Omnidirectional mobile ball serving robot carrying super capacitor

Abstract

An omni-directional mobile ball serving robot carrying a super capacitor relates to the technical field of robots, and comprises a chassis used for supporting a robot body; the power system comprises four moving wheels and is mounted on the chassis, so that the robot body can move in all directions; the ball serving mechanism is mounted on the chassis and is used for realizing ball serving action; the power supply system comprises a battery unit and a super capacitor unit. By carrying the super capacitor unit, short-time high-power output can be effectively provided, the problem that a traditional battery is insufficient in power in a high-power demand scene is solved, and particularly in high-load operation such as climbing, intervention of the super capacitor unit ensures that the robot can successfully complete high-difficulty actions. Due to the fact that the robot can keep stable performance during high-power output, the fault risk caused by insufficient power is reduced, and the operation safety and stability of the robot are improved.

Description

Technical Field

[0001] The utility model relates to the technical field of robots, in particular to an omnidirectional mobile ball-serving robot equipped with a supercapacitor. Background Art

[0002] Omnidirectional mobile serving robots have attracted considerable attention for their flexible mobility and multi-angle serving capabilities. These robots typically utilize Mecanum wheels as their drive system, enabling omnidirectional movement, including translation, rotation, and arbitrary direction. The Mecanum wheel design allows the robot to achieve lateral and diagonal movement without changing direction, which is particularly important in applications requiring precise positioning and flexible operation.

[0003] Existing omnidirectional mobile serving robots, such as those described in patent document CN 218210988 U, already feature complex structures, including a chassis, a gimbal, adaptive wheels, and a ball-deflecting mechanism. These robots utilize Mecanum wheels on the chassis for omnidirectional mobility, and the pitch and rotation of the gimbal enables multi-angle serving. Furthermore, these robots integrate components such as batteries, sensors, and cameras to support autonomous operation and target recognition in complex environments.

[0004] However, despite the technological advancements made in existing omnidirectional mobile serving robots, practical limitations remain. In particular, in scenarios requiring short bursts of high power output, such as during high-load operations like hill climbing, the robot's battery system often fails to deliver sufficient power, preventing the robot from completing its intended task. This is because conventional battery systems suffer from low power density and slow response times at high power output, limiting the robot's performance under high-load conditions. Utility Model Content

[0005] The purpose of this utility model is to provide an omnidirectional mobile serving robot equipped with a supercapacitor. By integrating the supercapacitor, the robot can quickly provide additional power support during high-load operations such as climbing, thereby ensuring that the robot can successfully complete difficult tasks.

[0006] In order to solve the above technical problems, the present invention adopts the following technical solution: an omnidirectional mobile serving robot equipped with a supercapacitor, comprising:

[0007] Chassis, used to support the robot body;

[0008] The power system includes four moving wheels mounted on the chassis, which enable the robot to move in all directions;

[0009] The serving mechanism is installed on the chassis and is used to realize the serving action;

[0010] The power supply system includes a battery unit and a supercapacitor unit. The supercapacitor unit is used to provide auxiliary power when the robot requires short-term high power output.

[0011] Preferably, the supercapacitor unit is connected in parallel with the battery unit.

[0012] More preferably, the movable wheels are Mecanum wheels, each movable wheel is equipped with an independent movable wheel motor, the two movable wheels at the left front position and the right rear position of the chassis are symmetrically arranged, and the two movable wheels at the right front position and the left rear position of the chassis are symmetrically arranged, and the axes of the four movable wheels are all facing the center of the chassis.

[0013] More preferably, the ball launching mechanism includes a rotatable pan-tilt mounted on a chassis, a magazine mounted on the pan-tilt mount, and a dial disposed in the magazine. Grooves for accommodating balls are provided at intervals on the periphery of the dial. A conveying link is provided on one side of the dial. The conveying link is connected to a launch track. Friction wheels for contacting balls are provided on both sides of the front end of the launch track. The dial can be rotated to drive the balls to move into the conveying link and stack them one by one in the launch track. When the conveying link and the launch track are full of balls, the dial can be rotated to push the balls into the end of the conveying link, thereby launching the balls in the launch track.

[0014] More preferably, the launch track is arranged in a launch bracket above the magazine, and a pitch mechanism for driving the launch bracket to change the launch angle is installed on the top of the magazine.

[0015] More preferably, the launching bracket is also provided with a camera and an image transmission module.

[0016] More preferably, it further includes a control system for controlling the movement and serving action of the robot body and managing the charging and discharging of the supercapacitor unit.

[0017] More preferably, the supercapacitor unit includes an upper plate and a lower plate, the upper plate is a control plate, including a chip, a signal conditioning circuit, a current sensing amplifier circuit, a CAN communication circuit, and an auxiliary power supply circuit, and the lower plate is a power plate and is provided with a MOSFET, a drive circuit, a flat wire power inductor and a solid-state capacitor.

