WO2019137468A1 - 一种全向移动小车 - Google Patents
一种全向移动小车 Download PDFInfo
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- WO2019137468A1 WO2019137468A1 PCT/CN2019/071329 CN2019071329W WO2019137468A1 WO 2019137468 A1 WO2019137468 A1 WO 2019137468A1 CN 2019071329 W CN2019071329 W CN 2019071329W WO 2019137468 A1 WO2019137468 A1 WO 2019137468A1
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- WIPO (PCT)
- Prior art keywords
- bottom plate
- camera
- omnidirectional
- moving trolley
- omnidirectional moving
- Prior art date
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- 230000007246 mechanism Effects 0.000 claims abstract description 23
- 230000035939 shock Effects 0.000 claims description 8
- 230000001360 synchronised effect Effects 0.000 claims description 5
- 238000012545 processing Methods 0.000 claims description 4
- 238000013016 damping Methods 0.000 claims description 3
- 238000003384 imaging method Methods 0.000 claims description 3
- 230000033001 locomotion Effects 0.000 abstract description 7
- 238000000034 method Methods 0.000 description 6
- 238000010521 absorption reaction Methods 0.000 description 2
- 230000005540 biological transmission Effects 0.000 description 2
- 230000006835 compression Effects 0.000 description 2
- 238000007906 compression Methods 0.000 description 2
- 238000009434 installation Methods 0.000 description 2
- 238000012986 modification Methods 0.000 description 2
- 230000004048 modification Effects 0.000 description 2
- 238000004891 communication Methods 0.000 description 1
- 230000007812 deficiency Effects 0.000 description 1
- 238000013461 design Methods 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 230000005484 gravity Effects 0.000 description 1
- 238000012544 monitoring process Methods 0.000 description 1
- 238000004064 recycling Methods 0.000 description 1
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Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D63/00—Motor vehicles or trailers not otherwise provided for
- B62D63/02—Motor vehicles
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60K—ARRANGEMENT OR MOUNTING OF PROPULSION UNITS OR OF TRANSMISSIONS IN VEHICLES; ARRANGEMENT OR MOUNTING OF PLURAL DIVERSE PRIME-MOVERS IN VEHICLES; AUXILIARY DRIVES FOR VEHICLES; INSTRUMENTATION OR DASHBOARDS FOR VEHICLES; ARRANGEMENTS IN CONNECTION WITH COOLING, AIR INTAKE, GAS EXHAUST OR FUEL SUPPLY OF PROPULSION UNITS IN VEHICLES
- B60K1/00—Arrangement or mounting of electrical propulsion units
- B60K1/02—Arrangement or mounting of electrical propulsion units comprising more than one electric motor
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D11/00—Steering non-deflectable wheels; Steering endless tracks or the like
- B62D11/02—Steering non-deflectable wheels; Steering endless tracks or the like by differentially driving ground-engaging elements on opposite vehicle sides
- B62D11/04—Steering non-deflectable wheels; Steering endless tracks or the like by differentially driving ground-engaging elements on opposite vehicle sides by means of separate power sources
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0231—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means
- G05D1/0238—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means using obstacle or wall sensors
Definitions
- the invention belongs to the technical field of intelligent robots, and in particular relates to an omnidirectional mobile trolley.
- AGVs automated handling machines
- the known handling robot mainly uses two driving wheels on both sides and several surrounding universal wheels. This movement mode allows the robot to turn in place.
- the single disadvantages are:
- the wheel can be moved back and forth. When the direction of motion changes by 90 degrees, it must be turned 90 degrees in place, wasting time.
- An omnidirectional moving trolley comprising: four steering wheels, a bottom plate and a driving mechanism; wherein the bottom plate comprises a first bottom plate and a second bottom plate, and the first bottom plate and the second bottom plate are respectively oppositely disposed with a base and two bases The two bases are pivoted relative to the rotating shaft by a fixed connection of the rotating shaft; the four steering wheels are disposed on the first bottom plate and the second bottom plate, and the steering wheel and the rotating shaft on the first bottom plate form a triangular structure, and the driving mechanism comprises a driving motor and a driving shaft, each steering wheel is connected to a driving shaft, and each driving shaft is connected with a driving motor to drive the corresponding steering wheel to stop and perform synchronous or asynchronous rotation; the first bottom plate is provided with a plurality of pillars, and the pillar top is set The tray carries the goods.
