CN215068154U - Track ball odometer - Google Patents

Abstract

The utility model discloses a trackball odometer, including trackball, trackball support and displacement sensor, the trackball support is used for the restriction including more than a set of the roller train of trackball position, every group the roller train is equipped with the gyro wheel more than three, and the gyro wheel of same roller train is the circumference and distributes around the trackball just the surface of gyro wheel with the surface butt of trackball, the displacement sensor monitoring the roll of trackball. The utility model discloses a trackball odometer simple structure, production is convenient, combines trackball and displacement inductor commonly used, can obtain the accurate mileage of mobile robot on high reflection of light or transparent smooth plane through the indirect measurement method of the rolling action of detection trackball; utilize the gyro wheel group to carry out position restriction to the trackball, with stop device to the rolling influence of trackball reduce to minimum when playing limiting displacement, the roll of trackball is more nimble smooth.

Description

Track ball odometer

Technical Field

The utility model relates to a mobile robot navigation location technical field, concretely relates to trackball odometer.

Background

The traditional method for calculating the mileage by calculating the rolling distance of the roller can only obtain one axial mileage, and in order to enable the moving mileage of the robot to be calculated more accurately, the new mobile robot generally adopts an optical flow sensor to calculate the moving mileage of the robot. The optical flow sensor calculates the mileage by calculating the movement of an image seen by the optical lens, and the scheme can obtain the mileage of x and y axes in a plane, has good use effect, but fails on a high-reflectivity or transparent plane, and cannot be used on a mobile robot such as a window cleaning robot and the like which operates in a special environment.

Disclosure of Invention

To the problem that the odometer among the above-mentioned prior art can't use on high reflection of light degree or transparent plane, the utility model provides a trackball odometer is equipped with the trackball fixed with the gyro wheel in the odometer, can roll at will along with the removal of robot, utilizes the roll mileage of displacement sensor monitoring trackball simultaneously, just can obtain the displacement of the removal of robot.

The utility model provides a technical scheme that its technical problem adopted is: the utility model provides a trackball odometer, includes trackball, trackball support and displacement sensor, the trackball support includes more than a set of roller train that is used for the restriction the trackball position, every group the roller train is equipped with the gyro wheel more than three, and the gyro wheel of same roller train is the circumference and distributes around the trackball just the surface of gyro wheel with the surface butt of trackball, displacement sensor monitors the roll of trackball.

The utility model provides a technical scheme that its technical problem adopted further still includes:

the track ball odometer comprises a track ball support, a roller set, a displacement sensor, a front baffle, a rear baffle, a roller set, a track ball, a roller set and a track ball, wherein the track ball support is provided with the front baffle and the rear baffle which are matched to form an accommodating cavity; the roller group is arranged on the upper side of the track ball, the front baffle is provided with a measuring hole, the track ball can be embedded in the measuring hole in a rolling mode, and the lower side of the track ball is in contact with the working plane through the measuring hole.

In a trackball odometer as described above, the displacement sensor is an optical flow sensor disposed on the tailgate, and a camera of the optical flow sensor is disposed toward the trackball.

The track ball odometer is provided with a base and connecting columns for connecting the base with a track ball support, more than two connecting columns are arranged, one end of each connecting column is fixedly arranged on the base, the other end of each connecting column is movably connected with the rear baffle, a spring is sleeved on each connecting column, one end of the spring is abutted against the base, and the other end of the spring is abutted against the rear baffle.

According to the track ball odometer, the rear baffle plate is provided with the inductor hole, and the inductor hole is internally provided with the lens.

The track ball odometer comprises two groups of roller groups, wherein the roller groups comprise a first roller group and a second roller group, the first roller group and the second roller group are respectively arranged at different heights on the track ball, and the plane where the first roller group is located is parallel to the plane where the second roller group is located.

The track ball odometer is characterized in that the first roller set and the second roller set are respectively provided with four rollers.

The track ball odometer comprises a first roller group, a second roller group, a third roller group and a fourth roller group.

