CN210242809U - Moving track recording device - Google Patents
Moving track recording device Download PDFInfo
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- CN210242809U CN210242809U CN201921243542.6U CN201921243542U CN210242809U CN 210242809 U CN210242809 U CN 210242809U CN 201921243542 U CN201921243542 U CN 201921243542U CN 210242809 U CN210242809 U CN 210242809U
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Abstract
The utility model relates to a movement track recording device, including first rotary encoder and second rotary encoder, wherein first rotary encoder is configured to the record the displacement distance of device, second rotary encoder is configured to the record the moving direction of device. The device simple structure, equipment cost and manual operation cost are lower relatively, and job stabilization nature is high, has improved the efficiency of indoor two dimension location, and then can improve the efficiency of indoor three-dimensional modeling technique.
Description
Technical Field
The utility model relates to an indoor location technical field especially relates to a removal orbit recorder.
Background
Indoor positioning technology is a technology that has been developed for many years, and current technologies include: Wi-Fi location, bluetooth location, RFID location, UWB (ultra wide band) location, infrared technique, ultrasonic wave etc. the positioning accuracy of each technique is between centimetre and meter, and the difference of positioning accuracy mainly depends on the service environment of each technique. Common to these technologies is the need for auxiliary equipment (e.g., a transmitting base station) to achieve positioning. It is clear that there are certain drawbacks or limitations: the base station equipment increases the equipment cost and the operation cost (base stations need to be installed and debugged in advance), and the positioning can not be realized in the range beyond the base stations, which is not favorable for the positioning of large-area and multi-room scenes. In addition, in the 80's of the last century, a Simultaneous Localization And Mapping (SLAM) technology has emerged. The SLAM technology utilizes an inertial navigation device to realize continuous positioning, and the precision is also between centimeter and meter. The SLAM positioning technique can achieve positioning without any other auxiliary equipment by mounting the SLAM device on the object to be positioned. Compared with the above positioning technologies, the SLAM technology is more convenient. However, the relative cost of the SLAM device is also high due to the use of inertial navigation devices.
SUMMERY OF THE UTILITY MODEL
The following presents a simplified summary of the invention in order to provide a basic understanding of some aspects of the invention. It should be understood that this summary is not an exhaustive overview of the invention, and is not intended to limit the scope of use of the invention, which is intended to merely outline the invention in a simplified manner.
The utility model provides a movement track recorder for solve current indoor location technique and be unfavorable for the large tracts of land location, and the higher problem of equipment cost and operating cost.
According to the technical problem above, the utility model provides a following technical scheme:
a moving track recording apparatus (100) comprising a first rotary encoder (101) and a second rotary encoder (102), wherein the first rotary encoder (101) is configured to record a moving distance of the apparatus (100) and the second rotary encoder (102) is configured to record a moving direction of the apparatus (100).
Optionally, the first rotary encoder (101) and the second rotary encoder (102) are both photoelectric rotary encoders.
Optionally, the first rotary encoder (101) and the second rotary encoder (102) are configured to record the same wheel.
Optionally, the apparatus (100) further comprises a processor (103) connected to the first rotary encoder (101) and the second rotary encoder (102), the processor (103) being configured to determine a movement trajectory of the apparatus (100) according to the recorded movement distance and movement direction.
Optionally, the apparatus (100) further comprises a communication module (104) connected to the processor (103), wherein the communication module (104) is configured to transmit the movement distance and/or the movement direction and/or the movement track of the apparatus (100) to a preset external device.
Optionally, the apparatus (100) further comprises a communication module (104) connected to the first rotary encoder (101) and the second rotary encoder (102), wherein the communication module (104) is configured to transmit the moving distance and the moving direction of the apparatus (100) to a preset external device, so that the external device determines the moving track of the apparatus (100) according to the moving distance and the moving direction.
Optionally, the communication module (104) is further configured to send a control instruction to the corresponding element in response to receiving an external control instruction, so as to control turning on/off/pausing the first rotary encoder (101) and the second rotary encoder (102).
Optionally, the apparatus (100) further comprises a front fork assembly (105) connected to the frame, wherein the front fork assembly (105) is connected to the second rotary encoder (102) at an upper end and to a wheel (1061) at a lower end.
