CN207240184U - Mobile object follows the trail of robot - Google Patents
Mobile object follows the trail of robot Download PDFInfo
- Publication number
- CN207240184U CN207240184U CN201721192008.8U CN201721192008U CN207240184U CN 207240184 U CN207240184 U CN 207240184U CN 201721192008 U CN201721192008 U CN 201721192008U CN 207240184 U CN207240184 U CN 207240184U
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- robot
- locator
- boss
- trail
- storage tank
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- 238000000465 moulding Methods 0.000 claims abstract description 4
- 230000033001 locomotion Effects 0.000 claims description 8
- 238000004891 communication Methods 0.000 claims description 4
- 230000005611 electricity Effects 0.000 claims 1
- 238000007514 turning Methods 0.000 claims 1
- 238000011161 development Methods 0.000 description 2
- 238000010586 diagram Methods 0.000 description 2
- 238000005516 engineering process Methods 0.000 description 2
- 238000000034 method Methods 0.000 description 2
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000005540 biological transmission Effects 0.000 description 1
- 238000007405 data analysis Methods 0.000 description 1
- 238000013461 design Methods 0.000 description 1
- 239000004744 fabric Substances 0.000 description 1
- 239000005433 ionosphere Substances 0.000 description 1
- 238000005259 measurement Methods 0.000 description 1
- 230000008054 signal transmission Effects 0.000 description 1
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- Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
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Abstract
The utility model discloses a kind of mobile object to follow the trail of robot, including fuselage, for being tracked the portable locating module of target, is arranged at least one universal wheel below fore-body along direction of travel, at least two driving wheels being arranged at below fuselage afterbody；The fuselage includes casing, positioned at the control system of casing internal, supplying cell, servo drive motor, the casing are an integral molding structure, the cabinet rear is provided with storage tank, shield edge is provided with left and right sides of the storage tank, the front end of the storage tank is provided with boss, and the boss is fixedly arranged at the front end with least three Laser Measuring road sensors, for the upper plane and shield of the boss along locator is above fixed with, Laser Measuring road sensor is connected control system with locator.The utility model is simple in structure, mobile flexible, cheap, is adapted to relatively large dispensing in airport, market, golf course, is walked using automatic tracing owner, liberates manpower, allow tourist recreation to play more convenient.
Description
Technical field
It the utility model is related to technical field of automation equipment, and in particular to a kind of mobile object follows the trail of robot.
Background technology
In recent years, with the continuous development of economic level, some can follow the robot of people or object movement, increasingly
It is welcome.Such as airport, either electronic luggage board, bio-identification service, or aeronautical data analysis, intelligence science and technology are being helped
Help airport increasingly wisdom.And the large-scale place such as large-scale square, holiday village, golf course, large-scale amusement square, hotel
Also progressively strided forward to intelligence, therefore, a intelligent robot that can replace people's handbag, pair of liberation people that can be more convenient
Hand, the tourism and shopping of the people that is more convenient for so that mobile object tracking robot becomes a new direction of intelligent robot development.
The content of the invention
The technical problem to be solved by the present invention is to provide a kind of mobile object to follow the trail of robot, can be in large-scale place
Surname Li is provided for service is proposed for customer, more liberates customer's both hands, makes trip more convenient.
In order to solve the above technical problems, the utility model adopts the following technical solution：A kind of mobile object follows the trail of robot,
Including fuselage, for being tracked the portable locating module of target, be arranged at along direction of travel below fore-body at least one
A universal wheel, at least two driving wheels being arranged at below fuselage afterbody；The fuselage includes casing, positioned at the control of casing internal
System processed, supplying cell, servo drive motor, the casing are an integral molding structure, and the cabinet rear is provided with storage tank,
Shield edge is provided with left and right sides of the storage tank, the front end of the storage tank is provided with boss, and the front end of the boss is fixed
There are at least three Laser Measuring road sensors, the upper plane and shield of the boss are passed along locator, the Laser Measuring road is above fixed with
Sensor is connected control system with locator.
Further, institute's control system uses the controller for including UWB (wireless carrier communication module), is connect by input and output
Mouth connection Laser Measuring road sensor, locator, supplying cell, servo drive, the laser range sensor for passing through front end are surveyed
Measure the distance of car body and target object；Locator obtains robot location's information；It is followed the portable locating module of target
After the position signal sent is received by robot, optimal trace is sent by control system, and then controls servo drive motor,
The movement locus of robot is controlled, makes up to the purpose from motion tracking.
Further, the locating module uses the locating module of INF C-UWB models.
Further, the servomotor includes two revolver driving motors and right wheel driving motor independently, passes through
The speed discrepancy of two driving motors of adjustment obtains different radiuss of turn.
In the above-mentioned technical solutions, the front end of the casing is trigonal pyramidal structure, and the laser range sensor is 3
It is a, it is distributed into isosceles triangle, using VL53L0X models, the locator sets three, using INF C-UWB models, equally
Boss is arranged at shield along upper into isosceles triangle, and the storage tank is square frame structure, facilitates the access of luggage.
