Robot device with self-adaptive function
By introducing movement and angle adjustment mechanisms and an environmental perception module into the robot device, and combining CNN and PID algorithms, the problem of the robot device being unable to adjust its actions and working modes in real time in different scenarios was solved, improving work efficiency and accuracy, and achieving adaptive control.
Patent Information
- Application Number
- CN202510845433.5
- Authority / Receiving Office
- CN · China
- Patent Type
- Applications(China)
- Current Assignee / Owner
- Filing Date
- 2025-06-23
- Publication Date
- 2025-10-24
AI Technical Summary
Existing robotic devices find it difficult to adjust their movements and working modes in real time according to environmental changes in different working scenarios, resulting in limited work efficiency and accuracy. Traditional control strategies and perception methods cannot flexibly respond to uncertainties and dynamic changes in the environment.
Employing a mobile mechanism, a horizontal angle adjustment mechanism, and a tilt angle adjustment mechanism, combined with an industrial camera and an environmental perception module, the robot achieves adaptive functionality through CNN and PID control algorithms. It integrates environmental perception, data processing, path planning, and power management modules to enable real-time adjustments in complex environments.
It significantly improves passability and stability in complex terrain, achieves 360° rotation without blind spots and a wide range of pitch adjustment, improves scene understanding and target recognition accuracy, ensures rapid and accurate motor response, extends the duration of a single operation, and realizes closed-loop adaptive control of environment perception-decision-execution.
Smart Images
Figure CN120828748A_ABST
Abstract
Description
TECHNICAL FIELD
[0001] The present application relates to the technical field of robots, in particular to a robot device with adaptive function. BACKGROUND
[0002] In the field of industrial automation, intelligent device operation and maintenance and complex environment operation, robot devices are widely used in environment monitoring, device inspection, logistics transportation and other scenes. For example, in the device inspection of an industrial plant, the robot needs to flexibly pass through obstacles and dynamically adjust the angle of the camera to obtain a clear image of the key part of the device. In the environment monitoring of complex outdoor terrain, the adaptive movement mechanism needs to maintain stable progress, and the angle adjusting mechanism needs to adapt to different lighting conditions and observation distances.
[0003] However, in different operation scenes, the existing robot device is difficult for the robot to adjust its action and working mode in real time according to the change of the environment, which limits its working efficiency and precision. The traditional robot device usually adopts a fixed control strategy and perception method, which cannot flexibly cope with the uncertainty and dynamic change in the environment, and has certain inconvenience for use. Therefore, a robot device with adaptive function is proposed. SUMMARY
[0004] Therefore, the present application provides a robot device with adaptive function to solve the problem that in different operation scenes, the existing robot device is difficult for the robot to adjust its action and working mode in real time according to the change of the environment, which limits its working efficiency and precision. The traditional robot device usually adopts a fixed control strategy and perception method, which cannot flexibly cope with the uncertainty and dynamic change in the environment.
[0005] In order to achieve the above purpose, the present application provides the following technical scheme: According to the first aspect of the present application, the robot device with adaptive function comprises a movement mechanism, the movement mechanism comprises a mounting plate, the top of the mounting plate is fixedly connected with a driving assembly, the top of the mounting plate is fixedly connected with a mounting piece, and the top of the mounting piece is fixedly connected with a first mounting box; a horizontal angle adjusting mechanism, the horizontal angle adjusting mechanism comprises a second motor, the surface of the second motor is fixedly connected with the inner wall of the first mounting box, and one end of the rotating shaft of the second motor is fixedly connected with a first gear; an inclination angle adjusting mechanism, the inclination angle adjusting mechanism comprises a third motor, one end of the rotating shaft of the third motor is fixedly connected with a third gear, and the surface of the third motor is engaged with a fourth gear.
[0006] Further, the moving mechanism further comprises a mounting seat, the top of the mounting seat is fixedly connected with the bottom of the mounting plate, a rotating ball is rotatably connected in the mounting seat, the top of the first mounting box is provided with a light-transmitting protective cover, and the top of the mounting plate is fixedly connected with a lithium battery.
[0007] Further, the driving assembly comprises a first motor, the surface of the first motor is fixedly connected with the top of the mounting plate, one end of the rotating shaft of the first motor is fixedly connected with a driving wheel, and the driving assembly is provided with two groups.