Optionally, the front fork assembly (105) is removably connected to the frame.
Optionally, the device (100) further comprises a roller assembly (106), the roller assembly (106) being connected to a lower end of the front fork assembly (105).
Optionally, the roller assembly (106) comprises a roller (1062) parallel to the ground, and the first rotary encoder (101) is mounted on the roller (1062).
Optionally, the upper end of the front fork assembly (105) includes a mounting hole.
Optionally, the device (100) further comprises a steering assembly (107) connected with the frame, the steering assembly (107) is connected with the front fork assembly (105), and when the steering device (107) is rotated, the front fork assembly (105) correspondingly rotates and controls the connected wheels (1061) to rotate.
Optionally, the steering assembly (107) comprises a handlebar (1071), and the steering assembly (107) is sleeved on the upper end of the front fork assembly (105) and is positioned below the second rotary encoder (102).
Optionally, the steering assembly (107) further comprises a limiting assembly configured to limit a rotation amplitude of the steering assembly (107).
Optionally, the device (100) further comprises a telescopic assembly (108), the telescopic assembly (108) is connected with the upper end of the front fork assembly (105), and the steering assembly (107) and the second rotary encoder (102) are sequentially connected with the upper end of the telescopic assembly (108) from bottom to top.
Optionally, the first rotary encoder (101) and the second rotary encoder (102) are each configured to record the apparatus (100) based on a preset frequency.
Optionally, the second rotary encoder (102) is configured to record the moving direction of the device (100) after the moving distance of the device (100) from a certain point recorded by the first rotary encoder (101) meets a preset threshold.
Optionally, the angle of the moving direction is an included angle between the moving direction and a preset geographical positive direction.
Optionally, the preset geographical positive direction is a geographical positive north direction.
The utility model provides a remove orbit recorder, the device simple structure, equipment cost and manual operation cost are lower relatively, and job stabilization nature is high, has improved the efficiency of indoor two dimension location, and then can improve the efficiency of indoor three-dimensional modeling technique.
Drawings
Fig. 1 is a schematic structural diagram of a movement track recording apparatus according to an embodiment of the present invention;
fig. 2 is a schematic structural diagram of a movement track recording device according to another embodiment of the present invention;
fig. 3 is a schematic diagram of interaction between a movement trace recording apparatus and an external device according to another embodiment of the present invention;
fig. 4 is a schematic diagram of interaction between a movement trace recording apparatus and an external device according to still another embodiment of the present invention;
fig. 5 is a schematic diagram of interaction between a movement trace recording apparatus and an external device according to another embodiment of the present invention;
fig. 6 is a schematic diagram of interaction between a movement trace recording apparatus and an external device according to another embodiment of the present invention;
fig. 7 is a schematic structural diagram of a movement track recording device with a steering assembly according to another embodiment of the present invention;
fig. 8 is a schematic structural diagram of a movement trace recording apparatus with a telescopic assembly according to another embodiment of the present invention;
fig. 9 is a schematic diagram of a movement track determined by the movement track recording device according to various embodiments of the present invention;
fig. 10 is a schematic view of a method of determining a wheel deflection angle in various embodiments of the present invention;
in the figure, 100-the whole device, 101-the first rotary encoder, 102-the second rotary encoder, 103-the processor, 104-the communication module, 105-the front fork assembly, 106-the roller assembly, 107-the steering assembly, 108-the telescopic assembly, 1061-the roller, 1062-the roller, 1071-the handle.
Detailed Description
The present invention now will be described more fully hereinafter with reference to the accompanying drawings, in which some, but not all embodiments of the invention are shown.
It should be understood that although the terms "first", "second", etc. are used herein to describe the encoders, these encoders should not be limited by these terms, which are used only for convenience to distinguish the encoders. For example, the first rotary encoder may be referred to as a second rotary encoder, which may also be referred to as a first rotary encoder, without departing from exemplary embodiments.
