Visual autonomous mobile robot

Abstract

The invention belongs to the technical field of robots, and discloses a visual autonomous mobile robot which comprises a moving part, the top of the moving part is fixedly connected with a supporting part, the top of the supporting part sinks inwards to form a plurality of top holes, a clamping part and a storage part are arranged above the supporting part, and the bottom of the clamping part is fixedly connected with a connecting rod; the bottom of the storage part is fixedly connected with an insertion rod, the insertion rod is detachably connected with the top hole, the two symmetrical sides of the supporting part are fixedly connected with side plates, and insertion holes are vertically formed in the two side plates. The connecting rod is connected with the top hole in the top of the supporting piece in a screwed mode, the clamping piece is fixed to the upper portion of the supporting piece, the inserting rod is inserted into the top hole in the top of the supporting piece, the storage piece is installed to the upper portion of the supporting piece, and when different functional units are additionally installed on the robot, the multiple fixing structures do not need to be screwed down, and operation is convenient. The device is convenient to mount or dismount, the subsequent maintenance difficulty of the device is reduced, and the maintenance efficiency of the device is improved.

Description

Technical Field

[0001] The present invention relates to the technical field of robots, and more specifically, to a vision-based autonomous mobile robot. Background Art

[0002] A vision-based autonomous mobile robot is an intelligent robot system that integrates vision perception technology, autonomous decision-making ability, and mobile execution function. It obtains environmental information through vision sensors, and after processing and analysis, autonomously plans paths and completes mobile tasks, and has a wide range of applications in industries, services, military, and other fields.

[0003] With the continuous development of technology, mobile robots are increasingly widely used in various fields. In recent years, vision-based autonomous mobile robots have gradually become a research hotspot. Vision sensors can provide rich environmental information, enabling robots to more accurately perceive the surrounding environment, thereby achieving more intelligent autonomous movement. However, existing vision-based autonomous mobile robots still have certain defects in practical applications. That is, during the movement of the robot, different functional units are installed on the robot to achieve different functions. However, during the installation process and subsequent disassembly process, personnel need to tighten multiple fixing structures to complete the installation or disassembly. Therefore, the subsequent maintenance of the device is difficult and the maintenance efficiency is low. Moreover, during the movement process, if the use environment is a muddy environment, the track is easily sticky with mud, which easily affects the overall movement effect of the robot and reduces the movement efficiency of the robot.

[0004] In view of this, the present invention proposes a vision-based autonomous mobile robot with modular design and track self-cleaning function to solve the above problems. Summary of the Invention

[0005] Aiming at the existing deficiencies, the purpose of the present invention is to provide a vision-based autonomous mobile robot to solve the problems of inconvenient disassembly and assembly of functional modules and lack of track self-cleaning ability in existing vision-based autonomous mobile robots. The present invention improves the flexibility, scalability, and environmental adaptability of the robot and is suitable for various complex environments.

[0006] To achieve the above purpose, the technical solution adopted by the present invention is as follows: A vision-based autonomous mobile robot, comprising a movable moving member, a support member is fixedly connected to the top of the moving member, a plurality of top holes are recessed in the top of the support member, and a clamping member for clamping an object and a storage member for storing items are arranged above the support member. A connecting rod is fixedly connected to the bottom of the clamping member, and the connecting rod is detachably screwed with the top hole. An insertion rod is fixedly connected to the bottom of the storage member, and the insertion rod is detachably connected with the top hole.

[0007] By adopting the above technical solution, before a person uses the device, the clamping member and the storage member are both placed above the support member, and the connecting rod at the bottom of the clamping member is screwed into the top hole on the support member, so that the clamping member is fixed above the support member. Then, the storage member is placed above the support member, and the insertion rod at the bottom of the storage member is inserted into the top hole at the top of the support member, so that the storage member is installed above the support member. When the person needs to move the support member, the moving member is moved, thereby driving the clamping member and the storage member to move. When the moving member moves to the position where work needs to be done, the clamping member clamps the item to be clamped, and the item is placed into the storage member through the clamping member, thus completing the placement of the item. After the item is placed, the moving member is moved, so that the moving member drives the storage member to move, and then drives the item to move to the unloading position. The item in the storage member is clamped through the clamping member, and the item is placed at the position where the person needs to unload through the clamping member, completing the movement of the item. When it is necessary to disassemble the clamping member for replacement, the clamping member is rotated, so that the clamping member clamps the item in the storage member, and the item is placed at the position where it needs to be placed through the clamping member, thus completing the placement of the item.

