CN107499360A - A kind of Universal foldable automatic running dolly and control method - Google Patents
A kind of Universal foldable automatic running dolly and control method Download PDFInfo
- Publication number
- CN107499360A CN107499360A CN201710747301.4A CN201710747301A CN107499360A CN 107499360 A CN107499360 A CN 107499360A CN 201710747301 A CN201710747301 A CN 201710747301A CN 107499360 A CN107499360 A CN 107499360A
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- plate
- automatic running
- base
- wheel
- camera
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- 238000000034 method Methods 0.000 title claims description 10
- 238000001514 detection method Methods 0.000 claims abstract description 7
- 230000009194 climbing Effects 0.000 claims description 18
- 238000004458 analytical method Methods 0.000 claims description 3
- 230000032258 transport Effects 0.000 description 12
- 239000002184 metal Substances 0.000 description 6
- 239000000463 material Substances 0.000 description 5
- 238000004146 energy storage Methods 0.000 description 2
- 239000000284 extract Substances 0.000 description 2
- 239000000956 alloy Substances 0.000 description 1
- 230000005540 biological transmission Effects 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 238000004519 manufacturing process Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000002093 peripheral effect Effects 0.000 description 1
- 239000007787 solid Substances 0.000 description 1
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62B—HAND-PROPELLED VEHICLES, e.g. HAND CARTS OR PERAMBULATORS; SLEDGES
- B62B3/00—Hand carts having more than one axis carrying transport wheels; Steering devices therefor; Equipment therefor
- B62B3/02—Hand carts having more than one axis carrying transport wheels; Steering devices therefor; Equipment therefor involving parts being adjustable, collapsible, attachable, detachable or convertible
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62B—HAND-PROPELLED VEHICLES, e.g. HAND CARTS OR PERAMBULATORS; SLEDGES
- B62B3/00—Hand carts having more than one axis carrying transport wheels; Steering devices therefor; Equipment therefor
- B62B3/04—Hand carts having more than one axis carrying transport wheels; Steering devices therefor; Equipment therefor involving means for grappling or securing in place objects to be carried; Loading or unloading equipment
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62B—HAND-PROPELLED VEHICLES, e.g. HAND CARTS OR PERAMBULATORS; SLEDGES
- B62B5/00—Accessories or details specially adapted for hand carts
- B62B5/0003—Adaptations for loading in or on a vehicle
-
- 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
- G05D1/0246—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means using a video camera in combination with image processing means
-
- 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
- G05D1/0276—Control of position or course in two dimensions specially adapted to land vehicles using signals provided by a source external to the vehicle
- G05D1/0278—Control of position or course in two dimensions specially adapted to land vehicles using signals provided by a source external to the vehicle using satellite positioning signals, e.g. GPS
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62B—HAND-PROPELLED VEHICLES, e.g. HAND CARTS OR PERAMBULATORS; SLEDGES
- B62B2205/00—Hand-propelled vehicles or sledges being foldable or dismountable when not in use
Landscapes
- Engineering & Computer Science (AREA)
- Radar, Positioning & Navigation (AREA)
- Chemical & Material Sciences (AREA)
- Physics & Mathematics (AREA)
- Mechanical Engineering (AREA)
- Transportation (AREA)
- Combustion & Propulsion (AREA)
- Remote Sensing (AREA)
- Aviation & Aerospace Engineering (AREA)
- Automation & Control Theory (AREA)
- General Physics & Mathematics (AREA)
- Computer Vision & Pattern Recognition (AREA)
- Multimedia (AREA)
- Electromagnetism (AREA)
- Handcart (AREA)
Abstract
A kind of Universal foldable automatic running dolly, intelligent terminal is arranged at the application trolley base bottom, trolley base side is fitted with base lengthened plate, respectively there is a wheel shaft below movable end on the outside of trolley base opposite side and base lengthened plate, respectively there is a traveling wheel at wheel shaft both ends, there are camera positioning bar one and camera positioning bar two on the outside of trolley base opposite side, the camera positioning other end of bar two is fixed on the outside of trolley base, institute's camera positioning upper end of bar one is connected with detection camera, there is back side panel above trolley base opposite side, there is front side board above movable end on the outside of base lengthened plate, side plate lengthened plate is fitted with back side panel and front side board upper end.The present invention is by designing a kind of collapsible automatic running dolly, the dolly is when not in use, folded deformation voluntarily can be carried out consequently facilitating carrying and placing, when use deformation open and can be with automatic running, particularly suitable for the transport and carrying of plate type part, it can be used for plate transport and military supplies transport.
