CN206193537U - Pedrail robot independently fixes a position charging system - Google Patents
Pedrail robot independently fixes a position charging system Download PDFInfo
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- CN206193537U CN206193537U CN201621235372.3U CN201621235372U CN206193537U CN 206193537 U CN206193537 U CN 206193537U CN 201621235372 U CN201621235372 U CN 201621235372U CN 206193537 U CN206193537 U CN 206193537U
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Abstract
The utility model discloses a pedrail robot independently fixes a position charging system, fill the control circuit that charges of electric pile and robot including teleservice end, laser aiming formula, service end microcontroller, direct voltage source, voltage conversion circuit, service end wireless communication module, touch liquid crystal display, service end geomagnetic field sensor and laser emission electric pile 0 are drawn together to the teleservice hand ladle, the laser aiming formula is filled electric pile and is included that base, first gear, second gear, steering wheel, power insert baffle, laser emitter and the interface that charges, the robot charges control circuit and includes that the microcontroller of robot, machine carry wireless communication module, camera, ultrasonic sensor, machine and carry geomagnetic field sensor, battery power detection circuitry, laser receiver, motor drive, battery charging circuit and charging plug. The utility model discloses convenient to use, it is great to the tolerance of topography, can charge for effectively fast the robot battery, the operational reliability is high, and the practicality is strong, convenient to popularize and use.
Description
Technical field
The utility model belongs to robotics, and in particular to a kind of caterpillar robot autonomous positioning charging system.
Background technology
As mobile robot technology constantly develops, autonomous mobile robot is due to its good intelligent, independence
Become one of focus of robot research field, had been assigned diversified task, nowadays autonomous robot by
Be widely applied to industry-by-industry, such as sweeping robot, guided robot, transportation robot, under water without cable robot, both arms
Coordinate control robot, climbing robot, pipe robot etc..Although the function of robot extends constantly, using also getting over
Come more extensive, but the support of all of everything all too busy to get away electric energy.With the continuous extension of robot function, robot pair
The required amount of electric energy also constantly increases, and how to realize that prolonged, effective power supply becomes the necessary face of Robot industryization
Pair and solve problem, recharging technology be solve robot autonomy key.
At present, mobile robot be all using high-quality airborne chargeable storage group come to power itself, but one
As can only maintain several hours, once electric energy exhausts, it is necessary to by the way of manual intervention come give robot charge.If using
It is artificial to charge, then robot is at a kind of discrete task ring, which prevent the long-term autonomy of robot.If real
Now long-term autonomy truly, robot must be able to realize that self is supported, realizes continuous duty ring in residing environment.
Robot continuous duty ring is simply defined as making robot in the way of recharging continuing to complete assigned by it
Task.Once operation, robot just enter continuous duty ring, i.e., no longer need the help of people, in such a system, start and
Stopping is automatically performed by robot.For underground coal mine autonomous mobile robot, there is gas, coal dust in underground coal mine
After Deng explosion accident, if there is ignition point, the accidents such as subsequent explosion are susceptible to, personnel enter has high risk, speedily carries out rescue work
Personnel are difficult to enter in the very first time, and expert and policymaker are badly in need of obtaining underground situation on well, to judge and to determine
Plan.Underground, the destruction of detection down-hole accident and ambient conditions are first advanced into by robot, it is in the form of acoustic image and data that information is anti-
It is fed to control centre and is undoubtedly most effective and safe scheme.Due to the untethered master of common mobile robot power source
The airborne batteries of high-quality are relied on, how to allow robot safe and reliable under no manual intervention environment, quickly and efficiently
Realize that automatic charging is to realize the long-term autonomous key technology of robot.
