CN204462851U - Mecanum wheel Omni-mobile crusing robot - Google Patents
Mecanum wheel Omni-mobile crusing robot Download PDFInfo
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- CN204462851U CN204462851U CN201520146841.3U CN201520146841U CN204462851U CN 204462851 U CN204462851 U CN 204462851U CN 201520146841 U CN201520146841 U CN 201520146841U CN 204462851 U CN204462851 U CN 204462851U
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- 238000004891 communication Methods 0.000 claims abstract description 20
- 238000012544 monitoring process Methods 0.000 claims abstract description 12
- 230000033001 locomotion Effects 0.000 claims description 28
- 238000007689 inspection Methods 0.000 claims description 27
- 230000005540 biological transmission Effects 0.000 claims description 12
- 238000012806 monitoring device Methods 0.000 claims description 11
- 239000003638 chemical reducing agent Substances 0.000 claims description 10
- 239000000779 smoke Substances 0.000 claims description 3
- 230000009471 action Effects 0.000 abstract description 8
- 238000006243 chemical reaction Methods 0.000 abstract 1
- 238000013519 translation Methods 0.000 description 7
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- 230000000694 effects Effects 0.000 description 2
- 238000011065 in-situ storage Methods 0.000 description 2
- 238000012986 modification Methods 0.000 description 2
- 230000004048 modification Effects 0.000 description 2
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Abstract
The utility model relates to a kind of Mecanum wheel Omni-mobile crusing robot, and comprising: mobile chassis, it comprises drive unit, navigation positional device and control device, power supply and charging device; Wherein, described drive unit comprises wheel and gearing; Described navigation positional device comprises magnetic field sensor and radio-frequency identification reader/writer; Described control device comprises control mainboard and communication device; Power supply, it is electrically connected with described control device, for providing power supply to described mobile chassis; Charging device, it is connected with described power electric, for described power source charges; Moving body, it is fixed on the top of described mobile chassis; Supervising device, it is arranged on described moving body, comprising: video monitoring apparatus and monitoring sensing device; Described remote operation controller.Mecanum wheel Omni-mobile crusing robot described in the utility model can require the action realizing start and stop or conversion track at an arbitrary position, to realize patrolling and examining power equipment in the scope of patrolling and examining comprehensively according to setting.
Description
Technical Field
The utility model relates to a mecanum wheel omnidirectional movement patrols and examines robot belongs to transport conveyor field.
Background
The Mecanum wheel omni-directional movement inspection robot is a carrying and conveying device for bearing electric inspection equipment, is applied to inspection tasks of various electric equipment devices, has single function, can mainly carry the inspection equipment to advance, retreat and turn, does not support transverse translation and in-situ rotation, and can not walk according to a preset path, so that inconvenience is brought to the inspection process.
SUMMERY OF THE UTILITY MODEL
In order to solve the problem, the utility model aims at providing a mecanum wheel omnidirectional movement patrols and examines robot, the utility model provides a robot can dexterously remove, vertically advances and moves back promptly, horizontal translation and original place rotate, can walk according to predetermined route simultaneously.
The utility model aims at realizing through the following technical scheme:
a Mecanum wheel omni-directional mobile inspection robot, comprising:
the mobile chassis comprises a driving device, a navigation positioning device, a control device, a power supply and a charging device; wherein,
the driving device comprises wheels and a transmission device, and the wheels are fixedly connected with an output shaft of the transmission device;
the navigation positioning device comprises a magnetic field sensor and a radio frequency identification reader-writer;
the control device comprises a control mainboard and a communication device, and the transmission device, the magnetic field sensor, the radio frequency identification reader-writer and the communication device are respectively electrically connected with the control mainboard; the control main board is used for controlling the movement of the robot, collecting the state information of the robot and communicating with the remote control device through the communication device;
the power supply is electrically connected with the control device and used for supplying power to the mobile chassis;
the charging device is electrically connected with the power supply and is used for charging the power supply;
a movable vehicle body fixed above the movable chassis;
monitoring device, it sets up on the removal automobile body, include: the video monitoring device is used for monitoring the surrounding environment of the robot and acquiring images; the monitoring sensing device is used for acquiring the ambient temperature, humidity and smoke information of the robot;
the remote control device is used for adjusting the moving direction of the robot and the angle of the monitoring device.
Further, the wheels are Mecanum wheels.
Furthermore, the transmission device comprises a motor and a speed reducer, an input shaft of the speed reducer is fixedly connected with an output shaft of the motor, and an output shaft of the speed reducer is fixedly connected with the wheels.