Description
Technical field
The present invention relates to transport auxiliary equipment field, more particularly to a kind of Universal foldable automatic running dolly and control
Method.
Background technology
In actual production life, it is often necessary to plate is transported, such as seat board etc., be the characteristics of this transport vehicle
Overall flat, traditional transport vehicle, due to that can not fold, without when take up an area it is often larger, and using when need people to enter
Row push, takes a large amount of manpowers, especially runs into high-volume and transports, such as the transport of batch plate or the transport of high-volume military supplies
Etc. can seem painstaking, a kind of Universal foldable automatic running dolly and control method are designed for problem above the application, especially
It is suitable for plate transport, automatic running can be carried out, Transportation Efficiency can be greatly improved.
The content of the invention
In order to solve above-mentioned problem, the present invention provides a kind of Universal foldable automatic running dolly and controlling party
Method, by designing a kind of collapsible automatic running dolly, the dolly when not in use, can voluntarily carry out folded deformation so as to just
In carrying and place, when use deformation open and can with automatic running, particularly suitable for the transport and carrying of plate type part,
It can be used for plate transport and military supplies transport, for up to this purpose, it is small that the present invention provides a kind of Universal foldable automatic running
Car, including trolley base, intelligent terminal, wheel shaft clip, wheel shaft, traveling wheel, side plate hue angle screens hinge, back side panel, side
Plate lengthened plate, detection camera, 360 degree of rotary joints, camera positioning bar one, camera positioning bar two, gim peg, front side board
With base lengthened plate, intelligent terminal is arranged at the trolley base bottom, and the trolley base side is fitted with base lengthened plate, described
Respectively there is a wheel shaft below movable end on the outside of trolley base opposite side and base lengthened plate, the wheel shaft is consolidated by wheel shaft clip
Fixed, respectively there is a traveling wheel at the wheel shaft both ends, have camera positioning bar one and camera on the outside of the trolley base opposite side
Positioning bar two, the camera positioning lower end of bar one and camera positioning bar two one end are connected by connecting shaft, the camera
The positioning other end of bar two is fixed on the outside of trolley base by gim peg, and the camera positioning upper end of bar one passes through 360 degree
Rotary joint is connected with detection camera, has back side panel above the trolley base opposite side, is lived on the outside of the base lengthened plate
There is front side board above moved end, back side panel and the front side board lower end is fixed by a pair of side plates hue angle screens hinge, described
Side plate lengthened plate is fitted with back side panel and front side board upper end.
There are hand-written, speech recognition plate, keyboard and map denotation in further improvement of the present invention, the trolley base side
Screen, the present invention can be by hand-written, voice or keyboard mode input address.
There are 3 slide rails in further improvement of the present invention, the traveling wheel outside, and the slide rail is angularly around traveling wheel center
Line one week, the corresponding climbing wheel of each slide rail, the rotating shaft of the climbing wheel are climbed in corresponding slide rail interior edge slide rail movement, the present invention
Slope wheel movable can become climbing wheel as needed and be climbed.
Further improvement of the present invention, the side plate lengthened plate are drawer type, and side plate lengthened plate, which is designed as drawer type, more to be held
Easily extract out.
Further improvement of the present invention, there are reel tape type protection band, the tape measure in the side of the back side panel and front side board
Formula protection band includes drawstring, drawing end and protection band buckle, and the drawstring is arranged on drawstring in front side board and is connected with drawing end, institute
Protection band buckle is stated in back side panel, the protection band buckle that the drawing end is buckled into after pulling in back side panel, passes through protection
Band quickly can fix material.
Further improvement of the present invention, cut-out openings are uniformly distributed on the back side panel and front side board, so design can be with
Reduce material.
Further improvement of the present invention, solar panel is laid on the back side panel and front side board, can pass through the sun
Can cell panel offer energy.
The present invention provides a kind of control method of Universal foldable automatic running dolly, comprise the following steps that in：
1）Target location is inputted or by intelligent-tracking tracking by hand-written or keyboard or voice mode, using GPS location, if
No signal is positioned using the regional geography figure downloaded；
2）Route planning is carried out, and real-time road is caught using camera, and carries out image real time transfer, by comprehensive analysis ratio
Compared with planning optimal route in real time, and determine whether road surface is flat；
3）If route is flat using traveling wheel, if route is uneven, climbing wheel stretches out along slide rail, moves；
4）In time, rapidly, accurately reach the place specified.
