CN204166385U - A kind of running gear automatically - Google Patents
A kind of running gear automatically Download PDFInfo
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- CN204166385U CN204166385U CN201420535954.8U CN201420535954U CN204166385U CN 204166385 U CN204166385 U CN 204166385U CN 201420535954 U CN201420535954 U CN 201420535954U CN 204166385 U CN204166385 U CN 204166385U
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- automatic
- walking
- running gear
- travelling device
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Abstract
The utility model relates to automation field, discloses a kind of running gear automatically, comprises: by the walking ground of rasterizing, each grid center of a lattice is fixed with the surface mark of Identifier Location Information; At least one automatic travelling device, comprises reading unit, walking performance element and travelling control unit; Described reading unit is arranged on the front of described automatic travelling device, and the front of described automatic travelling device is the one side in the face of described walking ground; Described travelling control unit is connected to described reading unit and described walking performance element.The automatic running gear that the utility model provides, makes automatic travelling device can obtain the positional information of oneself in time when walking and walking in ground.
Description
Technical field
The utility model relates to automation field, particularly the automatic running gear of one.
Background technology
Along with the develop rapidly of science and technology, the function of automation equipment is gradually improved, and various types of automation equipment has been widely used in the every field of our life.Especially at industrial circle, automation equipment plays an important role, such as, complete some high-leveled and difficult operations, mechanical work etc. that some repeat.
There is a kind of walking robot at present, can automatically walk according to predetermined paths in certain region and finish the work.But in the walking process of flooring, cannot be used because satellite positioning signal shields, its current particular location cannot be learnt by walking robot, its actual track of walking more cannot be recorded.Further, after walking robot can only be placed on initial position artificially in time starting working, could correctly walk according to predetermined paths and finish the work; Once be placed on direction in wrong initial position or walking process to occur deviation, the route that walking robot is walked will make a mistake, because walking robot cannot learn that thus its current particular location and directional information cannot correct track route in time.
Utility model content
The purpose of this utility model is to provide a kind of running gear automatically, makes automatic travelling device can obtain the positional information of oneself in time when walking and walking in ground.
For solving the problems of the technologies described above, embodiment of the present utility model provides a kind of running gear automatically, comprises: by the walking ground of rasterizing, each grid center of a lattice is fixed with the surface mark of Identifier Location Information; At least one automatic travelling device, comprises reading unit, walking performance element and travelling control unit; Described reading unit is arranged on the front of described automatic travelling device, and the front of described automatic travelling device is the one side in the face of described walking ground; Described travelling control unit is connected to described reading unit and described walking performance element.
The utility model embodiment in terms of existing technologies, the surface mark of Identifier Location Information is fixed with by the ground each grid center of a lattice of the walking of rasterizing, automatic travelling device comprises reading unit, and reading unit is arranged on the front of automatic travelling device, the front of automatic travelling device is towards the one side of the direction of travel of automatic travelling device.Thus automatic travelling device is in the process of walking, and reading unit can read Current terrestrial mark, and automatic travelling device can obtain its current location information according to Current terrestrial mark.Especially, when walking ground running in indoor, when satellite positioning signal cannot use because of conductively-closed, automatic travelling device still can be located preferably.
Preferably, described surface mark is the two-dimension code label being positioned at square housing.Thus surface mark can not only provide the current location information of automatic travelling device, the current directional information of automatic travelling device can also be provided.
Preferably, described automatic travelling device also comprises direction correcting unit, is connected to described reading unit and described walking performance element.Thus the Current terrestrial mark that direction correcting unit can read according to reading unit corrects the deviation of directivity in automatic travelling device walking process in time.
Preferably, described automatic travelling device also comprises at least one obstacle detection device, is connected to described travelling control unit.Thus automatic travelling device can hide the barrier in motion.