Furthermore, the driving device further comprises a coded disc, the coded disc is connected with a main shaft of the motor, and the coded disc is electrically connected with the control main board.
Further, the number of the magnetic field sensors is 4, and the magnetic field sensors are respectively arranged on the lower surface of the moving chassis.
Furthermore, the control mainboard is an ARM control board.
Further, the communication device comprises a WIFI device a and a Bluetooth device, and is used for communicating with the remote control device.
Furthermore, the remote control device is provided with an upper computer and a WIFI device b, the WIFI device b is in wireless communication with the WIFI device a and uploads received data to the upper computer, and the upper computer sends a control instruction to the robot to control the robot to advance.
Furthermore, the mobile chassis comprises a connecting piece, the mobile chassis is connected with the mobile vehicle body through the connecting piece, and the driving device, the navigation positioning device, the control device, the power supply and the charging device are respectively arranged on the connecting piece.
Further, patrolling and examining subaerial shop and being equipped with the magnetic track, the robot is in remove on the magnetic track, and be provided with the radio frequency identification label on the magnetic track, the radio frequency identification label passes through the radio frequency identification read write line reads.
The utility model has the advantages that:
the robot of the utility model takes Mecanum wheels as a walking mechanism, realizes longitudinal advance and retreat and transverse translation, can fully utilize the routing inspection space, and achieves the effect of multi-directional monitoring of power equipment in the routing inspection range; the robot includes magnetic field sensor and radio frequency identification read write line, makes it can accomplish established walking route patrolling and examining the within range, go around, control the translation around ordinary to and carry out curve walking along given orientation according to the magnetic track. The robot can stop at appointed position to reach certain precision, later can also continue to carry out next instruction action. The robot can utilize magnetic track navigation and radio frequency identification location technique to let a plurality of robots move according to the range of setting for in proper order or simultaneously to realize opening the action of opening at the optional position or alternate the orbit according to setting for the requirement.
The robot can realize the all direction movement of three degrees of freedom on the plane under mecanum wheel's effect, has the ability of zero turning radius, horizontal translation, can freely walk in narrow space or adverse circumstances, can carry out free smooth omnidirectional movement in narrow and small space, makes the robot removes with the speed and the direction of expectation are nimble freely.
The robot navigates through magnetic track and magnetic field sensor, and it has very strong stability. At key nodes, for example: the traveling control with high precision can be performed by the magnetic strip sensors around the inflection point, the stop point and the path point, so that the function of moving in any posture on the magnetic strips arranged in a grid shape is achieved.
The communication device can monitor each robot in real time, and the communication device comprises a position, a motion state, platform information such as electric quantity and the like.
The monitoring device quickly and accurately transmits the information of the environment around the robot back to a monitoring room.
The remote control device further expands the monitoring range and improves the reliability of remote monitoring.
Drawings
Fig. 1 is a front view of the mecanum wheel omnidirectional movement inspection robot of the present invention;
fig. 2 is a bottom view of the mecanum wheel omnidirectional movement inspection robot of the present invention;
fig. 3 is a left side view of the mecanum wheel omnidirectional movement inspection robot of the present invention;
fig. 4 is an oblique view of the mecanum wheel omnidirectional movement inspection robot of the present invention;
fig. 5 is a control flow chart of the mecanum wheel omnidirectional movement inspection robot.
The system comprises a mobile chassis 1, a mobile vehicle 2, a connecting piece 3, a Mecanum wheel 4, a motor 5, a magnetic field sensor 7, a radio frequency identification reader-writer 8, a monitoring device 9 and a charging device 10.
Detailed Description
The following detailed description of the embodiments of the present invention is provided with reference to the accompanying drawings and examples. The following examples are intended to illustrate the invention, but are not intended to limit the scope of the invention.
A Mecanum wheel omni-directional mobile inspection robot, comprising:
the mobile chassis 1 comprises a driving device, a navigation positioning device, a control device, a power supply and a charging device 10; wherein,
the driving device comprises wheels and a transmission device, and the wheels are fixedly connected with an output shaft of the transmission device;
the navigation positioning device comprises a magnetic field sensor 7 and a radio frequency identification reader-writer 8;
the control device comprises a control mainboard and a communication device, and the transmission device, the magnetic field sensor 7, the radio frequency identification reader-writer 8 and the communication device are respectively electrically connected with the control mainboard; the control main board is used for controlling the movement of the robot, collecting the state information of the robot and communicating with the remote control device through the communication device;
the power supply is electrically connected with the control device and used for supplying power to the mobile chassis 1;
a charging device 10 electrically connected to the power supply for charging the power supply;
a movable vehicle body 2 fixed above the movable chassis 1;
a monitoring device 9, provided on the moving body 2, comprising: the video monitoring device is used for monitoring the surrounding environment of the robot and acquiring images; the monitoring sensing device is used for acquiring the ambient temperature, humidity and smoke information of the robot;
and the remote control device is used for adjusting the moving direction of the robot and the angle of the monitoring device 9.
