CN220430343U - Intelligent trolley with more stable video function - Google Patents
Intelligent trolley with more stable video function Download PDFInfo
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- CN220430343U CN220430343U CN202320687324.1U CN202320687324U CN220430343U CN 220430343 U CN220430343 U CN 220430343U CN 202320687324 U CN202320687324 U CN 202320687324U CN 220430343 U CN220430343 U CN 220430343U
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- 230000000087 stabilizing effect Effects 0.000 claims abstract description 25
- 239000000725 suspension Substances 0.000 claims abstract description 20
- 230000035939 shock Effects 0.000 claims description 16
- 239000006096 absorbing agent Substances 0.000 claims description 14
- 230000001133 acceleration Effects 0.000 claims description 14
- 230000007246 mechanism Effects 0.000 claims description 13
- 238000013016 damping Methods 0.000 abstract description 2
- 230000000694 effects Effects 0.000 abstract description 2
- 238000010586 diagram Methods 0.000 description 8
- 238000000034 method Methods 0.000 description 6
- 230000008569 process Effects 0.000 description 6
- 238000005516 engineering process Methods 0.000 description 4
- 238000001514 detection method Methods 0.000 description 3
- 238000010521 absorption reaction Methods 0.000 description 2
- 230000005540 biological transmission Effects 0.000 description 2
- 238000004519 manufacturing process Methods 0.000 description 2
- 230000008859 change Effects 0.000 description 1
- 238000004891 communication Methods 0.000 description 1
- 238000012937 correction Methods 0.000 description 1
- 238000013461 design Methods 0.000 description 1
- 239000000203 mixture Substances 0.000 description 1
- 238000012827 research and development Methods 0.000 description 1
- 230000006641 stabilisation Effects 0.000 description 1
- 230000003019 stabilising effect Effects 0.000 description 1
- 238000011105 stabilization Methods 0.000 description 1
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Abstract
The application provides an intelligent vehicle with more stable video function, include: a vehicle body, an independent suspension device and a stabilizing device; the left and right parts of the front end and the rear end of the vehicle body are respectively connected with an independent suspension device and are rotatably connected with wheels; a stabilizing device is installed above the vehicle body, a stabilizing device bottom plate is hinged with a horizontal table, a cradle head steering engine is installed on the horizontal table, and a high-definition camera is assembled on the cradle head steering engine. According to the vehicle body suspension device, the independent suspension device is hinged with the vehicle body, the chassis of the vehicle body is lifted, the wheels can swing up and down in a small amplitude, and the obstacle crossing performance and the damping effect of the trolley are improved.
Description
Technical Field
The application relates to the technical field of video intelligent trolleys, in particular to an intelligent trolley with a more stable video function.
Background
Under the environment that the production technology of enterprises is continuously improved and the requirements on the automation technology are continuously increased, intelligent vehicles and products developed on the basis of the intelligent vehicles become key equipment of systems such as automatic logistics transportation, flexible production organizations and the like. Research and development design of intelligent vehicles is actively being conducted in many countries around the world. The intelligent vehicle is also called an unmanned vehicle, is a comprehensive system integrating the functions of environment sensing, planning decision, automatic driving and the like, intensively uses the technologies of computers, sensing, information, communication, navigation, automatic control and the like, and is a typical high-new technology complex.
The existing intelligent video trolley has the problems that the application range is limited by the terrain, video transmission pictures shake and the reversing mode is complex in the using process, and the existing equipment needs to be improved aiming at the problems.
Disclosure of Invention
The utility model aims to provide an intelligent trolley with a more stable video function, so as to solve the problems that the application range of the existing video intelligent trolley provided in the technical background is limited by terrains, video transmission pictures are dithered and the reversing mode is complex in the use process.
The application provides an intelligent vehicle with more stable video function, include: a vehicle body, an independent suspension device and a stabilizing device;
the left and right parts of the front end and the left and right parts of the rear end of the vehicle body are respectively connected with an independent suspension device, and the independent suspension devices are rotatably connected with wheels;
the stabilizing device is installed above the vehicle body, the stabilizing device bottom plate is hinged with the horizontal table, the cradle head steering engine is installed on the horizontal table, and the high-definition camera is assembled on the cradle head steering engine.
