CN213674100U - Chassis device, guiding and positioning device and system, moving device, robot, and robot guiding and positioning system - Google Patents

Abstract

The embodiment of the disclosure discloses a chassis device, a guiding and positioning device and a guiding and positioning system. The chassis device includes wheels and a chassis guide groove. Wheels for moving the chassis arrangement; the chassis guide groove is arranged along the advancing direction of the chassis device, and the width of the groove body at the front end of the chassis guide groove is wider than the width of the groove body at the rear side of the front end. The guiding and positioning device comprises: the roller mounting seat is used for mounting the roller to bear a mobile device and make rolling friction between the mobile device. The moving direction of the chassis device can be changed to realize guiding and positioning.

Description

Chassis device, guiding and positioning device and system, moving device, robot, and robot guiding and positioning system

Technical Field

The disclosure relates to the field of machinery, in particular to a chassis device, a guiding and positioning system, a moving device, a robot and a robot guiding and positioning system.

Background

The mobile device based on automatic control generally realizes indoor or outdoor positioning and navigation through sensor devices such as infrared rays or laser radars, but because the positioning precision and the closed-loop control precision are lower, higher angle and position accuracy are generally difficult to guarantee.

SUMMERY OF THE UTILITY MODEL

In order to solve the problems in the related art, embodiments of the present disclosure provide a chassis device, a guiding and positioning system, a moving device, a robot, and a robot guiding and positioning system.

In a first aspect, an embodiment of the present disclosure provides a chassis apparatus, including:

wheels for moving the chassis device;

and the width of the groove body at the front end of the chassis guide groove is wider than that of the groove body at the rear side of the front end in the advancing direction of the chassis device.

With reference to the first aspect, in a first implementation manner of the first aspect, the chassis guide groove includes a first section groove body located at a front end of the chassis guide groove and a second section groove body located behind the first section groove body, a width of the first section groove body gradually narrows from the front end to a tail end of the first section groove body, and a width of the second section groove body is consistent with a width of the tail end of the first section groove body.

In a second aspect, an embodiment of the present disclosure provides a guiding and positioning device, including: a base, a supporting frame, a roller mounting seat and a roller, wherein,

the support frame is arranged on the base and used for installing the roller mounting seat, and the roller mounting seat is used for installing the roller so as to bear the mobile device and have rolling friction with the mobile device.

With reference to the second aspect, in a first implementation manner of the second aspect, an elastic component is disposed at a bottom of the roller mounting seat, and in response to the roller bearing moving device, the elastic component elastically deforms, and the roller mounting seat and the roller disposed at the top end of the roller mounting seat move toward the base.

With reference to the second aspect or the first implementation manner of the second aspect, in a second implementation manner of the second aspect, the roller mounting seat is provided with a sliding rail on a side surface, and the sliding rail is in sliding contact with the supporting frame.

With reference to the second aspect or the first implementation manner of the second aspect, in a third implementation manner of the second aspect, the roller includes a first roller having an axis parallel to the plane of the base and a second roller having an axis perpendicular to the plane of the base, and the rolling directions of the first roller and the second roller at the position of contact with the moving device are the same.

With reference to the third implementation manner of the second aspect, in a fourth implementation manner of the second aspect, the top end of the first roller is higher than the top end of the second roller.

With reference to the second aspect or the first implementation manner of the second aspect, in a fifth implementation manner of the second aspect, the guiding and positioning device further includes a position detection device for detecting a position of the moving device relative to the guiding and positioning device.

With reference to the second implementation manner of the second aspect, in a sixth implementation manner of the second aspect, the slide rail is a roller slide rail or a ball slide rail.

In a third aspect, an embodiment of the present disclosure provides a guiding and positioning system, including: a chassis device and a guiding and positioning device,

wherein the chassis device includes:

wheels for moving the chassis device;

a chassis guide groove, a groove body width of a front end of the chassis guide groove is wider than a groove body width of a rear side of the front end in an advancing direction along a chassis of the chassis device,

wherein, the guiding orientation device includes: the roller mounting seat is used for mounting the roller so as to bear the chassis device and have rolling friction with the chassis device,

wherein, in response to the movement of the chassis device, the roller is contacted from the groove body at the front end of the chassis guide groove in the advancing direction of the chassis device, and the advancing direction of the chassis device is consistent with the rolling direction of the roller as the roller is separated from the rear end of the chassis guide groove.

With reference to the third aspect, the present disclosure provides in a first implementation manner of the third aspect, the rollers include a first roller having an axis parallel to a plane of the base and a second roller having an axis perpendicular to the plane of the base, rolling directions of the first roller and the second roller at a position in contact with the moving device are consistent,

wherein the first roller is in contact with a top surface of the chassis guide groove, and the second roller is in contact with a side wall of the chassis guide groove.

With reference to the first implementation manner of the third aspect, in a second implementation manner of the third aspect, the top end of the first roller is higher than the top end of the second roller.

With reference to the third aspect and the first or second implementation manner of the third aspect, in a third implementation manner of the third aspect, the second rollers are disposed on two sides of the first roller and are in contact with two side walls of the chassis guide groove, respectively.

In a fourth aspect, an embodiment of the present disclosure provides a mobile device, including:

a main body;

a chassis arrangement for carrying the body, the chassis arrangement comprising:

wheels for moving the chassis device;

and the width of the groove body at the front end of the chassis guide groove is wider than that of the groove body at the rear side of the front end in the advancing direction of the chassis device.

In a fifth aspect, an embodiment of the present disclosure provides a robot, including:

a main body;

a chassis arrangement for carrying the body, the chassis arrangement comprising:

wheels for moving the chassis device;

and the width of the groove body at the front end of the chassis guide groove is wider than that of the groove body at the rear side of the front end in the advancing direction of the chassis device.

