CN204406204U - A kind of football match dolly - Google Patents
A kind of football match dolly Download PDFInfo
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- CN204406204U CN204406204U CN201520106856.7U CN201520106856U CN204406204U CN 204406204 U CN204406204 U CN 204406204U CN 201520106856 U CN201520106856 U CN 201520106856U CN 204406204 U CN204406204 U CN 204406204U
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- electromagnetic launch
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- action device
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Abstract
The utility model discloses a kind of football match dolly, comprise car frame, catapult-launching gear, circuit board, WiFi module, battery and camera module.Catapult-launching gear comprises and launches contact, the first sleeve, electromagnetic launch controller, electromagnetic launch action device and ultrasonic sensor; Circuit board is provided with driver module, one-chip computer module and power transfer module; Camera module comprises camera and steering wheel, and control the upper panel surface that steering wheel is fixedly installed on car frame, camera is rotatable to be arranged on steering wheel.The utility model structure is simple, reasonable in design, has installed rotatable camera module, and rotatable camera module can the video pictures of Real-time Collection match, and manipulator just can see match picture without the need to field observation match; And utilize WiFi technology transmission of video and steering order, can be connected with control end by WiFi network is convenient.
Description
Technical field
The utility model belongs to contest robot technical field, particularly relates to a kind of football match dolly.
Background technology
Robot competition is a kind of high-tech countermeasure activity carried out rapidly in the world in recent years, and football match dolly relates to multiple technical fields such as machinery, Based Intelligent Control, robot, communication, sensing.It integrates hi-tech, amusement and competes, and causes extensive concern and the great interest of society.Most football dolly adopts telepilot to control, and dolly does not have video acquisition device, and manipulator directly observes on-the-spot competition status, then sends instruction by telepilot to the dolly of specifying.And dolly needs special controller to carry out remote control to dolly, remote control distance is limited, facilitates mass participation not and popularizes.
Utility model content
The purpose of this utility model is to overcome the deficiencies in the prior art, provides a kind of football match dolly, and rotatable camera module installed by this dolly, and utilizes WiFi technology transmission of video and steering order.
The utility model solves its technical matters and is achieved through the following technical solutions:
A kind of football match dolly, comprises car frame, catapult-launching gear, circuit board, WiFi module, battery and camera module.
Described car frame comprises, chassis, upper dish and wheel assembly, and described chassis is connected by column with upper dish, and chassis under, upper dish is upper; Wheel assembly to be arranged on below lower wall and to be connected with lower wall, supporting trolley vehicle frame, drives moving of car.Described catapult-launching gear integral level is arranged on the headstock position of car frame between two parties, catapult-launching gear comprises electromagnetic launch controller, the first sleeve, electromagnetic launch action device, ultrasonic sensor and launches contact, electromagnetic launch controller is fixed between the chassis of car frame and upper dish, and one end of electromagnetic launch controller and the first sleeve is fixedly linked, electromagnetic launch action device is fixed in the first sleeve cylinder, launches that contact is removable to be connected with electromagnetic launch action device; Described electromagnetic launch action device comprises the second sleeve, electromagnet, iron prop and spring, described electromagnet, iron prop and spring are embedded in the wall inner portion of the second sleeve, second sleeve is coaxially closely embedded in the inside of the first sleeve, is fixedly connected with the first sleeve to make electromagnetic launch action device; Described ultrasonic sensor is coaxially arranged on the inside of the second sleeve of electromagnetic launch action device; Launch contact and comprise ejection plate and connecting link, and ejection plate and connecting link are structure as a whole, ejection plate is vertically arranged, ejection plate is provided with a manhole, and manhole is coaxial with the second sleeve of electromagnetic launch action device, to make ultrasonic sensor can detect football place distance through the manhole of ejection plate, connecting link is movably arranged on the inside of the second sleeve of electromagnetic launch action device; The electromagnet level of described electromagnetic launch action device is fixedly installed, and the two ends of spring are connected with the connecting link launching contact with electromagnet respectively, are enclosed within the inside of spring in iron prop, and one end of iron prop is fixedly linked with the connecting link launching contact.The electromagnet that electromagnetic launch controller controls electromagnetic launch action device obtains electric adhesive iron prop, Compress Spring, and the contact that launches be connected with iron prop is regained; Electromagnetic launch controller controls the electromagnet power-off of electromagnetic launch action device, flicks iron prop by the effect of spring, makes to launch contact and ejects; Thus realize striking action.Described camera module comprises camera and steering wheel, and steering wheel is fixedly installed on the upper panel surface of car frame, and camera is rotatable to be arranged on steering wheel.Described circuit board by column level be fixedly installed on car frame on coil, circuit board is provided with driver module, one-chip computer module and power transfer module.Described WiFi module installation is between circuit board and the upper dish of car frame, and be fixed on car frame on coil, the effect of WiFi module is for carrying out communication with control end (not marking in figure), to realize control end to the remote wireless control of football match dolly and transmission match live video picture.Described battery is arranged between the upper dish of car frame and lower wall, and is fixed on the lower wall of car frame, and battery is that whole device is powered by power transfer module.The one-chip computer module of described circuit board is connected with the electromagnetic launch controller of catapult-launching gear, WiFi module, camera module, in order to realize the control to them.