In order to solve the problems, such as robot autonomous charging, carry out the following studies both at home and abroad：Robot autonomous charging technique
Started from for 20th century 40 years, abroad, Grey Walter successfully have developed a movement for energy recharging at year end in 20th century 40
Machine name " Tortoises ", this robot has the behavior towards light walking in neurology research.Grey
Walter devises a charging station, and he placed a light source and charger inside charging station, and robot is using tracking light
The method in source finds charging station.Grey Walter are close to charging device by light beam guided robot first, then by machine
The socket that charging arm on human body inserts nearby is that robot charges.1998, TSukuba universities developed a entitled
The mobile robot of Yamabico-Liv, this robot by using navigation system, is utilized in the case that environment is constant indoors
Known environment map guided robot reaches charging station, and it is right that the special equipment that then driven machine people is equipped with is carried out with charging station
Connect, realize the purpose of robot autonomous charging.There is a shortcoming with carrying out recharging according to known environment map, once environment
Map is destroyed, and robot will lose searching target, is navigated using known map, limits the flexible of mobile robot
Property.1999, the robot research of Carnegie Mellon University developed a kind of self-guide robot Sage, Sage machines
The body of people is using improvement Nomad XR4000 mobile robots, using ccd video camera and three-dimensional road sign guided robot reality
Now charge.University of California use Nomad XR4000 mobile robots, by the top of charging station set color lump and
IR diodes come guided robot docking and monitoring charge condition.Carnegie Mellon University and University of California use
Vision system and beacon are positioned to charge target.Carnegie Mellon University is filled using three-dimensional road sign guided robot
Electricity, three-dimensional road sign has good locating effect, but when closely docking, the precision of ccd video camera will influence docking effect
Really.The charging device of University of California's design increased robot butting error using funnelform docking window, improve
Tolerance, but funnelform docking window can only be along a fulcrum deflection, and the level that limit docking window is moved
It is dynamic.Therefore, when robot is docked with charging device, charging contact pin must align the fulcrum of window.
At home, Harbin Institute of Technology was entered in 2005 with Pioneer3DX wheeled robots indoors circumstances not known
Recharging technical research is gone, carrying out guided robot using laser sensor, PTZ colour TV cameras and odometer is carried out independently
Charge.2010, University Of Chongqing carried out the research of recharging to indoor cleaning machine people, it is proposed that to return to fixed charging
Seat is charged as the autonomous return path planning strategy of target.It is right that Harbin Institute of Technology is directly carried out to the socket on indoor wall
Connect, charging device design is not carried out.The docking tolerance of power outlet is too small, is easily caused charging failure.
In sum, at present also there are many shortcomings in robot autonomous charging technique, such as navigation and positioning accuracy it is not ideal enough,
Fault-tolerant and error correcting capability is not strong enough, and the design of charging device can't provide sufficiently large from structure for automatic charging system
Tolerance, lacks pervasive environments adaptability, and preferable not enough in terms of reasonable in design, science, economic dispatch, these machines
Device people's recharging technical problem be badly in need of we go solve.
Utility model content
Technical problem to be solved in the utility model is for above-mentioned deficiency of the prior art, there is provided a kind of crawler belt
Robot autonomous localization charging system, its simple structure is reasonable in design, realizes convenient and low cost, easy to use, to landform
Tolerance is larger, fast and effeciently can be charged to robot battery, and functional reliability is high, practical, using effect
It is good, it is easy to promote the use of.
In order to solve the above technical problems, the technical solution adopted in the utility model is：Caterpillar robot autonomous positioning charges
System, it is characterised in that：It is described long-range including remote service end, laser aiming formula charging pile and robot charging control circuit
Service end include service end microcontroller electrically connected with city and for by civil power be converted to robot charge needed for voltage direct current
Voltage source and it is connected with direct voltage source and the voltage conversion circuit for being powered for each power unit in remote service end, Yi Jiyu
Service end wireless communication module and touch LCD screen that service end microcontroller connects, the service end microcontroller
Input is terminated with service end geomagnetic field sensors, and the output of the service end microcontroller is terminated with Laser emission drive circuit；
The laser aiming formula charging pile includes base and the first gear and second gear that are rotatably connected on base and are meshed,
The steering wheel above first gear is fixedly connected with by steering wheel support on the base, the first gear is defeated with steering wheel
Shaft is fixedly connected, and power supply insertion baffle plate is fixedly connected with the second gear, and the bottom of the power supply insertion baffle plate is fixed
Generating laser is connected with, the top of the power supply insertion baffle plate is fixedly connected with charging inlet, the charging inlet and direct current
The output end connection of voltage source, the steering wheel is connected with the output end of service end microcontroller, the generating laser and laser
The output end connection of launch driving circuit；The robot charging control circuit includes robot microcontroller and micro- with robot
Controller connect and for service end wireless communication module wireless connection and the airborne wireless communication module that communicates；The machine
The input of people's microcontroller be terminated with camera, ultrasonic sensor, airborne geomagnetic field sensors, for detecting that robot powers
The battery power detection circuit of the electricity of battery and the laser pickoff for receiving the laser signal of laser transmitter projects, institute
The output for stating robot microcontroller is terminated with for the motor driver of driven machine people's movable motor and for being robot
The battery charger that supplying cell charges, is connected with the charging for being connected on charging inlet on the battery charger
Plug.
