Highly adaptive tracking sensor module

Abstract

The utility model provides a kind of height self-adapting tracing sensing module, including the mounting plate for being installed with transport main body;The mounting plate is installed parallel to ground;The inside of the mounting plate is slidably connected with self-adapting tracing module;The top of the mounting plate is equipped with the lifting assembly for keeping the distance between self-adapting tracing module and ground;The utility model introduces self-adapting tracing module and lifting assembly, realize the automatic keeping and self-adapting adjustment of the distance between magnetic stripe tracing sensor and ground magnetic stripe, whether ground is flat or load changes, can ensure that sensor keeps at optimum working height, to improve tracing precision and stability.

Description

Technical Field

[0001] This utility model relates to the field of highly adaptive tracking sensing module. Background Technology

[0002] With the rapid development of industrial automation and intelligence, intelligent line-following handling robots have been widely used in warehousing and logistics, intelligent manufacturing and other fields. These robots perceive the surrounding environment through built-in sensor systems and use advanced algorithms for path planning and navigation to achieve automatic handling and sorting of goods. Among them, magnetic strip tracking technology is a commonly used navigation method. By laying magnetic strips on the ground, the robot uses magnetic strip tracking sensors to detect the magnetic field signal of the magnetic strips, thereby determining its own position and direction of travel.

[0003] Intelligent tracking and handling robots typically possess several key technologies, including magnetic stripe tracking sensors, laser rangefinders, and infrared sensors, which are used to perceive the robot's relationship with its surrounding environment in real time; based on sensor data, algorithms are used to realize the robot's path planning and autonomous navigation; motor drives and motion control algorithms are also included to achieve precise movement and positioning of the robot; and data communication between the robot and the central control system enables functions such as task allocation and status monitoring.

[0004] Although intelligent tracking and handling robots have achieved remarkable results in practical applications, traditional technical solutions still have some problems that need to be solved: When facing uneven ground or different loads, the distance between the magnetic strip tracking sensor and the magnetic strip on the ground is difficult to keep constant, resulting in a decrease in tracking accuracy, and may even fail to accurately identify the magnetic strip signal; the navigation and positioning algorithms in traditional solutions are relatively simple, lacking adaptive capabilities and intelligent optimization, making it difficult to cope with complex and ever-changing working environments. Utility Model Content

[0005] To address the issues of high adaptability and intelligence level in traditional intelligent line-following and handling robots in the prior art, this utility model provides a highly adaptive line-following sensing module.

[0006] The highly adaptive tracking sensing module provided by this utility model adopts the following technical solution:

[0007] A height-adaptive tracking sensing module includes a mounting plate for installation on a transport vehicle; the mounting plate is installed parallel to the ground; the adaptive tracking module is slidably connected inside the mounting plate; and a lifting assembly for maintaining the distance between the adaptive tracking module and the ground is installed on the top of the mounting plate.

[0008] Furthermore, the adaptive tracking module includes a sliding sleeve and a sliding rod; two mounting holes are symmetrically formed inside the mounting plate; a sliding sleeve is installed inside each mounting hole by bolts; a sliding rod is slidably connected inside each of the two sliding sleeves; the bottoms of the two sliding rods are located on the lower side of the mounting plate and are connected to each other by bolted clamps; a magnetic strip tracking sensor is connected to the clamps by bolts; a lifting top plate is installed on the upper side of the mounting plate by bolts.

[0009] Furthermore, the lifting assembly includes a vertical plate, the top of which is bolted to the mounting plate; a servo motor is bolted to the outer wall of the vertical plate; the output end of the servo motor is connected to a connecting shaft via a coupling; one end of a rocker arm is bolted to the outer wall of the connecting shaft; a top wheel is rotatably connected to the other end of the rocker arm; and the top wheel is tightly fitted to the bottom of the lifting top plate.

[0010] Furthermore, the upright plate and the mounting plate are connected by bolts with stiffening plates; the stiffening plates have a right-angled triangular structure.