[0018] Compared to existing technologies, this new robot, equipped with a supercapacitor unit, effectively provides short-term high-power output, resolving the power shortage problem of traditional batteries in high-power demand scenarios. This is particularly true during high-load operations like hill climbing, where the supercapacitor unit ensures the robot can successfully complete these challenging maneuvers. Because the robot maintains stable performance even at high power output, the risk of failure due to power shortages is reduced, thereby improving the safety and stability of the robot's operation. BRIEF DESCRIPTION OF THE DRAWINGS

[0019] Figure 1 Schematic diagram of the overall structure of the robot in the embodiment;

[0020] Figure 2 Schematic diagram of the pan / tilt structure in the embodiment;

[0021] Figure 3 Schematic diagram of the serving mechanism in the embodiment;

[0022] Figure 4 The moving wheel walking principle when the chassis performs linear motion in the embodiment;

[0023] Figure 5 Schematic diagram of the upper board circuit structure of the supercapacitor unit in the embodiment;

[0024] Figure 6 Schematic diagram of the path principle of the upper plate current of the supercapacitor unit in the embodiment;

[0025] Figure 7 Schematic diagram of the lower plate circuit structure of the supercapacitor unit in the embodiment.

[0026] In the picture:

[0027] 1 - Chassis 2 - Moving wheels 3 - Pan / tilt

[0028] 4 - Magazine 5 - Dial 6 - Transport Link

[0029] 7 - Launch track 8 - Friction wheel 9 - Launch bracket

[0030] 10——Camera 11——Image transmission module DETAILED DESCRIPTION

[0031] In order to facilitate understanding by those skilled in the art, the present invention is further described below with reference to embodiments and drawings. The contents mentioned in the embodiments are not intended to limit the present invention.

[0032] It should be noted in advance that, in this utility model, unless otherwise expressly specified or limited, terms such as "installed," "connected," "connected," and "fixed" should be understood broadly. For example, they can refer to fixed connections, detachable connections, or integral connections. Those skilled in the art will understand the specific meanings of these terms in this utility model based on the specific circumstances. Furthermore, in this utility model, unless otherwise expressly specified or limited, a first feature "above" or "below" a second feature may include direct contact between the first and second features, or may include contact between the first and second features not being in direct contact but through another feature between them.

[0033] like Figure 1 As shown, the omnidirectional mobile serving robot equipped with a supercapacitor includes:

[0034] Chassis 1, used to support the robot body;

[0035] The power system includes four moving wheels 2 mounted on the chassis 1, which enable the robot body to move in all directions;

[0036] The serving mechanism is installed on the chassis 1 and is used to realize the serving action;

[0037] The power supply system includes a battery unit and a supercapacitor unit. The supercapacitor unit is used to provide auxiliary power when the robot needs short-term high power output. The supercapacitor unit is connected in parallel with the battery unit.

[0038] In the above structure, the moving wheels 2 are Mecanum wheels, each of which is equipped with an independent moving wheel motor. The two moving wheels 2 at the left front and right rear positions of the chassis 1 are symmetrically arranged, and the two moving wheels 2 at the right front and left rear positions of the chassis 1 are symmetrically arranged, and the axes of the four moving wheels 2 are all facing the center of the chassis 1. By configuring Mecanum wheels as the moving wheels 2 and adopting a symmetrical arrangement, the robot can achieve omnidirectional movement, including front, back, left, right, and diagonal movement, thereby improving the robot's maneuverability and flexibility. The design of the axis facing the center of the chassis makes the robot more stable during movement and enhances controllability and passability. The movement principle of the chassis for linear movement is as follows: Figure 4 As shown, since the component force of the moving wheel 2 can produce a partially offsetting effect, a resultant force can be formed in one direction ( Figure 4 This chassis design is more flexible when turning.

[0039] like Figure 2 and Figure 3 As shown, the ball launching mechanism in this embodiment includes a pan head 3 rotatable on a chassis 1, a magazine 4 mounted on the pan head 3, and a dial 5 arranged in the magazine 4. The outer periphery of the dial 5 is provided with grooves for accommodating balls, and a conveying link 6 is provided on one side of the dial 5. The conveying link 6 is connected to a launching track 7. Friction wheels 8 for contacting the balls are provided on both sides of the front end of the launching track 7. The dial 5 can be rotated to drive the balls to move into the conveying link 6 and stack them one by one in the launching track. When the conveying link 6 and the launching track 7 are full of balls, the dial 5 can be rotated to push the balls into the end of the conveying link 6 so that the balls in the launching track 7 are launched. In this process, the balls pass between the two friction wheels 8, and the two friction wheels 8 can accelerate the rotation of the balls, thereby increasing the launching speed.

