CN211252753U

CN211252753U - Driving system of automatic driving device and automatic driving device

Info

Publication number: CN211252753U
Application number: CN201921674731.9U
Authority: CN
Inventors: 常泓洁; 李云峰; 黄飞; 吴雄峰; 程昊天
Original assignee: Shanghai Gaussian Automation Technology Development Co Ltd
Current assignee: Shanghai Gaussian Automation Technology Development Co Ltd
Priority date: 2019-09-29
Filing date: 2019-09-29
Publication date: 2020-08-14
Anticipated expiration: 2029-09-29

Abstract

The utility model discloses a driving system of an automatic traveling device, which comprises a controller component, a driver component, a rear wheel driving motor, a front wheel steering motor, a left rear wheel, a right rear wheel and a front wheel; the rear wheel driving motor is used for driving the left rear wheel and the right rear wheel to rotate; the front wheel steering motor is used for driving the front wheels to steer; the output end of the controller assembly is connected with the input end of the driver assembly; and the output end of the driver assembly is respectively connected with the input end of the rear wheel driving motor and the input end of the front wheel steering motor. The utility model also discloses a robot of having used above-mentioned actuating system. The utility model sends out a driving instruction by the controller component; the driver assembly receives the driving instruction and sends the driving instruction to the rear wheel driving motor or the front wheel steering motor after judgment, so that the left rear wheel and the right rear wheel are driven to provide power, and the front wheel is driven to control steering; the utility model discloses with low costs, control is simple.

Description

Driving system of automatic driving device and automatic driving device

Technical Field

The utility model relates to an automatic traveling field, concretely relates to driving system and automatic traveling device of automatic traveling device.

Background

In recent years, more and more robots help people to complete various kinds of work, for example, cleaning robots such as floor sweeping robots and window cleaning robots can automatically complete cleaning work on the ground, windows and the like by means of certain artificial intelligence, so that manual cleaning work is reduced, convenience is brought to family life, and the robots are more and more popular among people.

Cleaning robots generally comprise the following components:

a sensing system: sensing obstacles or height fall, and being used for collision prevention, fall prevention and the like; dust recognition for selecting a cleaning mode.

The control system comprises: the robot is used for operating the robot and has the modes of body key operation, remote controller operation, mobile phone operation and the like.

A driving system: for powering the cleaning robot.

Cleaning the system: generally comprises the steps of sweeping, sucking and brushing, wiping, mopping, wiping and the like.

A power supply system: providing power for the cleaning robot.

Among them, the existing large-scale outdoor cleaning robot mainly uses a cleaning vehicle, which has a large load, and a bad cleaning environment (including a pit, a climbing road section, etc.), and thus needs to have a better driving force and a climbing obstacle-crossing function. Existing large outdoor cleaning robots mainly include three types of driving systems. Type 1: the speed and the steering of the vehicle are controlled by three servo motors of a front wheel, a left wheel and a right wheel, and the structure has the advantages of flexible control, higher cost of the whole vehicle, complex control software and repeated debugging and matching with the vehicle; type 2: the rear wheels are unpowered, and the front wheels are used as driving motors to have a steering function, so that the structure has the characteristics of low cost and simplicity in control, but the obstacle crossing capability of climbing, passing through a speed bump and the like is weak; type 3: the front wheel adopts a universal wheel without power and an active steering function, and the rear wheel adopts a left servo motor and a right servo motor to provide power for the whole vehicle.

SUMMERY OF THE UTILITY MODEL

To the technical problem in the background art, the utility model provides a with low costs, control simple automatic traveling device's actuating system and automatic traveling device.

The utility model discloses a realize through following technical scheme:

a driving system of an automatic traveling device comprises a controller assembly, a driver assembly, a rear wheel driving motor, a front wheel steering motor, a left rear wheel, a right rear wheel and a front wheel; the rear wheel driving motor is used for driving the left rear wheel and the right rear wheel to rotate; the front wheel steering motor is used for driving the front wheels to steer; the output end of the controller assembly is connected with the input end of the driver assembly; the first output end of the driver assembly is connected with the input end of the rear wheel drive motor; and the second output end of the driver assembly is connected with the input end of the front wheel steering motor.

