Intelligent sensing device and control method for mobile robot

Abstract

The application relates to the technical field of intelligent sensing, in particular to an intelligent sensing device for a mobile robot and a control method thereof. The intelligent sensing device comprises a mounting shell, a laser radar assembly and a shooting assembly. The laser radar assembly comprises a transceiver and a driving assembly. The transceiver is located at the top end of the mounting shell, and the driving assembly drives the transceiver to rotate. The shooting assembly comprises a camera and a spherical clamping block. The side wall of the mounting shell is provided with a spherical clamping groove. The spherical clamping block is installed on the camera and is embedded in the spherical clamping groove. The tail end of the camera extends into the mounting shell. The driving assembly comprises a power piece, a first gear and a rotary driving gear. The power piece drives the first gear to rotate. The non-axle center position of the first gear is provided with a first connecting rod. The tail end of the camera is hinged to the first connecting rod. After the first driving gear rotates, the tail end of the camera is driven by the first connecting rod to rotate, so that the swing shooting of the camera is realized, the shooting visual angle of the camera is increased, and the accurate sensing and identification of the robot are facilitated.

Description

Technical Field

[0001] This invention relates to the field of intelligent sensing technology, and specifically to an intelligent sensing device and control method for mobile robots. Background Technology

[0002] Mobile robots integrate numerous technologies such as automatic control, system architecture, artificial intelligence, and visual computing. They are a product of the high development of computer science, pattern recognition, and intelligent control technology. Equipped with electromagnetic or optical automatic guidance devices, they can travel along a prescribed guidance path and have wide applications in the industrial manufacturing field.

[0003] Mobile robots primarily rely on internal computer-based intelligent driving systems to plan paths and drive autonomously. The basic principle of autonomous driving is to perceive the surrounding environment through a sensor system, then automatically plan the route and control the robot to reach the predetermined destination. The mobile robot's perception mainly relies on lidar and camera sensors.

[0004] A lidar system mainly comprises four major systems: laser emission, scanning, laser reception, and information processing. These four systems complement each other, forming a closed-loop sensing system. First, in the laser emission system, the excitation source periodically drives the laser to emit laser pulses. The laser modulator controls the direction and number of laser pulses emitted through a beam controller. Finally, the laser is emitted to the target object through the emission optics system. The scanning system rotates at a stable speed to scan the plane it is positioned on and generates real-time planar image information. In the laser reception system, a photodetector receives the laser reflected back from the target object, generating a received signal. In the information processing system, the received signal is amplified and converted from digital to analog. The information processing module then calculates the target's surface morphology, physical properties, and other characteristics to ultimately build an object model. The camera is responsible for real-time image capture, detection, and intelligent identification.

[0005] During robot movement, LiDAR and cameras need to work together to complete the robot's perception and localization. However, the cameras in existing sensing devices are generally fixed and cannot be moved or adjusted, which results in a narrow field of view and affects the accuracy of the robot's perception and recognition to some extent. Summary of the Invention

[0006] The purpose of this invention is to provide an intelligent sensing device and control method for mobile robots to solve the problems mentioned in the background art.

[0007] To achieve the above objectives, the technical solution adopted by the present invention is to provide an intelligent sensing device for a mobile robot, comprising:

[0008] Mounting housing;

[0009] A lidar assembly includes a transceiver and a drive assembly. The transceiver is located at the top of the mounting housing, and the drive assembly is located inside the mounting housing with one end extending out of the mounting housing and driving the transceiver to rotate.

[0010] The shooting assembly includes a camera and a spherical locking block. The side wall of the mounting housing is provided with a spherical locking groove. The spherical locking block is fixedly installed on the periphery of the middle section of the camera body. The spherical locking block is embedded in the spherical locking groove. The tail end of the camera extends into the mounting housing.

[0011] The drive assembly includes a power component, a first gear, and a rotary drive gear. The power component drives the first gear to rotate. A first connecting rod is provided at a non-axial position of the first gear, and the first connecting rod is hinged to the tail end of the camera.

[0012] Furthermore, the first connecting rod is perpendicular to the first gear, and there is sufficient space for the first connecting rod to avoid interference on its rotation path.

