Intelligent robot with environment perception capability

Abstract

The invention provides an intelligent robot with environment perception capability, and relates to the technical field of robots. The intelligent robot with the environment sensing capacity comprises a base, a robot body is fixedly connected to the upper surface of the base, a shell is installed on the upper surface of the robot body, two rotating rods are rotatably connected to the inner wall of the shell at intervals, and a first gear and a second gear are fixedly connected to the exteriors of the two rotating rods correspondingly; a rotating shaft is installed on the upper surface of the shell, the lower end of the rotating shaft is fixedly connected with the upper end of one rotating rod, two vertical plates are fixedly connected to the upper surface of the rotating shaft, a rotating piece is rotationally connected between the two vertical plates, a mounting base is fixedly connected to the exterior of the rotating piece, and a second induction camera is installed at the upper end of the mounting base. The first induction camera and the second induction camera are installed at the upper end, the front portion and the rear portion of the robot correspondingly, and the surrounding environment can be scanned in an all-around mode.

Description

Technical Field

[0001] The present invention relates to the field of robot technology, and in particular to an intelligent robot with environmental perception capability. Background Art

[0002] A robot is a machine device that performs work automatically. It can accept human commands, run pre-programmed programs, or act according to the principles and guidelines formulated by artificial intelligence technology. Its mission is to assist or replace human work, such as manufacturing, construction, or dangerous work. Currently, it has important uses in industry, medicine, agriculture, and even the military.

[0003] The main function of the intelligent environmental perception system is to obtain information about the robot and the environment through sensors, specifically the position and state information of the robot, the identification and tracking of obstacles around the robot (including dynamic and static obstacles), and the analysis of the surrounding conditions of the robot. However, if there are small stones and other debris in front of the robot during driving, the existing intelligent robot cannot avoid them in time during driving, and the bottom of the robot will collide with the universal wheel, the robot is prone to tipping over, and the bottom will be scratched and damaged. Summary of the invention

[0004] 1. Technical issues to be resolved

[0005] In view of the deficiencies in the prior art, the present invention provides an intelligent robot with environmental perception capability, which solves the problem that the universal wheels of the prior intelligent robot cannot avoid stones in time and are easily damaged.

[0006] (II) Technical solution

[0007] To achieve the above objectives, the present invention is implemented through the following technical solutions: an intelligent robot with environmental perception capability, comprising a base, the upper surface of the base is fixedly connected to a robot body, the upper surface of the robot body is installed with a shell, the inner wall of the shell is connected to two rotating rods at intervals, the outsides of the two rotating rods are respectively fixedly connected to a first gear and a second gear, the upper surface of the shell is installed with a rotating shaft, the lower end of the rotating shaft is fixedly connected to the upper end of one of the rotating rods, the upper surface of the rotating shaft is fixedly connected to two vertical plates, a rotating member is rotatably connected between the two vertical plates, the outside of the rotating member is fixedly connected to a mounting seat, the upper end of the mounting seat is installed with a second sensing camera, a third motor is installed on the side wall of one of the vertical plates, the output end of the third motor is fixedly connected to one end of the rotating member, a plurality of first sensing cameras are installed around the base, and protective plates are installed on both sides of the left and right sides of the robot body;

[0008] A mounting shell is installed on the lower surface of the base, a sliding rod is fixedly connected to the inner wall of the mounting shell, a slider is slidably connected to the outside of the sliding rod, a rack is installed on one side of the slider, and a movable rod is fixedly connected to the other side of the slider, the front end of the movable rod passes through the side wall of the mounting shell and extends to the outside, the left and right sides of the movable rod are fixedly connected to the first connecting rod, and the front ends of the two first connecting rods are fixedly connected to the push plates;

[0009] The base is internally provided with a plurality of support rods connected thereto at intervals and slidably therewith, the lower ends of the plurality of support rods pass through the lower end of the base and extend to the outside and are fixedly connected thereto with a pad, the inner wall of the base is fixedly provided with a plurality of limit rods connected thereto at intervals, the middle parts of the plurality of limit rods are slidably connected to limit blocks, the outsides of the plurality of support rods are fixedly connected thereto with connecting sleeves, a mounting rod is fixedly connected between the connecting sleeves and the limit blocks, second springs are installed at both ends of the plurality of limit rods and are fixedly connected to the side walls of the limit blocks.

