Damping indoor SLAM trolley

Abstract

The utility model provides a shock absorption indoor SLAM trolley which comprises a chassis, idler wheels are arranged on the lower portion of the chassis, a supporting plate is connected to the front portion of the chassis, a lighting device is arranged on the upper surface of the supporting plate, shock absorbers are arranged on the left side and the right side of the supporting plate respectively, and a support is arranged on the portion, on the rear side of the lighting device, of the upper surface of the supporting plate. A camera is connected to the front surface of the support, a control device, a signal processing device and a communication and inertial sensor integrated device are arranged on the upper surface of the chassis, and the central axis of the signal processing device is perpendicular to the upper surface of the chassis; the control device and the signal processing device are arranged on the two sides of the communication and inertial sensor integrated device. The shock absorber integrates the collision detection sensor and the buffer material. When the vehicle makes contact with an obstacle, the shock absorber is collided to trigger an automatic parking mechanism, and more serious collision between the vehicle and the obstacle is prevented.

Description

Technical Field

[0001] The utility model relates to the technical field of SLAM vehicles, in particular to a shock-absorbing indoor SLAM vehicle. Background Art

[0002] Indoor SLAM cars use advanced sensor technology, complex algorithms, and software and hardware integration to achieve autonomous navigation and environmental mapping. These cars are usually equipped with lidar, vision sensors, and inertial measurement units to perceive the surrounding environment by measuring distances and capturing images. Core algorithms such as ORB-SLAM use feature points for positioning and map construction, while graph optimization algorithms are used to improve map accuracy. At the software level, robot operating systems such as ROS are often used for data integration and control command processing. The integration of these technologies enables SLAM cars to perform tasks such as automated navigation, environmental monitoring, and services in warehouses, factories, and other indoor environments, showing strong functionality and adaptability.

[0003] However, existing indoor SLAM cars have certain shortcomings. First, many models lack shock absorber designs that respond quickly to obstacle contact, which may cause the vehicle to be hit hard when encountering sudden obstacles, increasing the risk of damage and making maintenance more difficult. Secondly, these vehicles perform poorly in space utilization and posture adjustment, especially when dealing with uneven terrain, where performance is significantly affected. In addition, the perception systems of some vehicles have not yet achieved ideal operating effects, which is particularly evident in complex or low-light environments. These technical limitations weaken the overall performance and user experience of the SLAM car. Utility Model Content

[0004] The utility model provides a shock-absorbing indoor SLAM car, which solves the problem that the existing indoor SLAM car is subjected to a large impact when encountering a sudden obstacle.

[0005] In order to achieve the above purpose, the technical solution adopted by the utility model is:

[0006] A shock-absorbing indoor SLAM vehicle comprises a chassis, a roller is arranged at the lower part of the chassis, a support plate is connected to the front part of the chassis, a lighting device is arranged on the upper surface of the support plate, a shock absorber is arranged on the left and right sides of the support plate, a bracket is arranged on the upper surface of the support plate at the rear side of the lighting device, a camera is connected to the front surface of the bracket, a control device, a signal processing device and a communication and inertial sensor integration device are arranged on the upper surface of the chassis, and the central axis of the communication and inertial sensor integration device is perpendicular to the upper surface of the chassis;

[0007] The communication and inertial sensor integrated device is arranged at the center of the upper surface of the chassis, and the control device and the signal processing device are arranged on both sides of the communication and inertial sensor integrated device.

[0008] Furthermore, the number of the rollers is three, and the rollers include two driving wheels arranged at the front of the chassis and a guide wheel arranged at the rear of the chassis, and the driving wheels are connected to the driving motor.

[0009] Furthermore, the shock absorber includes a pressure sensor and a rubber layer arranged outside the pressure sensor.

[0010] Furthermore, the control device is wirelessly connected to the signal processing device, the communication and inertial sensor integration device, the lighting device and the camera respectively.

[0011] Furthermore, the signal processing device is provided with a WiFi device and a Bluetooth device.

[0012] Furthermore, the chassis is made of aluminum alloy.