Above-mentioned caterpillar robot autonomous positioning charging system, it is characterised in that：The service end microcontroller is monolithic
Machine MSP430F169.
Above-mentioned caterpillar robot autonomous positioning charging system, it is characterised in that：The Laser emission drive circuit includes
The base stage of triode Q1, the triode Q1 is connected by resistance R1 with the P4.4 pins of the single-chip microcomputer MSP430F169, institute
The positive source for stating generating laser is connected with the output end of+3.3V power supplys, the power cathode of the generating laser and three poles
The colelctor electrode of pipe Q1 connects, the grounded emitter of the triode Q1.
Above-mentioned caterpillar robot autonomous positioning charging system, it is characterised in that：The service end wireless communication module and
Airborne wireless communication module is ZigBee wireless communication modules.
Above-mentioned caterpillar robot autonomous positioning charging system, it is characterised in that：First is fixedly connected with the base
Rotary shaft and the second rotary shaft, are fixedly connected with the first cylinder roller bearing, institute at the geometric center position of the first gear
First gear is stated to be rotatably connected on base by way of the first rotary shaft is installed in the first cylinder roller bearing, it is described
The second cylinder roller bearing is fixedly connected with the geometric center position of second gear, the second gear is rotated by by second
The mode that axle is installed in the second cylinder roller bearing is rotatably connected on base.
Above-mentioned caterpillar robot autonomous positioning charging system, it is characterised in that：It is provided with the base and is symmetrically positioned in
First gear both sides and for protecting the two of first gear piece of first protection baffle plate and to be symmetrically positioned in second gear both sides and be used for
Two piece of second protection baffle plate of protection second gear；The steering wheel support is by two respectively positioned at the door type support of steering wheel both sides
Composition, the steering wheel is fixedly connected by hex bolts and hex nut with door type support；The power supply insertion baffle plate passes through
Triangle fixture is fixedly connected in second gear.
Above-mentioned caterpillar robot autonomous positioning charging system, it is characterised in that：The robot microcontroller is DSP numbers
Word signal processor.
Above-mentioned caterpillar robot autonomous positioning charging system, it is characterised in that：The service end geomagnetic field sensors and
Airborne geomagnetic field sensors are the three axle geomagnetic field sensors of model HMC5883L.
The utility model has advantages below compared with prior art：
1st, simple structure of the present utility model, reasonable in design, realizes convenient and low cost.
2nd, it is of the present utility model easy to use, can be placed at and use in more complicated landform, to the tolerance of landform
It is larger.
3rd, the utility model fast and effeciently can be filled when robot electric quantity will be not enough to robot battery
Electricity, functional reliability is high.
4th, of the present utility model practical, using effect is good, is easy to promote the use of.
In sum, the utility model simple structure, it is reasonable in design, convenient and low cost is realized, it is easy to use, to landform
Tolerance it is larger, fast and effeciently can be charged to robot battery, functional reliability is high, practical, uses effect
It is really good, it is easy to promote the use of.
Below by drawings and Examples, the technical solution of the utility model is described in further detail.