In technique scheme, the single-chip microcomputer model of described one-chip computer module is STC89C52.
In technique scheme, described driver module selects L298N motor drive ic.
In technique scheme, long 100mm, wide 100mm, high 90mm before and after described football match dolly entirety.
During use, first control end is fastened on the WiFi module on dolly by WiFi network, after successful connection, the screen of control end can show the video of being returned by camera transmission.As not having football in the visual field, control end sends instruction by WiFi module to one-chip computer module, and one-chip computer module receives steering order, controls steering wheel drive camera to rotate search football by the mode of pwm pulse.After finding football, control end sends the command signal controlling moving of car to dolly, single-chip microcomputer receives the command signal sent through WiFi module, driver module is controlled by the mode of pwm pulse, driver module drives wheel assembly to rotate, dolly is made to move walking all around near football, after the catapult-launching gear of dolly is close to football, control end launches instruction by WiFi module to one-chip computer module transmission, by ultrasonic sensor, one-chip computer module differentiates that football is in the distance that can kick, what drive catapult-launching gear launches contact action, football is ejected, complete striking action.
The utility model structure is simple, reasonable in design, has installed rotatable camera module, and rotatable camera module can the video pictures of Real-time Collection match, and manipulator just can see match picture without the need to field observation match; And utilize WiFi technology transmission of video and steering order, can be connected with control end by WiFi network is convenient.
Accompanying drawing explanation
Fig. 1 is structural representation of the present utility model,
Fig. 2 is the structural representation of catapult-launching gear of the present utility model,
Fig. 3 is the vertical view of catapult-launching gear of the present utility model (not comprising electromagnetic launch controller),
Fig. 4 be the A of Fig. 3 to cut-open view,
Fig. 5 is the enlarged drawing at B place in Fig. 4.
Wherein:
1 is chassis, and 2 is upper dish, and 3 is circuit board, and 3-1 is one-chip computer module, 3-2 is driver module, and 3-3 is power transfer module, and 4 is wheel assembly, and 5 is electromagnetic launch controller, 6 is the first sleeve, and 7 is electromagnetic launch action device, and 7-1 is the second sleeve, and 7-2 is electromagnet, 7-3 is iron prop, and 7-4 is spring, and 8 for launching contact, and 8-1 is ejection plate, 8-2 is connecting link, and 8-3 is manhole, and 9 is ultrasonic sensor, and 10-1 is steering wheel, 10-2 is camera, and 11 is WiFi module, and 12 is battery.
Embodiment
See accompanying drawing 1-5, the utility model comprises car frame, catapult-launching gear, circuit board, WiFi module, battery and camera module.
Described car frame comprises, chassis, upper dish and wheel assembly, and described chassis 1 is connected by column with upper dish 2, and chassis under, upper dish is upper; Wheel assembly 4 to be arranged on below lower wall and to be connected with lower wall, supporting trolley vehicle frame, drives moving of car.
