CN107817793A - Forward type tracks robot automatically - Google Patents
Forward type tracks robot automatically Download PDFInfo
- Publication number
- CN107817793A CN107817793A CN201710899707.4A CN201710899707A CN107817793A CN 107817793 A CN107817793 A CN 107817793A CN 201710899707 A CN201710899707 A CN 201710899707A CN 107817793 A CN107817793 A CN 107817793A
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- China
- Prior art keywords
- encoder
- forward type
- motor
- chassis
- rotating shaft
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- 230000007246 mechanism Effects 0.000 claims abstract description 10
- 229920000742 Cotton Polymers 0.000 claims description 7
- 241000209140 Triticum Species 0.000 claims 1
- 235000021307 Triticum Nutrition 0.000 claims 1
- 230000005622 photoelectricity Effects 0.000 claims 1
- 230000000875 corresponding effect Effects 0.000 description 11
- 238000010146 3D printing Methods 0.000 description 2
- 238000001514 detection method Methods 0.000 description 2
- 238000005516 engineering process Methods 0.000 description 2
- XAGFODPZIPBFFR-UHFFFAOYSA-N aluminium Chemical compound [Al] XAGFODPZIPBFFR-UHFFFAOYSA-N 0.000 description 1
- 229910052782 aluminium Inorganic materials 0.000 description 1
- 230000003321 amplification Effects 0.000 description 1
- 230000004888 barrier function Effects 0.000 description 1
- 230000002146 bilateral effect Effects 0.000 description 1
- 230000008859 change Effects 0.000 description 1
- 238000006243 chemical reaction Methods 0.000 description 1
- 238000006073 displacement reaction Methods 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 230000006698 induction Effects 0.000 description 1
- 238000007689 inspection Methods 0.000 description 1
- 238000000034 method Methods 0.000 description 1
- 238000003199 nucleic acid amplification method Methods 0.000 description 1
- 238000005457 optimization Methods 0.000 description 1
- 238000004804 winding Methods 0.000 description 1
Classifications
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0231—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means
Landscapes
- Physics & Mathematics (AREA)
- Engineering & Computer Science (AREA)
- Electromagnetism (AREA)
- Aviation & Aerospace Engineering (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- General Physics & Mathematics (AREA)
- Automation & Control Theory (AREA)
- Manipulator (AREA)
Abstract
The invention discloses a kind of forward type to track robot automatically, including chassis, there is driving wheel, driving wheel power connector to motor on the chassis, 1 position detecting mechanism is respectively arranged on the left side and the right side positioned at the chassis on the chassis, each position detecting mechanism includes：Rotating shaft that is rotatable and upwardly extending, is fixed on rotating shaft upper end and the turntable to extend back, and front end is connected to the bracing wire on turntable, the encoder to match with the lower end of rotating shaft, the equal signal of pressure inductor, encoder is transferred to a single-chip microcomputer, meanwhile, single-chip microcomputer and motor match.It is an advantage of the invention that：Easily controllable, accurate positioning is widely used.
Description
Technical field
The present invention relates to robotic technology field, and robot is tracked automatically more particularly, to a kind of forward type.
Background technology
Currently used tracking machine tracks at user rear per capita, and its tracking mode uses bikini positioning mode mostly
Know method for distinguishing with color and figure tracking.Wherein, bikini positioning mode principle is similar to GPS location, but space when in use
Scope is small, is vulnerable to signal interference and the shielding in magnetic field；Figure tracking is identified by camera to color of object and shape
Remember and analyze and reach the effect of tracking, but its camera power consumption is big, has barrier or tracked object to carry out irregularly
Easily with losing target when mobile.That is, common tracking robot is extremely restricted in use range.
The content of the invention
It is an object of the invention to provide a kind of forward type to track robot automatically, and it has easily controllable, accurate positioning, uses
The characteristics of extensive on the way.
The technical solution adopted in the present invention is：Forward type tracks robot, including chassis automatically, has on the chassis and drives
Driving wheel, driving wheel power connector to motor, 1 position inspection is respectively arranged on the left side and the right side positioned at the chassis on the chassis
Mechanism is surveyed, each position detecting mechanism includes：Rotating shaft that is rotatable and upwardly extending, is fixed on rotating shaft upper end and extends back
Turntable, front end are connected to the bracing wire on turntable, and the encoder of the lower end matching of rotating shaft, the equal signal of pressure inductor, encoder
A single-chip microcomputer is transferred to, meanwhile, single-chip microcomputer and motor match.