The utility model has the advantages that: the utility model discloses a trackball odometer simple structure, production is convenient, combines trackball and displacement inductor commonly used, sets up displacement sensor in the inside of odometer, has isolated the influence of external environment, can obtain the accurate mileage of mobile robot on high reflection of light or transparent smooth plane through the indirect measurement method of the roll action that detects the trackball; utilize the gyro wheel group to carry out position restriction to the trackball, with stop device to the rolling influence of trackball reduce to minimum when playing limiting displacement, the roll of trackball is more nimble smooth.

The present invention will be further described with reference to the accompanying drawings and the detailed description.

Drawings

Fig. 1 is a schematic bottom view of a trackball odometer according to a first embodiment of the present invention;

FIG. 2 is a schematic cross-sectional view along line AA;

FIG. 3 is a schematic diagram of the positions of the roller set and the trackball in the second embodiment of the trackball odometer of the present invention;

in the figure, 1, a track ball, 2, a roller, 3, a displacement sensor, 31, a lens, 4, a front baffle, 41, a measuring hole, 5, a rear baffle, 51, a sensor hole, 6, a base, 7, a connecting column, 71 and a spring.

Detailed Description

The embodiment is a preferred embodiment of the present invention, and other principles and basic structures are the same as or similar to those of the embodiment, and are within the protection scope of the present invention.

It will be understood that the terms "length," "width," "upper," "lower," "front," "rear," "left," "right," "vertical," "horizontal," "top," "bottom," "inner," "outer," and the like are used in an orientation or positional relationship indicated in the drawings for convenience in describing the invention and to simplify the description, and are not intended to indicate or imply that the device or element so referred to must have a particular orientation, be constructed and operated in a particular orientation, and thus should not be construed as limiting the invention.

Furthermore, the terms "first", "second" and "first" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include one or more of that feature. In the description of the present invention, "plurality" or "a plurality" means two or more unless specifically limited otherwise.

In the description of the present invention, it should also be noted that, unless otherwise explicitly specified or limited, the terms "disposed" and "connected" are to be interpreted broadly, and may be, for example, fixedly connected, detachably connected, or integrally connected; can be mechanically or electrically connected; they may be connected directly or indirectly through intervening media, or they may be interconnected between two elements. The specific meaning of the above terms in the present invention can be understood in specific cases to those skilled in the art.

The utility model discloses a first reference of trackball odometer embodiment is shown with reference to fig. 1 and 2, including trackball 1, trackball support and displacement sensor 3, the trackball support includes preceding baffle 4, backplate 5 and roller train. Backplate 5 and preceding baffle 4 cooperation form the holding chamber, and roller train and trackball 1 set up in the holding chamber, and displacement sensor 3 is fixed on backplate 5, can avoid the environment to cause the influence to displacement sensor 3 and trackball 1. The front baffle 4 is provided with a measuring hole 41, the track ball 1 is rotatably embedded in the measuring hole 41, and the lower side of the track ball 1 is contacted with the working plane through the measuring hole 41. The roller train sets up the upside at trackball 1 for trackball 1 is restricted in measuring hole 41, and in this embodiment, the roller train includes first roller train and second roller train, and every roller train is equipped with four gyro wheels 2 respectively, and the gyro wheel 2 of same roller train is the circumference and distributes around trackball 1 and the surface butt of gyro wheel 2 and trackball 1. The first roller set is arranged on the second roller set, the rollers 2 of the first roller set and the second roller set are arranged oppositely, the rollers 2 of the first roller set are arranged at the corresponding positions above the rollers 2 of the second roller set, and the plane where the first roller set is located is parallel to the plane where the second roller set is located. In actual production, the relative positions of the roller groups and the trackball can be set according to the requirement of limiting the position of the trackball, and the rollers of different roller groups can be arranged oppositely or at intervals according to the requirement. The displacement sensor 3 monitors the rolling of the trackball 1, in this embodiment the displacement sensor 3 is an optical flow sensor, which is arranged on the backplate 5, the camera of which is arranged towards the trackball 1. The rear baffle 5 is provided with a sensor hole 51 which is convenient for the optical flow sensor to monitor the rolling of the track ball, and the sensor hole 51 is provided with a lens 31 which can magnify the image so that the camera can more clearly acquire the rolling image of the track ball.

