Motion Compensation-based Mobile Robot

Abstract

The present invention provides a mobile robot based on motion compensation, comprising: a controller, a mobile chassis, a robotic arm and an end effector; a connecting seat is arranged on the top side surface of the mobile chassis; the robotic arm includes a first connecting arm and a second connecting arm; the bottom end of the first connecting arm is detachably or fixedly connected to the mobile chassis through the connecting seat, the top end of the first connecting arm is movably connected to the second connecting arm, and the front end of the second connecting arm is provided with the end effector; the controller is electrically connected to the mobile chassis and the robotic arm, and when the robotic arm controls the end effector to perform an operating action, the controller controls the mobile chassis to perform corresponding cooperative movement. In the present invention, when the robotic arm controls the end effector to perform an operating action, the controller controls the mobile chassis to perform corresponding cooperative movement, which can reduce the requirements for the degrees of freedom of the robotic arm during the execution of the operating action and reduce the complexity of the robotic arm on the mobile robot.

Description

Technical Field

[0001] The present invention relates to a robot, and more particularly, to a mobile robot based on motion compensation. Background Art

[0002] An intelligent robot, which is a kind of intelligent appliance, can automatically complete floor cleaning, desktop cleaning, sundry storage, video monitoring and other tasks in a room by virtue of a certain artificial intelligence. For example, an intelligent floor cleaning robot can suck ground sundries into its own garbage collection box, thereby completing the function of floor cleaning.

[0003] Currently, the intelligent robot technologies on the market all have a single functional body. For example, a floor cleaning robot can only clean hair, dust, small particle garbage, etc., and its function is relatively single. Except for the above basic functions, there are few other functions. The single function of intelligent robots limits the diversification of their functions and makes it difficult for intelligent robots to be applicable to other usage scenarios.

[0004] Intelligent robots in the prior art often have a high cost, which limits the widespread application of intelligent robots. Reducing the complexity of the robot can reduce the manufacturing cost of the robot. Therefore, a mobile robot based on motion compensation is proposed. Summary of the Invention

[0005] Aiming at the defects in the prior art, the purpose of the present invention is to provide a mobile robot based on motion compensation.

[0006] The mobile robot based on motion compensation provided by the present invention includes:

[0007] A mobile chassis;

[0008] A connecting seat, including at least a first part located on the mobile chassis and a second part detachably or fixedly connected to the first part;

[0009] A robotic arm, including a first connecting arm and a second connecting arm; the bottom end of the first connecting arm is detachably or fixedly connected to the mobile chassis through the first part of the connecting seat, the top end of the first connecting arm is movably connected to the second connecting arm, and an end effector is provided at the front end of the second connecting arm;

[0010] A controller, electrically connected to the mobile chassis and the robotic arm; wherein, when the robotic arm controls the end effector to perform an operating action, the controller controls the mobile chassis to perform corresponding cooperative movement.

[0011] Preferably, when the end effector moves in a coupled manner in the orthogonal space, the controller controls the mobile chassis to move simultaneously in the horizontal direction to decouple the movement of the end effector in one direction in the orthogonal space.

[0012] Preferably, when the top end of the first connecting arm is connected to the rear end of the second connecting arm through a rotary joint and the end effector is controlled to move in a circular arc trajectory in space, the controller controls the mobile chassis to move simultaneously to adjust the trajectory of the end effector in space to a straight line or a curve trajectory corresponding to the operation requirements.

[0013] Preferably, when the top end of the first connecting arm is connected to the second connecting arm through a linear joint and the end effector is controlled to move linearly in one direction in space, the controller controls the mobile chassis to move simultaneously to adjust the trajectory of the end effector in space to another straight line or a curve trajectory corresponding to the operation requirements.

[0014] Preferably, when the robotic arm controls the end effector to perform an operation in the vertical direction, the controller controls the mobile chassis to move in a direction closer to or away from the target object as the end effector moves upward or downward in the vertical direction, so as to realize the movement trajectory of the end effector performing the operation in the vertical direction.

[0015] Preferably, when the robotic arm controls the end effector to perform an operation in the horizontal direction, the controller controls the mobile chassis to move simultaneously as the end effector moves in one direction, so as to realize that the action path of the end effector in the horizontal direction is the superposition of the movement path of the end effector relative to the mobile chassis and the self-movement path of the mobile chassis.

[0016] Preferably, it further includes a power supply module;

[0017] The power supply module and the controller are arranged on the mobile chassis;

[0018] After the robotic arm is connected to the mobile chassis through the connecting seat, the robotic arm can be electrically connected to the power supply module and / or the controller.

