Gyroscope and single encoder fused global positioning module

Abstract

The global positioning module comprises an omnidirectional wheel, L-shaped bearing seats, sliding blocks, guide rails and tension springs, the omnidirectional wheel is arranged in the center of a two-wheel differential chassis, the two ends of a wheel axle of the omnidirectional wheel are rotationally connected with the L-shaped bearing seats, the L-shaped bearing seats are fixedly connected with the sliding blocks, the sliding blocks are connected with the guide rails in a guiding and sliding mode, and the tension springs are arranged on the guide rails. The guide rail is fixedly connected to the two-wheel differential chassis, the sliding block is connected with the two-wheel differential chassis through the tension spring, and the sliding block and the tension spring jointly act to keep the pre-pressure for grounding of the full-speed wheel. According to the device, the requirement for the installation space of the driven wheel is low, and the problem that the mileage count value is too large when a traditional mileage meter module faces an AGV chassis capable of rotating can be solved.

Description

Technical Field

[0001] This application belongs to the field of robot positioning device technology, specifically a global positioning module that integrates a gyroscope and a single encoder. Background Technology

[0002] With the development of robotics technology, the application fields of robots with autonomous driving capabilities are constantly expanding. Global positioning modules are a crucial component of autonomous robot driving. Research has revealed the following technical problems with existing global positioning modules: 1. Most current global positioning odometer modules are based on two driven coded wheels, resulting in high cost and demanding space requirements for their installation. 2. When dealing with AGV chassis that can rotate around a fixed point, current global positioning odometer modules may show excessively high odometer readings during chassis rotation. 3. Many methods exist for detecting AGV slippage. Optical flow and laser methods have high requirements for lighting conditions and site flatness, while inertial methods require high sensor accuracy. A low-cost solution is still lacking.

[0003] Both encoders and gyroscopes can be used to detect the distance traveled by a chassis, but their detection results differ due to their different working principles. Specifically: encoders measure the displacement increment (Δs) by rotating the wheels, but cannot directly detect errors caused by changes in direction or slippage. Gyroscopes measure angular velocity (ω), and after integration, the change in yaw angle (Δθ) can be obtained, but they are sensitive to long-term drift. Utility Model Content

[0004] To address the aforementioned issues, this invention proposes a global positioning module that integrates a gyroscope and a single encoder, primarily used for precise positioning of AGV chassis.

[0005] The technical problem solved by this utility model is achieved through the following technical solution:

[0006] A global positioning module integrating a gyroscope and a single encoder includes an omnidirectional wheel, an L-shaped bearing housing, a slider, a guide rail, and a tension spring. An omnidirectional wheel is located at the center of a two-wheel differential chassis. Both ends of the omnidirectional wheel's axle are rotatably connected to L-shaped bearing housings, which are fixedly connected to sliders. The slider is guided and slidably connected to the guide rail, which is fixedly connected to the two-wheel differential chassis. Furthermore, the slider is also connected to the two-wheel differential chassis via a tension spring. The slider and the tension spring work together to maintain the preload of the omnidirectional wheel grounding. An encoder and a gyroscope are connected to the L-shaped bearing housing on one side of the omnidirectional wheel.

[0007] Furthermore, a slider connecting plate is connected between the L-shaped bearing seat and the slider, and a tension spring is connected to the upper end of the slider connecting plate. The other end of the tension spring is fixedly connected to the two-wheel differential chassis by a fixing bolt.

[0008] Moreover, all of the tension springs are arranged in pairs at intervals.

[0009] Furthermore, a through groove is provided in the center of the two-wheel differential chassis, and the omnidirectional wheel is floatingly disposed in the through groove.

[0010] Furthermore, the bearing mounting surface of the L-shaped bearing housing is perpendicular to the axis of the omnidirectional wheel axle, and the encoder and gyroscope are symmetrically arranged on both sides of the omnidirectional wheel axle.

[0011] Moreover, the encoder is a magnetic encoder.

[0012] The advantages and positive effects of this utility model are:

[0013] 1. This device only requires one encoder to complete the global positioning odometer module, and has low requirements for the installation space of the driven wheel.

[0014] 2. This device solves the problem of excessively high mileage count values ​​when traditional odometer modules are used with self-rotating AGV chassis. Attached Figure Description

[0015] To more clearly illustrate the technical solution of this utility model, the drawings used in the description of the embodiments will be briefly introduced below. Obviously, the drawings described below are only some embodiments of this utility model. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0016] Figure 1 This is a schematic diagram of the three-dimensional structure of the global positioning module in this embodiment.

[0017] Figure 2 This is the main view of the global positioning module in this embodiment.

[0018] Figure 3 yes Figure 2 Top view.

[0019] Figure 4 This is a bottom-view three-dimensional structural diagram of the global positioning module in this embodiment.

[0020] The markings in the diagram represent: 1. Two-wheel differential chassis; 101. Through groove; 2. L-shaped bearing seat; 3. Slider connecting plate; 4. Slider; 5. Guide rail; 6. Guide rail bracket; 7. Fixing bolt; 8. Omnidirectional wheel; 9. Tension spring; 11. Encoder; 12. Gyroscope. Detailed Implementation

[0021] To make the structure and advantages of this utility model clearer, the structure of this utility model will be further described below with reference to the accompanying drawings.

