CN207164583U - Indoor following device based on Mecanum wheel - Google Patents
Indoor following device based on Mecanum wheel Download PDFInfo
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- CN207164583U CN207164583U CN201720434457.2U CN201720434457U CN207164583U CN 207164583 U CN207164583 U CN 207164583U CN 201720434457 U CN201720434457 U CN 201720434457U CN 207164583 U CN207164583 U CN 207164583U
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- mecanum wheel
- dolly
- following device
- trolley platform
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Abstract
It the utility model is related to a kind of indoor following device based on Mecanum wheel, including inertia measuring module, Mecanum wheel dolly and smart mobile phone control terminal；The inertia measuring module includes：Control system, gyroscope, accelerometer, magnetometer, the ultrasonic wave module of interconnection；The Mecanum wheel dolly includes：Trolley platform and Mecanum wheel, dolly chassis suspension, direct-drive motor, photoelectric encoder on trolley platform；Network control module of the control system including interconnection, Bus- Speed Monitoring module, travel direction are apart from detection module, microprocessor, power module, wireless communication module.The utility model employs the trolley platform based on Mecanum universal wheel, solve the problems, such as that indoor environment is narrow complicated, the 360 ° of steerings of parallel traversing and no-radius can be realized, energy fast and flexible changes the direction of motion, completion follows the action of target, can realize remote auto control to dolly.
Description
Technical field
Mecanum wheel is the utility model is related to, is followed more specifically to a kind of interior based on Mecanum wheel
Device.
Background technology
The flexibility and diversity that Mecanum wheel is moved with it, in omnidirectional, intelligent mobile equipment field has obtained widely
Using.But the normal operation of omnidirectional's intelligent mobile equipment is built upon only as the Mike of whole omnidirectional's intelligent mobile equipment
Under conditions of Na Mu wheels all work.In fact, the application for indoor following device, still there is many limitations:
The high cost and unstability of new navigator fix technology, the Uneven bearing of single Mecanum wheel and ground friction system
Several difference, the irregularities on road surface.Due to the limitation of these conditions, indoor following device is it is difficult to ensure that can be according to imagination
Normal operation.
The content of the invention
The technical problems to be solved in the utility model is, there is provided a kind of indoor following device based on Mecanum wheel.
Technical scheme is used by the utility model solves its technical problem：Construct a kind of room based on Mecanum wheel
Interior following device, including inertia measuring module, Mecanum wheel dolly and smart mobile phone control terminal；The inertia measuring module bag
Include：Control system, gyroscope, accelerometer, magnetometer, the ultrasonic wave module of interconnection；The Mecanum wheel dolly bag
Include：Trolley platform and Mecanum wheel, dolly chassis suspension, direct-drive motor, photoelectricity on trolley platform
Encoder；The control system includes network control module, Bus- Speed Monitoring module, the travel direction distance detection mould being connected with each other
Block, microprocessor, power module, wireless communication module.
In such scheme, the microprocessor model is Stm32f407.
In such scheme, the network control module uses ESP8266wifi modules.
In such scheme, the range finder module is ultrasonic sensor KS103.
In such scheme, the suspension includes the rocking arm and two rocking arms of four horizontal shock-absorbing cylinders, four Y types
Axle, the rocking arm are arranged on the both ends of the rocker arm shaft by snap ring, and one end of the shock-absorbing cylinder is connected with the rocking arm, another
End is fixed on trolley platform.
In such scheme, the network control module is suspended on pcb board side by copper post.
Implement the indoor following device of the present utility model based on Mecanum wheel, have the advantages that：
1st, the trolley platform based on Mecanum universal wheel is employed, solves the problems, such as that indoor environment is narrow complicated, energy
The 360 ° of steerings of parallel traversing and no-radius are enough realized, energy fast and flexible changes the direction of motion, completes to follow the dynamic of target
Make, remote auto control can be realized to dolly；
2nd, the suspended structure of Mecanum dolly causes Mecanum wheel all to land, and ensures the normal operation of wheel；It is sleeping
The shock-absorbing cylinder of formula reduces the difficulty of spring debugging and improves the stability of whole car body, the suction of spring impact loading
Receive and stable axletree, thus make whole platform be further added by possess bigger load capacity in the case of the lower quality of wheel.