- the first bottom plate is further provided with a photographing mechanism composed of a bracket, a first camera and a second camera.
- the first camera and the second camera are disposed at two ends of the bracket, and the first camera is used for photographing the bottom logo of the shelf, and according to the shooting result
- the automatic search for the shelves and the handling of the goods, the second camera is used to scan and identify the ground signs or lines for the space positioning calibration of the trolley.
- the bracket is connected to the connecting rod of the vertical first bottom plate for fixing, and the first bottom plate is provided with an imaging hole corresponding to the position of the second camera, so that the second camera scans and recognizes the ground mark or the texture through the imaging hole to carry out the trolley Spatial positioning calibration.
- the edges of the first bottom plate and the second bottom plate are provided with a plurality of obstacle avoidance modules, and the obstacle avoidance module senses the distance between the trolley and the obstacle to control the trolley to perform braking.
- the first backplane is provided with a charging module on the side of the pillar, and the power supply of the trolley is connected to charge the power supply, and the wireless charging module automatically charges when the trolley runs to the charging pile.
- the pillar is an electric push rod, which is used to lift the cargo for loading and unloading.
- the method further includes a processor, the processor is connected to a central system, receives the scheduling instruction of the central system, feeds back the state of the device to the central system, and receives the sensing signal of the obstacle avoidance module, the power information of the power supply, and the shooting information of the shooting mechanism.
- the running command is sent to each driving motor to control the running and rotating of the corresponding steering wheel
- the charging command is sent to control the trolley to reach the charging pile to perform charging and sending and unloading commands to control the electric pusher to carry the loading and unloading.
- the steering wheel is a McNane mother wheel.
- the position of the McNane mother wheel connected to the drive shaft is provided with a shock absorbing structure for damping.
- the omnidirectional moving trolley of the present invention comprises four steering wheels, a bottom plate and a driving mechanism; wherein the bottom plate comprises a first bottom plate and a second bottom plate, and the first bottom plate and the second bottom plate are respectively oppositely disposed with a base
- the two bases are fixedly connected by a rotating shaft, and the two bases are pivoted relative to the rotating shaft;
- the four steering wheels are disposed on the first bottom plate and the second bottom plate, and the steering wheel and the rotating shaft on the first bottom plate form a triangle
- the driving mechanism comprises a driving motor and a driving shaft, each steering wheel is connected with a driving shaft, and each driving shaft is connected with a driving motor to drive the corresponding steering wheel to perform synchronous or asynchronous rotation; Pillars, the top of the pillars are provided with trays to carry the goods.
- the invention not only realizes the function of the omnidirectional movement of the robot car, but also improves the running stability and can prevent slipping and rocking.
- FIG. 1 is a schematic bottom view of an omnidirectional mobile trolley according to the present invention.
- FIG. 2 is a schematic diagram showing the right side structure of an omnidirectional moving trolley according to the present invention.
- FIG. 3 is a schematic front view showing the structure of an omnidirectional moving trolley according to the present invention.
- FIG. 1 is a schematic structural view of an omnidirectional moving trolley provided by the present invention.
- the omnidirectional moving cart 100 includes four steering wheels 1, a bottom plate and a drive mechanism.
- the steering wheel 1 is a McNane mother wheel.
- the drive mechanism comprises a drive motor 3 and a drive shaft 2, each of which is connected to a drive shaft 2, and a drive motor 3 is connected via the drive shaft 2, and the drive motor 3 controls the operation of the corresponding steering wheel 1 and performs synchronous or asynchronous operation.
- the bottom plate comprises a first bottom plate 7 and a second bottom plate 8, and the wheel positions of the two steering wheels are arranged in parallel on each bottom plate for fixing the steering wheel 1, wherein the two steering wheels 1 are disposed on the first bottom plate 7, and the other two The steering wheel 1 is disposed on the second bottom plate 8.
- the drive motor 3 connected to the steering wheel 1 is fixedly disposed on the first bottom plate 7 and the second bottom plate 8.