Described catapult-launching gear integral level is arranged on the headstock position of car frame between two parties.Catapult-launching gear comprises electromagnetic launch controller 5, first sleeve 6, electromagnetic launch action device 7, ultrasonic sensor 9 and launches contact 8.Electromagnetic launch controller 5 is fixed between the chassis of car frame and upper dish, and one end of electromagnetic launch controller 5 and the first sleeve 6 is fixedly linked, electromagnetic launch action device 7 is fixed in 6, the first sleeve, launches that contact 8 is removable to be connected with electromagnetic launch action device 7; It is characterized in that: described electromagnetic launch action device 7 comprises the second sleeve 7-1, electromagnet 7-2, iron prop 7-3 and spring 7-4, described electromagnet 7-2, iron prop 7-3 and spring 7-4 are embedded in the wall inner portion of the second sleeve 7-1, second sleeve 7-1 is coaxially closely embedded in the inside of the first sleeve 6, is fixedly connected with the first sleeve 6 to make electromagnetic launch action device 5; Described ultrasonic sensor 9 is coaxially arranged on the inside of the second sleeve 7-1 of electromagnetic launch action device 7; Launch contact 8 and comprise ejection plate 8-1 and connecting link 8-2, and ejection plate and connecting link are structure as a whole, ejection plate 8-1 is vertically arranged, ejection plate 8-1 is provided with a manhole 8-3, and manhole is coaxial with the second sleeve 7-1 of electromagnetic launch action device 7, to make ultrasonic sensor 9 can detect through the manhole 8-3 of ejection plate, connecting link 8-2 is movably arranged on the inside of the second sleeve 7-1 of electromagnetic launch action device; The electromagnet 7-2 level of described electromagnetic launch action device 7 is fixedly installed, the two ends of spring 7-4 are connected with the connecting link 8-2 launching contact with electromagnet 7-2 respectively, be enclosed within the inside of spring 7-4 in iron prop 7-3, and one end of iron prop 7-3 is fixedly linked with the connecting link 8-2 launching contact.The electromagnet that electromagnetic launch controller controls electromagnetic launch action device obtains electric adhesive iron prop, Compress Spring, and the contact that launches be connected with iron prop is regained; Electromagnetic launch controller controls the electromagnet power-off of electromagnetic launch action device, flicks iron prop by the effect of spring, makes to launch contact and ejects; Thus realize striking action.
Described camera module comprises camera 10-2 and steering wheel 10-1, and steering wheel is fixedly installed on upper dish 2 surface of car frame, and camera 10-2 is rotatable to be arranged on steering wheel 10-1.
Described circuit board 3 is fixedly installed on the upper dish 2 of car frame by column level, circuit board is provided with driver module 3-2, one-chip computer module 3-1 and power transfer module 3-3.
Described WiFi module 11 is arranged between circuit board and the upper dish of car frame, and be fixed on car frame on coil, the effect of WiFi module is for carrying out communication with control end (not marking in figure), to realize the remote wireless control of control end to football match dolly.
Described battery 12 is arranged between the upper dish of car frame and lower wall, and is fixed on the lower wall of car frame, and battery is that whole device is powered by power transfer module.
The one-chip computer module 3-1 of described circuit board is connected with the electromagnetic launch controller 5 of catapult-launching gear, WiFi module 11, camera module, in order to realize the control to them.
The single-chip microcomputer model of described one-chip computer module is STC89C52.
Described driver module selects L298N motor drive ic.
Described ultrasonic sensor is for measuring football whether in the distance that can kick.
Long 100mm, wide 100mm, high 90mm before and after described football match dolly entirety.
During use, first control end is fastened on the WiFi module on dolly by WiFi network, after successful connection, the screen of control end can show the video of being returned by camera transmission.As not having football in the visual field, control end sends instruction by WiFi module to one-chip computer module, and one-chip computer module receives steering order, controls steering wheel drive camera to rotate search football by the mode of pwm pulse.After finding football, control end sends the command signal controlling moving of car to dolly, single-chip microcomputer receives the command signal sent through WiFi module, driver module is controlled by the mode of pwm pulse, driver module drives wheel assembly to rotate, dolly is made to move walking all around near football, after the catapult-launching gear of dolly is close to football, control end launches instruction by WiFi module to one-chip computer module transmission, by ultrasonic sensor, one-chip computer module differentiates that football is in the distance that can kick, what drive catapult-launching gear launches contact action, football is ejected, complete striking action.
The control end of football match dolly adopts Android phone that occupation rate is in the market maximum as telepilot, download and install control software design just energy remote control football match dolly of the present utility model, control end is without the need to other purchase, and control software design feature richness, almost reach zero cost.
Above exemplary description is done to the utility model; should be noted that; when not departing from core of the present utility model, any simple distortion, amendment or other those skilled in the art can not spend the equivalent replacement of creative work all to fall into protection domain of the present utility model.
