Autonomous moving scooter for large-scale places

Abstract

The utility model provides an autonomous mobile scooter for large-scale places, which comprises a seat, a transfer mechanism and wheels arranged below the seat, the bottom of the transfer mechanism is provided with wheels, the seat comprises a seat cushion and a backrest, the seat cushion is mounted on the front side of the backrest, the left side and the right side of the backrest are respectively provided with a left armrest and a right armrest, and the left armrest and the right armrest are arranged on the left side and the right side of the backrest respectively. The wheels comprise a front wheel and a rear wheel; wherein the front wheel is provided with a brushless motor, the brushless motor is provided with an encoder, and the front side and the upper side of the front end of the left armrest are provided with a three-dimensional depth sensor and a human-computer interface panel respectively; a first scram button is further arranged on the upper side of the front end of the left armrest and located in front of the man-machine interface panel. According to the scooter, through the design of the transferring mechanism and the wheels, autonomous movement can be achieved, passengers are helped to quickly and easily arrive at destinations, walking time is greatly shortened, fatigue caused by long-time walking is relieved, and indoor moving efficiency is improved.

Description

Technical Field

[0001] The utility model relates to the technical field of automatic equipment, in particular to an autonomous mobile vehicle used in large places. Background Art

[0002] Currently, in large public places such as airports, shopping malls and hospitals, individual users and staff face many inconveniences when moving around due to the vast space, complex facilities and long walking distances. Existing transportation auxiliary tools or services are difficult to meet the needs of fast, convenient and safe movement in such places, especially in the context of carrying items or walking for a long time, which leads to great physical exertion and potential health risks. There is an urgent need for a solution that can effectively improve indoor mobility efficiency.

[0003] Deficiencies of existing technology:

[0004] 1. The market lacks intelligent and efficient autonomous mobile vehicles designed specifically for large venues, which cannot meet the needs of long-distance and fast travel.

[0005] 2. Traditional means of transportation usually do not have intelligent navigation and obstacle avoidance functions, and cannot effectively cope with complex and changing indoor environments, such as finding paths, identifying and avoiding obstacles on their own.

[0006] 3. Current mobility devices usually lack a convenient human-computer interaction interface and emergency braking system, are not very safe, and users cannot flexibly switch between manual and automatic control modes, nor can they respond to emergencies in a timely manner.

[0007] 4. Most mobility products have limited battery life and lack automatic charging functions. Frequent battery replacement or manual charging affects the continuity and convenience of use.

[0008] 5. Insufficient perception capabilities in special environments, such as the recognition of transparent or black objects. Existing means of transportation may not be able to accurately detect and process such scenarios.

[0009] Therefore, the prior art has deficiencies and needs further improvement. Utility Model Content

[0010] In view of the problems existing in the prior art, the utility model provides an autonomous mobile vehicle for use in large places.

[0011] To achieve the above purpose, the specific scheme of the utility model is as follows:

[0012] The utility model provides an autonomous mobile vehicle for large places, comprising:

[0013] Seats;

[0014] The transfer mechanism is arranged under the seat and is used to drive the seat to move;

[0015] The bottom of the transfer mechanism is provided with wheels for driving the transfer mechanism to move;

[0016] The seat comprises a seat cushion and a backrest, wherein the seat cushion is mounted on the front side of the backrest and the two are arranged perpendicular to each other;

[0017] A left armrest and a right armrest are respectively arranged on the left and right sides of the backrest.

[0018] Further, the wheels include: a front wheel and a rear wheel;

[0019] Wherein, the front wheel is provided with a brushless motor, and the brushless motor is provided with an encoder.

[0020] Furthermore, a three-dimensional depth sensor and a human-machine interface panel are respectively provided on the front side and the upper side of the front end of the left armrest; the three-dimensional depth sensor is used to sense three-dimensional objects, and the human-machine interface panel is used for human-machine interaction;

[0021] A first emergency stop button is also arranged on the upper side of the front end of the left armrest in front of the human-machine interface panel.

[0022] Furthermore, a manual controller is provided on the upper side of the front end of the right armrest for controlling the mobility scooter in manual mode.

[0023] Further, the transfer mechanism includes a housing;

[0024] Embedded hardware is disposed inside the shell to provide computing power.

[0025] Furthermore, a first indicator light is respectively provided on the left side and the right side of the shell.

[0026] Furthermore, a long-range optical radar and a first short-range optical radar are respectively arranged on the left front side and the right front side of the transfer mechanism;

[0027] The long-range optical radar and the first short-range optical radar are used to measure long-range and short-range obstacles respectively and scan the site for mapping.

[0028] Furthermore, a high-capacity lithium battery is arranged between the seat and the transfer mechanism.