[0008] Further, the horizontal angle adjusting mechanism further comprises a second gear, the surface of the second gear is engaged with the surface of the first gear, and a rotating shaft is fixedly connected in the second gear.
[0009] Further, the top of the rotating shaft is fixedly connected with a first mounting piece, the bottom of the first mounting piece is fixedly connected with a protective cover, and the two sides of the first mounting piece are fixedly connected with second mounting boxes.
[0010] Further, the tilt angle adjusting mechanism further comprises a connecting shaft, the surface of the connecting shaft is rotatably connected with the interior of the second mounting box, and the surface of the third motor is fixedly connected with the surface of the second mounting box.
[0011] Further, one end of the connecting shaft is provided with an illuminating lamp, the end, away from the illuminating lamp, of the connecting shaft is fixedly connected with a second mounting piece, the surface of the second mounting piece is fixedly connected with an industrial camera, and the interior of the second mounting box is provided with a control terminal.
[0012] Further, the control terminal is electrically connected with the first motor, the second motor and the third motor, and the control terminal is signal-connected with the industrial camera.
[0013] Further, the control terminal is integrated with an environment perception module, a data processing module, a path planning module, an action control module and a power management module, the environment perception module collects image data through the industrial camera and comprises an image preprocessing unit, a CNN-based feature extraction unit and a three-dimensional reconstruction unit, the data processing module comprises a target detection unit, a scene understanding unit and a risk assessment unit, identifies the environment based on a semantic segmentation algorithm, analyzes image features based on a CNN algorithm, and the path planning module generates an adaptive moving path and comprises a global planning unit and a local optimization unit, the action control module controls motors through a PID algorithm to realize movement, horizontal rotation and pitch adjustment, the power management module monitors the state of the lithium battery and comprises a power monitoring unit, an energy distribution unit and a charging control unit, the control terminal adopts an embedded Linux system, integrates a GPU acceleration unit, communicates with the motors through a CAN bus and connects the camera through an Ethernet.
[0014] Further, the control terminal further comprises a state monitoring module, a fault diagnosis module and a remote communication module; the fault diagnosis module realizes abnormal detection and positioning by comparison with a normal state model based on a machine learning algorithm.
[0015] The application has the following advantages: by adopting the combined structure of the rotating ball and the mounting seat through the moving mechanism, cooperating with the two groups of driving wheels, the passability and stability in complex terrain are significantly improved, the high-low undulating ground can be adapted in real time, the attitude imbalance is avoided, the horizontal angle adjusting mechanism realizes 360° dead angle-free rotation through gear transmission, the inclination angle adjusting mechanism supports wide-range pitching adjustment, combined with the industrial camera and the environment perception module, the optimal observation path can be automatically planned, the detection blind area is eliminated, the CNN algorithm and the three-dimensional reconstruction unit integrated in the control terminal greatly improve the scene understanding and target recognition accuracy, and the PID control algorithm ensures that the motor responds quickly and accurately, the power management module prolongs the single operation time through dynamic energy distribution, so that the robot can adjust the action and working mode in real time according to the change of the environment. BRIEF DESCRIPTION OF DRAWINGS
[0016] Figure 1 The front view of the robot device with the adaptive function provided by the application.
[0017] Figure 2 The bottom view of the robot device with the adaptive function provided by the application.
[0018] Figure 3 The internal view of the light-transmitting protective cover of the robot device with the adaptive function provided by the application.
[0019] Figure 4 The exploded view of the robot device with the adaptive function provided by the application.
[0020] Figure 5 The sectional view of the robot device with the adaptive function provided by the application.
[0021] Figure 6 The exploded view of the inclination angle adjusting mechanism of the robot device with the adaptive function provided by the application.
[0022] Figure 7 The inclination angle adjusting mechanism view of the robot device with the adaptive function provided by the application.
[0023] Figure 8 The inclination angle adjusting mechanism view of the robot device with the adaptive function provided by the application. Figure 4 The enlarged view of A in the above figure.