[0010] Preferably, two groups of inclined rods are fixedly connected to the inner wall of the base at intervals, movable blocks are slidably connected to the outsides of two adjacent inclined rods, a movable plate is fixedly connected between two adjacent movable blocks, an electric rod is obliquely installed on the top of the base, and the output end of the electric rod is fixedly connected to the upper surface of the movable plate.

[0011] Preferably, a battery is installed at the bottom of the robot body, a cooling fan is installed on the right side of the robot body, a protective shell is installed at the top of the robot body, a first motor is installed inside the protective shell, and the output end of the first motor is fixedly connected to the lower end of another rotating rod.

[0012] Preferably, a motor sleeve is fixedly connected to the outside of the first motor, a second motor is installed at the bottom of the base, an output end of the second motor extends to the outside through the side wall of the mounting shell and is installed with a half gear.

[0013] Preferably, first springs are installed at both ends of the slide rod, one end of two first springs are respectively fixedly connected to the side walls of the slide block, and a reinforcing rod is fixedly connected between the two first connecting rods and the movable rod.

[0014] Preferably, a second connecting rod is fixedly connected between the movable block and the connecting sleeve, and the second connecting rod is arranged at an angle.

[0015] Preferably, universal wheels are installed at the four corners of the lower end of the base, a fixing rod is fixedly connected to the front end of the robot body, a control screen is installed at the upper end of the fixing rod, and a door is installed at the front end of the robot body.

[0016] Preferably, the mounting shell is installed in front of the lower surface of the base, the two push plates move in front of the universal wheels respectively and are arranged at intervals, and the rear end of the robot body is fixedly connected to two support frames at intervals, and solar panels are installed on the upper ends of the two support frames, and the solar panels are arranged at an angle.

[0017] (III) Beneficial effects

[0018] The present invention provides an intelligent robot with environmental perception capability, which has the following beneficial effects:

[0019] 1. The present invention can scan the surrounding environment in all directions and provide accurate calculations by installing a first sensing camera at the front and rear ends of the base and a second sensing camera at the top of the robot body.

[0020] 2. The present invention cooperates with a half gear, a rack, a sliding rod, a slider, a movable rod, a first connecting rod and a push plate. The rack is driven to move by the half gear rotating left and right under the drive of the second motor, and the slider moves outside the sliding rod. The slider drives the movable rod, the first connecting rod and the push plate to move during the movement. The push plate can handle pebbles or debris in front of the universal wheel during the movement to avoid damage to the universal wheel and the lower surface of the base, thereby protecting the robot.

[0021] 3. The present invention utilizes the support structure adjustment module to control the electric rod. If the robot body tilts, the two electric rods inside the base will push the movable plate to move according to the direction of the tilt, so that the support rod can move and the pad can support the ground, which can support the robot and keep the robot stable. It has a simple structure and low production cost.

[0022] 4. The present invention utilizes a support frame to support the solar panel, which can convert solar energy into electrical energy and store it in a battery, which can provide emergency needs for the robot and prevent the robot's internal components from not being able to work properly when the robot is short of power. BRIEF DESCRIPTION OF THE DRAWINGS

[0023] Figure 1 It is a three-dimensional schematic diagram of the present invention;

[0024] Figure 2 It is a bottom-view cross-sectional schematic diagram of the installation shell of the present invention;

[0025] Figure 3 For the present invention Figure 2 The enlarged schematic diagram of point A in the middle;

[0026] Figure 4 It is a front cross-sectional schematic diagram of the present invention;

[0027] Figure 5 It is a schematic cross-sectional view of the base of the present invention;

[0028] Figure 6 It is a schematic diagram of the structure of the electric rod, movable plate, slash bar and movable block of the present invention;

[0029] Figure 7 It is a schematic diagram of the control system framework of the present invention.