[0019] Preferably, it further includes a signal receiving module and a remote controller;

[0020] On the one hand, the signal receiving module is electrically connected to the controller, and on the other hand, it is wirelessly connected to the remote controller;

[0021] The remote controller is used to send motion control signals and / or operation control signals;

[0022] The controller is configured to control the movement of the mobile chassis according to the movement signal, and control the manipulator to work according to the operation control signal to achieve the usage function.

[0023] Preferably, it further includes an information acquisition component, and the information acquisition component is arranged on the manipulator;

[0024] The information acquisition component is configured to acquire information parameters on the item to be operated, and the information parameters include the type information and / or size information of the item;

[0025] The controller is configured to output an operation instruction according to the received information parameters, and the operation instruction includes a movement instruction for controlling the manipulator to be connected to any one of the multiple end effectors and an operation action according to the type information of the item.

[0026] Preferably, the controller is configured to construct the map and perform positioning through the image information or distance information acquired by the sensors located on the mobile chassis / or the functional body;

[0027] The sensors include any one or more of an optical camera, a millimeter wave radar, an ultrasonic radar, and a lidar.

[0028] Compared with the prior art, the present invention has the following beneficial effects:

[0029] In the present invention, when the manipulator controls the end effector to perform an operation action, the controller controls the mobile chassis to perform a corresponding movement to decouple the spatial movement trajectory of the end effector, that is, by controlling the movement of the mobile chassis to cooperate with the end effector to perform the operation action, the requirement for the degrees of freedom of the manipulator during the execution of the operation action can be reduced, and the complexity of the manipulator on the mobile robot is reduced. BRIEF DESCRIPTION OF THE DRAWINGS

[0030] In order to more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the following will briefly introduce the drawings required for the description of the embodiments or the prior art. Obviously, the drawings in the following description are only the embodiments of the present invention. For those of ordinary skill in the art, without creative efforts, other drawings can also be obtained according to the provided drawings. By reading the detailed description of the non-limiting embodiments with reference to the following drawings, other features, objects, and advantages of the present invention will become more obvious:

[0031] Figure 1 It is a schematic structural diagram of a mobile robot based on motion compensation in an embodiment of the present invention;

[0032] Figure 2 It is a schematic control logic diagram of a mobile robot based on motion compensation in an embodiment of the present invention;

[0033] Figure 3 It is a schematic diagram of the first state of the mobile robot performing the first type of motion compensation in the embodiment of the present invention;

[0034] Figure 4 It is a schematic diagram of the second state of the mobile robot performing the first type of motion compensation in the embodiment of the present invention;

[0035] Figure 5 It is a schematic diagram of the first state of the mobile robot performing the second type of motion compensation in the embodiment of the present invention;

[0036] Figure 6 It is a schematic diagram of the second state of the mobile robot performing the second type of motion compensation in the embodiment of the present invention;

[0037] Figure 7 It is a schematic diagram of the first state of the mobile robot performing the third type of motion compensation in the embodiment of the present invention;

[0038] Figure 8 It is a schematic diagram of the second state of the mobile robot performing the third type of motion compensation in the embodiment of the present invention;

[0039] Figure 9 It is an explosion schematic diagram of the mobile robot based on motion compensation in the embodiment of the present invention;

[0040] Figure 10 It is a schematic diagram of the structure of the mobile chassis in the embodiment of the present invention;

[0041] Figure 11 It is a schematic diagram of the structure of the robotic arm in the embodiment of the present invention;

[0042] Figure 12 It is a schematic diagram of the first installation angle of the robotic arm in the mobile robot in the embodiment of the present invention;

[0043] Figure 13 It is a schematic diagram of the second installation angle of the robotic arm in the mobile robot in the embodiment of the present invention;

[0044] Figure 14 It is a schematic diagram of the motion logic of the mobile robot based on motion compensation in the embodiment of the present invention;

[0045] Figure 15 It is a schematic diagram of the structure of the positive and negative pressure control component schematic diagram in the embodiment of the present invention;

[0046] Figure 16 It is a schematic diagram of the structure of the suction member in the embodiment of the present invention;

[0047] Figure 17 It is a schematic diagram of the structure of the grasping member in the embodiment of the present invention.