[0029] Furthermore, a second indicator light is provided on the back of the backrest;

[0030] A speaker is also provided on the back of the backrest below the second indicator light;

[0031] A first ultrasonic sensor is respectively disposed on the left and right sides of the seat cushion;

[0032] A second ultrasonic sensor is also provided on the back of the seat cushion;

[0033] The first ultrasonic sensor and the second ultrasonic sensor are used to detect transparent and black objects;

[0034] A second emergency stop button is respectively arranged on both sides of the second ultrasonic sensor on the back side of the seat cushion.

[0035] Furthermore, a second short-range optical radar is arranged on the upper side of the tail of the transfer mechanism;

[0036] The tail of the transfer mechanism is also provided with an automatic charging module for charging the mobility scooter when it returns to the charging area.

[0037] The technical solution of the utility model has the following beneficial effects:

[0038] 1. Efficient and convenient mobility experience: The mobility scooter can achieve autonomous movement through the design of the transfer mechanism and wheels. It is particularly suitable for large places such as airports, shopping malls, hospitals and other environments, helping passengers to reach their destination quickly and easily, greatly shortening the walking time, reducing the fatigue caused by long-term walking, and improving indoor mobility efficiency.

[0039] 2. Intelligent navigation and obstacle avoidance: Equipped with brushless motors and encoders on the front wheels, in conjunction with the long-range optical radar on the left front side, the first short-range optical radar on the right front side, and the second short-range optical radar at the rear, it can achieve precise positioning, map construction and real-time obstacle detection, ensuring the safe driving of the vehicle in complex environments.

[0040] 3. Multifunctional human-machine interaction and safety control: The human-machine interface panel provides an intuitive and easy-to-use interactive interface, which is convenient for passengers to control the various functions of the mobility scooter. In addition, the first emergency stop button and the second emergency stop button are set to enhance the safety of the mobility scooter, so that passengers can quickly stop the vehicle in an emergency.

[0041] 4. Flexible driving mode: It not only supports autonomous navigation mode, but also has a manual controller on the right armrest, so that passengers can switch between automatic and manual modes as needed to meet different occasions and individual needs.

[0042] 5. Powerful computing support: The embedded hardware inside the transfer mechanism provides sufficient computing power to ensure that the mobility scooter's autonomous navigation, decision-making, obstacle avoidance and other functions can be efficiently executed.

[0043] 6. All-round environmental perception: Equipped with a three-dimensional depth sensor and an ultrasonic sensor, it can not only perceive three-dimensional objects, but also effectively detect transparent and black objects, expanding the obstacle detection range and improving the adaptability and safety of the mobility scooter in complex environments.

[0044] 7. Good energy management and continuous operation capability: Using high-capacity lithium batteries as the power source ensures a long battery life, and combined with an automatic charging module, the mobility scooter can automatically return to the charging area for charging when the battery is low, realizing unattended continuous operation.

[0045] 8. Perfect reminder and communication mechanism: Equipped with multiple indicator lights and speakers to facilitate the transmission of the working status information of the mobility scooter and enhance the communication and reminder functions with the user. BRIEF DESCRIPTION OF THE DRAWINGS

[0046] Figure 1 It is a three-dimensional diagram of the utility model;

[0047] Figure 2 It is a three-dimensional diagram of the utility model from an upward viewing angle;

[0048] Figure 3 It is a rear view of the utility model.

[0049] In the figure:

[0050] 101. Cushion;

[0051] 102. Backrest;

[0052] 103. Left armrest;

[0053] 104. 3D depth sensor; 105. Human-machine interface panel;

[0054] 106. First emergency stop button;

[0055] 107. Right armrest; 108. Manual controller;

[0056] 109. Second indicator light;

[0057] 110. Speaker;

[0058] 111. A first ultrasonic sensor;

[0059] 112. A second ultrasonic sensor;

[0060] 113. Second emergency stop button;

[0061] 201, front wheel; 202, rear wheel;

[0062] 203, shell;

[0063] 204. Embedded hardware;

[0064] 205, first indicator light;

[0065] 206. Long-range optical radar; 207. First short-range optical radar;

[0066] 208. High capacity lithium battery;

[0067] 209, second short-range optical radar;

[0068] 210. Automatic charging module. DETAILED DESCRIPTION

[0069] The present invention is further described in detail below in conjunction with the accompanying drawings and embodiments. It is to be understood that the specific embodiments described herein are only used to explain the present invention, rather than to limit the present invention. It should also be noted that, for ease of description, only the parts related to the present invention, rather than all structures, are shown in the accompanying drawings.

[0070] In the description of the present invention, unless otherwise clearly specified and limited, the terms "connected", "connected", and "fixed" should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be a direct connection or an indirect connection through an intermediate medium, it can be the internal connection of two elements or the interaction relationship between two elements. For ordinary technicians in this field, the specific meanings of the above terms in the present invention can be understood according to specific circumstances.