[0030] Among them, 1. base; 2. robot body; 3. solar panel; 4. support frame; 5. protective plate; 6. support rod; 7. pad; 8. universal wheel; 9. first sensing camera; 10. door; 11. fixing rod; 12. control screen; 13. shell; 14. second sensing camera; 15. mounting shell; 16. push plate; 17. first connecting rod; 18. movable rod; 19. half gear; 20. rack; 21. slide bar; 22. first spring; 23. slider; 24. battery; 25. cooling fan; 26. first gear; 27. rotating rod; 28. second Gear; 29, limit block; 30, second spring; 31, limit rod; 32, mounting rod; 33, connecting sleeve; 34, inclined rod; 35, movable block; 36, second connecting rod; 37, electric rod; 38, movable plate; 39, first motor; 40, motor sleeve; 41, protective shell; 42, environmental perception module; 43, rotation control module; 44, control unit; 45, support structure adjustment module; 46, analysis module; 47, transmission module; 48, database; 49, mounting seat; 50, rotating part; 51, rotating shaft; 52, vertical plate; 53, third motor. DETAILED DESCRIPTION

[0031] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0032] Embodiment 1:

[0033] like Figure 1-6As shown, an embodiment of the present invention provides an intelligent robot with environmental perception capability, including a base 1, a robot body 2 is fixedly connected to the upper surface of the base 1, a shell 13 is installed on the upper surface of the robot body 2, the inner wall of the shell 13 is connected to two rotating rods 27 at intervals, the outer sides of the two rotating rods 27 are respectively fixedly connected to a first gear 26 and a second gear 28, the first gear 26 and the second gear 28 are meshed with each other, so that when the first gear 26 and the second gear 28 rotate, they can drive the second sensing camera 14 to rotate, so that the second sensing camera 14 can rotate 360 ​​degrees horizontally, a rotating shaft 51 is installed on the upper surface of the shell 13, the lower end of the rotating shaft 51 is fixedly connected to the upper end of one of the rotating rods 27, the upper surface of the rotating shaft 51 is fixedly connected to two vertical plates 52, a rotating member 50 is rotatably connected between the two vertical plates 52, and a mounting seat 49 is fixedly connected to the outer side of the rotating member 50, and the mounting seat 49 is used to rotate the second sensing camera 14 The camera 14 is fixedly installed, and the second sensing camera 14 can be rotated vertically 360° by using the rotating member 50 and the third motor 53. The second sensing camera 14 is installed on the upper end of the mounting seat 49, and the third motor 53 is installed on the side wall of one of the vertical plates 52. The output end of the third motor 53 is fixedly connected to one end of the rotating member 50. A plurality of first sensing cameras 9 are installed around the base 1, and three first sensing cameras 9 are installed on each surface of the base 1. The first sensing camera 9 can not only scan the surrounding environment, but also monitor whether the scanned image is horizontal, and can protect the robot body 2. Protective plates 5 are installed on the left and right sides of the robot body 2, and a pressure sensing unit is installed inside the protective plate 5, so that the left and right sides of the robot body 2 can start the support structure adjustment module 45 in time after a collision, so as to protect the robot body 2;

[0034] A mounting shell 15 is installed on the lower surface of the base 1, and a slide bar 21 is fixedly connected to the inner wall of the mounting shell 15, and a slider 23 is slidably connected to the outside of the slider 21. A rack 20 is installed on one side of the slider 23, and the rack 20 is meshed with the half gear 19. When the half gear 19 reciprocates left and right, it can drive the slider 23 to reciprocate left and right. A movable rod 18 is fixedly connected to the other side of the slider 23, and the front end of the movable rod 18 passes through the side wall of the mounting shell 15 and extends to the outside. The left and right sides of the movable rod 18 are fixedly connected to the first connecting rod 17, and the front ends of the two first connecting rods 17 are fixedly connected to the push plates 16. Driven by the slider 23, the movable rod 18 reciprocates left and right, and the small stones or sundries in front of the universal wheel 8 can be processed;

