Self-moving chassis based on voice control

Abstract

The utility model relates to a self-moving chassis based on voice control, which comprises a chassis, a support and a connecting plate, through holes are symmetrically arranged on two sides of the chassis, driving wheels are arranged in the through holes, the driving wheels are fixedly connected with a shock-proof mechanism, the shock-proof mechanism is fixed with the chassis, four universal wheels and a steering wheel are arranged at corners of the lower end of the chassis, and the steering wheel is connected with the chassis. The steering wheel is connected with a steering mechanism, the driving wheel comprises hub motors, the steering mechanism comprises a steering engine and an encoder, the two hub motors and the steering engine are connected with a controller and a power module, the input end of the controller is connected with a laser radar, an obstacle avoidance sensor and an attitude sensor, and the output end of the controller is connected with a driving chip. The driving chip is connected with the hub motor and the steering engine, and the controller is in communication connection with a voice control module. According to the utility model, the anti-vibration mechanism enables the mobile chassis to be suitable for a fluctuating road surface, and the attitude sensor, the obstacle avoidance sensor and the laser radar are combined to provide a hardware basis for intelligent control of the mobile chassis.

Description

TECHNICAL FIELD

[0001] The utility model relates to a self -moving chassis system technical field, concretely relates to a self -moving chassis based on voice control. BACKGROUND

[0002] At present, goods carrying generally adopts mechanical chassis system such as handcart, hand-pushed flat plate. The product needs to be pushed by manpower or controlled by artificial, and is inconvenient to use. With the rapid development of artificial intelligence, man-machine interaction, mechanical control, large-capacity battery and other technologies, and the flatness of office area, elevator, street road, electric chassis is rapidly developed. Such as CN220819435U, a mobile chassis is controlled by remote controller to work, compared with mechanical chassis, improves work efficiency.

[0003] The existing electric chassis can only be applied to flat road, is limited by terrain, and the operation scene is limited, and the existing electric chassis needs to be manually controlled, and is inconvenient to operate. SUMMARY

[0004] The utility model discloses a self -moving chassis based on voice control to solve the problem that the operation scene of existing electric chassis is limited, sets up the controller, and the controller is used to control two wheel hub motors to work, sets up the damping mechanism to make the mobile chassis applicable to the undulating road surface, and the attitude sensor, obstacle avoidance sensor and laser radar provide the hardware basis for the intelligent control of mobile chassis.

[0005] To achieve the above object, the utility model provides a self -moving chassis based on voice control, including chassis, support and connecting plate, the chassis is square board structure, and the both sides of chassis are symmetrically provided with long strip shape through -hole, the through -hole is provided with drive wheel, and drive wheel is fixedly connected with damping mechanism, and the damping mechanism is fixed with the chassis, the lower end corner of the chassis is provided with four universal wheels and a steering wheel, the steering wheel is connected with steering mechanism, the universal wheel, steering wheel and drive wheel all are in contact with ground;

[0006] The drive wheel includes a wheel hub motor, the steering mechanism includes a rudder and an encoder, two wheel hub motors and the rudder are connected with controller and power module, the controller and power module are electrically connected, the input end of the controller is connected with laser radar, obstacle avoidance sensor and attitude sensor, and the output end of the controller is connected with drive chip, the drive chip is connected with wheel hub motor and rudder respectively, and the controller is connected with voice control module in communication;

[0007] The support is arranged between the chassis and the connecting plate, and the support is detachably connected with the chassis and the connecting plate.

[0008] Furthermore, the bracket has a U-shaped plate structure, and partitions are provided on the inner side of the bracket. The partitions are arranged in a grid pattern, and a PCB board is fixed between the two longitudinal partitions. The PCB board is equipped with a controller, attitude sensor, obstacle avoidance sensor and driving chip, and the lidar is fixed in the middle of the bracket.

[0009] The side of the bracket has mounting holes corresponding to the obstacle avoidance sensor;

[0010] The power module includes a charging connector, and a wiring hole is provided on the side of the bracket corresponding to the charging connector;

[0011] The controller is connected to a power button, and the side of the bracket has a mounting hole corresponding to the power button.

[0012] The bracket protects the controller, attitude sensor, obstacle avoidance sensor, and driver chip. Internal partitions secure the PCB board. The grid-like structure further enhances support and increases the bracket's load-bearing capacity.

[0013] Furthermore, the connecting plate is a square plate, and the connecting plate is fixed to the bracket by bolts. A circular through hole is opened in the middle of the connecting plate corresponding to the laser radar, and a square mounting hole is opened on one side of the connecting plate.