In a sixth aspect, an embodiment of the present disclosure provides a robot guiding and positioning system, including: a robot and a guiding and positioning device,

wherein the robot comprises:

a main body;

a chassis arrangement for carrying the body, the chassis arrangement comprising:

wheels for moving the chassis device;

a chassis guide groove, a groove body width of a front end of the chassis guide groove is wider than a groove body width of a rear side of the front end in an advancing direction along a chassis of the chassis device,

wherein, the guiding orientation device includes: the robot comprises a base, a support frame, a roller mounting seat and a roller, wherein the support frame is arranged on the base and used for mounting the roller mounting seat, the roller mounting seat is used for mounting the roller so as to bear the robot and have rolling friction with the chassis device,

and responding to the movement of the robot, starting to contact the roller from a groove body at the front end of the chassis guide groove in the advancing direction of the robot, and enabling the advancing direction of the robot to be consistent with the rolling direction of the roller along with the separation of the roller from the rear end of the chassis guide groove.

The technical scheme provided by the embodiment of the disclosure can have the following beneficial effects:

according to the technical scheme provided by the embodiment of the disclosure, the chassis device is used for moving through wheels; and the width of the groove body at the front end of the chassis guide groove is wider than that of the groove body at the rear side of the front end in the advancing direction of the chassis device, and the chassis guide groove can be matched with a guide positioning device to change the moving direction of the chassis device.

According to the technical scheme that this disclosure provided, through following in the advancing direction on chassis device chassis, the chassis guide way is including being located the first section cell body of chassis guide way front end with be located second section cell body behind the first section cell body, the width of first section cell body is followed first section cell body front end narrows down to the end gradually, the width of second section cell body with the width of the end of first section cell body is unanimous, and the chassis guide way can adapt to chassis device's removal process's angle and position deviation by the maximum limit, promotes direction location precision by a wide margin.

According to the technical scheme provided by the embodiment of the disclosure, the support frame is arranged on the base and used for mounting the roller mounting seat, and the roller mounting seat is used for mounting the roller so as to bear the moving device and have rolling friction with the moving device, so that the moving direction of the chassis device can be changed.

According to the technical scheme provided by the embodiment of the disclosure, the elastic part is arranged at the bottom of the roller mounting seat, the roller bearing moving device is responded, the elastic part is elastically deformed, the roller mounting seat and the roller arranged at the top end of the roller mounting seat move towards the base direction, and the moving direction of the chassis device can be changed while the posture of the guiding and positioning device and the posture of the chassis device are kept stable.

According to the technical scheme provided by the embodiment of the disclosure, the side face of the roller mounting seat is provided with the sliding rail, the sliding rail is in sliding contact with the support frame, the sliding contact between the roller mounting seat and the support frame can be realized, the movement resistance is reduced, and the service life of the guiding and positioning device is prolonged.

According to the technical scheme provided by the embodiment of the disclosure, the rollers comprise a first roller with an axis parallel to the plane of the base and a second roller with an axis perpendicular to the plane of the base, and the rolling directions of the first roller and the second roller at the position where the first roller and the second roller are in contact with the mobile device are consistent, so that the mobile device and the guiding and positioning device can be always in contact with each other through the rollers, and the rolling friction is always ensured.

According to the technical scheme provided by the embodiment of the disclosure, the top end of the first roller is higher than that of the second roller, so that the friction between the guiding and positioning device and the chassis device can be reduced.

According to the technical scheme provided by the embodiment of the disclosure, the changed moving direction of the chassis device can be determined through the position detection device which is used for detecting the position of the moving device relative to the guide positioning device.

According to the technical scheme provided by the embodiment of the disclosure, the sliding rail is a roller sliding rail or a ball sliding rail, so that rolling contact between the roller mounting seat and the supporting frame can be realized, the movement resistance is reduced, and the service life of the guiding and positioning device is prolonged.

According to the technical scheme provided by the embodiment of the disclosure, the chassis device and the guiding and positioning device are adopted, wherein the chassis device comprises: wheels for moving the chassis device; a chassis guide groove, a groove body width of a front end of the chassis guide groove is wider than a width of a groove body of a rear side of the front end in a forward direction along a chassis of the chassis device, wherein the guide positioning device includes: the chassis device comprises a base, a supporting frame, a roller mounting seat and rollers, wherein the supporting frame is arranged on the base and used for mounting the roller mounting seat, the roller mounting seat is used for mounting the rollers to bear the chassis device and the rolling friction between the chassis device, the roller mounting seat responds to the movement of the chassis device, and the roller starts to contact with a groove body at the front end of a chassis guide groove along the advancing direction of the chassis device, the advancing direction of the chassis device is consistent with the rolling direction of the rollers along with the separation of the rollers from the rear end of the chassis guide groove, and the moving direction of the chassis device can be changed through a guiding and positioning device, so that the calibration of the moving state of the chassis device is realized.

According to the technical scheme provided by the embodiment of the disclosure, the rollers comprise a first roller with an axis parallel to the plane of the base and a second roller with an axis perpendicular to the plane of the base, and the rolling directions of the first roller and the second roller at the position contacted with the moving device are consistent, wherein the first roller is contacted with the top surface of the chassis guide groove, and the second roller is contacted with the side wall of the chassis guide groove, so that the chassis device and the guiding and positioning device can be always contacted through the rollers, and the rolling friction is always ensured.

According to the technical scheme provided by the embodiment of the disclosure, the top end of the first roller is higher than that of the second roller, so that the friction between the guiding and positioning device and the chassis device can be reduced.

According to the technical scheme provided by the embodiment of the disclosure, the second rollers are arranged on two sides of the first roller and are respectively contacted with two side walls of the chassis guide groove, so that the moving direction of the chassis device can be changed through the guiding and positioning device.

