Autonomous navigation robot

Abstract

The invention provides an autonomous navigation robot, and relates to the technical field of autonomous robots, the autonomous navigation robot comprises a robot body, the top of the robot body is provided with an image acquisition end, the front end surface of the robot body is provided with a radar scanning end, the bottom of the image acquisition end is fixedly provided with a mounting seat, and the mounting seat is fixed at the top of the robot body. An independent driving wheel set is installed at the bottom of the robot body, detection assemblies are arranged at the two bottoms of the robot body, and each detection assembly comprises a fixing plate. Compared with the prior art, under the cooperation of the moving assembly and the detection assemblies, the front unknown area is detected through movement of detection wheels and a rotating arm; the robot is prevented from being damaged or difficult to run due to a water beach and a sludge ground, the protection capacity of the robot is enhanced, and meanwhile the detection capacity of the robot in the walking process is improved through scanning of radar and infrared rays.

Description

Technical Field

[0001] The present invention relates to the technical field of autonomous robots, in particular to an autonomous navigation robot. Background Art

[0002] Autonomous robotics technology has been widely adopted in recent years, encompassing a wide range of applications, including but not limited to delivery, cleaning, and patrolling. These robots utilize a collaborative system of perception, decision-making, and execution modules, enabling intelligent navigation and task execution in unknown or dynamic environments. Significant progress has been made in this field. The perception module often utilizes sensors such as lidar, infrared, ultrasonic waves, and RGB-D cameras to acquire environmental information and its own status. The computing module relies on high-performance processors such as CPUs and GPUs, utilizing deep learning algorithms for intelligent decision-making. The communication module utilizes technologies such as Wi-Fi, Bluetooth, and USB to exchange data with other devices or personnel.

[0003] Although existing autonomous navigation robots can use their own radar and infrared sensing equipment to avoid obstacles and independently choose their own driving paths, they are unable to identify some confusing environmental scenes well, such as puddles of water and muddy roads on the ground. They cannot detect the depth of the puddles and cannot predict whether they will soak the internal electrical components. Subsequently, muddy roads are difficult to identify, and the robot is easily unable to move after getting stuck, and cannot change its route well before accurately knowing that it cannot pass. Summary of the Invention

[0004] In view of the shortcomings of the existing technology, the purpose of the present invention is to provide an autonomous navigation robot to solve the problems raised in the above-mentioned background technology. The present invention has a novel structure. Through the cooperation of the moving component and the detection component, the movement of the detection wheel and the rotating arm is used to detect the unknown area ahead, thereby avoiding damage to the robot or driving difficulties due to puddles and muddy ground, strengthening the protection capability of the robot, and improving the detection capability of the robot during walking, which is not only achieved by relying on radar and infrared scanning.

[0005] To achieve the above object, the present invention is realized through the following technical solutions: An autonomous navigation robot includes a robot body. An image acquisition end is installed on the top of the robot body, and a radar scanning end is installed on the front surface of the robot body. A mounting seat is fixed at the bottom of the image acquisition end, and the mounting seat is fixed on the top of the robot body. An independent drive wheel set is installed at the bottom of the robot body. Two detection components are provided at the bottom of the robot body. The detection component includes a fixed plate. The fixed plates are fixed to the bottom sides of the robot body, and a rotating shaft seat is provided on the side of the fixed plate facing the front end of the robot body. A rotating arm is rotatably installed in the rotating shaft seat, and a detection wheel is installed at the other end of the rotating arm. Moving components are provided on both sides of the top of the robot body. The moving component includes a slide rail. The slide rails are fixed to both sides of the top of the robot body, and a slide plate is slidably connected inside the slide rail. A vertical rod is installed at the outermost end of the slide plate. A rotating end is installed at the bottom of the vertical rod, and the rotating end is rotatably installed on the outer surface of the rotating arm. A measuring component is provided at the top of the vertical rod. The measuring component includes a winding seat. A lifting rope is wound on the winding shaft of the winding seat, and a shovel frame is fixed to the bottom of the lifting rope.