The beneficial effects of the utility model are：1st, the utility model is simple in structure, mobile flexible, cheap, in machine
Field, market, golf course are adapted to relatively large dispensing, are walked using automatic tracing owner, liberate manpower, allow tourist recreation to swim
Play, it is more convenient.2nd, the wireless communication techniques of the utility model UWB, configure 3 laser range sensors measurement car bodies with
The distance of object, locator obtain own location information, follow the trail of route by controller transmission intelligent at any time, make tracking more
Intelligence, flexibly.
Brief description of the drawings
Fig. 1 is the structure diagram of the utility model mobile object tracking robot；
Fig. 2 is the principle schematic diagram of the utility model control system.
Reference numeral：1 is fuselage, and 2 be universal wheel, and 3 be driving wheel, and 4 be casing, and 5 be storage tank, and 6 be shield edge, and 7 be convex
Platform, 8 be Laser Measuring road sensor, and 9 be locator.
Embodiment
Illustrate specific embodiment of the present utility model with reference to embodiment, but following embodiments are used only in detail
Illustrate the utility model, do not limit the scope of the utility model in any way.Involved equipment in the examples below
Element is conventional equipment element unless otherwise instructed.
As shown in Figure 1, a kind of mobile object tracking robot, including fuselage 1, for being tracked the portable positioning of target
Module 2, a universal wheel 2 below fore-body is arranged at along direction of travel, is arranged at two drivings of 1 lower rear of fuselage
Wheel 3；The fuselage includes casing 4, positioned at the control system of casing internal, supplying cell, servo drive motor, the casing 4
It is an integral molding structure, 4 rear portion of casing is provided with storage tank 5, and the left and right sides of the storage tank 5 is provided with shield along 6, institute
The front end for stating storage tank 5 is provided with boss 7, and the boss 7 is fixedly arranged at the front end with three Laser Measuring road sensors 8, the boss 7
Upper plane and shield locator 9 is fixed with along 6, Laser Measuring road sensor 8 is connected control system with locator 9.
As shown in Fig. 2, institute's control system uses the controller for including UWB (wireless carrier communication module), it is defeated by inputting
Outgoing interface connection Laser Measuring road sensor, locator, supplying cell, servo drive, are sensed by the laser ranging of front end
Device measures the distance of car body and target object；Locator obtains robot location's information；It is followed the portable positioning of target
After the position signal that module is sent is received by robot, optimal trace is sent by control system, and then control servo-drive
Motor, controls the movement locus of robot, makes up to the purpose from motion tracking.The locating module uses INF C-UWB types
Number locating module.
The servomotor includes two revolver driving motors and right wheel driving motor independently, by adjusting two
The speed discrepancy of motor is driven to obtain different radiuss of turn.
The front end of the casing is trigonal pyramidal structure, and the laser range sensor is 3, into isosceles triangle point
Cloth, using VL53L0X models；The locator sets three, using INF C-UWB models, is equally set into isosceles triangle
In boss with shield along upper, the storage tank is square frame structure, facilitates the access of luggage.
Operation principle：UWB basic fixed positions principle is similar to GPS positioning principle.Because know the position of each base station, label
The positional information of opposite base station can be obtained by calculating by measuring the distance of each base station.Label is by measuring
The distance of one base station a, it may be determined that sphere；Measure the distance to two base stations, it may be determined that a circle；By measuring
To the distance of three base stations, it may be determined that the unique position in one or two spaces, by judging to cast out a position, then
To final label three-dimensional position；If with four base stations or more, just more redundancy observed quantities, observable information content is more,
Reliability is higher, and precision can also improve therewith.Unlike GPS positioning system, base station location system is because be in indoor and outdoor
In relatively small environment, signal transmission distance is very short, it is possible to ignores caused delay, ionosphere folding in transmitting procedure
Penetrate equal error influence.
During work, 3 laser range sensors (three coordinate rangings) installed in car body front end measure car body and object
Distance；Locator obtains robot location's information；It is followed the position signal quilt that the portable locating module of target is sent
After robot receives, optimal trace is calculated by control system, is then controlled by way of controlling servo drive motor
The movement locus of robot, makes up to the purpose from motion tracking.Robot uses rear wheel drive, and two trailing wheels are each equipped with one
A independent driving motor, front end are equipped with a universal wheel.When needing to turn to, adjust the rotating speed of left and right two motor, make it is left,
The rotating speed of right wheel forms a speed discrepancy, turns left left low, turns right right low, you can complete go to action.Adjust two servo-drives
The speed discrepancy of motor can obtain different radiuss of turn.
The utility model is described in detail above in conjunction with embodiment, but person of ordinary skill in the field's energy
It is enough to understand, on the premise of the utility model aims are not departed from, each design parameter in above-described embodiment can also be carried out
Change, forms multiple specific embodiments, is the common excursion of the utility model, is no longer described in detail one by one herein.