According to the technical scheme provided by the embodiment of the disclosure, the device comprises a main body; a chassis arrangement for carrying the body, the chassis arrangement comprising: wheels for moving the chassis device; and the width of the groove body at the front end of the chassis guide groove is wider than that of the groove body at the rear side of the front end in the advancing direction of the chassis device, and the chassis guide groove can be matched with a guide positioning device to change the moving direction of the moving device.

According to the technical scheme provided by the embodiment of the disclosure, the device comprises a main body; a chassis arrangement for carrying the body, the chassis arrangement comprising: wheels for moving the chassis device; and the width of the groove body at the front end of the chassis guide groove is wider than that of the groove body at the rear side of the front end in the advancing direction of the chassis device, and the chassis guide groove can be matched with a guide positioning device to change the moving direction of the robot.

According to the technical scheme provided by the embodiment of the disclosure, the robot and the guiding and positioning device are adopted, wherein the robot comprises: a main body; a chassis arrangement for carrying the body, the chassis arrangement comprising: wheels for moving the chassis device; a chassis guide groove, a groove body width of a front end of the chassis guide groove is wider than a width of a groove body of a rear side of the front end in a forward direction along a chassis of the chassis device, wherein the guide positioning device includes: base, support frame, gyro wheel mount pad and gyro wheel, wherein, the support frame set up in on the base, be used for the installation the gyro wheel mount pad, the gyro wheel mount pad is used for the installation the gyro wheel, in order to bear the weight of the robot and with rolling friction between the chassis device, wherein, respond to the removal of robot is following in the advancing direction of robot, follow the cell body of chassis guide way front end begins to contact the gyro wheel, along with the gyro wheel breaks away from chassis guide way rear end, the advancing direction of robot with the rolling direction of gyro wheel is unanimous, can change the moving direction of robot through direction finding device.

It is to be understood that both the foregoing general description and the following detailed description are exemplary and explanatory only and are not restrictive of the disclosure.

Drawings

Other labels, objects and advantages of the present disclosure will become more apparent from the following detailed description of non-limiting embodiments when taken in conjunction with the accompanying drawings. In the drawings:

FIG. 1 illustrates a schematic structural view of a chassis arrangement according to an embodiment of the present disclosure;

fig. 2 shows a schematic perspective view of a mobile device comprising a chassis arrangement according to an embodiment of the present disclosure;

FIG. 3 shows a schematic bottom view of the portion of the chassis in which the chassis guide slots are located according to the embodiment shown in FIG. 2;

FIG. 4 shows a schematic structural diagram of a guide positioning device according to an embodiment of the present disclosure;

FIG. 5 shows a schematic perspective view of a guide positioning device according to an embodiment of the present disclosure;

FIG. 6 shows a schematic perspective view of a guide positioning device according to another embodiment of the present disclosure;

fig. 7 shows a schematic view of a mobile device passing through a guide positioning device according to an embodiment of the present disclosure.

Detailed Description

Hereinafter, exemplary embodiments of the present disclosure will be described in detail with reference to the accompanying drawings so that those skilled in the art can easily implement them. Also, for the sake of clarity, parts not relevant to the description of the exemplary embodiments are omitted in the drawings.

In the present disclosure, it is to be understood that terms such as "including" or "having," etc., are intended to indicate the presence of labels, numbers, steps, actions, components, parts, or combinations thereof disclosed in the present specification, and are not intended to preclude the possibility that one or more other labels, numbers, steps, actions, components, parts, or combinations thereof are present or added.

It should be further noted that the embodiments and labels in the embodiments of the present disclosure may be combined with each other without conflict. The present disclosure will be described in detail below with reference to the accompanying drawings in conjunction with embodiments.

The intelligent device can move through automatic control. Mobile devices such as robots are generally positioned and navigated indoors or outdoors by means of sensor devices such as infrared or lidar devices. However, it is often difficult to ensure high angular and positional accuracy due to the low positioning accuracy and closed loop control accuracy. When the robot is in a working environment with high positioning accuracy requirements such as a narrow passage, the prior art is difficult to meet the requirements. The chassis device of the embodiment of the disclosure realizes the guiding and positioning of the driving posture of the chassis device through the interaction of the chassis guide groove and the guiding and positioning device arranged on the moving surface in a mechanical mode.

Fig. 1 shows a schematic structural view of a chassis arrangement according to an embodiment of the present disclosure.

As shown in fig. 1, the chassis apparatus 100 includes:

wheels 110 for moving the chassis device 100;

a chassis guide groove 120, a groove body width of a front end of the chassis guide groove 120 is wider than a groove body width of a rear side of the front end in a forward direction along a chassis of the chassis apparatus 100.

According to the technical scheme provided by the embodiment of the disclosure, the chassis device is used for moving through wheels; and the width of the groove body at the front end of the chassis guide groove is wider than that of the groove body at the rear side of the front end in the advancing direction of the chassis device, and the chassis guide groove can be matched with a guide positioning device to change the moving direction of the chassis device so as to realize guide positioning. The following description is made with reference to the embodiment illustrated in fig. 2.

Fig. 2 illustrates a schematic perspective view of a mobile device including a chassis device according to an embodiment of the present disclosure.

As shown in fig. 2, the chassis device is provided with a plurality of wheels 210 and a chassis 220.

The wheels 210 may enable the chassis device to move and have a steering function. According to the embodiment of the present disclosure, the wheels 210 may enable the chassis device to move only forward and not backward, or may allow the chassis device to move forward and backward in both directions, which is not limited by the embodiment of the present disclosure. To avoid obscuring the details of the chassis 220, the two wheels on the right side of the chassis in fig. 2 are not shown. It should be understood that although the chassis arrangement illustrated in fig. 2 has four wheels, the chassis arrangement of embodiments of the present disclosure may have other numbers of wheels, for example, the chassis arrangement may have six wheels.

