CN204423148U - Based on the fortune water robot system of electromagnetic tracking - Google Patents
Based on the fortune water robot system of electromagnetic tracking Download PDFInfo
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- CN204423148U CN204423148U CN201520004566.1U CN201520004566U CN204423148U CN 204423148 U CN204423148 U CN 204423148U CN 201520004566 U CN201520004566 U CN 201520004566U CN 204423148 U CN204423148 U CN 204423148U
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Abstract
Based on a fortune water robot system for electromagnetic tracking, it comprises the road of robot and robot ambulation; The road-center of robot ambulation is embedding electromagnetic tracking line, can produce alternating magnetic field; At destination county and the section start of this road, permanent magnet is installed, for being connected with the tongue tube magnetic induction bottom robot.This system also comprises waterworks, between robot and waterworks, by over the horizon communication system, realizes self water feeding.The utility model adopts lines of magnetic induction coil sensor, responds to the alternating magnetic field produced by road-center electromagnetic tracking line, identifies path.This technology does not affect by light, no matter how light changes, and can normal tracking.The utility model adopts wireless communication technology, does not need line, makes operation more convenient.
Description
Technical field
The utility model relates to a kind of fortune water system, especially also can the automatic Yun Shui robot of tracking without black guide line, specifically a kind of fortune water robot system based on electromagnetic tracking.
Background technology
Traditional fortune water dolly tracking method, usually adopts infrared electro tracking sensor, under black guide line guides, carries out infrared electro tracking.This method, affects very large by light, in the place that light is strong, and cannot normal tracking.
In addition, traditional fortune water dolly water supply modes, normally adopts and manually transports water.When dolly arrives feedwater place, by manually adding water to dolly.
Utility model content
The purpose of this utility model is for the problems referred to above, proposes a kind of fortune water robot system based on electromagnetic tracking.
The technical solution of the utility model is:
Based on a fortune water robot system for electromagnetic tracking, it comprises the road of robot and robot ambulation;
Robot comprises robot body, water tank, first tongue tube, second tongue tube, very first time relay, second time relay, two lines of magnetic induction coil sensors, subtracter one, subtracter two, totalizer, motor drive module one, motor drive module two, revolver motor and right turbin generator, two described lines of magnetic induction coil sensors are arranged on the front portion of robot body respectively, respond to the alternating magnetic field produced by road-center electromagnetic tracking line, the signal output part of two described lines of magnetic induction coil sensors is connected with two signal input parts of subtracter one, the signal output part of subtracter one connects a signal input part of totalizer and subtracter two respectively, another signal input part of totalizer and subtracter two connects given electric moter voltage respectively, and the signal output part of totalizer and subtracter two is respectively by each self-corresponding motor drive module one, first tongue tube, very first time relay and motor drive module two, second tongue tube, second time relay connects revolver motor and right turbin generator, the walking of drive machines human body, described water tank is arranged on robot body, first, two tongue tubes are installed to bottom robot, be serially connected in after first tongue tube is in parallel with very first time relay between motor drive module one and revolver motor, described very first time relay, first tongue tube and power supply connect and compose the current supply circuit of very first time relay, be serially connected in after second tongue tube is in parallel with second time relay between motor drive module two and right turbin generator, the second described time relay, second tongue tube and power supply connect and compose the current supply circuit of second time relay, first tongue tube and the second tongue tube all be arranged on robot ambulation road starting point, the permanent magnet magnetic induction of destination county connects, for the detection that puts in place,
The road-center of robot ambulation is embedding electromagnetic tracking line, can produce alternating magnetic field; At destination county and the section start of this road, permanent magnet is installed, for being connected with first, second tongue tube magnetic induction bottom robot.
System of the present utility model also comprises waterworks, also comprises the infrared communication control loop be made up of the 3rd tongue tube and the first infrared communication module, the 3rd time relay in robot; The 3rd described time relay, the 3rd tongue tube and power supply connect and compose the current supply circuit of the 3rd time relay.
