CN207096813U - Intelligent 4 wheel driven dolly - Google Patents
Intelligent 4 wheel driven dolly Download PDFInfo
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- CN207096813U CN207096813U CN201721072220.0U CN201721072220U CN207096813U CN 207096813 U CN207096813 U CN 207096813U CN 201721072220 U CN201721072220 U CN 201721072220U CN 207096813 U CN207096813 U CN 207096813U
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Abstract
The utility model discloses a kind of intelligent 4 wheel driven dolly, including bottom plate and is installed on bottom plate and also includes with the spaced installing plate of bottom plate, the intelligent 4 wheel driven dolly：Master control borad, driving plate, line walking module and adjustable detecting module on bottom plate, the ultrasonic wave module on installing plate；The ultrasonic wave module, line walking module, adjustable detecting module are electrically connected by winding displacement with driving plate respectively；The master control borad is plugged in driving plate, the adjustable detecting module is installed on one end of bottom plate, the line walking module is installed on bottom plate and holds setting together with adjustable detecting module close to the side on ground and line walking module, and the ultrasonic wave module holds setting together with adjustable detecting module.Each component is provided separately by the technical solution of the utility model, can reduce the development difficulty of dolly；In addition, dolly electrical connection is stable, it is easy to combination to install.
Description
Technical field
It the utility model is related to a kind of teaching dolly, more particularly to a kind of intelligent 4 wheel driven dolly.
Background technology
Intelligent carriage according to pattern set in advance in an environment due to can automatically operate, it is not necessary to artificial
Management, while can also be used to real-time display time, speed, mileage, there is Automatic Track Finding, seek light, barrier avoiding function, program-controlled row
Sail speed, be accurately positioned the characteristic such as parking, remote transmission image, extensively liked by developer.Intelligent carriage can be divided into three parts,
Including Sensor section, controller part and actuator part.Controller part：Receive the letter that Sensor section passes over
Number, and according to the decision system write in advance, to determine reaction of the robot to external signal, control signal is issued into actuator
Part.Actuator part：Driving robot makes various actions, including sends the part of various signals, and can be according to control
The signal of device part processed adjusts the state of oneself.For robot car, most basic is exactly wheel.Sensor section：Machine
Device people is used for reading the sensor of various external signals, and the various switches of control machine human action.
For intelligent carriage mostly based on fixed, fixed integrates drive module, power module, main control module at present
Onto a platter, cumbersome wiring and number of assembling steps are avoided.But there is following defect in current intelligent carriage：1st, at present
Intelligent carriage due to design comparison it is compact, can not in identical platform compatible a variety of main control modules, to user learn it is various
Main control chip ability has significant limitations.2nd, this compact dolly, has significant limitations in the ability of extended function module,
The mode of cumbersome individual wires link block, the development difficulty increase to user, and to the performance and stability of dolly
Have a great impact.3rd, most of dollies do not increase battery cell monitoring and prevented on power management and dolly stall situation
Stall function, battery is caused to scrap or burnt in the case of motor rotation blockage due to forgetting to charge when causing the user to reuse dolly
Motor drive ic is ruined, so as to which user can not reuse dolly, and increases user's learning cost.
In view of this, it is necessary to which current structure is further improved for proposition.
Utility model content
To solve an above-mentioned at least technical problem, main purpose of the present utility model is to provide a kind of intelligent 4 wheel driven dolly.
To achieve the above object, the technical scheme that the utility model uses for：A kind of intelligent 4 wheel driven dolly is provided, wrapped
Include bottom plate and be installed on bottom plate and also include with the spaced installing plate of bottom plate, the intelligent 4 wheel driven dolly：Positioned at bottom plate
On master control borad, driving plate, line walking module and adjustable detecting module, the ultrasonic wave module on installing plate；It is described super
Sound wave module, line walking module, adjustable detecting module are electrically connected by winding displacement with driving plate respectively；
The master control borad is plugged in driving plate, and the adjustable detecting module is installed on one end of bottom plate, the line walking
Module is installed on bottom plate and holds setting, the ultrasonic wave module together with adjustable detecting module close to the side on ground and line walking module
Setting is held with adjustable detecting module together.
