CN207015371U - A kind of intelligent book car of taking care of books - Google Patents
A kind of intelligent book car of taking care of books Download PDFInfo
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- CN207015371U CN207015371U CN201720806591.0U CN201720806591U CN207015371U CN 207015371 U CN207015371 U CN 207015371U CN 201720806591 U CN201720806591 U CN 201720806591U CN 207015371 U CN207015371 U CN 207015371U
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Abstract
The utility model embodiment provides a kind of intelligent book car of taking care of books, is related to trolley technical field, including car body, and car body is provided with handle, electric-controlled box is additionally provided with car body, and electric-controlled box communication link is connected to dynamic tracing-positioning system；Handle is provided with pressure sensor, and pressure sensor communicates to connect with electric-controlled box, and the front bottom end both sides of car body are respectively equipped with first wheel motor and the second wheel hub motor, and the rear end bottom of car body is provided with universal wheel.The utility model sets electric-controlled box and dynamic tracing-positioning system and pressure sensor with electric-controlled box communication connection, pressure sensor that pressure signal can be transferred to electric-controlled box on car body, and electric-controlled box controls wheel hub motor to provide power for book car；Dynamic tracing-positioning system can the distance between accurate measurement librarian and book car, distance signal transmission is provided to power to electric-controlled box, electric-controlled box control wheel hub motor, realize that the autonomous of book car follows, the labor intensity of keeper is reduced, improves taking care of books efficiency.
Description
Technical field
It the utility model is related to trolley technical field, and in particular to a kind of intelligent book car of taking care of books.
Background technology
At present, classification management, taking care of books all are carried out to books using manpower four-wheeled hand truck in book management system
Member needs constantly to promote trolley when managing books, it is ensured that trolley is in suitable position so as to finishing book, such a hand
Stroller turns to difficulty, and resistance is big, inconvenient for use, has had a strong impact on book bidding efficiency, adds the work of books administrative staff
Intensity.
Utility model content
The purpose of this utility model is to provide a kind of intelligent book car with power-assisted carried out and independently follow function, with solution
Trolley present in certainly above-mentioned background technology turns to difficulty, and resistance is big, so as to increase the labor intensity of librarian, influences
The technical problem of taking care of books efficiency.
To achieve these goals, the utility model takes following technical scheme：
A kind of taking care of books intelligent book car, including car body, the car body are provided with handle, electricity are additionally provided with the car body
Box is controlled, the electric-controlled box communication link is connected to dynamic tracing-positioning system；The handle is provided with pressure sensor, and the pressure passes
Sensor communicates to connect with the electric-controlled box, and the front bottom end both sides of the car body are respectively equipped with first wheel motor and the second wheel hub
Motor, the rear end bottom of the car body are provided with universal wheel.
Further, the dynamic tracing-positioning system includes four positioning retinue modules, four positioning retinue
Module communicates to connect same remote control label.
Further, the electric-controlled box includes power supply unit, and said supply unit communication link is connected to master control borad, the power supply
Unit is electrically connected with the first driver, the second driver, first driver, the second driver respectively with the first wheel
Motor, the electrical connection of the second wheel hub motor.
Further, it is described positioning retinue module quantity be four, it is described four positioning retinue module with the master
Control board communications connection.
Further, it is described four positioning retinue module be respectively the first positioning retinue module, second positioning retinue module,
3rd positioning retinue module, the 4th positioning retinue module, the first positioning retinue module, the second positioning retinue module, the 3rd
Positioning retinue module, the 4th positioning retinue module are located at the lower end surrounding of the car body, and the first positioning retinue module, the
Two positioning retinue modules, the 3rd positioning retinue module, the 4th positioning retinue module are located in same level.
Further, four positioning retinue module communicates to connect with the master control borad.
Further, four pressure sensors are respectively first pressure sensor, second pressure sensor, the 3rd pressure
Force snesor, the 4th pressure sensor, the first pressure sensor and the second pressure sensor are symmetrically set in described
The both sides of hand one end, the 3rd pressure sensor and the 4th pressure sensor are symmetrically set in the two of the handle other end
Side.