Brief description of the drawings
Fig. 1 is schematic block circuit diagram of the present utility model.
Fig. 2 is the structural representation of the utility model laser aiming formula charging pile.
Fig. 3 is the circuit theory diagrams of the utility model Laser emission drive circuit.
Description of reference numerals:
1-remote service end；1-1-service end microcontroller；1-2-direct voltage source；
1-3-service end wireless communication module；1-4-touch LCD screen；
1-5-service end geomagnetic field sensors；1-6-Laser emission drive circuit；
1-7-voltage conversion circuit；2-laser aiming formula charging pile；2-1-base；
2-2-charging inlet；2-3-first gear；2-4-second gear；
2-5-door type support；2-6-steering wheel；2-7-power supply insertion baffle plate；
2-8-generating laser；2-9-the first protects baffle plate；2-10-the second protects baffle plate；
2-11-hex bolts；2-12-hex nut；2-13-triangle fixture；
3-robot charging control circuit；3-1-robot microcontroller；
3-2-airborne wireless communication module；3-3-camera；3-4-ultrasonic sensor；
3-5-airborne geomagnetic field sensors；3-6-battery power detection circuit；
3-7-laser pickoff；3-8-motor driver；3-9-battery charger；
3-10-charging plug.
Specific embodiment
As depicted in figs. 1 and 2, caterpillar robot autonomous positioning charging system of the present utility model, including remote service end
1st, laser aiming formula charging pile 2 and robot charging control circuit 3, the remote service end 1 include service end microcontroller 1-
1 electrically connected with city and for by civil power be converted to robot charge needed for voltage direct voltage source 1-2 and and direct voltage source
1-2 is connected and the voltage conversion circuit 1-7 for being powered for each power unit in remote service end 1, and with service end microcontroller
Service end wireless communication module 1-3 and touch LCD screen 1-4 that device 1-1 connects, the service end microcontroller 1-1's
The output that input is terminated with service end geomagnetic field sensors 1-5, the service end microcontroller 1-1 is terminated with Laser emission driving
Circuit 1-6；The laser aiming formula charging pile 2 includes base 2-1 and be rotatably connected on base 2-1 and be meshed first
Gear 2-3 and second gear 2-4, is fixedly connected with above first gear 2-3 on the base 2-1 by steering wheel support
Steering wheel 2-6, the first gear 2-3 are fixedly connected with the output shaft of steering wheel 2-6, are fixedly connected with the second gear 2-4
The bottom of power supply insertion baffle plate 2-7, the power supply insertion baffle plate 2-7 is fixedly connected with generating laser 2-8, the power supply insertion
The output end that the top of baffle plate 2-7 is fixedly connected with charging inlet 2-2, the charging inlet 2-2 and direct voltage source 1-2 connects
Connect, the steering wheel 2-6 is connected with the output end of service end microcontroller 1-1, the generating laser 2-8 drives with Laser emission
The output end connection of circuit 1-6；The robot charging control circuit 3 includes robot microcontroller 3-1 and micro- with robot
Controller 3-1 connect and for service end wireless communication module 1-3 wireless connections and the airborne wireless communication module 3- that communicates
2；The input of the robot microcontroller 3-1 is terminated with camera 3-3, ultrasonic sensor 3-4, airborne geomagnetic field sensors
3-5, the battery power detection circuit 3-6 of electricity for detecting robot supplying cell and for receiving generating laser 2-8
The laser pickoff 3-7 of the laser signal of transmitting, the output of the robot microcontroller 3-1 is terminated with for driven machine people
The motor driver 3-8 of the movable motor and battery charger 3-9 for being charged for robot supplying cell, the battery fills
The charging plug 3-10 for being connected on charging inlet 2-2 is connected with circuit 3-9.
In the present embodiment, the service end microcontroller 1-1 is single-chip microcomputer MSP430F169.
In the present embodiment, as shown in figure 3, the Laser emission drive circuit 1-6 includes triode Q1, the triode Q1
Base stage be connected with the P4.4 pins of the single-chip microcomputer MSP430F169 by resistance R1, the power supply of the generating laser 2-8
Positive pole is connected with the output end of+3.3V power supplys, the power cathode of the generating laser 2-8 and the colelctor electrode phase of triode Q1
Connect, the grounded emitter of the triode Q1.