[0013] Furthermore, the drive assembly also includes a power gear and a second gear. The power gear is fixed to the output shaft end of the power component. The first gear meshes with the power gear. A first rotating shaft is fixed to the center of the first gear. The center of the second gear is fixedly connected to the first rotating shaft. The second gear meshes with the rotary drive gear. A second rotating shaft is fixed to the center of the rotary drive gear. One end of the second rotating shaft is fixedly connected to the bottom end of the transceiver. The power gear and the first gear are spur gears, and the second gear and the rotary drive gear are bevel gears.

[0014] Furthermore, the drive assembly also includes a guide frame, a lifting shaft, a mounting base, and a lifting plate. The lifting plate is located at the top of the mounting housing, and the transceiver is located at the top of the lifting plate. A second connecting rod is provided at the non-axial position of the second gear, and the second connecting rod is connected to the guide frame. The lifting shaft is slidably connected to the mounting base, and one end of the lifting shaft extends out of the top of the mounting housing and is connected to the lifting plate. The second gear rotates and drives the lifting plate to rise and fall. The second rotating shaft is a telescopic shaft.

[0015] Furthermore, the second gear is annular and has connecting teeth on its edge, the second gear has a connecting beam passing through its center, and the second connecting rod is located at a non-axial position of the connecting beam.

[0016] Furthermore, one end of the second connecting rod is provided with a guide pulley, which is embedded in the groove of the guide frame and slidably connected to the guide frame.

[0017] Furthermore, the second connecting rod is perpendicular to the second gear and the rotary drive gear, and the length of the second connecting rod is greater than the outer diameter of the second gear.

[0018] Furthermore, both ends of the guide frame are provided with lifting shafts, and the two lifting shafts are symmetrically arranged on both sides of the second gear.

[0019] Furthermore, the line connecting the centers of the two ends of the lifting shaft passes through the center of gravity of the lifting plate.

[0020] Furthermore, the present invention also provides a control method for a mobile robot, employing the aforementioned intelligent sensing device, characterized in that the control method is as follows:

[0021] Monitor the robot's speed and control the power components to output the corresponding rotational speed;

[0022] Control the lidar component to perform rotational and vertical scanning at a preset frequency;

[0023] Control the shooting component to swing and shoot at a preset frequency.

[0024] The beneficial effects of this invention are as follows:

[0025] 1. The drive assembly includes a power component, a first gear, and a rotary drive gear. The power component drives the first gear to rotate. A first connecting rod is located at a non-axial position of the first gear, and the first connecting rod is hinged to the tail end of the camera. After the first transmission gear rotates, it drives the rotary drive gear to rotate, which in turn drives the transceiver to rotate. After the first transmission gear rotates, the first connecting rod drives the tail end of the camera to rotate, thereby realizing the camera's swing shooting, increasing the camera's shooting angle, and facilitating the intelligent robot's accurate perception and recognition. At the same time, the rotation of the transceiver and the swing of the camera are both achieved by a single power component, reducing the number of overall parts and making the sensing device compact and small.

[0026] 2. The first connecting rod is perpendicular to the first gear. After the first gear rotates, the movement path of the first connecting rod is closed into a cylindrical shape. Ample space is left within the movement path of the first connecting rod to avoid interference between parts and to prevent the movement of the first connecting rod from being hindered.

[0027] 3. The drive assembly also includes a lifting drive component, which comprises a guide frame, a lifting shaft, a mounting base, and a lifting plate. The lifting plate is located at the top of the mounting housing, and the transceiver is located at the top of the lifting plate. A second connecting rod is located at the non-axial position of the first gear, and the second connecting rod is connected to the guide frame. The lifting shaft is slidably connected to the mounting base, with one end extending out of the top of the mounting housing and connected to the lifting plate. The second gear rotates and drives the lifting plate to rise and fall. The second rotating shaft is a telescopic shaft. With the above structural design, a single power component can achieve both the rotation and lifting of the transceiver, as well as the tilting and shooting of the camera. The transceiver rotates while simultaneously lifting, providing a wider scanning angle.

[0028] 4. The second gear is ring-shaped and has connecting teeth on its edge. The above structure can reduce the overall weight of the second gear and save manufacturing costs while meeting the functional requirements.

[0029] 5. One end of the second connecting rod is equipped with a guide pulley, which is embedded in the groove of the guide frame and slidably connected to the guide frame. This structural design effectively reduces the frictional force when the guide pulley slides within the groove, preventing jamming.