[0024] In the figure: 11. Mounting plate; 12. First motor; 13. Driving wheel; 14. Mounting piece; 15. First mounting box; 16. Lithium battery; 17. Mounting base; 18. Rotating ball; 19. Transparent protective cover; 21. Second motor; 22. First gear; 23. Second gear; 24. Rotating shaft; 25. First mounting piece; 26. Protective cover; 27. Second mounting box; 31. Third motor; 32. Third gear; 33. Fourth gear; 34. Connecting shaft; 35. Lighting lamp; 36. Second mounting piece; 37. Industrial camera; 38. Control terminal. DETAILED DESCRIPTION
[0025] The following describes the implementation of the present invention using specific embodiments. Those skilled in the art will readily understand the other advantages and benefits of the present invention from the disclosure herein. Obviously, the embodiments described are only a portion of the present invention, not all of it. All other embodiments derived by persons of ordinary skill in the art based on the embodiments of the present invention without inventive effort are intended to fall within the scope of protection of the present invention. Example
[0026] like Figures 1 to 8 As shown, the robot device with adaptive function in the embodiment of the first aspect of the present invention includes a moving mechanism, the moving mechanism includes a mounting plate 11, the top of the mounting plate 11 is fixedly connected to a driving assembly, the top of the mounting plate 11 is fixedly connected to a mounting member 14, and the top of the mounting member 14 is fixedly connected to a first mounting box 15; a horizontal angle adjustment mechanism, the horizontal angle adjustment mechanism includes a second motor 21, the surface of the second motor 21 is fixedly connected to the inner wall of the first mounting box 15, and one end of the rotating shaft of the second motor 21 is fixedly connected to a first gear 22; a tilt angle adjustment mechanism, the tilt angle adjustment mechanism includes a third motor 31, one end of the rotating shaft of the third motor 31 is fixedly connected to a third gear 32, and the surface of the third motor 31 is meshed with a fourth gear 33; In the above embodiment, it should be noted that, when in use, the industrial camera 37 collects image data of the working scene in real time and transmits it to the environmental perception module of the control terminal 38. The image preprocessing unit performs noise reduction, enhancement and other operations on the original image, and then identifies environmental feature points through the CNN feature extraction unit. The three-dimensional reconstruction unit constructs a three-dimensional model of the scene based on multiple frames of images and extracts spatial position information of obstacles and target objects. The data processing module receives the perception data, the target detection unit identifies key equipment or detection points based on the semantic segmentation algorithm, the scene understanding unit analyzes terrain features such as slope and obstacle distribution, the risk assessment unit predicts potential risks, such as collision probability, and the path planning module combines the global planning unit with the pre-stored map and the local optimization unit to generate the optimal movement path and observation point sequence; The technical effects achieved by the above embodiment are: the target detection unit identifies key equipment or detection points based on a semantic segmentation algorithm, the scene understanding unit analyzes terrain features such as slope and obstacle distribution, the risk assessment unit predicts potential risks such as collision probability, and the path planning module generates an optimal movement path and observation point sequence based on a pre-stored map and a local optimization unit in combination with the global planning unit. Embodiments
[0027] As shown in Figures 1 to 8 the robot device with an adaptive function includes all the contents of Embodiment 1, in addition, the moving mechanism further includes a mounting seat 17, the top of the mounting seat 17 is fixedly connected with the bottom of the mounting plate 11, a rotating ball 18 is rotatably connected in the mounting seat 17, a light-transmitting protective cover 19 is arranged on the top of the first mounting box 15, a lithium battery 16 is fixedly connected with the top of the mounting plate 11, the driving assembly includes a first motor 12, the surface of the first motor 12 is fixedly connected with the top of the mounting plate 11, a driving wheel 13 is fixedly connected to one end of the rotating shaft of the first motor 12, the driving assembly is provided in two groups, the horizontal angle adjusting mechanism further includes a second gear 23, the surface of the second gear 23 is engaged with the surface of the first gear 22, a rotating shaft 24 is fixedly connected in the second gear 23, the top of the rotating shaft 24 is fixedly connected with a first mounting piece 25, a protective cover 26 is fixedly connected to the bottom of the first mounting piece 25, second mounting boxes 27 are fixedly connected to the two sides of the first mounting piece 25, the inclination