An omnidirectional mobile chassis, an omnidirectional mobile chassis system and a robot system

Abstract

The embodiments of the present invention relate to the field of robot structure, and disclose an omnidirectional chassis, an omnidirectional chassis system, and a robot system. The omnidirectional chassis of the present invention includes: a chassis frame, a first driving wheel group and a second driving wheel group, wherein the first driving wheel group and the second driving wheel group are both arranged below the chassis frame; the first driving wheel group is arranged along a first direction, and the driving direction of the first driving wheel group is consistent with the second direction, wherein the central axis of the first driving wheel group and the central axis of the second driving wheel group form a T-shape, and the second direction is the direction in which the chassis frame moves forward; the second driving wheel group is arranged along the second direction, and the driving direction of the second driving wheel group is consistent with the first direction. This embodiment enables the chassis to move quickly and accurately, and improves the movement accuracy of the omnidirectional chassis.

Description

Technical Field

[0001] The embodiments of the present invention relate to the field of robot structures, and in particular to an omnidirectionally movable chassis, an omnidirectionally movable chassis system and a robot system. Background Art

[0002] There is huge demand and potential in the robot market. Take the battery-swapping robot as an example. With the continuous increase in the new energy vehicle market, the demand for electricity from new energy vehicles has also continued to grow. In 2018, the number of pure electric vehicles reached 2.21 million, and it is expected to reach 35 million by the end of 2025. In 2020, the annual electricity consumption of electric vehicles will reach 40 billion kWh, and it is expected that by 2025, the annual electricity consumption of electric vehicles will exceed 280 billion kWh, which will bring a market size of about 170 billion yuan. As the core equipment to solve the problem of automatic battery replacement for electric vehicles, the application prospects of battery-swapping robots are huge.

[0003] The inventors have discovered that robots in related technologies, including battery-swap robots, have problems such as poor chassis movement control accuracy and complex drive control algorithms. Summary of the invention

[0004] The purpose of the embodiments of the present invention is to provide an omnidirectional mobile chassis, an omnidirectional mobile chassis system and a robot system, so that the chassis can move quickly and accurately, and the movement accuracy of the omnidirectional mobile chassis is improved.

[0005] To solve the above technical problems, an embodiment of the present invention provides an omnidirectional mobile chassis, including: a chassis frame, a first driving wheel group and a second driving wheel group, the first driving wheel group and the second driving wheel group are both arranged below the chassis frame; the first driving wheel group is arranged along a first direction, and the driving direction of the first driving wheel group is consistent with the second direction, wherein the first direction is perpendicular to the second direction, and the second direction is the forward direction of the chassis frame; the second driving wheel group is arranged along the second direction, and the driving direction of the second driving wheel group is consistent with the first direction; wherein the central axis of the first driving wheel group and the central axis of the second driving wheel group form a T shape.

[0006] An embodiment of the present invention further provides an omnidirectional mobile chassis system, comprising: an operating terminal and the above-mentioned omnidirectional mobile chassis; the operating terminal is communicatively connected with the omnidirectional mobile chassis for sending motion instructions; the omnidirectional mobile chassis moves according to the motion instructions.

[0007] An embodiment of the present invention further provides a robot system, comprising: a robot body; and the above-mentioned omnidirectional movable chassis.

[0008] Compared with the prior art, the embodiment of the present invention is that the first driving wheel set is arranged along the first direction, the second driving wheel set is arranged along the second direction, and the first direction and the second direction are perpendicular, the second direction is the direction in which the chassis frame moves forward, the driving direction of the first driving wheel set is consistent with the second direction, the driving direction of the second driving wheel set is consistent with the first direction, and the central axis of the first driving wheel set and the central axis of the second driving wheel set form a T shape. By separately arranging the driving wheel sets of the two movement directions, the first driving wheel set can be controlled to move in the second direction by itself, or the second driving wheel set can be controlled to move in the first direction by itself. Since the first driving wheel set and the second driving wheel set do not need to generate a force at the same time to make the chassis frame move in the second direction, the decoupling of the first direction and the second direction movement is achieved, the driving algorithm corresponding to the omnidirectional chassis is simplified, and the speed of the movement of the omnidirectional chassis and the speed of the movement response are improved; in addition, since each driving wheel is driven by its own driving motor, and each driving motor can realize the control of the rotation speed and the rotation direction of the corresponding driving wheel, the accuracy of the movement control of the chassis in each direction can be improved, thereby improving the positioning accuracy of the omnidirectional chassis.