The 3rd described tongue tube is installed to bottom robot, 3rd tongue tube be arranged on robot ambulation road starting point, the permanent magnet magnetic induction of destination county is connected, for detection of supplying water, when robot arrives the destination county of road, 3rd tongue tube is connected with the magnetic induction of terminal permanent magnet, and the 3rd tongue tube normally opened contact closes, and is communicated with infrared communication control loop, first infrared communication module is connected with the second infrared communication module infrared induction, waterworks water supply start;
Described waterworks comprise supply barrel, the second infrared communication module be arranged on supply barrel outer wall, be arranged on the electromagnetic water valve bottom supply barrel and electromagnetic water valve driving circuit, the second described infrared communication module is connected with the first infrared communication module of robot is infrared, the signal output part of the second infrared communication module is connected with the signal input part of electromagnetic water valve driving circuit, the signal output part of electromagnetic water valve driving circuit is connected with electromagnetic water valve, carries out the operation that discharges water.
Electromagnetic water valve of the present utility model is that zero pressure difference starts electromagnetic water valve.
Two lines of magnetic induction coil sensors of the present utility model are arranged on the left and right sides of robot body front portion, vertical with robot working direction.
The beneficial effects of the utility model:
Fortune water robot system based on electromagnetic tracking of the present utility model, adopts lines of magnetic induction coil sensor, responds to the alternating magnetic field produced by road-center electromagnetic tracking line, identifies path.This technology does not affect by light, no matter how light changes (strong or weak), and can normal tracking.
The utility model, adopts over the horizon communication system, solves the communication issue between robot, waterworks dexterously, and be communication, do not need line, makes operation more convenient.
Accompanying drawing explanation
The theory diagram of Tu1Shi the utility model robot.
Fig. 2 is the infrared communication control principle block diagram in the utility model between waterworks and robot.
Embodiment
Below in conjunction with drawings and Examples, the utility model is further described.
As shown in Figure 1, based on the fortune water robot system of electromagnetic tracking, it comprises the road of robot and robot ambulation;
Robot comprises robot body, water tank, first tongue tube, second tongue tube, very first time relay, second time relay, two lines of magnetic induction coil sensors, subtracter one (being made up of the operational amplifier of in chip LM324), subtracter two (being made up of another operational amplifier in chip LM324), totalizer (being made up of the operational amplifier of the 3rd in chip LM324), motor drive module one (model can be L298), motor drive module two (model can be L298), revolver motor and right turbin generator, two described lines of magnetic induction coil sensors are arranged on the front portion of robot body respectively, respond to the alternating magnetic field produced by road-center electromagnetic tracking line, the signal output part of two described lines of magnetic induction coil sensors is connected with two signal input parts of subtracter one, the signal output part of subtracter one connects a signal input part of totalizer and subtracter two respectively, another signal input part of totalizer and subtracter two connects given electric moter voltage respectively, and the signal output part of totalizer and subtracter two is respectively by each self-corresponding motor drive module one, first tongue tube, very first time relay and motor drive module two, second tongue tube, second time relay connects revolver motor and right turbin generator, the walking of drive machines human body, described water tank is arranged on robot body, first, two tongue tubes are installed to bottom robot, be serially connected in after first tongue tube is in parallel with very first time relay between motor drive module one and revolver motor, described very first time relay, first tongue tube and power supply connect and compose the current supply circuit of very first time relay, be serially connected in after second tongue tube is in parallel with second time relay between motor drive module two and right turbin generator, the second described time relay, second tongue tube and power supply connect and compose the current supply circuit of second time relay, first tongue tube and the second tongue tube all be arranged on robot ambulation road starting point, the permanent magnet magnetic induction of destination county connects, for the detection that puts in place,
The road-center of robot ambulation is embedding electromagnetic tracking line, can produce alternating magnetic field; At destination county and the section start of this road, permanent magnet is installed, for being connected with first, second tongue tube magnetic induction bottom robot.