[0014] The connecting plate is used to contact the loaded equipment.

[0015] Furthermore, the shock absorption mechanism includes a side plate, a slider, a slide rail, a first spring, and a second spring. A circular through hole is provided on one side of the side plate, and the circular through hole of the side plate is fixed to the drive wheel. The side edge of the side plate is connected to the slider. The slider is a T-shaped plate. The horizontal section of the slider is set in the slide rail, and the vertical section of the slider is fixed to the side plate. The slider and the slide rail are slidably connected.

[0016] A first spring is installed at the upper end of the slider, and a second spring is installed at the lower end of the slider;

[0017] The first and second springs are installed inside the slide rail.

[0018] The chassis is relatively stationary. When encountering uneven road surfaces, the drive wheels make elastic contact with the ground through the shock absorption mechanism, allowing the moving chassis to travel smoothly on uneven roads.

[0019] Furthermore, the slide rail is a long strip structure that is hollow inside and open on one side, and a square elongated hole is provided on one side of the slide rail;

[0020] One end of the closed slide rail is fixed to the chassis. Inside the slide rail, a first spring, a slider, and a second spring are arranged sequentially from top to bottom. A baffle is provided on one side of the open slide rail, and the baffle is fixedly connected to the slide rail.

[0021] The slider is fixed with the driving wheel through the side plate, and the slider moves up and down in the slide rail due to the terrain bumping, and the slider is limited by the first spring and the second spring when the displacement is generated, and the first spring and the second spring generate resistance due to the elastic deformation, so that the shock absorption effect is achieved.

[0022] Further, the controller comprises an MCU chip, the voice control module comprises an SU-03T module, and the MCU chip and the SU-03T module communicate through a UART serial port.

[0023] The obstacle avoidance sensor comprises an ultrasonic ranging sensor, and the attitude sensor comprises an MPU6050 module, and the MPU6050 module communicates with the MCU chip through an I2C serial port.

[0024] The voice control is convenient to use, compared with remote control, the device is convenient to carry, and the user is convenient to control.

[0025] Further, the power module comprises a charge and discharge management circuit, a battery and a voltage conversion circuit, the charge and discharge management circuit is connected with the charging connector, the output end of the charge and discharge management circuit is connected with the battery, the output end of the battery is connected with the voltage conversion circuit, the battery is fixed with the chassis, and the battery is arranged in the middle of the chassis.

[0026] The power module is arranged to supply power to the electrical elements.

[0027] Through the above technical scheme, the utility model has the beneficial effects that:

[0028] 1The utility model can be suitable for complex terrain, two driving wheels are arranged on the two sides of the chassis, the driving wheel comprises a hub motor, the two hub motors rotate synchronously to drive the chassis and the support to move, a damping mechanism is arranged between the driving wheel and the chassis, so that the damping mechanism can inhibit the rebound of the impact energy when the driving wheel walks on the undulating ground, the chassis is ensured to be stable, and the transported goods arranged on the connecting plate can be ensured to be transported stably. In addition, the attitude sensor is arranged to detect the attitude of the chassis, the attitude sensor is connected with the controller, the controller controls the rotating speed of the hub motor through the driving chip, and the hardware basis for adjusting the rotating speed of the hub motor according to the terrain is provided.

[0029] 2The utility model is simple and easy to operate, and is convenient to use automatically. The controller and the driving chip are arranged, the controller controls the hub motor through the driving chip, the laser radar and the obstacle avoidance sensor are arranged, the laser radar detects multiple targets in a fan surface to provide the hardware basis for automatic obstacle avoidance, in order to overcome the problems that the laser radar is easy to be interfered by electromagnetic waves, is affected by weather, and is weak in detecting transparent and semi-transparent objects, the obstacle avoidance sensor is additionally arranged, the obstacle avoidance sensor is an ultrasonic ranging sensor and detects in a straight line, and the ultrasonic ranging sensor is arranged at the position of the vehicle head, so that the obstacle avoidance sensor is convenient to detect the obstacles.

[0030] Additionally, a voice control module is provided, including the SU-03T module. The SU-03T module is an offline voice module, which can control the operation of this mobile chassis through voice commands even without a network, making it convenient to use. Attached Figure Description

[0031] Figure 1 This is one of the structural schematic diagrams of a voice-controlled self-moving chassis according to this utility model;

[0032] Figure 2 This is the second structural schematic diagram of a self-moving chassis based on voice control according to this utility model;

[0033] Figure 3 This is the third schematic diagram of the structure of a voice-controlled self-moving chassis according to this utility model;

[0034] Figure 4 This is a schematic diagram of the structure of a voice-controlled self-moving chassis shock absorption mechanism according to this utility model.