[0071] In the present utility model, unless otherwise clearly specified and limited, a first feature being "above" or "below" a second feature may include that the first and second features are in direct contact, or may include that the first and second features are not in direct contact but are in contact through another feature between them. Moreover, a first feature being "above", "above" and "above" a second feature includes that the first feature is directly above and obliquely above the second feature, or simply indicates that the first feature is higher in level than the second feature. A first feature being "below", "below" and "below" a second feature includes that the first feature is directly below and obliquely below the second feature, or simply indicates that the first feature is lower in level than the second feature.

[0072] In the description of this embodiment, the terms "upper", "lower", "front", "back", "left", "right" and other directions or positional relationships are based on the directions or positional relationships shown in the drawings, and are only for the convenience of description and simplified operation, rather than indicating or implying that the device or element referred to must have a specific direction, be constructed and operate in a specific direction, and therefore cannot be understood as a limitation of the present invention. In addition, the terms "first" and "second" are only used to distinguish in the description and have no special meaning.

[0073] Combination Figure 1-Figure 3As shown, the utility model provides an autonomous mobile vehicle for large places, comprising: a seat; a transfer mechanism, which is arranged below the seat and is used to drive the seat to move; wheels are arranged at the bottom of the transfer mechanism and are used to drive the transfer mechanism to move;

[0074] The seat comprises a seat cushion 101 and a backrest 102 , wherein the seat cushion 101 is mounted in front of the backrest 102 and the two are arranged perpendicular to each other; a left armrest 103 and a right armrest 107 are respectively arranged on the left and right sides of the backrest 102 .

[0075] The wheels include: a front wheel 201 and a rear wheel 202; wherein the front wheel 201 is provided with a brushless motor, and the brushless motor is provided with an encoder.

[0076] A three-dimensional depth sensor 104 and a human-machine interface panel 105 are respectively disposed on the front side and the upper side of the front end of the left armrest 103; the three-dimensional depth sensor 104 is used to sense three-dimensional objects, and the human-machine interface panel 105 is used for human-machine interaction;

[0077] A first emergency stop button 106 is also provided on the upper side of the front end of the left armrest 103 in front of the human-machine interface panel 105 .

[0078] A manual controller 108 is provided on the upper side of the front end of the right armrest 107 for controlling the mobility scooter in manual mode.

[0079] The transfer mechanism includes a housing 203 ; an embedded hardware 204 is disposed inside the housing 203 for providing computing power. A first indicator light 205 is disposed on the left and right sides of the housing 203 .

[0080] The left front side and the right front side of the transfer mechanism are respectively provided with a long-range optical radar 206 and a first short-range optical radar 207;

[0081] The long-range optical radar 206 and the first short-range optical radar 207 are used to measure long-range and short-range obstacles respectively and scan the site for mapping.

[0082] A high-capacity lithium battery 208 is also provided between the seat and the transfer mechanism. A second indicator light 109 is also provided on the back of the backrest 102; a speaker 110 is also provided on the back of the backrest 102 below the second indicator light 109; a first ultrasonic sensor 111 is provided on the left and right sides of the seat cushion 101; a second ultrasonic sensor 112 is also provided on the back of the seat cushion 101; the first ultrasonic sensor 111 and the second ultrasonic sensor 112 are used to detect transparent and black objects;

[0083] A second emergency stop button 113 is disposed on both sides of the second ultrasonic sensor 112 on the back of the seat cushion 101. A second short-range optical radar 209 is disposed on the upper side of the tail of the transfer mechanism; an automatic charging module 210 is also disposed at the tail of the transfer mechanism for charging the scooter back to the charging area.

[0084] The principle of this utility model is as follows:

[0085] Driving system: The movement of the scooter mainly depends on the wheels installed at the bottom of the transfer mechanism, in which the front wheel 201 has a built-in brushless motor, which is driven by electricity to drive the wheel to rotate and move. The encoder is responsible for feedback of the position and speed information of the wheel rotation, which helps to accurately control the direction and speed of movement.

[0086] Autonomous navigation and obstacle avoidance: Through the long-range optical radar 206 and the first short-range optical radar 207 respectively arranged on the left front side and the right front side of the transfer mechanism, the mobility scooter can scan the surrounding environment in real time, obtain long-range and short-range obstacle information, and build and update the environment map accordingly to perform autonomous navigation. At the same time, a second short-range optical radar 209 is also arranged on the upper side of the tail of the transfer mechanism to further enhance the ability to detect obstacles behind.