Referring to fig. 1, according to an aspect of the present embodiment, there is provided a moving track recording apparatus 100, including a first rotary encoder 101 and a second rotary encoder 102, wherein the first rotary encoder 101 is configured to record a moving distance of the apparatus 100, and the second rotary encoder 102 is configured to record a moving direction of the apparatus 100; the apparatus 100 shown in the figure is moved by rolling of wheels, and the first rotary encoder 101 and the second rotary encoder 102 can record the moving distance and the moving direction of the apparatus 100 by being respectively mounted on different wheels.
Considering that positions of different wheels may be different, if the first rotary encoder 101 and the second rotary encoder 102 are respectively installed on the wheels at different positions, it is likely that the recorded moving distance and moving direction are not matched, so that the finally obtained moving track has a deviation, and therefore, in an embodiment of the present embodiment, the first rotary encoder 101 and the second rotary encoder 102 are installed on the same wheel, so that they record the same wheel.
In addition, in the present embodiment, the first rotary encoder 101 and the second rotary encoder 102 are the same type of rotary encoder, such as a photoelectric rotary encoder. However, the first rotary encoder and the second rotary encoder may also be different types of rotary encoders, such as magnetoelectric or contact brush type, and the present invention is not limited thereto.
In an embodiment of the present embodiment, referring to fig. 2, the apparatus 100 further comprises a processor 103 connected to the first rotary encoder 101 and the second rotary encoder 102, the processor 103 is configured to determine the moving track of the apparatus 100 according to the recorded moving distance and moving direction, specifically, inDuring the movement of the apparatus 100, the first rotary encoder 101 and the second rotary encoder 102 transmit the recorded movement information (movement distance and movement direction) to the processor 103, the processor 103 generates a movement track according to the movement information, and referring to fig. 9, the apparatus 100 moves from D1Move to D2The first rotary encoder 101 records the set of movement distances (set of distances Ji) generated during the movement and the second rotary encoder 102 records the set of movement directions (set of angles Fi) generated during the movement, then according to D1Coordinate (X) of1，Y1) D can be calculated by using the calculation formulas (1) and (2)2Coordinate (X) of2，Y2) The calculation formula is as follows:
in an embodiment of the present invention, the apparatus 100 further includes a communication module 104 connected to the processor 103, so as to transmit the moving distance and/or moving direction and/or moving track of the apparatus 100 to a preset external device, as shown in fig. 3, the processor 103 may acquire the moving distance and moving direction information during the moving process of the apparatus 100 from the first rotary encoder 101 and the second rotary encoder 102, perform processing based on the moving distance and moving direction information to obtain the moving track of the apparatus 100, and transmit the moving track to the communication module 104, so that the communication module 104 transmits the moving track to the preset external device for displaying. In addition, the communication module 104 may also synchronously send the moving distance and the moving direction to the external device, so that the external device can display moving information (the moving direction and the moving distance) at the same time conveniently, and in addition, the external device may also obtain and display the current moving speed of the apparatus 100 according to the moving distance; the external device may include a mobile phone, a tablet computer, a computer, or other general or special devices having a video shooting function and a data communication function.
It is understood that the communication module 104 may also directly transmit the unprocessed movement information to an external device, and the external device obtains and displays the movement track of the apparatus 100 according to the movement information, and at this time, the apparatus 100 may not include the processor 103 in the above embodiments, and referring to fig. 4, in one embodiment of the present embodiment, the communication module 104 is directly connected to the first rotary encoder 101 and the second rotary encoder 102, the communication module 104 is configured to transmit the moving distance and/or moving direction of the apparatus 100 to a preset external device, which is, to be noted, in this embodiment, the external device may still obtain the moving speed of the apparatus and display the moving information of the apparatus according to the method described in the above embodiments (the moving information may also include the moving speed).
In another embodiment of this embodiment, referring to fig. 5, the communication module 104 is further configured to send the control instruction to the corresponding component in response to receiving an external control instruction, where the control instruction may include controlling to turn on/off/pause the first rotary encoder and the second rotary encoder to record the movement information, in this embodiment, the external device may send a corresponding control instruction to the communication module 104 according to the actual situation of the indoor environment, and in addition, the communication module 104 may receive the working states of the first rotary encoder 101 and the second rotary encoder 102 and send the working states to the corresponding external device, so as to monitor the operation condition of the apparatus at any time. It should be noted that, in this embodiment, the communication module 104 may be configured to receive an external control instruction and forward the control instruction to a corresponding element.
