CN210605470U - Automatic line patrol vehicle - Google Patents
Automatic line patrol vehicle Download PDFInfo
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- CN210605470U CN210605470U CN201921578105.XU CN201921578105U CN210605470U CN 210605470 U CN210605470 U CN 210605470U CN 201921578105 U CN201921578105 U CN 201921578105U CN 210605470 U CN210605470 U CN 210605470U
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- line
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- line patrol
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Abstract
The utility model discloses an automatic line patrol car can advance along the route of predetermineeing on the road surface, and this automatic line patrol car is installed and is patrolled line sensor group, patrols line sensor group and is used for the tracking route, patrols line sensor group and includes four at least and patrols line sensor, and four patrols line sensor and is the rhombus distribution on automatic chassis of patrolling line car. This application sets up four at least line sensors that patrol that the rhombus distributes through the chassis at automatic line car of patrolling for patrol line sensor group and can follow a plurality of angles, a plurality of position detection road surface and predetermine the route, overcome current linear distribution sensor and seek the problem that the effect is single, so that automatic line car of patrolling can discern multiple different route information, satisfy the demand that automatic line car of patrolling passes through multiple different crossings.
Description
Technical Field
The utility model relates to an automatic line patrol vehicle.
Background
The automatic line patrol vehicle can automatically seek the route to advance along the preset route on the road surface without manual control, thereby being used for the fields of automatic unmanned transportation, scientific education and even entertainment.
However, the existing automatic route-finding vehicle has many defects, the structure of the sensor is single, the distribution is simple, and the realized route-finding effect is not good. Therefore, it is necessary to provide a new type of automatic line patrol vehicle to improve its automatic path searching capability.
SUMMERY OF THE UTILITY MODEL
In view of the problem that the automatic line patrol vehicle of prior art is single in function of seeking way, the effect is not good, provided the utility model discloses an automatic line patrol vehicle to overcome above-mentioned problem.
In order to achieve the above purpose, the utility model adopts the following technical scheme:
the utility model provides an automatic line patrol car, can follow the route that predetermines on the road surface and advance, this automatic line patrol car is installed and is patrolled line sensor group, it is used for the tracking to patrol line sensor group the route, it includes four line patrol sensors at least to patrol line sensor group, and four it is in to patrol line sensor the chassis of automatic line patrol car is the rhombus and distributes.
Optionally, in a diamond formed by four of the line patrol sensors, two diagonal lines are respectively along the vehicle body direction and the vertical vehicle body direction.
Optionally, the chassis of the automatic line patrol vehicle is rectangular, and four rhombuses formed by the line patrol sensors are located in the center of the chassis of the automatic line patrol vehicle, and the center points of the rhombuses coincide with the center point of the chassis.
Optionally, the four line patrol sensors are distributed in a square shape on a chassis of the automatic line patrol vehicle.
Optionally, the line tracking sensor is an infrared sensor, and tracks the route by detecting intensity of infrared light reflected by the route.
Optionally, the line patrol sensor is a visible light camera, and tracks the route by shooting a road image.
Optionally, the wheels of the automated line patrol vehicle are mecanum wheels.
Optionally, the automatic line patrol vehicle further comprises a direction control chip, wherein the direction control chip is electrically connected with the line patrol sensor group and receives an electric signal sent by the line patrol sensor group to control the traveling direction.
Optionally, the line patrol sensor group is connected to the chassis of the automatic line patrol vehicle through bonding or threads.
Optionally, the automatic line patrol vehicle further comprises a positioning device, and the positioning device is used for sending a wireless positioning signal.
To sum up, the beneficial effects of the utility model are that:
at least four line patrol sensors distributed in a rhombic shape are arranged on a chassis of the automatic line patrol vehicle, so that a line patrol sensor group can detect a road surface preset route from a plurality of angles and a plurality of positions, the problem of single route searching effect of the existing sensors is solved, the automatic line patrol vehicle can recognize various different route information, and the requirement of the automatic line patrol vehicle for passing through various different intersections is met.