[0008] Further, side plates are fixedly connected to both symmetric sides of the support member, insertion holes are vertically formed in both of the two side plates, insertion plates are fixedly connected to both symmetric sides of the storage member, and the insertion plates are matched with the insertion holes.

[0009] By adopting the above technical solution, when a person needs to install the storage member, after the storage member is placed on the support member, the insertion rod at the bottom of the storage member will be inserted into the top hole on the support member, and the insertion plate is inserted into the insertion hole on the side plate, thereby positioning the storage member and making the storage member more stable after installation.

[0010] Further, limiting plates are arranged on the opposite sides of the two side plates, and springs are fixedly connected between the two side plates and the limiting plates. Limiting grooves are recessed inward on the opposite sides of the two insertion plates, and the limiting grooves are matched with the limiting plates.

[0011] By adopting the above technical solution, after the insertion plate is inserted into the insertion hole on the side plate, with the cooperation of the spring on the side plate, the spring pulls the limiting plate, so that the limiting plate is inserted into the limiting groove on the insertion plate, thereby limiting the insertion plate and the side plate, and preventing the insertion plate from accidentally falling off after being inserted into the insertion hole on the side plate, further improving the fastening property of the storage member after installation.

[0012] Further, the clamping member includes a base, a robotic arm is fixedly installed on the top of the base, and the top of the connecting rod is fixedly connected to the bottom of the base.

[0013] By adopting the above technical solution, when it is necessary to install the clamping part, place the base on the support member, align the connecting rod at the bottom of the base with the top hole on the support member, and rotate the base to drive the connecting rod to rotate, so that the connecting rod is screwed and connected with the top hole, and then the base is fixed to the support member to complete the installation of the robotic arm. The robotic arm can be used to clamp or release items. When it is necessary to replace the robotic arm, rotate the base to drive the connecting rod to rotate, so that the connecting rod is separated from the top hole, and then the robotic arm can be removed for replacement.

[0014] Further, the storage member includes a storage box, a storage cavity is recessed at the top of the storage box, and the two insertion plates are respectively fixedly connected to two symmetrical sides of the storage box.

[0015] By adopting the above technical solution, when it is necessary to install the storage box, place the storage box on the support member, make the insertion rod at the bottom of the storage box above the support member, and then align the insertion rod with the top hole on the support member to complete the fixation of the storage box. Items can be stored through the storage cavity on the storage box.

[0016] Further, the moving member includes two symmetrically arranged support units, two connecting plates are symmetrically and fixedly connected between the two support units, and each of the two support units includes two symmetrically arranged support plates. A plurality of crawler wheels are rotatably connected between the two support plates, a crawler is sleeved between the plurality of crawler wheels, and a first vision module for identifying the road is fixedly connected to the outside of the support plate.

[0017] By adopting the above technical solution, when a person needs to move the device, the crawler wheels are supported by the support plates. When the device needs to turn, if the device needs to turn left, the corresponding crawler wheel on the left side rolls to drive the crawler to rotate, so that the device deflects to the left. After the device deflects to the left, all the crawler wheels rotate synchronously to drive the crawler to rotate, and then the crawler moves forward. If the device needs to turn right, the corresponding crawler wheel on the right side rolls to drive the crawler to rotate, so that the device deflects to the right. After the device deflects to the right, all the crawler wheels rotate synchronously to drive the crawler to rotate, and then the crawler moves forward.

[0018] Further, a motor is fixedly connected to the side of the support plate away from the first vision module, and the output end of the motor is connected to the crawler wheel.

[0019] By adopting the above technical solution, when it is necessary to drive the crawler wheels to rotate, the motor works to drive the crawler wheels to rotate, so that the crawler wheels drive the crawler to rotate. Through the cooperation of the crawler, the device can be moved.

[0020] Furthermore, the support member includes a substrate, a top frame is fixedly connected to the bottom of the substrate, the bottom of the top frame is fixedly connected between the tops of two connecting plates, the top hole is recessed in the top of the substrate, two side plates are symmetrically and fixedly connected to both sides of the substrate, and second vision modules for road recognition are fixedly connected to both sides of the top frame symmetrically along its length direction.