The chassis 220 has a bearing function, for example, the chassis device and the body may form a robot as a whole by bearing the robot body, or the chassis device may be a bearing device for bearing other goods, and the embodiment of the disclosure is not limited thereto. The lower surface of the chassis 220 is provided with a chassis guide groove 221, and the width of the groove body at the front end of the chassis guide groove 221 is wider than the width of the groove body at the rear side of the front end in the advancing direction of the chassis 220 of the chassis device. The chassis 220 is used for contacting with a roller arranged on a guiding and positioning device of a moving surface in the moving process of the chassis device, and the chassis guide groove 221 with a wide front part and a narrow back part can realize the correction of the moving direction of the chassis device. The base plate 220 may be made of various materials, such as a metal base plate.

Fig. 3 shows a schematic bottom view of the part of the chassis where the chassis guide slot is located according to the embodiment shown in fig. 2.

The direction shown by the arrow in fig. 3 is the direction of the front end of the chassis device, and in the embodiment shown in fig. 3, the width of the groove body at the front end of the chassis guide groove 221 is wider than the width of the groove body at the rear side of the front end.

According to the embodiment of the present disclosure, in the advancing direction (the direction indicated by the arrow in fig. 3) along the chassis 220 of the chassis device, the chassis guide groove 221 includes a first section groove 310 located at the front end of the chassis guide groove 221 and a second section groove 320 located behind the first section groove 310, the width of the first section groove 310 gradually narrows from the front end to the tail end of the first section groove 310, and the width of the second section groove 320 is consistent with the width of the tail end of the first section groove 310.

According to the embodiment of the present disclosure, the side walls of the first section of slot body 310 and the second section of slot body 320 may be respectively linear, and an arc-shaped transition region may be disposed between the first section of slot body 310 and the second section of slot body 320.

Alternatively, at least one of the first and second sections of the channel 310, 320 may have curved sidewalls. For example, the first slot 310 may have an arc-shaped sidewall, and the width of the first slot 310 gradually narrows from the front end to the tail end of the first slot 310 along an arc line in the front-to-back direction until the width of the first slot is consistent with the width of the second slot 320.

Through the arrangement of the arc, the process of the chassis device passing through the guiding and positioning device is smoother, and energy loss and mechanical wear are reduced.

According to the technical scheme that this disclosure provided, the width through first section cell body narrows from the front end to the end gradually, and the width of second section cell body is unanimous with the terminal width of first section cell body, and the chassis guide way can adapt to chassis device's the removal process's angle and position deviation in the maximum scope, promotes direction positioning accuracy by a wide margin.

Fig. 4 shows a schematic structural diagram of a guiding and positioning device according to an embodiment of the disclosure.

As shown in fig. 4, the guiding and positioning device 400 includes: a base 410, a support bracket 420, a roller mount 430, and a roller 440. The supporting frame 420 is disposed on the base 410 and used for mounting a roller mounting seat 430, and the roller mounting seat 430 is used for mounting a roller 440 to bear the mobile device and to perform rolling friction with the mobile device. Wherein the moving device comprises any one of the chassis devices illustrated in fig. 1-3, for example.

According to the technical scheme provided by the embodiment of the disclosure, the support frame is arranged on the base and used for installing the roller installation seat, the roller installation seat is used for installing the roller so as to bear the mobile device and make rolling friction with the mobile device, and the guiding and positioning device can realize the calibration of the mobile state of the mobile device. The following description is made with reference to the embodiment illustrated in fig. 5.

Fig. 5 shows a schematic perspective view of a guide positioning device according to an embodiment of the present disclosure.

As shown in fig. 5, the guiding and positioning device may include a base 510, a supporting bracket 520, a roller mounting seat 530, and a roller 540. The supporting frame 520 is disposed on the base 510 for mounting the roller mounting seat 530, and the roller mounting seat 530 is used for mounting the roller 540 to bear the mobile device and to perform rolling friction with the mobile device.

The base 510 is used to mount and fix the guiding and positioning device, and can be fixed on the moving surface to keep the guiding and positioning device from moving relative to the moving surface. For example, the moving surface may be the ground, and the guide positioning device may be fixed on the ground by the base 510. For another example, when the mobile device can move on a wall, a roof, a pipe, or other surfaces, the mobile surface can be a wall, a roof, a pipe, or other surfaces, and the guiding and positioning device can be fixed on the mobile surface through the base 510.

According to the embodiment of the present disclosure, an elastic member 550 is disposed at the bottom of the roller mounting seat, and in response to the roller 540 carrying a moving device, the elastic member 550 is elastically deformed, and the roller mounting seat 530 and the roller 540 disposed at the top end of the roller mounting seat 530 move toward the base 510. According to an embodiment of the present disclosure, the elastic member may be a spring.

As shown in fig. 5, a plurality of springs 550 may be disposed below the roller mounting seat 530, for example, and the lower surfaces of the springs 550 are in fixed contact with the base 510 to support the roller mounting seat 530, so that the roller mounting seat 530 floats up and down to adapt to different chassis heights of the mobile device.

According to the technical scheme provided by the embodiment of the disclosure, the elastic part is arranged at the bottom of the roller mounting seat, the roller bearing moving device is responded, the elastic part is elastically deformed, the roller mounting seat and the roller arranged at the top end of the roller mounting seat move towards the base, and the posture stability of the guiding and positioning device and the chassis device can be kept while the moving direction of the chassis device is changed.