In the present embodiment, the service end wireless communication module 1-3 and airborne wireless communication module 3-2 be ZigBee without
Line communication module.During specific implementation, the ZigBee wireless communication modules are the ZigBee radio communication molds of model CC2530
Block.
In the present embodiment, as shown in Fig. 2 being fixedly connected with the first rotary shaft and the second rotary shaft, institute on the base 2-1
State and the first cylinder roller bearing is fixedly connected with the geometric center position of first gear 2-3, the first gear 2-3 passes through will
The mode that first rotary shaft is installed in the first cylinder roller bearing is rotatably connected on base 2-1, the second gear 2-4's
The second cylinder roller bearing is fixedly connected with geometric center position, the second gear 2-4 is installed by by the second rotary shaft
It is rotatably connected on base 2-1 to the mode in the second cylinder roller bearing.
In the present embodiment, as shown in Fig. 2 be provided with the base 2-1 and being symmetrically positioned in first gear 2-3 both sides and being used for
Two piece first of protection first gear 2-3 protects baffle plate 2-9 and is symmetrically positioned in second gear 2-4 both sides and for protecting the second tooth
Two piece of second protection baffle plate 2-10 of wheel 2-4；The steering wheel support is by two respectively positioned at the door type support of steering wheel 2-6 both sides
2-5 is constituted, and the steering wheel 2-6 is fixedly connected by hex bolts 2-11 and hex nut 2-12 with door type support 2-5；It is described
Power supply insertion baffle plate 2-7 is fixedly connected on second gear 2-4 by triangle fixture 2-13.During specific implementation, described
The gear ratio of one gear 2-3 and second gear 2-4 is 1：1.
In the present embodiment, the robot microcontroller 3-1 is DSP.
In the present embodiment, the service end geomagnetic field sensors 1-5 and airborne geomagnetic field sensors 3-5 are model
The three axle geomagnetic field sensors of HMC5883L.
During specific implementation, the generating laser 2-8 is a wordline laser transmitter, and the rotation with charging inlet 2-2 is put
Dynamic to be engaged, improve charging plug 3-10 in robot and charging inlet 2-2 docks success rate, and effectively prevent cannot
The problem of docking.
Use the utility model carry out the process of caterpillar robot autonomous positioning charging for：Battery power detection circuit 3-6
Signal that the electricity of robot supplying cell is carried out real-time detection and will be detected is exported in real time gives robot microcontroller 3-
1, the electricity of the robot supplying cell that robot microcontroller 3-1 is received is carried out with low battery threshold value set in advance
Compare, when the electricity of robot supplying cell is less than low battery threshold value, be judged as the not enough power supply of robot supplying cell, this
When, robot microcontroller 3-1 sends charging signals by airborne wireless communication module 3-2 to remote service end 1, works as service end
Microcontroller 1-1 after service end wireless communication module 1-3 receives the charging signals that robot microcontroller 3-1 sends,
Start to gather the geomagnetic data that service end geomagnetic field sensors 1-5 is detected, and sent by service end wireless communication module 1-3
To robot charging control circuit 3；Robot microcontroller 3-1 receives service end micro-control by airborne wireless communication module 3-2
The geomagnetic data that device 1-1 processed sends, and gather the geomagnetic data that airborne geomagnetic field sensors 3-5 is detected, and will collect
The geomagnetic data that geomagnetic data is received with it is compared, and according to the difference movement for comparing, makes its geomagnetic data for collecting
Its geomagnetic data for receiving, i.e. robot is moved closer to be moved to the position near remote service end 1；In moving process, machine
The image that device people's microcontroller 3-1 is photographed by acquisition camera 3-3, to the Laser emission on laser aiming formula charging pile 2
Device 2-8 is positioned, and when that can get the light of generating laser 2-8 transmittings in the image for collecting, proceeds by laser
Positioning, robot microcontroller 3-1 sends laser positioning signal by airborne wireless communication module 3-2 to remote service end 1, when