[0035] Figure 5 This is a circuit diagram of a voice-controlled self-moving chassis according to this utility model.

[0036] Reference numerals: 1 for chassis, 2 for bracket, 3 for connecting plate, 4 for drive wheel, 5 for caster wheel, 6 for steering wheel, 7 for steering mechanism, 8 for controller, 9 for power module, 10 for LiDAR, 11 for obstacle avoidance sensor, 12 for attitude sensor, 13 for drive chip, 14 for voice control module, 15 for partition, 16 for side plate, 17 for slider, 18 for slide rail, 19 for first spring, 20 for second spring, 21 for baffle. Detailed Implementation

[0037] Example 1

[0038] like Figures 1-5 As shown, a voice-controlled self-moving chassis includes a chassis 1, a support 2, and a connecting plate 3. The chassis 1 is a square plate structure with elongated through holes symmetrically opened on both sides. A drive wheel 4 is installed in the through hole, and a shock-absorbing mechanism is fixedly connected to the drive wheel 4. The shock-absorbing mechanism is fixed to the chassis 1. Four omnidirectional wheels 5 and one steering wheel 6 are provided at the lower corner of the chassis 1. The steering wheel 6 is connected to a steering mechanism 7. The omnidirectional wheels 5, the steering wheel 6, and the drive wheel 4 are all in contact with the ground.

[0039] The driving wheel 4 comprises a wheel hub motor, the steering mechanism 7 comprises a rudder and an encoder, two wheel hub motors and the rudder are connected with a controller 8 and a power module 9, the controller 8 and the power module 9 are electrically connected, the input end of the controller 8 is connected with a laser radar 10, an obstacle avoidance sensor 11, an attitude sensor 12 and an encoder, the output end of the controller 8 is connected with a drive chip 13, the drive chip 13 is connected with the wheel hub motor and the rudder respectively, and the controller 8 is in communication connection with a voice control module 14.

[0040] The support 2 is arranged between the chassis 1 and the connecting plate 3, and the support 2 is detachably connected with the chassis 1 and the connecting plate 3 respectively.

[0041] The support 2 is in the shape of a back-shaped plate, and the inner side of the support 2 is provided with a partition plate 15, the partition plate 15 is arranged in the shape of a cross, a PCB plate is fixed between two longitudinal partition plates 15, the controller 8, the attitude sensor 12, the obstacle avoidance sensor 11 and the drive chip 13 are arranged on the PCB plate, and the laser radar 10 is fixedly arranged at the middle part of the support 2.

[0042] Mounting holes are formed in the side of the support 2 corresponding to the obstacle avoidance sensor 11;

[0043] The power module 9 comprises a charging connector, and a wiring hole is formed in the side of the support 2 corresponding to the charging connector;

[0044] The controller 8 is connected with a power-on button, and a mounting hole is formed in the side of the support 2 corresponding to the power-on button.

[0045] The connecting plate 3 is a square plate, the connecting plate 3 is fixed with the support 2 through bolts, a circular through hole is formed in the middle part of the connecting plate 3 corresponding to the laser radar 10, and a square mounting hole is formed in one side of the connecting plate 3.

[0046] The damping mechanism comprises a side plate 16, a sliding block 17, a sliding rail 18, a first spring 19 and a second spring 20, a circular through hole is formed in one side of the side plate 16, the circular through hole of the side plate 16 is fixed with the driving wheel 4, the side edge of the side plate 16 is connected with the sliding block 17, the sliding block 17 is in the shape of a T-shaped plate, the horizontal section of the sliding block 17 is arranged in the sliding rail 18, the longitudinal section of the sliding block 17 is fixed with the side plate 16, and the sliding block 17 and the sliding rail 18 are in sliding connection;

[0047] The upper end of the sliding block 17 is provided with the first spring 19, and the lower end of the sliding block 17 is provided with the second spring 20;

[0048] The first spring 19 and the second spring 20 are arranged in the sliding rail 18.

[0049] The sliding rail 18 is in the shape of a long strip with an internal hollow and one side being open, and a square long hole is formed in one side of the sliding rail 18.

[0050] One closed end of the slide rail 18 is fixed to the base 1. A first spring 19, a slider 17 and a second spring 20 are arranged sequentially from top to bottom inside the slide rail 18. A baffle 21 is provided on the open side of the slide rail 18, and the baffle 21 is fixedly connected to the slide rail 18.