[0009] In addition, the first drive wheel group includes: two first drive wheels, and two first drive motors respectively used to drive the two first drive wheels, each first drive wheel is rigidly connected to the output shaft of the first drive motor corresponding to the first drive motor, each first drive motor is connected to the control module for communication, and each first drive motor is controlled by the control module; wherein each first drive wheel and each first drive motor corresponding to the first drive motor are arranged below the chassis frame along the first direction. Since the first drive wheel group includes two first drive wheels and the first drive motor corresponding to each first drive wheel one by one, each first drive motor can control the corresponding first drive wheel to rotate, and the first drive motor is connected to the control module for communication, so that the control module drives the first drive wheel to rotate by controlling the drive motor, and realizes the movement in the second direction when the two first drive wheels are in the same direction and speed, and realizes the turning function when the two first drive wheels are differential, and the control is simple and flexible.

[0010] In addition, the omnidirectional chassis further includes: a first driven wheel group consisting of a first driven wheel and a second driven wheel; the first driven wheel and the second driven wheel are both arranged below the chassis frame along the first direction, and the first driven wheel and a first driving wheel are symmetrically arranged, and the second driven wheel and another first driving wheel are symmetrically arranged; the central axis of the first driven wheel group, the central axis of the first driving wheel group, and the central axis of the second driving wheel group form an I-shape. By symmetrically arranging the first driven wheel and the second driven wheel, and the central axis of the first driven wheel group, the central axis of the first driving wheel group, and the central axis of the second driving wheel group form an I-shape, the addition of the first driven wheel group makes the movement of the chassis frame more stable, improves the stability of the omnidirectional chassis, increases the speed of movement, and saves driving force.

[0011] In addition, the second drive wheel set includes: two second drive wheels, and two second drive motors respectively used to drive the two second drive wheels, each second drive wheel is rigidly connected to the output shaft of the second drive motor corresponding to the second drive motor, each second drive motor is connected to the control module for communication, and each second drive motor is controlled by the control module; wherein each second drive wheel and the second drive motor corresponding to the second drive motor are arranged below the chassis frame along the second direction. Since the second drive wheel set includes two second drive wheels and second drive motors corresponding to each second drive wheel one by one, each second drive motor can control the corresponding second drive wheel to rotate, and the second drive motor is connected to the control module for communication, so that the control module drives the second drive wheel to rotate by controlling the drive motor, and when the two second drive wheels are in the same direction and speed, the movement in the first direction is realized, and when the two second drive wheels are at a differential speed, the turning function is realized, and the control is simple and flexible.

[0012] In addition, the central axis of the two second driving wheels passes through the center of gravity of the chassis frame. The line formed by the two second driving wheels passes through the center of gravity of the chassis, which can ensure that when the second driving wheel set is working, the omnidirectional mobile chassis can maintain balance and ensure the stability of the omnidirectional mobile chassis during movement.

[0013] In addition, the shape of the chassis frame includes any one of the following: circular and polygonal; a plurality of grooves are provided below the chassis frame, and the plurality of grooves are used to install the first drive wheel set and the second drive wheel set respectively. The chassis frame has a variety of shapes, which improves the applicability of the omnidirectional mobile chassis; in addition, a plurality of grooves are provided below the chassis frame for installing the first drive wheel set and the second drive wheel set, so that the center of gravity of the omnidirectional mobile chassis can be lowered, and the stability of the omnidirectional mobile chassis can be further improved.

[0014] In addition, the driving wheels in the first driving wheel set and the second driving wheel set both include omnidirectional wheels. The omnidirectional wheel arrangement can reduce resistance during movement in different directions, increase the speed of movement of the omnidirectional mobile chassis, and save driving force.

[0015] In addition, the bottom of the chassis frame includes: The bottom of the chassis frame includes: a first reserved area and a second reserved area; the first reserved area and the second reserved area are symmetrically arranged at the two ends of the bottom of the chassis frame with the center line of the chassis frame as the symmetry axis, and the center line is parallel to the first direction; the first drive wheel set and the second drive wheel set are arranged in the first reserved area and the second reserved area. The first reserved area and the second reserved area are used to set the first drive wheel set and the second drive wheel set, and the first reserved area and the second reserved area are symmetrically arranged at the two ends of the bottom of the chassis frame with the center line of the chassis frame as the symmetry axis. Since the reserved area only occupies the two ends of the chassis frame, the first drive wheel set and the second drive wheel set are arranged in the two reserved areas, which can effectively reduce the occupation of the drive wheel set on the boundary areas below the chassis frame, improve the rational use of the space below the chassis frame, and effectively solve the problem that there is no reserved space on the side of the chassis frame and the drive wheel cannot be installed.

