CN206561410U - It is a kind of that there is auto-balanced detection robot of two axles from steady head - Google Patents
It is a kind of that there is auto-balanced detection robot of two axles from steady head Download PDFInfo
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- CN206561410U CN206561410U CN201720135947.2U CN201720135947U CN206561410U CN 206561410 U CN206561410 U CN 206561410U CN 201720135947 U CN201720135947 U CN 201720135947U CN 206561410 U CN206561410 U CN 206561410U
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Abstract
The utility model, which is disclosed, a kind of has auto-balanced detection robot of two axles from steady head, including two-wheeled electrodynamic balance car, two axles on the two-wheeled electrodynamic balance car are arranged on from steady head, two axle is fixed on from the detection instrument on steady head, described two-wheeled electrodynamic balance car includes chassis, two Mecanum wheels driven by the chassis, chassis main control chip is provided with described chassis, data for sending detection instrument collection, speed change and steering are realized according to two Mecanum wheel speeds of state modulator of the handheld device or host computer that are received.The utility model small volume, simple to operate, two cause the convenience of the mobile change of longitudinal direction to the selection of Mecanum wheel, the motion on chassis is no longer limited, the design of two wheels reduces vehicle body volume, while less volume is conducive to the transport of robot, more conforms to the demand of disaster relief situation.
Description
Technical field
The utility model is related to a kind of robot, especially a kind of to carry out the robot of disaster field detection.
Background technology
Because China's area is larger, province is more, so the natural calamity occurred is more, such as mud-rock flow, earthquake
Etc., while there is also unknown environment for some other dangerous situation.Also some rescue situations, due to be detected or wait to rescue
The effective coverage helped is smaller, and rescue personnel and conventional rescue or sniffing robot volume are relatively large, and locomotivity phase
To poor, sue and labour operation or detection operations are all difficult to.
Therefore, the improvement optimization of rescue system and the improvement of modern rescue and detection robot are particularly important.
Utility model content
The purpose of this utility model is to solve the defect that above-mentioned prior art is present, proposes a kind of compact, move
Various severe disaster fields can flexibly be entered, treat the situation detection of rescue personnel, and determine that it is given birth to by thermal imaging system
Sign is ordered, while vision signal is informed into rescue worker, treats that rescue personnel most preferably succours one kind of chance with two to be supplied to
Auto-balanced detection robot of the axle from steady head.
The utility model is achieved through the following technical solutions：
A kind of have auto-balanced detection robot of two axles from steady head, including two-wheeled electrodynamic balance car, is arranged on institute
State two axles on two-wheeled electrodynamic balance car from steady head, be fixed on two axle from the detection instrument on steady head, it is described
Two-wheeled electrodynamic balance car includes being provided with bottom in chassis, two Mecanum wheels driven by the chassis, described chassis
Disk main control chip, for sending the data of detection instrument collection, according to the handheld device or the state modulator of host computer received
Two Mecanum wheel speeds realize speed change and steering.
Further, described chassis main control chip is integrated with the GPS moulds of the accurate location for determining robot in real time
Block, the three-axis gyroscope balanced according to the change holding car body of vehicle body attitude and three axis accelerometer, wireless image transmission module,
Wireless data transceiver module, the wireless image transmission module is used for the data for obtaining and analyzing detection instrument collection, the nothing
Line data transmit-receive module is used for progress signal reception and transmission between handheld device or host computer.
Further, described detection instrument realizes the industrial camera of picture signal collection and for gathering including being used for
Treat the thermal imaging system of rescue personnel's information.
Further, the industrial camera is driven by FPGA drive control devices, the FPGA drive control devices with it is described
Chassis main control chip circuit connection, is controlled to start by the chassis main control chip.
Further, the signal parallel that described FPGA drive control devices are gathered industrial camera by LVDS buses is passed
It is defeated by chassis main control chip.
Further, motor and motor driver are provided with described chassis, the chassis main control chip passes through motor
Two motors of driver control drive corresponding two Mecanum wheels.
Further, two described axles are erected on the chassis from steady head by head branch, including two to control
Motor, the cradle head part main control chip for being integrated with the three-axis gyroscope sensor for surely controlling certainly, the cradle head part master control
Chip with two to controlled motor circuit be connected.
Further, described two to controlled motor include X to controlled motor and Y phase control motors, each controlled motor
With electricity tune.
Further, the battery for power supply is provided with the chassis.
Compared with prior art, what the utility model was provided there are two axles can be solved from the auto-balanced detection robot of steady head
Certainly conventional rescue robot volume is excessive, be difficult to detect some narrow regions disaster information and personnel be disaster-stricken the feelings such as to wait to rescue
Condition, two cause the convenience of the mobile change of longitudinal direction to the selection of Mecanum wheel, and the motion on chassis is no longer limited, and two wheels are set
Meter reduces vehicle body volume, can reach the effect above with fabulous.Less volume is conducive to the transport of robot simultaneously, more
Plus meet the demand of disaster relief situation.