Drawings
Fig. 1 is a schematic structural diagram of an automatic line patrol vehicle according to an embodiment of the present invention;
fig. 2 is a schematic view of the longitudinal traveling of an automatic line patrol vehicle according to an embodiment of the present invention;
fig. 3 is a schematic diagram of the transverse travel of an automatic line patrol vehicle according to an embodiment of the present invention;
fig. 4 is a schematic view of an automatic line patrol car identifying a crossroad according to an embodiment of the present invention;
fig. 5 is a schematic view of a T-shaped intersection recognized by an automatic line patrol vehicle according to an embodiment of the present invention;
fig. 6 is a schematic view of a left T-shaped intersection recognized by an automatic line patrol vehicle according to an embodiment of the present invention;
fig. 7 is a schematic view of a right T-shaped intersection recognized by an automatic line patrol vehicle according to an embodiment of the present invention;
fig. 8 is a schematic view of an automatic line patrol vehicle according to an embodiment of the present invention automatically moving along a zigzag path;
in the figure, 1, a line patrol sensor group; 2. a chassis; 3. a wheel; 4. and (4) routing.
Detailed Description
In order to make the objects, technical solutions and advantages of the present invention clearer, embodiments of the present invention will be described in further detail below with reference to the accompanying drawings.
In the description of the present application, it should be noted that the terms "center", "upper", "lower", "left", "right", "vertical", "horizontal", "inner", "outer", and the like indicate orientations or positional relationships based on the orientations or positional relationships shown in the drawings, and are only for convenience of description and simplicity of description, and do not indicate or imply that the device or element being referred to must have a particular orientation, be constructed and operated in a particular orientation, and thus, should not be construed as limiting the present application. Furthermore, the terms "first," "second," and "third" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance.
In the description of the present application, it is to be noted that, unless otherwise explicitly specified or limited, the terms "mounted," "connected," and "connected" are to be construed broadly, e.g., as meaning either a fixed connection, a removable connection, or an integral connection; can be mechanically or electrically connected; they may be connected directly or indirectly through intervening media, or they may be interconnected between two elements. The specific meaning of the above terms in the present application can be understood in a specific case by those of ordinary skill in the art.
The technical conception of the utility model is that: through improving the distribution of patrolling line sensor group, set up four at least patrolling line sensors that the rhombus distributes on the chassis of automatic patrolling line car for patrolling line sensor group can follow a plurality of angles, a plurality of position detection road surface and predetermine the route, overcome the single problem of current linear distribution sensor effect of seeking way, so that automatic patrolling line car can discern the route information of multiple difference, satisfy the demand that automatic patrolling line car passes through multiple different crossings.
Fig. 1 to 8 show an embodiment of the automatic line patrol vehicle of the present invention. Fig. 1 is a schematic structural diagram of an automatic line patrol vehicle according to an embodiment of the present invention; fig. 2 is a schematic view of the longitudinal traveling of an automatic line patrol vehicle according to an embodiment of the present invention; fig. 3 is a schematic diagram of the transverse travel of an automatic line patrol vehicle according to an embodiment of the present invention; fig. 4 is a schematic view of an automatic line patrol car identifying a crossroad according to an embodiment of the present invention; fig. 5 is a schematic view of a T-shaped intersection recognized by an automatic line patrol vehicle according to an embodiment of the present invention; fig. 6 is a schematic view of a left T-shaped intersection recognized by an automatic line patrol vehicle according to an embodiment of the present invention; fig. 7 is a schematic view of a right T-shaped intersection recognized by an automatic line patrol vehicle according to an embodiment of the present invention; fig. 8 is a schematic view of an automatic line patrol vehicle according to an embodiment of the present invention, automatically advancing along a zigzag path.
As shown in fig. 1 to 8, an automatic line patrol vehicle can travel along a preset route 4 on a road surface, and is provided with a line patrol sensor group 2, wherein the line patrol sensor group 2 is used for tracking the route 4, and the key point is that the line patrol sensor group 2 at least comprises four line patrol sensors, and the four line patrol sensors are distributed in a rhombic shape on a chassis 1 of the automatic line patrol vehicle. In the present embodiment, the automatic line patrol vehicle is provided with four wheels 3, and the four wheels 3 are each a mecanum wheel, and the hatching direction indicates the roller arrangement direction of the mecanum wheel surface, that is, the roller directions of the wheels a and C are the same, and the roller directions of the wheels B and D are the same and opposite to the roller direction of the wheel A, C.