[0016] In addition, the omnidirectional mobile chassis also includes a control module arranged on the chassis frame, the control module is respectively connected to the first drive wheel set and the second drive wheel set in communication; the control module is specifically used to: receive a motion instruction sent by the operation terminal; convert the motion instruction into a drive instruction; send the drive instruction to the first drive wheel set and / or the second drive wheel set to control the first drive wheel set and / or the second drive wheel set. The control module can receive the motion instruction sent by the operation terminal, and then control the first drive wheel set and the second drive wheel set.

[0017] In addition, the two first driving wheels of the first driving wheel set rotate differentially to make the omnidirectional chassis turn; the two first driving wheels in the first driving wheel set rotate at the same speed and in the same direction to make the omnidirectional chassis move in the second direction.

[0018] In addition, the two second driving wheels in the second driving wheel set rotate differentially to make the omnidirectional chassis turn; the two second driving wheels in the second driving wheel set rotate at the same speed and in the same direction to make the omnidirectional chassis move in the first direction. BRIEF DESCRIPTION OF THE DRAWINGS

[0019] One or more embodiments are exemplarily described by pictures in the corresponding drawings, and these exemplified descriptions do not constitute limitations on the embodiments. Elements with the same reference numerals in the drawings represent similar elements, and unless otherwise stated, the figures in the drawings do not constitute proportional limitations.

[0020] Figure 1 is a schematic diagram of a specific structure of an omnidirectional mobile chassis mentioned in the first embodiment of the present invention;

[0021] Figure 2 is a schematic diagram of a chassis frame structure in an omnidirectionally movable chassis mentioned in the first embodiment of the present invention;

[0022] Figure 3 is a side view of an omnidirectional mobile chassis mentioned in a first embodiment of the present invention;

[0023] Figure 4 is a schematic diagram of a chassis frame in an omnidirectionally movable chassis mentioned in a second embodiment of the present invention;

[0024] Figure 5 is a block diagram of an omnidirectional mobile chassis system according to a third embodiment of the present invention;

[0025] Figure 6 is a block diagram of a robot system according to a fourth embodiment of the present invention. DETAILED DESCRIPTION

[0026] In order to make the purpose, technical scheme and advantages of the embodiments of the present invention clearer, the following will be described in detail with reference to the accompanying drawings. However, it will be appreciated by those skilled in the art that in the various embodiments of the present invention, many technical details are provided in order to enable the reader to better understand the present application. However, even without these technical details and various changes and modifications based on the following embodiments, the technical scheme claimed in the present application can be implemented.

[0027] The following embodiments are divided for the convenience of description and shall not constitute any limitation on the specific implementation of the present invention. The embodiments may be combined with each other and referenced to each other without contradiction.

[0028] The chassis of robots in the prior art are usually equipped with three 120-degree omnidirectional wheels. A chassis with this structure needs to drive the three omnidirectional wheels at the same time to make the chassis move in a specified direction. The driving control algorithm of the chassis is very complicated. Since the direction needs to be determined by controlling the three wheels together, if the direction of one of the wheels deviates, the direction of the chassis movement will deviate a lot from the expected direction, thereby causing the problem of poor positioning accuracy.

[0029] The first embodiment of the present invention relates to an omnidirectional chassis. The omnidirectional chassis can be used to install a robot body, such as a body part of a battery-swapping robot. The specific structure of the omnidirectional chassis 1 is as follows: Figure 1 As shown, it includes: a chassis frame 10 , a first driving wheel set 30 and a second driving wheel set 40 .

[0030] The first driving wheel set 30 and the second driving wheel set 40 are both arranged below the chassis frame, and the bottom of the chassis frame can be a side close to the ground. The shape of the chassis frame 10 can be circular or polygonal, for example, a triangle, a square, a regular hexagon, etc. In this embodiment, the chassis frame is described by taking the most common square as an example.

[0031] The first driving wheel set 30 is arranged along the first direction, and the driving direction of the first driving wheel set is consistent with the second direction, wherein the first direction is perpendicular to the second direction. The second driving wheel set 40 is arranged along the second direction, and the driving direction of the second driving wheel set 40 is consistent with the first direction. The center axis of the first driving wheel set 30 and the center axis of the second driving wheel set 40 form a T shape. In one embodiment, the first direction may be a horizontal X-axis direction, and the second direction may be a Y-direction perpendicular to the X-axis.