[0048] In the figure:

[0049] 1 is a mobile chassis; 2 is a connecting seat; 201 is a mounting groove; 202 is a fixing seat; 203 is a first data connection port; 204 is an avoidance groove; 205 is a second data connection port; 3 is a robotic arm; 301 is a first connecting arm; 302 is a second connecting arm; 4 is an end effector; 401 is a suction part; 402 is a grasping part; 11 is a positive pressure air source; 12 is a vacuum generator; 13 is a proportional regulating valve; 14 is a muffler; 15 is a first solenoid valve; 16 is a second solenoid valve; 17 is a pressure gauge; 18 is a flowmeter; 19 is a main air passage. Specific embodiments

[0050] The present invention will be described in detail below with reference to specific embodiments. The following embodiments will help those skilled in the art to further understand the present invention, but do not limit the present invention in any form. It should be noted that for those of ordinary skill in the art, without departing from the concept of the present invention, several modifications and improvements can be made. These all belong to the protection scope of the present invention.

[0051] It should be noted that when an element is referred to as being "fixed to" or "disposed on" another element, it can be directly on the other element or indirectly on the other element. When an element is referred to as being "connected to" another element, it can be directly connected to the other element or indirectly connected to the other element. In addition, the connection can be for fixing or for circuit connection.

[0052] It should be understood that the orientation or positional relationship indicated by the terms "length", "width", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", etc. is based on the orientation or positional relationship shown in the drawings, and is only for the convenience of describing the embodiments of the present invention and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as a limitation of the present invention.

[0053] In addition, the terms "first" and "second" are only used for descriptive purposes and cannot be understood as indicating or implying relative importance or implicitly indicating the quantity of the indicated technical features. Thus, the features defined with "first" and "second" may explicitly or implicitly include one or more of such features. In the description of the embodiments of the present invention, "a plurality" means two or more, unless otherwise specifically defined.

[0054] A mobile robot based on motion compensation provided by the present invention includes:

[0055] A mobile chassis;

[0056] The connecting seat includes at least a first part located on the mobile chassis and a second part detachably or fixedly connected to the first part;

[0057] The robotic arm includes a first connecting arm and a second connecting arm; the bottom end of the first connecting arm is detachably or fixedly connected to the first part of the connecting seat on the mobile chassis through the second part of the connecting seat, the top end of the first connecting arm is rotatably connected to the rear end of the second connecting arm, and the front end of the second connecting arm is provided with the end effector;

[0058] The controller is electrically connected to the mobile chassis and the robotic arm; wherein, when the robotic arm controls the end effector to perform an operating action, the controller controls the mobile chassis to perform corresponding coordinated movement.

[0059] In the embodiment of the present invention, when the robotic arm controls the end effector to perform an operating action, the controller controls the mobile chassis to perform corresponding coordinated movement, that is, by controlling the movement of the mobile chassis to cooperate with the end effector to perform the operating action, it can reduce the requirements for the degrees of freedom of the robotic arm during the execution of the operating action and reduce the complexity of the robotic arm on the mobile robot.

[0060] The above is the core idea of the present invention. In order to make the above objects, features and advantages of the present invention more obvious and understandable, the technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present invention. Obviously, the described embodiments are only a part of the embodiments of the present invention, rather than all the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those of ordinary skill in the art without creative efforts shall fall within the protection scope of the present invention.

[0061] Figure 1 It is a schematic structural diagram of a mobile robot based on motion compensation in the first embodiment of the present invention, as Figure 1 shown, the mobile robot based on motion compensation provided by the present invention includes a controller, a mobile chassis 1, a robotic arm 3 and an end effector 4;

[0062] The first part of the connecting seat 2 is arranged on the top side surface of the mobile chassis 1;

[0063] The robotic arm 3 includes a first connecting arm 301 and a second connecting arm 302; the bottom end of the first connecting arm 301 is detachably or fixedly connected to the first part of the connecting seat 2 on the mobile chassis 1 through the second part of the connecting seat, the top end of the first connecting arm 301 is movably connected to the rear end of the second connecting arm 302, and the second connecting arm 302 is provided with the end effector 4;

[0064] The controller is electrically connected to the mobile chassis 1 and the robotic arm 3, and when the robotic arm 3 controls the end effector 4 to perform an operation action, the controller controls the mobile chassis 1 to perform corresponding cooperative movement.

[0065] As Figure 1 shown, when the mobile chassis 1 does not perform corresponding movement to cooperate with the movement of the robotic arm 3, since the robotic arm 3 only includes a first connecting arm 301 and a second connecting arm 302, that is, it can only achieve movement in one direction. Thus, when controlling the mobile robot to perform wiping work on a wall, as the end effector 4 moves upward, it cannot fit the wall. Therefore, when reducing the complexity of the robotic arm 3, corresponding compensation movement needs to be performed.