The beneficial effects of the utility model are：Electric-controlled box is set on car body and tracked with the dynamic of electric-controlled box communication connection
Pressure signal can be transferred to electric-controlled box by alignment system and pressure sensor, pressure sensor, and electric-controlled box controls the wheel hub motor to be
Book car provides power；Dynamic tracing-positioning system can the distance between accurate measurement librarian and book car, it is fixed that dynamic tracks
Position system provides distance signal transmission to power to electric-controlled box, electric-controlled box control wheel hub motor, realizes that the autonomous of book car follows, drops
The low labor intensity of keeper, improves taking care of books efficiency.
Brief description of the drawings
, below will be to embodiment in order to illustrate more clearly of the utility model embodiment or technical scheme of the prior art
In the required accompanying drawing used be briefly described, it should be apparent that, drawings in the following description are only of the present utility model
Some embodiments, for those of ordinary skill in the art, on the premise of not paying creative work, can also be according to this
A little accompanying drawings obtain other accompanying drawings.
Fig. 1 is the three-dimensional structure diagram of the intelligent book car of taking care of books described in the utility model embodiment.
Fig. 2 is the overlooking structure figure of the intelligent book car of taking care of books described in the utility model embodiment.
Fig. 3 is the control principle block diagram of the intelligent book car of taking care of books described in the utility model embodiment.
Fig. 4 is the positioning retinue module control principle frame of the intelligent book car of taking care of books described in the utility model embodiment
Figure.
Wherein：1- car bodies；2- handles；3- electric-controlled boxes；4- wheel hub motors；5- universal wheels；The positioning retinue modules of 6- first；7-
Second positioning retinue module；The positioning retinue modules of 8- the 3rd；The positioning retinue modules of 9- the 4th；10- first pressure sensors；11-
Second pressure sensor；The pressure sensors of 12- the 3rd；The pressure sensors of 13- the 4th.
Embodiment
Below in conjunction with the accompanying drawing in the utility model embodiment, the technical scheme in the embodiment of the utility model is carried out
Clearly and completely describe, it is clear that described embodiment is only used for explaining the utility model, and can not be construed to this practicality
New limitation.Based on the embodiment in the utility model, every other embodiment that those of ordinary skill in the art are obtained,
Belong to the scope of the utility model protection.
Those skilled in the art of the present technique are appreciated that unless expressly stated, singulative " one " used herein, " described "
Plural form is may also comprise with "the".It is to be further understood that wording " the bag used in specification of the present utility model
Include " refer to the feature, integer, step, operation, element and/or component be present, but it is not excluded that in the presence of or addition one or
Other multiple features, integer, step, operation, element, component and/or their group.
Those skilled in the art of the present technique are appreciated that unless otherwise defined, all terms used herein (including technology art
Language and scientific terminology) with the general understanding identical meaning with the those of ordinary skill in the utility model art.Also
It should be understood that those terms defined in such as general dictionary should be understood that with the context of prior art
The consistent meaning of meaning, and unless defined as here, will not be explained with the implication of idealization or overly formal.
For ease of understanding the utility model, the utility model is explained below by specific embodiment combination accompanying drawing
Bright, Fig. 1 is the three-dimensional structure diagram of the intelligent book car of taking care of books described in the utility model embodiment, and Fig. 2 is the utility model
The overlooking structure figure of the intelligent book car of taking care of books described in embodiment, Fig. 3 are the books pipe described in the utility model embodiment
The control principle block diagram of the intelligent book car of reason, Fig. 4 are that the taking care of books described in the utility model embodiment is determined with intelligent book car
Position retinue module control principle block diagram.It should be appreciated by those skilled in the art that accompanying drawing is the schematic diagram of embodiment, in accompanying drawing
Module or part are not necessarily implemented necessary to the present invention.
As shown in Figure 1 to Figure 2, the intelligent book car, including car body of a kind of taking care of books described in the utility model embodiment
1, the car body is provided with handle 2, and electric-controlled box 3 is additionally provided with the car body 1, and the communication link of electric-controlled box 3 is connected to dynamic and tracked
Alignment system；The handle 2 is provided with pressure sensor, and the pressure sensor communicates to connect with the electric-controlled box 3, the car
The rear end two bottom sides of body 1 are respectively equipped with the wheel hub motor 402 of first wheel motor 401 and second, the front bottom end of the car body 1
Provided with universal wheel 5.