[0032] The bottom of the chassis frame includes: a first reserved area 101-1 and a second reserved area 101-2; the first reserved area 101-1 and the second reserved area 101-2 are symmetrically arranged at both ends of the bottom of the chassis frame with the center line of the chassis frame 10 as the symmetry axis, and the center line is parallel to the first direction; the first driving wheel set 30 and the second driving wheel set 40 are arranged in the first reserved area 101-1 and the second reserved area 101-2. Figure 1 As shown, the chassis frame 10 can be a complete square three-dimensional structure, the lower side of the chassis frame is the side close to the ground, the upper side of the chassis frame is the side opposite to the lower side of the chassis frame, and a receiving groove 102 can be set above the chassis frame for placing the main body parts corresponding to the chassis, for example, the main body parts of the robot; the shape of the receiving groove 102 corresponds to the main body parts so that the main body parts can be seamlessly accommodated.

[0033] In order to facilitate the arrangement of the first driving wheel set 30 and the second driving wheel set 40 below the chassis frame and reduce the space occupied below the chassis frame, a first reserved area 101-1 and a second reserved area 101-2 can be pre-divided. The first reserved area 101-1 and the second reserved area 101-2 are symmetrically arranged at both ends below the chassis frame with the center line of the chassis frame 10 as the symmetry axis, and the center line is parallel to the first direction. For example, the top view of the chassis frame 10 is as follows: Figure 1 The rectangle shown can use the side close to the front of the chassis frame (for example, the side consistent with the front of the robot body as the front of the chassis frame) as the first reserved area 101-1, and the second reserved area 101-2 is symmetrically arranged with the first reserved area 101-1. The first drive wheel group 30 and the second drive wheel group 40 are arranged in the first reserved area 101-1 and the second reserved area 101-2. Since the reserved area only occupies the two ends of the chassis frame, the first drive wheel group 30 and the second drive wheel group 40 are arranged in the two reserved areas to limit the area where the first drive wheel group 30 and the second drive wheel group 40 are installed, thereby improving the rational use of the space under the chassis frame, and effectively solving the problem that there is no reserved space on the side of the chassis frame and the drive wheels cannot be installed. Taking the battery-swap robot as an example, it can be Figure 1The guide rails are installed on the two second side edges, and since the first driving wheel set and the second driving wheel set do not need to be installed on both sides, the installation space is saved.

[0034] In one embodiment, the omnidirectional mobile chassis 1 may further include a control module 20 (due to occlusion, Figure 1 ), and the control module can be arranged inside the chassis frame 10, and communicate with the first drive wheel set 30 and the second drive wheel set 40 respectively, for controlling the first drive wheel set 30 and the second drive wheel set 40.

[0035] Specifically, the chassis frame 10 may be a three-dimensional structure, and the control module may be disposed inside the chassis frame 10 to avoid being exposed to the outside and causing damage. Figure 1 Not shown in the figure. The control module 20 can be a microprocessor such as a microcontroller unit (MCU). The control module 20 can be connected to the first drive wheel group 30 and the second drive wheel group 40 by wireless connection, or by wired connection. The control module can store drive instructions for controlling the first drive wheel group 30 and the second drive wheel group 40; it can also receive motion instructions sent by the operation terminal, convert the motion instructions into drive instructions, and send the drive instructions to the first drive wheel group 30 and / or the second drive wheel group 40 to control the first drive wheel group 30 and / or the second drive wheel group 40. The operation terminal can be a device outside the chassis of the omnidirectional movement, and the operation terminal is wirelessly connected or wired to the control module. The operation terminal sends the motion instructions to the control module, and the control module converts the motion instructions into drive instructions, thereby controlling the first drive wheel group and the second drive wheel group.

[0036] like Figure 1 The first driving wheel set 30 is arranged along the first direction, and the driving direction of the first driving wheel set 30 is consistent with the second direction, wherein the first direction is perpendicular to the second direction, and the second direction is the direction in which the chassis frame moves forward; the second driving wheel set 40 is arranged along the second direction, and the driving direction of the second driving wheel set 40 is consistent with the first direction, and the central axis of the first driving wheel set and the central axis of the second driving wheel set form a T shape. For ease of understanding, the following is combined with Figure 1 and Figure 2 The arrangement of the first driving wheel set 30 and the second driving wheel set 40 is described in detail. Figure 2 It is a schematic diagram of the structure below the chassis frame.

[0037] In a specific implementation, the first driving wheel set 30 includes: two first driving wheels (such as Figure 2 301-1 and 301-2 in the figure), and two first driving motors (such as Figure 2 302-1 and 302-2), each first driving wheel is rigidly connected to the output shaft of the first driving motor corresponding to each other, each first driving motor is in communication connection with the control module, and the first driving motor 302-1 and the first driving motor 302-2 are controlled by the control module; wherein each first driving wheel 301-1 and the first driving motor 301-2 and the first driving motor 302-1 and the first driving motor 302-2 corresponding to each other are arranged in the second reserved area 101-2 below the chassis frame along the first direction. In one embodiment, the control module is arranged in the chassis frame.

