Obstacle avoidance chassis of intelligent book checking robot

Abstract

The intelligent book checking robot obstacle avoidance chassis comprises a chassis body with the hollow interior and millimeter wave radars installed at the front end and the rear end of the outer wall of the chassis body correspondingly, a notch is formed in the bottom of the chassis body, a power assembly is slidably connected to the inner wall of the chassis body in a matched mode, and limiting blocks are arranged on the left side and the right side of the inner wall of the chassis body correspondingly; the upper end of the outer wall of the limiting block is downwards provided with a through groove, a fixing assembly is arranged in each through groove, a plurality of storage batteries are installed at the bottom of the chassis body, laser range finders are installed above the left side and the right side of the outer wall of the chassis body, and a control panel for controlling the storage batteries to work, a wireless communication module and an RFID recognition device are installed above the storage batteries. The device can be suitable for the library with limited space and complex terrain, and the situation that the device cannot avoid obstacles when encountering the obstacles, and continuous advancing of the device is affected is avoided.

Description

Technical Field

[0001] The present invention relates to the technical field of robots, and in particular to an obstacle-avoiding chassis of an intelligent book inventorying robot. Background Art

[0002] With the increasing number of books in library collections and the increasing number of times readers borrow books, the frequency of book inventory is also gradually increasing. The manual inventory model currently adopted by libraries requires a lot of labor and time. Libraries often need to close for a day or half a day to specifically inventory books. Therefore, some new methods are used to improve the efficiency of book inventory: one is a semi-automatic inventory method based on human intervention.

[0003] According to the utility model patent publication number CN205835427U, an intelligent obstacle avoidance robot includes a robot chassis, a robot torso, a terrain recognition module, an infrared obstacle avoidance unit, and an ultrasonic obstacle avoidance unit. The infrared obstacle avoidance unit is provided on the lower front portion of the robot chassis, ultrasonic obstacle avoidance units are provided on the upper sides of the robot chassis, and an ultrasonic obstacle avoidance unit is provided on the upper front portion of the robot torso. A terrain recognition module is provided between the robot torso and the robot chassis. The beneficial effect of this utility model is that by providing the infrared obstacle avoidance unit on the lower front portion of the robot chassis, providing the ultrasonic obstacle avoidance units on the upper front portion of the robot torso and the upper sides of the robot chassis, and using the terrain recognition module between the robot chassis and the robot torso, the obstacle detection capability of the intelligent robot is greatly improved.

[0004] Although the above technical solution can realize the detection and avoidance functions of obstacles, it needs to be used in a relatively open place to fully play its role. However, the space in the library is limited, and when encountering an obstacle that cannot be avoided, the device cannot continue to move forward, and its actual role in a specific space is limited. Summary of the Invention

[0005] The purpose of the present invention is to provide an obstacle avoidance chassis for an intelligent book inventory robot, which can be applied to an environment with limited space and complex terrain such as a library. When encountering obstacles, the robot will not be unable to avoid them, which will affect its continued progress.

[0006] The above technical objectives of the present invention are achieved through the following technical solutions: An intelligent book inventory robot obstacle avoidance chassis comprises a chassis body with a hollow interior, millimeter-wave radars respectively mounted on the front and rear ends of the outer wall of the chassis body, a plurality of slots being formed at the bottom of the chassis body, a power assembly slidably connected to the inner wall of the chassis body and capable of sliding up and down, the power assembly comprising a connecting frame arranged in an annular shape, wheel hub motors respectively mounted on the left and right sides of the connecting frame, and auxiliary wheels respectively disposed at the front and rear ends of the bottom of the connecting frame, the wheel hub motors and the auxiliary wheels both extending out of corresponding slots, a plurality of first electric push rods for controlling their up and down movement being mounted in cooperation between the upper end of the connecting frame and the upper end of the inner wall of the chassis body; L-shaped limit blocks are provided on the left and right sides of the inner wall of the chassis body above the connecting frame, and a through slot is provided downwardly at the upper end of the outer wall of the limit block, and sliding holes are provided outwardly at the left and right ends of one side of the inner wall of the through slot, and a fixing component is provided in each through slot that can extend out of the sliding hole and cooperate with the limit block to fix it; a plurality of batteries are installed at the bottom of the chassis body, and mounting slots are provided inwardly above the left and right sides of the outer wall of the chassis body; laser rangefinders corresponding to the mounting slots are installed on the left and right sides of the inner wall of the chassis body; a control panel, a wireless communication module and an RFID identification device that control its operation are installed above the battery, and the control panel communicates with the control terminal through the wireless communication module.