Wherein, the side of the driving plate is provided with multiple wire plug connection mouths, the ultrasonic wave module, line walking module and can
Mode detecting module is each provided with the thread plug that can coordinate with the grafting of wire plug connection mouth.
Wherein, the master control borad is included in Arduino plates, STM32 core boards, Raspberry Pi master control borad and 51 minimum system plates
It is any.
Wherein, Cross prevention module is provided with the driving plate and stall restarts module.
Wherein, the ultrasonic wave module is horizontal ultrasonic sensor, and the horizontal ultrasonic sensor passes through fixed column
It is installed on installing plate；Or the horizontal ultrasonic sensor is fixed on steering wheel head by installation sheet.
Wherein, in addition to driving plate the lighting module electrically connected, the lighting module are installed on installation by fixed column
On plate；Or
The lighting module is fixed on steering wheel head by installation sheet；Or
The lighting module is stacked by fixed column and ultrasonic wave module, and the lighting module close to installing plate is with surpassing
Any one of sound wave module is fixed on steering wheel head by installation sheet.
Wherein, in addition to driving plate the Tansducer For Color Distiguishing electrically connected, the bright light color of the lighting module follow
The colour switching of Tansducer For Color Distiguishing detection.
Wherein, the adjustable detecting module includes IR evading obstacle sensors and seeks optical sensor.
Wherein, the driving plate is also associated with bluetooth module or WIFI module.
The technical solution of the utility model mainly include master control borad, driving plate, line walking module, adjustable detecting module and
Ultrasonic wave module, wherein, line walking module, adjustable detecting module and ultrasonic wave module electrically connect with driving plate respectively, master control
Plate is plugged in driving plate, in this way, being provided separately each component with realizing, is reduced the integrated level of intelligent carriage, is advantageous to intelligence
The exploitation and extension of energy dolly；In addition, line walking module, adjustable detecting module and ultrasonic wave module are respectively by winding displacement with driving
Dynamic plate electrical connection, the stability of electrical connection can be improved, be advantageous to improve the reliability of combination installation.
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
Or the required accompanying drawing used is briefly described in description of the prior art, it should be apparent that, drawings in the following description are only
It is some embodiments of the utility model, for those of ordinary skill in the art, is not paying the premise of creative work
Under, other accompanying drawings can also be obtained according to the structure shown in these accompanying drawings.
Fig. 1 is the structural representation of the embodiment intelligence 4 wheel driven dolly of the utility model one；
Fig. 2 is the structural representation of another embodiment intelligence 4 wheel driven dolly of the utility model.
Realization, functional characteristics and the advantage of the utility model purpose will be described further referring to the drawings in conjunction with the embodiments.
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 describing, it is clear that described embodiment is only part of the embodiment of the present utility model, rather than all
Embodiment.Based on the embodiment in the utility model, those of ordinary skill in the art are not making creative work premise
Lower obtained every other embodiment, belong to the scope of the utility model protection.
It is to be appreciated that the description for being related to " first ", " second " etc. in the utility model is only used for describing purpose, and can not manage
Solve to indicate or implying its relative importance or the implicit quantity for indicating indicated technical characteristic.Thus, define " the
One ", at least one this feature can be expressed or be implicitly included to the feature of " second ".In addition, the skill between each embodiment
Art scheme can be combined with each other, but must can be implemented as basis with those of ordinary skill in the art, when technical scheme
With reference to occurring conflicting or will be understood that the combination of this technical scheme is not present when can not realize, also not in the utility model
It is required that protection domain within.