[0038] In order to maintain the balance of the chassis frame 10 during movement, the first driving wheel 301-1 and the other first driving wheel 301-2 may be arranged in the second reserved area 101-2 below the chassis frame 10. Figure 2 The arrangement shown. The first drive wheel 301-1 is rigidly connected to the output shaft of the first drive motor 302-1, so the second drive motor 302-1 is arranged adjacent to the first drive wheel 301-1. The two first drive wheels of the first drive wheel set 30 (i.e., the first drive wheel 301-1 and the other first drive wheel 301-2) rotate at a differential speed to make the omnidirectional chassis turn; the two first drive wheels in the first drive wheel set 30 (i.e., the first drive wheel 301-1 and the other first drive wheel 301-2) rotate at the same speed and in the same direction to make the omnidirectional chassis move along the second direction.

[0039] For ease of understanding, the first direction is Figure 2 The direction of the X axis in the second direction is Figure 2 The Y-axis direction.

[0040] The working principle of the first driving wheel group 30 is introduced below. The first driving motor 302-1 drives the first driving wheel 301-1 to rotate according to the received driving instruction, and the other first driving motor 302-2 drives the first driving wheel 301-2 to rotate according to the received driving instruction. The driving instruction comes from the control module. When the first driving wheel 301-1 and the other first driving wheel 301-2 rotate in the same direction and at the same speed, the two first driving wheels of the first driving wheel group 30 move in the second direction; when the first driving wheel 301-1 and the other first driving wheel 301-2 rotate differentially, the omnidirectional chassis 1 can achieve turning movement; when the first driving wheel 301-1 and the other first driving wheel 301-2 rotate in opposite directions, the omnidirectional chassis 1 achieves rotation in place.

[0041] The second driving wheel set 40 includes: two second driving wheels (such as Figure 2 401-1 and 401-2), and two second drive motors ( Figure 1and Figure 2 Each second drive wheel is rigidly connected to the output shaft of the second drive motor, each second drive motor is in communication with the control module, and the control module controls each second drive motor; wherein each second drive wheel and each second drive motor are arranged below the chassis frame along the second direction. In one embodiment, the control module is arranged inside the chassis frame.

[0042] Specifically, in order to maintain the balance of the chassis frame 10 during movement, the central axes of the two second driving wheels 401-1 and 401-2 pass through the center of gravity of the chassis frame, such as Figure 2 The dashed line shown passes through the center of gravity O; Figure 2 As shown, the second drive wheel 401-1 can be arranged in the first reserved area 101-1, and the other second drive wheel 401-2 is arranged in the second reserved area 101-2. Each second drive wheel is rigidly connected to the output shaft of the corresponding second drive motor, so each second drive motor is arranged adjacent to the corresponding second drive wheel. The two second drive wheels in the second drive wheel group 40 (i.e., the second drive wheel 401-1 and the other second drive wheel 401-2) rotate at a differential speed to make the omnidirectional chassis turn; the two second drive wheels in the second drive wheel group 40 (i.e., the second drive wheel 401-1 and the other second drive wheel 401-2) rotate at the same speed and in the same direction to make the omnidirectional chassis move along the first direction.

[0043] The working principle of the second driving wheel set 40 is similar to that of the first driving wheel set 30. The second driving motor ( Figure 1 and Figure 2 The second driving wheel 401-1 is driven by a second driving motor (not shown) according to the received driving instruction, and the other second driving motor drives the second driving wheel 401-2 to rotate according to the received driving instruction. The driving instruction comes from the control module. When the second driving wheel 401-1 and the other second driving wheel 401-2 rotate in the same direction and at the same speed, the two second driving wheels of the second driving wheel group 40 move in the first direction; when the second driving wheel 401-1 and the other second driving wheel 401-2 rotate differentially, the omnidirectional chassis 1 can realize the function of turning; when the second driving wheel 401-1 and the other second driving wheel 401-2 rotate in opposite directions, the omnidirectional chassis 1 can realize the function of rotating in place.