Brief description of the drawings
Fig. 1 is the dimensional structure diagram of the utility model embodiment.
Fig. 2 is the schematic front view of the utility model embodiment.
Fig. 3 is the side schematic view of the utility model embodiment.
Fig. 4 is the schematic top plan view of the utility model embodiment.
In figure：1- Mecanum wheels；2- Mecanum wheels；3- chassis body structures；4- chassis main control chip；5- motors；
6- motor drivers；7- head supports；8-X is to controlled motor；9-Y is to controlled motor；10- cradle head part main control chips；11- works
Industry video camera；12- thermal imaging systems；13- batteries.
Embodiment
To make the purpose of this utility model, technical scheme and advantage clearer, below technical side in the utility model
Case is clearly and completely described, and described embodiment is a part of embodiment of the utility model, rather than whole realities
Apply example.All embodiments, belong to the scope of the utility model protection.
It is a kind of that there is auto-balanced detection robot of two axles from steady head, including two-wheeled electricity as shown in Fig. 1 to Fig. 4
Dynamic balancing car, two axles being arranged on the two-wheeled electrodynamic balance car from steady head, be fixed on two axle from steady head
Detection instrument, described detection instrument includes being used for the industrial camera 11 for realizing picture signal collection and waits to rescue for gathering
Help the thermal imaging system 12 of personal information.Described two-wheeled electrodynamic balance car includes chassis 3, the first wheat driven by the chassis
Chassis main control chip 4 is provided with Ke Namu wheels 1 and the second Mecanum wheel 2, described chassis 3, for sending detection instrument
The data of collection, realized according to two Mecanum wheel speeds of state modulator of the handheld device or host computer that are received speed change and
Turn to.The battery 13 for power supply is provided with the chassis 3 simultaneously, the need for meeting field work, battery 13 can be used
Lithium battery, small in volume.
Specifically, described chassis main control chip 4 is integrated with the GPS moulds of the accurate location for determining robot in real time
Block, the three-axis gyroscope balanced according to the change holding car body of vehicle body attitude and three axis accelerometer, wireless image transmission module,
Wireless data transceiver module, the wireless image transmission module is used for the data for obtaining and analyzing detection instrument collection, the nothing
Line data transmit-receive module is used for progress signal reception and transmission between handheld device or host computer.
Motor 5 and motor driver 6 are provided with described chassis 3, the chassis main control chip 4 passes through motor driver
6 two motors 5 of control drive corresponding two Mecanum wheels.
The chassis main control chip 4 controls two motors 5 to drive corresponding two chassis wheel work by motor driver 6
Make, at the same the signal of the collection three-axis gyroscope in real time of chassis main control chip 4 with the posture on the current relative ground of calculating robot and
Acceleration, angular speed, and merged by posture, Kalman filtering and the analysis of PID control scheduling algorithm calculate holding poised state
Required vehicle wheel rotational speed.And by PWM pulsewidth modulations change dutycycle method obtain maintain organism balance needed for rotating speed.Together
When by such a method control two-wheeled rotating speed can realize speed change and steering etc. act.GPS module is used to determine robot in real time
Accurate location, due to rescue site situation polytropy with it is uncertain, the determination of position is particularly important.
The detection of information is main to realize adopting for picture signal by carrying in two axles from the industrial camera 11 on steady head
Collection, thermal imaging system 12 is used to gather the information for treating rescue personnel, and the driving of industrial camera uses the He of chassis main control chip 4
The mode that FPGA controller is combined, the FPGA drive control devices are controlled to start by the chassis main control chip 4, FPGA controls
Device processed is responsible for the driving of camera, signal acquisition, while signal parallel is transferred into chassis main control chip 4 by LVDS buses is used for
Analyze view data.Image information and other information that the analytical industry camera of chassis main control chip 4 and detection sensor are collected,
Handheld device or host computer are sent to by radio receiving transmitting module.
Two described axles are located on the chassis 3 from steady head by head support 7, including two to controlled motor, collection
Into the cradle head part main control chip 10 for having the three-axis gyroscope sensor for surely controlling certainly, the cradle head part main control chip 10
With two to controlled motor circuit be connected, described two to controlled motor include X to controlled motor 8 and Y phase controls motor 9, respectively
Individual controlled motor is with electricity tune.
Two axles, mainly by gyroscope gathered data, are merged from the control of steady cradle head part by posture, and are filtered,
Stable data message is obtained, method described above obtains the attitude angle of motion, and carry out with angle on target the place of pid algorithm
Reason, to reach the effect of stable head and the purpose of PC control.
The robot of the present embodiment can realize two kinds of detection modes：Automatic detection mode, manual detection mode, and its
In, automatic detection mode is the chassis main control chip 4 by setting on robot body to realize control, and detects mould manually
Formula is to implement it by handheld device or host computer to control.The radio receiving transmitting module, wireless image transmission module and host computer,
The equipment correspondence such as hand-held, for inputting various adjusting parameters, is used when commissioning device is with manual detection mode.