[0006] Further, the detection component further includes a bidirectional screw. The bidirectional screw is provided at the bottom of the front end of the robot body, and a bearing seat is rotatably sleeved at the middle position of the bidirectional screw. The bearing seat is fixed on the front surface of the robot body. A through hole is opened at the axis of the rotating shaft seat to move along the surface of the bidirectional screw. One side of the rotating shaft seat is rotatably installed with a threaded hole plate through a bearing, and the threaded hole plate is threadedly sleeved on the surface of the bidirectional screw.

[0007] Further, mounting frames are fixed at positions corresponding to both ends of the bidirectional screw on the fixed plate, and both ends of the bidirectional screw are rotatably installed inside the mounting frames through bearings. A motor connected to the bidirectional screw is fixedly installed on the outside of the mounting frame.

[0008] Further, a second electric push rod is fixed inside the vertical rod. A through hole is opened at the position corresponding to the second electric push rod on the rotating end, and the extending end of the second electric push rod passes through the bottom of the vertical rod and the through hole.

[0009] Further, a displacement sensor is fixedly installed on the outside of the mounting frame. A first electric push rod is fixed on the outer surface of the fixed plate, and a connecting plate is fixed at the bottom of the first electric push rod. The connecting plate is fixedly connected to the drive wheel set.

[0010] Further, the moving component further includes a translation screw. The translation screw is rotatably installed inside the slide rail through a bearing, and the slide plate is threadedly sleeved on the surface of the translation screw. A drive motor is fixed at one end of the slide rail located on the back of the robot body, and the output end of the drive motor is fixedly connected to the translation screw.

[0011] Furthermore, a sliding frame is fixed to the front end of the slide, and a slider is slidably connected inside the sliding frame. The vertical rod is slidably inserted inside the slider. A spring is sleeved on the top of the vertical rod, and the bottom of the spring is fixedly connected to the slider. A notch groove is provided between the two groups of sliding frames.

[0012] Furthermore, the measuring component also includes a weighing device, the weighing device is fixed to one side of the slider, and the winding seat is installed at the bottom of the weighing device.

[0013] Furthermore, a counterweight column is fixed on one side of the shovel frame, and an inserting plate is fixed on the inner surface of the rotating arm, and the counterweight column is slidably inserted in the inserting plate.

[0014] Furthermore, a cleaning end is fixed to the top of both sides of the tail end of the robot body, and a nozzle is provided on the top of the cleaning end, and a water tank is fixed to the bottom of the cleaning end.

[0015] Beneficial effects of the present invention:

[0016] 1. In the present invention, when the detection wheel moves to the mud area, the detection wheel will drop in height and sink deep into the mud. At this time, the shovel frame will also contact the mud part. The motor of the winding seat will reel in the lifting rope to raise the shovel frame. The part below the lifting rope will be weighed by the weighing device. If the weight of the shovel frame is significantly increased compared to the blank weight, it means that the ground ahead is soft mud ground, because the mud itself can be shoveled up by the shovel frame compared to the dry ground, thereby increasing the weight of the shovel frame, so that it is easy to quickly know that there is mud on the road ahead and change the road.

[0017] 2. The present invention drives the translation screw to rotate through a driving motor, and the slide plate cooperates with the translation screw thread to slide along the slide rail. The vertical rod can be used to drive the rotating arm to rotate along the rotating shaft seat through the elasticity of the slider. The detection wheel can be released during assisted walking or pathfinding, and folded and stored on the top of the fixed plate when in use, which will not affect the robot body. The spring at the top of the vertical rod can produce displacement changes according to the depressions, puddles and mud areas of the ground, so that the robot body can be warned before entering the dangerous area. A displacement sensor is also installed on the top of the vertical rod, and the displacement of this part is transmitted to the displacement sensor on the mounting frame. The connecting plate and the driving wheel group are controlled by the first electric push rod to adjust the corresponding height.