[0044] The first driving wheel set 301 and the second driving wheel set 401 can also be driven at the same time. For example, the first driving wheel 301-1 and the first driving wheel 301-1 in the first driving wheel set 301 are both driven in the positive direction of the Y axis (such as Figure 2 The second driving wheel 401-1 and the second driving wheel 401-2 in the second driving wheel group 401 rotate at the same speed in the positive direction of the X axis (as shown in the Y-axis direction). Figure 2 The omnidirectionally movable chassis 1 rotates at the same speed as the X-axis direction (as shown in the figure), the omnidirectionally movable chassis 1 will move in a direction inclined to the X-axis. The inclination angle can be the angle between the movement direction and the positive direction of the X-axis. The angle size is related to the rotation speed and rotation direction of the first driving wheel in the first driving wheel group 30. At the same time, the angle size is also related to the rotation speed and rotation direction of the second driving wheel in the second driving wheel group 40.

[0045] It should be noted that, in order to reduce the resistance of the omnidirectional chassis during movement and save driving force, the driving wheels in the first driving wheel set 30 and the second driving wheel set 40 both include omnidirectional wheels; for example, the main driving direction of the first driving wheel in the first driving wheel set is the second direction (i.e. Figure 2 The main driving direction of the second driving wheel in the second driving wheel group is the first direction (i.e. Figure 2 In the X-axis direction of the image, the control method is more complicated, slipping is more likely to occur, and the positioning accuracy is lower than that caused by the control coupling of the Mecanum wheel drive mode in the prior art. In this embodiment, an omnidirectional wheel is used, and the control method is simple, which further simplifies the driving algorithm corresponding to the omnidirectional mobile chassis, is not prone to slipping, and can improve the positioning accuracy.

[0046] A plurality of grooves can be provided below the chassis frame (i.e. Figure 2 The grooves 501-504 shown in FIG. 5 are used to install the first driving wheel set and the second driving wheel set respectively. The specific structure is as follows: Figure 2 As shown in FIG. 5 , taking the groove 501 for installing the first driving wheel 301 - 1 as an example, the shape of the groove 501 when viewed from above is as follows: Figure 2 As shown in , it can be a rectangle that matches the diameter of the driving wheel 301-1, and the size of the groove 501 is adapted to the first driving wheel, so that the first driving wheel 301-1 can be set in the groove 501. Taking the groove 503 for installing the second driving wheel 401-1 as an example, the size of the groove 503 is adapted to the second driving wheel 401-1, so that the second driving wheel 401-1 can be set in the groove 503. In addition, both the first driving motor and the second driving motor can be installed in a closed groove to protect the motors.

[0047] Figure 3 A side view of an omnidirectional mobile chassis mentioned in a first embodiment of the present invention is shown. Figure 3 The second driving wheel 401-2, the first driving wheel 301-1 and the first driving wheel 301-2 can be seen in the figure. It can be seen that by setting the grooves, the center of gravity of the entire chassis is lowered, so that after the main body parts corresponding to the omnidirectional mobile chassis are installed, the center of gravity of the entire robot is lowered, which is beneficial for the robot to maintain balance during movement.

[0048] Compared with the prior art, the embodiment of the present invention is that the first driving wheel set is arranged along the first direction, the second driving wheel set is arranged along the second direction, and the first direction and the second direction are perpendicular, the second direction is the direction in which the chassis frame moves forward, the driving direction of the first driving wheel set is consistent with the second direction, the driving direction of the second driving wheel set is consistent with the first direction, and the central axis of the first driving wheel set and the central axis of the second driving wheel set form a T shape. By separately arranging the driving wheel sets of the two movement directions, the first driving wheel set can be controlled to move in the second direction by itself, or the second driving wheel set can be controlled to move in the first direction by itself. Since the first driving wheel set and the second driving wheel set do not need to generate a force at the same time to make the chassis frame move in the second direction, the decoupling of the first direction and the second direction movement is achieved, the driving algorithm corresponding to the omnidirectional chassis is simplified, and the speed of the movement of the omnidirectional chassis and the speed of the movement response are improved; in addition, since each driving wheel is driven by its own driving motor, and each driving motor can realize the control of the rotation speed and the rotation direction of the corresponding driving wheel, the accuracy of the movement control of the chassis in each direction can be improved, thereby improving the positioning accuracy of the omnidirectional chassis.

[0049] The second embodiment of the present invention relates to an omnidirectional chassis. In the second embodiment of the present invention, the omnidirectional chassis also includes: a first driven wheel group consisting of a first driven wheel 303 and a second driven wheel 304; the first driven wheel 303 and the second driven wheel 304 are both arranged on the chassis frame along the first direction, and the first driven wheel 303 and a first driving wheel 301-1 are symmetrically arranged with the center line of the chassis frame parallel to the first direction as the symmetry axis, and the second driven wheel 304 and another first driving wheel 301-2 are symmetrically arranged with the center line of the chassis frame parallel to the first direction as the symmetry axis; the central axis of the first driven wheel group, the central axis of the first driving wheel group 30 and the central axis of the second driving wheel group 40 form an I-shape. The specific structure of the chassis frame of the omnidirectional chassis is as follows: Figure 4 shown.