It should finally illustrate, embodiment of the present utility model is simultaneously not restricted to the described embodiments, it is other any
Without departing from Spirit Essence of the present utility model and the change made under principle, modification, replacement, combine, simplify, should be equivalent
Substitute mode, is included within protection domain of the present utility model.
Claims (9)
1. a kind of have auto-balanced detection robot of two axles from steady head, it is characterised in that：Including two-wheeled electrodynamic balance car,
Two axles being arranged on the two-wheeled electrodynamic balance car from steady head, be fixed on two axle from the survey meter on steady head
Device, two Mecanum wheels that described two-wheeled electrodynamic balance car includes chassis (3), driven by the chassis, described bottom
Chassis main control chip (4) is provided with disk (3), for sending the data of detection instrument collection, according to the handheld device received
Or two Mecanum wheel speeds of the state modulator of host computer realize speed change and steering.
2. according to claim 1 have auto-balanced detection robot of two axles from steady head, it is characterised in that：Described
Chassis main control chip (4) is integrated with the GPS module of the accurate location for determining robot in real time, the change according to vehicle body attitude
The three-axis gyroscope and three axis accelerometer, wireless image transmission module of car body balance are kept, wireless data transceiver module is described
Wireless image transmission module is used for the data for obtaining and analyzing detection instrument collection, and the wireless data transceiver module is used for same hand
Signal reception and transmission are carried out between holding equipment or host computer.
3. according to claim 1 have auto-balanced detection robot of two axles from steady head, it is characterised in that：Described
Detection instrument includes the industrial camera (11) for realizing picture signal collection and the heat of rescue personnel's information is treated for gathering
Imager (12).
4. according to claim 3 have auto-balanced detection robot of two axles from steady head, it is characterised in that：The work
Industry video camera (11) is driven by FPGA drive control devices, the FPGA drive control devices and chassis main control chip (4) circuit
Connection, is controlled to start by the chassis main control chip (4).
5. according to claim 4 have auto-balanced detection robot of two axles from steady head, it is characterised in that：Described
The signal parallel that industrial camera (11) is gathered is transferred to chassis main control chip by FPGA drive control devices by LVDS buses
(4)。
6. according to claim 1 have auto-balanced detection robot of two axles from steady head, it is characterised in that：Described
Motor (5) and motor driver (6) are provided with chassis (3), the chassis main control chip (4) is controlled by motor driver (6)
Two motors (5) of system drive corresponding two Mecanum wheels.
7. according to claim 1 have auto-balanced detection robot of two axles from steady head, it is characterised in that：Described
Two axles are located on the chassis (3) from steady head by head support (7), including two to controlled motor, be integrated with for from
The cradle head part main control chip (10) of the three-axis gyroscope sensor surely controlled, the cradle head part main control chip (10) with two to
Controlled motor circuit connection.
8. according to claim 7 have auto-balanced detection robot of two axles from steady head, it is characterised in that：Described two
To controlled motor include X to controlled motor (8) and Y phase controls motor (9), each controlled motor with electricity adjust.
9. according to claim 1 have auto-balanced detection robot of two axles from steady head, it is characterised in that：The bottom
The battery (13) for power supply is provided with disk (3).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201720135947.2U CN206561410U (en) | 2017-02-15 | 2017-02-15 | It is a kind of that there is auto-balanced detection robot of two axles from steady head |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201720135947.2U CN206561410U (en) | 2017-02-15 | 2017-02-15 | It is a kind of that there is auto-balanced detection robot of two axles from steady head |
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| Publication Number | Publication Date |
|---|---|
| CN206561410U true CN206561410U (en) | 2017-10-17 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201720135947.2U Expired - Fee Related CN206561410U (en) | 2017-02-15 | 2017-02-15 | It is a kind of that there is auto-balanced detection robot of two axles from steady head |
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| CN (1) | CN206561410U (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106625569A (en) * | 2017-02-15 | 2017-05-10 | 华南理工大学 | Self-balancing detection robot with self-stabilizing biaxial platform |
| CN110561383A (en) * | 2019-09-05 | 2019-12-13 | 南京社区集网络科技有限公司 | Wisdom shopping delivery robot's drive device of marcing |
-
2017
- 2017-02-15 CN CN201720135947.2U patent/CN206561410U/en not_active Expired - Fee Related
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106625569A (en) * | 2017-02-15 | 2017-05-10 | 华南理工大学 | Self-balancing detection robot with self-stabilizing biaxial platform |
| CN110561383A (en) * | 2019-09-05 | 2019-12-13 | 南京社区集网络科技有限公司 | Wisdom shopping delivery robot's drive device of marcing |
| CN110561383B (en) * | 2019-09-05 | 2021-01-01 | 南京社区集网络科技有限公司 | Wisdom shopping delivery robot's drive device of marcing |
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|---|---|---|---|
| GR01 | Patent grant | ||
| GR01 | Patent grant | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20171017 Termination date: 20200215 |
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| CF01 | Termination of patent right due to non-payment of annual fee |