A kind of Universal foldable automatic running dolly of the present invention, the dolly when not in use, protect by the right and left fixation
Band is contracted on front and rear side plate, and front and rear side plate successively, is folded into the position parallel with base by hue angle screens hinge, shooting
Head is adjusted to the position against base by rotary joint and positioning bar, is easy to carry and places, front and rear side plate meeting when use
Automatically open up, and supporting corresponding protection band, after being placed on it goods or goods and materials during use, by protection band steadily
Ground bundlees seat metal plate.Further according to needing by control of intelligent terminal, using GPS location or the regional geography figure downloaded, if
Fixed corresponding route, the supporting climbing wheel of the present invention and traveling wheel, when judging optimal route, it can be determined that selection uses traveling wheel
Or climbing wheel.Traveling wheel is mainly used on general gentle road surface, ensures travel speed.Climbing wheel is mainly on uneven all kinds of roads
Face is practical, ensures that dolly can pass through various road surfaces.
Brief description of the drawings
Fig. 1 is dolly working state schematic representation of the present invention；
Fig. 2 is structure chart when dolly of the present invention folds；
Fig. 3 is reel tape type protection band enlarged drawing of the present invention；
Fig. 4 takes turns enlarged drawing for present invention climbing；
Fig. 5 is intelligent terminal control flow chart of the present invention；
Illustrate:
1st, trolley base；2nd, intelligent terminal；3rd, wheel shaft clip；4th, wheel shaft；5th, traveling wheel；6th, side plate hue angle screens hinge；
7th, back side panel；8th, side plate lengthened plate；9th, camera is detected；10th, 360 degree of rotary joints；11st, camera positioning bar one；12nd, image
Head positioning bar two；13rd, gim peg；14th, hand-written, speech recognition plate；14th, keyboard；15th, keyboard；16th, map display screen；17th, tape measure
Formula protection band；17-1, drawing end；17-2, protection band buckle；18th, front side board；19th, base lengthened plate；20th, climbing wheel；20-1、
Slide rail.
Embodiment
The present invention is described in further detail with embodiment below in conjunction with the accompanying drawings：
The present invention provides a kind of Universal foldable automatic running dolly and control method, by designing a kind of collapsible automatic running
Dolly, the dolly when not in use, voluntarily can carry out folded deformation consequently facilitating carrying and placing, when use deformation open
And plate transport and military supplies fortune particularly suitable for the transport and carrying of plate type part, can be can be used for automatic running
It is defeated.
Such as Fig. 1,2,3,4, a kind of shown Universal foldable automatic running dolly of the present invention, including trolley base 1, intelligence are whole
End 2, wheel shaft clip 3, wheel shaft 4, traveling wheel 5, side plate hue angle screens hinge 6, back side panel 7, side plate lengthened plate 8, detection are taken the photograph
As first 9,360 degree of rotary joints 10, camera positioning bar 1, camera positioning bar 2 12, gim peg 13, front side board 18 and bottom
Intelligent terminal 2 is arranged at seat lengthened plate 19, the bottom of trolley base 1, and the side of trolley base 1 is fitted with base lengthened plate 19,
Respectively there is a wheel shaft 4 below the outside movable end of the opposite side of trolley base 1 and base lengthened plate 19, the wheel shaft 4 passes through wheel
Axle clip 3 is fixed, and respectively there is a traveling wheel 5 at the both ends of wheel shaft 4, have camera tune on the outside of the opposite side of trolley base 1
Position bar 1 and camera positioning bar 2 12, the camera positioning lower end of bar 1 and camera positioning bar 2 12 one end pass through
Connecting shaft is connected, and the camera positioning other end of bar 2 12 is fixed on the outside of trolley base 1 by gim peg 13, described to take the photograph
The picture head positioning upper end of bar 1 is connected by 360 degree of rotary joints 10 with detection camera 9, on the opposite side of trolley base 1
There is a back side panel 7 side, there is front side board 18 above the outside movable end of base lengthened plate 19, under the back side panel 7 and front side board 18
End is fixed by a pair of side plates hue angle screens hinge 6, and side plate lengthening is fitted with back side panel 7 and front side board 18 upper end
Plate 8.
