Device for self-determination position of a robot
First Claim
1. A self-determination position device of a robot, comprising a robot body;
- at least two driving wheels locating in two opposed sides of said robot body;
at least two power portions providing power for said driving wheels, each of which comprises;
a decelerator connecting with a wheel shaft of said driving wheels through a power inputting portion;
a motor connecting with the power inputting portion of said decelerator through an outputting shaft;
at least two driven wheels providing on said robot body, on which there are a plurality of grids along circumference direction taking the driven wheel axle as the center; and
at least two pairs of sensors locating in two outsides of each driven wheel, said each pair of sensors including an emitting part and a receiving part which faces toward the emitting part and moreover, can receive signals sent from the emitting part through the grids;
wherein said driving wheels are driven to rotate by the motor and said driven wheels are rotated by the movement of the robot body, and when the driven wheels are rotated in a positive or negative direction, said pairs of sensors are able to measure the angles of rotation in positive or negative direction and convert them into positive or negative counting signals for calculating the position of the robot body.
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Accused Products
Abstract
The present invention relates to a device of self-determination position of a robot, and said device includes: a robot body; at least two driving wheels locating in two opposed sides of the robot body; a decelerator, connecting with a wheel shaft of said driving wheels through a power inputting portion; a motor, connecting with said power inputting portion of the decelerator through an outputting shaft; at least two driven wheels providing on the robot body, on which there are a plurality of grids around circumference direction taking the wheel shaft as the center; and at least two pairs of sensors, locating in one of outsides of each driven wheels, respectively, wherein said each pair of sensors include an emitting part and a receiving part facing toward said emitting part, moreover, through said grids, said receiving part can receive signals sent from the emitting part. According to the present invention, when said driving wheels lose steps or slip, the driven wheels do not move in respect to the ground, so that said sensors would not output signals about rotation of the wheels. It therefore can really represent the movement relation between said robot body and the ground.
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Citations
10 Claims
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1. A self-determination position device of a robot, comprising
a robot body; -
at least two driving wheels locating in two opposed sides of said robot body;
at least two power portions providing power for said driving wheels, each of which comprises;
a decelerator connecting with a wheel shaft of said driving wheels through a power inputting portion;
a motor connecting with the power inputting portion of said decelerator through an outputting shaft;
at least two driven wheels providing on said robot body, on which there are a plurality of grids along circumference direction taking the driven wheel axle as the center; and
at least two pairs of sensors locating in two outsides of each driven wheel, said each pair of sensors including an emitting part and a receiving part which faces toward the emitting part and moreover, can receive signals sent from the emitting part through the grids;
wherein said driving wheels are driven to rotate by the motor and said driven wheels are rotated by the movement of the robot body, and when the driven wheels are rotated in a positive or negative direction, said pairs of sensors are able to measure the angles of rotation in positive or negative direction and convert them into positive or negative counting signals for calculating the position of the robot body. - View Dependent Claims (2, 3, 4, 5, 6, 7, 8, 9, 10)
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Specification