In addition, in an embodiment of the present invention, referring to fig. 6, the communication module 104 is further configured to transmit movement information to an external device and receive a control command of the external device.
It should be noted that, when the apparatus 100 includes both the processor 103 and the communication module 104, the communication module 104 may send the received control instruction to the processor 103, and the processor 103 controls the first rotary encoder 101 and the second rotary encoder 102 according to the control instruction.
It can be understood that the first rotary encoder 101 records the moving distance of the device by recording the number of turns of the wheel rolling during the moving process of the device 100, and the second rotary encoder 102 records the moving direction of the device by recording the direction and angle of the wheel deflection during the moving process of the device 100, specifically, as shown in fig. 2, the device 100 further comprises a front fork assembly 105 connected with the wheel, wherein the front fork assembly 105 is connected with the second rotary encoder 102 at the upper end and with the wheel at the lower end so as to record the deflection direction and angle of the wheel; the front fork assembly 105 connects the wheel to the frame and, based thereon, allows the wheel to move and rotate freely.
During the movement of the device 100, when the device 100 turns, the wheel drives the front fork assembly 105 to rotate, and the front fork assembly 105 drives the second rotary encoder 102 to rotate, so as to record the movement direction information of the device 100, on the basis of which, the device 100 can determine the relative positioning of any two points during the movement through the set of the movement distance recorded by the first rotary encoder and the movement direction recorded by the second rotary encoder 102.
In one embodiment of this embodiment, the front fork assembly 105 is removably attached to the frame (not shown) to facilitate installation and/or replacement of parts of the device 100 during use; in this embodiment, the front fork assembly 105 of the apparatus 100 is sleeved and fixed to the frame, and the front fork assembly 105 can be used to mount the second rotary encoder 102 thereon or other components.
In one embodiment of this embodiment, as shown in fig. 2, the movement trace recording apparatus 100 further includes a roller assembly 106, the roller includes at least one roller 1061, a roller 1062 and other components for mounting the roller, the roller assembly 106 is connected to the lower end of the front fork assembly 105; in this embodiment, the roller assembly 106 may also be provided with a plurality of rollers as needed, so that the device 100 moves more stably during recording, which is not limited in this embodiment.
In addition, the roller 1062 may be used to connect the roller 1061 and the front fork assembly 105, and the roller 1062 is disposed parallel to the ground, in this embodiment, a first rotary encoder 101 for recording the moving distance is mounted on the roller 1062, so as to determine the number of turns the corresponding wheel turns during the movement of the device 100; it can be understood that, in this embodiment, the roller 1061 is fixedly connected to the roller 1062, and when the apparatus 100 moves, the roller 1061 and the roller 1062 rotate synchronously, so as to drive the rotation shaft of the first encoder to rotate, so that the first rotary encoder 101 records the moving distance information of the apparatus 100.
In an embodiment of the present invention, as shown in fig. 2, the front fork assembly 105 has a mounting hole at the upper end thereof for mounting the second rotary encoder 102, in this embodiment, when the device 100 changes the moving direction during the moving process, the wheel 1061 drives the front fork assembly 105 to deflect, and further drives the rotating shaft of the second rotary encoder to rotate, so that it can record the deflecting direction, i.e. the moving direction of the device 100.
In an embodiment of the present invention, as shown in fig. 7, the moving track recording apparatus 100 further includes a steering assembly 107 connected to the frame, the steering assembly 107 is connected to the front fork assembly 105, and during the moving process of the apparatus 100, the front fork assembly 105 can be driven to rotate correspondingly by rotating the steering assembly 107, and accordingly, the wheels 1061 on the roller assemblies 106 connected to the front fork assembly 105 rotate with the same amplitude, at this time, the second rotary encoder 102 can record the moving direction according to the same principle as the above-mentioned embodiment.