During carrying out practically: when robot ambulation is to road destination county, the first tongue tube is connected with the magnetic induction of terminal permanent magnet, the first tongue tube normally closed contact disconnects, and revolver motor drive circuit disconnects, and revolver motor quits work.Meanwhile, the first tongue tube normally opened contact closes, and connects very first time relay circuit, this delay timing s+1 second (s is waterworks water supply times), when timing arrives, and the normally opened contact adhesive of very first time relay.Because the first tongue tube normally closed contact and very first time relay normally open contact are connected in parallel, at this moment, revolver motor drive circuit is communicated with again, and revolver motor is reworked.
Equally, when robot ambulation is to road destination county, also there is magnetic induction and be connected in the second tongue tube and terminal permanent magnet, and the second tongue tube normally closed contact disconnects, and right turbin generator drive circuit disconnects, and right turbin generator quits work.Meanwhile, the second tongue tube normally opened contact closes, and connects the second time relay loop, this delay timing s+1 second (s is waterworks water supply times, and timing is 8s), when timing arrives, and the normally opened contact adhesive of second time relay.Because the second tongue tube normally closed contact and the second time relay normally opened contact are connected in parallel, at this moment, right turbin generator drive circuit is communicated with again, and right turbin generator is reworked.Because left and right wheels motor is all reworked, robot continues to advance forward.
After a segment distance advanced forward by robot, the permanent magnet of destination county no longer works, first tongue tube normally closed contact adhesive again, first tongue tube normally opened contact disconnects again simultaneously, very first time relay power-off, very first time relay normally open contact disconnects again, at this moment, revolver motor drive circuit is still communicated with, and robot continues to advance forward.
Equally, after a segment distance advanced forward by robot, the permanent magnet of destination county no longer works, second tongue tube normally closed contact adhesive again, the second tongue tube normally opened contact disconnects again simultaneously, the second time relay power-off, second time relay normally opened contact disconnects again, at this moment, right turbin generator drive circuit is still communicated with, and robot continues to advance forward.
When robot ambulation is to road starting point place, when the first tongue tube is connected with the magnetic induction of starting point permanent magnet, the first tongue tube normally closed contact disconnects, and revolver motor drive circuit disconnects, and revolver motor quits work.Repeat aforementioned process, when after time delay s+1 second, revolver motor is reworked.
Equally, when robot ambulation is to road starting point place, the second tongue tube also occurs to respond to starting point permanent magnet magnetic and is connected, and the second tongue tube normally closed contact disconnects, and right turbin generator drive circuit disconnects, and right turbin generator quits work.Repeat aforementioned process, when after time delay s+1 second, right turbin generator is reworked.
Because left and right wheels motor is all reworked, robot continues to advance forward.
System of the present utility model also comprises waterworks, also comprises the infrared communication control loop be made up of the 3rd tongue tube and the first infrared communication module (model can be TSAL6200), the 3rd time relay (model can be H3Y) in robot; The 3rd described time relay, the 3rd tongue tube and power supply connect and compose the current supply circuit of the 3rd time relay.
The 3rd described tongue tube is installed to bottom robot, 3rd tongue tube be arranged on robot ambulation road starting point, the permanent magnet magnetic induction of destination county is connected, for detection of supplying water, when robot arrives the destination county of road, 3rd tongue tube is connected with the magnetic induction of terminal permanent magnet, and the 3rd tongue tube normally opened contact closes, and is communicated with infrared communication control loop, first infrared communication module is connected with the second infrared communication module infrared induction, waterworks water supply start;
Described waterworks comprise supply barrel, the second infrared communication module (model can be HS0038A4) be arranged on supply barrel outer wall, be arranged on the electromagnetic water valve bottom supply barrel and electromagnetic water valve driving circuit (model can be 9013), the second described infrared communication module is connected with the first infrared communication module of robot is infrared, the signal output part of the second infrared communication module is connected with the signal input part of electromagnetic water valve driving circuit, the signal output part of electromagnetic water valve driving circuit is connected with electromagnetic water valve, carries out the operation that discharges water.
Electromagnetic water valve of the present utility model is that zero pressure difference starts electromagnetic water valve.