[0013] Furthermore, the model of the communication and inertial sensor integrated device is MPU-6050 or ESP8266, the model of the control device is Arduino Mega 2560, and the model of the signal processing device is MPU-6050.

[0014] The beneficial effects of the utility model are:

[0015] The utility model has a three-wheel structure design, and the vehicle has better steering and maneuverability. The shock absorber integrates a collision detection sensor and a buffer material. When the vehicle contacts an obstacle, the shock absorber is hit and triggers an automatic parking mechanism to prevent a more serious collision between the vehicle and the obstacle. This enhances the safety of the vehicle, and due to its compact structure, it makes maintenance and repair more convenient, effectively replacing the traditional protection system.

[0016] This utility model adopts a vertically designed communication and inertial sensor integrated device. The vertical setting of the device can enhance the dynamic monitoring capability of the vehicle in the vertical direction. At the same time, the vertical installation optimizes the space utilization of the vehicle body, is compact and space-saving, and is convenient for later maintenance and upgrades. In addition, the system integrates Wi-Fi and Bluetooth modules. Through its vertical layout configuration, it effectively avoids signal obstruction during the communication process, improves the transmission quality and coverage of the signal, and enhances the vehicle's operating performance and safety.

[0017] The camera of the utility model is installed at the front end of the vehicle body. In order to provide the widest possible field of view and allow the camera to capture the environment in front and on the sides, the camera is located at a higher position, which helps to obtain a wider viewing angle and reduce the obstruction of the ground close-up. The lighting equipment is located in the front of the vehicle body. This design is mainly to provide sufficient lighting in low-light environments, ensure that the camera can clearly capture images, and improve the ability to operate at night or in dark places. The position of the lighting equipment is coordinated with the camera to maximize the lighting effect, avoid shadows or reflections, and improve the accuracy of image recognition, which can ensure that the car can clearly capture environmental information under various lighting conditions, and can achieve accurate environmental perception and obstacle detection. BRIEF DESCRIPTION OF THE DRAWINGS

[0018] In order to more clearly illustrate the embodiments of the utility model or the technical solutions of the prior art, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the utility model. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative work.

[0019] Figure 1 It is a three-dimensional structural schematic diagram of the utility model at one angle.

[0020] Figure 2 It is a three-dimensional structural schematic diagram of the utility model from another angle.

[0021] Description of Figure Numbers:

[0022] 1. Chassis; 2. Roller; 3. Support plate; 4. Shock absorber; 5. Lighting device; 6. Camera; 7. Bracket; 8. Communication and inertial sensor integrated device; 9. Control device; 10. Signal processing device. DETAILED DESCRIPTION

[0023] It should be noted that, in the absence of conflict, the embodiments and features of the embodiments of the present invention can be combined with each other. The present invention will be described in detail below with reference to the accompanying drawings and in combination with the embodiments.

[0024] In order to make the purpose, technical scheme and advantages of the embodiments of the utility model clearer, the technical scheme in the embodiments of the utility model will be clearly and completely described below in conjunction with the drawings in the embodiments of the utility model. Obviously, the described embodiments are only part of the embodiments of the utility model, not all of the embodiments. The following description of at least one exemplary embodiment is actually only illustrative and is by no means a limitation on the utility model and its application or use. Based on the embodiments in the utility model, all other embodiments obtained by ordinary technicians in this field without making creative work are within the scope of protection of the utility model.

[0025] It should be noted that the terms used herein are only for describing specific embodiments and are not intended to limit the exemplary embodiments according to the utility model. As used herein, unless the context clearly indicates otherwise, the singular form is also intended to include the plural form. In addition, it should be understood that when the terms "comprise" and / or "include" are used in this specification, it indicates the presence of features, steps, operations, devices, components and / or combinations thereof.

[0026] Unless otherwise specifically stated, the relative arrangement, numerical expressions and numerical values ​​of the parts and steps described in these embodiments do not limit the scope of the utility model. At the same time, it should be clear that, for ease of description, the sizes of the various parts shown in the accompanying drawings are not drawn according to the actual proportional relationship. The technology, method and equipment known to those of ordinary skill in the relevant field may not be discussed in detail, but in appropriate cases, the technology, method and equipment should be considered as a part of the specification. In all examples shown and discussed here, any specific value should be interpreted as being merely exemplary, rather than as a limitation. Therefore, other examples of exemplary embodiments may have different values. It should be noted that similar reference numerals and letters represent similar items in the following drawings, so once a certain item is defined in an accompanying drawing, it does not need to be further discussed in subsequent drawings.