Referring to Fig.1 and 2, in the utility model embodiment, the intelligent 4 wheel driven dolly, including bottom plate 11 and be installed on
On bottom plate 11 and installing plate spaced with bottom plate 11 12, the intelligent 4 wheel driven dolly also include：Master control on bottom plate 11
Plate 21, driving plate 20, line walking module 40 and adjustable detecting module 50, the ultrasonic wave module 30 on installing plate 12；Institute
Ultrasonic wave module 30, line walking module 40, adjustable detecting module 50 is stated to electrically connect with driving plate 20 by winding displacement respectively；
The master control borad 21 is located in driving plate 20, and the adjustable detecting module 50 is installed on one end of bottom plate 11, institute
State line walking module 40 and be installed on bottom plate 11 and set close to the side on ground and line walking module 40 with adjustable detecting module 50 with end,
The ultrasonic wave module 30 is set with adjustable detecting module 50 with end.
In the present embodiment, ultrasonic wave module 30, line walking module 40, adjustable detecting module 50 pass through winding displacement and driving respectively
Plate 20 electrically connects, and Flat cable connection structure is stable, is easy to the installation of each component to combine, and is advantageous to improve the steady of each component electrical connection
It is qualitative can, it is unique and robustness to be connected due to winding displacement mode, and the winding displacement can also improve to be connected between module and driving plate 20
Security performance.In addition, this programme is set up separately multiple functions module, is advantageous to intelligence using the integrated level for reducing driving plate 20
The extension of energy trolley function, facilitates the transformation to intelligent carriage, increases the interesting playing method of dolly.
The technical solution of the utility model mainly includes master control borad 21, driving plate 20, line walking module 40, adjustable detection mould
Block 50 and ultrasonic wave module 30, wherein, line walking module 40, adjustable detecting module 50 and ultrasonic wave module 30 respectively with drive
Dynamic plate 20 electrically connects, in this way, being provided separately each component to realize, reduces the integrated level of intelligent carriage, and it is small to be advantageous to intelligence
The exploitation and extension of car；In addition, line walking module 40, adjustable detecting module 50 and ultrasonic wave module 30 respectively by winding displacement with
Driving plate 20 electrically connects, and can improve the stability of electrical connection, is advantageous to improve the reliability of combination installation.
Fig. 1 is refer to, in a specific embodiment, the side of the driving plate 20 is provided with multiple wire plug connection mouths,
The ultrasonic wave module 30, line walking module 40 and adjustable detecting module 50 are each provided with the grafting of wire plug connection mouth to coordinate
Thread plug.Each component of current most intelligent carriage is to arrange the mounting means of pin insertion row-needle receptacle, cause dolly
There is connection loosening with driving plate 20 in each component in motion process, and such phenomenon has a strong impact on ultrasonic wave stability and receives number
According to accuracy, user embody has a greatly reduced quality.Coordinated by the grafting of above-mentioned wire plug connection mouth and patch cord plug, one can be entered
Step improves the stability of connection.It should be understood that two sides of driving plate 20 can also set a variety of interfaces, to facilitate user
Extend more functions.Increased a variety of study interfaces of driving plate 20, user can be driven plate 20 according to study schedule more
Study module is changed, greatly increases the expansion of intelligent carriage.
In a specific embodiment, the master control borad 21 includes Arduino plates, STM32 core boards, Raspberry Pi master control borad
And 51 is any in minimum system plate.It should be understood that above-mentioned Arduino plates, STM32 core boards, Raspberry Pi master control
Plate and 51 minimum system plates are only the preferred embodiment of master control borad 21, and driving plate 20 is plugged in reference to the master control borad 21 in such scheme
On, it can be deduced that polytype master control borad 21 is pluggable in driving plate 20, that is, driving plate 20 being capable of compatible a variety of master controls
Plate 21.This programme is not limited to take the type of master control borad 21 of the above-mentioned type, other kinds of master control borad 21 and feasible program.
It is noted that in the application of reality, the master control borad 21 in driving plate 20 can only run one kind.