[0021] By adopting the above technical solution, the connecting plate is supported by the support plate, the top frame is supported by the connecting plate, and the substrate is supported by the top frame. When a person needs to install the storage box, the storage box is placed above the substrate, and the insertion rod at the bottom of the storage box is inserted into the top hole on the substrate, so that the storage box is installed on the substrate. The crawler wheels are supported by the support plate. When the device needs to turn, if the device needs to turn left, the corresponding crawler wheel on the left side rolls, so that the crawler wheel drives the crawler to rotate, thereby deflecting the device to the left. After the device deflects to the left, all the crawler wheels rotate synchronously, so that the crawler wheel drives the crawler to rotate, and then the crawler moves forward. If the device needs to turn right, the corresponding crawler wheel on the right side rolls, so that the crawler wheel drives the crawler to rotate, thereby deflecting the device to the right. After the device deflects to the right, all the crawler wheels rotate synchronously, so that the crawler wheel drives the crawler to rotate, and then the crawler moves forward. When the device moves, the second vision module and the first vision module inside the built-in processor cooperate to identify and process the road, making it convenient for the device to move. Furthermore, a cover plate for shielding the storage cavity is arranged above the storage box, and a handle is fixedly connected to the top of the cover plate.

[0022] By adopting the above technical solution, after the articles are placed in the storage cavity inside the storage box, the articles inside the storage box are shielded by the cover plate. The cover plate is taken by the handle, and then the cover plate is placed above the storage box, and the cover plate of the same specification shields the storage cavity.

[0023] Furthermore, two arc-shaped frames are arranged at the foremost part of the substrate along its moving direction, and two electric push rods are symmetrically and fixedly connected to one side of the substrate. The electric push rods are above the arc-shaped frames, and a connecting block is fixedly connected to the top of the arc-shaped frame. The telescopic end of the electric push rod is fixedly connected to the connecting block, and a rubber pad is bonded to the bottom of the arc-shaped frame. The arc-shaped frame is above the crawler.

[0024] By adopting the above technical solution, the electric push rod is supported by the substrate, the connecting block and the arc-shaped frame are driven by the electric push rod to move reciprocally, so that the arc-shaped frame drives the rubber pad to move reciprocally, thereby scraping the crawler with the rubber pad, and further cleaning the soil attached to the surface of the crawler, avoiding affecting the normal movement of the device and improving the moving efficiency of the device.

[0025] Compared with the prior art, the present invention has the following beneficial effects: (1) By providing a support member, a clamping member, and a storage member, a connecting rod is provided at the bottom of the clamping member, and a plug rod is provided at the bottom of the storage member. The connecting rod is screwed and connected to the top hole of the support member, so that the clamping member is fixed above the support member. And by inserting the plug rod into the top hole of the support member, the storage member is installed above the support member, enabling different functional units to be added to the robot without tightening multiple fixing structures, making the device easy to install or disassemble, reducing the subsequent maintenance difficulty of the device, and improving the maintenance efficiency of the device.

[0026] (2) By providing an insertion plate, a side plate, and a jack, after the storage box is placed above the substrate, when the plug rod is inserted into the top hole, the insertion plate will be synchronously inserted into the jack on the side plate, thereby making it easy for the storage box to be accurately placed on the substrate, further reducing the installation difficulty of the storage box, and further improving the stability of the installation box after installation.

[0027] (3) By providing a limit plate, a spring, and a limit groove, after the insertion plate is inserted into the jack on the side plate, the spring drives the limit plate to move, so that the limit plate is inserted into the limit groove on the plug, thereby making the storage box more firmly installed and further improving the stability of the storage box during use.

[0028] (4) By providing an arc-shaped frame, a connecting block, and an electric push rod, when the crawler rotates, the electric push rod drives the connecting block to move, so that the connecting block drives the arc-shaped frame to move reciprocally, and the arc-shaped frame drives the rubber pad to move reciprocally, thereby reciprocally scraping the crawler, cleaning the crawler, preventing soil from sticking to the crawler, eliminating the need for manual cleaning of the crawler by personnel, not easily affecting the overall movement of the robot, and improving the movement efficiency of the robot. Brief Description of the Drawings

[0029] Figure 1 is a schematic diagram of the overall structure of the present invention.