[0066] Figure 2 It is a schematic diagram of the control logic of the mobile robot based on motion compensation in the first embodiment of the present invention. The mobile robot based on motion compensation provided by the present invention further includes a voice input module, a power supply module, a signal receiving module, and a remote controller;

[0067] The signal receiving module is electrically connected to the controller on one hand and wirelessly connected to the remote controller on the other hand;

[0068] The remote controller is used to send motion control signals and / or operation control signals;

[0069] The controller is used to control the movement of the mobile chassis 1 according to the motion signal and control the robotic arm 3 to work to achieve the usage function according to the operation control signal.

[0070] The power supply module and the controller are arranged on the mobile chassis 1;

[0071] After the robotic arm 3 is connected to the mobile chassis 1 through the connecting seat 2, the robotic arm 3 can be electrically connected to the power supply module and the controller.

[0072] The voice input module is used to obtain voice commands so that the controller can control the movement of the mobile chassis and the work of the robotic arm 3 according to the voice commands.

[0073] The voice input module can adopt a smart speaker, such as a Xiaoai speaker. For example, when the user places an item in the storage box and then speaks the transportation destination command, the controller controls the mobile chassis 1 to move to the destination and transport the item there.

[0074] In an embodiment of the present invention, the controller is used to construct the map and perform positioning based on the image information or distance information obtained by the sensors located on the mobile chassis;

[0075] The sensor includes any one or more of an optical camera, a millimeter-wave radar, an ultrasonic radar, and a lidar.

[0076] In an embodiment of the present invention, map construction and positioning are performed on the mobile chassis 1 by the SLAM method. When performing map construction and positioning by SLAM, it can be achieved by setting a lidar on the mobile chassis 1. Map construction and positioning by lidar can first establish a two-dimensional grid map, set the starting position of the robot, and set target points at the edge of the two-dimensional grid map; collect three-dimensional point cloud data for the target points, project them onto the two-dimensional grid map plane, and update the two-dimensional grid map; detect whether there are objects to be modeled in the target point cloud; control the robot to move in front of the object to be modeled and model the object to be modeled; model multiple objects in sequence until the entire two-dimensional grid map is traversed. In addition, a panoramic camera can also be set on the mobile platform, and map construction and positioning are performed through panoramic images.

[0077] In a variant of the present invention, the mobile chassis 1 employs a sweeping robot.

[0078] In an embodiment of the present invention, when the end effector 4 moves in a coupled manner in the orthogonal space, the controller controls the chassis to move simultaneously in the horizontal direction to achieve decoupling of the movement of the end effector in one direction in the orthogonal space.

[0079] For example, when the top end of the first connecting arm 301 is connected to the rear end of the second connecting arm 302 through a rotating joint, and when controlling the end effector 4 to move in a circular arc trajectory in space, the controller controls the mobile chassis 1 to move simultaneously to adjust the trajectory of the end effector 4 in space to a straight line or a curve trajectory corresponding to the operation requirements.

[0080] Figure 3 It is a schematic diagram of the first state of the mobile robot performing the first motion compensation in the embodiment of the present invention. Figure 4 It is a schematic diagram of the second state of the mobile robot performing the first motion compensation in the embodiment of the present invention, as Figure 3 、 Figure 4 shown.

[0081] When the robotic arm 3 controls the end effector 4 to perform a wiping action in the vertical direction, the controller controls the mobile chassis 1 to move in a direction closer to or farther from the target object as the end effector moves upward or downward in the vertical direction, so as to achieve the movement trajectory of the end effector 4 performing the operation action in the vertical direction.

[0082] For example, when the robotic arm 3 controls the end effector 4 to move upward to perform the wiping action on the target object, the controller controls the mobile chassis 1 to move in the direction closer to the target object as the end effector 4 moves upward, so as to enable the end effector 4 to move upward to perform the wiping action.

[0083] More specifically, when the robotic arm 3 controls the wiping board to move upward to perform the wiping action on the wall, the controller can control the mobile chassis 1 to move in the direction closer to the wall as the wiping board moves upward, so as to ensure that the wiping board keeps close to the wall at all times when moving upward.

[0084] Figure 5 This is a schematic diagram of the first state of the mobile robot performing the second type of motion compensation in the embodiment of the present invention. Figure 6 This is a schematic diagram of the second state of the mobile robot performing the second type of motion compensation in the embodiment of the present invention. For example, Figure 5 、 Figure 6 As shown, when the robotic arm 3 controls the end effector 4 to perform a cleaning action in the horizontal direction, the controller controls the mobile chassis 1 to move simultaneously as the end effector 4 moves in one direction, so as to ensure that the action path of the end effector 4 in the horizontal direction is the superposition of the movement path of the end effector 4 relative to the mobile chassis 1 and the self-movement path of the mobile chassis 1.