Two lines of magnetic induction coil sensors of the present utility model are arranged on the left and right sides of robot body front portion, vertical with robot working direction.
During concrete enforcement:
When robot offsets left, the difference of 2 induction electromotive forces is just, revolver motor speed is accelerated, and right turbin generator speed slows down, and robot turns right, and gets back to electromagnetic center line place.
When robot offsets to the right, the difference of 2 induction electromotive forces is negative, and revolver motor speed is slowed down, and right turbin generator speed is accelerated, and robot turns left, and gets back to electromagnetic center line place.With this, keep robot all the time along electromagnetic center line, advance forward.
As shown in Figure 2, the principle of the infrared communications set in Yun Shui robot, 3rd tongue tube is serially connected in the infrared communication control loop in robot, when robot arrives the destination county of road, 3rd tongue tube is by magnet effect, and its two ends are connected, and is communicated with infrared communication control loop, make the first infrared communication module work, launch infrared signal to the second infrared communication module.At this moment, waterworks water supply start.
3rd tongue tube is also communicated with the current supply circuit of the 3rd time relay simultaneously, this time relay is started working, when timing 8 seconds (now then, water tank in robot fills water), the 3rd time relay contact be connected in infrared communication control loop is disconnected, first infrared communication module quits work, and stops launching infrared signal to the second infrared communication module, and add water stopping.
The utility model does not relate to the part prior art that maybe can adopt all same as the prior art and is realized.
Claims (4)
1., based on a fortune water robot system for electromagnetic tracking, it is characterized in that it comprises the road of robot and robot ambulation;
Robot comprises robot body, water tank, first tongue tube, second tongue tube, very first time relay, second time relay, two lines of magnetic induction coil sensors, subtracter one, subtracter two, totalizer, motor drive module one, motor drive module two, revolver motor and right turbin generator, two described lines of magnetic induction coil sensors are arranged on the front portion of robot body respectively, respond to the alternating magnetic field produced by road-center electromagnetic tracking line, the signal output part of two described lines of magnetic induction coil sensors is connected with two signal input parts of subtracter one, the signal output part of subtracter one connects a signal input part of totalizer and subtracter two respectively, another signal input part of totalizer and subtracter two connects given electric moter voltage respectively, and the signal output part of totalizer and subtracter two is respectively by each self-corresponding motor drive module one, first tongue tube, very first time relay and motor drive module two, second tongue tube, second time relay connects revolver motor and right turbin generator, the walking of drive machines human body, described water tank is arranged on robot body, first, two tongue tubes are installed to bottom robot, be serially connected in after first tongue tube is in parallel with very first time relay between motor drive module one and revolver motor, described very first time relay, first tongue tube and power supply connect and compose the current supply circuit of very first time relay, be serially connected in after second tongue tube is in parallel with second time relay between motor drive module two and right turbin generator, the second described time relay, second tongue tube and power supply connect and compose the current supply circuit of second time relay, first tongue tube and the second tongue tube all be arranged on robot ambulation road starting point, the permanent magnet magnetic induction of destination county connects, for the detection that puts in place,
The road-center of robot ambulation is embedding electromagnetic tracking line, can produce alternating magnetic field; At destination county and the section start of this road, permanent magnet is installed, for being connected with first, second tongue tube magnetic induction bottom robot.
2. the fortune water robot system based on electromagnetic tracking according to claim 1, it is characterized in that this system also comprises waterworks, in robot, also comprise the infrared communication control loop be made up of the 3rd tongue tube and the first infrared communication module, the 3rd time relay; The 3rd described time relay, the 3rd tongue tube and power supply connect and compose the current supply circuit of the 3rd time relay;
The 3rd described tongue tube is installed to bottom robot, 3rd tongue tube be arranged on robot ambulation road starting point, the permanent magnet magnetic induction of destination county is connected, for detection of supplying water, when robot arrives the destination county of road, 3rd tongue tube is connected with the magnetic induction of terminal permanent magnet, and the 3rd tongue tube normally opened contact closes, and is communicated with infrared communication control loop, first infrared communication module is connected with the second infrared communication module infrared induction, waterworks water supply start;
Described waterworks comprise supply barrel, the second infrared communication module be arranged on supply barrel outer wall, be arranged on the electromagnetic water valve bottom supply barrel and electromagnetic water valve driving circuit, the second described infrared communication module is connected with the first infrared communication module of robot is infrared, the signal output part of the second infrared communication module is connected with the signal input part of electromagnetic water valve driving circuit, the signal output part of electromagnetic water valve driving circuit is connected with electromagnetic water valve, carries out the operation that discharges water.