[0027] In the description of the present utility model, it needs to be understood that the directions or positional relationships indicated by directional words such as "front, back, up, down, left, right", "lateral, vertical, perpendicular, horizontal" and "top, bottom" are usually based on the directions or positional relationships shown in the drawings. They are only for the convenience of describing the present utility model and simplifying the description. Unless otherwise stated, these directional words do not indicate or imply that the device or element referred to must have a specific direction or be constructed and operated in a specific direction. Therefore, they cannot be understood as limiting the scope of protection of the present utility model: the directional words "inside and outside" refer to the inside and outside relative to the contours of each component itself.

[0028] For ease of description, spatially relative terms such as "above", "above", "on the upper surface of", "above", etc. may be used here to describe the spatial positional relationship between a device or feature and other devices or features as shown in the figure. It should be understood that spatially relative terms are intended to include different orientations of the device in use or operation in addition to the orientation described in the figure. For example, if the device in the accompanying drawings is inverted, the device described as "above other devices or structures" or "above other devices or structures" will be positioned as "below other devices or structures" or "below their position devices or structures". Thus, the exemplary term "above" can include both "above" and "below". The device can also be positioned in other different ways (rotated 90 degrees or in other orientations), and the spatially relative descriptions used here are interpreted accordingly.

[0029] In addition, it should be noted that the use of terms such as "first" and "second" to limit components is only for the convenience of distinguishing the corresponding components. If not otherwise stated, the above terms have no special meaning and therefore cannot be understood as limiting the scope of protection of the utility model.

[0030] The utility model provides a technical solution: a shock-absorbing indoor SLAM car, such as Figure 1 As shown, it includes a chassis 1, and rollers 2 are arranged at the lower part of the chassis 1. The number of the rollers 2 is three, and the rollers 2 include two driving wheels arranged at the front part of the chassis 1 and guide wheels arranged at the rear part of the chassis 1, and the driving wheels are connected to the driving motor. The wheel axle is directly connected to the chassis 1 by metal bolts, which ensures the stability and durability of the structure. A support plate 3 is connected to the front part of the chassis 1, and a lighting device 5 is arranged on the upper surface of the support plate 3 to provide auxiliary lighting. A shock absorber 4 is arranged on each of the left and right sides of the support plate 3, and a bracket 7 is arranged on the upper surface of the support plate 3 on the rear side of the lighting device 5. A camera 6 is connected to the front surface of the bracket 7, and the camera 6 is used for environmental perception and image acquisition. A control device 9, a signal processing device 10 and a communication and inertial sensor integration device 8 are arranged on the upper surface of the chassis 1, and the central axis of the signal processing device 10 is perpendicular to the upper surface of the chassis 1;

[0031] The communication and inertial sensor integrated device 8 is arranged at the center of the upper surface of the chassis 1, and the control device 9 and the signal processing device 10 are arranged on both sides of the communication and inertial sensor integrated device 8. The communication and inertial sensor integrated device 8 adopts a precise mechanical design to ensure that the central axis is strictly vertically aligned with the chassis plane. During the design process, special consideration was given to the geometric matching between the communication and inertial sensor integrated device 8 and the chassis 1. By designing the shape and size of the base and the corresponding grooves and protrusions, it is ensured that vertical alignment can be directly achieved during the assembly process. The sensor is directly connected to the chassis through a predetermined fixing point and is fixed using standardized fasteners to ensure the structural stability of the entire device and the reliability of long-term use.