[0085] For example, when the robotic arm 3 controls the end effector 4 to move in a horizontal direction to perform the surface cleaning action on the target object, the controller controls the mobile chassis 1 to move in another horizontal direction as the end effector 4 moves forward, so as to enable the end effector 4 to move in this horizontal direction to perform the cleaning action.

[0086] More specifically, when the robotic arm 3 controls the wiping head to move along a horizontal line of the sofa to perform the wiping action on the sofa surface, the controller controls the mobile chassis 1 to move along the outer side of the sofa as the wiping head moves forward, so as to enable the wiping head to move in this horizontal direction to perform the wiping action.

[0087] Figure 7 This is a schematic diagram of the first state of the mobile robot performing the second type of motion compensation in the embodiment of the present invention. Figure 8 This is a schematic diagram of the second state of the mobile robot performing the second type of motion compensation in the embodiment of the present invention. For example, Figure 7 、 Figure 8As shown, when the top end of the first connecting arm 301 is connected to the second connecting arm 302 through a linear joint, and when the controller controls the mobile chassis 1 to move simultaneously when the end effector 4 performs a painting operation by moving linearly in one direction in space, so as to adjust the trajectory of the end effector in space to conform to the curve trajectory required by the operation.

[0088] For example, when the robotic arm 3 controls the end effector 4 to move along Figure 7 the curved surface in [[]] to perform the painting operation action, the controller controls the mobile chassis 1 to move backward as the end effector 4 moves upward, so as to enable the end effector 4 to move along the curved surface direction to perform the painting operation action.

[0089] In the embodiment of the present invention, the detachable connection at least includes any one or more of magnetic connection, threaded connection, pin connection, elastic deformation connection, buckle connection, and plug-in connection.

[0090] The above detachable connection methods are all exemplary descriptions in the present invention, and the types of detachable connections are not strict. Any type of detachable connection method can be applied to the mobile chassis 1 of the present invention.

[0091] Figure 9 It is an explosion diagram of the mobile robot based on motion compensation in the embodiment of the present invention. As Figure 9 shown, the connection seat 2 includes an installation groove 201 provided on the top side surface of the mobile chassis and a fixing seat 202 provided at the bottom end of the first connecting arm 301; that is, the first part is the installation groove 201, and the second part is the fixing seat 202.

[0092] The fixing seat 202 and the installation groove 201 cooperate to achieve a plug-in type of detachable connection.

[0093] Figure 10 It is a structural diagram of the mobile chassis in the embodiment of the present invention. In Figure 10 it can be clearly shown that the installation groove 201 on the top side surface of the mobile chassis, the opening of the installation groove 201 is rectangular, and the bottom of the installation groove 201 is provided with four groups of first data connection ports 203, and each first data connection port 203 corresponds to a side wall surface of the installation groove 201.

[0094] Figure 11 It is a structural diagram of the robotic arm in the embodiment of the present invention. As Figure 11As shown in the figure, the robotic arm 3 includes a first connecting arm 301 and a second connecting arm 302. A fixed seat 202 is provided at the bottom end of the first connecting arm 301, and a second data connection port 205 is provided on the fixed seat 202; the second data connection port 205 is used to cooperate with the first data connection port 203 for connection to realize power supply and communication of the robotic arm 3.

[0095] The power supply module and the controller are arranged on the mobile chassis. The power supply module is electrically connected to the power interface of the first data connection port 203 to provide electric energy, and the controller is electrically connected to the communication interface of the first data connection port 203 for communication control.

[0096] An avoidance groove 204 is provided on the fixed seat 202. When the second data connection port 205 is connected to one of the first data connection ports 203, the other three first data connection ports 203 are accommodated in the avoidance groove 204, so that the end face of the fixed seat 202 is closely attached to the bottom surface of the installation groove 201.

[0097] Figure 12 It is a schematic diagram of the first installation angle of the robotic arm in the mobile robot in the embodiment of the present invention. Figure 13 It is a schematic diagram of the second installation angle of the robotic arm in the mobile robot in the embodiment of the present invention. As Figure 12 and Figure 13 shown, by setting the fixed seat 202 and the installation groove 201 as a pluggable and detachable connection, when the first connecting arm 301 is axially connected to the installation groove 201 through the fixed seat 202, the second data connection port 205 is connected to one of the first data connection ports 203, that is Figure 12 the situation in. At this time, the operating space of the robotic arm 3 is within a certain angular range facing the front side of the mobile chassis, such as 180°.