3. the fortune water robot system based on electromagnetic tracking according to claim 2, is characterized in that electromagnetic water valve is that zero pressure difference starts electromagnetic water valve.
4. the fortune water robot system based on electromagnetic tracking according to claim 1, is characterized in that two described lines of magnetic induction coil sensors are arranged on the left and right sides of robot body front portion, vertical with robot working direction.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201520004566.1U CN204423148U (en) | 2015-01-05 | 2015-01-05 | Based on the fortune water robot system of electromagnetic tracking |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201520004566.1U CN204423148U (en) | 2015-01-05 | 2015-01-05 | Based on the fortune water robot system of electromagnetic tracking |
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| CN204423148U true CN204423148U (en) | 2015-06-24 |
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| CN201520004566.1U Expired - Fee Related CN204423148U (en) | 2015-01-05 | 2015-01-05 | Based on the fortune water robot system of electromagnetic tracking |
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Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105841691A (en) * | 2016-03-17 | 2016-08-10 | 深圳市神州云海智能科技有限公司 | Electromagnetic navigation apparatus and system |
| CN106354089A (en) * | 2015-07-16 | 2017-01-25 | 波音公司 | Method and device for performing automated operations on a workpiece |
| CN107175663A (en) * | 2017-06-07 | 2017-09-19 | 杭州派尼澳电子科技有限公司 | A kind of intelligent robot food delivery method of electromagnetic tracking |
| CN107258486A (en) * | 2016-04-06 | 2017-10-20 | 苏州宝时得电动工具有限公司 | Intelligent water sprinkling robot and the control method for intelligent water sprinkling robot |
| CN114052571A (en) * | 2020-07-30 | 2022-02-18 | 沈阳新松机器人自动化股份有限公司 | Automatic water changing system and method for floor washing robot |
| CN114485625A (en) * | 2022-01-27 | 2022-05-13 | 北京理工大学前沿技术研究院 | Track positioning and ranging device and method and unmanned system |
-
2015
- 2015-01-05 CN CN201520004566.1U patent/CN204423148U/en not_active Expired - Fee Related
Cited By (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106354089A (en) * | 2015-07-16 | 2017-01-25 | 波音公司 | Method and device for performing automated operations on a workpiece |
| CN105841691A (en) * | 2016-03-17 | 2016-08-10 | 深圳市神州云海智能科技有限公司 | Electromagnetic navigation apparatus and system |
| CN107258486A (en) * | 2016-04-06 | 2017-10-20 | 苏州宝时得电动工具有限公司 | Intelligent water sprinkling robot and the control method for intelligent water sprinkling robot |
| CN107175663A (en) * | 2017-06-07 | 2017-09-19 | 杭州派尼澳电子科技有限公司 | A kind of intelligent robot food delivery method of electromagnetic tracking |
| CN107175663B (en) * | 2017-06-07 | 2019-08-30 | 杭州派尼澳电子科技有限公司 | A kind of intelligent robot food delivery method of electromagnetic tracking |
| CN114052571A (en) * | 2020-07-30 | 2022-02-18 | 沈阳新松机器人自动化股份有限公司 | Automatic water changing system and method for floor washing robot |
| CN114485625A (en) * | 2022-01-27 | 2022-05-13 | 北京理工大学前沿技术研究院 | Track positioning and ranging device and method and unmanned system |
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Legal Events
| Date | Code | Title | Description |
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| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant | ||
| 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: 20150624 Termination date: 20170105 |