Further, to facilitate drive control and maintenance, the drive assembly includes a first drive and a second drive; the output end of the first driver is connected with the input end of the rear wheel driving motor; and the output end of the second driver is connected with the input end of the front wheel steering motor.

Further, in order to transmit the power of the rear wheel drive motor to the left rear wheel and the right rear wheel as required, the rear wheel drive motor is used for transmitting the power to the rear axle differential; the rear axle differential is used for distributing power and respectively transmitting the distributed power to the left rear wheel and the right rear wheel.

Further, in order to facilitate control and maintenance, the controller assembly comprises a first controller and a second controller which are connected in a communication mode, and an output end of the second controller is connected with an input end of the first driver and an input end of the second driver.

Further, in order to be able to sense ambient information and to facilitate encryption, etc., the first controller includes a navigation device interface, a laser device interface, a dongle interface, a radar interface, and at least one hub interface.

Further, in order to enhance the interface universality, the dongle interface, the radar interface, and at least one of the hub interfaces are USB interfaces.

Further, in order to communicate with the outside, acquire an external image, sense the surrounding environment and the like, the second controller comprises an information interaction interface, an image acquisition interface, a sensor interface, a battery debugging interface and at least one encoder interface.

Furthermore, in order to input instructions conveniently, a steering encoder interface is arranged in the second driver.

Furthermore, in order to better realize the cleaning function, the output end of the first driver is also connected with an air suction motor, a lifting motor, a main brush motor, an edge brush motor and a box door motor.

The utility model also discloses an automatic travel device, it is arbitrary to have used the aforesaid automatic travel device's actuating system.

Adopt above-mentioned technical scheme, the utility model provides an automatic actuating system of device traveles has following beneficial effect: the utility model relates to a driving system, which connects the output end of a controller component with the input end of a driver component, and the controller component sends a driving instruction to the driver component; connecting a first output end of the driver assembly with an input end of a rear wheel driving motor; when the driver assembly receives a walking instruction, the driver assembly sends the walking instruction to the rear wheel driving motor, and the rear wheel driving motor starts to work and transmits power to the left rear wheel and the right rear wheel; the second output end of the driver assembly is connected with the input end of the front wheel steering motor, when the driver assembly receives a steering command, the driver assembly sends the steering command to the front wheel steering motor, and the front wheel steering motor starts to work and drives the front wheel to steer. The utility model discloses well left rear wheel and right rear wheel are responsible for providing power, and the front wheel does not take power, only is responsible for the control and turns to. The utility model discloses with low costs, control is simple.

Drawings

In order to more clearly illustrate the technical solution of the present invention, the drawings needed to be used in the description of the embodiments will be briefly introduced below, and it is obvious that the drawings in the following description are only some embodiments of the present invention, and it is obvious for those skilled in the art that other drawings can be obtained according to these drawings without inventive work.

Fig. 1 is a schematic structural diagram of a driving system of an automatic traveling apparatus according to an embodiment of the present invention;

fig. 2 is a schematic structural view illustrating power transmission to the left rear wheel and the right rear wheel in the driving system of the automatic traveling apparatus according to the embodiment of the present invention;

FIG. 3 is a schematic diagram of the structure of the driver assembly of FIG. 1;

FIG. 4 is a schematic structural view of the controller assembly of FIG. 1;

fig. 5 is a schematic structural diagram of an embodiment of the present invention after the function of a driving system of an automatic driving device is expanded.

In the figure: 1-a controller component, 2-a driver component, 3-a rear wheel driving motor, 4-a front wheel steering motor, 5-a left rear wheel, 6-a right rear wheel, 7-a front wheel, 8-a rear axle differential, 9-an air suction motor, 10-a lifting motor, 13-a main brush motor, 14-a side brush motor, 15-a box door motor and 11-a first controller, 12-second controller, 21-first driver, 22-second driver, 111-navigation device interface, 112-laser device interface, 113-dongle interface, 114 radar interface, 115-hub interface, 121-information interaction interface, 122-image acquisition interface, 123-sensor interface, 124-battery debug interface, 125-encoder interface.

Detailed Description

The technical solution in the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present invention. It is to be understood that the embodiments described are only some embodiments of the invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by a person of ordinary skill in the art without creative efforts belong to the protection scope of the present invention.