[0098] When the first connecting arm 301 rotates 90° circumferentially and then is connected to the installation groove 201 again after rotation through the fixed seat 202, the second data connection port 205 is connected to another first data connection port 203. That is Figure 13 the situation in. At this time, the operating space of the robotic arm 3 is within a certain angular range facing the left side of the mobile chassis, such as 180°.

[0099] In an embodiment of the present invention, the end effector 4 and the robotic arm 3 form a detachable connection that is convenient for quick replacement.

[0100] In an embodiment of the present invention, the robotic arm 3 and the end effector 4 can be magnetically connected. A first permanent magnet is provided on the end effector 4, and a second permanent magnet is provided at the end of the robotic arm 3. When the end of the robotic arm 3 is docked with the end effector 4, magnetic connection between the robotic arm 3 and the end effector 4 can be achieved.

[0101] In an embodiment of the present invention, a pluggable connection can be achieved between the end of the robotic arm 3 and the end effector 4. A jack is provided on the end effector 4, and a plug is provided at the end of the robotic arm 3. When the plug is mated with the jack, connection between the end of the robotic arm 3 and the end effector 4 can be achieved, avoiding connection offset caused by only magnetic connection.

[0102] Figure 14 It is a motion logic schematic diagram of a mobile robot based on motion compensation in the fourth embodiment of the present invention. As Figure 14 shown, the mobile robot based on motion compensation provided by the present invention further includes an information acquisition component;

[0103] The information acquisition component is used to obtain information parameters on the item to be operated, and the information parameters include type information and / or size information of the item;

[0104] The controller is used to output an operation instruction according to the received information parameters. The operation instruction includes a motion instruction for controlling the robotic arm 3 to be connected to any one of the multiple end effectors 4 and an operation action according to the type information of the item.

[0105] The information acquisition component includes an image collector. The image collector can acquire an image of the current position of the item. The controller can determine the type information of the item from the image information, and then determine the picking and placing strategy, that is, determine whether to adopt a grasping strategy or a sucking strategy. After determination, corresponding instructions are output to the robotic arm 3 and the positive and negative pressure control component to determine the most suitable picking and placing method for the item to be grasped. If the decision is the sucking strategy, the positive and negative pressure control component outputs negative pressure, and the robotic arm 3 quickly switches to connect the suction cup and moves to the most suitable sucking position for picking and placing. If the decision is the grasping strategy, the positive and negative pressure control component outputs positive pressure, and the robotic arm 3 quickly switches to connect the flexible gripper, and the compressed air fills the cavity of the flexible gripper to deform it to grasp the object for picking and placing.

[0106] The image collector can acquire an image of the position of each end effector 4. The controller can determine the type information of the end effector 4 from the image information and control the robotic arm 3 to connect to the end effector 4 corresponding to the working requirements according to the type information.

[0107] In an embodiment of the present invention, when the end effector 4 adopts a gripper 402 or a suction member 401, the multi-functional robot further includes a gas path assembly and a positive and negative pressure control assembly;

[0108] The gas path assembly includes a main gas path 19 provided in the robotic arm 3, an inflation chamber provided on the gripper 402, and a suction hole provided on the suction member 401. When the gripper 402 is connected to the robotic arm 3, the main gas path 19 communicates with the suction hole. When the suction member 401 is connected to the robotic arm 3, the main gas path 19 communicates with the inflation chamber;

[0109] The positive and negative pressure control assembly is configured to output positive pressure or negative pressure according to a pressure adjustment instruction issued by the controller.

[0110] As Figure 16 shown, the suction member 401 is a suction cup member, which is convenient for sucking items under negative pressure. As Figure 17 shown, the gripper 402 is a flexible claw hand with the inflation chamber. It can deform the flexible claw hand to grasp items in a positive pressure inflation state.

[0111] The controller can output a picking instruction adapted to the item to be grasped according to the information parameters collected by the information acquisition component. That is, according to the information parameters of the current item, it can control the robotic arm 3 to be connected to one of the gripper 402 and the suction member 401, and control the positive and negative pressure control assembly to output a corresponding pressure adjustment instruction. Specifically, when the suction member 401 is adopted, negative pressure is output to adsorb and sort the item for storage at other positions. When the gripper 402 is adopted, positive pressure is output to grasp the item for transfer and storage at other positions.