[0011] Furthermore, a position sensing module is installed on the outer wall of the magnetic stripe tracking sensor to identify the distance between the magnetic stripe tracking sensor and the detection surface, and to maintain the distance between the magnetic stripe tracking sensor and the detection surface through electrical connection with the lifting assembly;

[0012] Furthermore, springs can be fitted onto the outer walls of both slide rods, with their ends fixed to the bottom of the lifting top plate and the top of the slide sleeve, respectively, for the elastic reset of the lifting plate.

[0013] In summary, the beneficial effects of this utility model are as follows:

[0014] This invention introduces an adaptive tracking module and a lifting assembly to achieve automatic maintenance and adaptive adjustment of the distance between the magnetic strip tracking sensor and the ground magnetic strip. Regardless of whether the ground is flat or the load changes, it can ensure that the sensor is kept at the optimal working height, thereby improving tracking accuracy and stability.

[0015] In addition, the modular design of this invention makes the installation, disassembly and adjustment of the sensor system more convenient, reducing maintenance costs and time; at the same time, the closed-loop control system enables automatic adjustment, reducing the need for manual intervention.

[0016] By combining a position sensing module and advanced control algorithms, intelligent adjustment and closed-loop control of the sensor height are achieved, improving the system's adaptability and intelligent optimization level, and enabling it to better adapt to complex and ever-changing working environments. Attached Figure Description

[0017] Figure 1This is a schematic diagram of the overall structure of this utility model;

[0018] Figure 2 This is a bottom view of the overall structure of this utility model.

[0019] As shown in the figure: 1-Mounting plate, 2-Sliding sleeve, 3-Sliding rod, 4-Lifting top plate, 5-Clamping piece, 6-Magnetic strip tracking sensor, 8-Upright plate, 9-Ribing plate, 10-Servo motor, 11-Connecting shaft, 12-Rocker arm, 13-Top wheel. Detailed Implementation

[0020] The following is in conjunction with the appendix Figure 1-2 The present invention will be further described in detail below:

[0021] This utility model discloses a height-adaptive tracking sensing module, such as... Figure 1 As shown, a height-adaptive tracking sensing module includes a mounting plate 1 for installation on a transport body; the mounting plate 1 is installed parallel to the ground; an adaptive tracking module is slidably connected inside the mounting plate 1; a lifting assembly is installed on the top of the mounting plate 1 to maintain the distance between the adaptive tracking module and the ground; the mounting plate 1 is the fixed base of the module, connected to the transport body by bolts, and installed parallel to the ground, providing a stable support platform for other components; the adaptive tracking module is installed inside the mounting plate 1 and can slide along the mounting plate 1; the lifting assembly is installed on the top of the mounting plate 1 and adjusts the height of the adaptive tracking module through mechanical transmission, thereby maintaining a suitable distance between the magnetic strip tracking sensor and the ground magnetic strip;

[0022] like Figure 1 As shown, the adaptive tracking module includes a sliding sleeve 2 and a sliding rod 3; two mounting holes are symmetrically opened inside the mounting plate 1; a sliding sleeve 2 is installed inside each mounting hole by bolts; a sliding rod 3 is slidably connected inside both sliding sleeves 2; the bottom of the two sliding rods 3 is located on the lower side of the mounting plate 1 and is connected to each other by bolts to a clamp 5; a magnetic strip tracking sensor 6 is connected to the clamp 5 by bolts; a lifting top plate 4 is installed on the upper side of the mounting plate 1 at the top of the two sliding rods 3; in this embodiment, the sliding sleeve 2 is fixed in the mounting hole of the mounting plate 1, the sliding rod 3 slides in the sliding sleeve 2, the clamp 5 connects the bottom of the two sliding rods 3 and fixes the magnetic strip tracking sensor 6, and the lifting top plate 4 is connected to the top of the sliding rods 3, and the overall lifting is achieved by the lifting assembly; when the ground height changes, the lifting assembly pushes the lifting top plate 4 up or down through the top wheel 13; the lifting top plate 4 drives the sliding rod 3 to slide in the sliding sleeve 2, and the clamp 5 moves synchronously accordingly; the magnetic strip tracking sensor 6 is fixed on the clamp 5 to achieve distance adjustment with the magnetic strip on the ground;