[0007] By adopting the above technical solution, when using the device, the battery provides power, and the control panel and the control terminal establish network communication via the wireless communication module. Then, each component begins to operate. In the initial state, the fixing assembly cooperates with the limit block to fix the connecting frame. The wheel hub motor drives the chassis body to move. The auxiliary wheels ensure the stability of the chassis body during movement. The millimeter wave radar can detect the environment and terrain in front and behind in real time. When turning is required, the control panel controls the corresponding wheel hub motor to operate at an appropriate speed, using the speed difference between the two to complete the turning. When encountering an unavoidable obstacle, the fixing assembly releases the fixing of the connecting frame. At the same time, the first electric push rod operates, allowing the wheel hub motor and auxiliary wheels to extend to the height corresponding to the notch to facilitate crossing the obstacle. If the obstacle is truly impossible to cross, the control panel transmits this information to the control terminal for staff to handle. When the corresponding bookshelf is reached, the RFID recognition device automatically identifies the corresponding bookshelf and the chassis body automatically approaches it. The laser rangefinder can monitor the distance between the two sides of the chassis body in real time, without occupying the aisle and preventing it from colliding with the bookshelf due to distance problems.

[0008] The present invention is further configured as follows: the auxiliary wheel includes an auxiliary rod, a connecting groove opened at the lower end of the auxiliary rod, a ball rotatably connected to the connecting groove and extending out of its open end, and a fixing ring cooperatedly arranged at the open end of the connecting groove and used to limit the ball from sliding out.

[0009] By adopting the above technical solution, not only can the wheel hub motor be rotated in any direction, but also there will be no jamming during the rotation.

[0010] The present invention is further configured as follows: the fixing assembly includes a U-shaped fixing frame, a second electric push rod mounted on the bottom of the inner wall of the fixing frame, a connecting rod mounted on the front end of the second electric push rod, and fixing rods respectively arranged on the left and right sides of the front end of the connecting rod, and the fixing rods are arranged in the sliding hole and slidably connected thereto.

[0011] The present invention is further configured as follows: a slide groove is opened relatively at the front end on the left and right sides of the inner wall of each fixing frame, the left and right sides of each connecting rod are arranged in the corresponding slide groove and slidably connected thereto, and the upper and lower ends of each fixing frame opening are cooperated with receiving rods for receiving packages for the fixing rod.

[0012] By adopting the above technical solution, in the initial state, the connecting frame and the limit block can be firmly connected to avoid shaking during use, which may affect its normal operation.

[0013] The present invention is further configured as follows: positioning rods fixedly connected to the bottom of the inner wall of the chassis body are provided on the left and right sides of the upper end of the inner wall of each limit block, and a plurality of positioning holes corresponding to the positioning rods are opened downward through the upper end of the connecting frame, and the connecting frame slides along the positioning rods through the positioning holes.

[0014] By adopting the above technical solution, not only can the connecting frame be limited and fixed during use, making it convenient for it to drive the chassis body to move, but also when the height of the connecting frame is adjusted, it can always maintain a balanced state to avoid tilting.

[0015] The present invention is further configured as follows: a plurality of return springs respectively sleeved on the positioning rods are provided between the upper end of the inner wall of the limit block and the bottom of the chassis body.

[0016] By adopting the above technical solution, the stability of the connecting frame can be further improved through the rebound of the reset spring.

[0017] The present invention is further configured as follows: a through hole is opened upwardly in the middle of the bottom of the chassis body; a guide assembly communicating with the through hole is provided at the bottom of the inner wall of the chassis body; and the battery is arranged around the guide assembly.

[0018] The present invention is further configured as follows: the guide assembly includes a connecting sleeve with an open lower end, a third electric push rod installed on the upper end of the inner wall of the connecting sleeve and capable of extending out of its open end, and a guide plate rotatably connected to the lower end of the third electric push rod.