Cotton rope motor is fixed with the turntable, bobbin is fixed with the power output shaft of cotton rope motor, bracing wire is right two-by-two
That answers is connected on bobbin.
The bobbin is 3D printing bobbin.
The lower end of the rotating shaft is fixed with active synchronization wheel, and corresponding encoder has driven synchronizing wheel, active synchronization wheel
Connected between corresponding driven synchronizing wheel by timing belt.
The encoder is optical-electricity encoder.
The motor is the motor with encoder.
The bracing wire is Kev bracing wire.
There is the upper plate for linking together and being parallel to each other and lower plate, motor to be fixed on upper plate and lower plate on the chassis
Between.
The driving wheel uses Mecanum wheel.
The invention has the advantages that compared with the prior art,：Easily controllable, accurate positioning is widely used.The present invention
Forward type track the induction of signal mode that robot changes traditional robot automatically, when in use, robot positioned at use
The front of person, so as to reduce the processing pressure of controller, preferably tracked object can be positioned, or even can be real
Now to being traced the pre- judgement of ohject displacement, so it is greatly broadened the use range of robot.For example it can apply to big negative
It is downloaded from motion tracking transport, the fields such as auxiliary disabled person guide, indoor anti-terrorism and bomb disposal is combined with GPS.
Brief description of the drawings
The present invention is further described with reference to the accompanying drawings and examples：
Fig. 1 is the stereogram (one kind in Mecanum wheel is only shown in figure) of embodiments of the invention.
In figure：
1st, chassis, 101, upper plate, 102, lower plate, 11, driving wheel；
20th, motor；
30th, position detecting mechanism, 31, rotating shaft, 311, active synchronization wheel, 32, turntable, 321, cotton rope motor, 322, bobbin,
33rd, bracing wire, 34, encoder, 341, driven synchronizing wheel, 35, timing belt.
Embodiment
Embodiment, as shown in Figure 1：Forward type tracks robot, including chassis 10 automatically.Have at least 3 on the chassis 10
Individual preferably 4 driving wheels 11, the power connector of driving wheel 11 to motor 20.
Further say：
On the chassis 10 1 position detecting mechanism, 30,2 position detections are respectively arranged on the left side and the right side positioned at the chassis 10
The preferably symmetrical distribution of mechanism 30.Each position detecting mechanism 30 includes：Rotating shaft 31 that is rotatable and upwardly extending, is fixed on
The upper end of rotating shaft 31 and the turntable 32 to extend back, front end are connected to the bracing wire 33 on turntable 32, and the lower end of rotating shaft 31 matches
Encoder 34, and the pressure inductor (being not shown on figure) that bracing wire 33 matches, pressure inductor, 34 equal signal of encoder are transferred to
One single-chip microcomputer, single-chip microcomputer and motor 20 match.Wherein, rotating shaft 31 can be installed on chassis 10 by bearing so as to realize
It vertically axial line can be rotated；The lower end of so-called rotating shaft 31 and encoder 34 match, and refer to the rotation letter of rotating shaft 31
Breath can be transferred to corresponding encoder 34；So-called bracing wire 33 and pressure sensor match, refer to bracing wire 33 tensioning whether
And tensioning degree can be perceived by pressure sensor.That is, pulling force sensor detects the pulling force of bracing wire 33, the letter of detection
The single-chip microcomputer is transferred to after number amplifying by signal amplifier, and is handled by the single-chip microcomputer.If pulling force is less than setting range
Then bracing wire 33 is in relaxed state, and single-chip microcomputer sends signal and controls the motor 20 to rotate, and robot advances；If pulling force is more than
Setting range, then bracing wire are in tensioning state, and single-chip microcomputer sends signal control motor 20 and inverted, and robot retreats, until
Pulling force is stable in set interval.When rotating shaft 31 rotates (that is, bracing wire produces an angle with robot), the encoder 34
Pulse is sent to the single-chip microcomputer, the single-chip microcomputer sends a signal to the motor 20 and then controls driving wheel 11 to rotate, robot
Translated to axis of rotation direction.In translation motion, the encoder 34 persistently sends pulse to the single-chip microcomputer to feed back robot
Departure degree, robot location is remained at user front.