[0035] The base 1 is internally connected with a plurality of support rods 6 in an inclined and sliding manner at intervals. The lower ends of the plurality of support rods 6 pass through the lower end of the base 1 and extend to the outside, and are fixedly connected with a pad 7. The pad 7 cooperates with the ground so that the robot body 2 can be supported after shaking and remain stable. The inner wall of the base 1 is fixedly connected with a plurality of limit rods 31 at intervals. The middle parts of the plurality of limit rods 31 are slidably connected with the limit blocks 29, so that the support rods 6 remain stable during movement and move along the inclined direction to avoid interference during movement. The outsides of the plurality of support rods 6 are fixedly connected with connecting sleeves 33, and a mounting rod 32 is fixedly connected between the connecting sleeves 33 and the limit blocks 29. Second springs 30 are installed at both ends of the plurality of limit rods 31 and are fixedly connected to the side walls of the limit blocks 29.

[0036] The inner wall of the base 1 is fixedly connected with two groups of inclined rods 34 at intervals, and movable blocks 35 are slidably connected to the outside of two adjacent inclined rods 34, and a movable plate 38 is fixedly connected between the two adjacent movable blocks 35. An electric rod 37 is obliquely installed on the top of the base 1, and the electric rod 37 works under the control of the support structure adjustment module 45. The output end of the electric rod 37 is fixedly connected to the upper surface of the movable plate 38. A battery 24 is installed at the bottom of the robot body 2, which can store the electricity converted from solar energy by the solar panel 3. A cooling fan 25 is installed on the right side of the robot body 2 to discharge the heat generated by the internal equipment of the robot body 2 when working. A protective shell 41 is installed at the top of the robot body 2, and a first motor 39 is installed inside the protective shell 41. The rotation control module 43 is used to control the second sensing camera 14 to scan the environment in all directions. The output end of the first motor 39 is fixedly connected to the lower end of another rotating rod 27, and the motor sleeve 40 is fixedly connected to the outside of the first motor 39. A second motor is installed at the bottom of the base 1. The second motor is a servo motor, which can control the half gear 19 to rotate back and forth. The output end of the second motor extends to the outside through the side wall of the mounting shell 15 and is installed with the half gear 19. The first springs 22 are installed at both ends of the slide bar 21, so that the slider 23 can play a buffering effect during the movement. One end of the two first springs 22 is fixedly connected to the side wall of the slider 23, respectively. A reinforcing rod is fixedly connected between the two first connecting rods 17 and the movable rod 18. A second connecting rod 36 is fixedly connected between the movable block 35 and the connecting sleeve 33. The second connecting rod 36 is tilted. Universal wheels 8 are installed at the four corners of the lower end of the base 1. The front end of the robot body 2 is fixedly connected to a fixed rod 11, and a control screen 12 is installed on the upper end of the fixed rod 11. A door 10 is installed at the front end of the robot body 2. The mounting shell 15 is installed in front of the lower surface of the base 1. The two push plates 16 are respectively active in front of the universal wheel 8 and are arranged at intervals. The rear end of the robot body 2 is fixedly connected to two support frames 4 at intervals. The upper ends of the two support frames 4 are both installed with solar panels 3, and the solar panels 3 are tilted.

[0037] Embodiment 2:

[0038] like Figure 7 As shown, the present invention utilizes a control unit 44 to control the environment perception module 42 to control the first sensing camera 9 and the second sensing camera 14. The first sensing camera 9 can scan the environment in front and behind, and can monitor whether the scanning image is horizontal during the scanning process. The support structure adjustment module 45 can be controlled to work so that the support rod 6 and the pad 7 support the device, and the rotation control module 43 is used to control the first motor 39 to rotate so that the second sensing camera 14 performs a full-scale scan of the surrounding environment, and the analysis module 46 is used to analyze the scanned information, which can be classified during the analysis process, and the transmission module 47 is used to classify and store the information when the information is transmitted to the database 48.