[0019] By adopting the above technical solution, when the space is narrow and steering and turning around of the chassis body are difficult to achieve, the guide assembly can allow the chassis body to rotate with it as the center of the circle, reducing the change in position angle during adjustment and assisting it in completing steering and turning around.

[0020] The present invention is further configured as follows: a countersunk hole is opened upwardly from the edge of the through hole on the outer wall of the chassis body, which is connected with the through hole and is used to place the guide plate.

[0021] By adopting the above technical solution, the guide plate can be retracted into the countersunk hole, thereby improving the flatness of the bottom of the chassis body.

[0022] In summary, the present invention has the following beneficial effects: First, the present invention can be applied to environments such as libraries where space is limited and terrain is complex, and when encountering obstacles, the vehicle will not be unable to avoid them, which will affect its ability to continue moving forward. Secondly, the cooperation between the first electric push rod and the connecting frame of the present invention can flexibly adjust the height of the hub motor and the auxiliary wheel extending out of the slot, thereby improving its applicability; Third, the guide assembly of the present invention can be used when the chassis body is in a narrow space, making it difficult to turn or reverse the chassis body. The guide assembly can allow the chassis body to rotate around itself, reducing the change in position angle during adjustment and assisting in completing the turning or reverse. Fourthly, the battery installed around the guide assembly of the present invention not only does not affect the normal up and down movement of the connecting frame, but also can lower the center of gravity of the chassis body and improve its stability during operation. BRIEF DESCRIPTION OF THE DRAWINGS

[0023] Figure 1 It is a schematic diagram of the overall structure of the present invention; Figure 2 It is mainly used to show the position and connection relationship of each component; Figure 3 It is a schematic structural diagram of the power assembly of the present invention; Figure 4 is a schematic structural diagram of the training wheel of the present invention; Figure 5 It is mainly used to show the positioning rod and return spring; Figure 6 It is a structural schematic diagram of the fixing assembly of the present invention; Figure 7 It is mainly used to show through holes, notches and mounting slots; Figure 8 It is a structural schematic diagram of the guide assembly of the present invention.

[0024] In the figure: 1. chassis body; 11. millimeter-wave radar; 12. notch; 13. power assembly; 14. connecting frame; 15. hub motor; 16. auxiliary wheel; 2. auxiliary rod; 21. connecting groove; 22. ball bearing; 23. fixing ring; 3. first electric push rod; 31. limit block; 32. through groove; 33. slide hole; 4. fixing assembly; 41. fixing frame; 42. second electric push rod; 43. connecting rod; 44. fixing rod; 45. slide groove; 46. receiving rod; 5. positioning rod; 51. positioning hole; 52. return spring; 53. mounting slot; 54. laser rangefinder; 6. through hole; 61. countersunk hole; 62. guide assembly; 63. connecting sleeve; 64. third electric push rod; 65. guide plate; 7. battery; 71. control panel; 72. wireless communication module; 73. RFID identification device. DETAILED DESCRIPTION

[0025] The present invention will be further described in detail below with reference to the accompanying drawings.

[0026] In the description of the present invention, it should be understood that the terms "up", "down", "left", "right", "front", "back", "inside", "outside", etc., indicating directions or positional relationships, are based on the directions or positional relationships shown in the accompanying drawings, and are only for the convenience of describing the present invention and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific direction, be constructed and operated in a specific direction, and therefore cannot be understood as a limitation on the present invention.

[0027] Furthermore, terms such as "horizontal" and "vertical" do not necessarily mean that a component must be absolutely horizontal or overhanging, but rather that it can be slightly tilted. For example, "horizontal" simply means that its direction is more horizontal than "vertical," and does not mean that the structure must be completely horizontal, but rather that it can be slightly tilted.

[0028] In the description of the present invention, it should also be noted that, unless otherwise expressly specified or limited, the terms "disposed," "connected," and "connected" should be understood in a broad sense. For example, they may refer to fixed connections, detachable connections, or integral connections; they may refer to mechanical connections, direct connections, indirect connections via an intermediate medium, or internal connections between two components. Those skilled in the art will understand the specific meanings of the above terms in the present invention based on specific circumstances.