Brief description of the drawings
Below in conjunction with drawings and Examples, the utility model is described in further detail, in accompanying drawing：
Fig. 1 is the inertia measuring module schematic diagram of following device of the utility model based on Mecanum wheel；
Fig. 2 is the computing block diagram of course angle；
Fig. 3 is position coordinates computing block diagram；
Fig. 4 is the structural representation of following device of the utility model based on Mecanum wheel；
Fig. 5 is the structural representation of dolly chassis suspension；
Fig. 6 is Fig. 5 top view.
Embodiment
In order to which the technical characteristics of the utility model, purpose and effect are more clearly understood, it is detailed now to compare accompanying drawing
Illustrate specific embodiment of the present utility model.
As shown in figures 1 to 6, indoor following device of the utility model based on Mecanum wheel 6 include inertia measuring module,
The dolly of Mecanum wheel 6 and smart mobile phone control terminal.
Inertia measuring module includes：Control system, gyroscope 2, accelerometer 4, magnetometer 3, ultrasonic wave module；Mike receives
The dolly of nurse wheel 6 includes：Mecanum wheel 6, dolly chassis suspension, trolley platform 7, direct-drive motor 13, photoelectric coding
Device 5；Control system includes：Network control module, Bus- Speed Monitoring module, travel direction are apart from detection module, microprocessor 1, electricity
Source module, wireless communication module.
Gyroscope 2, for measuring the angular speed of following device and row angle partially.Accelerometer 4, for measuring acceleration
Convert angular velocity.Magnetometer 3, judge the orientation of following device for testing magnetic field intensity and direction.Inertia measuring module
The size changed for the change angle and move distance that detect the direction of motion for being followed target, and current seat is returned in real time
Cursor position value；
Ultrasonic wave module, avoidance and auxiliary for interior suppress the error of inertia measuring module.Microprocessor 1, use
The displacement of following device is calculated in integrating sensor measurement data.Network control module includes being used to carry out with mobile phone end
Connection, realize the transmission of the feedback and the control instruction to following device of the information of following device.Power module, for whole
Device is powered.
Trolley platform 7, for providing a stabilization, firm platform to whole following device.Dolly chassis suspension,
For ensureing the uniform load of Mecanum wheel 6 and the landing property of each wheel.Direct-drive motor 13, for being supplied to
The stable driving power of Mecanum wheel 6.Photoelectric encoder 5, the rotating speed of wheel is conversed for reading accurately umber of pulse
Or the number of turns turned over.Dolly Bus- Speed Monitoring module, the photoelectricity being mainly connected by the rotating shaft with photoelectric direct stream encryption motor 13 are compiled
Code device 5 is formed, and the traveling instantaneous velocity size of dolly is followed for detecting.
Travel direction is apart from detection module, mainly by accelerometer 4, photoelectric encoder 5, gyroscope 2 and the structure of magnetometer 3
Into for detecting the travel direction distance of vehicle, and the change angle of the direction of motion.
Network control module uses ESP8266wifi modules, powerful internal operation LWIP agreements, realizes networking control
System.Network control module is suspended on pcb board side by copper post, beneficial to the radiating of whole module.PCB back side large area uses
Hatched modes cover Copper treatment, have also carried out electromagnetic shielding processing to high frequency, the part shoved.
Range finder module is ultrasonic sensor KS103, can with the barrier in sensing chamber and following device with its away from
From.
Intelligent following device using the trolley platform 7 based on Mecanum wheel 6, can realize it is parallel traversing and
360 ° of steerings of no-radius, energy fast and flexible change the direction of motion, complete to follow the action of target.