[0051] The controller 8 includes an MCU chip, and the voice control module 14 includes an SU-03T module. The MCU chip and the SU-03T module communicate via a UART serial port.

[0052] The obstacle avoidance sensor 11 includes an ultrasonic ranging sensor, and the attitude sensor 12 includes an MPU6050 module. The MPU6050 module communicates with the MCU chip via an I2C serial port.

[0053] The power module 9 includes a charge / discharge management circuit, a battery, and a voltage conversion circuit. The charge / discharge management circuit is connected to the charging connector, the output terminal of the charge / discharge management circuit is connected to the battery, the output terminal of the battery is connected to the voltage conversion circuit, and the battery is fixed to the chassis 1, with the battery located in the middle of the chassis 1.

[0054] In this embodiment, the power management circuit uses an S32K146 charging management chip, which is connected to the charging connector. The battery is a lithium battery, and the voltage conversion circuit includes a TP2084 chip. An external charger is connected to the charging connector, and the charger is connected to AC power.

[0055] The controller 8 uses an STM32 microcontroller, and the driver chip 13 uses an L289N type driver chip.

[0056] The SU-03T module is an offline voice recognition module, requiring no internet connection. It features a microphone and speaker; the microphone converts sound signals into electrical signals. The SU-03T module supports voice commands such as left turn, right turn, forward, backward, and stop. Left turn commands include options for 15° left turn, 30° left turn, 45° left turn, and 60° left turn, while right turn commands include options for 15° right turn, 30° right turn, 45° right turn, and 60° right turn.

[0057] When in operation, the user controls this utility model through voice commands. When the user says the forward command, the SU-03T module converts the voice command into an electrical signal, and then the controller 8 controls the two hub motors to rotate through the drive chip 13, which in turn drives the wheel 4 to rotate, and the mobile chassis of this utility model moves forward.

[0058] The detection ranges of the laser radar 10 and the obstacle avoidance sensor 11 are different, the laser radar 10 detects obstacles in a fan shape, the obstacle avoidance sensor 11 detects obstacles in a line shape, the laser radar 10 can detect multiple targets at the same time and has a high speed, but the laser radar 10 cannot detect transparent and translucent objects and is easily affected by the environment and electromagnetic interference. The ultrasonic ranging sensor is not affected by interference and has strong applicability. Therefore, the two are combined in the embodiment to provide a hardware basis for self movement.

[0059] When multiple obstacles are encountered in front of the self moving chassis during operation, the laser radar 10 detects multiple targets, the controller 8 obtains the number of targets and the distance from each target according to the signal of the laser radar 10, the obstacle avoidance sensor 11 detects whether there is an obstacle in front, if not, the moving chassis continues to move, if so, the moving chassis turns to the side of the target with the longest distance according to the positions of the multiple targets, the controller 8 controls the rudder to deflect, so that the steering wheel 6 rotates, and then the universal wheel 5 rotates, thereby realizing automatic obstacle avoidance.

[0060] In addition, the user speaks to turn left by 15° (or turn right by 15°, the principle is the same for other angles, which will not be repeated here), the controller 8 controls the rudder to deflect, the encoder detects the deflection angle of the rudder, and the rudder rotates counterclockwise by 15°, thereby completing the turning of the moving chassis.

[0061] When encountering a bumpy road, the driving wheel 4 is affected by the terrain and bounces under the impact energy, at this time, the driving wheel 4 moves the slider 17 up and down in the slide rail 18, the slider 17 moves upward, the first spring 19 flexibly suppresses the bounce of the driving wheel 4, and the slider 17 moves downward, the second spring 20 flexibly suppresses the bounce of the driving wheel 4.

[0062] At the same time, the attitude sensor 12 continuously works to detect the attitude of the chassis 1, when encountering an uphill, the controller 8 controls the wheel hub motor to increase the rotation speed to improve the climbing power, and when encountering a downhill, the controller 8 controls the wheel hub motor to reduce the rotation speed to realize smooth downhill.

[0063] Embodiment 2

[0064] The self moving chassis based on voice control in embodiment 1 is used to carry a maintenance robot, and the bottom of the maintenance robot is detachably connected with the connecting plate 3 of the self moving chassis. During operation, the worker controls the self moving chassis by voice to drive the self moving chassis to reach a specified position.

[0065] The above-described embodiments are only preferred embodiments of the present application, and are not intended to limit the scope of the present application, so equivalent changes or modifications made according to the structure, features and principles described in the patent range of the present application should be included in the patent range of the present application.