The independent suspension device comprises a shock absorber, a connecting rod and wheels;
the wheels are divided into a front wheel and a rear wheel on the left side and the right side of the vehicle body, the shock absorber is hinged with the connecting rod, the shock absorber is fixedly connected with the vehicle body, the connecting rod is divided into a front wheel connecting rod and a rear wheel connecting rod, one end of the front wheel connecting rod is rotatably connected with the front wheel, and the other end of the front wheel connecting rod is hinged with the parallelogram reversing mechanism; one end of the rear wheel connecting rod is rotatably connected with the rear wheel, and the other end of the rear wheel connecting rod is hinged with the vehicle body.
Optionally, the device further comprises a power system, wherein the power system comprises a driving motor and a universal shaft;
one end of the universal shaft is connected with the driving motor, and the other end of the universal shaft is connected with the wheels.
Optionally, the driving motor includes a first driving motor and a second driving motor for driving the front wheel and the rear wheel, respectively.
Optionally, the reversing mechanism comprises a frame, a side link, a connecting rod, a third driving motor, a helical gear and a helical gear;
the two ends of the frame are hinged with one end of each side link respectively, the connecting rods are hinged with the other ends of the two side links respectively, the frame is equal to the connecting rods in length, the third driving motor is meshed with the bevel gears, the bevel gears are meshed with the axes of the bevel gears by 90 degrees, extension rods are arranged on the sides of the bevel gears and hinged with two small connecting rods, the small connecting rods are hinged with the side links, the bevel gears are installed at the center line of the frame, and the small connecting rods are symmetrically installed.
Optionally, the stabilizing device comprises a gyroscope sensor, an acceleration sensor, a fourth driving motor, a horizontal table, a main control chip, a stabilizing device bottom plate and a rotating wheel;
the gyroscope sensor and the acceleration sensor are mounted on the back of the horizontal table, the horizontal table is hinged to the bottom plate of the stabilizing device, the gyroscope sensor and the acceleration sensor are connected with the main control chip, the fourth driving motor is mounted on the center of the back of the horizontal table, the fourth driving motor is connected with the rotating wheel, and the fourth driving motor is connected with the main control chip.
Compared with the prior art, the application has the advantages that:
the application provides an intelligent vehicle with more stable video function, include: a vehicle body, an independent suspension device and a stabilizing device; the left and right parts of the front end and the left and right parts of the rear end of the vehicle body are respectively connected with an independent suspension device, and the independent suspension devices are rotatably connected with wheels; the stabilizing device is installed above the vehicle body, the stabilizing device bottom plate is hinged with the horizontal table, the cradle head steering engine is installed on the horizontal table, and the high-definition camera is assembled on the cradle head steering engine. An independent suspension device is arranged between the vehicle body and the tyre, and is hinged with the vehicle body, so that the chassis of the vehicle body is lifted, wheels can swing up and down with a small amplitude, and the obstacle crossing performance and the damping effect of the trolley can be improved. The adoption parallelogram reversing mechanism of dolly is because parallelogram's characteristic makes the switching-over speed faster, and the process is more steady and more convenient and high-efficient than traditional change motor rotational speed switching-over. The cradle head steering engine is arranged on the horizontal stand of the stabilizing device, the stabilizing device can control the fourth driving motor to rotate the rotating wheel through the built-in gyroscope sensor and the acceleration sensor, the horizontal stand can be always in a horizontal state due to conservation of angular momentum, stability of the cradle head steering engine is improved, and video shooting is more stable.
Drawings
The accompanying drawings, which are incorporated in and constitute a part of this specification, illustrate embodiments consistent with the utility model and together with the description, serve to explain the principles of the utility model.
It is obvious to a person skilled in the art that other figures with the same technical idea can be obtained from these figures without inventive effort.