In the prior art, the line patrol sensors of the automatic line patrol vehicle are single in distribution structure and only one or a plurality of linear distribution sensors are arranged, so that the line shapes which can be identified by the line patrol sensors are few, and the path searching effect is poor. And this embodiment sets up four at least line sensors that patrols that the rhombus distributes through the chassis at automatic line car of patrolling for patrolling line sensor group can follow a plurality of angles, a plurality of position detection road surface and predetermine the route, overcomes the single problem of current sensor effect of seeking way, so that automatic line car of patrolling can discern multiple different route information, satisfies the demand that automatic line car of patrolling passes through multiple different crossings.
In this embodiment, four of this automatic patrol car's line sensor are the square distribution on the chassis, and bilateral symmetry sets up all around to, can choose for use four the same line sensors that patrol of model, each is patrolled line sensor and is adopted the same parameter, in order to simplify the setting and seek way calculation process.
In the present embodiment, in the rhombic routing sensors 2 formed by the four routing sensors, two diagonal lines are respectively along the vehicle body direction and the vertical vehicle body direction, so that the longitudinal and transverse routes can be conveniently identified, and the direction navigation is provided for the automatic routing vehicle.
In this embodiment, the chassis of the automatic line patrol vehicle is rectangular, the rhombus formed by the four line patrol sensors is located in the center of the chassis 2 of the automatic line patrol vehicle, and the center point of the rhombus coincides with the center point of the chassis 2.
Fig. 2 and 3 respectively show schematic diagrams of the automatic line patrol vehicle of the embodiment for realizing longitudinal traveling and transverse traveling by using the rhombic line patrol sensor group 2. As shown in fig. 2, the route 4 is arranged along the longitudinal direction of the vehicle body, the front and rear two routing sensors (shown by hatching) of the rhombic routing sensor group 2 are used for detecting and marking the route 4, and the left and right routing sensors (shown by blank) are kept outside the route 4, so that strict and accurate longitudinal traveling is realized. As shown in fig. 3, the route 4 is arranged in the lateral direction of the vehicle body, the two right and left routing sensors (shown in hatching) of the rhombic routing sensor group 2 are used for detecting and marking the route 4, and the two front and rear routing sensors (shown in blank) are kept outside the route 4, thereby realizing strictly accurate longitudinal travel.
In addition to the longitudinal and transverse straight line routing, the automatic line patrol car of the present embodiment can also recognize a variety of intersection information, as shown in fig. 4 to 7, fig. 4, 5, 6 and 7 respectively show schematic diagrams of the automatic line patrol car recognizing an intersection, a T-junction, a left T-junction and a right T-junction by using the rhombic routing sensor group 2, and the routing process is not analyzed one by referring to the above explanation of the principle of longitudinal and transverse routing. Finally, the automatic line patrol vehicle of the present embodiment can utilize the rhombic line patrol sensor group 2 to realize the automatic route finding and advancing process shown in fig. 8, the automatic line patrol vehicle automatically advances from the right side to the left side according to the state sequence of fig. 1-6, and in the state 1-6, the arrow direction at each wheel indicates the driving force condition of the wheel in the present state.
In this embodiment, the wheels 4 are mecanum wheels, and since the mecanum wheels have the capability of moving in various directions such as the longitudinal direction, the transverse direction, the oblique direction and the like, the automatic line patrol vehicle of this embodiment can change the movement direction without rotating the vehicle body, and is particularly suitable for the travel control in a narrow space.
The utility model discloses an in some embodiments, the line patrol sensor can be infrared sensor, through the infrared light intensity tracking route that detects the route reflection.
The utility model discloses an in some embodiments, the line patrol sensor still can be the visible light camera, through shooing road surface image tracking route. Of course, the line patrol sensor of other kinds of forms also can be applied to the utility model discloses, no longer give unnecessary details here.
The utility model discloses an in some embodiments, automatic line car of patrolling still includes the direction control chip, and line sensor group is patrolled in the direction control chip electricity connection, receives the signal of telecommunication that line sensor group sent of patrolling in order to control the direction of travel. The line patrol program of the direction control chip can be burnt off line or on line, and the direction control chip controls the advancing direction according to the electric signal sent by the line patrol sensor group by means of the power supply or the external power supply of the automatic line patrol vehicle.
The utility model discloses an in some embodiments, patrol line sensor group and install on the chassis of automatic line car of patrolling through the bonding mode, perhaps, patrol line sensor group and can also pass through threaded connection on the chassis of automatic line car of patrolling. Preferably, the chassis of the automatic line patrol vehicle can be provided with a groove in advance, so that the line patrol sensor group is embedded into the groove, and the line patrol sensor group is protected from road surface friction.
