CN214493145U - Control device of Mecanum wheel trolley based on odometer and gyroscope - Google Patents
Control device of Mecanum wheel trolley based on odometer and gyroscope Download PDFInfo
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- CN214493145U CN214493145U CN202120410588.3U CN202120410588U CN214493145U CN 214493145 U CN214493145 U CN 214493145U CN 202120410588 U CN202120410588 U CN 202120410588U CN 214493145 U CN214493145 U CN 214493145U
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- mecanum wheel
- chassis
- gyroscope
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- 238000009434 installation Methods 0.000 abstract 2
- 230000009471 action Effects 0.000 description 3
- 230000008569 process Effects 0.000 description 3
- 238000005259 measurement Methods 0.000 description 2
- 230000002093 peripheral effect Effects 0.000 description 2
- 230000004075 alteration Effects 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 238000004891 communication Methods 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 238000011065 in-situ storage Methods 0.000 description 1
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- 239000004973 liquid crystal related substance Substances 0.000 description 1
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Abstract
The utility model relates to the technical field of robots, a control device of mecanum wheel trolley based on odometer and gyroscope is disclosed, including chassis, control structure, circuit structure and drive structure, both sides department of chassis is provided with two sets of mecanum wheels, both sides of chassis bottom cooperate each mecanum wheel to be provided with fixed subassembly, install the motor through fixed subassembly on the chassis, mecanum wheel is installed on the one end that the motor output shaft passes through fixed subassembly, the motor is last to have the encoder; the utility model discloses an at the both sides installation Mecanum wheel on chassis, can synthesize the resultant force of arbitrary direction through its rotational speed and installation method, let the dolly realize all direction movement, can also realize moving ahead, sideslip, diagonal, original place rotation etc. movement mode when not changing the direction of car, the dolly that has Mecanum wheel is fit for very much that the running space is limited, the constrictive place of operation passageway, and the practicality is stronger.
Description
Technical Field
The utility model relates to the technical field of robot, specifically a controlling means of mecanum wheel dolly based on odometer and gyroscope.
Background
The traditional wheels can not well realize turning, moving, speed control and posture control under the narrow, changeable and crowded environment of a road, the practical application is not ideal, and the control of the current trolley can not completely meet the requirements of positioning such as instantaneity, autonomy and high precision.
SUMMERY OF THE UTILITY MODEL
An object of the utility model is to provide a controlling means of mecanum wheel dolly based on odometer and gyroscope to solve the problem of proposing among the above-mentioned background art.
In order to achieve the above object, the utility model provides a following technical scheme:
the utility model provides a controlling means of mecanum wheel dolly based on odometer and gyroscope, includes chassis, control structure, circuit structure and drive structure, the both sides department on chassis is provided with two sets of mecanum wheels, every mecanum wheel of both sides cooperation of chassis bottom is provided with fixed subassembly, install the motor through fixed subassembly on the chassis, mecanum wheel is installed and is served at one that motor output shaft passed fixed subassembly, the encoder has on the motor, motor and control structure electric connection.
As a further aspect of the present invention: the control structure comprises a single chip microcomputer, a gyroscope and an encoder.
As a further aspect of the present invention: the circuit structure comprises a keysets and a nuclear core board of two drives, nuclear core board provides the interface.
As a further aspect of the present invention: the driving structure adopts HIP 4082.
As a further aspect of the present invention: the control structure can be connected with Bluetooth, WiFi or wired equipment through a serial port.
Compared with the prior art, the beneficial effects of the utility model are that: the utility model discloses an install mecanum wheel in the both sides on chassis, can synthesize the resultant force of arbitrary direction through its rotational speed and mounting method, let the dolly realize the omnidirectional movement, can also realize moving ahead, sideslip, diagonal, original place rotation etc. motion mode while not changing the direction of car, the dolly with mecanum wheel is especially suitable for the place that the operating space is limited, the operation passageway is narrow, the practicality is stronger; the attitude of the trolley is measured by using a gyroscope, the speed of the trolley is calculated by an encoder, and the mileage of the trolley is recorded by the encoder so as to realize the positioning of the trolley.
Drawings
Fig. 1 is a top view of the structure of the present invention;
fig. 2 is a middle side view of the present invention;
fig. 3 is a schematic structural view at the end of the present invention;
fig. 4 is a frame diagram of the present invention.
In the figure: 1. a chassis; 2. a Mecanum wheel; 3. a fixing assembly; 4. an electric motor.
Detailed Description
Referring to fig. 1-4, in an embodiment of the present invention, a control device for a mecanum wheel carriage based on a speedometer and a gyroscope includes a chassis 1 and a control structure, circuit structure and drive structure, chassis 1's both sides department is provided with two sets of mecanum wheels 2, every mecanum wheel 2 of both sides cooperation of chassis 1 bottom is provided with fixed subassembly 3, install motor 4 through fixed subassembly 3 on the chassis 1, mecanum wheel 2 is installed and is being served at the one end that motor 4 output shaft passed fixed subassembly 3, the last encoder that has of motor 4, the encoder can carry out the measurement of speed to the motor, motor 4's voltage is 12V, motor 4 drags mecanum wheel 2 load, realize the dolly removal, motor 4 and control structure electric connection, it has many diameter 3.4mm screw holes to bore on the chassis 1 and is used for other peripheral hardware such as fixed circuit board.