Fig. 1 is a schematic diagram of a composition structure of an intelligent trolley with a more stable video function according to an embodiment of the present application;
fig. 2 is a schematic structural diagram of an independent suspension device of an intelligent trolley with a more stable video function according to an embodiment of the present application;
fig. 3 is a schematic diagram of a stabilizing device of an intelligent trolley with a more stable video function according to an embodiment of the present application;
fig. 4 is a schematic diagram of a reversing mechanism of an intelligent trolley with a more stable video function according to an embodiment of the present application.
Icon:
1. high definition camera; 2. a pan-tilt steering engine; 3. a horizontal stand; 4. a rotating wheel; 5. bevel gears; 6. a damper; 7A, connecting rods; 7B, connecting rods; 8. a wheel; 9. a main control chip; 10. a power module; 11. a first driving motor; 12. a second driving motor; 13. a gyro sensor; 14. an acceleration sensor; 15. a fourth driving motor; 16. a stabilization device base plate; 17. a universal shaft; 18. a frame; 19. a side link; 20. a connecting rod; 21. a small connecting rod; 22. bevel gear; 23. and a third driving motor.
Detailed Description
For the purposes of making the objects, technical solutions and advantages of the embodiments of the present application more clear, the technical solutions of the embodiments of the present application will be clearly and completely described below with reference to the drawings in the embodiments of the present application, and it is apparent that the described embodiments are some embodiments of the present application, but not all embodiments. All other embodiments, which can be made by one of ordinary skill in the art without undue burden from the present disclosure, are within the scope of the present application based on the embodiments herein.
For easy understanding, a detailed description of an intelligent vehicle with a more stable video function provided in the embodiments of the present application is provided below, and referring to fig. 1 to 4, an intelligent vehicle with a more stable video function includes: high definition digtal camera 1, cloud platform steering wheel 2, horizontal stand 3, runner 4, skewed tooth face gear 5, bumper shock absorber 6, connecting rod 7A, connecting rod 7B, wheel 8, main control chip 9, power module 10, first driving motor 11, second driving motor 12, gyroscope sensor 13, acceleration sensor 14, fourth driving motor 15, stabilising arrangement bottom plate 16, cardan shaft 17, frame 18, side link 19, connecting rod 20, little connecting rod 21, helical gear 22, third driving motor 23.
In some embodiments of the present application, the front wheel 8 is rotatably connected to one end of the connecting rod 7A, and the other end of the connecting rod 7A is hinged to the side link 19 of the reversing mechanism. The rear wheels 8 are rotatably connected with one end of a connecting rod 7B, and the other end of the connecting rod 7B is hinged with the vehicle body. The connecting rod 7A and the connecting rod 7B are further hinged to the shock absorber 6, the other end of the shock absorber 6 is connected with the vehicle body, and when the intelligent trolley encounters an uneven road surface in the running process, the wheels 8 can automatically lift or lower because the connecting mode between the connecting rod 7A and the connecting rod 7B and the trolley is hinged, and the shock absorber 6 plays a role in shock absorption and can limit the swing angle of the connecting rod 7A and the connecting rod 7B.
In some specific embodiments of the application, the high-definition camera 1 is mounted on the pan-tilt steering engine 2, a built-in driving motor of the pan-tilt steering engine 2 can rotate around an axis of the pan-tilt steering engine 2 and can further control up-and-down swing of the high-definition camera 1, and the pan-tilt steering engine 2 is mounted on the horizontal table 3.
An independent suspension device structure schematic diagram of an intelligent trolley with a more stable video function is provided in the embodiment of fig. 2, and the independent suspension device structure schematic diagram comprises a shock absorber 6, a connecting rod 7A, a connecting rod 7B, wheels 8 and a universal shaft 17. The rear wheels 8 are rotatably connected with one end of a connecting rod 7B, and the other end of the connecting rod 7B is hinged with the vehicle body. The front connecting rod 7A is rotatably connected with the wheel 8 at one end, the other end is hinged with the side link 19, the shock absorber 6 is installed on the connecting rod 7A and the connecting rod 7B in a hinged connection mode, the other end of the shock absorber 6 is fixedly connected with a vehicle body, and one end of the universal shaft 17 is connected with the wheel 8, and the other end of the universal shaft is connected with the driving motor.