[0018] 3. When the arm rotates, the second electric push rod built into the bottom of the vertical rod can be opened. The extended end of the second electric push rod extends out of the through hole to detect the front area. The detected displacement change is transmitted to the displacement sensor, which can detect the depth of the puddle and the silt to determine whether the robot can pass through, or whether the robot body can be raised to prevent water from invading the interior of the body.

[0019] 4. In the present invention, through the rotation of the bidirectional screw, the two screw hole plates are in threaded cooperation with the bidirectional screw to drive the rotation shaft seat and the rotating arm to move, adjusting the positions of the two detection wheels. This process also facilitates the insertion frame to shovel the soil samples in the area. The vertical rod slides along the sliding frame through the slider to maintain the connection with the rotating arm.

[0020] 5. Compared with the prior art, in the present invention, through the cooperation of the moving component and the detection component, the movement of the detection wheel and the rotating arm is used to detect the unknown area ahead, avoiding damage to the robot or difficult driving caused by water beaches and muddy ground, strengthening the protection ability of the robot, and at the same time improving the detection ability of the robot during walking, not only relying on the scanning of radar and infrared rays. BRIEF DESCRIPTION OF THE DRAWINGS

[0021] Figure 1 is a schematic diagram of the overall structure of an autonomous navigation robot of the present invention;

[0022] Figure 2 is a schematic diagram of the back structure of the robot body of an autonomous navigation robot of the present invention;

[0023] Figure 3 is a schematic diagram of the front structure of the robot body of an autonomous navigation robot of the present invention;

[0024] Figure 4 is a schematic diagram of the detection component structure of an autonomous navigation robot of the present invention;

[0025] Figure 5 is a schematic diagram of the connection between the detection component and the moving component of an autonomous navigation robot of the present invention;

[0026] Figure 6 is a schematic diagram of the connection between the detection component and the measurement component of an autonomous navigation robot of the present invention;

[0027] Figure 7 is a schematic diagram of the connection between the load-bearing component and the moving component of an autonomous navigation robot of the present invention;

[0028] Figure 8 is a schematic diagram of the internal structure of the vertical rod of an autonomous navigation robot of the present invention.

[0029] In the figure: 1. Robot body; 11. Image acquisition end; 12. Mounting base; 13. Radar scanning end; 14. Driving wheel set; 2. Detection component; 21. Fixed plate; 22. First electric push rod; 23. Connecting plate; 24. Mounting frame; 25. Rotating arm; 26. Detection wheel; 27. Bidirectional screw; 28. Bearing seat; 29. Rotating shaft seat; 210. Screw hole plate; 211. Rotating end; 212. Perforation; 213. Second electric push rod; 214. Displacement sensor; 3. Moving component; 31. Slide rail; 32. Translation screw; 33. Driving motor; 34. Slide plate; 35. Slide frame; 36. Vertical rod; 37. Slide block; 38. Spring; 39. Notch groove; 4. Measuring component; 41. Shovel frame; 42. Weighing device; 43. Suspension rope; 44. Counterweight column; 45. Insert plate; 46. Reel seat; 5. Cleaning end; 51. Water tank. Detailed implementation manner

[0030] In order to make the technical means, creative features, achieved purposes and functions of the present invention easy to understand, the present invention will be further described below in conjunction with specific implementation manners.