Accompanying drawing explanation
Fig. 1 is the schematic diagram according to walking ground of the present utility model;
Fig. 2 is the enlarged diagram according to the surface mark in Fig. 1;
Fig. 3 is the block scheme according to automatic travelling device of the present utility model;
Fig. 4 is the schematic diagram of the bottom surface according to automatic travelling device of the present utility model;
Fig. 5 is the schematic diagram in the front according to automatic travelling device of the present utility model.
Embodiment
For making the purpose of this utility model, technical scheme and advantage clearly, below in conjunction with accompanying drawing, each embodiment of the present utility model is explained in detail.But, persons of ordinary skill in the art may appreciate that in each embodiment of the utility model, proposing many ins and outs to make reader understand the application better.But, even without these ins and outs with based on the many variations of following embodiment and amendment, each claim of the application technical scheme required for protection also can be realized.
The utility model relates to a kind of running gear automatically, comprises by the walking ground 10 of rasterizing and multiple automatic travelling device 20.Each automatic travelling device 20 all can be walked on walking ground 10 according to respective default track route automatically.
Fig. 1 is the schematic diagram according to walking ground of the present utility model.Walking ground 10 is by rasterizing in advance, and each grid center of a lattice is fixed with the surface mark 11 of Identifier Location Information.Be illustrated in figure 2 the enlarged diagram according to the surface mark 11 in Fig. 1.Surface mark 11 is essentially the two-dimension code label being positioned at square housing, and each surface mark 11 has different two-dimension code labels with the different positional information of correspondence.Wherein, each positional information can be a two-dimensional array, and as (M, N), wherein M represents line number, N representative row number.And the direction that defining line number increases is south, the row number direction increased is east (certainly, also can define the direction that line number successively decreases is south, and a row number direction of successively decreasing is east).
Be illustrated in figure 3 the block scheme of automatic travelling device 20, be illustrated in figure 4 the schematic diagram of the bottom surface 201 of automatic travelling device 20, be illustrated in figure 5 the schematic diagram in the front 202 of automatic travelling device 20, please also refer to Fig. 3, Fig. 4 and Fig. 5.Automatic travelling device 20 comprises body (not shown), travelling control unit 21, walking performance element 22, reading unit 23, storage unit 24, direction correcting unit 25, multiple obstacle detection device 26 and wireless transceiver 27.Wherein, travelling control unit 21, walking performance element 22, reading unit 23, storage unit 24, direction correcting unit 25, multiple obstacle detection device 26 and wireless transceiver 27 are all arranged at the body of automatic travelling device 20.
The body of automatic travelling device 20 comprises bottom surface 201 and front 202, and bottom surface 201 essence is the side of automatic travelling device 20 in the face of walking ground 10, and front 202 is essentially the side towards the direction of travel of automatic travelling device.Wherein, the shape of bottom surface 201 is not limited only to the shape shown in Fig. 4, and the shape in front 202 is also not limited only to the shape shown in Fig. 5, and the utility model does not impose any restrictions this.The contour structures of the utility model to body is also not specifically limited, and it can design according to the required preset task that completes.Such as, when preset task comprises grasping movement, automatic travelling device 20 can comprise mechanical arm; Or when preset task comprises propelling movement action, automatic travelling device 20 can comprise push pedal; Or when preset task comprises transmission action, automatic travelling device 20 can comprise transport tape.Those skilled in the art should corresponding design according to actual needs.
Travelling control unit 21 is such as processor, and it can control automatic travelling device 20 according to default track route and automatically walk.