Service end microcontroller 1-1 is determined by the laser that service end wireless communication module 1-3 receives robot microcontroller 3-1 transmissions
After the signal of position, drive steering wheel 2-6 to rotate, and drive generating laser 2-8 to launch laser by Laser emission drive circuit 1-6,
Steering wheel 2-6 is rotated in place counterclockwise again after turning clockwise in place, constantly repeats, and first gear 2-3 is driven when steering wheel 2-6 is rotated
Rotate, first gear 2-3 drives second gear 2-4 to rotate again, second gear 2-4 drives power supply to insert baffle plate 2-7 and rotates again, directly
After receiving the laser signal of generating laser 2-8 transmittings to laser pickoff 3-7, robot microcontroller 3-1 is by airborne
Wireless communication module 3-2 sends laser positioning and completes signal to remote service end 1, when service end microcontroller 1-1 is by service
After end wireless communication module 1-3 receives the laser positioning completion signal that robot microcontroller 3-1 sends, stop driving steering wheel
2-6 is rotated, and charging plug 3-10 is docked with charging inlet 2-2, so as to be charged to robot supplying cell.
The above, is only preferred embodiment of the present utility model, and not the utility model is imposed any restrictions, every
Any simple modification, change and the equivalent structure change made to above example according to the utility model technical spirit, still
Belong in the protection domain of technical solutions of the utility model.
Claims (8)
1. caterpillar robot autonomous positioning charging system, it is characterised in that：Charged including remote service end (1), laser aiming formula
Stake (2) and robot charging control circuit (3), the remote service end (1) include service end microcontroller (1-1) and civil power
Connect and for by civil power be converted to robot charge needed for voltage direct voltage source (1-2) and with direct voltage source (1-2)
Connect and the voltage conversion circuit (1-7) for being powered for remote service end (1) each power unit, and with service end microcontroller
Service end wireless communication module (1-3) and touch LCD screen (1-4) that device (1-1) connects, the service end microcontroller
The input of device (1-1) is terminated with service end geomagnetic field sensors (1-5), the output termination of the service end microcontroller (1-1)
There is Laser emission drive circuit (1-6)；The laser aiming formula charging pile (2) is including base (2-1) and is rotatably connected on bottom
On seat (2-1) and the first gear (2-3) and second gear (2-4) that are meshed, consolidated by steering wheel support on the base (2-1)
Surely it is connected with the output shaft of the steering wheel (2-6) above first gear (2-3), the first gear (2-3) and steering wheel (2-6)
It is fixedly connected, power supply is fixedly connected with the second gear (2-4) and inserts baffle plate (2-7), the power supply inserts baffle plate (2-7)
Bottom be fixedly connected with generating laser (2-8), the top of power supply insertion baffle plate (2-7) is fixedly connected with charging inlet
(2-2), the charging inlet (2-2) is connected with the output end of direct voltage source (1-2), and the steering wheel (2-6) is micro- with service end
The output end connection of controller (1-1), the generating laser (2-8) connects with the output end of Laser emission drive circuit (1-6)
Connect；The robot charging control circuit (3) including robot microcontroller (3-1) and with robot microcontroller (3-1) phase
Connect and for service end wireless communication module (1-3) wireless connection and the airborne wireless communication module (3-2) that communicates；The machine
The input of device people microcontroller (3-1) is terminated with camera (3-3), ultrasonic sensor (3-4), airborne geomagnetic field sensors
The battery power detection circuit (3-6) of (3-5), electricity for detecting robot supplying cell and for receiving generating laser
The laser pickoff (3-7) of the laser signal of (2-8) transmitting, the output of the robot microcontroller (3-1) be terminated with for
The motor driver (3-8) of driven machine people's movable motor and the battery charger for being charged for robot supplying cell
(3-9), is connected with the charging plug (3-10) for being connected on charging inlet (2-2) on the battery charger (3-9).