[0023] like Figure 1 , 2As shown, the lifting assembly includes a vertical plate 8, which is bolted to the top of the mounting plate 1. A servo motor 10 is bolted to the outer wall of the vertical plate 8. The output end of the servo motor 10 is connected to a connecting shaft 11 via a coupling. One end of a rocker arm 12 is bolted to the outer wall of the connecting shaft 11. A top wheel 13 is rotatably connected to the other end of the rocker arm 12. The top wheel 13 is tightly fitted to the bottom of the lifting top plate 4. In this embodiment, the servo motor 10 drives the connecting shaft 11 to rotate, which in turn drives the rocker arm 12 to swing. The top wheel 13 moves up and down under the action of the rocker arm 12, transmitting power through contact with the lifting top plate 4 to achieve the lifting of the adaptive tracking module. In use, after the servo motor 10 is started, it drives the connecting shaft 11 to rotate via the coupling. The connecting shaft 11 drives the rocker arm 12 to rotate around one end of it, and the top wheel 13 swings with the rocker arm 12. When the top wheel 13 lifts the lifting top plate 4 upward, the adaptive tracking module rises. When the top wheel 13 disengages downward, the module resets under the action of gravity.

[0024] like Figure 1 As shown, a stiffening plate 9 is bolted between the upright plate 8 and the mounting plate 1; the stiffening plate 9 has a right-angled triangular structure; in this embodiment, the stiffening plate 9 has a right-angled triangular structure, which connects the upright plate 8 and the mounting plate 1 with bolts to enhance the connection strength and stability between the two; the right-angled triangular structure uses geometric characteristics to disperse stress and prevent the upright plate 8 from deforming or vibrating when the servo motor 10 is working; the stiffening plate 9 is fixed when the lifting assembly is working, but bears the torque and vibration transmitted by the upright plate 8; the right-angled triangular structure supports the upright plate 8 through its hypotenuse, balancing the inertial force and external impact of the servo motor 10;

[0025] like Figure 1 As shown, a position sensing module is installed on the outer wall of the magnetic strip tracking sensor 6 to identify the distance between the magnetic strip tracking sensor 6 and the detection surface, and maintains the distance between the magnetic strip tracking sensor 6 and the detection surface through electrical connection with the lifting assembly. In this embodiment, the position sensing module 7 is installed on the outside of the magnetic strip tracking sensor 6 to detect the distance between the sensor and the ground magnetic strip in real time and transmit the signal to the lifting assembly. The lifting assembly dynamically adjusts the position of the top wheel 13 according to the feedback signal to form a closed-loop control and maintain a constant distance between the sensor and the magnetic strip. During movement, the position sensing module continuously monitors the distance between the sensor and the ground and outputs an electrical signal. When the distance deviates from the set value, the signal triggers the servo motor 10 to adjust the angle of the rocker arm 12, and the top wheel 13 pushes the lifting top plate 4 to compensate for the height change. After adjustment, the position sensing module detects again until the distance returns to the set range. This design realizes automatic adjustment of the sensor height to adapt to ground undulations or load changes. Closed-loop control improves tracking accuracy and avoids sensor failure due to excessive distance or proximity. The electrical connection between the position sensing module and the lifting assembly supports intelligent response and improves system reliability.

[0026] Springs (not shown in the figure) can be fitted onto the outer walls of both slide rods 3, with their ends fixed to the bottom of the lifting top plate 4 and the top of the sliding sleeve 2, respectively, for the elastic reset of the lifting plate. In this embodiment, the springs are fitted onto the outer sides of the slide rods 3, with their ends fixed to the bottom of the lifting top plate 4 and the top of the sliding sleeve 2, respectively. When the lifting assembly stops applying force, the elastic force generated by the spring's recovery deformation pulls the lifting top plate 4 downwards to reset, and the auxiliary module returns to its initial position. When the lifting assembly pushes the lifting top plate 4 upwards, the spring is compressed and stores energy. When the lifting assembly stops or moves in the opposite direction, the spring releases its elastic potential energy and pulls the lifting top plate 4 downwards. The combined action of the spring and the lifting assembly's power achieves a smooth lifting cycle.