The utility model discloses an in some embodiments, automatic line patrol car still includes positioner, and positioner is used for sending wireless locating signal, for example, positioner can broadcast locating signal to user's remote terminal. Therefore, the user can master the position of the automatic line patrol vehicle in real time, and the automatic line patrol vehicle is prevented from being lost due to faults or being stolen by people.
To sum up, the beneficial effects of the utility model are that:
at least four line patrol sensors distributed in a rhombic shape are arranged on a chassis of the automatic line patrol vehicle, so that a line patrol sensor group can detect a road surface preset route from a plurality of angles and a plurality of positions, the problem that the existing sensors are single in route searching effect is solved, the automatic line patrol vehicle can recognize various different route information, and the requirement that the automatic line patrol vehicle passes through various different intersections is met. In the preferred embodiment of the application, the vehicle body adopts Mecanum wheels, the effect of realizing the change of all directions without rotating the vehicle body is achieved, the vehicle body is particularly suitable for narrow spaces, and the vehicle body can be further provided with a positioning device so that a user can conveniently master the position information of the automatic line patrol vehicle in real time.
In view of the above, it is only the specific embodiments of the present invention that other modifications and variations can be made by those skilled in the art based on the above-described embodiments in light of the above teachings. It should be understood by those skilled in the art that the foregoing detailed description is for the purpose of better explaining the present invention, and the scope of the present invention should be determined by the scope of the claims.
Claims (10)
1. The utility model provides an automatic patrol line car, can follow the route that predetermines on the road surface and advance, its characterized in that, this automatic patrol line car installs and patrols line sensor group, it is used for the tracking to patrol line sensor group the route, it includes four sensors of patrolling line at least to patrol line sensor group, and four it is in to patrol line sensor is the rhombus distribution on the chassis of automatic patrol line car.
2. The automatic line patrol vehicle according to claim 1, wherein two diagonal lines of a diamond formed by the four line patrol sensors are respectively in the vehicle body direction and the vertical vehicle body direction.
3. The automatic line patrol vehicle according to claim 1, wherein a chassis of the automatic line patrol vehicle is rectangular, a rhombus formed by the four line patrol sensors is located in the center of the chassis of the automatic line patrol vehicle, and a center point of the rhombus coincides with a center point of the chassis.
4. The automatic line patrol vehicle according to claim 1, wherein four line patrol sensors are arranged in a square shape on a chassis of the automatic line patrol vehicle.
5. The automatic line patrol vehicle according to claim 1, wherein the line patrol sensor is an infrared sensor that tracks the route by detecting intensity of infrared light reflected from the route.
6. The automatic line patrol vehicle of claim 1, wherein the line patrol sensor is a visible light camera that tracks the route by taking an image of the road surface.
7. The automated line patrol vehicle of claim 1, wherein the wheels of the automated line patrol vehicle are mecanum wheels.
8. The automatic line patrol vehicle according to claim 1, further comprising a direction control chip, wherein the direction control chip is electrically connected to the line patrol sensor group and receives an electrical signal sent by the line patrol sensor group to control the traveling direction.
9. The automatic line patrol vehicle according to claim 1, wherein the line patrol sensor group is attached to a chassis of the automatic line patrol vehicle by bonding or screwing.
10. The automatic line patrol vehicle according to claim 1, further comprising a positioning device for transmitting a wireless positioning signal.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201921578105.XU CN210605470U (en) | 2019-09-20 | 2019-09-20 | Automatic line patrol vehicle |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201921578105.XU CN210605470U (en) | 2019-09-20 | 2019-09-20 | Automatic line patrol vehicle |
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| Publication Number | Publication Date |
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| CN210605470U true CN210605470U (en) | 2020-05-22 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN201921578105.XU Active CN210605470U (en) | 2019-09-20 | 2019-09-20 | Automatic line patrol vehicle |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113176535A (en) * | 2021-04-27 | 2021-07-27 | 北京航空航天大学 | High-precision omnibearing infrared positioning module based on normalization algorithm |
-
2019
- 2019-09-20 CN CN201921578105.XU patent/CN210605470U/en active Active
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113176535A (en) * | 2021-04-27 | 2021-07-27 | 北京航空航天大学 | High-precision omnibearing infrared positioning module based on normalization algorithm |
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