In a specific embodiment of the present utility model, the dynamic tracing-positioning system includes four positioning retinues
Module, four positioning retinue module communicate to connect same remote control label.
In a specific embodiment of the present utility model, the electric-controlled box 3 includes power supply unit, and said supply unit is led to
Letter is connected with master control borad, and said supply unit is electrically connected with the first driver, the second driver, first driver, second
Driver electrically connects with the first wheel motor 401, the second wheel hub motor 402 respectively.
In a specific embodiment of the present utility model, it is described four positioning retinue module with the master control board communications
Connection.
In a specific embodiment of the present utility model, four positioning retinue module is respectively the first positioning retinue
The positioning retinue positioning retinue positioning retinue module 9 of module the 8, the 4th of module the 7, the 3rd of module 6, second, the first positioning retinue
The positioning retinue positioning retinue positioning retinue module 9 of module the 8, the 4th of module the 7, the 3rd of module 6, second is located at the lower end of the car body
Surrounding, and the first positioning retinue module 6, second positioning retinue positioning retinue positioning retinue of module the 8, the 4th of module the 7, the 3rd
Module 9 is located in same level.
In a specific embodiment of the present utility model, described pressure sensor quantity is four, four pressures
Force snesor communicates to connect with the master control borad.
In a specific embodiment of the present utility model, four pressure sensors are respectively first pressure sensor
10th, second pressure sensor 11, the 3rd pressure sensor 12, the 4th pressure sensor 13, the He of first pressure sensor 10
The second pressure sensor 11 is symmetrically set in the both sides of described one end of handle 2, the 3rd pressure sensor 12 and described
Four pressure sensors 13 are symmetrically set in the both sides of the other end of handle 2.
In actual applications, the utility model embodiment does not limit to above-mentioned pressure sensor and the number of positioning retinue module
Amount and specific placement location, any modes of emplacement of above-mentioned pressure sensor and positioning retinue module on described car body 1 is all
In the protection domain of the utility model embodiment.
Remote control label as shown in figure 4, under follow the mode, is arranged on books pipe when specifically used by the utility model
With reason person, the remote control label is ultra-high frequency wireless electrical remote control label, and the positioning retinue module includes book car motion state
Computing unit, keeper's motion state computing unit, driving instruction edit cell, the ultra-high frequency wireless electrical remote control tag location
And book car and the relative position of librarian are recorded, ultra-high frequency wireless electrical remote control label calculates single with the book car motion state
Member communication connection, the book car motion state computing unit, institute are sent to by the relative position information of book car and librarian
State motion state and movement locus that book car motion state computing unit calculates according to the movement velocity of book car and records book car, book
Car motion state computing unit is connected with keeper's motion state computing unit, and the motion state of book car and movement locus are believed
Breath is sent to keeper's motion state computing unit, motion state and motion of keeper's motion state computing unit according to book car
Trace information calculates the movement velocity, the direction of motion and the relative position coordinates with book car of librarian, keeper's motion
State calculating unit is connected with driving instruction edit cell, by the movement velocity of librarian, the direction of motion and with book car
The information such as relative position coordinates are sent to driving instruction edit cell, and driving instruction edit cell carries out speed according to above- mentioned information
Resolving and the Motion trajectory of book car, edit driving instruction.
Driving instruction edit cell includes first wheel motor driving instruction edit cell and the second In-wheel motor driving refers to
Make edit cell, first wheel motor driving instruction edit cell and the second In-wheel motor driving instruction edit cell with it is described
Master control borad communicates to connect, and the first wheel motor driving instruction edit cell and the second In-wheel motor driving instruct edit cell
Respective driving instruction is edited respectively, and driving instruction is sent to master control borad, and master control borad controls according to driving instruction respectively
One driver and the running status of the second driver driving first wheel motor and the second wheel hub motor, realize remote control label with determining
Pre-determined distance is kept between position retinue module, and then drives book car to follow librarian to move.
Remote control label be placed on book car by first positioning accompany module, second positioning retinue module, the 3rd positioning with
In the range of row module, the 4th positioning retinue module surround, remote control label does not have relative position, dynamic tracing-positioning system with book car
It is automatically stopped, book car is converted to implementation pattern.