Claims

1. A voice control based self-moving chassis, characterized in that, Including chassis (1), support (2) and connecting plate (3), the chassis (1) is square plate structure, the two sides of chassis (1) symmetry long strip-shaped through hole is set, the through hole is provided with drive wheel (4), drive wheel (4) is fixedly connected with shock absorbing mechanism, the shock absorbing mechanism is fixed with chassis (1), the lower end edge corner of chassis (1) is provided with four universal wheel (5) and a steering wheel (6), the steering wheel (6) is connected with steering mechanism (7), the universal wheel (5), steering wheel (6) and drive wheel (4) are all in contact with ground; The drive wheel (4) includes a hub motor, the steering mechanism (7) includes a rudder and an encoder, two the hub motor and the rudder are connected with a controller (8) and a power module (9), the controller (8) and the power module (9) are electrically connected, the input end of the controller (8) is connected with a laser radar (10), an obstacle avoidance sensor (11) and an attitude sensor (12), the output end of the controller (8) is connected with a drive chip (13), the drive chip (13) is connected with the hub motor and the rudder respectively, the controller (8) is communicatively connected with a voice control module (14); The support (2) is arranged between the chassis (1) and the connecting plate (3), and the support (2) is detachably connected with the chassis (1) and the connecting plate (3) respectively.

2. The voice control based self-moving chassis according to claim 1, wherein, The support (2) is in the shape of a back-shaped plate, and a partition plate (15) is arranged on the inner side of the support (2). The partition plate (15) is arranged in the shape of a cross, and a PCB is fixed between the two partition plates (15). The controller (8), the attitude sensor (12), the obstacle avoidance sensor (11), and the drive chip (13) are arranged on the PCB. The laser radar (10) is fixedly arranged in the middle of the support (2). Mounting holes are formed in the side of the support (2) corresponding to the obstacle avoidance sensor (11). The power module (9) includes a charging connector, and a wiring hole is formed in the side of the support (2) corresponding to the charging connector. The controller (8) is connected with a power-on button, and a mounting hole is formed in the side of the support (2) corresponding to the power-on button.

3. The voice control based self-moving chassis according to claim 1, wherein, The connecting plate (3) is a square plate, and the connecting plate (3) is fixed with the support (2) by bolts. A circular through hole is formed in the middle of the connecting plate (3) corresponding to the laser radar (10).

4. The voice control based self-moving chassis according to claim 1, characterized in that, The shock absorbing mechanism includes a side plate (16), a sliding block (17), a sliding rail (18), a first spring (19), and a second spring (20). A circular through hole is formed in one side of the side plate (16), and the circular through hole of the side plate (16) is fixed with the drive wheel (4). The side edge of the side plate (16) is connected with the sliding block (17). The sliding block (17) is in the shape of a T-shaped plate. The horizontal section of the sliding block (17) is arranged in the sliding rail (18), and the vertical section of the sliding block (17) is fixed with the side plate (16). The sliding block (17) and the sliding rail (18) are slidingly connected. The first spring (19) is arranged at the upper end of the sliding block (17), and the second spring (20) is arranged at the lower end of the sliding block (17). The first spring (19) and the second spring (20) are arranged in the sliding rail (18).

5. The voice control based self-moving chassis according to claim 4, characterized in that, The slide rail (18) is a long strip structure with hollow interior and one side opening, and a square long hole is formed on one side of the slide rail (18); The closed end of the slide rail (18) is fixed with the chassis (1), the first spring (19), the slide block (17) and the second spring (20) are sequentially arranged in the slide rail (18) from top to bottom, and the baffle (21) is arranged on the opening side of the slide rail (18) and fixedly connected with the slide rail (18).

6. The voice control based self-moving chassis according to claim 1, wherein, The controller (8) comprises an MCU chip, the voice control module (14) comprises an SU-03T module, and the MCU chip and the SU-03T module communicate through a UART serial port; The obstacle avoidance sensor (11) comprises an ultrasonic ranging sensor, and the attitude sensor (12) comprises an MPU6050 module, and the MPU6050 module communicates with the MCU chip through an I2C serial port.

7. The voice control based self-moving chassis according to claim 2, wherein, The power module (9) comprises a charge-discharge management circuit, a battery and a voltage conversion circuit, the charge-discharge management circuit is connected with the charging connector, the output end of the charge-discharge management circuit is connected with the battery, the output end of the battery is connected with the voltage conversion circuit, the battery is fixed with the chassis (1), and the battery is arranged in the middle part of the chassis (1).

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