The independent suspension is divided into 4 wheels 8 on the front, one on the left and right, one on the rear, and 4 wheels 8 on the left and right. The front wheel 8 is connected with the connecting rod 7A, the other end of the connecting rod 7A is hinged with the side link 19, the rear wheel 8 is connected with the connecting rod 7B, and the other end of the connecting rod 7B is hinged with the vehicle body.
Fig. 3 is a schematic diagram of a stabilizing device of an intelligent trolley with a more stable video function according to an embodiment of the present application, which includes a horizontal stand 3, a rotating wheel 4, a gyro sensor 13, an acceleration sensor 14, a fourth driving motor 15 and a stabilizing device bottom plate 16. The gyroscope sensor 13 and the acceleration sensor 14 are symmetrically arranged on the back surface of the horizontal table 3, the horizontal table 3 is hinged with the bottom plate 16 of the stabilizing device, the rotating wheel 4 is connected with the fourth driving motor 15, and the fourth driving motor 15 is arranged on the center line position of the back surface of the horizontal table 3. When the horizontal table 3 deflects, the gyroscope sensor 13 can detect the deflection angle, the acceleration sensor 14 detects the deflection speed and transmits detection signals to the main control chip 9, the rotating wheel 4 rotates leftwards due to conservation of angular momentum, the horizontal table 3 rotates leftwards and rightwards, the horizontal table 3 deflects rightwards, and the built-in pid algorithm of the main control chip 9 drives the fourth driving motor 15 to conduct angle correction according to the forward and reverse rotation and the rotation speed of the gyroscope sensor 13 and the feedback signals of the acceleration sensor 14, so that the horizontal table 3 is always in a horizontal state.
Fig. 4 is a schematic diagram of a reversing mechanism of an intelligent trolley with a more stable video function, which is provided by the embodiment of the application, and includes a helical gear 5, a frame 18, a side link 19, a connecting rod 20, a small connecting rod 21, a helical gear 22 and a third driving motor 23. The third driving motor 23 is connected with the bevel gear 22, the bevel gear 22 is vertically arranged with the bevel gear 5, the frame 18 is fixed below the vehicle head, the frame 18 is respectively hinged with the two side links 19, two ends of the connecting rod 20 are hinged with the two side links 19 to form a reversing mechanism of a parallelogram four-bar mechanism, the connecting rod 7A is hinged with the side links 19, the extension rod of the bevel gear 5 is respectively hinged with the two small connecting rods 21, and the other ends of the two small connecting rods 21 are respectively hinged with the hinged parts of the connecting rod 20 and the two side links 19. When the third driving motor 23 rotates, the bevel gear 22 drives the bevel gear 5 to rotate, the extension rod of the bevel gear 5 drives the small connecting rod 21 to move, and the small connecting rod 21 drives the reversing mechanism of the parallelogram four-bar mechanism to move, so that reversing is completed.
The main control chip 9 is used for controlling the movement and steering of the intelligent trolley, and the rotation of the cradle head steering engine 2 and the algorithm support of the stabilizing device.
Examples:
after the assembly of the trolley is completed, the first driving motor 11 and the second driving motor 12 are controlled to rotate through output signals of the main control chip 9, and the driving motor is connected with the universal shaft 17 to transmit power to the rear wheels 8 so as to drive the trolley to move.
When the trolley needs to turn, the main control chip outputs a signal to control the third driving motor 23 to rotate, the third driving motor is connected with the bevel gear 22, when the third driving motor 23 rotates, the bevel gear 22 drives the bevel gear 5 to rotate, the extension rod of the bevel gear 5 drives the small connecting rod 21 to move, and the small connecting rod 21 drives the parallelogram four-bar mechanism to move, so that reversing is completed.
When the trolley encounters the uneven ground in the running process, as one end of the connecting rod 7A and one end of the connecting rod 7B are rotatably connected with the wheel 8 and the connecting mode of the other end is hinged, the wheel 8 automatically floats up and down according to the ground condition, and the shock absorber 6 plays a role in shock absorption and can limit the swing angle of the connecting rod 7A and the connecting rod 7B. The obstacle crossing performance of the intelligent trolley is improved.