As shown in figures 1 and 3, under implementation pattern, both hands promote handle 2, and handle 2 occurs microstrain, passed by pressure
Microstrain signal is converted to voltage signal by sensor, and master control borad rotates according to voltage signal drive hub motor 4, realizes intelligent book
The electric power power-assisted of car is carried out.When carrying out bilateral handle 2 forward, second pressure sensor 11, the 3rd pressure sensor 12 detect
To stretching strain signal, first pressure sensor 10, the 4th pressure sensor 13 detect compressive strain signal, and each pressure sensor should
Time variant voltage signal is transferred to master control borad, and electric signal is transmitted to power supply unit by master control borad, and power supply unit supplies electricity to driver driving wheel
Bilateral wheel hub motor 4 rotates forward, and thrust is bigger, and strain is bigger, and rotating speed is faster, and power-assisted is provided for book car；When pulling back bilateral handle
During hand 2, second pressure sensor 11, the 3rd pressure sensor 12 detect compressive strain signal, first pressure sensor the 10, the 4th
Pressure sensor 13 detects stretching strain signal, and each pressure sensor compliance voltage signal is transferred to master control borad, and master control borad is by electricity
Signal is transmitted to power supply unit, and power supply unit supplies electricity to the reversion of driver driving wheel bilateral wheel hub motor, and pulling force is bigger, and strain is got over
Greatly, rotating speed is faster, and power-assisted is provided for book car.
When the stretching strain pressure voltage signal of tertiary stress sensor 12 is more than when the stretching strain pressure of the second strain gauge 11
Voltage signal, the rotating speed of first wheel motor 401 are more than the rotating speed of the second wheel hub motor 402, and car body is turned right forward；When the 3rd should
The stretching strain pressure voltage signal of force snesor 12 is less than when the stretching strain pressure voltage signal of the second strain gauge 11, first wheel
The rotating speed of motor 401 is less than the rotating speed of the second wheel hub motor 402, and car body turns left forward；When the stretching strain of the second strain gauge 11
Pressure voltage signal is equal to and works as the stretching strain pressure voltage signal of tertiary stress sensor 12, the rotating speed of first wheel motor 401 etc.
In the rotating speed of the second wheel hub motor 402, car body straight forward；When decontroling both hands, each pressure sensor without compliance voltage signal,
Motor stalls.
In summary, the utility model embodiment is detected by being provided with four symmetrical pressure sensors on handle
The different pressures that human hand applies, are converted to electric signal by pressure signal and are transmitted to electric-controlled box 3, drive first wheel motor 401 respectively
With the second wheel hub motor 402 with different rotational speeds, so as to realize the power-assisted in the different direction of book car；Set on car body automatically controlled
Box and four positioning retinue modules with electric-controlled box communication connection, by remote control label with librarian, can accurately be surveyed
Measure keeper and position the distance between module of accompanying with each, distance signal is converted into electric signal and is transmitted to master control borad by base station, main
Control plate and the rotating speed and rotation direction of wheel hub motor are controlled according to electric signal, and then realize that the autonomous of book car follows, reduce management
The labor intensity of member, improves taking care of books efficiency.
One of ordinary skill in the art will appreciate that：The part in device in embodiment can describe to divide according to embodiment
It is distributed in the device of embodiment, respective change can also be carried out and be disposed other than in one or more devices of the present embodiment.On
The part for stating embodiment can be merged into a part, can also be further split into multiple subassemblies.
It is described above, the only preferable embodiment of the utility model, but the scope of protection of the utility model is not
This is confined to, in the principle and technical scope that the utility model discloses, that is made appoints any those skilled in the art
What modification, equivalent substitution, improvement etc., should all cover within the scope of protection of the utility model.
Claims (7)
1. a kind of intelligent book car of taking care of books, including car body (1), the car body is provided with handle (2), it is characterised in that：Institute
State and electric-controlled box (3) is additionally provided with car body (1), electric-controlled box (3) communication link is connected to dynamic tracing-positioning system；The handle
(2) pressure sensor is provided with, the pressure sensor communicates to connect with the electric-controlled box (3), the front end bottom of the car body (1)
Portion both sides are respectively equipped with first wheel motor (401) and the second wheel hub motor (402), and the rear end bottom of the car body (1) is provided with
Universal wheel (5).