Walking performance element 22 is connected to travelling control unit 21, and comprising one group of front-wheel 221, one group of trailing wheel 222, driver 223 and linked component (not shown), this group front-wheel 221 is organized trailing wheel 222 with this and is arranged at bottom surface 201 respectively and is connected by linked component.Specifically, this group front-wheel 221 comprises two universal wheels, and symmetrical is arranged on bottom surface 201; This group trailing wheel 222 comprises two common rollers, is also symmetrically arranged on bottom surface 201.Driver 223 is such as motor, and it is connected to travelling control unit 21 and organizes front-wheel 221 with this.Driver 223 drives this group front-wheel 221 according to the control command of travelling control unit 21, and this group front-wheel 221 start driving wheel drives this group trailing wheel 222 together to move to realize the advance of automatic travelling device 20, retrogressing and turning by linked component.Wherein, in other embodiment, this group trailing wheel also can be two universal wheels, and driver can be connected to this group front-wheel simultaneously and this organizes trailing wheel, and front and back wheel is driven as driving wheel simultaneously.But the utility model does not impose any restrictions the concrete structure of walking performance element and walking manner, and those skilled in the art can be designed to other walking manner according to actual needs, such as, adopt crawler travel or walk as " both legs " of the mankind.
Reading unit 23 is such as camera, is arranged at the front 202 of automatic travelling device 20 and is connected to travelling control unit 21.Any position on specifically, the front 202 of automatic travelling device 20 has centerline LL ', reading unit 23 is arranged at the centerline LL in front 202 '.When automatic travelling device 20 is when ground 10 of walking is according to default track route walking, reading unit 23 can read the surface mark 11 on the grid of its process in real time.Wherein, default track route is set to when automatic travelling device 20 is walked, the centerline LL in its front 202 ' correspond to the center line of grid on walking ground 10 all the time, thus reading unit 23 can be aimed at be fixed on the surface mark 11 at grid center.
Storage unit 24 is connected to travelling control unit 21, and stores surface mark-positional information table of comparisons.That is, multiple surface mark and the positional information entrained by it are stored in storage unit 24 accordingly.Wherein, the surface mark-positional information table of comparisons in the Current terrestrial tag lookup storage unit 24 that travelling control unit 21 reads according to reading unit 23, to obtain the current location information of automatic travelling device 20.Thus travelling control unit 21 can real-time confirmation record the current location information of automatic travelling device 20.
Direction correcting unit 25 is connected to reading unit 23 and walking performance element 22.Specifically, direction correcting unit 25 comprises image processor (not shown) and Corrective control subelement (not shown).Image processor is connected to reading unit 23, and the Current terrestrial mark that can read according to it calculates the current directional information of automatic travelling device 20.Corrective control subelement is such as embedded controller, it is connected to image processor and the driver 233 in walking performance element 22, and according to described current directional information control and drive system 233, thus the automatic travelling device 20 current direction of travel of correction in time can be controlled.
Multiple obstacle detection device 26 is connected to travelling control unit 21.Specifically, multiple obstacle detection device 26 can be infrared eye or ultrasonic detector, its be arranged at body diverse location and towards different azimuth.Obstacle detection device 26 sends corresponding sensing signal according to whether having the barrier of movement near automatic travelling device 20, travelling control unit 21 controls automatic travelling device 20 according to this corresponding sensing signal and suspends walking or walk on, thus automatic travelling device 20 can avoid the barrier of motion in walking process.Especially, when multiple automatic travelling device 20 is executed the task on ground 10 of walking simultaneously, unexpected generation can be avoided well.
Wireless transceiver 27 is connected to travelling control unit 21, and it can preset track route by wireless receiving.Specifically, when automatic travelling device 20 needs to receive different task instruction time, the assignment instructions that wireless transceiver 27 wireless receiving remote equipment sends, wherein, this assignment instructions comprises default track route.Further, after travelling control unit 21 obtains the current location information of automatic travelling device 20, by wireless transceiver 27, this current location information can be sent to remote equipment, thus facilitate far-end controllers to go and find out what's going in time.Especially, when multiple automatic travelling device 20 is executed the task on ground 10 of walking simultaneously, more contribute to controllers and effectively manage.
Persons of ordinary skill in the art may appreciate that the respective embodiments described above realize specific embodiment of the utility model, and in actual applications, various change can be done to it in the form and details, and do not depart from spirit and scope of the present utility model.