Further, the wheels are mecanum wheels 4.
Further, the transmission device comprises a motor 5 and a speed reducer, an input shaft of the speed reducer is fixedly connected with an output shaft of the motor 5, and an output shaft of the speed reducer is fixedly connected with the wheels.
Further, the driving device further comprises a code wheel, an input shaft of the code wheel is connected with a main shaft of the motor 5, and the code wheel is electrically connected with the control main board. The coded disc is used for reading the corner data of the motor and sending the corner data to the control main board, so that the robot data are collected.
Further, the number of the magnetic field sensors 7 is 4, and the magnetic field sensors are respectively arranged on the lower surface of the moving chassis 1.
Furthermore, the control mainboard is an ARM control board.
Further, the communication device comprises a WIFI device a and a Bluetooth device, and is used for communicating with the remote control device.
Furthermore, the remote control device is provided with an upper computer and a WIFI device b, the WIFI device b is in wireless communication with the WIFI device a and uploads received data to the upper computer, and the upper computer sends a control instruction to the robot to control the robot to advance.
Further, the mobile chassis 1 comprises a connecting piece 3, the mobile chassis 1 is connected with the mobile vehicle body 2 through the connecting piece 3, and the driving device, the navigation positioning device and the control device, and the power supply and the charging device 10 are respectively arranged on the connecting piece 3.
Further, patrolling and examining subaerial shop and being equipped with the magnetic track, the robot is in remove on the magnetic track, and be provided with the radio frequency identification label on the magnetic track, the radio frequency identification label passes through the radio frequency identification read write line reads.
Specifically, as shown in fig. 5, the driving device drives the speed reducer through the motor 5, and finally, the power is transmitted to the mecanum wheels 4, the traveling direction of the robot is controlled through the combination of the steering rotation speeds of the mecanum wheels 4, the robot can realize three-degree-of-freedom omnidirectional movement on a plane under the action of the mecanum wheels, has the capabilities of zero turning radius and transverse translation, can freely pass through a narrow space or a severe environment, can freely and smoothly move in the narrow space in all directions, and enables the robot to flexibly and freely move in a desired speed and direction. When the robot does not need to automatically walk along a specified path, the Mecanum wheel omnidirectional movement inspection robot can manually operate and control the robot by using a communication device of the robot through a mobile phone or other mobile terminals. In addition, the magnetic field sensor 7 in the robot can sense the magnetic field emitted from the magnetic track with the distance less than 5 cm, and can feed back the magnetic field to the control main board so as to perform feedback adjustment on the path of the robot, so that the path is stably maintained on the path with the magnetic track as the center line. The radio frequency identification reader-writer is used for reading the radio frequency identification tag, so that the robot is positioned.
When the robot needs to automatically walk along a specified path, a magnetic track is laid on a track needing to run, and the influence of the magnetic track on the walking of the robot can be ignored due to the fact that the thickness of the magnetic track is very small. And placing radio frequency identification tags at positions where stopping or changing the traveling direction is needed, inputting the information of each radio frequency identification tag into an upper computer in advance, and storing the corresponding position coordinate relation.
The robot is placed on a path paved on a magnetic track, the magnetic field sensor 7 is aligned right above the magnetic track, and then the robot is started and connected with an upper computer through a wifi device b, so that the robot is controlled to advance. Through the upper computer, control instructions such as forward movement, backward movement, left movement, right movement and the like can be directly sent to the robot, the radio frequency identification tags required to pass through in the path can be automatically generated by setting specific radio frequency identification tags, and the robot is guided to move to a target point and stop through the magnetic field sensor 7. When the robot runs above the radio frequency identification tag, the radio frequency identification reader-writer can read data in the radio frequency identification tag on the ground at the moment, so that the position where the robot passes is obtained and sent to the upper computer, if the planning of a path is met, the action set in the radio frequency identification tag is executed, and if the planning of the path is not met, the action before the radio frequency identification tag is read is continuously executed.