2. the intelligent book car of taking care of books according to claim 1, it is characterised in that：The dynamic tracing-positioning system bag
Four positioning retinue modules are included, four positioning retinue module communicates to connect same remote control label.
3. the intelligent book car of taking care of books according to claim 2, it is characterised in that：The electric-controlled box (3) includes power supply
Unit, said supply unit communication link are connected to master control borad, and said supply unit is electrically connected with the first driver, the second driver,
First driver, the second driver electrically connect with the first wheel motor (401), the second wheel hub motor (402) respectively.
4. the intelligent book car of taking care of books according to claim 3, it is characterised in that：Four positioning retinue module is equal
Communicated to connect with the master control borad.
5. the intelligent book car of taking care of books according to claim 4, it is characterised in that：Four positioning retinue module point
Wei not the first positioning retinue module (6), the second positioning retinue module (7), the 3rd positioning retinue module (8), the 4th positioning retinue
Module (9), the first positioning retinue module (6), the second positioning retinue module (7), the 3rd positioning retinue module (8), the 4th
Positioning retinue module (9) is located at the lower end surrounding of the car body, and the first positioning retinue module (6), the second positioning retinue
Module (7), the 3rd positioning retinue module (8), the 4th positioning retinue module (9) are located in same level.
6. the intelligent book car of taking care of books according to claim 5, it is characterised in that：Described pressure sensor quantity is
Four, four pressure sensors communicate to connect with the master control borad.
7. the intelligent book car of taking care of books according to claim 6, it is characterised in that：Four pressure sensors difference
For first pressure sensor (10), second pressure sensor (11), the 3rd pressure sensor (12), the 4th pressure sensor
(13), the first pressure sensor (10) and the second pressure sensor (11) are symmetrically set in the handle (2) one end
Both sides, the 3rd pressure sensor (12) and the 4th pressure sensor (13) are symmetrically set in the handle (2) other end
Both sides.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201720806591.0U CN207015371U (en) | 2017-07-05 | 2017-07-05 | A kind of intelligent book car of taking care of books |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201720806591.0U CN207015371U (en) | 2017-07-05 | 2017-07-05 | A kind of intelligent book car of taking care of books |
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| Publication Number | Publication Date |
|---|---|
| CN207015371U true CN207015371U (en) | 2018-02-16 |
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ID=61483375
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201720806591.0U Active CN207015371U (en) | 2017-07-05 | 2017-07-05 | A kind of intelligent book car of taking care of books |
Country Status (1)
| Country | Link |
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| CN (1) | CN207015371U (en) |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108536184A (en) * | 2018-04-10 | 2018-09-14 | 深圳市开心橙子科技有限公司 | A kind of cart and control method by pressure sensitive control |
| CN111248583A (en) * | 2020-02-26 | 2020-06-09 | 齐鲁工业大学 | Walking stick with electric shopping cart and using method thereof |
| FR3111317A1 (en) * | 2020-06-10 | 2021-12-17 | Brevac | Multi-level and rolling load transport and storage trolley |
-
2017
- 2017-07-05 CN CN201720806591.0U patent/CN207015371U/en active Active
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108536184A (en) * | 2018-04-10 | 2018-09-14 | 深圳市开心橙子科技有限公司 | A kind of cart and control method by pressure sensitive control |
| CN111248583A (en) * | 2020-02-26 | 2020-06-09 | 齐鲁工业大学 | Walking stick with electric shopping cart and using method thereof |
| FR3111317A1 (en) * | 2020-06-10 | 2021-12-17 | Brevac | Multi-level and rolling load transport and storage trolley |
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Legal Events
| Date | Code | Title | Description |
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| GR01 | Patent grant | ||
| GR01 | Patent grant | ||
| TR01 | Transfer of patent right |
Effective date of registration: 20200416 Address after: 031100 Room 303, 3 / F, Bank of Jinzhong building, No. 1, Shuguang West Street, gutao Town, Pingyao County, Jinzhong City, Shanxi Province Patentee after: Pingyao Jiuxing Technology Co., Ltd Address before: 100200, room 5, building 98, 2001 West Lake Road, Mentougou District, Beijing Patentee before: BEIJING TOPSROBOTEER TECHNOLOGY Co.,Ltd. |
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| TR01 | Transfer of patent right |