[0050] Specifically, Figure 4 As shown, the first driven wheel 303 and the second driven wheel 304 are both arranged in the first reserved area 101-1, and the first driven wheel 303 and the first driving wheel 301-1 are symmetrically arranged with the center line of the chassis frame parallel to the first direction as the symmetry axis, and the second driven wheel 304 and another first driving wheel 301-2 are symmetrically arranged with the center line of the chassis frame parallel to the first direction as the symmetry axis, and the central axis of the first driven wheel group, the central axis of the first driving wheel group 30 and the central axis of the second driving wheel group 40 form an I-shape. It can be understood that the first driven wheel 303 and the second driven wheel 304 are also arranged in the groove below the chassis frame, as shown in FIG. Figure 4In the embodiment, the first driven wheel 303 is arranged in the groove 505 , and the second driven wheel 304 is arranged in the groove 506 .

[0051] The omnidirectional mobile chassis provided in this embodiment improves the stability of the omnidirectional mobile chassis and increases the movement speed, thereby saving driving force, by symmetrically arranging the driven wheels.

[0052] The third embodiment of the present invention relates to an omnidirectional chassis system, the specific structure of which is as follows: Figure 5 As shown, it includes: an operation terminal 2 and an omnidirectional chassis 1 as in the first embodiment or the second embodiment. The operation terminal 2 is in communication connection with the omnidirectional chassis 1 for sending movement instructions; the omnidirectional chassis 1 moves according to the movement instructions.

[0053] Specifically, the operation terminal can be an electronic device with processing and communication functions, and the operation terminal can be communicatively connected with the control module, wherein the control module can be arranged in the omnidirectional mobile chassis 1 or can be arranged outside the omnidirectional mobile chassis 1. The operation terminal can obtain the motion instructions input by the user, and can also generate motion instructions according to the external environment. The operation terminal can be independent of the omnidirectional mobile chassis 1 or installed in the main body component corresponding to the omnidirectional mobile chassis. The control module in the omnidirectional mobile chassis 1 receives the motion instruction and converts the motion instruction into a drive instruction, and drives the drive motor in the first drive wheel group and the second drive wheel group through the drive instruction, so that the omnidirectional mobile chassis 1 moves according to the motion instruction issued by the operation terminal.

[0054] It is not difficult to find that this embodiment is a system embodiment corresponding to the first embodiment, and this embodiment can be implemented in conjunction with the first embodiment. The relevant technical details mentioned in the first embodiment are still valid in this embodiment, and in order to reduce repetition, they are not repeated here. Accordingly, the relevant technical details mentioned in this embodiment can also be applied in the first embodiment.

[0055] Among them, the control module in the operation terminal 2 and the omnidirectional mobile chassis both include: a memory and a processor, the memory and the processor are connected in a bus manner, the bus may include any number of interconnected buses and bridges, and the bus links various circuits of one or more processors and memories together. The bus can also link various other circuits such as peripherals, voltage regulators, and power management circuits together, which are all well known in the art, so this article will not further describe them. The bus interface provides an interface between the bus and the transceiver. The transceiver can be one element or multiple elements, such as multiple receivers and transmitters, providing a unit for communicating with various other devices on a transmission medium. The data processed by the processor is transmitted on a wireless medium through an antenna, and further, the antenna also receives data and transmits the data to the processor.

[0056] The processor is responsible for managing the bus and general processing, and can also provide various functions, including timing, peripheral interfaces, voltage regulation, power management, and other control functions. Memory can be used to store data used by the processor when performing operations.

[0057] A fourth embodiment of the present invention relates to a robot system, the structure of which is as follows: Figure 6 As shown, it comprises a robot body 3 and an omnidirectional movable chassis 1 as in the first embodiment or the second embodiment.

[0058] It should be noted that the robot body 3 may be a battery-exchanging robot body, a welcoming robot body, etc., and the robot body 3 may include an operation terminal; the robot body 3 is placed in the receiving slot 102 of the omnidirectionally movable chassis 1.

[0059] Those skilled in the art can understand that all or part of the steps in the above-mentioned embodiment method can be completed by instructing the relevant hardware through a program, and the program is stored in a storage medium, including several instructions to enable a device (which can be a single-chip microcomputer, chip, etc.) or a processor to execute all or part of the steps of the method described in each embodiment of the present application. The aforementioned storage medium includes: U disk, mobile hard disk, read-only memory (ROM, Read-Only Memory), random access memory (RAM, Random Access Memory), disk or optical disk and other media that can store program codes.