Trolley base 1 is as main load-carrying members, using the alloy material of high strength and high hardness, when needing to carry big chi
During very little seat metal plate, base lengthened plate 18 is extracted out, coordinates and extracts side plate lengthened plate 8 out, to meet the needs of different size seat metal plate carryings,
Back side panel 7, front side board 18 adjust angle, to meet to carry seat metal plate of different shapes by side plate hue angle screens hinge 6.Tape measure
Formula protection band 17, from high-intensity high-tenacity material, it is necessary to using when protection band pulled by the drawing end 17-1 in front side board 18,
Buckle into the protection band buckle 17-2 in back side panel 7, as seat metal plate left and right sides protection band, the auxiliary fixing seat metal plate in dolly traveling
With.Cut-out openings are uniformly distributed on front side board 18, back side panel 7, to mitigate dolly weight, and use solar electric power energy-storage function
Material, power source is provided for dolly.Traveling wheel 5 and climbing wheel 20 are respectively mounted on the wheel shaft 4, and wheel shaft 3 is solid by wheel shaft clip 3
It is scheduled under trolley base 1.Camera 9 is detected by 360 degree rotary joints 10, and camera positioning bar 1, camera transpose bar 2,
Gim peg 13, it is connected with trolley base 1, realizes that omnidirectional images are caught.The real-time road that detection camera will capture, transmission
To intelligent terminal 2.Intelligent terminal 2 contrasts combatant and passes through destination given in hand-written, speech recognition plate 14 or keyboard 15
Coordinate, optimal course is selected, and shown on map display screen 16, while judged using traveling wheel 5 or climbing wheel
20。
The present invention provides a kind of control method such as Fig. 5 of Universal foldable automatic running dolly, comprise the following steps that in：
1）Target location is inputted or by intelligent-tracking tracking by hand-written or keyboard or voice mode, using GPS location, if
No signal is positioned using the regional geography figure downloaded；
2）Route planning is carried out, and real-time road is caught using camera, and carries out image real time transfer, by comprehensive analysis ratio
Compared with planning optimal route in real time, and determine whether road surface is flat；
3）If route is flat using traveling wheel, if route is uneven, climbing wheel stretches out along slide rail, moves；
4）In time, rapidly, accurately reach the place specified.
Dolly automatic running process of the present invention is by control of intelligent terminal, using GPS location or the region downloaded
Reason figure, destination is driven to according to personnel appointed place or the personnel tracking of following.Even without the operation place of signal, also can
The map datum stored by lane database, realizes route planning.Side plate on vehicle body uses solar panels, can obtain energy automatically
Source, energy storage simultaneously provide power source for dolly.Camera on dolly, intelligent control can be transferred in time by road condition data on the spot
Terminal, on the one hand gather latest data for database and use, the route map that on the other hand contrast control terminal provides, real-time judge is most
Major path, and judge that selection uses traveling wheel or climbing wheel.Traveling wheel is mainly used on general gentle road surface, ensures traveling speed
Degree.Then expanded outward to during climbing wheel work by guide rail and take turns outer peripheral position more than traveling, climbing wheel is mainly in unevenness
All kinds of pavement usages, to ensure that dolly can pass through various road surfaces.
The above described is only a preferred embodiment of the present invention, it is not the limit for making any other form to the present invention
System, and any modification made according to technical spirit of the invention or equivalent variations, still fall within present invention model claimed
Enclose.
Claims (8)
1. a kind of Universal foldable automatic running dolly, including trolley base（1）, intelligent terminal（2）, wheel shaft clip（3）, wheel
Axle（4）, traveling wheel（5）, side plate hue angle screens hinge（6）, back side panel（7）, side plate lengthened plate（8）, detection camera（9）、
360 degree of rotary joints（10）, camera positioning bar one（11）, camera positioning bar two（12）, gim peg（13）, front side board（18）
With base lengthened plate（19）, it is characterised in that：The trolley base（1）Intelligent terminal is arranged at bottom（2）, the trolley base（1）
Side is fitted with base lengthened plate（19）, the trolley base（1）Opposite side and base lengthened plate（19）Below the movable end of outside
Respectively there is a wheel shaft（4）, the wheel shaft（4）Pass through wheel shaft clip（3）It is fixed, the wheel shaft（4）Respectively there is a traveling at both ends
Wheel（5）, the trolley base（1）There is camera positioning bar one on the outside of opposite side（11）With camera positioning bar two（12）, it is described
Camera positioning bar one（11）Lower end and camera positioning bar two（12）One end is connected by connecting shaft, the camera positioning bar
Two（12）The other end passes through gim peg（13）It is fixed on trolley base（1）Outside, the camera transposes bar one（11）Upper end
Pass through 360 degree of rotary joints（10）With detecting camera（9）It is connected, the trolley base（1）There is back side panel above opposite side
（7）, the base lengthened plate（19）There is front side board above the movable end of outside（18）, the back side panel（7）And front side board（18）Under
End passes through a pair of side plates hue angle screens hinge（6）It is fixed, the back side panel（7）And front side board（18）Side is fitted with upper end
Plate lengthened plate（8）.