[0040] The launch track 7 is mounted on a launch bracket 9 above the magazine 4. A pitch mechanism is mounted on the top of the magazine 4 to drive the launch bracket 9 to change the launch angle, further enhancing the flexibility and tactical application of the shot. Specifically, lugs can be fixed on both sides of the magazine 4. The two sides of the launch bracket 9 can then be rotatably connected to the lugs via a shaft. A motor is then installed on the lugs to drive the shaft to adjust the pitch of the launch bracket 9.

[0041] Furthermore, the launch bracket 9 is also provided with a camera 10 and an image transmission module 11, which enables the robot to transmit video information in real time, enhancing the robot's observation and environmental perception capabilities, which is crucial for achieving automatic aiming and intelligent decision-making.

[0042] The robot also includes a control system for controlling the movement and serving of the robot body and managing the charging and discharging of the supercapacitor unit. The charging and discharging management of the supercapacitor unit ensures the efficient use of energy and the stability of the robot's performance, extending the robot's service life and improving energy efficiency.

[0043] The working process of the robot generally includes the following steps:

[0044] After the robot is started, the four Mecanum wheels configured on its chassis 1 start working under the drive of their respective independent moving wheel motors, allowing the robot to achieve omnidirectional movement, including forward, backward, left, right, and diagonal movement. The robot adjusts the direction of the serve through the rotatable gimbal 3, and uses the dial 5 in the magazine 4 installed on the gimbal 3 to transport the ball to the conveyor link 6 on the side of the dial 5. When the conveyor link 6 and the launch track 7 are full of balls, the dial 5 rotates to push the ball into the end of the conveyor link 6, thereby launching the ball in the launch track 7. The robot uses the camera 10 and image transmission module 11 installed on the launch bracket 9 for visual recognition and target tracking, and assists in adjusting the launch angle and direction to improve the accuracy of the serve. The robot's control system manages the charging and discharging process of the battery and supercapacitor unit to ensure that the supercapacitor unit can provide the necessary auxiliary power when short-term high-power output is required, such as rapid starting or climbing.

[0045] The specific structure of the supercapacitor unit in this embodiment includes an upper plate and a lower plate. The upper plate is a control plate, including a chip, a signal conditioning circuit, a current sensing amplifier circuit, a CAN communication circuit, and an auxiliary power supply circuit. The circuit structure is as follows: Figure 5 As shown. RY8411 is used as the power supply chip for 24V to 10V and 5V. RY8411 is a synchronous Buck converter that can provide a maximum current of 1A at a withstand voltage of 42V. It is highly efficient and sufficient for the use of an omnidirectional mobile serving robot. Figure 6As shown, the current sampling and fuse are both located on the upper board, and the sampling are:

[0046] a) Output from the referee system power management module -> all other devices, called IReferee;

[0047] b) DCDC converter A-side input / output current, called IA;

[0048] c) The input / output current on the B side of the DCDC converter is called IB, which is also the current that charges the capacitor bank.

[0049] Fuses are located on the A and B input / output sides. This allows the chassis to continue receiving power from the referee system even if the supercapacitor control module fails and the fuses blow, ensuring the robot's basic functional availability in extreme situations.

[0050] The lower board is the power board and is equipped with MOSFET, drive circuit, flat wire power inductor and solid capacitor, which ensures that the supercapacitor unit can withstand large current and achieve rapid charging and discharging, improving the performance of the robot when short-term high power output is required. The aluminum substrate is used to enhance heat dissipation, allowing the supercapacitor control module to continuously output a large current of more than 20A without overheating. Its circuit structure is as follows: Figure 7 shown.

[0051] The design of the upper and lower plates makes the control and power management of the supercapacitor unit more efficient. The upper plate is responsible for fine control, while the lower plate is responsible for power output. The clear division of labor improves overall performance.

[0052] In this embodiment, all the moving wheel motors are collectively referred to as chassis motors. The chassis motors are directly connected to the battery unit, while the supercapacitor unit and a bidirectional controllable power module together constitute a controllable power compensation system. By relying on high-speed power closed-loop control, the chassis power is dynamically shaving peaks and filling valleys, thereby achieving energy buffering of the supercapacitor. During the operation of the robot, assuming that the chassis power limit is 60W, the battery voltage is 20V, and the supercapacitor is in a half-charged state. If the chassis motor current is 2A at this time, that is, the chassis motor power is 40W, the bidirectional controllable power module will use 1A current to charge the supercapacitor, that is, the charging power is 20W. The excess power is cached in the supercapacitor. If the chassis motor current is 5A at this time, that is, the chassis motor power is 100W, the bidirectional controllable power module will use 2A current to discharge the supercapacitor, and the discharge power is 40W. The energy in the supercapacitor is used to compensate for the chassis power. If the chassis motor current is -2A, or the chassis motor power is -40W, the bidirectional controllable power module will use a 5A current to charge the supercapacitor, and the charging power is 100W. This is the process of kinetic energy recovery.