Reference herein to "one embodiment" or "an embodiment" means that a particular feature, structure, or characteristic described in connection with at least one implementation of the invention is included. In the description of the present invention, it is to be understood that the terms "upper", "lower", "top", "bottom", 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 referred to must have a particular orientation, be constructed in a particular orientation, and be operated, and thus should not be construed as limiting the present invention.

As shown in fig. 1, an embodiment of the present invention provides a driving system of an automatic traveling apparatus, including a controller assembly 1, a driver assembly 2, a rear wheel driving motor 3, a front wheel steering motor 4, a left rear wheel 5, a right rear wheel 6, and a front wheel 7; the rear wheel driving motor 3 is used for driving the left rear wheel 5 and the right rear wheel 6 to rotate; the front wheel steering motor 4 is used for driving the front wheel 7 to steer; the output end of the controller component 1 is connected with the input end of the driver component 2; the first output end of the driver component 2 is connected with the input end of the rear wheel driving motor 3; a second output of the driver assembly 2 is connected to an input of the front wheel steering motor 4. The output end of the controller component 1 is connected with the input end of the driver component 2, and the controller component 1 issues a driving instruction to the driver component 2; by connecting a first output of the driver assembly 2 to an input of a rear wheel drive motor 3; when receiving the walking instruction, the driver assembly 2 sends the walking instruction to the rear wheel driving motor 3, and the rear wheel driving motor 3 starts to work and transmits power to the left rear wheel 5 and the right rear wheel 6. By connecting the second output end of the driver component 2 with the input end of the front wheel steering motor 4, when the driver component 2 receives a steering instruction, the steering instruction is sent to the front wheel steering motor 4, and the front wheel steering motor 4 starts to work and drives the front wheel 7 to steer. The utility model discloses well left rear wheel 5 and right rear wheel 6 are responsible for providing power, and front wheel 7 does not take power, only is responsible for the control and turns to. The utility model discloses with low costs, control is simple.

As shown in fig. 2, in another embodiment of the present invention, the rear wheel drive motor 3 is used to transmit power to the rear axle differential 8; the rear differential 8 is used for distributing power and transmitting the distributed power to the left rear wheel 5 and the right rear wheel 6, respectively. Specifically, the rear wheel driving motor 3 may transmit power to the rear axle differential 8 through an internal gear, the rear axle differential 8 may transmit the received power to the left rear wheel 5 and the right rear wheel 6 through a belt according to the running resistance, and the left rear wheel 5 and the right rear wheel 6 provide power for the robot to run. The front wheel 7 is opposite to the front wheel, the left rear wheel 5 and the right rear wheel 6 are subjected to the same resistance, and the vehicle is in a straight running state at the moment; when the front wheel 7 turns to a certain angle, the resistance received by the left rear wheel 5 and the right rear wheel 6 is unequal, and the differential 51 can respectively adjust the rotating speed of the left rear wheel 5 and the rotating speed of the right rear wheel 6 to achieve a balanced state of the rotating speed and the resistance, so that the turning control of the turning is realized.

As shown in fig. 3, in another embodiment of the present invention, the driver assembly 2 may include a first driver 21 and a second driver 22; the output end of the first driver 21 is connected with the input end of the rear wheel driving motor 3, and the first driver 21 receives the walking instruction of the controller component 1 and sends the walking instruction to the rear wheel driving motor 3; the output end of the second driver 22 is connected with the input end of the front wheel steering motor 4, and a steering encoder interface is arranged in the second driver 22.