[0031] Please refer to Figures 1 to 8, the present invention provides a technical solution: an autonomous navigation robot, comprising a robot body 1, an image acquisition end 11 is installed on the top of the robot body 1, and a radar scanning end 13 is installed on the front surface of the robot body 1, a mounting seat 12 is fixed to the bottom of the image acquisition end 11, and the mounting seat 12 is fixed to the top of the robot body 1, an independent driving wheel group 14 is installed at the bottom of the robot body 1, and a detection component 2 is provided at the two bottoms of the robot body 1, the detection component 2 includes a fixed plate 21, a fixed plate 21 is fixed to the bottom of both sides of the robot body 1, and a rotating shaft seat 29 is provided on the side of the fixed plate 21 facing the front end of the robot body 1, a rotating arm 25 is rotatably installed in the rotating shaft seat 29, and a detection wheel 26 is installed at the other end of the rotating arm 25, and a moving component 3 is provided on both sides of the top of the robot body 1, and the moving component 3 includes a slide rail 31, and the slide rail 31 is fixed on both sides of the top of the robot body 1, and a slide plate 34 is slidably connected inside the slide rail 31, and the outermost end of the slide plate 34 is installed There is a vertical rod 36, a rotating end 211 is installed at the bottom of the vertical rod 36, and the rotating end 211 is rotatably installed on the outer surface of the rotating arm 25, and a measuring component 4 is provided on the top of the vertical rod 36, and the measuring component 4 includes a winding seat 46, and the winding shaft of the winding seat 46 is wound with a suspension rope 43, and a shovel frame 41 is fixed to the bottom of the suspension rope 43. In this scheme, the image acquisition end 11, radar scanning end 13 and driving wheel group 14 of the robot body 1 are all systems provided by existing intelligent robots, wherein the image acquisition end 11 is installed on the fuselage through the mounting seat 12, which can allow the sliding frame 35 to slide through. When using the device, the detection component 2 is unfolded by the moving component 3, and the detection wheel 26 contacts the ground, which can improve the stability of the device during walking. When encountering depressions, puddles and mud areas, the height of the detection wheel 26 will change, and the depth of the puddle can be measured to know whether the robot can pass through, and whether the unknown area ahead is a mud area. In order to avoid damage to the robot body 1 and inability to move, road modifications and adjustments are made in time.

[0032] In this embodiment, the detection assembly 2 further includes a bidirectional screw 27. The bidirectional screw 27 is provided at the bottom of the front end of the robot body 1, and a bearing seat 28 is rotatably sleeved at the middle position of the bidirectional screw 27. The bearing seat 28 is fixed on the front surface of the robot body 1. A through hole is formed at the axis of the rotating shaft seat 29 to move along the surface of the bidirectional screw 27. A screw hole plate 210 is rotatably installed on one side of the rotating shaft seat 29 through a bearing, and the screw hole plate 210 is threadedly sleeved on the surface of the bidirectional screw 27. Mounting brackets 24 are fixed at positions corresponding to both ends of the bidirectional screw 27 on the fixing plate 21, and both ends of the bidirectional screw 27 are rotatably installed inside the mounting brackets 24 through bearings. A motor connected to the bidirectional screw 27 is fixedly installed on the outside of the mounting bracket 24. When the bidirectional screw 27 rotates, the two screw hole plates 210 are threadedly engaged with the bidirectional screw 27 to drive the rotating shaft seat 29 and the rotating arm 25 to move, adjusting the positions of the two detection wheels 26. This process also facilitates the insertion frame to shovel the soil samples in the area. The vertical rod 36 slides along the sliding frame 35 through the slider 37 to maintain the connection with the rotating arm 25.

[0033] In this embodiment, a second electric push rod 213 is fixed inside the vertical rod 36. A through hole 212 is formed at the position corresponding to the second electric push rod 213 on the rotating end 211, and the extending end of the second electric push rod 213 passes through the bottom of the vertical rod 36 and the through hole 212. A displacement sensor 214 is fixedly installed on the outside of the mounting bracket 24. A first electric push rod 22 is fixed on the outer surface of the fixing plate 21, and a connecting plate 23 is fixed at the bottom of the first electric push rod 22. The connecting plate 23 is fixedly connected to the drive wheel set 14. When the rotating arm 25 rotates, the second electric push rod 213 built in the bottom of the vertical rod 36 can be turned on. The extending end of the second electric push rod 213 extends out of the through hole 212 to detect the front area. The detected displacement change amount is transmitted to the displacement sensor 214, which can detect the depth of the water beach and the depth of the silt to determine whether the robot can pass through, or whether raising the body of the robot can prevent water from entering the inside of the body.