According to the embodiment of the disclosure, the roller has the freedom degree of moving up and down through the elastic component, so that the compatible design of the mobile devices with different chassis heights is realized, the mobile devices with different chassis heights and different carrying capacities can be automatically adapted, and the application range of the guiding and positioning device is expanded.

According to the embodiment of the present disclosure, the roller mounting seat 530 is provided with a sliding rail 560 at a side surface, and the sliding rail 560 is in sliding contact with the supporting frame 570.

According to the technical scheme that this disclosure provides, be provided with the slide rail through gyro wheel mount pad side, the slide rail with support frame sliding contact can realize the sliding contact between gyro wheel mount pad and the support frame, reduces the moving resistance and increases guiding and positioning device's life.

Fig. 5 shows the elastic member 550, and the front side of the supporting frame 520 is hidden, and the embodiment shown in fig. 6 can be referred to when the front side of the supporting frame is included. As shown in fig. 5 and 6, a plurality of sets of sliding rails 560 are disposed on the side surfaces of the roller mounting seat 530, and the sliding rails 560 are in contact with the supporting frame 520 to reduce friction between the roller mounting seat 530 and the supporting frame 520, so that the roller mounting seat 530 floats up and down in a rolling manner.

According to the embodiment of the present disclosure, the slide rail 560 may be a roller slide rail or a ball slide rail, and both the roller mount 530 and the support frame 520 may be in rolling contact.

According to the technical scheme provided by the embodiment of the disclosure, the sliding rail is a roller sliding rail or a ball sliding rail, so that the rolling contact between the roller mounting seat and the supporting frame is realized, the movement resistance is reduced, and the service life of the guiding and positioning device is prolonged.

According to the embodiment of the present disclosure, the roller may be made of various materials, for example, a non-metal material such as plastic may be used. The chassis guide way that cooperates the metal material uses, realizes the direction process through the direct rolling contact in nonmetal gyro wheel and metal chassis, and is less to mobile device's wearing and tearing.

According to the embodiment of the disclosure, the rollers include a first roller with an axis parallel to the plane of the base and a second roller with an axis perpendicular to the plane of the base, and the rolling directions of the first roller and the second roller at the position contacting with the mobile device are consistent.

According to the technical scheme provided by the embodiment of the disclosure, the contact between the moving device and the guiding and positioning device can be ensured to be always realized through the roller by the first roller with the axis parallel to the plane of the base and the second roller with the axis perpendicular to the plane of the base, and the rolling friction is ensured to be always realized.

As shown in fig. 5, the roller 540 serves to reduce friction between the guide positioning device and the moving device. The rollers 540 may include, for example, a longitudinal roller (first roller 542) and a lateral roller (second rollers 541a, 541 b). The lateral rollers 541a, 541b and the longitudinal roller 542 are in rolling contact with the side and upper surfaces of the chassis guide groove of the moving device, respectively, during the movement of the moving device, whereby the guiding and positioning of the moving device is gradually achieved along the chassis guide groove.

According to the embodiment of the present disclosure, the fact that the rolling directions of the first roller and the second roller at the position where the first roller and the second roller contact with the moving device are the same means that, in the process that the moving device moves from one side of the guiding and positioning device to the other side, the first roller and the second roller are in rolling contact with the surface of the guiding groove, so that the first roller and the second roller are both driven by the moving device moving forward to rotate passively, the rotating directions of the first roller and the second roller are both adapted to the moving direction of the moving device, and from this point, the rolling directions of the first roller and the second roller at the position where the first roller and the second roller contact with the moving device are the same.

According to the embodiment of the present disclosure, the top end of the first roller 542 is higher than the top ends of the second rollers 541a and 541b, so that the first and second rollers are in rolling contact with the upper and side surfaces of the chassis guide groove of the mobile device, respectively, during the movement of the mobile device.

According to the technical scheme provided by the embodiment of the disclosure, the top end of the first roller is higher than that of the second roller, so that the friction between the guiding and positioning device and the chassis device can be reduced.

The guided positioning apparatus further comprises a position detection device 570 for detecting the position of the mobile device relative to the guided positioning apparatus according to an embodiment of the present disclosure.

As shown in fig. 5, the position detecting device 570 is mounted on the base 510. When the mobile device completes the guiding and positioning, the receiving end of the position detection device 570 can receive or stop receiving the signal sent by the transmitting end, so as to send a signal to the mobile device, and inform the current position state to the control system of the mobile device, so that the control system of the mobile device can make the decision to specify the position and posture of the mobile device.

According to the technical scheme provided by the embodiment of the disclosure, the changed moving direction of the chassis device can be determined by the position detection device which is used for detecting the position of the moving device relative to the guide positioning device.

According to the embodiment of the present disclosure, in order to improve the guiding and positioning accuracy, multiple sets of rollers may be disposed on the same roller mounting frame, as shown in fig. 5, for example, three sets of rollers may be disposed, where each set of rollers includes two lateral rollers 541a and 541b and one longitudinal roller 542.

According to this disclosed embodiment, in order to improve the guiding orientation precision, can arrange multiunit gyro wheel mounting bracket and even a plurality of guiding orientation device simultaneously. For example, as shown in fig. 6, a schematic diagram of two sets of guiding and positioning devices is shown. In some embodiments of the present disclosure, a plurality of guide positioning devices as shown in FIG. 5 may be arranged together. In other embodiments of the present disclosure, a plurality of sets of the supporting frames, the roller mounting seats and the rollers may be installed on the same base, as in the embodiment illustrated in fig. 6, two supporting frames are installed on the same base, and each supporting frame is provided with a roller mounting seat and a roller.

According to the technical scheme of the embodiment of the disclosure, the designed guiding and positioning device can be flexibly configured according to requirements, and the guiding and positioning accuracy of the mobile device in a specific scene and a specific area is improved.