Basic movements of the Mecanum wheel omnidirectional movement inspection robot such as advancing and retreating, translation, in-situ rotation and the like are controlled by an ARM control board, magnetic field data in a magnetic field sensor 7 and data in a radio frequency identification reader-writer are firstly sent to the ARM control board, and the ARM control board controls a driving device to execute instructions sent by an upper computer in a previous period according to a programmed program, such as starting or stopping and moving along a magnetic track; meanwhile, the ARM control board also sends the state information of the robot and the information of the radio frequency identification tag to the wifi device b through the communication module, so that the upper computer can obtain the state information of the robot and the data in the radio frequency identification tag; through the artificial or autonomous judgment of the upper computer, the upper computer issues the control command to the ARM control board through the wifi device b, and then issues the command to the driving device, so as to complete the movement action transformation.
Mecanum wheel omnidirectional movement patrols and examines robot can utilize magnetic track navigation and radio frequency identification location technique to let and patrol and examine the within range a plurality ofly the robot is according to the range of setting for in proper order or remove simultaneously to the action of opening at the optional position according to setting for the requirement and opening and stop or transform the orbit, patrol and examine in order to realize patrolling and examining the comprehensive of the within range power equipment.
The foregoing is only a preferred embodiment of the present invention, and it should be noted that, for those skilled in the art, a plurality of modifications and variations can be made without departing from the technical principle of the present invention, and these modifications and variations should also be regarded as the protection scope of the present invention.
Claims (10)
1. The utility model provides a robot is patrolled and examined in mecanum wheel omnidirectional movement which characterized in that includes:
a mobile chassis (1) comprising drive means, navigation positioning means and control means, power supply and charging means (10); wherein,
the driving device comprises wheels and a transmission device, and the wheels are fixedly connected with an output shaft of the transmission device;
the navigation positioning device comprises a magnetic field sensor (7) and a radio frequency identification reader-writer (8);
the control device comprises a control mainboard and a communication device, and the transmission device, the magnetic field sensor (7), the radio frequency identification reader-writer (8) and the communication device are respectively electrically connected with the control mainboard; the control main board is used for controlling the movement of the robot, collecting the state information of the robot and communicating with the remote control device through the communication device;
the power supply is electrically connected with the control device and used for supplying power to the mobile chassis (1);
a charging device (10) electrically connected to the power source for charging the power source;
a movable vehicle body (2) fixed above the movable chassis (1);
a monitoring device (9) provided on the mobile car body (2), comprising: the video monitoring device is used for monitoring the surrounding environment of the robot and acquiring images; the monitoring sensing device is used for acquiring the ambient temperature, humidity and smoke information of the robot;
the remote control device is used for adjusting the moving direction of the robot and the angle of the monitoring device (9).
2. A mecanum wheel omni-directional mobile inspection robot according to claim 1, wherein the wheels are mecanum wheels (4).
3. The Mecanum wheel omnidirectional movement inspection robot according to claim 1, wherein the transmission device comprises a motor (5) and a speed reducer, an input shaft of the speed reducer is fixedly connected with an output shaft of the motor (5), and an output shaft of the speed reducer is fixedly connected with wheels.
4. The Omni-directional Mecanum wheel inspection robot according to claim 3, wherein the driving device further comprises a code wheel, the code wheel is connected with a main shaft of the motor (5), and the code wheel is electrically connected with the control mainboard.
5. A mecanum wheel omni-directional mobile inspection robot according to claim 1, wherein the number of magnetic field sensors (7) is 4 and each is disposed on the lower surface of the mobile chassis (1).
6. The omnidirectional mobile inspection robot with mecanum wheels according to claim 1, wherein the control main board is an ARM control board.
7. The omni-directional mobile inspection robot according to claim 1, wherein the communication device includes a WIFI device a and a bluetooth device for communicating with the remote control device.
8. The Mecanum wheel omnidirectional movement inspection robot according to claim 1, wherein the remote control device is provided with an upper computer and a WIFI device b, the WIFI device b is in wireless communication with the WIFI device a and uploads received data to the upper computer, and the upper computer sends a control command to the robot to control the robot to travel.
9. A mecanum wheel omni-directional mobile inspection robot according to claim 1, wherein the mobile chassis (1) includes a connection member (3), the mobile chassis (1) is connected with the mobile vehicle body (2) through the connection member (3), and the driving device, the navigation positioning device and the control device, the power supply and the charging device (10) are respectively disposed on the connection member (3).