[0029] Example, see Figure 1-8, an intelligent book inventory robot obstacle avoidance chassis, including a chassis body 1 with a hollow interior, millimeter-wave radars 11 respectively installed on the front and rear ends of the outer wall of the chassis body 1, four slots 12 are opened at the bottom of the chassis body 1, and a power component 13 that can slide up and down is slidably connected to the inner wall of the chassis body 1. The power component 13 includes a connecting frame 14 arranged in a ring shape, hub motors 15 respectively installed on the left and right sides of the connecting frame 14, and auxiliary wheels 16 respectively arranged at the front and rear ends of the bottom of the connecting frame 14. The auxiliary wheel 16 includes an auxiliary rod 2, a connecting groove 21 opened at the lower end of the auxiliary rod 2, a ball 22 connected to the connecting groove 21 for rotation and extending out of the open end, and a fixing ring 23 arranged at the open end of the connecting groove 21 and used to limit the ball 22 from sliding out. The hub motor 15 and the auxiliary wheel 16 both extend out of the corresponding slots 12, and four first electric push rods 3 for controlling their up and down movement are installed between the upper end of the connecting frame 14 and the upper end of the inner wall of the chassis body 1.

[0030] An L-shaped limit block 31 is provided on both sides of the inner wall of the chassis body 1 above the connecting frame 14. A positioning rod 5 fixedly connected to the bottom of the inner wall of the chassis body 1 is provided on the left and right sides of the upper end of the inner wall of each limit block 31. Four positioning holes 51 corresponding to the positioning rods 5 are opened downward through the upper end of the connecting frame 14. The connecting frame 14 slides along the positioning rods 5 through the positioning holes 51. Four return springs 52 respectively sleeved on the positioning rods 5 are provided between the upper end of the inner wall of the limit block 31 and the bottom of the chassis body 1. A through slot 32 is formed downwardly at the upper end of the outer wall of the limit block 31, and a sliding hole 33 is formed outwardly at the left and right ends of one side of the inner wall of the through slot 32. A fixing component 4 is provided in each through slot 32, which can extend out of the sliding hole 33 and cooperate with the limit block 31 to fix it. The fixing component 4 includes a U-shaped fixing frame 41, a second electric push rod 42 installed at the bottom of the inner wall of the fixing frame 41, a connecting rod 43 provided at the front end of the second electric push rod 42, and fixing rods 44 respectively provided on the left and right sides of the front end of the connecting rod 43.

[0031] The fixing rod 44 is arranged in the sliding hole 33 and is slidably connected thereto. The inner wall of each limit block 31 is provided with a fixing hole corresponding to the sliding hole 33 inwardly, and a sliding groove 45 is relatively opened at the front end on the left and right sides of the inner wall of each fixing frame 41. The left and right sides of each connecting rod 43 are arranged in the corresponding sliding groove 45 and are slidably connected thereto. The upper and lower ends of the opening of each fixing frame 41 are matched with receiving rods 46 for receiving and wrapping the fixing rod 44. A through hole 6 is opened upwardly in the middle position of the bottom of the chassis body 1, and a countersunk hole 61 connected to the edge of the through hole 6 is opened upwardly on the outer wall of the chassis body 1. A guide component 62 connected to the through hole 6 is provided at the bottom of the inner wall of the chassis body 1. The guide component 62 includes a connecting sleeve 63 with an opening at the lower end, a third electric push rod 64 installed on the upper end of the inner wall of the connecting sleeve 63 and able to extend its open end, and a guide plate 65 rotatably connected to the lower end of the third electric push rod 64. The bottom of the guide plate 65 is provided with an anti-slip layer.

[0032] Three batteries 7 are installed at the bottom of the chassis body 1 and are arranged around the connecting sleeve 63. A mounting groove 53 is opened inward on the upper left and right sides of the outer wall of the chassis body 1. A laser rangefinder 54 corresponding to the mounting groove 53 is installed on the left and right sides of the inner wall of the chassis body 1. A control panel 71, a wireless communication module 72 and an RFID identification device 73 for controlling its operation are installed above the battery 7. The wireless communication module 72, the RFID identification device 73 and the battery 7 are all electrically connected to the control panel 71, and the control panel 71 communicates with the control terminal through the wireless communication module 72.