Fig. 7 shows a schematic view of a mobile device passing through a guide positioning device according to an embodiment of the present disclosure.

Fig. 7 shows that the mobile device approaches the guiding and positioning device along the arrow direction, and there is an angular deviation of the mobile device in the actual process due to sensor error, control delay, model error, and the like. As shown in fig. 7, the central axis of symmetry of the mobile device is angularly offset from the direction of the guiding and positioning device. The chassis guide groove of the moving device is contacted with the roller of the guide positioning device. Due to the design that the front part of the chassis guide groove of the mobile device is wide and the rear part of the chassis guide groove is narrow, the guide positioning device fixed on the moving surface can gradually correct the angle deviation of the mobile device along with the continuous advance of the mobile device.

According to the embodiment of the disclosure, the width of the first section of the groove body of the chassis guide groove is gradually narrowed from the front end to the tail end, and the width of the second section of the groove body is consistent with the width of the tail end of the first section of the groove body; set up the multiunit gyro wheel on the same gyro wheel mounting bracket to and/or, guiding orientation device arranges with the multiunit form, thereby, along with moving device's continuation moves ahead, the guiding orientation device who is fixed in ground can correct the angular deviation that the moving device exists gradually, makes the moving device can remove along guiding orientation device direction, accomplishes the accurate correction of moving device's motion gesture with this.

According to the embodiment of the disclosure, since the chassis height of the mobile device can float to a certain extent along with the load and the specification of the mobile device, when the mobile device advances to the guiding and positioning device, the chassis of the mobile device can firstly contact the longitudinal roller of the plurality of rollers, and the generated pressure can force the roller mounting seat to move downwards under the action of the elastic component and the sliding rail. Subsequently, the chassis guide groove of the moving device will come into contact with a lateral roller of the plurality of rollers guiding the positioning device.

According to the embodiment of the present disclosure, as the mobile device moves forward, after the mobile device is separated from the set of guiding and positioning devices in fig. 7, the roller mounting seat returns to the initial state under the action of the elastic component and the sliding rail. In fig. 7, when the mobile device reaches the end of the guiding and positioning device and continues to move forward, the position detecting device installed on the base is triggered, and the control system of the mobile device is informed that the guiding and positioning are completed for its decision.

The guiding and positioning device provided by the embodiment of the disclosure can be fully suitable for the guiding process of the mobile device in a complex environment, and is arranged at a specific position in a high-precision scene, so that the accurate guiding and positioning of the mobile device in the scene is realized. In addition, the guide positioning device of the embodiment of the disclosure is in rolling contact with the chassis of the mobile device, and the design of the guide groove of the chassis of the mobile device has little influence on the appearance of the mobile device.

The embodiment of the disclosure also provides a guiding and positioning system, which comprises a chassis device and a guiding and positioning device.

Wherein the chassis device includes:

wheels for moving the chassis device;

a chassis guide groove, a groove body width of a front end of the chassis guide groove is wider than a groove body width of a rear side of the front end in an advancing direction along a chassis of the chassis device,

wherein, the guiding orientation device includes: the roller mounting seat is used for mounting the roller so as to bear the chassis device and have rolling friction with the chassis device,

wherein, in response to the movement of the chassis device, the roller is contacted from the groove body at the front end of the chassis guide groove in the advancing direction of the chassis device, and the advancing direction of the chassis device is consistent with the rolling direction of the roller as the roller is separated from the rear end of the chassis guide groove.

According to the technical scheme provided by the embodiment of the disclosure, the chassis device and the guiding and positioning device are adopted, wherein the chassis device comprises: wheels for moving the chassis device; a chassis guide groove, a groove body width of a front end of the chassis guide groove is wider than a width of a groove body of a rear side of the front end in a forward direction along a chassis of the chassis device, wherein the guide positioning device includes: the chassis device comprises a base, a supporting frame, a roller mounting seat and rollers, wherein the supporting frame is arranged on the base and used for mounting the roller mounting seat, the roller mounting seat is used for mounting the rollers to bear the chassis device and the rolling friction between the chassis device, the roller mounting seat responds to the movement of the chassis device, and the roller starts to contact with a groove body at the front end of a chassis guide groove along the advancing direction of the chassis device, the advancing direction of the chassis device is consistent with the rolling direction of the rollers along with the separation of the rollers from the rear end of the chassis guide groove, and the moving direction of the chassis device can be changed through a guiding and positioning device, so that the calibration of the moving state of the chassis device is realized. According to the embodiment of the disclosure, the rollers comprise a first roller with an axis parallel to the plane of the base and a second roller with an axis perpendicular to the plane of the base, the rolling directions of the first roller and the second roller at the position contacting with the mobile device are consistent,

wherein the first roller is in contact with a top surface of the chassis guide groove, and the second roller is in contact with a side wall of the chassis guide groove.

According to the technical scheme provided by the embodiment of the disclosure, the contact between the robot and the guiding and positioning device can be ensured to be always realized through the roller by the first roller with the axis parallel to the plane of the base and the second roller with the axis perpendicular to the plane of the base, and the rolling friction is ensured to be always realized.

According to the embodiment of the present disclosure, the top end of the first roller is higher than the top end of the second roller, so that the first roller and the second roller are in rolling contact with the upper surface and the side surface of the chassis guide groove of the mobile device, respectively, during the movement of the mobile device.

According to the technical scheme provided by the embodiment of the disclosure, the top end of the first roller is higher than that of the second roller, so that the friction between the guiding and positioning device and the chassis device can be reduced.

According to the embodiment of the disclosure, the second rollers are arranged on two sides of the first roller and are respectively in contact with two side walls of the chassis guide groove, so that the contact between the robot and the guiding and positioning device can be realized through the rollers all the time, and the rolling friction is ensured all the time.