In a specific embodiment, it is provided with Cross prevention module in the driving plate 20 and stall restarts module.Should
Scheme is intended to increase the safety and stability of dolly, and user causes battery to be scrapped and due to using not without worrying that battery is crossed to put
Pay attention to the situation for causing dolly stall to burn motor drive ic.Above-mentioned Cross prevention module can pass through over-discharge protection circuit
To realize Cross prevention function, stall restarts punch die can restart circuit to realize that stall restarts function by stall soon.
Referring to Fig.1 and 2, in a specific embodiment, the ultrasonic wave module 30 is horizontal ultrasonic sensor,
The horizontal ultrasonic sensor is installed on installing plate by fixed column.Arranged side by side, the horizontal ultrasonic sensor may be used also
To be installed on by fixed column on installing plate, the probe as vertical ultrasonic wave sensor is avoided to be arranged with driving plate 20 to arrange pin insertion
There is the problem of connection loosens with driving plate or ultrasonic wave pinboard in probe during the mounting means of needle stand causes moving of car,
The stability and data accuracy of ultrasonic sensor can be improved.Further, ultrasonic sensor can also pass through steering wheel
The control of head swings certain angle, to expand induction range.
In a specific embodiment, in addition to the lighting module 60 electrically connected with driving plate 20, the lighting module 60
It is installed on by fixed column on installing plate 12.Arranged side by side, the lighting module 60 is fixed on steering wheel head by installation sheet.
In another concomitant regimen, the lighting module 60 is stacked by fixed column and ultrasonic wave module 30, and close to installing plate 12
Lighting module 60 and any one of ultrasonic wave module 30 be fixed on by installation sheet on steering wheel head.Above-mentioned, this is fixed
Post can be the fixed column of copper post or other materials.It should be understood that on the basis of scheme in the 3rd, the illumination
Module 60 can also rotate with the control of steering wheel head.
In a specific embodiment, in addition to the Tansducer For Color Distiguishing electrically connected with driving plate 20, the illumination mould
The bright light color of block 60 follows the colour switching that Tansducer For Color Distiguishing detects.In the present embodiment, it is contemplated that intelligent 4 wheel driven dolly
The diversity of display, the driving plate 20 are also associated with Tansducer For Color Distiguishing, for the color of the corresponding orientation external environment condition of detection, and
The bright light color of lighting module 60 is controlled by master control borad 21.
In a specific embodiment, the adjustable detecting module 50 includes IR evading obstacle sensors and seeks light sensing
Device.It is noted that this programme in the case of without using instruments such as screwdrivers, can single-handedly adjust detectivity and the spy of probe
Ranging.Above-mentioned IR evading obstacle sensors and seek optical sensor and can arbitrarily select a kind of use, can also both use simultaneously,
It is controlled with reliable pass through to intelligent carriage.It should be understood that in addition to the sensor of such scheme description, this programme is also
Can compatible camera, sixdegree-of-freedom simulation, PS2 game paddles, propeller, motor, motor module, gray scale module, bluetooth,
The modules such as WIFI, gyroscope, nrf24l01 wireless receiving and dispatchings, and other remote control equipments.
Further, the driving plate 20 is also associated with bluetooth module 70 or WIFI module.Above-mentioned bluetooth module 70 or
WIFI module is only the specific manifestation form of communication module to be communicated with exterior terminal, it can be noted that, bluetooth module herein
70 or WIFI module may be replaced by other communication modules.
Preferred embodiment of the present utility model is the foregoing is only, not thereby limits the scope of the claims of the present utility model,
Every equivalent structure under utility model of the present utility model design, made using the utility model specification and accompanying drawing content
Conversion, or directly/be used in other related technical areas indirectly and be included in scope of patent protection of the present utility model.