- a shock absorbing structure is provided as a position at which the McNane mother wheel of the steering wheel 1 is connected to the drive shaft 2 to perform shock absorption.
- a base 4 is disposed on the first bottom plate 7 and the second bottom plate 8 respectively, and the base 4 disposed on the two bottom plates is connected through a rotating shaft 5, and the base 4 is pivotable relative to the rotating shaft 5.
- the base 4 is respectively provided with a bearing and a fixed connection with the rotating shaft 5.
- An advantage of the design of the present invention is that the rotating shaft 5 and the two Mecanum wheels disposed on the first bottom plate 7 and the two Mecanum wheels disposed on the second bottom plate 8 provide three fulcrums to form two triangular structures.
- Both ends of the rotating shaft 5 are respectively fixed to the two bases 4, and the two bases 4 are respectively fixed on the first bottom plate 7 and the second bottom plate 8, and the rotating shaft 5 can only rotate about its axis.
- the rotating shaft 5 will rotate accordingly, so that each steering wheel 1 can be closely attached to the ground, thereby avoiding slippage.
- a plurality of pillars 9 are disposed on the first bottom plate 7, and a tray 12 is disposed at the top end of the pillars 9 for carrying goods.
- a photographing mechanism 1 1 is disposed on the first bottom plate 7 and is composed of a bracket, a first camera and a second camera.
- the first camera and the second camera are disposed at two ends of the bracket, and the photographing mechanism 11 is scanned on the shelf by the first camera.
- the bottom mark such as bar code or two-dimensional code, automatically searches for the shelf and cargo handling by scanning; the second camera recognizes the ground mark set in the warehouse or directly scans the ground grain to carry out the space positioning calibration of the car.
- the number of the first camera and the second camera may be one or more.
- the bracket is connected to the connecting rod of the vertical first bottom plate, and the image capturing hole is disposed on the first bottom plate corresponding to the position of the second camera, so that the second camera scans the ground mark or the grain through the image capturing hole to perform spatial positioning of the trolley. calibration.
- the connecting rod is fixedly connected with the first bottom plate and the bracket by screws.
- a plurality of obstacle avoidance modules 6 are provided at the edges of the first bottom plate 7 and the second bottom plate 8, and the distance between the trolley and the obstacle on the traveling line is sensed by the obstacle avoidance module 6 to brake the trolley.
- the automatic charging module 10 is disposed on the side of the first bottom plate 7 facing away from the pillars 9. After the power supply of the trolley is lower than the preset power, the trolley automatically performs charging when it travels to the charging pile installed in the warehouse. Further, the pillar 9 is an electric push rod, and the tray 12 is lifted by electric power driving, and the cargo is loaded and unloaded.
- the processor 13 is further connected to a central system (not shown), receives the scheduling instruction of the central system, feeds back the device status to the central system, receives the sensing signal of the obstacle avoidance module 6, and performs analysis and processing, and sends Run the command to the drive motor 3 to brake the car. For example, after receiving the sensing signal, the processor 13 analyzes the sensing signal to determine the distance between the corresponding obstacle avoidance module 6 and the obstacle.
- the driving motor 3 sends a running command to control the deceleration or stop of the trolley; at the same time, the processor 13 receives the electric quantity information of the electric power supply of the trolley, and sends a charging request to the central system when the electric quantity is less than or equal to the preset electric energy depreciation, and receives the designation after receiving the designation.
- the charging command is sent to the driving motor 3, so that the trolley stops charging when traveling to the charging pile, and continues to run after the charging is completed; the processor 13 receives the camera shooting information, and after driving the specified logo or the ground pattern, the driving motor is driven.
- a calibration coordinate command or a parking command is transmitted, and a loading/unloading command is transmitted to the electric pusher as the support member 9, and the electric pusher lift tray 12 and the cargo are attached and detached.
- the processor 13 can be connected to a remote computer (not shown), and send various types of instructions to the computer at the same time.
- the computer can determine the running time, the number of times of transportation, the number of charging times and the like by counting various instructions to the car. The operation is counted to realize the monitoring of the trolley.