According to the technical scheme provided by the embodiment of the disclosure, the second rollers are arranged on two sides of the first roller and are respectively contacted with two side walls of the chassis guide groove, so that the moving direction of the chassis device can be changed through the guiding and positioning device.

It will be understood by those skilled in the art that the chassis device in this embodiment may adopt the solution of the chassis device in the embodiment described with reference to fig. 1 to 3, the guiding and positioning device in this embodiment may adopt the solution of the guiding and positioning device in the embodiment described with reference to fig. 4 to 6, and the interaction between the chassis device and the guiding and positioning device may adopt the embodiment described with reference to fig. 7, so that the guiding and positioning system in this embodiment has the technical effects achieved by the embodiment described with reference to fig. 1 to 7. For details, reference may be made to the description made above with reference to fig. 1 to 7, and details thereof are not repeated herein.

The embodiment of the present disclosure further provides a mobile device, which includes:

a main body;

a chassis arrangement for carrying the body, the chassis arrangement comprising:

wheels for moving the chassis device;

and the width of the groove body at the front end of the chassis guide groove is wider than that of the groove body at the rear side of the front end in the advancing direction of the chassis device.

According to the technical scheme of the embodiment of the disclosure, the chassis guide groove on the chassis device is arranged along the advancing direction of the chassis device, the width of the groove body at the front end of the chassis guide groove is wider than that of the groove body at the rear side of the front end, so that the moving direction of the moving device can be changed by matching with the guiding and positioning device, and guiding and positioning are realized.

According to the technical scheme provided by the embodiment of the disclosure, the device comprises a main body; a chassis arrangement for carrying the body, the chassis arrangement comprising: wheels for moving the chassis device; and the width of the groove body at the front end of the chassis guide groove is wider than that of the groove body at the rear side of the front end in the advancing direction of the chassis device, and the chassis guide groove can be matched with a guide positioning device to change the moving direction of the moving device. Those skilled in the art can understand that the chassis device in this embodiment may adopt the solution of the chassis device in the embodiment described with reference to fig. 1 to 3, so that the mobile device in this embodiment has the technical effects achieved by the embodiment described with reference to fig. 1 to 3. For details, reference may be made to the description made above with reference to fig. 1 to 3, and details thereof are not repeated herein.

The disclosed embodiment also provides a robot, which is characterized by comprising:

a main body;

a chassis arrangement for carrying the body, the chassis arrangement comprising:

wheels for moving the chassis device;

and the width of the groove body at the front end of the chassis guide groove is wider than that of the groove body at the rear side of the front end in the advancing direction of the chassis device.

According to the technical scheme of the embodiment of the disclosure, the chassis guide groove on the chassis device is arranged along the advancing direction of the chassis device, the width of the groove body at the front end of the chassis guide groove is wider than that of the groove body at the rear side of the front end, so that the moving direction of the robot can be changed by matching with the guiding and positioning device, and guiding and positioning are realized.

According to the technical scheme provided by the embodiment of the disclosure, the device comprises a main body; a chassis arrangement for carrying the body, the chassis arrangement comprising: wheels for moving the chassis device; and the width of the groove body at the front end of the chassis guide groove is wider than that of the groove body at the rear side of the front end in the advancing direction of the chassis device, and the chassis guide groove can be matched with a guide positioning device to change the moving direction of the robot.

Those skilled in the art can understand that the chassis device in this embodiment may adopt the solution of the chassis device in the embodiment described with reference to fig. 1 to 3, so that the robot in this embodiment has the technical effects achieved by the embodiment described with reference to fig. 1 to 3. For details, reference may be made to the description made above with reference to fig. 1 to 3, and details thereof are not repeated herein.

The embodiment of the present disclosure further provides a robot guiding and positioning system, which includes: a robot and a guiding and positioning device,

wherein the robot comprises:

a main body;

a chassis arrangement for carrying the body, the chassis arrangement comprising:

wheels for moving the chassis device;

a chassis guide groove, a groove body width of a front end of the chassis guide groove is wider than a groove body width of a rear side of the front end in an advancing direction along a chassis of the chassis device,

wherein, the guiding orientation device includes: the robot comprises a base, a support frame, a roller mounting seat and a roller, wherein the support frame is arranged on the base and used for mounting the roller mounting seat, the roller mounting seat is used for mounting the roller so as to bear the robot and have rolling friction with the chassis device,

and responding to the movement of the robot, starting to contact the roller from a groove body at the front end of the chassis guide groove in the advancing direction of the robot, and enabling the advancing direction of the robot to be consistent with the rolling direction of the roller along with the separation of the roller from the rear end of the chassis guide groove.

According to the technical scheme of the embodiment of the disclosure, the chassis device and the guiding and positioning device interact with each other, and the guiding and positioning device can change the moving direction of the chassis device, so that the moving state of the robot is calibrated.

According to the technical scheme provided by the embodiment of the disclosure, the robot and the guiding and positioning device are adopted, wherein the robot comprises: a main body; a chassis arrangement for carrying the body, the chassis arrangement comprising: wheels for moving the chassis device; a chassis guide groove, a groove body width of a front end of the chassis guide groove is wider than a width of a groove body of a rear side of the front end in a forward direction along a chassis of the chassis device, wherein the guide positioning device includes: base, support frame, gyro wheel mount pad and gyro wheel, wherein, the support frame set up in on the base, be used for the installation the gyro wheel mount pad, the gyro wheel mount pad is used for the installation the gyro wheel, in order to bear the weight of the robot and with rolling friction between the chassis device, wherein, respond to the removal of robot is following in the advancing direction of robot, follow the cell body of chassis guide way front end begins to contact the gyro wheel, along with the gyro wheel breaks away from chassis guide way rear end, the advancing direction of robot with the rolling direction of gyro wheel is unanimous, can change the moving direction of robot through direction finding device.