[0053] This supercapacitor unit also offers the following advantages: When connected in parallel to the chassis motor bus, even if the system malfunctions, the chassis can continue operating normally by simply disconnecting the circuit (e.g., shutting down the MOSFET or blowing a fuse). Regardless of the remaining energy in the capacitor, the chassis motor bus voltage remains relatively stable, approximately equal to the power supply voltage, providing a favorable operating environment for the motor. The kinetic energy recovery current can be actively limited, allowing some inrush current to flow back into the battery to prevent damage to the supercapacitor pack.

[0054] This new robot utilizes Mecanum wheels for omnidirectional mobility and integrates a supercapacitor unit to provide short-term, high-power output, ensuring the robot's power requirements during high-load operations such as climbing. Furthermore, it features a rotatable pan / tilt platform, a precisely controlled serving mechanism, and a visual recognition system assisted by a camera and image transmission module, making the robot's serving more flexible and precise. Overall, this innovative structural design and intelligent control system achieve efficient energy management, excellent maneuverability, and precise serving, enhancing the robot's performance in both competitive and practical scenarios.

[0055] In order to make it easier for ordinary technicians in this field to understand the improvements of the present invention over the prior art, some drawings and descriptions of the present invention have been simplified, and the above-mentioned embodiments are better implementation schemes of the present invention. In addition, the present invention can also be implemented in other ways. Any obvious replacement without departing from the concept of the present technical solution is within the scope of protection of the present invention.

Claims

1. An omnidirectional mobile serving robot equipped with a supercapacitor, characterized in that: include: A chassis (1) for supporting the robot body; A power system comprising four moving wheels (2) mounted on the chassis (1) to enable the robot body to move in all directions; A serving mechanism, mounted on the chassis (1), for implementing a serving action; The power supply system includes a battery unit and a supercapacitor unit. The supercapacitor unit is used to provide auxiliary power when the robot requires short-term high power output.

2. The omnidirectional mobile serving robot equipped with a supercapacitor according to claim 1, characterized in that: The supercapacitor unit is connected in parallel with the battery unit.

3. The omnidirectional mobile serving robot equipped with a supercapacitor according to claim 1, characterized in that: The moving wheels (2) are Mecanum wheels, each of which is equipped with an independent moving wheel motor. The two moving wheels (2) at the left front position and the right rear position of the chassis (1) are symmetrically arranged. The two moving wheels (2) at the right front position and the left rear position of the chassis (1) are symmetrically arranged. The axes of the four moving wheels (2) are all oriented toward the center of the chassis (1).

4. The omnidirectional mobile serving robot equipped with a supercapacitor according to claim 1, characterized in that: The ball launching mechanism comprises a rotatable platform (3) arranged on a chassis (1), a magazine (4) mounted on the platform (3), and a dial (5) arranged in the magazine (4); grooves for accommodating balls are arranged at intervals on the outer periphery of the dial (5); a conveying link (6) is arranged on one side of the dial (5); the conveying link (6) is connected to a launching track (7); friction wheels (8) for contacting balls are arranged on both sides of the front end of the launching track (7); the dial (5) can be rotated to drive the balls to move into the conveying link (6) and accumulate them one by one in the launching track; when the conveying link (6) and the launching track (7) are full of balls, the dial (5) can be rotated to push the balls into the end of the conveying link (6) so that the balls in the launching track (7) are launched.

5. The omnidirectional mobile serving robot equipped with a supercapacitor according to claim 4, characterized in that: The launch track (7) is arranged in a launch bracket (9) above the magazine (4), and a pitch mechanism for driving the launch bracket (9) to change the launch angle is installed at the top of the magazine (4).

6. The omnidirectional mobile serving robot equipped with a supercapacitor according to claim 5, characterized in that: The transmitting bracket (9) is also provided with a camera (10) and an image transmission module (11).

7. The omnidirectional mobile serving robot equipped with a supercapacitor according to claim 1, characterized in that: It also includes a control system for controlling the movement and serving action of the robot body and managing the charging and discharging of the supercapacitor unit.

8. The omnidirectional mobile serving robot equipped with a supercapacitor according to claim 1, characterized in that: The supercapacitor unit includes an upper plate and a lower plate. The upper plate is a control plate, which includes a chip, a signal conditioning circuit, a current sensing amplifier circuit, a CAN communication circuit, and an auxiliary power supply circuit. The lower plate is a power plate and is provided with a MOSFET, a drive circuit, a flat wire power inductor and a solid-state capacitor.

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