As shown in fig. 4, in another embodiment of the present invention, the controller assembly 1 includes a first controller 11 and a second controller 12 which are connected in communication, specifically, the first controller 11 and the second controller 12 may be connected by a network cable; wherein, the output terminal of the second controller 12 is connected to the input terminal of the first driver 21 and the input terminal of the second driver 22, and in addition, the second controller 12 further comprises an information interaction interface 121, an image acquisition interface 122, a sensor interface 123 (for detecting the surrounding environment), a battery debugging interface 124 and at least one encoder interface 125. The first controller 11 includes a navigation device interface 111, a laser device interface 112, a dongle interface 113, a radar interface 114, and at least one hub interface 115, wherein the dongle interface 113, the radar interface 114, and at least one hub interface 115 may be USB interfaces. The first controller 11 can sense the surrounding environment and determine its own position through information transmitted from devices such as a laser device connected to the laser device interface 112, a radar device connected to the radar interface 114, etc., and the second controller 12 can acquire surrounding environment information through an image acquisition device connected to the image acquisition interface 122 (which can protect the front camera and the rear camera, respectively); the controller component 1 compares the information with the received working instruction, plans out an optimal working path (including a walking path and a steering path), sends the working instruction to a corresponding driver (a first driver 21 or a second driver 22) after the path is determined, and sends the corresponding working instruction by the corresponding driver, namely, the first driver 21 sends the walking instruction to the rear wheel driving motor 3; a steering command is sent to the front wheel steering motor 4 by the second driver 22.

As shown in fig. 5, in another embodiment of the present invention, the output end of the first driver 21 can be further connected to the suction motor 9, the lift motor 10, the main brush motor 13, the side brush motor 14, the door motor 15, and the like, and can further provide various functions to the automatic traveling apparatus.

The embodiment of the utility model provides a still disclose an automatic device that traveles, used foretell automatic device's actuating system that traveles.

The foregoing is a preferred embodiment of the present invention, and it should be noted that, for those skilled in the art, a plurality of improvements and decorations can be made without departing from the principle of the present invention, and these improvements and decorations are also considered as the protection scope of the present invention.

Claims

1. A driving system of an automatic traveling device is characterized by comprising a controller assembly (1), a driver assembly (2), a rear wheel driving motor (3), a front wheel steering motor (4), a left rear wheel (5), a right rear wheel (6) and a front wheel (7);

the rear wheel driving motor (3) is used for driving the left rear wheel (5) and the right rear wheel (6) to rotate;

the front wheel steering motor (4) is used for driving the front wheel (7) to steer;

the output end of the controller assembly (1) is connected with the input end of the driver assembly (2);

the first output end of the driver assembly (2) is connected with the input end of the rear wheel drive motor (3);

and a second output end of the driver assembly (2) is connected with an input end of the front wheel steering motor (4).

2. The drive system of an autonomous driving device according to claim 1, characterized in that the driver assembly (2) comprises a first driver (21) and a second driver (22);

the output end of the first driver (21) is connected with the input end of the rear wheel driving motor (3);

the output end of the second driver (22) is connected with the input end of the front wheel steering motor (4).

3. The drive system of an automatic traveling device according to claim 1, characterized in that the rear wheel drive motor (3) is used to transmit power to a rear axle differential (8);

the rear axle differential (8) is used for distributing power and transmitting the distributed power to the left rear wheel (5) and the right rear wheel (6) respectively.

4. The drive system of an autonomous driving device according to claim 2, characterized in that the controller assembly (1) comprises a first controller (11) and a second controller (12) communicatively connected, the output of the second controller (12) being connected to the input of the first driver (21) and to the input of the second driver (22).

5. The drive system of an autonomous driving apparatus according to claim 4, characterized in that the first controller (11) includes a navigation device interface (111), a laser device interface (112), a dongle interface (113), a radar interface (114) and at least one hub interface (115).

6. The drive system of an autonomous driving apparatus according to claim 5, characterized in that the dongle interface (113), the radar interface (114) and at least one of the hub interfaces (115) are all USB interfaces.

7. The drive system of an autonomous driving apparatus according to claim 4, characterized in that the second controller (12) comprises an information interaction interface (121), an image acquisition interface (122), a sensor interface (123), a battery commissioning interface (124) and at least one encoder interface (125).

8. The drive system of an automatic traveling device according to any one of claims 2 and 4 to 7, wherein a steering encoder interface is provided in the second actuator (22).

9. The driving system of an automatic traveling apparatus according to claim 8, wherein the output end of the first driver (21) is further connected to a suction motor (9), a lift motor (10), a main brush motor (13), an edge brush motor (14), and a door motor (15).

10. An automatic traveling apparatus, characterized in that a drive system of the automatic traveling apparatus according to any one of claims 1 to 9 is applied.