Referring to fig. 1, the control structure includes singlechip, gyroscope and encoder, and the STM32RC singlechip adopts the MPU gyroscope as main control chip, and various peripheral hardware are connected to the singlechip to supply power through the battery is stable.
By adopting the scheme, the speed of the Mecanum wheel 2 can be measured by the encoder, the rotating ownership of the trolley wheel can be obtained by integrating the speed of the trolley wheel, the rotating number of turns of the trolley wheel can be used as the moving distance of the trolley from the point along a certain direction, and the position of the trolley can be calculated through the moving distance of the trolley.
Referring to fig. 1, the circuit architecture consists of two drivers, an interposer and a core board, the core board providing the interface, the core board being the stm32RC minimal system board.
Referring to fig. 1, the driving structure adopts HIP4082 full-bridge driving to modulate the motor speed and direction by inputting 8 paths of driven PWM signals.
Referring to fig. 1, the control structure may be connected to bluetooth, WiFi, or wired devices via a serial port.
By adopting the above scheme, the trolley is controlled by serial ports connected with Bluetooth, WiFi or wired equipment and the like, the Bluetooth is used for receiving instructions of collecting and other communication equipment, the driving structure is used for driving the motor, the gyroscope is used for collecting the gesture of the trolley, and the liquid crystal screen and the keyboard are used for man-machine interaction.
The utility model discloses a theory of operation is: motor 4 is dragging four mecanum wheel 2 loads, realize that the dolly removes, the encoder on the motor 4 can carry out the measurement of speed to it, be connected to chassis 1 with motor 4 through fixed subassembly 3's effect, can realize the antedisplacement of dolly through mecanum wheel 2, the sideslip, the slant, motion modes such as rotation in situ, adopt the singlechip as main control chip, the pin of nuclear core plate is drawn forth through arranging the needle, the keysets provides each pin interface of singlechip, the encoder, and the interface of gyroscope, battery interface and the interface of driving each pin, for the power, drive nuclear core plate and sensor electrical connection's bridge, the drive adopts HIP4082 full-bridge drive to modulate four motor rotational speeds and directions through the 8 way PWM signal of input drive.
It is noted that, herein, relational terms such as first and second, and the like may be used solely to distinguish one entity or action from another entity or action without necessarily requiring or implying any actual such relationship or order between such entities or actions. Also, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or apparatus. Without further limitation. The use of the phrase "comprising one of the elements does not exclude the presence of other like elements in the process, method, article, or apparatus that comprises the element.
Although embodiments of the present invention have been shown and described, it will be appreciated by those skilled in the art that changes, modifications, substitutions and alterations can be made in these embodiments without departing from the principles and spirit of the invention, the scope of which is defined in the appended claims and their equivalents.
Claims (5)
1. The utility model provides a controlling means of mecanum wheel dolly based on odometer and gyroscope, includes chassis (1), control structure, circuit structure and drive structure, its characterized in that, the both sides department of chassis (1) is provided with two sets of mecanum wheels (2), every mecanum wheel (2) of both sides cooperation of chassis (1) bottom is provided with fixed subassembly (3), install motor (4) through fixed subassembly (3) on chassis (1), install on motor (4) output shaft passes one end of fixed subassembly (3) mecanum wheel (2), have the encoder on motor (4), motor (4) and control structure electric connection.
2. The control device of a mecanum wheel cart based on an odometer and a gyroscope, as claimed in claim 1, wherein the control structure comprises a single chip, a gyroscope and an encoder.
3. A control device for an odometer and gyroscope based mecanum wheel cart as claimed in claim 1 wherein the circuit configuration consists of two drive adapters and a core board, the core board providing the interface.
4. The control device for the milometer-and-gyroscope-based mecanum wheel truck as claimed in claim 1, wherein the driving structure is HIP 4082.
5. The control device for the milometer-and-gyroscope-based mecanum wheel cart as claimed in claim 1, wherein the control structure is capable of being connected via serial port to bluetooth, WiFi or wired device.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202120410588.3U CN214493145U (en) | 2021-02-25 | 2021-02-25 | Control device of Mecanum wheel trolley based on odometer and gyroscope |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202120410588.3U CN214493145U (en) | 2021-02-25 | 2021-02-25 | Control device of Mecanum wheel trolley based on odometer and gyroscope |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN214493145U true CN214493145U (en) | 2021-10-26 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202120410588.3U Expired - Fee Related CN214493145U (en) | 2021-02-25 | 2021-02-25 | Control device of Mecanum wheel trolley based on odometer and gyroscope |
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| Country | Link |
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| CN (1) | CN214493145U (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114932963A (en) * | 2022-04-22 | 2022-08-23 | 广州大学 | Trolley is listened with high accuracy qxcomm technology parallel movement intelligence to narrow environment |
-
2021
- 2021-02-25 CN CN202120410588.3U patent/CN214493145U/en not_active Expired - Fee Related
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114932963A (en) * | 2022-04-22 | 2022-08-23 | 广州大学 | Trolley is listened with high accuracy qxcomm technology parallel movement intelligence to narrow environment |
| CN114932963B (en) * | 2022-04-22 | 2023-10-20 | 广州大学 | High-precision omnidirectional parallel movement intelligent detection trolley for narrow environment |
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| GR01 | Patent grant | ||
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| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20211026 |
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| CF01 | Termination of patent right due to non-payment of annual fee |