[0034] In this embodiment, the moving component 3 also includes a translation screw 32, and the translation screw 32 is rotatably installed inside the slide rail 31 through a bearing, and the slide plate 34 is threadedly sleeved on the surface of the translation screw 32. The end of the slide rail 31 located on the back of the robot body 1 is fixed with a drive motor 33, and the output end of the drive motor 33 is fixedly connected to the translation screw 32. The front end of the slide plate 34 is fixed with a slide frame 35, and the slide frame 35 is slidably connected to the slider 37. The vertical rod 36 is slidably inserted into the slider 37. The top of the vertical rod 36 is sleeved with a spring 38, and the bottom of the spring 38 is fixedly connected to the slider 37. A notch groove 39 is provided between the two groups of the slide frames 35. The drive motor 33 drives the translation screw 32 to rotate, and the slide plate 34 and the translation screw The rod 32 is threadedly engaged and slides along the slide rail 31. The vertical rod 36 can be used to drive the rotating arm 25 to rotate along the rotating shaft seat 29 through the elasticity of the slider 37. The detection wheel 26 can be released during assisted walking or pathfinding, and folded and stored at the top of the fixed plate 21 when in use, which will not affect the robot body 1. The spring 38 at the top of the vertical rod 36 can produce displacement changes according to the depressions, puddles and mud areas on the ground, so that the robot body 1 can be warned before entering the dangerous area. A displacement sensor 214 is also installed on the top of the vertical rod 36, and the displacement of this part is transmitted to the displacement sensor 214 on the mounting frame 24. The first electric push rod 22 controls the connecting plate 23 and the drive wheel group 14 to adjust the corresponding height.

[0035] In this embodiment, the measuring component 4 also includes a weighing device 42, a weighing device 42 is fixed to one side of the slider 37, and a winding seat 46 is installed at the bottom of the weighing device 42, a counterweight column 44 is fixed to one side of the shovel frame 41, and a plug plate 45 is fixed to the inner surface of the rotating arm 25, and the counterweight column 44 is slidably inserted into the plug plate 45. The shovel frame 41 is guided by the counterweight column 44 during the descent process, and then the counterweight column 44 is inserted into the plug plate 45 to complete the plugging of the shovel frame 41 and the rotating arm 25. At this time, the position of the shovel frame 41 is higher than the bottom of the detection wheel 26, and the shovel frame 41 is leveled. On the ground, the shovel frame 41 will not interfere with the movement of the robot body 1. When the detection wheel 26 moves to the mud area, the detection wheel 26 will drop in height and sink deep into the mud. At this time, the shovel frame 41 will also contact the mud part. The motor of the winding seat 46 is used to wind up the hanging rope 43, and the shovel frame 41 is raised. The part below the hanging rope 43 is weighed by the weighing device 42. If the weight of the shovel frame 41 is significantly increased compared to the blank ground, it means that the ground in front is a soft mud ground, because the mud itself can be shoveled up by the shovel frame 41 compared to the dry ground, thereby increasing the weight of the shovel frame 41.

[0036] In this embodiment, a cleaning end 5 is fixed to the top of both sides of the tail end of the robot body 1, and a nozzle is provided on the top of the cleaning end 5. A water tank 51 is fixed to the bottom of the cleaning end 5. When the shovel frame 41 moves backward with the slide 34, the angle of the nozzle of the cleaning end 5 can be manually adjusted in advance so that it can flush part of the shovel frame 41, thereby keeping the inside of the shovel frame 41 clean and tidy and flushing away the silt and soil.

