is multiple, and internal perisporium of multiple infrared modules along the chassis body is uniformly arranged, for detecting State whether chassis body spreads from the table and send the second detectable signal to the controller；The controller is in the chassis body, for receiving first detectable signal and second detectable signal, And the driving wheel is controlled to stop or change direction with avoidance or dropproof.
- 2. mobile chassis according to claim 1, it is characterised in that the driving wheel is two, and the universal wheel is located at On the perpendicular bisector of two driving wheel lines.
- 3. mobile chassis according to claim 2, it is characterised in that the line of the universal wheel and two driving wheels Triangle, the center of gravity of the chassis body is located in the triangle.
- 4. mobile chassis according to claim 3, it is characterised in that each driving wheel is corresponding to be connected with a driving Motor, the motor are connected with the controller respectively, and the controller controls the motor to produce rotating speed official post The chassis body changes direction with avoidance or dropproof.
- 5. mobile chassis according to claim 1, it is characterised in that the ultrasonic wave module is three, and three described super Sound wave module is distributed along the perisporium close to the universal wheel side at equal intervals.
- 6. mobile chassis according to claim 1, it is characterised in that the infrared module is six, six described infrared Internal perisporium equidistantly distributed of the module along the chassis body.
- 7. mobile chassis according to claim 1, it is characterised in that the upper surface of the chassis body is additionally provided with for connecting The docking elastic plugin of welding robot body, the chassis body and the machine human body are entered by the docking elastic plugin Horizontal electrical signal transmits.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201720887543.9U CN206984165U (en) | 2017-07-20 | 2017-07-20 | A kind of mobile underpan |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201720887543.9U CN206984165U (en) | 2017-07-20 | 2017-07-20 | A kind of mobile underpan |
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| Publication Number | Publication Date |
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| CN206984165U true CN206984165U (en) | 2018-02-09 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN201720887543.9U Expired - Fee Related CN206984165U (en) | 2017-07-20 | 2017-07-20 | A kind of mobile underpan |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110377013A (en) * | 2018-04-12 | 2019-10-25 | 深圳市三诺数字科技有限公司 | A kind of intelligent sound and human body method for tracing with human body tracking function |
-
2017
- 2017-07-20 CN CN201720887543.9U patent/CN206984165U/en not_active Expired - Fee Related
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110377013A (en) * | 2018-04-12 | 2019-10-25 | 深圳市三诺数字科技有限公司 | A kind of intelligent sound and human body method for tracing with human body tracking function |
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| GR01 | Patent grant | ||
| GR01 | Patent grant | ||
| TR01 | Transfer of patent right | ||
| TR01 | Transfer of patent right |
Effective date of registration: 20191113 Address after: Room 16-17, 11th floor, building a, No. 89 Zhongshan Avenue, Tianhe District, Guangzhou City, Guangdong Province, 510000 Patentee after: Guangzhou jiezhixin Technology Co., Ltd. Address before: 100086, No. 2, No. 43 West Third Ring Road, Beijing, Haidian District, building No. 12, F15 Patentee before: CHINA AVIC AVIONICS SYSTEM CO., LTD., BEIJING TECHNOLOGY RESEARCH AND DEVELOPMENT CENTER |
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| CF01 | Termination of patent right due to non-payment of annual fee | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20180209 Termination date: 20200720 |