[0039] Working principle: When in use, the universal wheel 8 is rotated to move the base 1, thereby moving the robot body 2. During the walking process, the robot uses the first sensing camera 9 and the second sensing camera 14 to scan the front, back and surrounding environments respectively. During the scanning process, if the first sensing camera 9 finds pebbles or debris on the robot's walking route, the control unit 44 is used to control the support structure adjustment module 45 to work, and the second motor is used to drive the half gear 19 to rotate left and right, and the rack 20 is driven to move during the rotation process, so that the slider 23 moves outside the slide bar 21. The slider 23 drives the movable rod 18 to move during the movement, so that the push plate 16 is moved, and the push plate 16 is used to push the pebbles or debris in front of the universal wheel 8 to both sides of the robot's walking route to avoid affecting the robot's walking;

[0040] The scanned object is analyzed by the analysis module 46, and the information is transmitted to the database 48 through the transmission module 47 for storage, so that when the robot encounters a similar situation later, the second motor can work in time;

[0041] When the second sensing camera 14 is working, the control unit 44 is used to control the rotation control module 43 to work, so that the first motor 39 drives the rotating rod 27 to rotate, so that the first gear 26 and the second gear 28 rotate, and the third motor 53 drives the rotating member 50 to rotate, so that the second sensing camera 14 rotates vertically 360°. During the rotation process, the second sensing camera 14 is driven to rotate in all directions to avoid blind spots, and the environment around the robot can be scanned and stored in the database 48;

[0042] If the robot tilts on the left or right side during walking, the first sensing camera 9 is used to sense whether the picture remains horizontal. If tilted, the control unit 44 is used to control the support structure adjustment module 45 to work, and the electric rod 37 on the tilted side is used to push the movable plate 38 to move. During the movement, the second connecting rod 36 is used to drive the connecting sleeve 33 to move, thereby driving the support rod 6 to move. During the movement, the pad 7 supports the ground, so that the robot remains stable and avoids tipping. Protective plates 5 are provided on both sides of the robot body 2, and a pressure sensing unit is also installed inside the protective plate 5. If the robot body 2 collides on the left or right sides and is subjected to pressure, the information is transmitted to the control unit 44 in time, and the pad 7 is also used to cooperate with the ground to support the robot body 2.

[0043] A support frame 4 and a solar panel 3 are installed on the upper end of the robot body 2. When the robot is walking in the outside world, it can convert solar energy into electrical energy and store it in a battery 24. It can provide emergency power to the equipment inside the robot body 2 to ensure that the robot can still work when there is no power.

[0044] Although embodiments of the present invention have been shown and described, it will be appreciated by those skilled in the art that various changes, modifications, substitutions and variations may be made to the embodiments without departing from the principles and spirit of the present invention, and that the scope of the present invention is defined by the appended claims and their equivalents.

