CN206049753U - It is a kind of with the mobile device for following automatically function - Google Patents
It is a kind of with the mobile device for following automatically function Download PDFInfo
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- CN206049753U CN206049753U CN201620896240.9U CN201620896240U CN206049753U CN 206049753 U CN206049753 U CN 206049753U CN 201620896240 U CN201620896240 U CN 201620896240U CN 206049753 U CN206049753 U CN 206049753U
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- wheel
- mobile device
- bracing frame
- electrical machine
- processing unit
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Abstract
The utility model discloses a kind of with the mobile device for following automatically function, including vehicle body main body, bracing frame, wheel electrical machine, wheel, controlling organization, emergency brake mechanism and sensor element, the vehicle body main body is arranged on bracing frame；Handle is provided with the top of support frame as described above, supporting framing front end is provided with cross bar；The wheel electrical machine is provided with four, and each two ground is arranged at bracing frame bottom in front and back；The wheel is provided with four, is connected with four wheel electrical machines respectively；The controlling organization is arranged at the bottom of vehicle body main body, and the controlling organization includes central processing unit and Motor drive plate, and the Motor drive plate is connected with central processing unit；This utility model is safe efficient, stable, solves the hand-driven problem of moment needs；Can self adaptation, self-regulation, automatically carry out surrounding objects identification, so as to accurate recording equipment peripheral information, improve mobile device distinguishes rate, improves the productive life efficiency of people.
Description
Technical field
This utility model is related to field of machinery automation, and in particular to a kind of with the mobile device for following automatically function.
Background technology
Nowadays, the mobile device of conventional pushchairs type such as stroller, shopping cart etc., is manual drive, is bearing a heavy burden
There is certain limitation during larger or inconvenient artificial operation, the suitability is not strong, especially, for the most of the time is in low speed shape
Stroller under state, still needs at every moment by manual drive, and the both hands at this moment liberating father and mother show important especially, become and are badly in need of what is solved
Problem.
Utility model content
The purpose of this utility model is the shortcoming and deficiency for overcoming prior art, there is provided a kind of safe efficient, stable,
Solve the problems, such as the moment need manual drive with the mobile device for following automatically function.
The purpose of this utility model is achieved through the following technical solutions：
It is a kind of with the mobile device for following automatically function, including vehicle body main body, bracing frame, wheel electrical machine, wheel, control
Mechanism, emergency brake mechanism and sensor element, the vehicle body main body are arranged on bracing frame；Handle is provided with the top of support frame as described above
Handss, supporting framing front end are provided with cross bar；The wheel electrical machine is provided with four, and each two ground is arranged at bracing frame bottom in front and back；It is described
Wheel is provided with four, is connected with four wheel electrical machines respectively；The controlling organization is arranged at the bottom of vehicle body main body, institute
Stating controlling organization includes central processing unit and Motor drive plate, and the Motor drive plate is connected with central processing unit；The car
Turbin generator is connected with the Motor drive plate；The emergency brake mechanism is provided with two, is respectively arranged at latter two wheel electricity
At machine；The sensor element is connected with the central processing unit, and the sensor element includes attitude transducer and infrared
Distance measuring sensor, the attitude transducer are arranged at the cross bar of support frame as described above front end, and the infrared distance sensor is arranged
At the handle at the top of support frame as described above, the infrared distance sensor includes the first infrared range-measurement system, the second infrared range-measurement system
With the 3rd infrared range-measurement system, first infrared range-measurement system, the second infrared range-measurement system and the 3rd infrared range-measurement system and horizontal plane
Angle is different；
The emergency brake mechanism includes that catalyst, electromagnetic valve, liquid braking device, expansion link, fixed brake block, activity are stopped
Car piece and brake disc, the liquid braking device are arranged on bracing frame, and the catalyst is connected with the central processing unit,
The catalyst is sequentially connected electromagnetic valve and liquid braking device, and the fixed brake block is fixed on liquid braking device, the work
Dynamic brake block is connected with the liquid braking device by expansion link, and the brake disc is arranged at fixed brake block and activity is stopped
Between car piece, and brake disc is connected with the wheel electrical machine.
Preferably, the central processing unit is built using the chip of model stm32 or stm8；Model
The chip of stm32 or stm8 mainly possesses the features such as processing speed is fast, and stability is high, contrast present model stc51 etc. its
His processor, with more preferable expansion, can real-time processing data, and low price, cost performance are high.
Preferably, conformability six axle motion process component of the attitude transducer using model mpu6050；Using type
Number for mpu6050 six axle motion process component of conformability eliminate combination gyroscope and accelerator time shafts difference problem,
Substantial amounts of encapsulated space is reduced, while can be used to measure acceleration, angular acceleration and angle, cost performance is high, stable performance,
By Kalman filtering, the interference of external condition can be preferably processed, reach the characteristics of stability is high, and data measured is accurate.