Claims (4)
1. a football match dolly, comprises car frame, catapult-launching gear, circuit board, WiFi module, battery, camera module, it is characterized in that,
Described car frame comprises chassis, upper dish and wheel assembly, and described chassis is connected by column with upper dish, and chassis under, upper dish is upper; Wheel assembly to be arranged on below lower wall and to be connected with lower wall, supporting trolley vehicle frame;
Described catapult-launching gear integral level is arranged on the headstock position of car frame between two parties, catapult-launching gear comprises electromagnetic launch controller, the first sleeve, electromagnetic launch action device, ultrasonic sensor and launches contact, electromagnetic launch controller is fixed between the chassis of car frame and upper dish, and one end of electromagnetic launch controller and the first sleeve is fixedly linked; Described electromagnetic launch action device comprises the second sleeve, electromagnet, iron prop and spring, described electromagnet, iron prop and spring are embedded in the wall inner portion of the second sleeve, second sleeve is coaxially closely embedded in the inside of the first sleeve, is fixedly connected with the first sleeve to make electromagnetic launch action device; Described ultrasonic sensor is coaxially arranged on the inside of the second sleeve of electromagnetic launch action device; Launch contact and comprise ejection plate and connecting link, and ejection plate and connecting link are structure as a whole, ejection plate is vertically arranged, ejection plate is provided with a manhole, and manhole is coaxial with the second sleeve of electromagnetic launch action device, connecting link is movably arranged on the inside of the second sleeve of electromagnetic launch action device; The electromagnet level of described electromagnetic launch action device is fixedly installed, and the two ends of spring are connected with the connecting link launching contact with electromagnet respectively, are enclosed within the inside of spring in iron prop, and one end of iron prop is fixedly linked with the connecting link launching contact;
Described camera module comprises camera and steering wheel, and steering wheel is fixedly installed on the upper panel surface of car frame, and camera is rotatable to be arranged on steering wheel;
Described circuit board by column level be fixedly installed on car frame on coil, circuit board is provided with driver module, one-chip computer module and power transfer module;
Described WiFi module installation between circuit board and the upper dish of car frame, and be fixed on car frame on coil;
Described battery is arranged between the upper dish of car frame and lower wall, and is fixed on the lower wall of car frame;
The one-chip computer module of described circuit board is connected with the electromagnetic launch controller of catapult-launching gear, WiFi module, camera module.
2. a kind of football match dolly according to claim 1, is characterized in that: the single-chip microcomputer model of described one-chip computer module is STC89C52.
3. a kind of football match dolly according to claim 1, is characterized in that: described driver module selects L298N motor drive ic.
4. a kind of football match dolly according to claim 1, is characterized in that: long 100mm, wide 100mm, high 90mm before and after described football match dolly entirety.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201520106856.7U CN204406204U (en) | 2015-02-13 | 2015-02-13 | A kind of football match dolly |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201520106856.7U CN204406204U (en) | 2015-02-13 | 2015-02-13 | A kind of football match dolly |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN204406204U true CN204406204U (en) | 2015-06-17 |
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ID=53430048
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201520106856.7U Expired - Fee Related CN204406204U (en) | 2015-02-13 | 2015-02-13 | A kind of football match dolly |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN204406204U (en) |
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105963974A (en) * | 2016-07-14 | 2016-09-28 | 苏州南江乐博机器人有限公司 | Wheel type soccer robot |
| CN105999722A (en) * | 2016-07-14 | 2016-10-12 | 苏州南江乐博机器人有限公司 | Ball-hitting device |
| CN109991973A (en) * | 2017-12-29 | 2019-07-09 | 深圳市优必选科技有限公司 | A kind of motion planning and robot control method, apparatus and robot |
| CN110370300A (en) * | 2019-08-19 | 2019-10-25 | 上海应用技术大学 | A kind of throwing rescue robot based on electromagnetic launch |
-
2015
- 2015-02-13 CN CN201520106856.7U patent/CN204406204U/en not_active Expired - Fee Related
Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105963974A (en) * | 2016-07-14 | 2016-09-28 | 苏州南江乐博机器人有限公司 | Wheel type soccer robot |
| CN105999722A (en) * | 2016-07-14 | 2016-10-12 | 苏州南江乐博机器人有限公司 | Ball-hitting device |
| CN105963974B (en) * | 2016-07-14 | 2018-12-21 | 苏州南江乐博机器人有限公司 | A kind of Wheeled Soccer Robot |
| CN105999722B (en) * | 2016-07-14 | 2019-01-04 | 苏州南江乐博机器人有限公司 | A kind of ball striking device |
| CN109991973A (en) * | 2017-12-29 | 2019-07-09 | 深圳市优必选科技有限公司 | A kind of motion planning and robot control method, apparatus and robot |
| CN110370300A (en) * | 2019-08-19 | 2019-10-25 | 上海应用技术大学 | A kind of throwing rescue robot based on electromagnetic launch |
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20150617 Termination date: 20160213 |
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| CF01 | Termination of patent right due to non-payment of annual fee |