2. according to the caterpillar robot autonomous positioning charging system described in claim 1, it is characterised in that：The service end micro-control
Device (1-1) processed is single-chip microcomputer MSP430F169.
3. according to the caterpillar robot autonomous positioning charging system described in claim 2, it is characterised in that：The Laser emission is driven
Dynamic circuit (1-6) includes the base stage of triode Q1, the triode Q1 by resistance R1 with the single-chip microcomputer MSP430F169's
P4.4 pins are connected, and the positive source of the generating laser (2-8) is connected with the output end of+3.3V power supplys, the laser hair
The power cathode of emitter (2-8) connects with the colelctor electrode of triode Q1, the grounded emitter of the triode Q1.
4. according to the caterpillar robot autonomous positioning charging system described in claim 1, it is characterised in that：The service end is wireless
Communication module (1-3) and airborne wireless communication module (3-2) are ZigBee wireless communication modules.
5. according to the caterpillar robot autonomous positioning charging system described in claim 1, it is characterised in that：The base (2-1)
On be fixedly connected with the first rotary shaft and the second rotary shaft, be fixedly connected at the geometric center position of the first gear (2-3)
There is the first cylinder roller bearing, the first gear (2-3) is installed in the first cylinder roller bearing by by the first rotary shaft
Mode be rotatably connected on base (2-1), be fixedly connected with the second circle at the geometric center position of the second gear (2-4)
Post roller bearing, the second gear (2-4) is turned by way of the second rotary shaft is installed in the second cylinder roller bearing
It is dynamic to be connected on base (2-1).
6. according to the caterpillar robot autonomous positioning charging system described in claim 1, it is characterised in that：The base (2-1)
On be provided with and be symmetrically positioned in first gear (2-3) both sides and for protecting two piece first of first gear (2-3) to protect baffle plate (2-
9) two piece of second protection baffle plate (2-10) with second gear (2-4) both sides are symmetrically positioned in and for protecting second gear (2-4)；
The steering wheel support is made up of two door type supports (2-5) respectively positioned at steering wheel (2-6) both sides, and the steering wheel (2-6) is led to
Cross hex bolts (2-11) and hex nut (2-12) is fixedly connected with door type support (2-5)；The power supply insertion baffle plate (2-
7) it is fixedly connected in second gear (2-4) by triangle fixture (2-13).
7. according to the caterpillar robot autonomous positioning charging system described in claim 1, it is characterised in that：The robot micro-control
Device (3-1) processed is DSP.
8. according to the caterpillar robot autonomous positioning charging system described in claim 1, it is characterised in that：The service end earth magnetism
Field sensor (1-5) and airborne geomagnetic field sensors (3-5) are the three axle geomagnetic field sensors of model HMC5883L.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201621235372.3U CN206193537U (en) | 2016-11-17 | 2016-11-17 | Pedrail robot independently fixes a position charging system |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201621235372.3U CN206193537U (en) | 2016-11-17 | 2016-11-17 | Pedrail robot independently fixes a position charging system |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN206193537U true CN206193537U (en) | 2017-05-24 |
Family
ID=58726579
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201621235372.3U Expired - Fee Related CN206193537U (en) | 2016-11-17 | 2016-11-17 | Pedrail robot independently fixes a position charging system |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN206193537U (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US11172609B2 (en) | 2016-06-30 | 2021-11-16 | Tti (Macao Commercial Offshore) Limited | Autonomous lawn mower and a system for navigating thereof |
| CN113703449A (en) * | 2021-08-20 | 2021-11-26 | 深圳市海拓天城科技有限公司 | Sweeper circuit with control system |
-
2016
- 2016-11-17 CN CN201621235372.3U patent/CN206193537U/en not_active Expired - Fee Related
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US11172609B2 (en) | 2016-06-30 | 2021-11-16 | Tti (Macao Commercial Offshore) Limited | Autonomous lawn mower and a system for navigating thereof |
| CN113703449A (en) * | 2021-08-20 | 2021-11-26 | 深圳市海拓天城科技有限公司 | Sweeper circuit with control system |
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