[0030] Figure 2 is a schematic diagram of the overall structure of the present invention from another angle.

[0031] Figure 3 is a schematic diagram of the bottom structure of the present invention.

[0032] Figure 4 is a schematic diagram of the moving member in the present invention.

[0033] Figure 5 is a schematic diagram of the bottom structure of the moving member in the present invention.

[0034] Figure 6 is a schematic diagram of the support member in the present invention.

[0035] Figure 7 is a schematic diagram of the bottom structure of the support member in the present invention.

[0036] Figure 8 This is a schematic structural diagram of the clamping member in the present invention.

[0037] Figure 9 This is a schematic structural diagram of another angle of the clamping member in the present invention.

[0038] Figure 10 This is a disassembled schematic structural diagram of the storage member in the present invention.

[0039] Figure 11 This is a schematic structural diagram of the bottom of the storage member in the present invention.

[0040] In the figure: 1. Moving member; 11. Support plate; 12. Crawler wheel; 13. Crawler; 14. Connecting plate; 15. Motor; 16. First vision module; 2. Support member; 21. Substrate; 22. Top hole; 23. Side plate; 24. Insertion hole; 25. Limiting plate; 26. Spring; 27. Arc-shaped frame; 28. Connecting block; 29. Electric push rod; 210. Second vision module; 211. Rubber pad; 212. Top frame; 3. Clamping member; 31. Robot arm; 32. Base; 33. Connecting rod; 4. Storage member; 41. Storage box; 42. Storage cavity; 43. Cover plate; 44. Handle; 45. Insertion plate; 46. Limiting groove; 47. Insertion rod. Specific embodiments

[0041] Next, the technical solutions in the embodiments of the present invention will be clearly and completely described in conjunction with 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. All other embodiments obtained by those of ordinary skill in the art based on the embodiments of the present invention without creative efforts shall fall within the protection scope of the present invention.

[0042] Embodiment: As Figures 1 to 11 shown, the present invention provides the following technical solutions: A vision autonomous mobile robot includes a movable moving member 1. A support member 2 is fixedly connected to the top of the moving member 1. A plurality of top holes 22 are recessed in the top of the support member 2. And a clamping member 3 for clamping an object and a storage member 4 for storing items are arranged above the support member 2. The bottom of the clamping member 3 is fixedly connected to a connecting rod 33, and the connecting rod 33 is detachably screwed with the top hole 22. The bottom of the storage member 4 is fixedly connected to an insertion rod 47, and the insertion rod 47 is detachably connected to the top hole 22.

[0043] Through the above technical solution, before a person uses the device, the clamping member 3 and the storage member 4 are both placed above the support member 2, and the connecting rod 33 at the bottom of the clamping member 3 is screwed and connected with the top hole 22 on the support member 2, so that the clamping member 3 is fixed above the support member 2. Then, the storage member 4 is placed above the support member 2, and the insertion rod 47 at the bottom of the storage member 4 is inserted into the top hole 22 at the top of the support member 2, so that the storage member 4 is installed above the support member 2. When the person needs to move the support member 2, the moving member 1 is moved, thereby driving the clamping member 3 and the storage member 4 to move. When the moving member 1 moves to the position where work needs to be done, the clamping member 3 is used to clamp the item to be clamped, and the item is placed into the storage member 4 through the clamping member 3, thereby completing the placement of the item. After the item is placed, the moving member 1 is moved, so that the moving member 1 drives the storage member 4 to move, and then drives the item to move to the unloading position. The item in the storage member 4 is clamped through the clamping member 3, and the item is placed at the position where the person needs to unload through the clamping member 3, completing the movement of the item. When it is necessary to disassemble the clamping member 3 for replacement, the clamping member 3 is rotated, so that the clamping member 3 clamps the item in the storage member 4, and the item is placed at the position where it needs to be placed through the clamping member 3, thereby completing the placement of the item.

[0044] Moreover, in the present invention, after the person installs the storage member 4 above the support member 2, in order to make the storage member 4 more stable, as Figures 1 - 3 、 Figures 6 - 7 、 Figures 10 - 11 shown, both sides of the support member 2 that are symmetrically arranged are fixedly connected with side plates 23, and insertion holes 24 are vertically formed in both side plates 23. Both sides of the storage member 4 that are symmetrically arranged are fixedly connected with insertion plates 45, and the insertion plates 45 are matched with the insertion holes 24.