- the processor 13 can be disposed on the bottom plate of the trolley, and can receive information and command transmission through the wire connection obstacle avoidance module 6, the drive motor 3, the pillar 9 and the power supply of the trolley; or the processor 13 can be a remote computer through wireless communication.
- the power supply of the obstacle avoidance module 6, the drive motor 3, the pillar 9 and the trolley is connected for information reception and command transmission.
- the electric push rod as the pillar 9 drives the tray 12 mounted on the electric push rod to complete the lifting and lowering of the shelf;
- the obstacle avoidance module 6 is installed around the vehicle body, and the emergency stop function can be realized when the movement direction is obstacled;
- the center is equipped with a shooting mechanism 1 1 for scanning the ground and the bottom QR code, determining the position and shelf position of the robot, and realizing the function of automatically finding the shelf and carrying the shelf; optionally, the camera can also recognize the ground texture, thereby eliminating the need
- the omnidirectional moving trolley of the present invention comprises four steering wheels, a bottom plate and a driving mechanism; wherein the bottom plate comprises a first bottom plate and a second bottom plate, and the first bottom plate and the second bottom plate are respectively oppositely disposed with a base
- the two bases are fixedly connected by a rotating shaft, and the two bases are pivoted relative to the rotating shaft; the four steering wheels are disposed on the first bottom plate and the second bottom plate, and the steering wheel and the rotating shaft on the first bottom plate form a triangle
- the driving mechanism comprises a driving motor and a driving shaft, each steering wheel is connected to a driving shaft, and each driving shaft is connected with a driving motor to drive the corresponding steering wheel to stop and perform synchronous or asynchronous rotation; Pillars (for example, three), with trays at the top of the pillars to carry the goods.
- Pillars for example, three
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- Combustion & Propulsion (AREA)
- Transportation (AREA)
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- Physics & Mathematics (AREA)
- Electromagnetism (AREA)
- Aviation & Aerospace Engineering (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- General Physics & Mathematics (AREA)
- Automation & Control Theory (AREA)
- Warehouses Or Storage Devices (AREA)
- Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
- Platform Screen Doors And Railroad Systems (AREA)