[0037] When the device is in use, the driving motor 33 drives the translation screw 32 to rotate, and the slide plate 34 and the translation screw 32 are threadedly matched to slide along the slide rail 31. The vertical rod 36 can be used to drive the rotating arm 25 to rotate along the rotating shaft seat 29 along the elasticity of the slider 37. The detection wheel 26 can be released during assisted walking or pathfinding, and folded and stored on the top of the fixed plate 21 when in use, without affecting the robot body 1. The spring 38 on the top of the vertical rod 36 can produce displacement changes according to the depressions, puddles and muddy areas of the ground, so that the robot body 1 can move freely. Before entering the dangerous area, an early warning is obtained. A displacement sensor 214 is also installed on the top of the vertical rod 36, and the displacement of this part is transmitted to the displacement sensor 214 on the mounting frame 24. The first electric push rod 22 controls the connecting plate 23 and the driving wheel group 14 to adjust the corresponding height. The bidirectional screw 27 rotates, and the two screw hole plates 210 and the bidirectional screw 27 threadedly cooperate to drive the shaft seat 29 and the rotating arm 25 to move, and adjust the position of the two detection wheels 26. This process also makes it easier for the insertion frame to shovel the soil sample located in the area. The vertical rod 36 slides along the sliding frame 35 through the slider 37 to ensure The connection with the rotating arm 25 can improve the stability of the device during walking. When encountering depressions, puddles and muddy areas, the height of the detection wheel 26 will change, and the depth of the puddle can be measured to know whether the robot can pass through. The shovel frame 41 is guided by the counterweight column 44 during the descent process, and then the counterweight column 44 is inserted into the plug plate 45 to complete the connection between the shovel frame 41 and the rotating arm 25. At this time, the position of the shovel frame 41 is higher than the bottom of the detection wheel 26. On a flat ground, the shovel frame 41 will not interfere with the movement of the robot body 1. When the detection wheel 26 moves to the muddy area, the shovel frame 41 will not interfere with the movement of the robot body 1. When the robot is in a muddy area, the detection wheel 26 will descend and sink deep into the mud. At this time, the shovel frame 41 will also come into contact with the mud. The motor of the winding seat 46 will reel in the suspension rope 43 to raise the shovel frame 41. The part below the suspension rope 43 will be weighed by the weighing device 42. If the weight of the shovel frame 41 is significantly increased compared to the blank weight, it means that the ground ahead is a soft muddy ground, because the mud itself can be shoveled up by the shovel frame 41 compared to the dry ground. In order to increase the weight of the shovel frame 41, in order to avoid damage to the robot body 1 and inability to move, timely road modifications and adjustments are made.

[0038] The foregoing has shown and described the basic principles, main features and advantages of the present invention. For a person skilled in the art, it is obvious that the present invention is not limited to the details of the above-mentioned exemplary embodiments, and without departing from the spirit or basic characteristics of the present invention, the present invention can be implemented in other specific forms.

[0039] In addition, it should be understood that although this specification is described in terms of embodiments, not every embodiment only contains an independent technical solution. This narrative manner of the specification is only for clarity. Those skilled in the art should regard the specification as a whole, and the technical solutions in each embodiment can also be appropriately combined to form other embodiments that can be understood by those skilled in the art.

Claims

1. An autonomous navigation robot, comprising a robot body (1), characterized in that: An image acquisition end (11) is installed at the top of the robot body (1), and a radar scanning end (13) is installed on the front surface of the robot body (1). A mounting seat (12) is fixed at the bottom of the image acquisition end (11), and the mounting seat (12) is fixed on the top of the robot body (1). An independent driving wheel set (14) is installed at the bottom of the robot body (1). Detection components (2) are arranged at two bottoms of the robot body (1). The detection component (2) includes a fixing plate (21). The fixing plates (21) are fixed at two sides of the bottom of the robot body (1), and a rotating shaft seat (29) is arranged on one side of the fixing plate (21) facing the front end of the robot body (1). A rotating arm (25) is rotatably installed in the rotating shaft seat (29). A detection wheel (26) is installed at the other end of the rotating arm (25). Moving components (3) are arranged at two sides of the top of the robot body (1). The moving component (3) includes a slide rail (31). The slide rails (31) are fixed at two sides of the top of the robot body (1), and a slide plate (34) is slidably connected inside the slide rail (31). A vertical rod (36) is installed at the outermost end of the slide plate (34). A rotating end (211) is installed at the bottom of the vertical rod (36), and the rotating end (211) is rotatably installed on the outer surface of the rotating arm (25). A measuring component (4) is arranged at the top of the vertical rod (36). The measuring component (4) includes a winding seat (46). A lifting rope (43) is wound on a winding shaft of the winding seat (46), and a shovel frame (41) is fixed at the bottom of the lifting rope (43).