The trackball odometer of this embodiment is equipped with base 6 and the spliced pole 7 of connecting base 6 and trackball support, and spliced pole 7 is equipped with two, and the one end of spliced pole 7 is fixed to be set up on base 6, the other end and the backplate 5 swing joint of spliced pole 7, and the cover is equipped with spring 71 on the spliced pole 7, spring 71's one end and the 6 butt of base, spring 71's the other end and the 5 butts of backplate for trackball 1 keeps the butt with work plane.

The utility model discloses a trackball odometer embodiment two is similar with embodiment one's structure, including trackball 1, trackball support and displacement sensor 3, the trackball support includes preceding baffle 4, backplate 5 and roller train. Backplate 5 and preceding baffle 4 cooperation form the holding chamber, and roller train and trackball 1 set up in the holding chamber, and displacement sensor 3 is fixed on backplate 5, can avoid the environment to cause the influence to displacement sensor 3 and trackball 1. The front baffle 4 is provided with a measuring hole 41, the track ball 1 is rotatably embedded in the measuring hole 41, and the lower side of the track ball 1 is contacted with the working plane through the measuring hole 41. The roller train sets up the upside at trackball 1 for trackball 1 is restricted in measuring hole 41, and in this embodiment, the roller train includes first roller train and second roller train, and every roller train is equipped with four gyro wheels 2 respectively, and the gyro wheel 2 of same roller train is the circumference and distributes around trackball 1 and the surface butt of gyro wheel 2 and trackball 1, and first roller train sets up on the second roller train. The difference between the second embodiment and the first embodiment is shown in fig. 3, and the rollers 2 of the first roller group and the second roller path are arranged alternately.

The utility model discloses a trackball odometer simple structure, production is convenient, combines trackball and displacement inductor commonly used, sets up displacement sensor in the inside of odometer, has isolated the influence of external environment, can obtain the accurate mileage of mobile robot on high reflection of light or transparent smooth plane through the indirect measurement method of the roll action that detects the trackball; utilize the gyro wheel group to carry out position restriction to the trackball, with stop device to the rolling influence of trackball reduce to minimum when playing limiting displacement, the roll of trackball is more nimble smooth.

Claims (8)

1. The utility model provides a trackball odometer, its characterized in that includes trackball (1), trackball support and displacement sensor (3), the trackball support includes more than one set of roller train that is used for restricting trackball (1) position, every group the roller train is equipped with more than three gyro wheel (2), and gyro wheel (2) of same roller train are the circumference and distribute around trackball (1) and the surface of gyro wheel (2) with the surface butt of trackball (1), displacement sensor (3) monitor the roll of trackball (1).

2. The trackball odometer according to claim 1, characterized in that the trackball support is provided with a front apron (4) and a rear apron (5), the rear apron (5) and the front apron (4) cooperating to form a housing chamber, in which the roller set and the trackball (1) are arranged, the displacement sensor (3) being fixed to the rear apron (5); the roller group is arranged on the upper side of the track ball (1), the front baffle (4) is provided with a measuring hole (41), the track ball (1) is embedded in the measuring hole (41) in a rolling mode, and the lower side of the track ball (1) is in contact with a working plane through the measuring hole (41).

3. Trackball odometer according to claim 2 characterized in that the displacement sensor (3) is an optical flow sensor arranged on the tailgate (5), the camera of which is arranged towards the trackball (1).

4. The trackball odometer according to claim 2, wherein a base (6) and two or more connecting columns (7) are provided for connecting the base (6) and the trackball support, one end of each connecting column (7) is fixedly arranged on the base (6), the other end of each connecting column (7) is movably connected with the rear baffle (5), a spring (71) is sleeved on each connecting column (7), one end of each spring (71) is abutted to the base (6), and the other end of each spring (71) is abutted to the rear baffle (5).

5. The trackball odometer according to claim 4, characterized in that the tailgate (5) is provided with a sensor hole (51), and the sensor hole (51) is provided with a lens (31).

6. The trackball odometer according to claim 1, wherein the roller sets comprise two sets of a first roller set and a second roller set, the first roller set and the second roller set are respectively arranged at different heights on the trackball (1), and the plane where the first roller set is located is parallel to the plane where the second roller set is located.

7. A trackball odometer according to claim 6 characterized in that the first and second roller sets are provided with four rollers (2) respectively.

8. A trackball odometer according to claim 6 characterized in that the rollers (2) of the first and second roller set are spaced or opposite.

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