Preferably, the wheel electrical machine is direct current generator.
Preferably, support frame as described above is metal supporting frames.
Preferably, the wheel is inflated rubber wheel.
This utility model has following beneficial effect compared with prior art：
(1) this utility model is safe efficient, stable, solves the hand-driven problem of moment needs；
(2) this utility model can self adaptation, self-regulation, automatically carry out surrounding objects identification, so as to accurately record
Device peripheral information, improve mobile device distinguish rate, improve the productive life efficiency of people.
Description of the drawings
Fig. 1 is structural representation of the present utility model；
Structural representations of the Fig. 2 for this utility model infrared distance sensor；
Structural representations of the Fig. 3 for this utility model emergency brake mechanism；
Fig. 4 is functional diagram of the present utility model.
In figure, reference is：1st, bracing frame；2nd, handle；3rd, vehicle body main body；4th, cross bar；5th, wheel electrical machine；6th, wheel；7、
First infrared range-measurement system；8th, the second infrared range-measurement system；9th, the 3rd infrared range-measurement system；10th, liquid braking device；11st, electromagnetic valve；12、
Catalyst；13rd, fixed brake block；14th, movable brake block；15th, expansion link；16th, brake disc.
Specific embodiment
This utility model is described in further detail with reference to embodiment and accompanying drawing, but enforcement of the present utility model
Mode not limited to this.
As Figure 1-4, it is a kind of with the mobile device for following automatically function, including vehicle body main body 3, bracing frame 1, wheel
Motor 5, wheel 6, controlling organization, emergency brake mechanism and sensor element, the vehicle body main body 3 are arranged on bracing frame 1；Institute
State and at the top of bracing frame 1, be provided with handle 2,1 front end of bracing frame is provided with cross bar 4, support frame as described above 1 is metal supporting frames；The wheel
Motor 5 is provided with four, and each two ground is arranged at 1 bottom of bracing frame in front and back, and the wheel electrical machine 5 is direct current generator；The wheel 6
Four are provided with, are connected with four wheel electrical machines respectively, the wheel 6 is inflated rubber wheel；The controlling organization sets
The bottom of vehicle body main body 3 is placed in, the controlling organization includes central processing unit and Motor drive plate, and the Motor drive plate is with
Central processor is connected, and the central processing unit is built using the chip of model stm32 or stm8, model
The chip of stm32 or stm8 mainly possesses the features such as processing speed is fast, and stability is high, contrast present model stc51 etc. its
His processor, with more preferable expansion, can real-time processing data, and low price, cost performance are high；The wheel electrical machine 5
It is connected with the Motor drive plate；The emergency brake mechanism is provided with two, is respectively arranged at latter two wheel electrical machine；Institute
State sensor element to be connected with the central processing unit, the sensor element includes attitude transducer and infrared distance measurement sensing
Device, the attitude transducer are arranged at the cross bar 4 of 1 front end of support frame as described above, and the attitude transducer adopts model
The six axle motion process component of conformability of mpu6050, is exempted using the six axle motion process component of conformability of model mpu6050
Combination gyroscope and the problem of the difference of accelerator time shafts, reduce substantial amounts of encapsulated space, at the same can be used to measure plus
Speed, angular acceleration and angle, cost performance are high, stable performance, by Kalman filtering, can preferably process the dry of external condition
Disturb, reach the characteristics of stability is high, and data measured is accurate, the attitude transducer is proofreaded for obtaining residing for car body through level
Various state parameters, are that the output of wheel electrical machine provides information to source；The infrared distance sensor is arranged at support frame as described above 1
At the handle 2 at top, the infrared sensor can be used to detect the object information in mobile device all directions, these information
Through central processing unit analysis so as to obtain the situation of surrounding space, the infrared distance sensor includes the first infrared distance measurement
Instrument 7, the second infrared range-measurement system 8 and the 3rd infrared range-measurement system 9, first infrared range-measurement system 7, the second infrared range-measurement system 8 and
Three infrared range-measurement systems 9 are different with the angle of horizontal plane, are so able to detect that the light intensity of different angles.
The emergency brake mechanism includes catalyst 12, electromagnetic valve 11, liquid braking device 10, expansion link 15, fixed brake
Piece 13, movable brake block 14 and brake disc 16, the liquid braking device 10 are arranged on bracing frame 1, the catalyst 12 with
The central processing unit is connected, and the catalyst 12 is sequentially connected electromagnetic valve 11 and liquid braking device 10, the fixed brake
Piece 13 is fixed on liquid braking device 10, and the movable brake block 14 is connected with the liquid braking device 10 by expansion link 15
Connect, the brake disc 16 is arranged between fixed brake block 13 and movable brake block 14, and brake disc 16 and the wheel
Motor 5 is connected.