Claims (4)
1. a kind of mobile object follows the trail of robot, it is characterised in that：Including fuselage, for being tracked the portable positioning mould of target
Block, at least one universal wheel below fore-body, at least two be arranged at below fuselage afterbody are arranged at along direction of travel
Driving wheel；The fuselage includes casing, positioned at the control system of casing internal, supplying cell, servo drive motor, the casing
It is an integral molding structure, the cabinet rear is provided with storage tank, and shield edge, the storage are provided with left and right sides of the storage tank
The front end of thing case is provided with boss, and the boss is fixedly arranged at the front end with least three Laser Measuring road sensors, the boss it is upper
Along locator is above fixed with, Laser Measuring road sensor is connected control system with locator for plane and shield.
2. mobile object according to claim 1 follows the trail of robot, it is characterised in that the laser range sensor is 3
It is a, it is distributed into isosceles triangle, using VL53L0X models；The locator sets three, using INF C-UWB models, equally
Boss is arranged at protecting along upper into isosceles triangle.
3. mobile object according to claim 2 follows the trail of robot, it is characterised in that institute's control system uses and includes UWB
The controller of (wireless carrier communication module), Laser Measuring road sensor, locator, power supply electricity are connected by input/output interface
Pond, servo drive, the distance of car body and target object is measured by the laser range sensor of front end；Locator obtains machine
Device people's positional information；It is followed after the position signal that the portable locating module of target is sent received by robot, by controlling
System sends optimal trace, and then controls servo drive motor, controls the movement locus of robot, make up to automatically with
The purpose of track.
4. mobile object according to claim 1 follows the trail of robot, it is characterised in that the servomotor includes two points
Not independent revolver driving motor and right wheel driving motor, different turnings is obtained by adjusting the speed discrepancy of two driving motors
Radius.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201721192008.8U CN207240184U (en) | 2017-09-06 | 2017-09-06 | Mobile object follows the trail of robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201721192008.8U CN207240184U (en) | 2017-09-06 | 2017-09-06 | Mobile object follows the trail of robot |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN207240184U true CN207240184U (en) | 2018-04-17 |
Family
ID=61888952
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201721192008.8U Active CN207240184U (en) | 2017-09-06 | 2017-09-06 | Mobile object follows the trail of robot |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN207240184U (en) |
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109665464A (en) * | 2018-12-24 | 2019-04-23 | 宁波如意股份有限公司 | A kind of method and system that movable type fork truck automatically tracks |
| CN110559633A (en) * | 2019-08-07 | 2019-12-13 | 广东科学技术职业学院 | golf positioning system and method |
| CN111017805A (en) * | 2019-11-21 | 2020-04-17 | 宁波如意股份有限公司 | Automatic following method and device for mobile forklift |
| WO2023065170A1 (en) * | 2021-10-20 | 2023-04-27 | Techtronic Cordless Gp | Robotic cart |
-
2017
- 2017-09-06 CN CN201721192008.8U patent/CN207240184U/en active Active
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109665464A (en) * | 2018-12-24 | 2019-04-23 | 宁波如意股份有限公司 | A kind of method and system that movable type fork truck automatically tracks |
| CN110559633A (en) * | 2019-08-07 | 2019-12-13 | 广东科学技术职业学院 | golf positioning system and method |
| CN111017805A (en) * | 2019-11-21 | 2020-04-17 | 宁波如意股份有限公司 | Automatic following method and device for mobile forklift |
| WO2023065170A1 (en) * | 2021-10-20 | 2023-04-27 | Techtronic Cordless Gp | Robotic cart |
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| GR01 | Patent grant | ||
| GR01 | Patent grant | ||
| CP01 | Change in the name or title of a patent holder | ||
| CP01 | Change in the name or title of a patent holder |
Address after: 450000 High-tech Industrial Development Zone, Zhengzhou City, Henan Province, 11 Changchun Road, 15 buildings, 2 units, 8 floors Patentee after: HENAN WEIERTE INTELLIGENT EQUIPMENT Co.,Ltd. Address before: 450000 High-tech Industrial Development Zone, Zhengzhou City, Henan Province, 11 Changchun Road, 15 buildings, 2 units, 8 floors Patentee before: ZHENGZHOU KEYA AUTOMATION EQUIPMENT Co.,Ltd. |
|
| CB03 | Change of inventor or designer information | ||
| CB03 | Change of inventor or designer information |
Inventor after: Wei Ziheng Inventor after: Wang Xiaocheng Inventor after: Liu Zhao Inventor before: Wei Ziheng |
|
| TR01 | Transfer of patent right | ||
| TR01 | Transfer of patent right |
Effective date of registration: 20231018 Address after: Room 503, Building B, Tongfang Information Port, No. 11 Langshan Road, Songpingshan Community, Xili Street, Nanshan District, Shenzhen City, Guangdong Province, 518000 Patentee after: Shenzhen Haofengfeng Hydrogen Energy Technology Co.,Ltd. Address before: Floor 8, Unit 2, Building 15, No. 11 Changchun Road, High tech Industrial Development Zone, Zhengzhou City, Henan Province, 450000 Patentee before: HENAN WEIERTE INTELLIGENT EQUIPMENT Co.,Ltd. |