Suspension includes the rocking arm 8 of four horizontal 12, four Y types of shock-absorbing cylinder and two rocker arm shafts 11, rocking arm 8 pass through
Snap ring 10 is arranged on the both ends of the rocker arm shaft 11, and one end of shock-absorbing cylinder 12 is connected with rocking arm 8, and the other end is fixed on trolley platform
On 7.When road surface of the wheel by out-of-flatness, vibration damping can be played by the impact place of production being subject to the spring of shock-absorbing cylinder 12
Effect.Horizontal shock-absorbing cylinder 12 reduces the difficulty of spring debugging and improves the stability of whole car body, spring pair
The absorption of shock loading and stable axletree, thus make whole platform be further added by possessing in the case of the lower quality of wheel it is bigger
Load capacity.
Utility model works principle is as follows：
Indoor operation following device, wireless receiving module is sent instructions to by mobile phone control end and (or follows the position of target
Put coordinate), control direct current generator 13 to drive moving of car by Stm32f407 microprocessors 1, microprocessor 1 is read in motion process
The real time data of sensor is taken, and stores the valid data that next sampling period needs are used, computing is then carried out and constantly adjusts
The movement locus followed in whole dolly room, be finally completed interior follows action.
The velocity attitude of dolly is followed by following the course angle of dolly to determine.Course angle is defined as to follow dolly traveling side
To projection in the horizontal plane and the angle in latitude line E directions.
The deflection angle theta for being followed target of system operations1Deflection angle theta with following dolly2Obtained by blending algorithm.Its
In, it is followed angular speed, accelerometer 44 that the deflection that target offset angle is measured by magnetometer 33 measures with gyroscope 22
The data measured are calculated；The deflection and gyroscope for following the course angle of dolly to be measured by magnetometer 37, accelerometer 48
26 angular speed measured are calculated.
The velocity magnitude of dolly is followed to be determined by the photoelectric encoder 5 with being driven axis connection.Processor 1 passes through quadrature decoder
Read the umber of pulse that photoelectric encoder 5 exports in the unit interval and measure the angular speed of power transmission shaft, and then obtain following the car of dolly
Speed.
Definition is X-axis positive direction along latitude line E directions, is Y-axis positive direction along meridian N directions.Follow dolly and by with
Synthesized with the velocity of target in the horizontal direction by the speed Vx of X-axis and the speed Vy of Y-axis.Wherein, Vx=V*COS
θ1, Vy=V COS θ2。
Real-time coordinates data are stored into chip 924C02 by IIC communications.When system starts again at operation, processor
1 can get and be followed target and following dolly with respect to the position coordinates of last registration.
The inertia measuring module that target is followed in device is entered the data obtained by each sensor by blending algorithm
Row fusion, so as to obtain being followed the motion final coordinate of target.Initial coordinate when Xi, Yi start every time for system, XG, YG
Component on the X of the distance respectively calculated by photoelectric encoder 5, Y-direction.To Vx1, Vy1 integrates to obtain X-axis respectively
With the relative displacement of Y-axis, the displacement is added with initial coordinate, and the feedback compensation of the absolute distance of encoded device 5, can be obtained
More accurately coordinate.
By following the initial position of dolly and following dolly relative displacement, dead reckoning is relied on, is compiled by photoelectricity
Code device 5 records displacement cumulative amount, gyroscope 2 and accelerometer 4 obtains angular speed and linear acceleration data follows dolly to calculate
Position coordinates.And corrected using outer shroud to suppress to navigate the cumulative errors of position algorithm.
Embodiment of the present utility model is described above in conjunction with accompanying drawing, but the utility model is not limited to
The embodiment stated, above-mentioned embodiment is only schematical, rather than restricted, this area it is common
Technical staff is not departing from the utility model aims and scope of the claimed protection situation under enlightenment of the present utility model
Under, many forms can be also made, these are belonged within protection of the present utility model.
Claims (3)
1. a kind of indoor following device based on Mecanum wheel, including inertia measuring module, Mecanum wheel dolly and intelligence
Mobile phone control end；The inertia measuring module includes：It is the control system of interconnection, gyroscope, accelerometer, magnetometer, super
Sound wave module；The Mecanum wheel dolly includes：Trolley platform and Mecanum wheel on trolley platform, small underbody
Disk suspension, direct-drive motor, photoelectric encoder；The control system includes network control module, the car being connected with each other
Fast detection module, travel direction are apart from detection module, microprocessor, power module, wireless communication module；Characterized in that, institute
State suspension and include four horizontal shock-absorbing cylinders, the rocking arm of four Y types and two rocker arm shafts, the rocking arm and installed by snap ring
At the both ends of the rocker arm shaft, one end of the shock-absorbing cylinder is connected with the rocking arm, and the other end is fixed on trolley platform；It is described
Network control module is suspended on pcb board side by copper post.