[0045] In this embodiment, when the person needs to install the storage member 4, after the storage member 4 is placed on the support member 2, the insertion rod 47 at the bottom of the storage member 4 will be inserted into the top hole 22 on the support member 2, and the insertion plate 45 will be inserted into the insertion hole 24 on the side plate 23, thereby positioning the storage member 4 and making the storage member 4 more stable after installation.

[0046] In addition, in the present invention, after the insertion plate 45 is connected with the insertion hole 24 on the side plate 23, in order to prevent the insertion plate 45 from accidentally falling off the side plate 23, as Figure 6 、 Figure 7 、 Figures 10 - 11 shown, limiting plates 25 are arranged on the opposite sides of both side plates 23, and springs 26 are fixedly connected between both side plates 23 and the limiting plates 25. Limiting grooves 46 are recessed on the opposite sides of both insertion plates 45, and the limiting grooves 46 are matched with the limiting plates 25.

[0047] In this embodiment, after the insertion plate 45 is inserted into the insertion hole 24 on the side plate 23, the spring 26 on the side plate 23 is engaged to pull the limiting plate 25 by the spring 26, so that the limiting plate 25 is inserted into the limiting groove 46 on the insertion plate 45, thereby limiting the insertion plate 45 and the side plate 23, so that the insertion plate 45 cannot accidentally fall off after being inserted into the insertion hole 24 on the side plate 23, further improving the fastening performance after the storage member 4 is installed.

[0048] Specifically, in one embodiment, regarding the above-mentioned clamping member 3, as Figures 1 - 3 , Figures 8 - 9 shown, the clamping member 3 includes a base 32, a robotic arm 31 is fixedly installed on the top of the base 32, and the top of the connecting rod 33 is fixedly connected to the bottom of the base 32.

[0049] In this embodiment, when a person needs to install the clamping member 3, the base 32 is placed on the support member 2, and the connecting rod 33 at the bottom of the base 32 is aligned with the top hole 22 on the support member 2, and the base 32 is rotated to drive the connecting rod 33 to rotate, so that the connecting rod 33 is screwed into the top hole 22, thereby fixing the base 32 to the support member 2 and completing the installation of the robotic arm 31. Items can be clamped or placed through the robotic arm 31. When the robotic arm 31 needs to be replaced, rotate the base 32 to drive the connecting rod 33 to rotate, so that the connecting rod 33 is separated from the top hole 22, and the robotic arm 31 can be removed for replacement.

[0050] In addition, in the present invention, regarding the above-mentioned storage member 4, as Figures 1 - 3 , Figures 10 - 11 shown, the storage member 4 includes a storage box 41, a storage cavity 42 is recessed inside the top of the storage box 41, and two insertion plates 45 are respectively fixedly connected to the symmetrical sides of the storage box 41.

[0051] In this embodiment, when the storage box 41 needs to be installed, the storage box 41 is placed on the support member 2, so that the insertion rod 47 at the bottom of the storage box 41 is above the support member 2, and then the insertion rod 47 is aligned with the top hole 22 on the support member 2, thereby completing the fixation of the storage box 41. Items can be stored through the storage cavity 42 on the storage box 41.

[0052] Regarding how the above-mentioned moving member 1 works, as Figures 1 - 5 shown, the moving member 1 includes two symmetrically arranged support units, two connecting plates 14 are symmetrically fixedly connected between the two support units, and both support units include two symmetrically arranged support plates 11. A plurality of crawler wheels 12 are rotatably connected between the two support plates 11, a crawler 13 is sleeved between the plurality of crawler wheels 12, and a first vision module 16 for identifying the road is fixedly connected to the outside of the support plate 11.

[0053] In this embodiment, when a person needs to move the device, the track wheels 12 are supported by the support plate 11. When the device needs to turn, if the device needs to turn left, the corresponding track wheels 12 on the left side roll, causing the track wheels 12 to drive the tracks 13 to rotate, thereby deflecting the device to the left. After the device deflects to the left, all the track wheels 12 rotate synchronously, causing the track wheels 12 to drive the tracks 13 to rotate, and then making the tracks 13 move forward. If the device needs to turn right, the corresponding track wheels 12 on the right side roll, causing the track wheels 12 to drive the tracks 13 to rotate, thereby deflecting the device to the right. After the device deflects to the right, all the track wheels 12 rotate synchronously, causing the track wheels 12 to drive the tracks 13 to rotate, and then making the tracks 13 move forward.