Specifically when in use, the forward type is tracked into the front that robot is positioned over user automatically, after 2 bracing wires 33
End is respectively connecting to the body bilateral of user.Once user moves ahead, then bracing wire 33 relaxes, pressure inductor control driving wheel
11 make corresponding actions, and robot moves ahead；Once user moves to the left or right, then rotating shaft 31 is under the traction of bracing wire 33
Certain rotation can be made, and rotation angle value is transferred to encoder 34, encoder 34 controls driving wheel 11 to make corresponding actions,
Robot with synchronization to side turn.
Optimization：
Cotton rope motor 321 is fixed with turntable 32, bobbin 322, bracing wire are fixed with the power output shaft of cotton rope motor 321
33 corresponding are two-by-two connected on bobbin 322.Bobbin 322 is preferably with the easily prepared and higher 3D printing bobbin of precision.This
Sample, the cost of processing bobbin is reduced, and it is more convenient to change bobbin.Spool motor is responsible for the band moving-wire when bracing wire is not tensioned
Axle tightens up bracing wire, until pulling force sensor and can detects that bracing wire is tensioning state again.
The lower end of rotating shaft 31 is fixed with active synchronization wheel 311, and corresponding encoder 34 has driven synchronizing wheel 341, actively
Connected between synchronizing wheel 311 and corresponding driven synchronizing wheel 341 by timing belt 35.That is, after rotating shaft 31 rotates, accordingly
Active synchronization wheel 311 rotates, and drives corresponding driven synchronizing wheel 341 to rotate by timing belt 35, corresponding encoder 34
Learn the anglec of rotation of rotating shaft 31.
Encoder 34 is optical-electricity encoder, and motor 20 is the motor with encoder.That is, photoelectric encoder passes through
The corresponding motor 20 of PID closed-loop controls is carried out after calculating, so as to which control machine people moves.
Bracing wire 33 is Kev bracing wire.So, the probability of the winding of bracing wire 33 is reduced, and strengthens the intensity of line.
Continue to optimize：
There is the upper plate 101 for linking together and being parallel to each other and lower plate 102, motor 20 to be fixed on the chassis 10
Between plate 101 and lower plate 102.Upper plate 101 and lower plate 102 are preferably both prepared using aluminum material.So, chassis 10 is optimized
Structure, and lighter in weight, it is easy to control.
Driving wheel 11 uses Mecanum wheel.
In addition：
The pulling force information that pressure inductor receives is weaker, so passed after preferably with amplifier, its signal is amplified
Be handed to encoder 34, and amplifier can use the pressure sensor with HX711 chips, the advantages of such pressure sensor
It is more accurate and reliable in the amplification to data.
The preferred embodiments of the present invention are the foregoing is only, are not intended to limit the scope of the invention, every utilization
The equivalent structure or equivalent flow conversion that description of the invention and accompanying drawing content are made, or directly or indirectly it is used in other correlations
Technical field, be included within the scope of the present invention.
Claims (9)
1. forward type tracks robot, including chassis (10) automatically, there is driving wheel (11), driving wheel (11) on the chassis (10)
Power connector is to motor (20), it is characterised in that：Distinguish on the chassis (10) positioned at the left and right sides on the chassis (10)
Provided with 1 position detecting mechanism (30), each position detecting mechanism (30) includes：Rotating shaft (31) that is rotatable and upwardly extending,
The turntable (32) for being fixed on rotating shaft (31) upper end and extending back, front end are connected to the bracing wire (33) on turntable (32), and rotating shaft
(31) encoder (34) that lower end matches, and the pressure inductor that bracing wire (33) matches, pressure inductor, encoder (34) are equal
Signal is transferred to a single-chip microcomputer, meanwhile, single-chip microcomputer and motor (20) match.
2. forward type according to claim 1 tracks robot automatically, it is characterised in that：It is fixed with the turntable (32)
Cotton rope motor (321), bobbin (322) is fixed with the power output shaft of cotton rope motor (321), bracing wire (33) is corresponding two-by-two to be connected
It is connected on bobbin (322).
3. forward type according to claim 2 tracks robot automatically, it is characterised in that：The bobbin (322) is beaten for 3D
Print bobbin.