Spatial data is gathered by attitude transducer, differentiates that current car body status (include speed, acceleration, angle speed
Degree etc.), by infrared distance sensor gather external environment condition data, according to the first infrared range-measurement system, the second infrared range-measurement system and
The difference of the data that the 3rd infrared range-measurement system feeds back carries out mathematical calculation analysis, judges the relative position of human body and car body,
Comprehensive various car body data systems the car body that automatically adjusts speed and direction, smoothly move so as to control car body.
This utility model is safe efficient, stable, solves the hand-driven problem of moment needs；Being capable of self adaptation, self-regulated
Save, automatically carry out surrounding objects identification, so as to accurate recording equipment peripheral information, improve mobile device distinguishes rate,
Improve the productive life efficiency of people.
It is above-mentioned for this utility model preferably embodiment, but embodiment of the present utility model is by the above
Limit, it is other it is any without departing from spirit of the present utility model and the change, modification, replacement made under principle, combine, it is simple
Change, should be equivalent substitute mode, be included within protection domain of the present utility model.
Claims (6)
1. a kind of with the mobile device for following automatically function, it is characterised in that including vehicle body main body, bracing frame, wheel electrical machine,
Wheel, controlling organization, emergency brake mechanism and sensor element, the vehicle body main body are arranged on bracing frame；Support frame as described above
Top is provided with handle, and supporting framing front end is provided with cross bar；The wheel electrical machine is provided with four, and each two ground is arranged at bracing frame in front and back
Bottom；The wheel is provided with four, is connected with four wheel electrical machines respectively；The controlling organization is arranged at vehicle body main body
Bottom, the controlling organization includes central processing unit and Motor drive plate, and the Motor drive plate is connected with central processing unit
Connect；The wheel electrical machine is connected with the Motor drive plate；The emergency brake mechanism is provided with two, two after being respectively arranged at
At individual wheel electrical machine；The sensor element is connected with the central processing unit, and the sensor element includes that attitude is sensed
Device and infrared distance sensor, the attitude transducer are arranged at the cross bar of support frame as described above front end, and the infrared distance measurement is passed
Sensor is arranged at the handle at the top of support frame as described above, and the infrared distance sensor includes the first infrared range-measurement system, second red
Outer diastimeter and the 3rd infrared range-measurement system, first infrared range-measurement system, the second infrared range-measurement system and the 3rd infrared range-measurement system with
The angle of horizontal plane is different；
The emergency brake mechanism includes catalyst, electromagnetic valve, liquid braking device, expansion link, fixed brake block, movable brake block
And brake disc, the liquid braking device is arranged on bracing frame, and the catalyst is connected with the central processing unit, described
Catalyst is sequentially connected electromagnetic valve and liquid braking device, and the fixed brake block is fixed on liquid braking device, and the activity is stopped
Car piece is connected with the liquid braking device by expansion link, and the brake disc is arranged at fixed brake block and movable brake block
Between, and brake disc is connected with the wheel electrical machine.
2. it is according to claim 1 with the mobile device for following automatically function, it is characterised in that the central processing unit
Built using the chip of model stm32 or stm8.
3. it is according to claim 1 with the mobile device for following automatically function, it is characterised in that the attitude transducer
Using the six axle motion process component of conformability of model mpu6050.
4. it is according to claim 1 with the mobile device for following automatically function, it is characterised in that the wheel electrical machine is
Direct current generator.
5. it is according to claim 1 with the mobile device for following automatically function, it is characterised in that support frame as described above is gold
Category bracing frame.
6. it is according to claim 1 with the mobile device for following automatically function, it is characterised in that the wheel is rubber
Inflation wheel.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201620896240.9U CN206049753U (en) | 2016-08-17 | 2016-08-17 | It is a kind of with the mobile device for following automatically function |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201620896240.9U CN206049753U (en) | 2016-08-17 | 2016-08-17 | It is a kind of with the mobile device for following automatically function |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN206049753U true CN206049753U (en) | 2017-03-29 |
Family
ID=58381172
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201620896240.9U Withdrawn - After Issue CN206049753U (en) | 2016-08-17 | 2016-08-17 | It is a kind of with the mobile device for following automatically function |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN206049753U (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106114595A (en) * | 2016-08-17 | 2016-11-16 | 广东工业大学 | A kind of have the mobile device automatically following function |
-
2016
- 2016-08-17 CN CN201620896240.9U patent/CN206049753U/en not_active Withdrawn - After Issue
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106114595A (en) * | 2016-08-17 | 2016-11-16 | 广东工业大学 | A kind of have the mobile device automatically following function |
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| GR01 | Patent grant | ||
| GR01 | Patent grant | ||
| AV01 | Patent right actively abandoned |
Granted publication date: 20170329 Effective date of abandoning: 20180227 |
|
| AV01 | Patent right actively abandoned |