[0030] 6. The second connecting rod is perpendicular to the second gear and the rotary drive gear. The length of the second connecting rod is greater than the outer diameter of the second gear. At this time, the installed guide frame and lifting shaft will be outside the second gear, so that the second gear, guide frame and lifting shaft can work independently without interference.

[0031] 7. Lifting shafts are provided at both ends of the guide frame, and the two lifting shafts are symmetrically arranged on both sides of the second gear. The line connecting the centers of the ends of the two lifting shafts passes through the center of gravity of the lifting plate. With the above structure, when the lifting shafts push the lifting plate upward, the center of gravity can be effectively prevented from shifting, and the lifting plate can be prevented from sliding and jamming due to excessive friction during the sliding process of the lifting shafts. Attached Figure Description

[0032] To more clearly illustrate the specific embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the specific embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are some embodiments of the present invention. For those skilled in the art, other drawings can be obtained from these drawings without creative effort.

[0033] Figure 1 This is a three-dimensional structural diagram of the intelligent sensing device provided in Embodiment 1 of the present invention;

[0034] Figure 2 This is a schematic diagram of the overall structure of the driving component used in the intelligent sensing device provided in Embodiment 1 of the present invention.

[0035] Figure 3 This is a schematic diagram of the first operating state of the driving component used in the intelligent sensing device provided in Embodiment 1 of the present invention.

[0036] Figure 4 This is a schematic diagram of the second operating state of the driving component used in the intelligent sensing device provided in Embodiment 1 of the present invention.

[0037] Figure 5 This is a schematic diagram of the first operating state of the imaging component used in the intelligent sensing device provided in Embodiment 1 of the present invention.

[0038] Figure 6 This is a schematic diagram of the second operating state of the imaging component used in the intelligent sensing device provided in Embodiment 1 of the present invention.

[0039] Figure 7 A side view of the second rotating shaft used in the intelligent sensing device provided in Embodiment 1 of the present invention;

[0040] Figure 8 A cross-sectional view of the second rotating shaft used in the intelligent sensing device provided in Embodiment 1 of the present invention;

[0041] Figure 9 This is a flowchart of a mobile robot control method provided in Embodiment 2 of the present invention;

[0042] Figure 10 This is a schematic diagram of multi-sensor data fusion.

[0043] Explanation of reference numerals in the attached figures:

[0044] 1. Mounting housing; 11. Spherical slot; 2. LiDAR assembly; 21. Transceiver; 22. Drive assembly; 221. Power component; 222. First gear; 2221. First connecting rod; 2222. First rotating shaft; 223. Rotary drive gear; 2231. Second rotating shaft; 224. Power gear; 225. Second gear; 2251. Second connecting rod; 2252. Connecting gear; 2253. Connecting beam; 226. Guide frame; 227. Lifting shaft; 228. Mounting base; 229. Lifting plate; 3. Shooting assembly; 31. Camera; 32. Spherical slot block; 33. Connecting sleeve; 4. Mounting bracket. Detailed Implementation

[0045] The technical solution of the present invention will now be clearly and completely described with reference to the accompanying drawings. Obviously, the described embodiments are only some, not all, of the embodiments of the present invention. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0046] In the description of this invention, it should be noted that the terms "center," "upper," "lower," "left," "right," "vertical," "horizontal," "inner," and "outer," etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. They are used only for the convenience of describing the invention and for simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limitations on the invention. Furthermore, the terms "first," "second," and "third" are used for descriptive purposes only and should not be construed as indicating or implying relative importance.

[0047] In the description of this invention, it should be noted that, unless otherwise explicitly specified and limited, the terms "installation," "connection," and "linking" should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral connection; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium; and they can refer to the internal connection of two components. Those skilled in the art can understand the specific meaning of the above terms in this invention based on the specific circumstances.

[0048] Furthermore, the technical features involved in the different embodiments of the present invention described below can be combined with each other as long as they do not conflict with each other.