A kind of 2. Universal foldable automatic running dolly according to claim 1, it is characterised in that：The trolley base
（1）There is hand-written, speech recognition plate side（14）, keyboard（15）And map display screen（16）.
A kind of 3. Universal foldable automatic running dolly according to claim 1, it is characterised in that：The traveling wheel（5）
There are 3 slide rails in outside（20-1）, the slide rail（20-1）Angularly taken turns around traveling（5）Center line one week, each slide rail（20-1）
Corresponding climbing wheel（20）, the climbing wheel（20）Rotating shaft in corresponding slide rail（20-1）Interior edge slide rail（20-1）It is mobile.
A kind of 4. Universal foldable automatic running dolly according to claim 1, it is characterised in that：The side plate lengthened plate
（8）For drawer type.
A kind of 5. Universal foldable automatic running dolly according to claim 1, it is characterised in that：The back side panel（7）
And front side board（18）Side in have reel tape type protection band（17）, the reel tape type protection band（17）Including drawstring, drawing end
（17-1）With protection band buckle（17-2）, the drawstring is arranged on front side board（18）Middle drawstring and drawing end（17-1）It is connected, institute
State protection band buckle（17-2）Installed in back side panel（7）In, the drawing end（17-1）Back side panel is buckled into after pulling（7）In guarantor
Protecting band buckle（17-2）.
A kind of 6. Universal foldable automatic running dolly according to claim 1, it is characterised in that：The back side panel（7）
And front side board（18）On be uniformly distributed cut-out openings.
A kind of 7. Universal foldable automatic running dolly according to claim 1, it is characterised in that：The back side panel（7）
And front side board（18）Upper laying solar panel.
8. a kind of control method of Universal foldable automatic running dolly, is comprised the following steps that, it is characterised in that：
1）Target location is inputted or by intelligent-tracking tracking by hand-written or keyboard or voice mode, using GPS location, if
No signal is positioned using the regional geography figure downloaded；
2）Route planning is carried out, and real-time road is caught using camera, and carries out image real time transfer, by comprehensive analysis ratio
Compared with planning optimal route in real time, and determine whether road surface is flat；
3）If route is flat using traveling wheel, if route is uneven, climbing wheel stretches out along slide rail, moves；
4）In time, rapidly, accurately reach the place specified.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710747301.4A CN107499360A (en) | 2017-08-28 | 2017-08-28 | A kind of Universal foldable automatic running dolly and control method |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710747301.4A CN107499360A (en) | 2017-08-28 | 2017-08-28 | A kind of Universal foldable automatic running dolly and control method |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN107499360A true CN107499360A (en) | 2017-12-22 |
Family
ID=60692844
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201710747301.4A Pending CN107499360A (en) | 2017-08-28 | 2017-08-28 | A kind of Universal foldable automatic running dolly and control method |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN107499360A (en) |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108449038A (en) * | 2018-05-15 | 2018-08-24 | 佛山科学技术学院 | A kind of photovoltaic power generation apparatus |
| CN108518089A (en) * | 2018-04-23 | 2018-09-11 | 佛山市长郡科技有限公司 | A kind of movable public toilet considering user demand |
| CN111692494A (en) * | 2020-06-28 | 2020-09-22 | 青岛农业大学 | Trackless film and television camera car |
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| CN106774313A (en) * | 2016-12-06 | 2017-05-31 | 广州大学 | A kind of outdoor automatic obstacle-avoiding AGV air navigation aids based on multisensor |
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| JP2004010026A (en) * | 2002-06-12 | 2004-01-15 | Atsushi Ota | Wheel |
| JP2004034757A (en) * | 2002-07-01 | 2004-02-05 | Ts Pakku:Kk | Dolly device |
| JP2007008393A (en) * | 2005-07-01 | 2007-01-18 | Yoshinobu Kitagawa | Carrying truck |
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| CN203262701U (en) * | 2013-05-28 | 2013-11-06 | 赵冠男 | Chair for students |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN108518089A (en) * | 2018-04-23 | 2018-09-11 | 佛山市长郡科技有限公司 | A kind of movable public toilet considering user demand |
| CN108449038A (en) * | 2018-05-15 | 2018-08-24 | 佛山科学技术学院 | A kind of photovoltaic power generation apparatus |
| CN111692494A (en) * | 2020-06-28 | 2020-09-22 | 青岛农业大学 | Trackless film and television camera car |
| CN111692494B (en) * | 2020-06-28 | 2021-04-02 | 青岛农业大学 | Trackless film and television camera car |
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Application publication date: 20171222 |