10. The omnidirectional mobile inspection robot with Mecanum wheels according to claim 1, wherein a magnetic track is laid on the inspection ground, the robot moves on the magnetic track, and a radio frequency identification tag is arranged on the magnetic track and is read by the radio frequency identification reader-writer.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201520146841.3U CN204462851U (en) | 2015-03-16 | 2015-03-16 | Mecanum wheel Omni-mobile crusing robot |
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| Application Number | Priority Date | Filing Date | Title |
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| CN201520146841.3U CN204462851U (en) | 2015-03-16 | 2015-03-16 | Mecanum wheel Omni-mobile crusing robot |
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Cited By (10)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104714550A (en) * | 2015-03-11 | 2015-06-17 | 武汉汉迪机器人科技有限公司 | Mecanum wheel omni-directional mobile inspection robot |
| CN105479433A (en) * | 2016-01-04 | 2016-04-13 | 江苏科技大学 | Omnidirectional moving transfer robot with Mecanum wheels |
| CN105573326A (en) * | 2016-02-03 | 2016-05-11 | 南京聚立工程技术有限公司 | Autonomous charging system and method for mobile routing inspection polar robot |
| CN106475993A (en) * | 2016-11-21 | 2017-03-08 | 徐州云行自动化科技有限公司 | A kind of indoor positioning information gathering machine people |
| CN106711823A (en) * | 2017-03-22 | 2017-05-24 | 四川阿泰因机器人智能装备有限公司 | Power polling robot |
| CN107140057A (en) * | 2017-05-23 | 2017-09-08 | 武汉华高信息技术有限公司 | Library book is made an inventory AGV dollies |
| WO2018018625A1 (en) * | 2016-07-29 | 2018-02-01 | 深圳市大疆创新科技有限公司 | Chassis vehicle, chassis vehicle control system, chassis vehicle control method and ground mobile robot |
| CN108146537A (en) * | 2017-12-29 | 2018-06-12 | 浙江大学 | A kind of shock-absorbing inspection car suitable for indoor and outdoor |
| CN109473168A (en) * | 2018-10-09 | 2019-03-15 | 五邑大学 | A kind of medical image robot and its control, medical image recognition methods |
| WO2020062427A1 (en) * | 2018-09-25 | 2020-04-02 | 五邑大学 | Smoke inspection robot and control method therefor |
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2015
- 2015-03-16 CN CN201520146841.3U patent/CN204462851U/en not_active Expired - Fee Related
Cited By (12)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104714550A (en) * | 2015-03-11 | 2015-06-17 | 武汉汉迪机器人科技有限公司 | Mecanum wheel omni-directional mobile inspection robot |
| CN105479433A (en) * | 2016-01-04 | 2016-04-13 | 江苏科技大学 | Omnidirectional moving transfer robot with Mecanum wheels |
| CN105479433B (en) * | 2016-01-04 | 2017-06-23 | 江苏科技大学 | A kind of Mecanum wheel Omni-mobile transfer robot |
| CN105573326A (en) * | 2016-02-03 | 2016-05-11 | 南京聚立工程技术有限公司 | Autonomous charging system and method for mobile routing inspection polar robot |
| CN105573326B (en) * | 2016-02-03 | 2018-04-20 | 南京聚立科技股份有限公司 | The robot autonomous charging system in movement inspection polar region and its method |
| WO2018018625A1 (en) * | 2016-07-29 | 2018-02-01 | 深圳市大疆创新科技有限公司 | Chassis vehicle, chassis vehicle control system, chassis vehicle control method and ground mobile robot |
| CN106475993A (en) * | 2016-11-21 | 2017-03-08 | 徐州云行自动化科技有限公司 | A kind of indoor positioning information gathering machine people |
| CN106711823A (en) * | 2017-03-22 | 2017-05-24 | 四川阿泰因机器人智能装备有限公司 | Power polling robot |
| CN107140057A (en) * | 2017-05-23 | 2017-09-08 | 武汉华高信息技术有限公司 | Library book is made an inventory AGV dollies |
| CN108146537A (en) * | 2017-12-29 | 2018-06-12 | 浙江大学 | A kind of shock-absorbing inspection car suitable for indoor and outdoor |
| WO2020062427A1 (en) * | 2018-09-25 | 2020-04-02 | 五邑大学 | Smoke inspection robot and control method therefor |
| CN109473168A (en) * | 2018-10-09 | 2019-03-15 | 五邑大学 | A kind of medical image robot and its control, medical image recognition methods |
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Granted publication date: 20150708 Termination date: 20190316 |