[0033] Instructions for use: When in use, first power on the device, the battery 7 provides power, and the wireless communication module 72 is used to allow the control panel 71 to communicate with the control terminal through the network, and then let each component start working. In the initial state, the fixing component 4 cooperates with the limit block 31 to fix the connecting frame 14. At this time, the second electric push rod 42 in the fixing frame 41 is in an extended state, and the fixing rod 44 extends out of the sliding hole 33 and engages with the fixing hole on the limit block 31 to prevent the power component 13 from sliding up and down. Then the hub motor 15 drives the chassis body 1 to move, and the auxiliary wheel 16 can ensure the stability of the chassis body 1 during movement. The ball 22 at the lower end of the auxiliary rod 2 will rotate in any direction and angle in the connecting groove 21 without getting stuck, and the fixing ring 23 can prevent the ball 22 from sliding out.

[0034] When the chassis body 1 is working, the millimeter-wave radar 11 can detect the environment and terrain in front and behind it in real time. When turning is required, the control panel 71 controls the corresponding wheel hub motor 15 to operate at an appropriate speed, and uses the speed difference between the two to complete the steering work. When encountering an unavoidable obstacle, the fixing component 4 releases the fixation of the connecting frame 14, allowing the fixing rod 44 to move away from the fixing hole. At the same time, the first electric push rod 3 works to increase the height of the wheel hub motor 15 and the auxiliary wheel 16 extending out of the slot 12 to facilitate their crossing over the obstacle. In this process, when the connecting frame 14 slides, it will slide in a direction on the positioning rod 5 through the positioning hole 51, which not only plays a role in fixing and limiting, but also ensures the stability of the connecting frame 14. When the connecting frame 14 slides downward, it will compress the return spring 52, and the rebound force of the return spring 52 will provide a certain stabilizing support effect on the connecting frame 14.

[0035] When the obstacle is really impossible to cross, the control panel 71 transmits the information to the control terminal for the staff to process. The battery 7 installed around the guide assembly 62 in the chassis body 1 will not only not affect the normal movement of the connecting frame 14, but also play a role in lowering its center of gravity. When it reaches the position of the corresponding bookshelf, the RFID identification device 73 automatically identifies the RFID chip on the corresponding bookshelf, and then the chassis body 1 automatically approaches it, and the laser rangefinder 54 can monitor the distance between the two sides of the chassis body 1 in real time, without occupying the aisle and not causing problems due to distance. It hits the bookshelf. When the chassis body 1 moves into a narrow space and cannot complete the U-turn and steering after multiple operations, the guide component 62 works, and the third electric push rod 64 in the connecting sleeve 63 extends and passes through the through hole 6, so that the guide plate 65 is away from the countersunk hole 61 and contacts the ground, limiting its steering angle. Then the two hub motors 15 work together and rotate around the center of the circle under the positioning action of the guide plate 65, reducing the change in direction and angle of the chassis body 1, assisting it to complete operations such as U-turn or steering, and then let the guide component 62 return to its initial state before continuing to move forward.

[0036] This specific embodiment is merely an explanation of the present invention and is not intended to limit the present invention. After reading this specification, those skilled in the art may make creative modifications to this embodiment as needed. However, as long as they are within the scope of the claims of the present invention, they are protected by patent law.