In one embodiment of this embodiment, as shown in fig. 7, the steering assembly 107 further includes a handlebar 1071, the steering assembly 1071 is sleeved and fixed on the upper end of the front fork assembly 105, and the second rotary encoder 102 is mounted on the upper end of the steering assembly 107; the handlebar 1071 of the steering assembly 107 is not limited to the shape shown in fig. 7, and may be other shapes that are convenient to operate and can change directions, such as a steering wheel and a rudder, and the like, and this embodiment is not limited thereto.
In an embodiment of the present embodiment, a limiting assembly (not shown) is further mounted on the steering assembly 107 for limiting the rotation amplitude of the steering assembly 107, so that the steered wheels controlled by the steering assembly rotate within a proper angle range. In this embodiment, the limiting assembly may also be mounted on the front fork assembly to limit the deflection direction of the device 100 by limiting the deflection amplitude of the wheel. In addition, in this embodiment, the limiting assembly may further fix the deflection angle of the steered wheel after the device 100 is steered, so that the device 100 does not change the moving direction during the moving process.
In one embodiment of the present embodiment, as shown in fig. 8, the movement trace recording apparatus 100 further comprises a telescopic assembly 108 to adapt to different indoor environments and/or operating environments (for example, an operator may set the telescopic assembly 108 according to his/her height so that he/she can operate the steering assembly 107 more comfortably). In this embodiment, the lower end of the telescopic assembly 108 is connected to the upper end of the front fork assembly 105, the lower end of the steering assembly 107 is connected to the upper end of the telescopic assembly 108, and the second rotary encoder 102 is mounted on the upper portion of the steering assembly 107.
In one example of the present embodiment, the first rotary encoder 101 and the second rotary encoder 102 are both configured to record the moving track recording device based on a preset frequency, and referring to fig. 9, between any two points D, the moving track recording device 100 will record a plurality of moving distances/directions, and the preset frequency may be set based on distance or time, for example, when the device moves for a certain distance or time, the first rotary encoder 101 and the second rotary encoder 102 may record the moving information in the time or distance segment at the same time.
In recording the movement information according to the movement distance, the second rotary encoder 102 of the recording apparatus 100 is configured to record the movement direction of the movement track recording apparatus 100 after the first rotary encoder records that the movement distance of the movement track recording apparatus 100 from an anchor point satisfies a preset threshold, for example: the second rotary encoder records the current moving direction whenever the apparatus 100 moves a distance J, for example, when the apparatus 100 starts from a recording point Dn and moves to a position at a distance J from the recording point Dn, the second rotary encoder records the current wheel yaw (yaw angle), i.e., the moving direction of the apparatus.
In an example of the present embodiment, the moving direction of the movement trace recording apparatus 100 may be determined by: the moving direction (angle) is determined based on a preset geographical positive direction and the wheel deflection direction recorded by the second rotary encoder, specifically, as shown in fig. 10, the angle of the moving direction is an included angle F between the wheel deflection direction and the preset geographical positive direction, in this embodiment, the preset geographical positive direction is a geographical positive north direction, it can be understood that the geographical positive direction may also be a geographical positive direction of other directions (for example, east, west, south, etc.), and this embodiment does not limit this.
According to the above description, it can be seen that the present application discloses the following technical solutions:
1. a moving track recording apparatus comprising a first rotary encoder (101) and a second rotary encoder (102), wherein the first rotary encoder (101) is configured to record a moving distance of the apparatus (100) and the second rotary encoder (102) is configured to record a moving direction of the apparatus (100).
2. The apparatus of claim 1, wherein the first rotary encoder (101) and the second rotary encoder (102) are both photoelectric rotary encoders.
3. The apparatus of claim 2, wherein the first rotary encoder (101) and the second rotary encoder (102) are configured to record on the same wheel.
4. The apparatus according to claim 3, wherein the apparatus further comprises a processor (103) connected to the first rotary encoder (101) and the second rotary encoder (102), the processor (103) being configured to determine the movement trajectory of the apparatus (100) from the recorded movement distance and movement direction.
5. The apparatus according to claim 4, wherein the apparatus (100) further comprises a communication module (104) connected to the processor (103), and the communication module (104) is configured to transmit the moving distance and/or moving direction and/or moving track of the apparatus (100) to a preset external device.