[0049] Example 1

[0050] Reference Figure 1-6 As an embodiment of the present invention, an intelligent sensing device for a mobile robot includes a mounting shell 1, a lidar assembly 2, and a shooting assembly 3. The lidar assembly 2 includes a transceiver 21 and a driving assembly 22. The transceiver 21 is located at the top of the mounting shell 1, and the driving assembly 22 is located inside the mounting shell 1 with one end extending out of the mounting shell 1 and driving the transceiver 21 to rotate. The shooting assembly 3 includes a camera 31 and a spherical locking block 32. The side wall of the mounting shell 1 is provided with a spherical locking groove 11. The spherical locking block 32 is fixedly installed on the periphery of the middle section of the camera 31, and the tail end of the camera 31 extends into the mounting shell 1. The driving assembly 22 includes a power component 221, a first gear 222, and a rotary driving gear 223. The power component 221 drives the first gear 222 to rotate. A first connecting rod 2221 is provided at the non-axial position of the first gear 222, and the first connecting rod 2221 is hinged to the tail end of the camera 31.

[0051] After the first transmission gear rotates, the first connecting rod 2221 drives the tail end of the camera 31 to rotate, thereby enabling the camera 31 to swing and capture images, increasing the shooting angle of the camera 31 and facilitating accurate perception and recognition by the intelligent robot. At the same time, the rotation of the transceiver 21 and the swing of the camera 31 are both achieved by a single power component 221, reducing the number of overall parts and making the sensing device compact and small.

[0052] Specifically, refer to Figure 2-4 The power component 221 is fixedly installed inside the mounting housing 1 and can be secured by a support base. The drive assembly 22 also includes a power gear 224 and a second gear 225. The power gear 224 is fixed to the output shaft end of the power component 221. The first gear 222 meshes with the power gear 224, and a first rotating shaft 2222 is fixed to the center of the first gear 222. The first rotating shaft 2222 and the first gear 222 are supported by a support base, in which case the first rotating shaft 2222 is rotatably connected to the support base. The center of the second gear 225 is fixedly connected to the first rotating shaft 2222, and the second gear 225 meshes with a rotary drive gear 223. The center of the rotary drive gear 223 is fixed to a second rotating shaft 2231. The second rotating shaft 2231 and the rotary drive gear 223 are supported by a support base, in which case the second rotating shaft 2231 is rotatably connected to the support base. One end of the second rotating shaft 2231 is fixedly connected to the bottom end of the transceiver 21. The power gear 224 and the first gear 222 are spur gears, and the second gear 225 and the rotary drive gear 223 are bevel gears.

[0053] Reference Figure 5 and 6 The mounting housing 1 has a spherical locking groove 11 on its side wall. A spherical locking block 32 is fixedly installed on the outer periphery of the middle section of the camera 31. The spherical locking block 32 is embedded in the spherical locking groove 11 and can rotate within the spherical locking groove 11. A connecting sleeve 33 is fixedly sleeved on the tail end of the camera 31. The connecting sleeve 33 has a hinge joint, which is hinged to the first connecting rod 2221. After the first connecting rod 2221 makes a circular motion, it can drive the tail end of the camera 31 to make a circular swing. At this time, the spherical locking block 32 is equivalent to a fulcrum. The circular swing of the tail end of the camera 31 drives the lens end of the camera 31 to make a circular swing, increasing the shooting angle of the camera 31 and facilitating the accurate perception and recognition of the intelligent robot.

[0054] Reference Figure 2 Furthermore, the first link 2221 is perpendicular to the first gear 222. After the first gear 222 rotates, the movement path of the first link 2221 is closed into a cylindrical shape. The rotation path of the first link 2221 has a space to avoid interference, so as to avoid interference between the components and hinder the movement of the first link 2221.

[0055] Reference Figure 3 and 4Furthermore, the drive assembly 22 also includes a guide frame 226, a lifting shaft 227, a mounting base 228, and a lifting plate 229. The lifting plate 229 is located at the top of the mounting shell 1, and the transceiver 21 is located at the top of the lifting plate 229. A second connecting rod 2251 is provided at the non-axial position of the second gear 225. The second connecting rod 2251 is connected to the guide frame 226. The lifting shaft 227 is slidably connected to the mounting base 228. One end of the lifting shaft 227 extends out of the top of the mounting shell 1 and is connected to the lifting plate 229. The second gear 225 rotates and drives the lifting plate 229 to rise and fall. The second rotating shaft 2231 is a telescopic shaft.