[0032] The shock absorber 4 includes a pressure sensor and a rubber layer arranged outside the pressure sensor. The rubber layer can effectively absorb the impact force caused by uneven ground and the force of impact, and protect electronic components from vibration damage. When the trolley contacts an obstacle, the shock absorber 4 contacts the obstacle first, and the outer rubber layer performs shock absorption. After the pressure sensor receives the pressure signal, it sends a brake signal to the drive motor of the roller 2, so that the trolley stops in time. It effectively prevents collision damage, which enhances the safety of the vehicle, and because of its compact structure, it makes maintenance and repair more convenient, effectively replacing the traditional protection system.

[0033] The control device 9 is wirelessly connected to the signal processing device 10, the communication and inertial sensor integration device 8, the lighting device 5 and the camera 6. The signal processing device 10 is provided with a WiFi device and a Bluetooth device.

[0034] The chassis 1 is made of aluminum alloy and provides the basic structure and support of the vehicle.

[0035] The control device 9 is mainly responsible for real-time map construction and path planning. This module receives data from the camera and other sensors and directs the car to move along a predetermined path.

[0036] The signal processing device 10 includes an inertial sensor for collecting and processing signals from various components. The signal processing device 10 integrates the data from different sensors and distributes them to corresponding modules to ensure that the various components work in coordination.

[0037] The communication and inertial sensor integrated device 8 communicates with external devices through Wi-Fi and Bluetooth modules. This device allows the car to exchange data with operators or other devices, realizing remote control and data transmission.

[0038] The communication and inertial sensor integrated device 8 is located in the center of the vehicle body, which is convenient for uniform and fast data collection from all sensors. This layout helps the immediacy and accuracy of data processing. The control system 9 is close to the signal processing device 10, so that the processed data can be transmitted without delay. The vertical installation of the communication and inertial sensor integrated device 8 optimizes the communication link with the outside world, reduces physical obstacles, and utilizes the space of the vehicle, making the overall layout more compact.

[0039] The above is only a preferred specific implementation manner of the present invention, but the protection scope of the present invention is not limited thereto. Any technician familiar with the technical field can make equivalent substitutions or changes within the technical scope disclosed by the present invention according to the technical solution and inventive concept of the present invention, which should be covered by the protection scope of the present invention.

Claims

1. A shock-absorbing indoor SLAM vehicle, characterized in that: The invention comprises a chassis (1), wherein a roller (2) is arranged at the lower part of the chassis (1), a support plate (3) is connected to the front part of the chassis (1), an illumination device (5) is arranged on the upper surface of the support plate (3), a shock absorber (4) is arranged on the left and right sides of the support plate (3), a bracket (7) is arranged on the upper surface of the support plate (3) behind the illumination device (5), a camera (6) is connected to the front surface of the bracket (7), a control device (9), a signal processing device (10) and a communication and inertial sensor integrated device (8) are arranged on the upper surface of the chassis (1), the central axis of the communication and inertial sensor integrated device (8) is perpendicular to the upper surface of the chassis (1), and the communication and inertial sensor integrated device (8) is vertically installed on the chassis (1); The communication and inertial sensor integrated device (8) is arranged at the center of the upper surface of the chassis (1), and the control device (9) and the signal processing device (10) are arranged on both sides of the communication and inertial sensor integrated device (8); The number of the rollers (2) is three, and the rollers (2) include two driving wheels arranged at the front of the chassis (1) and a guide wheel arranged at the rear of the chassis (1), and the driving wheels are connected to the driving motor; The shock absorber (4) comprises a pressure sensor and a rubber layer arranged outside the pressure sensor.

2. The shock-absorbing indoor SLAM vehicle according to claim 1, characterized in that: The control device (9) is wirelessly connected to the signal processing device (10), the communication and inertial sensor integration device (8), the lighting device (5) and the camera (6) respectively.

3. The shock-absorbing indoor SLAM vehicle according to claim 1, characterized in that: The signal processing device (10) is provided with a WiFi device and a Bluetooth device.

4. The shock-absorbing indoor SLAM vehicle according to claim 1, characterized in that: The material of the chassis (1) is aluminum alloy.

5. The shock-absorbing indoor SLAM vehicle according to claim 1, characterized in that: The model of the communication and inertial sensor integrated device (8) is MPU-6050 or ESP8266, the model of the control device (9) is Arduino Mega 2560, and the model of the signal processing device (10) is MPU-6050.

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