It will be understood by those skilled in the art that the chassis device in this embodiment may adopt the solution of the chassis device in the embodiment described with reference to fig. 1 to 3, the guiding and positioning device in this embodiment may adopt the solution of the guiding and positioning device in the embodiment described with reference to fig. 4 to 6, and the interaction between the robot and the guiding and positioning device may adopt the embodiment described with reference to fig. 7, so that the robot guiding and positioning system in this embodiment has the technical effects achieved by the embodiment described with reference to fig. 1 to 7. For details, reference may be made to the description made above with reference to fig. 1 to 7, and details thereof are not repeated herein.

The foregoing description is only exemplary of the preferred embodiments of the disclosure and is illustrative of the principles of the technology employed. It will be understood by those skilled in the art that the scope of the present invention is not limited to the specific combination of the above-mentioned features, but also covers other embodiments formed by any combination of the above-mentioned features or their equivalents without departing from the spirit of the present invention. For example, the above features and (but not limited to) the features disclosed in this disclosure having similar functions are replaced with each other to form the technical solution.

Claims (16)

1. A chassis arrangement, comprising:

wheels for moving the chassis device;

and the width of the groove body at the front end of the chassis guide groove is wider than that of the groove body at the rear side of the front end in the advancing direction of the chassis device.

2. The chassis device of claim 1, wherein the chassis guide groove comprises a first section groove body located at the front end of the chassis guide groove and a second section groove body located behind the first section groove body in the advancing direction of the chassis device chassis, the width of the first section groove body is gradually narrowed from the front end of the first section groove body to the tail end, and the width of the second section groove body is consistent with the width of the tail end of the first section groove body.

3. A pilot positioning device, comprising: a base, a supporting frame, a roller mounting seat and a roller, wherein,

the support frame is arranged on the base and used for installing the roller mounting seat, and the roller mounting seat is used for installing the roller so as to bear the mobile device and have rolling friction with the mobile device.

4. The device of claim 3, wherein the roller mounting base is provided with a resilient member at a bottom thereof, the resilient member is resiliently deformed in response to the roller bearing moving means, and the roller mounting base and the roller provided at a top end thereof move in a direction of the base.

5. The device of claim 3 or 4, wherein the roller mounting seat is provided with a slide rail at a side surface, and the slide rail is in sliding contact with the support frame.

6. The device according to claim 3 or 4, wherein the rollers comprise a first roller having an axis parallel to the plane of the base and a second roller having an axis perpendicular to the plane of the base, and the rolling directions of the first roller and the second roller at the position of contact with the moving device are the same.

7. The apparatus of claim 6, wherein the top end of the first roller is higher than the top end of the second roller.

8. The apparatus of claim 3 or 4, further comprising:

position detection means for detecting the position of the mobile device relative to the guided positioning means.

9. The apparatus of claim 5, wherein the slide is a roller slide or a ball slide.

10. A guided positioning system, comprising: a chassis device and a guiding and positioning device,

wherein the chassis device includes:

wheels for moving the chassis device;

a chassis guide groove, a groove body width of a front end of the chassis guide groove is wider than a groove body width of a rear side of the front end in an advancing direction along a chassis of the chassis device,

wherein, the guiding orientation device includes: the roller mounting seat is used for mounting the roller so as to bear the chassis device and have rolling friction with the chassis device,

wherein, in response to the movement of the chassis device, the roller is contacted from the groove body at the front end of the chassis guide groove in the advancing direction of the chassis device, and the advancing direction of the chassis device is consistent with the rolling direction of the roller as the roller is separated from the rear end of the chassis guide groove.

11. The system of claim 10, wherein the rollers include a first roller having an axis parallel to a plane of the base and a second roller having an axis perpendicular to the plane of the base, the first and second rollers having a rolling direction that is coincident at a location of contact with the chassis device,

wherein the first roller is in contact with a top surface of the chassis guide groove, and the second roller is in contact with a side wall of the chassis guide groove.

12. The system of claim 11, wherein a top end of the first roller is higher than a top end of the second roller.

13. The system according to claim 11 or 12, wherein the second rollers are disposed at both sides of the first roller, respectively contacting both sidewalls of the chassis guide groove.

14. A mobile device, comprising:

a main body;

a chassis arrangement for carrying the body, the chassis arrangement comprising:

wheels for moving the chassis device;

and the width of the groove body at the front end of the chassis guide groove is wider than that of the groove body at the rear side of the front end in the advancing direction of the chassis device.

15. A robot, comprising:

a main body;

a chassis arrangement for carrying the body, the chassis arrangement comprising:

wheels for moving the chassis device;

and the width of the groove body at the front end of the chassis guide groove is wider than that of the groove body at the rear side of the front end in the advancing direction of the chassis device.

16. A robot guided positioning system, comprising: a robot and a guiding and positioning device,

wherein the robot comprises:

a main body;

a chassis arrangement for carrying the body, the chassis arrangement comprising:

wheels for moving the chassis device;

a chassis guide groove, a groove body width of a front end of the chassis guide groove is wider than a groove body width of a rear side of the front end in an advancing direction along a chassis of the chassis device,

wherein, the guiding orientation device includes: the robot comprises a base, a support frame, a roller mounting seat and a roller, wherein the support frame is arranged on the base and used for mounting the roller mounting seat, the roller mounting seat is used for mounting the roller so as to bear the robot and have rolling friction with the chassis device,

and responding to the movement of the robot, starting to contact the roller from a groove body at the front end of the chassis guide groove in the advancing direction of the robot, and enabling the advancing direction of the robot to be consistent with the rolling direction of the roller along with the separation of the roller from the rear end of the chassis guide groove.

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