angle adjusting mechanism further includes a connecting shaft 34, the surface of the connecting shaft 34 is rotatably connected with the inside of the second mounting box 27, the surface of a third motor 31 is fixedly connected with the surface of the second mounting box 27, an illuminating lamp 35 is arranged on one end of the connecting shaft 34, a second mounting piece 36 is fixedly connected to the end of the connecting shaft 34 away from the illuminating lamp 35, the surface of the second mounting piece 36 is fixedly connected with an industrial camera 37, a control terminal 38 is arranged in the second mounting box 27, the control terminal 38 is electrically connected with the first motor 12, the second motor 21 and the third motor 31, and the control terminal 38 is signal connected with the industrial camera 37; In the above embodiment, it should be noted that the action control module accurately controls the rotating speed and steering of the driving wheel 13 of the first motor 12 through the PID algorithm according to the planned path, realizes the movement of the robot, when encountering complex terrain, the rotating ball 18 adaptively adjusts the posture in the mounting seat 17 to keep the body stable, after reaching the observation point, the second motor 21 drives the first gear 22 to drive the second gear 23 to realize the horizontal rotation of the rotating shaft 24; the third motor 31 drives the connecting shaft 34 to pitch adjust through the engagement of the third gear 32 and the fourth gear 33, so that the industrial camera 37 observes and inspects the target in alignment, and the state monitoring module monitors the motor current, rotating speed and other parameters in real time; The technical effects achieved by the above embodiment are as follows: the second motor 21 drives the first gear 22 to drive the second gear 23, thereby realizing horizontal rotation of the rotating shaft 24; the third motor 31 engages with the fourth gear 33 through the third gear 32, driving the connecting shaft 34 to pitch and adjust, so that the industrial camera 37 is aimed at the target for observation and inspection, and the status monitoring module monitors the motor current, speed and other parameters in real time. Example
[0028] like Figures 1 to 8 As shown, the robot device with adaptive function includes all the contents of Example 2. In addition, the control terminal 38 integrates an environmental perception module, a data processing module, a path planning module, a motion control module and a power management module. The environmental perception module collects image data through the industrial camera 37; includes an image preprocessing unit, a CNN-based feature extraction unit and a three-dimensional reconstruction unit; the data processing module includes a target detection, scene understanding and risk assessment unit, which identifies the environment based on a semantic segmentation algorithm, and the data processing module analyzes image features based on a CNN algorithm. The path planning module generates an adaptive movement path; includes a global planning unit and a local optimization unit; the motion control module controls the motor through a PID algorithm to achieve movement, horizontal rotation and pitch adjustment, and the power management module monitors the status of the lithium battery 16. The power management module includes a power monitoring, energy distribution and charging control unit; the control terminal 38 adopts an embedded Linux system, integrates a GPU acceleration unit, communicates with the motor through a CAN bus, and connects to the camera through Ethernet. The control terminal 38 also includes a state monitoring module, a fault diagnosis module and a remote communication module; the fault diagnosis module is based on a machine learning algorithm and realizes abnormality detection and positioning by comparing the normal state model; In the above embodiment, it should be noted that the fault diagnosis module uses a machine learning algorithm to compare the normal state model to identify anomalies and locate faults. The remote communication module supports operator intervention or data feedback. The power management module dynamically allocates energy from the lithium battery 16 to prioritize the operation of key modules. When the power level is lower than the threshold, the charging control unit is triggered to plan the return path. The entire process is collaboratively processed by the embedded Linux system and the GPU acceleration unit to achieve closed-loop adaptive control of environmental perception-decision-making-execution.
[0029] The technical effects achieved by the above embodiment are as follows: the power management module dynamically allocates energy from the lithium battery 16, giving priority to ensuring the operation of key modules, and triggering the charging control unit to plan the return path when the power level is lower than the threshold. The entire process is collaboratively processed by the embedded Linux system and the GPU acceleration unit to achieve closed-loop adaptive control of environmental perception-decision-making-execution.