4. forward type according to claim 1 tracks robot automatically, it is characterised in that：The lower end of the rotating shaft (31) is consolidated
Surely there is an active synchronization wheel (311), corresponding encoder (34) has a driven synchronizing wheel (341), active synchronization wheel (311) and corresponding
Driven synchronizing wheel (341) between connected by timing belt (35).
5. forward type according to claim 1 tracks robot automatically, it is characterised in that：The encoder (34) is photoelectricity
Formula encoder.
6. forward type according to claim 5 tracks robot automatically, it is characterised in that：The motor (20) is band
There is the motor of encoder.
7. forward type according to claim 1 tracks robot automatically, it is characterised in that：The bracing wire (33) is drawn for Kev
Line.
8. forward type according to claim 1 tracks robot automatically, it is characterised in that：The chassis (10) has connection
Together and the upper plate (101) and lower plate (102) that are parallel to each other, motor (20) are fixed on upper plate (101) and lower plate (102)
Between.
9. forward type according to claim 1 tracks robot automatically, it is characterised in that：The driving wheel (11) uses wheat
Ke Namu takes turns.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710899707.4A CN107817793A (en) | 2017-09-28 | 2017-09-28 | Forward type tracks robot automatically |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710899707.4A CN107817793A (en) | 2017-09-28 | 2017-09-28 | Forward type tracks robot automatically |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN107817793A true CN107817793A (en) | 2018-03-20 |
Family
ID=61607248
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201710899707.4A Pending CN107817793A (en) | 2017-09-28 | 2017-09-28 | Forward type tracks robot automatically |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN107817793A (en) |
Citations (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2004174176A (en) * | 2002-11-24 | 2004-06-24 | Shohei Sato | Visually challenging person and healthy person guide device |
| JP2007139710A (en) * | 2005-11-22 | 2007-06-07 | Advanced Telecommunication Research Institute International | Walking-aid robot |
| KR20100086589A (en) * | 2009-01-23 | 2010-08-02 | 성균관대학교산학협력단 | A moving object tracking control system for a mobile robot using zigbee's rssi(received signal strength indication) |
| KR20100091601A (en) * | 2009-02-11 | 2010-08-19 | 정호원 | Tracing robot for education |
| CN103126862A (en) * | 2013-02-04 | 2013-06-05 | 江苏科技大学 | Outdoor blind guiding robot based on global position system (GPS), general packet radio service (GPRS) and radio frequency identification devices (RFID) and navigational positioning method |
| CN105590084A (en) * | 2014-11-03 | 2016-05-18 | 贵州亿丰升华科技机器人有限公司 | Robot human face detection tracking emotion detection system |
| US20170108860A1 (en) * | 2015-10-16 | 2017-04-20 | Lemmings LLC | Robotic Golf Caddy |
| JP2017124231A (en) * | 2017-04-05 | 2017-07-20 | 富士機械製造株式会社 | Moving aid robot |
-
2017
- 2017-09-28 CN CN201710899707.4A patent/CN107817793A/en active Pending
Patent Citations (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2004174176A (en) * | 2002-11-24 | 2004-06-24 | Shohei Sato | Visually challenging person and healthy person guide device |
| JP2007139710A (en) * | 2005-11-22 | 2007-06-07 | Advanced Telecommunication Research Institute International | Walking-aid robot |
| KR20100086589A (en) * | 2009-01-23 | 2010-08-02 | 성균관대학교산학협력단 | A moving object tracking control system for a mobile robot using zigbee's rssi(received signal strength indication) |
| KR20100091601A (en) * | 2009-02-11 | 2010-08-19 | 정호원 | Tracing robot for education |
| CN103126862A (en) * | 2013-02-04 | 2013-06-05 | 江苏科技大学 | Outdoor blind guiding robot based on global position system (GPS), general packet radio service (GPRS) and radio frequency identification devices (RFID) and navigational positioning method |
| CN105590084A (en) * | 2014-11-03 | 2016-05-18 | 贵州亿丰升华科技机器人有限公司 | Robot human face detection tracking emotion detection system |
| US20170108860A1 (en) * | 2015-10-16 | 2017-04-20 | Lemmings LLC | Robotic Golf Caddy |
| JP2017124231A (en) * | 2017-04-05 | 2017-07-20 | 富士機械製造株式会社 | Moving aid robot |
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| PB01 | Publication | ||
| PB01 | Publication | ||
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| WD01 | Invention patent application deemed withdrawn after publication | ||
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Application publication date: 20180320 |