2. the indoor following device according to claim 1 based on Mecanum wheel, it is characterised in that the microprocessor
Model Stm32f407.
3. the indoor following device according to claim 1 based on Mecanum wheel, it is characterised in that the network control
Module uses ESP8266wifi modules.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201720434457.2U CN207164583U (en) | 2017-04-24 | 2017-04-24 | Indoor following device based on Mecanum wheel |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201720434457.2U CN207164583U (en) | 2017-04-24 | 2017-04-24 | Indoor following device based on Mecanum wheel |
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| Publication Number | Publication Date |
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| CN207164583U true CN207164583U (en) | 2018-03-30 |
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ID=61710012
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| CN201720434457.2U Active CN207164583U (en) | 2017-04-24 | 2017-04-24 | Indoor following device based on Mecanum wheel |
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Cited By (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108563227A (en) * | 2018-04-20 | 2018-09-21 | 武汉大学 | A kind of motion control method of the 2D wheeled robots based on movable castor |
| CN108930890A (en) * | 2018-07-20 | 2018-12-04 | 辽宁工业大学 | A kind of packaged type external display screen bracket and its control method for driving assistance system experiment porch |
| CN110032213A (en) * | 2019-04-11 | 2019-07-19 | 深圳市踏路科技有限公司 | Robot system for tracking and robot follower method |
| CN111438678A (en) * | 2020-05-22 | 2020-07-24 | 陕西科技大学 | Intelligent shopping following robot and method |
| CN111823228A (en) * | 2020-06-08 | 2020-10-27 | 中国人民解放军战略支援部队航天工程大学 | Indoor following robot system and operation method |
| CN112857393A (en) * | 2021-01-30 | 2021-05-28 | 厦门攸信信息技术有限公司 | Plane positioning and mileage metering method of Mecanum wheel platform |
| CN117770972A (en) * | 2024-02-27 | 2024-03-29 | 北京云力境安科技有限公司 | Control method and related device for endoscope control trolley |
-
2017
- 2017-04-24 CN CN201720434457.2U patent/CN207164583U/en active Active
Cited By (10)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108563227A (en) * | 2018-04-20 | 2018-09-21 | 武汉大学 | A kind of motion control method of the 2D wheeled robots based on movable castor |
| CN108563227B (en) * | 2018-04-20 | 2020-12-18 | 武汉大学 | Motion control method of 2D wheeled robot based on movable caster |
| CN108930890A (en) * | 2018-07-20 | 2018-12-04 | 辽宁工业大学 | A kind of packaged type external display screen bracket and its control method for driving assistance system experiment porch |
| CN110032213A (en) * | 2019-04-11 | 2019-07-19 | 深圳市踏路科技有限公司 | Robot system for tracking and robot follower method |
| CN111438678A (en) * | 2020-05-22 | 2020-07-24 | 陕西科技大学 | Intelligent shopping following robot and method |
| CN111823228A (en) * | 2020-06-08 | 2020-10-27 | 中国人民解放军战略支援部队航天工程大学 | Indoor following robot system and operation method |
| CN112857393A (en) * | 2021-01-30 | 2021-05-28 | 厦门攸信信息技术有限公司 | Plane positioning and mileage metering method of Mecanum wheel platform |
| CN112857393B (en) * | 2021-01-30 | 2022-05-17 | 厦门攸信信息技术有限公司 | Plane positioning and mileage metering method of Mecanum wheel platform |
| CN117770972A (en) * | 2024-02-27 | 2024-03-29 | 北京云力境安科技有限公司 | Control method and related device for endoscope control trolley |
| CN117770972B (en) * | 2024-02-27 | 2024-05-28 | 北京云力境安科技有限公司 | Control method and related device for endoscope control trolley |
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