[0027] The implementation process of this embodiment is as follows:

[0028] The intelligent tracking and handling robot begins operation. The position sensing module 7 continuously monitors the distance between the magnetic strip tracking sensor 6 and the magnetic strip on the ground. When a change in distance is detected, such as uneven ground or load changes, the position sensing module transmits a signal to the servo controller. Based on the received signal, the servo controller controls the servo motor 10 to start and adjust the swing angle of the rocker arm 12. The rocker arm 12 pushes the lifting top plate 4 up or down via the top wheel 13, thereby driving the slide bar 3, clamp 5, and magnetic strip tracking sensor 6 to move synchronously. During the lifting process, the spring plays a role in buffering and assisting in reset, ensuring that the lifting process is smooth and can automatically return to the initial position.

[0029] The position sensing module continuously monitors the adjusted distance and feeds the signal back to the servo controller to form a closed-loop control. When the distance returns to the set range, the servo 10 stops working, and the magnetic strip tracking sensor 6 remains at the optimal working height and continues to perform the tracking task.

[0030] The foregoing has shown and described the basic principles, main features, and advantages of this utility model. The various components mentioned in this utility model are common technologies in the existing field. Those skilled in the art should understand that this utility model is not limited to the above embodiments. The embodiments and descriptions in the specification are merely illustrative of the principles of this utility model. Various changes and modifications can be made to this utility model without departing from its spirit and scope, and all such changes and modifications fall within the scope of the claims. The scope of protection of this utility model is defined by the appended claims and their equivalents.

Claims

1. A highly adaptive tracking sensor module, characterized by: It includes a mounting plate (1) for installation with the transport body; the mounting plate (1) is installed parallel to the ground; an adaptive tracking module is slidably connected inside the mounting plate (1); and a lifting assembly for maintaining the distance between the adaptive tracking module and the ground is installed on the top of the mounting plate (1).

2. A highly adaptive trail following sensor module according to claim 1, characterized in that The adaptive tracking module includes a sliding sleeve (2) and a sliding rod (3); two mounting holes are symmetrically opened inside the mounting plate (1); a sliding sleeve (2) is installed inside each mounting hole by bolts; a sliding rod (3) is slidably connected inside the two sliding sleeves (2); the bottom of the two sliding rods (3) is set on the lower side of the mounting plate (1) and is connected to each other by bolts to a clamp (5); a magnetic strip tracking sensor (6) is connected to the clamp (5) by bolts; a lifting top plate (4) is installed on the upper side of the mounting plate (1) at the top of the two sliding rods (3).

3. A highly adaptive trail following sensor module according to claim 2, wherein The lifting assembly includes a vertical plate (8), and the top of the mounting plate (1) is bolted to the vertical plate (8); the outer side wall of the vertical plate (8) is bolted to a servo motor (10); the output end of the servo motor (10) is connected to a connecting shaft (11) via a coupling; the outer side wall of the connecting shaft (11) is bolted to one end of a rocker arm (12); the other end of the rocker arm (12) is rotatably connected to a top wheel (13); the top wheel (13) is tightly fitted to the bottom of the lifting top plate (4).

4. A highly adaptive trail following sensor module according to claim 3, wherein The upright plate (8) and the mounting plate (1) are connected by bolts with a stiffening plate (9); the stiffening plate (9) is a right-angled triangular structure.

5. A highly adaptive trail following sensor module according to claim 2, wherein The magnetic stripe tracking sensor (6) is equipped with a position sensing module, which is used to identify the distance between the magnetic stripe tracking sensor (6) and the detection surface, and maintain the distance between the magnetic stripe tracking sensor (6) and the detection surface by being electrically connected to the lifting assembly.

6. A highly adaptive trail following sensor module according to claim 2, wherein Springs can be fitted onto the outer walls of both slide rods (3), with their ends fixed to the bottom of the lifting top plate (4) and the top of the slide sleeve (2) respectively, for the elastic reset of the lifting plate.

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