2. The autonomous navigation robot according to claim 1, characterized in that: The detection component (2) further includes a bidirectional screw rod (27). The bidirectional screw rod (27) is arranged at the front bottom of the robot body (1), and a bearing seat (28) is rotatably sleeved at the middle position of the bidirectional screw rod (27). The bearing seat (28) is fixed on the front surface of the robot body (1). A through hole is formed at the axis center of the rotating shaft seat (29) to move along the surface of the bidirectional screw rod (27). A screw hole plate (210) is rotatably installed on one side of the rotating shaft seat (29) through a bearing, and the screw hole plate (210) is threadedly sleeved on the surface of the bidirectional screw rod (27).

3. The autonomous navigation robot according to claim 2, characterized in that: Mounting frames (24) are fixed at positions corresponding to two ends of the bidirectional screw rod (27) on the fixing plate (21), and two ends of the bidirectional screw rod (27) are rotatably installed inside the mounting frames (24). A motor connected to the bidirectional screw rod (27) is fixedly installed on the outer side of the mounting frame (24).

4. The autonomous navigation robot according to claim 3, wherein: A second electric push rod (213) is fixed inside the vertical rod (36). A through hole (212) is formed at the position of the rotating end (211) corresponding to the second electric push rod (213), and the extending end of the second electric push rod (213) passes through the bottom of the vertical rod (36) and the through hole (212).

5. The autonomous navigation robot according to claim 4, wherein: A displacement sensor (214) is fixedly installed on the outer side of the mounting frame (24). A first electric push rod (22) is fixed on the outer surface of the fixing plate (21), and a connecting plate (23) is fixed to the bottom of the first electric push rod (22). The connecting plate (23) is fixedly connected to the driving wheel set (14).

6. The autonomous navigation robot according to claim 1, characterized in that: The moving assembly (3) further includes a translation screw rod (32). The translation screw rod (32) is rotatably installed inside the slide rail (31) through a bearing, and the sliding plate (34) is threadedly sleeved on the surface of the translation screw rod (32). A driving motor (33) is fixed to one end of the slide rail (31) located on the back of the robot body (1), and the output end of the driving motor (33) is fixedly connected to the translation screw rod (32).

7. An autonomous navigation robot according to claim 6, characterized in that: A sliding frame (35) is fixed to the front end of the sliding plate (34), and a slider (37) is slidably connected inside the sliding frame (35). The vertical rod (36) is slidably inserted into the slider (37). A spring (38) is sleeved on the top of the vertical rod (36), and the bottom of the spring (38) is fixedly connected to the slider (37). A notch groove (39) is provided between the two sliding frames (35).

8. The autonomous navigation robot according to claim 7, characterized in that: The measuring assembly (4) further includes a weighing device (42). A weighing device (42) is fixed to one side of the slider (37), and a winding base (46) is installed at the bottom of the weighing device (42).

9. The autonomous navigation robot according to claim 8, characterized in that: A counterweight column (44) is fixed to one side of the shovel frame (41). A plug board (45) is fixed to the inner surface of the rotating arm (25). The counterweight column (44) is slidably inserted into the plug board (45).

10. An autonomous navigation robot according to claim 1, characterized in that: Cleaning ends (5) are fixed to the tops of both sides of the tail end of the robot body (1), and nozzles are arranged at the tops of the cleaning ends (5). A water tank (51) is fixed to the bottom of the cleaning ends (5).

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