[0054] Moreover, in the present invention, regarding how the track wheels 12 rotate, as Figures 1 - 5 shown, a motor 15 is fixedly connected to the side of the support plate 11 away from the first vision module 16, and the output end of the motor 15 is connected to the track wheel 12.

[0055] In this embodiment, when it is necessary to drive the track wheels 12 to rotate, the motor 15 operates, causing the motor 15 to drive the track wheels 12 to rotate, thereby making the track wheels 12 drive the tracks 13 to rotate. With the cooperation of the tracks 13, the device can be moved.

[0056] Specifically, in one embodiment, regarding the above-mentioned support member 2, as Figures 1 - 3 、 Figures 6 - 7 shown, the support member 2 includes a base plate 21. A top frame 212 is fixedly connected to the bottom of the base plate 21, and the bottom of the top frame 212 is fixedly connected between the tops of two connecting plates 14. A top hole 22 is recessed in the top of the base plate 21. Two side plates 23 are symmetrically and fixedly connected to both sides of the base plate 21. Second vision modules 210 for identifying the road are fixedly connected to both sides of the top frame 212 symmetrically along its length direction.

[0057] In this embodiment, the connecting plate 14 is supported by the support plate 11, the top frame 212 is supported by the connecting plate 14, and the substrate 21 is supported by the top frame 212. When a person needs to install the storage box 41, the storage box 41 is placed above the substrate 21, and the insertion rod 47 at the bottom of the storage box 41 is inserted into the top hole 22 on the substrate 21, so that the storage box 41 is installed on the substrate 21. The support plate 11 supports the crawler wheels 12. When the device needs to turn, if the device needs to turn left, the corresponding crawler wheels 12 on the left side roll, so that the crawler wheels 12 drive the crawler 13 to rotate, so that the device deflects to the left. After the device deflects to the left, all the crawler wheels 12 rotate synchronously, so that the crawler wheels 12 drive the crawler 13 to rotate, and then the crawler 13 moves forward. If the device needs to turn right, the corresponding crawler wheels 12 on the right side roll, so that the crawler wheels 12 drive the crawler 13 to rotate, so that the device deflects to the right. After the device deflects to the right, all the crawler wheels 12 rotate synchronously, so that the crawler wheels 12 drive the crawler 13 to rotate, and then the crawler 13 moves forward. When the device moves, the second vision module 210 and the first vision module 16 of the built-in processor cooperate to identify and process the road, so that the device is convenient to move.

[0058] After the item is placed in the storage cavity 42 inside the storage box 41, in order to block the storage box 41, as Figure 1 , Figure 2 , Figure 10 , Figure 11 shown, a cover plate 43 for blocking the storage cavity 42 is arranged above the storage box 41. A handle 44 is fixedly connected to the top of the cover plate 43. The cover plate 43 is taken by the handle 44, and then the cover plate 43 is placed above the storage box 41. The cover plates 43 of the same specification block the storage cavity 42.

[0059] When the crawler 13 rotates, in order to facilitate the cleaning of the crawler 13, as Figures 1 - 7 shown, two arc-shaped frames 27 are arranged at the frontmost part of the substrate 21 along its moving direction, and two electric push rods 29 are symmetrically and fixedly connected to one side of the substrate 21. The electric push rods 29 are above the arc-shaped frames 27, and a connecting block 28 is fixedly connected to the top of the arc-shaped frames 27. The telescopic ends of the electric push rods 29 are fixedly connected to the connecting block 28, and a rubber pad 211 is bonded to the bottom of the arc-shaped frames 27. The arc-shaped frames 27 are above the crawler 13.

[0060] In this embodiment, the electric push rods 29 are supported by the substrate 21. The electric push rods 29 drive the connecting block 28 and the arc-shaped frames 27 to move reciprocally, so that the arc-shaped frames 27 drive the rubber pad 211 to move reciprocally, so that the rubber pad 211 scrapes the crawler 13, and then the soil attached to the surface of the crawler 13 is cleaned, avoiding affecting the normal movement of the device and improving the moving efficiency of the device.