[0112] Figure 15 is a schematic structural diagram of the positive and negative pressure control assembly in the fourth embodiment of the present invention. As Figure 15 shown, the positive and negative pressure control assembly includes a vacuum generator 12, a positive pressure air source 11, a first solenoid valve 15, and a second solenoid valve 16;

[0113] Both the first solenoid valve 15 and the second solenoid valve 16 are two-position three-way valves;

[0114] One intake port of the first solenoid valve 15 is connected to the positive pressure air source 11 through a first gas path, and the outlet port of the first solenoid valve 15 is connected to one intake port of the second solenoid valve 16;

[0115] The other intake port of the second solenoid valve 16 is connected to the vacuum generator 12, and the outlet port of the second solenoid valve 16 is connected to the main gas path 19.

[0116] In the embodiment of the present invention, the rapid switching between positive pressure and negative pressure is realized through two two-way three-way valves. When positive pressure is required in the main air passage 19, one air inlet of the first electromagnetic valve 15 is communicated with the air outlet, and one air inlet of the second electromagnetic valve 16 is communicated with the air outlet, so that the positive pressure air source 11 is communicated with the main air passage 19 to provide positive pressure; when negative pressure is required, one air inlet of the first electromagnetic valve 15 is disconnected, and the other air inlet of the second electromagnetic valve 16 is communicated with the air outlet, so that the vacuum generator 12 is communicated with the main air passage 19 to provide negative pressure.

[0117] In the embodiment of the present invention, the positive and negative pressure control assembly can also provide normal pressure. The other air inlet of the first electromagnetic valve 15 is connected to the muffler 14. Control the other air inlet of the first electromagnetic valve 15 to be communicated with the air outlet, and one air inlet of the second electromagnetic valve 16 is communicated with the air outlet, so that the main air passage 19 is communicated with the muffler 14, and the main air passage 19 is at normal pressure. The switching of normal pressure can make the suction cup on the quick-change system gently place the object without damaging the surface of the object.

[0118] More preferably, in the embodiment of the present invention, a proportional regulating valve 13 is provided on the above-mentioned first air passage, and a flow meter 18 and a pressure gauge 17 are provided on the main air passage 19, so as to realize the adjustment of the positive and negative pressure magnitudes. The embodiment of the present invention simultaneously provides real-time monitoring of the pressure and flow rate of positive and negative pressures, and is equipped with a proportional regulating valve 13 and a pressure gauge 17 to avoid excessive pressure or flow rate from damaging the item to be picked up. At the same time, by detecting whether the flow rate or pressure magnitude changes during the movement process, it is judged whether the item has fallen, thereby improving the reliability of item transfer.

[0119] In the embodiment of the present invention, the positive and negative pressure control assembly is arranged in the elbow joint of the robotic arm 3. Firstly, it does not occupy extra working space. Secondly, it is convenient for modular setting, and the positive and negative pressure control assembly can be adapted to different types of robotic arms 3.

[0120] In the embodiment of the present invention, the end effector 4 includes the following one of the actuators:

[0121] - A grasping member 402;

[0122] - A suction member 401;

[0123] - A vacuum cleaner;

[0124] - A scrubbing tool;

[0125] - A water spray gun;

[0126] - A scrubbing board;

[0127] - A scrubbing head.

[0128] In the embodiment of the present invention, the end effector 4 can also be configured as a cleaning tool such as a spray bottle, a glass water dispenser, a glass scraper, a glass cloth, a mop, a tile cleaner, a toilet brush, a spatula, etc.

[0129] When the end effector 4 is a vacuum cleaner, the multifunctional robot can vacuum the floor or the sofa.

[0130] When the end effector 4 is a glass waterer, a glass scraper, or a glass cloth, the multifunctional robot can clean the door and window glass and automatically replace the end effector 4 during the door and window cleaning process. For example, the robotic arm 3 first connects to the glass waterer to water the door and window glass, then connects to the glass scraper to scrape and clean, and finally connects to the glass cloth to wipe off the remaining water stains to complete the cleaning of the entire door and window glass.

[0131] The remote control can control the movement of the mechanical arm 3 and the mobile chassis, and realize remote control of the multifunctional robot to perform complex and customized operation tasks. For example, when the end effector 4 is a toilet brush, the remote control can remotely control the multifunctional robot to perform customized cleaning on the part that needs to be cleaned.

[0132] In the embodiment of the present invention, when the robot arm controls the end effector to perform an operation, the controller controls the mobile chassis to perform corresponding movements to decouple the spatial movement trajectory of the end effector, that is, by controlling the movement of the mobile chassis to cooperate with the end effector to perform the operation, the requirements for the robot arm's degree of freedom when performing the operation can be reduced, and the complexity of the robot arm on the mobile robot is reduced.