Claims

1. An intelligent robot with environmental perception capability, comprising a base (1), characterized in that: The upper surface of the base (1) is fixedly connected to a robot body (2), the upper surface of the robot body (2) is mounted with a shell (13), the inner wall of the shell (13) is connected to two rotating rods (27) at intervals, the outsides of the two rotating rods (27) are respectively fixedly connected to a first gear (26) and a second gear (28), the upper surface of the shell (13) is mounted with a rotating shaft (51), the lower end of the rotating shaft (51) is fixedly connected to the upper end of one of the rotating rods (27), and the upper surface of the rotating shaft (51) is fixedly connected to two vertical plates (5 2), a rotating member (50) is rotatably connected between the two vertical plates (52), a mounting seat (49) is fixedly connected to the outside of the rotating member (50), a second sensing camera (14) is installed on the upper end of the mounting seat (49), a third motor (53) is installed on the side wall of one of the vertical plates (52), an output end of the third motor (53) is fixedly connected to one end of the rotating member (50), a plurality of first sensing cameras (9) are installed around the base (1), and protective plates (5) are installed on both left and right sides of the robot body (2); A mounting shell (15) is installed on the lower surface of the base (1), a sliding rod (21) is fixedly connected to the inner wall of the mounting shell (15), a slider (23) is slidably connected to the outside of the sliding rod (21), a rack (20) is installed on one side of the slider (23), and a movable rod (18) is fixedly connected to the other side of the slider (23), the front end of the movable rod (18) passes through the side wall of the mounting shell (15) and extends to the outside, the left and right sides of the movable rod (18) are fixedly connected to the first connecting rod (17), and the front ends of the two first connecting rods (17) are fixedly connected to the push plates (16); The base (1) is internally connected with a plurality of support rods (6) in an inclined and sliding manner at intervals, the lower ends of the plurality of support rods (6) all pass through the lower end of the base (1) and extend to the outside, and are fixedly connected with a pad (7), the inner wall of the base (1) is fixedly connected with a plurality of limit rods (31) at intervals, the middle parts of the plurality of limit rods (31) are slidably connected with a limit block (29), the outsides of the plurality of support rods (6) are fixedly connected with a connecting sleeve (33), a mounting rod (32) is fixedly connected between the connecting sleeve (33) and the limit block (29), and second springs (30) are installed at both ends of the plurality of limit rods (31) and are fixedly connected to the side walls of the limit block (29).

2. The intelligent robot with environmental perception capability according to claim 1, characterized in that: The inner wall of the base (1) is fixedly connected with two groups of inclined rods (34) at intervals, and movable blocks (35) are slidably connected to the outside of two adjacent inclined rods (34), and a movable plate (38) is fixedly connected between two adjacent movable blocks (35). An electric rod (37) is obliquely installed on the top of the base (1), and the output end of the electric rod (37) is fixedly connected to the upper surface of the movable plate (38).

3. The intelligent robot with environmental perception capability according to claim 1, characterized in that: A storage battery (24) is installed at the bottom of the robot body (2), a cooling fan (25) is installed on the right side of the robot body (2), a protective shell (41) is installed at the top of the robot body (2), a first motor (39) is installed inside the protective shell (41), and an output end of the first motor (39) is fixedly connected to the lower end of another rotating rod (27).

4. The intelligent robot with environmental perception capability according to claim 3, characterized in that: The first motor (39) is fixedly connected to a motor sleeve (40) on the outside, and a second motor is installed on the bottom of the base (1). The output end of the second motor extends to the outside through the side wall of the mounting shell (15) and is installed with a half gear (19).

5. The intelligent robot with environmental perception capability according to claim 1, characterized in that: First springs (22) are installed at both ends of the slide bar (21), one end of the two first springs (22) is fixedly connected to the side wall of the slide block (23), and a reinforcing rod is fixedly connected between the two first connecting rods (17) and the movable rod (18).

6. The intelligent robot with environmental perception capability according to claim 2, characterized in that: A second connecting rod (36) is fixedly connected between the movable block (35) and the connecting sleeve (33), and the second connecting rod (36) is arranged obliquely.

7. The intelligent robot with environmental perception capability according to claim 1, characterized in that: Universal wheels (8) are installed at the four corners of the lower end of the base (1), a fixing rod (11) is fixedly connected to the front end of the robot body (2), a control panel (12) is installed at the upper end of the fixing rod (11), and a door (10) is installed at the front end of the robot body (2).

8. The intelligent robot with environmental perception capability according to claim 1, characterized in that: The mounting shell (15) is mounted in front of the lower surface of the base (1); the two push plates (16) are respectively movable in front of the universal wheels (8) and are arranged at intervals; the rear end of the robot body (2) is fixedly connected to two support frames (4) at intervals; the upper ends of the two support frames (4) are both equipped with solar panels (3), and the solar panels (3) are arranged at an angle.

Images