6. The device according to claim 1, wherein the device (100) further comprises a communication module (104) connected to the first rotary encoder (101) and the second rotary encoder (102), and the communication module (104) is configured to transmit the moving distance and the moving direction of the device (100) to a preset external device, so that the external device determines the moving track of the device (100) according to the moving distance and the moving direction.
7. The device according to claim 5 or 6, wherein the communication module (104) is further configured to send, in response to receiving an external control command, the control command to the corresponding element so as to control turning on/off/pausing the first rotary encoder (101) and the second rotary encoder (102).
8. The device according to claim 1, wherein the device (100) further comprises a front fork assembly (105) connected to the frame, the front fork assembly (105) is connected to the second rotary encoder (102) at an upper end thereof and to a wheel (1061) at a lower end thereof.
9. The apparatus of claim 8 wherein said front fork assembly (105) is removably connected to the frame.
10. The device of claim 9, wherein the device (100) further comprises a roller assembly (106), the roller assembly (106) being connected to a lower end of the front fork assembly (105).
11. The device as claimed in claim 10, wherein the roller assembly (106) includes a roller (1062) parallel to the ground, and the first rotary encoder (101) is mounted on the roller (1062).
12. The apparatus of any of claims 8-11, wherein the upper end of the front fork assembly (105) includes a mounting hole.
13. The device according to claim 12, wherein the device (100) further comprises a steering assembly (107) connected to the frame, the steering assembly (107) is connected to the front fork assembly (105), and when the steering assembly (107) is rotated, the front fork assembly (105) rotates correspondingly and controls the connected wheels (1061) to rotate.
14. The apparatus of claim 13, wherein said steering assembly (107) includes a handlebar (1071), said steering assembly (107) being journaled to an upper end of said front fork assembly (105) below said second rotary encoder (102).
15. The device of claim 14, wherein the steering assembly (107) further comprises a limiting assembly configured to limit a rotational amplitude of the steering assembly (107).
16. The device according to any one of claims 13 to 15, wherein the device (100) further comprises a telescopic assembly (108), the telescopic assembly (108) is connected with the upper end of the front fork assembly (105), and the steering assembly (107) and the second rotary encoder (102) are sequentially connected with the upper end of the telescopic assembly (108) from bottom to top.
17. The apparatus of any of claims 1-6, wherein the first rotary encoder (101) and the second rotary encoder (102) are each configured to record the apparatus (100) based on a preset frequency.
18. The apparatus according to any of claims 1-6, wherein the second rotary encoder (102) is configured to record the direction of movement of the apparatus (100) after a distance of movement of the apparatus (100) recorded by the first rotary encoder (101) from a certain point meets a preset threshold.
19. The device of any one of claims 1-6, wherein the angle of the moving direction is an included angle between the moving direction and a preset geographical positive direction.
20. The apparatus of claim 19, wherein the predetermined geographical positive direction is a geographical north direction.
It will be evident to those skilled in the art that the present application is not limited to the details of the foregoing illustrative embodiments, and that the present application may be embodied in other specific forms without departing from the spirit or essential attributes thereof. The present embodiments are, therefore, to be considered in all respects as illustrative and not restrictive, the scope of the application being indicated by the appended claims rather than by the foregoing description, and all changes which come within the meaning and range of equivalency of the claims are therefore intended to be embraced therein. Any reference sign in a claim should not be construed as limiting the claim concerned. Furthermore, it is obvious that the word "comprising" does not exclude other elements or steps, and the singular does not exclude the plural.
While exemplary embodiments have been particularly shown and described, it will be understood by those skilled in the art that various changes in form and details may be made therein without departing from the spirit and scope of the claims. The protection sought herein is as set forth in the claims below.
Claims (20)
1. A moving track recording apparatus comprising a first rotary encoder (101) and a second rotary encoder (102), wherein the first rotary encoder (101) is configured to record a moving distance of the apparatus (100) and the second rotary encoder (102) is configured to record a moving direction of the apparatus (100).
2. The apparatus of claim 1, wherein the first rotary encoder (101) and the second rotary encoder (102) are both electro-optical rotary encoders.