Claims (9)
1. a kind of intelligent 4 wheel driven dolly, including bottom plate and be installed on bottom plate and with the spaced installing plate of bottom plate, its feature
It is, the intelligent 4 wheel driven dolly also includes：Master control borad, driving plate, line walking module and adjustable detection on bottom plate
Module, the ultrasonic wave module on installing plate；The ultrasonic wave module, line walking module, adjustable detecting module pass through respectively
Winding displacement electrically connects with driving plate；
The master control borad is plugged in driving plate, and the adjustable detecting module is installed on one end of bottom plate, the line walking module
Bottom plate is installed on close to the side on ground and line walking module and adjustable detecting module with holding settings, the ultrasonic wave module and can
Mode detecting module is same to hold setting.
2. intelligent 4 wheel driven dolly as claimed in claim 1, it is characterised in that the side of the driving plate is provided with multiple winding displacements
Interface, the ultrasonic wave module, line walking module and adjustable detecting module are each provided with wire plug connection mouth grafting to match somebody with somebody
The thread plug of conjunction.
3. intelligent 4 wheel driven dolly as claimed in claim 1, it is characterised in that the master control borad includes Arduino plates, STM32
It is any in core board, Raspberry Pi master control borad and 51 minimum system plates.
4. intelligent 4 wheel driven dolly as claimed in claim 1, it is characterised in that Cross prevention module is provided with the driving plate
And stall restarts module.
5. intelligent 4 wheel driven dolly as claimed in claim 1, it is characterised in that the ultrasonic wave module is horizontal supersonic sensing
Device, the horizontal ultrasonic sensor are installed on installing plate by fixed column；Or
The horizontal ultrasonic sensor is fixed on steering wheel head by installation sheet.
6. intelligent 4 wheel driven dolly as claimed in claim 5, it is characterised in that also include the illumination mould electrically connected with driving plate
Block, the lighting module are installed on installing plate by fixed column；Or
The lighting module is fixed on steering wheel head by installation sheet；Or
The lighting module is stacked by fixed column and ultrasonic wave module, and close to the lighting module and ultrasonic wave of installing plate
Any one of module is fixed on steering wheel head by installation sheet.
7. intelligent 4 wheel driven dolly as claimed in claim 6, it is characterised in that also include the colour recognition electrically connected with driving plate
Sensor, the bright light color of the lighting module follow the colour switching that Tansducer For Color Distiguishing detects.
8. intelligent 4 wheel driven dolly as claimed in claim 1, it is characterised in that the adjustable detecting module includes infrared obstacle avoidance
Sensor and seek optical sensor.
9. intelligent 4 wheel driven dolly as claimed in claim 1, it is characterised in that the driving plate be also associated with bluetooth module or
WIFI module.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201721072220.0U CN207096813U (en) | 2017-08-23 | 2017-08-23 | Intelligent 4 wheel driven dolly |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201721072220.0U CN207096813U (en) | 2017-08-23 | 2017-08-23 | Intelligent 4 wheel driven dolly |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN207096813U true CN207096813U (en) | 2018-03-13 |
Family
ID=61540036
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201721072220.0U Active CN207096813U (en) | 2017-08-23 | 2017-08-23 | Intelligent 4 wheel driven dolly |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN207096813U (en) |
-
2017
- 2017-08-23 CN CN201721072220.0U patent/CN207096813U/en active Active
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| GR01 | Patent grant | ||
| GR01 | Patent grant | ||
| CP02 | Change in the address of a patent holder | ||
| CP02 | Change in the address of a patent holder |
Address after: 518000 East, 2nd floor, building B, minlida industrial building, zone 4, honghualing Industrial Zone, 1189 Liuxian Avenue, Pingshan community, Taoyuan Street, Nanshan District, Shenzhen City, Guangdong Province Patentee after: SHENZHEN YAHBOOM TECHNOLOGY Co.,Ltd. Address before: 6J, yiben electronic building, 1063 chaguang Road, Xili street, Nanshan District, Shenzhen, Guangdong 518000 Patentee before: SHENZHEN YAHBOOM TECHNOLOGY Co.,Ltd. |