[0087] Environmental perception and safety measures: The mobility scooter is equipped with a three-dimensional depth sensor 104, which can identify objects in three-dimensional space and assist in obstacle avoidance. The first ultrasonic sensor 111 and the second ultrasonic sensor 112 are specifically used to detect and identify transparent and black objects, making up for the possible detection blind spots of optical radar. In addition, two emergency stop buttons are set up, and when the passenger encounters an emergency, the button can be quickly pressed to stop the operation of the mobility scooter.

[0088] Human-machine interaction and control: A human-machine interface panel 105 is installed on the left armrest 103, through which the passenger can input the destination or other instructions to interact with the mobility scooter. At the same time, a manual controller 108 is also provided at the front end of the right armrest 107, allowing the passenger to switch to manual mode when necessary, so that the passenger can directly control the direction and speed of the mobility scooter.

[0089] Intelligent computing and feedback: The transfer mechanism integrates embedded hardware with powerful computing capabilities for processing sensor data, planning paths, executing obstacle avoidance strategies, etc. The first indicator lights 205 on both sides of the housing 203 and the second indicator lights 109 on the back of the backrest 102, as well as the speaker 110, are used to convey the working status, warning signals or other important information of the mobility scooter to passengers and other personnel.

[0090] Energy supply and management: A high-capacity lithium battery is installed between the seat and the transfer mechanism to provide a stable energy guarantee. When the battery is low, the mobility scooter can find the charging area through the automatic charging module 210 at the rear and connect to the charging facility by itself to achieve autonomous recharging, ensuring long-term stable operation.

[0091] In summary, the autonomous mobile vehicle of the present invention utilizes advanced sensor fusion technology, electric drive technology, embedded computing technology and autonomous charging technology to achieve safe, efficient and autonomous mobile services in large venues.

[0092] The above description is only a preferred embodiment of the utility model, and does not limit the patent scope of the utility model. All equivalent structural changes made by using the contents of the utility model specification and drawings under the utility model concept, or directly / indirectly used in other related technical fields are included in the protection scope of the utility model.

Claims

1. An autonomous mobile vehicle for use in large places, characterized in that: include: Seats; The transfer mechanism is arranged under the seat and is used to drive the seat to move; The bottom of the transfer mechanism is provided with wheels for driving the transfer mechanism to move; The seat comprises a seat cushion and a backrest, wherein the seat cushion is mounted on the front side of the backrest and the two are arranged perpendicular to each other; The left and right sides of the backrest are respectively provided with a left armrest and a right armrest; A second indicator light is also provided on the back of the backrest; A speaker is also provided on the back of the backrest below the second indicator light; A first ultrasonic sensor is respectively disposed on the left and right sides of the seat cushion; A second ultrasonic sensor is also provided on the back of the seat cushion; The first ultrasonic sensor and the second ultrasonic sensor are used to detect transparent and black objects; A second emergency stop button is respectively arranged on both sides of the second ultrasonic sensor on the back side of the seat cushion.

2. The autonomous mobile vehicle for large venues according to claim 1, characterized in that: The wheels include: a front wheel and a rear wheel; Wherein, the front wheel is provided with a brushless motor, and the brushless motor is provided with an encoder.

3. The autonomous mobile vehicle for large venues according to claim 1, characterized in that: A three-dimensional depth sensor and a human-machine interface panel are respectively arranged on the front side and the upper side of the front end of the left armrest; the three-dimensional depth sensor is used to sense three-dimensional objects, and the human-machine interface panel is used for human-machine interaction; A first emergency stop button is also arranged on the upper side of the front end of the left armrest in front of the human-machine interface panel.

4. The autonomous mobile vehicle for large venues according to claim 3, characterized in that: A manual controller is arranged on the upper side of the front end of the right armrest for controlling the mobility scooter in manual mode.

5. The autonomous mobile vehicle for large venues according to claim 1, characterized in that: The transfer mechanism comprises a housing; Embedded hardware is disposed inside the shell to provide computing power.

6. The autonomous mobile vehicle for large venues according to claim 5, characterized in that: A first indicator light is respectively arranged on the left side and the right side of the shell.

7. The autonomous mobile vehicle for large venues according to claim 6, characterized in that: A long-range optical radar and a first short-range optical radar are respectively arranged on the left front side and the right front side of the transfer mechanism; The long-range optical radar and the first short-range optical radar are used to measure long-range and short-range obstacles respectively and scan the site for mapping.

8. The autonomous mobile vehicle for large venues according to claim 1, characterized in that: A high-capacity lithium battery is also arranged between the seat and the transfer mechanism.

9. The autonomous mobile vehicle for large venues according to claim 1, characterized in that: A second short-range optical radar is arranged on the upper side of the tail of the transfer mechanism; The tail of the transfer mechanism is also provided with an automatic charging module for charging the mobility scooter when it returns to the charging area.

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