3. The apparatus of claim 2, wherein the first rotary encoder (101) and the second rotary encoder (102) are configured to record the same wheel.
4. The apparatus of claim 3, wherein the apparatus further comprises a processor (103) connected to the first rotary encoder (101) and the second rotary encoder (102), the processor (103) being configured to determine a movement trajectory of the apparatus (100) from the recorded movement distance and movement direction.
5. The apparatus of claim 4, wherein the apparatus (100) further comprises a communication module (104) connected to the processor (103), the communication module (104) being configured to transmit the movement distance and/or the movement direction and/or the movement trajectory of the apparatus (100) to a preset external device.
6. The apparatus of claim 1, wherein the apparatus (100) further comprises a communication module (104) connected to the first rotary encoder (101) and the second rotary encoder (102), the communication module (104) being configured to transmit a moving distance and a moving direction of the apparatus (100) to a preset external device, so that the external device determines a moving trajectory of the apparatus (100) according to the moving distance and the moving direction.
7. The device according to claim 5 or 6, wherein the communication module (104) is further configured to send control instructions to the respective elements in order to control turning on/off/pausing the first and second rotary encoders (101, 102) in response to receiving external control instructions.
8. The apparatus of claim 1, wherein the apparatus (100) further comprises a front fork assembly (105) coupled to the frame, the front fork assembly (105) being coupled to the second rotary encoder (102) at an upper end and to a wheel (1061) at a lower end.
9. The apparatus of claim 8 wherein said front fork assembly (105) is removably connected to the frame.
10. The device of claim 9, wherein the device (100) further comprises a roller assembly (106), the roller assembly (106) being connected to a lower end of the front fork assembly (105).
11. The apparatus of claim 10, wherein the scroll wheel assembly (106) includes a roller (1062) parallel to the ground, the first rotary encoder (101) being mounted on the roller (1062).
12. The apparatus of any of claims 8-11, wherein an upper end of the front fork assembly (105) includes a mounting hole.
13. The apparatus of claim 12, wherein the apparatus (100) further comprises a steering assembly (107) coupled to the frame, the steering assembly (107) coupled to the front fork assembly (105), the front fork assembly (105) being adapted to rotate when the steering assembly (107) is rotated and to control the rotation of the associated wheel (1061).
14. The apparatus of claim 13, wherein said steering assembly (107) includes a handlebar (1071), said steering assembly (107) being journaled to an upper end of said front fork assembly (105) below said second rotary encoder (102).
15. The apparatus of claim 14, wherein the steering assembly (107) further comprises a limiting assembly configured to limit a rotational amplitude of the steering assembly (107).
16. The device according to any one of claims 13 to 15, wherein the device (100) further comprises a telescopic assembly (108), the telescopic assembly (108) is connected with the upper end of the front fork assembly (105), and the steering assembly (107) and the second rotary encoder (102) are sequentially connected with the upper end of the telescopic assembly (108) from bottom to top.
17. The apparatus of any one of claims 1-6, wherein the first rotary encoder (101) and the second rotary encoder (102) are each configured to record the apparatus (100) based on a preset frequency.
18. The apparatus according to any of claims 1-6, wherein the second rotary encoder (102) is configured to record a direction of movement of the apparatus (100) after a distance of movement of the apparatus (100) recorded by the first rotary encoder (101) from a point on the apparatus satisfies a preset threshold.
19. The device of any one of claims 1-6, wherein the angle of the direction of movement is an angle between the direction of movement and a predetermined geographical positive direction.
20. The apparatus of claim 19, wherein the predetermined positive geographical direction is a north geographical direction.
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| CN201921243542.6U CN210242809U (en) | 2019-08-02 | 2019-08-02 | Moving track recording device |
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| CN201921243542.6U CN210242809U (en) | 2019-08-02 | 2019-08-02 | Moving track recording device |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110426042A (en) * | 2019-08-02 | 2019-11-08 | 武汉华正空间软件技术有限公司 | Motion track recording device |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN110426042A (en) * | 2019-08-02 | 2019-11-08 | 武汉华正空间软件技术有限公司 | Motion track recording device |
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