Claims

1. An intelligent book inventory robot obstacle avoidance chassis, comprising a chassis body (1) with a hollow interior, and millimeter wave radars (11) respectively mounted on the front and rear ends of the outer wall of the chassis body (1), characterized in that: The bottom of the chassis body (1) is provided with a plurality of slots (12), and the inner wall of the chassis body (1) is slidably connected to a power assembly (13) that can slide up and down, and the power assembly (13) includes a connecting frame (14) arranged in an annular shape, a hub motor (15) respectively installed on the left and right sides of the connecting frame (14), and auxiliary wheels (16) respectively arranged at the front and rear ends of the bottom of the connecting frame (14), the hub motor (15) and the auxiliary wheel (16) both extend out of the corresponding slots (12), and a plurality of first electric push rods (3) for controlling the upward and downward movement thereof are slidably installed between the upper end of the connecting frame (14) and the upper end of the inner wall of the chassis body (1); The left and right sides of the inner wall of the chassis body (1) are provided with L-shaped limit blocks (31) above the connecting frame (14), the upper end of the outer wall of the limit block (31) is provided with a through slot (32) downwardly, and the left and right ends of one side of the inner wall of the through slot (32) are provided with sliding holes (33) outwardly, and each through slot (32) is provided with a fixing component (4) that can extend out of the sliding hole (33) and cooperate with the limit block (31) to fix it. The bottom of the chassis body (1) is provided with multiple A battery (7) is provided. Mounting slots (53) are provided inwardly on the upper sides of the left and right sides of the outer wall of the chassis body (1). Laser rangefinders (54) corresponding to the mounting slots (53) are provided on the left and right sides of the inner wall of the chassis body (1). A control panel (71) for controlling the operation of the battery (7), a wireless communication module (72), and an RFID identification device (73) are provided above the battery (7). The control panel (71) communicates with the control terminal via a network via the wireless communication module (72).

2. The intelligent book inventory robot obstacle avoidance chassis according to claim 1, characterized in that: The auxiliary wheel (16) comprises an auxiliary rod (2), a connecting groove (21) provided at the lower end of the auxiliary rod (2), a ball (22) rotatably connected to the connecting groove (21) and extending out of the open end thereof, and a fixing ring (23) cooperatively provided at the open end of the connecting groove (21) and used to restrict the ball (22) from sliding out.

3. The intelligent book inventory robot obstacle avoidance chassis according to claim 1, characterized in that: The fixing assembly (4) comprises a U-shaped fixing frame (41), a second electric push rod (42) mounted on the bottom of the inner wall of the fixing frame (41), a connecting rod (43) mounted on the front end of the second electric push rod (42), and fixing rods (44) respectively arranged on the left and right sides of the front end of the connecting rod (43), wherein the fixing rods (44) are arranged in the sliding hole (33) and are slidably connected thereto.

4. The obstacle avoidance chassis of the intelligent book inventory robot according to claim 3, characterized in that: A slide groove (45) is provided at the front ends of the left and right sides of the inner wall of each fixing frame (41). The left and right sides of each connecting rod (43) are arranged in the corresponding slide groove (45) and are slidably connected thereto. The upper and lower ends of the opening of each fixing frame (41) are matched with receiving rods (46) for receiving packages for the fixing rod (44).

5. The obstacle avoidance chassis of the intelligent book inventory robot according to claim 1, characterized in that: Positioning rods (5) fixedly connected to the bottom of the inner wall of the chassis body (1) are provided on the left and right sides of the upper end of the inner wall of each limit block (31), and a plurality of positioning holes (51) corresponding to the positioning rods (5) are provided downwardly through the upper end of the connecting frame (14), and the connecting frame (14) slides along the positioning rods (5) through the positioning holes (51).

6. The obstacle avoidance chassis of the intelligent book inventory robot according to claim 5, characterized in that: A plurality of return springs (52) respectively sleeved on the positioning rods (5) are provided between the upper end of the inner wall of the limiting block (31) and the bottom of the chassis body (1).

7. The obstacle avoidance chassis of the intelligent book inventory robot according to claim 1, characterized in that: A through hole (6) is provided upwardly at the middle position of the bottom of the chassis body (1), a guide assembly (62) communicating with the through hole (6) is provided at the bottom of the inner wall of the chassis body (1), and the battery (7) is arranged around the guide assembly (62).

8. The intelligent book inventory robot obstacle avoidance chassis according to claim 7, characterized in that: The guide assembly (62) includes a connecting sleeve (63) with an opening at the lower end, a third electric push rod (64) mounted on the upper end of the inner wall of the connecting sleeve (63) and capable of extending out of the open end thereof, and a guide plate (65) rotatably connected to the lower end of the third electric push rod (64).

9. The obstacle avoidance chassis of the intelligent book inventory robot according to claim 8, characterized in that: The outer wall of the chassis body (1) is provided with a countersunk hole (61) upwardly opened at the edge of the through hole (6), which is in communication with the through hole and is used to place the guide plate (65).

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