Abstract
Description
Claims (18)
- 一种全向移动小车,其特征在于,包括:四个转向轮、底板及驱动机构;其中,所述底板包括第一底板和第二底板,第一底板和第二底板上分别相对设置一基座,两个基座通过一转轴固定连接,两个基座相对所述转轴进行绕轴转动;四个转向轮两两设置于第一底板和第二底板上,第一底板上的转向轮和转轴形成三角结构,所述驱动机构包括驱动电机和驱动轴,每一转向轮连接一驱动轴,每一驱动轴连接一驱动电机,以驱动相应的转向轮行止及进行同步或异步转动;所述第一底板上设置多个支柱,支柱顶端设置托盘以承载货物。
- 根据权利要求1所述的全向移动小车,其特征在于,所述第一底板上还设置由支架、第一摄像头和第二摄像头组成的拍摄机构,第一摄像头和第二摄像头设置于支架两端,第一摄像头用以拍摄货架底部标识,并根据拍摄结果进行自动寻找货架及搬运货物,第二摄像头用以扫描识别地面标识或者纹路进行所述全向移动小车空间定位校准。
- 根据权利要求2所述的全向移动小车,其特征在于,所述支架连接垂直第一底板的连杆进行固定,所述第一底板上对应第二摄像头的位置设置摄像孔,以使所述第二摄像头通过所述摄像孔扫描识别地面标识或者纹路进行所述全向移动小车空间定位校准。
- 根据权利要求1所述的全向移动小车,其特征在于,所述第一底板和第二底板的边缘设置多个避障模块,通过避障模块感应所述全向移动小车与障碍的距离,以控制所述全向移动小车进行制动。
- 根据权利要求1所述的全向移动小车,其特征在于,所述第一底板背向所述支柱一侧设置一充电模块,连接小车的供电电源以对供电电源进行充电,所述充电模块在所述全向移动小车运行至充电桩时自动进行充电。
- 根据权利要求1所述的全向移动小车,其特征在于,所述支柱为电动推杆,用以托举货物进行装卸。
- 根据权利要求2-6任意一项所述的全向移动小车,其特征在于,还包括一处理器,所述处理器连接一中央系统,接收中央系统的调度指令,向中央系统反馈设备状态,同时接收所述避障模块的感应信号、供电电源的电量信息及拍摄机构的拍摄信息,分析处理后,发送运行指令到每一驱动电机以控制对应转向轮的行止及转 动、发送充电指令控制所述全向移动小车到达充电桩是进行充电及发送装卸指令控制电动推杆托举货物进行装卸。
- 根据权利要求1所述的全向移动小车,其特征在于,所述转向轮为麦克纳母轮。
- 根据权利要求8所述的全向移动小车,其特征在于,所述麦克纳母轮与所述驱动轴连接的位置设置减震结构进行减震。
- 一种全向移动小车,其特征在于,包括:四个转向轮、底板及驱动机构;其中,所述底板包括第一底板和第二底板,第一底板和第二底板上分别相对设置一基座,两个基座通过一转轴连接,两个基座相对彼此绕所述转轴的旋转轴线进行转动;四个转向轮两两设置于第一底板和第二底板上,第一底板上的转向轮和转轴形成三角结构,所述驱动机构包括驱动电机和驱动轴,至少有两个所述转向轮分别连接一驱动轴,驱动轴连接一驱动电机,以驱动相应的转向轮行止及进行转动;所述第一底板上设置多个支柱,支柱顶端设置托盘。
- 根据权利要求10所述的全向移动小车,其特征在于,所述第一底板上还设置由支架、第一摄像头和第二摄像头组成的拍摄机构,第一摄像头和第二摄像头设置于支架两端,第一摄像头用以拍摄货架底部标识,并根据拍摄结果进行自动寻找货架及搬运货物,第二摄像头用以扫描识别地面标识或者纹路进行所述全向移动小车空间定位校准。
- 根据权利要求11所述的全向移动小车,其特征在于,所述支架连接垂直第一底板的连杆进行固定,所述第一底板上对应第二摄像头的位置设置摄像孔,以使所述第二摄像头通过所述摄像孔扫描识别地面标识或者纹路进行所述全向移动小车空间定位校准。
- 根据权利要求10所述的全向移动小车,其特征在于,所述第一底板和第二底板的边缘设置多个避障模块,通过避障模块感应所述全向移动小车与障碍的距离,以控制所述全向移动小车进行制动。
- 根据权利要求10所述的全向移动小车,其特征在于,所述第一底板背向所述支柱一侧设置一充电模块,连接所述全向移动小车的供电电源以对供电电源进行充电,所述充电模块在所述全向移动小车运行至充电桩时自动进行充电。
- 根据权利要求10所述的全向移动小车,其特征在于,所述支柱为电动推杆,用以托举货物进行装卸。
- 根据权利要求11-15任意一项所述的全向移动小车,其特征在于,所述全向移动小车还包括一处理器,所述处理器连接一中央系统,接收中央系统的调度指令,向中央系统反馈设备状态,同时接收所述避障模块的感应信号、供电电源的电量信息及拍摄机构的拍摄信息,分析处理后,发送运行指令到每一驱动电机以控制对应转向轮的行止及转动、发送充电指令控制小车到达充电桩是进行充电及发送装卸指令控制电动推杆托举货物进行装卸。
- 根据权利要求10所述的全向移动小车,其特征在于,所述转向轮为麦克纳母轮。
- 根据权利要求17所述的全向移动小车,其特征在于,所述麦克纳母轮与所述驱动轴连接的位置设置减震结构进行减震。
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JP2020538639A JP2021510135A (ja) | 2018-01-12 | 2019-01-11 | 全方向移動台車 |
KR1020207022472A KR20200106064A (ko) | 2018-01-12 | 2019-01-11 | 전방향성 이동 트롤리 |
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CN201810052586.4A CN108163095A (zh) | 2018-01-12 | 2018-01-12 | 一种全向移动小车 |
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KR20240048723A (ko) * | 2022-10-07 | 2024-04-16 | 주식회사 클로봇 | 다중 카메라 기반의 이동 로봇의 맵 이미지 및 물체 위치를 획득하기 위한 시스템 및 방법 |
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