[0061] Obviously, the above embodiments of the present invention are merely examples for clearly illustrating the present invention, rather than limitations on the implementation manners of the present invention. For those of ordinary skill in the art, other different forms of changes or modifications can be made based on the above description. It is impossible to list all the implementation manners here. Any obvious changes or modifications derived from the technical solutions of the present invention still fall within the protection scope of the present invention.

Claims

1. A vision-based autonomous mobile robot, characterized in that: It includes a movable member (1), a support member (2) is fixedly connected to the top of the movable member (1), a plurality of top holes (22) are recessed in the top of the support member (2), and a clamping member (3) for clamping an object and a storage member (4) for storing items are arranged above the support member (2). A connecting rod (33) is fixedly connected to the bottom of the clamping member (3), and the connecting rod (33) is detachably screwed with the top hole (22). A plug rod (47) is fixedly connected to the bottom of the storage member (4), and the plug rod (47) is detachably connected to the top hole (22).

2. The vision autonomous mobile robot according to claim 1, wherein: Side plates (23) are fixedly connected to both symmetric sides of the support member (2), and insertion holes (24) are vertically formed in both of the side plates (23). Insertion plates (45) are fixedly connected to both symmetric sides of the storage member (4), and the insertion plates (45) are matched with the insertion holes (24).

3. The vision autonomous mobile robot according to claim 2, characterized in that: Limiting plates (25) are arranged on the opposite sides of the two side plates (23), and springs (26) are fixedly connected between the two side plates (23) and the limiting plates (25). Limiting grooves (46) are recessed in the opposite sides of the two insertion plates (45), and the limiting grooves (46) are matched with the limiting plates (25).

4. The vision-based autonomous mobile robot according to claim 1, wherein: The clamping member (3) includes a base (32), a robotic arm (31) is fixedly installed on the top of the base (32), and the top of the connecting rod (33) is fixedly connected to the bottom of the base (32).

5. The vision autonomous mobile robot according to claim 3, wherein: The storage member (4) includes a storage box (41), a storage cavity (42) is recessed in the top of the storage box (41), and the two insertion plates (45) are respectively fixedly connected to the symmetric sides of the storage box (41).

6. The vision-based autonomous mobile robot according to claim 3, characterized in that: The movable member (1) includes two symmetrically arranged support units, two connecting plates (14) are symmetrically fixedly connected between the two support units, and each of the two support units includes two symmetrically arranged support plates (11). A plurality of track wheels (12) are rotatably connected between the two support plates (11), a track (13) is sleeved between the plurality of track wheels (12), and a first vision module (16) for identifying a road is fixedly connected to the outside of the support plate (11).

7. The vision-based autonomous mobile robot according to claim 6, wherein: A motor (15) is fixedly connected to the side of the support plate (11) away from the first vision module (16), and the output end of the motor (15) is connected to the track wheel (12).

8. The vision autonomous mobile robot according to claim 6, characterized in that: The support member (2) includes a base plate (21), a top frame (212) is fixedly connected to the bottom of the base plate (21), the bottom of the top frame (212) is fixedly connected between the tops of the two connecting plates (14), the top holes (22) are recessed in the top of the base plate (21), the two side plates (23) are symmetrically fixedly connected to both sides of the base plate (21), and second vision modules (210) for identifying a road are fixedly connected to both symmetric sides of the top frame (212) along its length direction.

9. The vision-based autonomous mobile robot according to claim 5, characterized in that: A cover plate (43) for shielding the storage cavity (42) is arranged above the storage box (41), and a handle (44) is fixedly connected to the top of the cover plate (43).

10. A vision-based autonomous mobile robot according to claim 8, characterized in that: Two arc-shaped frames (27) are provided at the foremost part of the substrate (21) along its moving direction, and two electric push rods (29) are symmetrically and fixedly connected to one side of the substrate (21). The electric push rods (29) are located above the arc-shaped frames (27), and a connecting block (28) is fixedly connected to the top of the arc-shaped frames (27). The telescopic ends of the electric push rods (29) are fixedly connected to the connecting block (28), and a rubber pad (211) is bonded to the bottom of the arc-shaped frames (27). The arc-shaped frames (27) are located above the crawler belt (13).

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