When the trolley encounters uneven ground in the running process, the gyroscope sensor 13 arranged on the back of the horizontal table 3 can detect deflection angles, the acceleration sensor 14 can detect deflection speeds, the two sensors transmit detection signals to the main control chip, the built-in pid algorithm of the main control chip can control the fourth driving motor 15 to reversely rotate according to the detection signals, the fourth driving motor 15 is connected with the rotating wheel 4, when the rotating wheel 4 rotates, the rotating wheel 4 rotates left to the horizontal table 3 due to conservation of angular momentum, the rotating wheel 4 rotates right to the horizontal table 3 to the right to enable the horizontal table to always maintain a horizontal state according to the output of the pid algorithm and the fourth driving motor.
Claims (6)
1. An intelligent car with more stable video function, characterized by comprising: a vehicle body, an independent suspension device and a stabilizing device;
the left and right parts of the front end and the left and right parts of the rear end of the vehicle body are respectively connected with an independent suspension device, and the independent suspension devices are rotatably connected with wheels;
the stabilizing device is installed above the vehicle body, the stabilizing device bottom plate is hinged with the horizontal table, the cradle head steering engine is installed on the horizontal table, and the high-definition camera is assembled on the cradle head steering engine.
2. The intelligent vehicle with more stable video function according to claim 1, wherein the independent suspension means comprises a shock absorber, a connecting rod and wheels;
the wheels are divided into a front wheel and a rear wheel on the left side and the right side of the vehicle body, the shock absorber is hinged with the connecting rod, the shock absorber is fixedly connected with the vehicle body, the connecting rod is divided into a front wheel connecting rod and a rear wheel connecting rod, one end of the front wheel connecting rod is rotatably connected with the front wheel, and the other end of the front wheel connecting rod is hinged with the parallelogram reversing mechanism; one end of the rear wheel connecting rod is rotatably connected with the rear wheel, and the other end of the rear wheel connecting rod is hinged with the vehicle body.
3. The intelligent vehicle with more stable video functionality of claim 2, further comprising a power system comprising a drive motor and a cardan shaft;
one end of the universal shaft is connected with the driving motor, and the other end of the universal shaft is connected with the wheels.
4. A smart cart with more stable video functionality according to claim 3, characterized in that the drive motors comprise a first drive motor and a second drive motor for driving the front and rear wheels, respectively.
5. The intelligent vehicle with a more stable video function according to claim 2, wherein the reversing mechanism comprises a frame, a side link, a connecting rod, a third driving motor, a helical gear and a bevel gear;
the two ends of the frame are hinged with one end of each side link respectively, the connecting rods are hinged with the other ends of the two side links respectively, the frame is equal to the connecting rods in length, the third driving motor is meshed with the bevel gears, the bevel gears are meshed with the axes of the bevel gears by 90 degrees, extension rods are arranged on the sides of the bevel gears and hinged with two small connecting rods, the small connecting rods are hinged with the side links, the bevel gears are installed at the center line of the frame, and the small connecting rods are symmetrically installed.
6. The intelligent vehicle with more stable video function according to claim 1, wherein the stabilizing device comprises a gyroscope sensor, an acceleration sensor, a fourth driving motor, a horizontal stand, a main control chip, a stabilizing device bottom plate and a rotating wheel;
the gyroscope sensor and the acceleration sensor are mounted on the back of the horizontal table, the horizontal table is hinged to the bottom plate of the stabilizing device, the gyroscope sensor and the acceleration sensor are connected with the main control chip, the fourth driving motor is mounted on the center of the back of the horizontal table, the fourth driving motor is connected with the rotating wheel, and the fourth driving motor is connected with the main control chip.
Applications Claiming Priority (2)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN2022217975583 | 2022-07-12 | ||
| CN202221797558 | 2022-07-12 |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN220430343U true CN220430343U (en) | 2024-02-02 |
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202320687324.1U Active CN220430343U (en) | 2022-07-12 | 2023-03-31 | Intelligent trolley with more stable video function |
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| Country | Link |
|---|---|
| CN (1) | CN220430343U (en) |
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2023
- 2023-03-31 CN CN202320687324.1U patent/CN220430343U/en active Active
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