[0056] Specifically, refer to Figure 3 and 4The guide frame 226 has lifting shafts 227 at both ends, and the two lifting shafts 227 are symmetrically arranged on both sides of the second gear 225. The mounting base 228 is fixed on the inner wall of the mounting shell 1. The lifting shafts 227 pass through the mounting base 228 and are slidably connected to the mounting base 228. In this embodiment, each side of the lifting shaft 227 is equipped with at least two mounting bases 228. The above arrangement facilitates stable support for the lifting shafts 227. The guide frame 226 is generally in the shape of a square ring. The guide frame 226 has fixing blocks at both ends, and the fixing blocks are fixedly connected to the corresponding lifting shafts 227. The second rotating shaft 2231 is a telescopic shaft. The top of the mounting shell 1 and the lifting plate 229 are provided with through holes. One end of the telescopic shaft is fixed at the center position of the rotary drive gear 223, and the other end passes through the through hole and is fixed to the bottom end of the transceiver 21. In this embodiment, a rotating bearing is provided on the through hole of the lifting plate 229, and a sliding ball bearing is provided on the lifting plate 229. The other end of the telescopic shaft passes through the rotating bearing, which can reduce the contact friction between the telescopic shaft and the through hole. The transceiver 21 abuts against the sliding ball bearing, and the sliding ball bearing can reduce the contact friction between the lifting plate 229 and the transceiver 21. The rotation of the power component 221 drives the power gear 224 to rotate, and the rotation of the power gear 224 drives the first gear 222 to rotate. The camera 31 is driven to swing and shoot by the first connecting rod 2221 on the first gear 222. The rotation of the first gear 222 drives the second gear 225 to rotate, and the rotation of the second gear 225 drives the rotary drive gear 223 to rotate, thereby realizing the rotation of the transceiver 21. The second gear 225 is equipped with a second connecting rod 2251. One end of the second connecting rod 2251 is embedded in the guide frame 226. Rotation of the second connecting rod 2251 pushes the guide frame 226, causing it to move vertically, thus raising and lowering the lifting shaft 227. One end of the lifting shaft 227 extends from the top of the mounting housing 1 and is fixed to the lifting plate 229. Therefore, the lifting plate 229 rises and falls vertically, thereby pushing the transceiver 21 to rise and fall. The transceiver 21 rises due to the pushing action of the lifting plate 229, while its descent is achieved by its own gravity. A single power component 221 enables both the rotation and lifting of the transceiver 21, as well as the oscillation and shooting of the camera 31. The transceiver 21's rotation, combined with its lifting function, provides a wider scanning angle.

[0057] As a variable embodiment, multiple lifting shafts 227 can be provided. In this case, the positional relationship between the various components needs to be considered. As long as the lifting shaft 227 can drive the lifting plate 229 and does not interfere with other components during the movement, it is acceptable.

[0058] Specifically, refer to Figure 7 and 8In this embodiment, the telescopic rod structure includes a first part, a second part, and a third part, which are sequentially nested together. The inner and outer layers are radially limited by a slot and block structure to prevent relative radial sliding between the first, second, and third parts. Depending on whether the transceiver 21 needs to move upward, the telescopic rod can also be configured with two or four parts.

[0059] Furthermore, a second connecting rod 2251 is provided at a non-axial position on the end face of the second gear 225 away from the first gear 222. A guide pulley is provided at the end of the second connecting rod 2251, and the guide pulley is embedded in the groove of the guide frame 226 and slidably connected to the guide frame 226. This structural arrangement effectively reduces the frictional force when the guide pulley slides in the groove, preventing jamming.

[0060] Furthermore, referring to Figure 3 and 4 The second gear 225 is annular with connecting teeth 2252 on its edge. The rotational drive gear 223 meshes with the connecting teeth 2252. The second gear 225 has a connecting beam 2253 passing through its center, which divides the second gear 225 into two equal parts. The second connecting rod 2251 is located at a non-axial position of the connecting beam 2253, specifically near the end of the connecting beam 2253. At this position, the second connecting rod 2251 has the largest movement distance, allowing the transceiver 21 to rise and fall a greater distance. This structure reduces the overall weight of the second gear 225, saving manufacturing costs while still meeting functional requirements. Alternatively, the second gear 225 can also be a common bevel gear structure, as long as it meets normal operating requirements.