Claims (9)
1. an automatic running gear, is characterized in that, comprises:
By the walking ground of rasterizing, each grid center of a lattice is fixed with the surface mark of Identifier Location Information;
At least one automatic travelling device, comprises reading unit, walking performance element and travelling control unit; Described reading unit is arranged on the front of described automatic travelling device, and the front of described automatic travelling device is towards the one side of the direction of travel of described automatic travelling device; Described travelling control unit is connected to described reading unit and described walking performance element.
2. automatic running gear according to claim 1, is characterized in that, described surface mark is the two-dimension code label being positioned at square housing.
3. automatic running gear according to claim 1, is characterized in that, described reading unit is camera.
4. automatic running gear according to claim 1, is characterized in that, described walking performance element comprises one group of front-wheel, one group of trailing wheel and driver, and described driver is connected to this group front-wheel described.
5. automatic running gear according to claim 4, is characterized in that, this group front-wheel described is included as universal wheel.
6. automatic running gear according to claim 1, is characterized in that, described automatic travelling device also comprises wireless transceiver, is connected to described travelling control unit.
7. automatic running gear according to claim 1, is characterized in that, described automatic travelling device also comprises:
Storage unit, is connected to described travelling control unit and stores surface mark-positional information table of comparisons.
8. automatic running gear according to claim 1, is characterized in that, described automatic travelling device also comprises:
Direction correcting unit, is connected to described reading unit and described walking performance element.
9. automatic running gear according to claim 1, is characterized in that, described automatic travelling device also comprises:
At least one obstacle detection device, is connected to described travelling control unit.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201420535954.8U CN204166385U (en) | 2014-09-17 | 2014-09-17 | A kind of running gear automatically |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201420535954.8U CN204166385U (en) | 2014-09-17 | 2014-09-17 | A kind of running gear automatically |
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| CN204166385U true CN204166385U (en) | 2015-02-18 |
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Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106227212A (en) * | 2016-08-12 | 2016-12-14 | 天津大学 | The controlled indoor navigation system of precision based on grating map and dynamic calibration and method |
| CN108852176A (en) * | 2018-05-31 | 2018-11-23 | 上海与德通讯技术有限公司 | Intelligent cleaning method, cleaning equipment and computer readable storage medium |
| CN109947875A (en) * | 2017-12-18 | 2019-06-28 | 苏州宝时得电动工具有限公司 | Automatic running device and its control method |
-
2014
- 2014-09-17 CN CN201420535954.8U patent/CN204166385U/en active Active
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106227212A (en) * | 2016-08-12 | 2016-12-14 | 天津大学 | The controlled indoor navigation system of precision based on grating map and dynamic calibration and method |
| CN106227212B (en) * | 2016-08-12 | 2019-02-22 | 天津大学 | The controllable indoor navigation system of precision and method based on grating map and dynamic calibration |
| CN109947875A (en) * | 2017-12-18 | 2019-06-28 | 苏州宝时得电动工具有限公司 | Automatic running device and its control method |
| CN108852176A (en) * | 2018-05-31 | 2018-11-23 | 上海与德通讯技术有限公司 | Intelligent cleaning method, cleaning equipment and computer readable storage medium |
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| Date | Code | Title | Description |
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| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant | ||
| C56 | Change in the name or address of the patentee | ||
| CP01 | Change in the name or title of a patent holder |
Address after: 200233, room 418, 801 Guiping Road, Shanghai, Xuhui District Patentee after: SHANGHAI ENFON ROBOT CO.,LTD. Address before: 200233, room 418, 801 Guiping Road, Shanghai, Xuhui District Patentee before: Shanghai Feng Feng robot Co.,Ltd. Address after: 200233, room 418, 801 Guiping Road, Shanghai, Xuhui District Patentee after: Shanghai Feng Feng robot Co.,Ltd. Address before: 200233, room 418, 801 Guiping Road, Shanghai, Xuhui District Patentee before: SHANGHAI BANWI INFORMATION TECHNOLOGY Co.,Ltd. |