[0060] Those skilled in the art will appreciate that the above-mentioned embodiments are specific examples for implementing the present invention, and in actual applications, various changes may be made thereto in form and detail without departing from the spirit and scope of the present invention.

Claims

1. An omnidirectional mobile chassis, characterized in that: include: A chassis frame, a first driving wheel set and a second driving wheel set, wherein the first driving wheel set and the second driving wheel set are both arranged below the chassis frame; The first driving wheel set is arranged along a first direction, and the driving direction of the first driving wheel set is consistent with a second direction, wherein the first direction is perpendicular to the second direction; The second driving wheel set is arranged along the second direction, and the driving direction of the second driving wheel set is consistent with the first direction; Wherein, the central axis of the first driving wheel set and the central axis of the second driving wheel set form a T shape; The bottom of the chassis frame includes: a first reserved area and a second reserved area; The first reserved area and the second reserved area are symmetrically arranged at two ends below the chassis frame with the center line of the chassis frame as a symmetry axis, and the center line is parallel to the first direction; The first driving wheel set and the second driving wheel set are arranged in the first reserved area and the second reserved area; The first driving wheel set comprises: two first driving wheels, and two first driving motors respectively used to drive the two first driving wheels, each of the first driving wheels is rigidly connected to an output shaft of the first driving motor respectively corresponding to the first driving wheel, each of the first driving motors is communicatively connected to a control module, and the control module controls each of the first driving motors; Wherein, each of the first driving wheels and the first driving motor corresponding thereto are arranged below the chassis frame along the first direction; The omnidirectional chassis further comprises: a first driven wheel set consisting of a first driven wheel and a second driven wheel; The first driven wheel and the second driven wheel are both arranged below the chassis frame along the first direction, and the first driven wheel and one of the first driving wheels are arranged symmetrically, and the second driven wheel and another of the first driving wheels are arranged symmetrically; The central axis of the first driven wheel set, the central axis of the first driving wheel set, and the central axis of the second driving wheel set form an I-shape.

2. The omnidirectional chassis according to claim 1, characterized in that: The second driving wheel set comprises: two second driving wheels, and two second driving motors respectively used to drive the two second driving wheels, each of the second driving wheels is rigidly connected to the output shaft of the second driving motor respectively corresponding to the second driving wheel, each of the second driving motors is communicatively connected to the control module, and the control module controls each of the second driving motors; Wherein, each of the second driving wheels and the corresponding second driving motor are arranged below the chassis frame along the second direction.

3. The omnidirectional chassis according to claim 2, characterized in that: The central axes of the two second drive wheels pass through the center of gravity of the chassis frame.

4. The omnidirectional chassis according to any one of claims 1 to 3, characterized in that: The shape of the chassis frame includes any one of the following: circular and polygonal; A plurality of grooves are arranged below the chassis frame, and the plurality of grooves are used to install the first driving wheel set and the second driving wheel set respectively.

5. The omnidirectional chassis according to any one of claims 1 to 3, characterized in that: The driving wheels in the first driving wheel set and the second driving wheel set both include omnidirectional wheels.

6. The omnidirectional mobile chassis according to claim 1 or 2, characterized in that: The omnidirectional mobile chassis further includes a control module disposed on the chassis frame, wherein the control module is communicatively connected to the first driving wheel set and the second driving wheel set respectively, and the control module is used to: Receive motion instructions sent by the operation terminal; converting the motion instruction into a drive instruction; The driving instruction is sent to the first driving wheel set and / or the second driving wheel set to control the movement of the first driving wheel and / or the second driving wheel.

7. The omnidirectional chassis according to claim 1, characterized in that: The two first driving wheels of the first driving wheel set rotate at a differential speed to make the omnidirectional chassis turn; The two first driving wheels in the first driving wheel set rotate at the same speed and in the same direction, so that the omnidirectional chassis moves along the second direction.

8. The omnidirectional chassis according to claim 2, characterized in that: The two second driving wheels in the second driving wheel set rotate at a differential speed to make the omnidirectional chassis turn; the two second driving wheels in the second driving wheel set rotate at the same speed and in the same direction to make the omnidirectional chassis move along the first direction.

9. An omnidirectional chassis system, comprising: An operating terminal and an omnidirectionally movable chassis as claimed in any one of claims 1 to 8; The operation terminal is communicatively connected with the omnidirectionally movable chassis for sending movement instructions; The omnidirectionally movable chassis moves according to the movement instruction.

10. A robot system comprising: Robot body; as well as An omnidirectional chassis as claimed in any one of claims 1 to 8.

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