[0133] In this specification, each embodiment is described in a progressive manner, and each embodiment focuses on the differences from other embodiments, and the same and similar parts between the embodiments can be referred to each other. The above description of the disclosed embodiments enables professionals and technicians in this field to implement or use the present invention. Various modifications to these embodiments will be obvious to professionals and technicians in this field, and the general principles defined herein can be implemented in other embodiments without departing from the spirit or scope of the present invention. Therefore, the present invention will not be limited to these embodiments shown in this article, but will comply with the widest range consistent with the principles and novel features disclosed herein.

[0134] The above describes the specific embodiments of the present invention. It should be understood that the present invention is not limited to the above specific embodiments, and those skilled in the art may make various modifications or variations within the scope of the claims, which do not affect the essence of the present invention.

Claims

1. A mobile robot based on motion compensation, characterized in that Comprising: A mobile chassis; A connecting seat, including at least a first part located on the mobile chassis and a second part detachably or fixedly connected to the first part; A robotic arm, including a first connecting arm and a second connecting arm; the bottom end of the first connecting arm is detachably or fixedly connected to the second part of the connecting seat on the mobile chassis through the first part of the connecting seat, the top end of the first connecting arm is rotatably connected to the rear end of the second connecting arm, and an end effector is provided at the front end of the second connecting arm; A controller, electrically connected to the mobile chassis and the robotic arm; wherein, when the robotic arm controls the end effector to perform an operating action, the controller controls the mobile chassis to perform a corresponding cooperative movement; when the robotic arm controls the end effector to move upward to perform an operating action, the controller controls the mobile chassis to move in a direction close to the target object as the end effector moves upward, so as to enable the end effector to move upward to perform the operating action.

2. The mobile robot based on motion compensation according to claim 1, wherein When the robotic arm controls the end effector to move upward to perform a wiping action on the target object, the controller controls the mobile chassis to move in a direction close to the target object as the end effector moves upward, so as to enable the end effector to move upward to perform the wiping action.

3. The mobile robot based on motion compensation according to claim 1, wherein When the robotic arm controls the end effector to move in a horizontal direction to perform an operating action, the controller controls the mobile chassis to move as the end effector moves, so as to enable the end effector to move in the horizontal direction to perform the operating action.

4. The mobile robot based on motion compensation according to claim 3, wherein When the robotic arm controls the end effector to move in a horizontal direction to perform a wiping action on the surface of the target object, the controller controls the mobile chassis to move in another horizontal direction as the end effector moves forward, so as to enable the end effector to move in the horizontal direction to perform the wiping action.

5. The mobile robot based on motion compensation according to claim 1, wherein The detachable connection at least includes any one or more of magnetic connection, threaded connection, pin connection, elastic deformation connection, buckle connection, and plug-in connection.

6. The mobile robot based on motion compensation according to claim 1, wherein The connecting seat includes an installation groove provided on the top side of the mobile chassis and a fixing seat located at the bottom end of the first connecting arm; A plurality of groups of first data connection ports are provided at the bottom of the installation groove, a fixing seat is provided at the bottom end of the first connecting arm, and a second data connection port is provided on the fixing seat; The fixing seat is in plug-in fit connection with the installation groove; When the first connecting arm is axially connected to the installation groove through the fixing seat, the second data connection port is connected to one of the first data connection ports, and when the first connecting arm rotates circumferentially and then is connected to the installation groove through the fixing seat, the second data connection port is connected to another first data connection port.

7. The mobile robot based on motion compensation according to claim 1, wherein It further includes a power module; The power module and the controller are arranged on the mobile chassis; After the robotic arm is connected to the mobile chassis through the connecting seat, the robotic arm can be electrically connected to the power module and / or the controller.

8. The mobile robot based on motion compensation according to claim 1, wherein, It further includes a signal receiving module and a remote controller; The signal receiving module is electrically connected to the controller on the one hand and wirelessly connected to the remote controller on the other hand; The remote controller is used to send motion control signals and / or operation control signals; The controller is used to control the movement of the mobile chassis according to the motion control signal and control the manipulator to work to achieve the use function according to the operation control signal.

9. The mobile robot based on motion compensation according to claim 6, wherein, It further includes an information acquisition component, and the information acquisition component is arranged on the manipulator; The information acquisition component is used to obtain the information parameters on the item to be operated, and the information parameters include the type information and / or size information of the item; The controller is used to output an operation instruction according to the received information parameters, and the operation instruction includes a motion instruction for controlling the manipulator to be connected to any one of the multiple end effectors and an operation action according to the type information of the item.

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