[0022] In this embodiment, the vertical direction, horizontal direction, front, back, left, right, etc. are all relative position descriptions and do not limit the actual orientation of the product.

[0023] A global positioning module integrating a gyroscope and a single encoder is installed at the midpoint of the line connecting the drive wheel shafts of a two-wheel differential chassis 1. It includes an omnidirectional wheel 8, an L-shaped bearing seat 2, a slider 4, a guide rail 5, and a tension spring 9. An omnidirectional wheel 8 is located at the center of the two-wheel differential chassis 1 and is connected to an optical shaft via a flange coupling. Both ends of the optical shaft are rotatably connected to the L-shaped bearing seat 2, which is fixedly connected to a sliding plate connecting block. A slider 4 is fixedly mounted on the upper part of the sliding plate connecting block and is slidably connected to the guide rail 5. The slider 4 can reciprocate along the guide rail 5. The guide rail 5 is fixed to the two-wheel differential chassis 1 via a guide rail 5 bracket. A tension spring 9 is connected to the upper end of the slider 4 connecting plate 3 on both sides of the slider 4. The other end of the tension spring 9 is fixedly connected to the two-wheel differential chassis 1 via a fixing bolt 7. A through groove 101 is located at the center of the two-wheel differential chassis 1, and the omnidirectional wheel 8 is floatingly disposed within the through groove 101.

[0024] The slider 4 connecting plate 3 and the L-shaped bearing seat 2 are connected by bolts. The slider 4 connecting plate 3 and the slider 4 are connected by bolts. The slider 4 has threads. After the bolts are tightened, the slider 4 connecting plate 3 is pressed onto the slider 4.

[0025] The bearing mounting surface of the L-shaped bearing housing 2 is perpendicular to the axis of the omnidirectional wheel 8's axle. A bracket is connected to the L-shaped bearing housing 2 on one side of the omnidirectional wheel 8. An encoder 11 and a gyroscope 12 are connected to the bracket, symmetrically positioned on both sides of the omnidirectional wheel 8's axle. The encoder 11 and gyroscope 12 are electrically connected via conventional wiring, enabling simultaneous real-time monitoring of the omnidirectional wheel 8 and transmitting signals to the chassis positioning module for information exchange. The encoder 11 and gyroscope 12 are existing technologies; their working principles and internal structures are not described in detail.

[0026] The slider 4 and the tension spring 9 work together to ensure that the omnidirectional wheel 8 remains grounded when the positioning module traverses uneven terrain, thus ensuring that the encoder relying on the wheel axle of the omnidirectional wheel 8 continuously counts and guarantees positioning accuracy. In this embodiment, a magnetic encoder is used. Among existing encoder types, magnetic encoders are more suitable for AGV chassis positioning due to their cost and adaptability.

[0027] In this embodiment, an omnidirectional wheel 8 at the center position is used as the detection object. When the differential chassis of the two-wheel AGV rotates, it does not rotate around the axis, and at the same time, it does not hinder the movement of the AGV chassis.

[0028] Placing an omnidirectional wheel 8 at the midpoint of the line connecting the axles of the driving wheels of the two-wheel differential chassis 1 can solve the problems of counting errors and hindering chassis movement caused by traditional coding wheels when the two-wheel differential chassis 1 rotates.

[0029] The above description is merely an embodiment of this utility model and is not intended to limit this utility model. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of this utility model should be included within the protection scope of this utility model.

Claims

1. A global positioning module fused with a gyroscope and a single encoder, characterized in that The system includes an omnidirectional wheel, an L-shaped bearing housing, a slider, a guide rail, and a tension spring. An omnidirectional wheel is located at the center of the two-wheel differential chassis. Both ends of the omnidirectional wheel's axle are rotatably connected to L-shaped bearing housings, which are fixedly connected to sliders. The sliders are guided and slidably connected to guide rails, which are fixedly connected to the two-wheel differential chassis. Furthermore, the sliders are also connected to the two-wheel differential chassis via tension springs. The sliders and tension springs work together to maintain the preload of the omnidirectional wheel grounding. An encoder and a gyroscope are connected to the L-shaped bearing housing on one side of the omnidirectional wheel.

2. The global positioning module integrated with a gyroscope and a single encoder according to claim 1, characterized in that The L-shaped bearing seat is connected to the slider by a slider connecting plate. A tension spring is connected to the upper end of the slider connecting plate, and the other end of the tension spring is fixedly connected to the two-wheel differential chassis by a fixing bolt.

3. The global positioning module integrated with a gyroscope and a single encoder according to claim 1, characterized in that All of the tension springs are arranged in pairs at intervals.

4. The global positioning module integrated with a gyroscope and a single encoder according to claim 1, wherein The two-wheel differential chassis has a through groove at its center, and the omnidirectional wheel is floatingly disposed in the through groove.

5. The global positioning module integrated with a gyroscope and a single encoder according to claim 1, wherein The bearing mounting surface of the L-shaped bearing housing is perpendicular to the axis of the omnidirectional wheel axle, and the encoder and gyroscope are symmetrically arranged on both sides of the omnidirectional wheel axle.

6. The global positioning module integrated with a gyroscope and a single encoder according to claim 1, wherein The encoder is a magnetic encoder.

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