[0061] Furthermore, referring to Figure 2 The second connecting rod 2251 is perpendicular to the second gear 225 and the rotary drive gear 223. The length of the second connecting rod 2251 is greater than the outer diameter of the second gear 225. At this time, the installed guide frame 226 and lifting shaft 227 will be outside the second gear 225, so that the second gear 225, guide frame 226 and lifting shaft 227 work independently without interference.

[0062] Furthermore, the line connecting the centers of the ends of the two lifting shafts 227 passes through the center of gravity of the lifting plate 229. With the above structure, when the lifting shafts 227 push the lifting plate 229 upward, it can effectively push the lifting plate 229 upward as a whole, avoiding the center of gravity shift during the movement and preventing the lifting shafts 227 from sliding and getting stuck due to excessive friction.

[0063] Furthermore, the bottom of the mounting shell 1 is provided with a mounting bracket 4, which facilitates the overall detachable installation of the intelligent sensing device on the robot.

[0064] Specifically, refer to Figure 1 The mounting bracket 4 includes a support panel and support legs on both sides of the support panel, which support the support panel so that the bottom of the support panel is hollow. A mounting shell 1 is mounted on the top surface of the support panel, providing overall support for the mounting shell 1, the LiDAR component 2, and the imaging component 3. A through hole is provided on the support panel at the bottom of the mounting shell 1. The through hole allows the lifting shaft 227 to pass through, and the hollow bottom of the support panel provides space for the lifting shaft 227 to move. Coordinate lines are marked on the support panel to facilitate precise installation of components such as the mounting shell 1.

[0065] Example 2

[0066] As an embodiment of the present invention, a control method for a mobile robot is provided, referring to... Figure 9 Using the intelligent sensing device described in Example 1, the control method is as follows:

[0067] S10: Monitor the robot's travel speed and control the power component 221 to output the corresponding rotational speed;

[0068] S20: Control the lidar component 2 to perform rotation and lifting scanning at a preset frequency;

[0069] S30: Control the shooting component 3 to swing and shoot at a preset frequency.

[0070] Specifically, in step S10, the robot's speed can be monitored in real time using a speed sensor. The speed sensor feeds back the detected speed signal to the processor, which adjusts the output power of the power component 221 accordingly to achieve different rotational speeds. During robot movement, when the robot's speed is slow, the rotation speed of the LiDAR component 2 and the swing speed of the imaging component 3 can be correspondingly slower, which still meets the scanning and imaging requirements. When the robot's speed is fast, the rotation speed of the LiDAR component 2 and the swing speed of the imaging component 3 must be increased accordingly. If the rotation speed of the LiDAR component 2 and the swing speed of the imaging component 3 are not increased, when the robot moves at a high speed, some areas may not be scanned and captured before the position has moved, resulting in missed images and affecting the robot's detection and intelligent recognition. The rotation frequency of the LiDAR component 2 and the swing frequency of the imaging component 3 can also be set and adjusted by adjusting the transmission ratio of multiple gears.

[0071] The processor can be a Central Processing Unit (CPU), or other general-purpose processors, digital signal processors (DSPs), application-specific integrated circuits (ASICs), field-programmable gate arrays (FPGAs), or other programmable logic devices, discrete gate or transistor logic devices, discrete hardware components, etc. A general-purpose processor can be a microprocessor or any conventional processor.

[0072] Furthermore, the multiple sensors installed on the robot need to be fused and correlated. Sensor fusion utilizes computer technology to comprehensively process data from multiple sensors. After fusion, the data from each sensor can be integrated to obtain more accurate data. Algorithms such as joint probability data association are used to process this data, achieving statistically optimal results. The multi-target motion trajectory information obtained by fusing sensors can accurately measure the displacement, angle, and velocity of the target object.

[0073] Reference Figure 10 This method employs high-level decision fusion technology to process data from each sensor. This involves processing raw data from different types of sensors observing the same target, performing feature extraction and classification to generate preliminary conclusions. Then, based on the specific needs of the decision-making object, further processing and advanced decision-making are performed to obtain a concise comprehensive inference result. Decision-level fusion offers advantages such as good real-time performance and high fault tolerance, enabling reasonable decisions even when one or more sensors fail. The above process is existing technology and will not be elaborated further.

[0074] The embodiments described herein are preferred embodiments of the present invention and are not intended to limit the scope of protection of the present invention. Therefore, all equivalent changes made in accordance with the structure, shape and principle of the present invention should be covered within the scope of protection of the present invention.

Claims

1. An intelligent sensing device for a mobile robot, characterized by, The utility model relates to a kind of laser radar, including: Mounting shell (1); Laser radar assembly (2), including transceiver (21) and drive assembly (22), the transceiver (21) is located at the top end of the mounting shell (1), the drive assembly (22) is located in the mounting shell (1) and one end extends the mounting shell (1) and drives the transceiver (21) rotation; Photographing assembly (3), including camera (31) and spherical clamping block (32), the side wall of the mounting shell (1) is equipped with spherical clamping slot (11), the body middle segment periphery of the camera (31) is fixedly installed with the spherical clamping block (32), the spherical clamping block (32) is embedded in the spherical clamping slot (11), the tail end of the camera (31) extends into mounting shell (1); The drive assembly (22) includes power piece (221), first gear (222) and rotation driving gear (223), the power piece (221) drives the first gear (222) rotation, the non-axis position of the first gear (222) is equipped with first connecting rod (2221), the first connecting rod (2221) is hinged with the tail end of the camera (31); The drive assembly (22) further includes power gear (224) and second gear (225), the power gear (224) is fixed in the output shaft end of the power piece (221), the first gear (222) is engaged with the power gear (224), the center of the first gear (222) is fixed with first rotation shaft (2222), the center of the second gear (225) is fixedly connected with the first rotation shaft (2222), the second gear (225) is engaged with the rotation driving gear (223), the center of the rotation driving gear (223) is fixed with second rotation shaft (2231), one end of the second rotation shaft (2231) is fixedly connected with the bottom end of the transceiver (21), the power gear (224) and first gear (222) are straight gears, the second gear (225) and the rotation driving gear (223) are bevel gears; The driving assembly (22) further comprises a guide frame (226), a lifting shaft (227), a mounting seat (228) and a lifting plate (229), the lifting plate (229) is located at the top end of the mounting shell (1), the transceiver (21) is located at the top end of the lifting plate (229), the non-axle position of the second gear (225) is provided with a second connecting rod (2251), the second connecting rod (2251) is connected with the guide frame (226), the lifting shaft (227) is slidingly connected with the mounting seat (228), one end of the lifting shaft (227) extends out of the top end of the mounting shell (1) and is connected with the lifting plate (229), the second gear (225) rotates and drives the lifting plate (229) to lift and lower, and the second rotating shaft (2231) is a telescopic shaft; the second gear (225) is annular and the edge thereof is provided with a connecting tooth (2252), the second gear (225) is provided with a connecting beam (2253) penetrating through the center, and the second connecting rod (2251) is arranged at the non-axle position of the connecting beam (2253).

2. The intelligent sensing device for mobile robots of claim 1, wherein, The first connecting rod (2221) is perpendicular to the first gear (222), and a movement space for avoiding interference is left on the rotating path of the first connecting rod (2221).

3. The intelligent sensing device for mobile robots of claim 1, wherein, One end of the second connecting rod (2251) is provided with a guide pulley, the guide pulley is embedded in a sliding groove of the guide frame (226) and is slidingly connected with the guide frame (226).

4. The intelligent sensing device for mobile robots of claim 1, wherein, The second connecting rod (2251) is perpendicular to the second gear (225) and the rotating driving gear (223), and the length of the second connecting rod (2251) is greater than the outer diameter of the second gear (225).

5. The intelligent sensing device for mobile robots of claim 1, wherein, Both ends of the guide frame (226) are provided with lifting shafts (227), and the two lifting shafts (227) are symmetrically arranged on both sides of the second gear (225).

6. The intelligent sensing device for mobile robots of claim 5, wherein, The connecting line of the centers of the two end portions of the lifting shafts (227) passes through the center of gravity of the lifting plate (229).

7. A control method for a mobile robot employing the intelligent sensor device according to any one of claims 1 to 6, characterized by, The control method is as follows: The robot running speed is monitored, and the power member (221) outputs corresponding rotating speed; The laser radar assembly (2) is controlled to rotate and lift and scan at a preset frequency; The shooting assembly (3) is controlled to swing and shoot at a preset frequency.

Images