[0030] Working principle: In use, the industrial camera 37 collects real-time scene image data, which is transmitted to the environmental perception module of the control terminal 38. The image preprocessing unit performs noise reduction and enhancement operations on the original image. Then, the CNN feature extraction unit identifies environmental feature points. The three-dimensional reconstruction unit constructs a three-dimensional model of the scene based on multiple images, extracts spatial position information of obstacles and target objects, and receives perception data from the data processing module. The target detection unit identifies key equipment or detection points based on a semantic segmentation algorithm. The scene understanding unit analyzes terrain features such as slope and obstacle distribution. The risk assessment unit predicts potential risks such as collision probability. The path planning module generates an optimal movement path and observation point sequence based on the pre-stored map and local optimization unit in combination with the global planning unit. The action control module accurately controls the rotation speed and steering of the first motor 12 driving wheel 13 through the PID algorithm to achieve robot movement. When encountering complex terrain, the rotating ball 18 adjusts its posture adaptively within the mounting seat 17 to maintain the stability of the robot body. After reaching the observation point, the second motor 21 drives the first gear 22 to drive the second gear 23, achieving horizontal rotation of the rotating shaft 24. The third motor 31 drives the connecting shaft 34 through the meshing of the third gear 32 and the fourth gear 33 for pitch adjustment, allowing the industrial camera 37 to align with the target for observation and inspection. The state monitoring module monitors parameters such as motor current and speed in real time. The fault diagnosis module identifies abnormalities and locates faults through machine learning algorithms. The remote communication module supports operator intervention or data transmission. The power management module dynamically allocates energy from the lithium battery 16, prioritizing the operation of critical modules. When the battery level falls below a threshold, the charging control unit plans a return path. The entire process is handled through the embedded Linux system and GPU acceleration unit, achieving closed-loop adaptive control of environmental perception, decision-making, and execution.
Claims
1. A robot device with adaptive functionality, characterized in that, The utility model relates to a kind of industrial camera, including Moving mechanism, the moving mechanism includes mounting plate (11), the top of the mounting plate (11) is fixedly connected with drive assembly, the top of the mounting plate (11) is fixedly connected with mounting piece (14), the top of the mounting piece (14) is fixedly connected with first installation box (15); Horizontal angle adjusting mechanism, the surface of the second motor (21) is fixedly connected with the inner wall of first installation box (15), the first gear (22) is fixedly connected to the one end of the rotating shaft of the second motor (21); Tilt angle adjusting mechanism, the third motor (31) is fixedly connected with third gear (32) to the one end of the rotating shaft, the surface of the third motor (31) is engaged with fourth gear (33).
2. The robot device with adaptive functionality according to claim 1, characterized in that, The moving mechanism further includes mounting seat (17), the top of the mounting seat (17) is fixedly connected with the bottom of mounting plate (11), the inside of the mounting seat (17) is rotatably connected with rotating ball (18), the top of the first installation box (15) is provided with light protection cover (19), the top of the mounting plate (11) is fixedly connected with lithium battery (16).
3. The robot device with adaptive functionality according to claim 2, characterized in that, The drive assembly includes first motor (12), the surface of the first motor (12) is fixedly connected with the top of mounting plate (11), the one end of the rotating shaft of the first motor (12) is fixedly connected with drive wheel (13), and the drive assembly is provided with two groups.
4. The robot device with adaptive functionality according to claim 1, characterized in that, The horizontal angle adjusting mechanism further includes second gear (23), the surface of the second gear (23) is engaged with the surface of first gear (22), and the inside of the second gear (23) is fixedly connected with rotating shaft (24).
5. The robot device with adaptive functionality according to claim 4, characterized in that, The top of the rotating shaft (24) is fixedly connected with first mounting piece (25), the bottom of the first mounting piece (25) is fixedly connected with protection cover (26), and the two sides of the first mounting piece (25) are fixedly connected with second installation box (27).
6. The robot device with adaptive functionality according to claim 5, characterized in that, The tilt angle adjusting mechanism further includes connecting shaft (34), the surface of the connecting shaft (34) is rotatably connected with the inside of second installation box (27), and the surface of the third motor (31) is fixedly connected with the surface of second installation box (27).
7. The robot device with adaptive functionality according to claim 6, characterized in that, The one end of the connecting shaft (34) is provided with illuminating lamp (35), the one end of the connecting shaft (34) away from illuminating lamp (35) is fixedly connected with second mounting piece (36), the surface of the second mounting piece (36) is fixedly connected with industrial camera (37), and the inside of the second installation box (27) is provided with control terminal (38).
8. The robot device with adaptive functionality according to claim 7, characterized in that, The control terminal (38) is electrically connected with first motor (12), second motor (21) and third motor (31), and the control terminal (38) is signal connected with industrial camera (37).
9. The robot device with adaptive functionality according to claim 8, characterized in that, The control terminal (38) integrates an environment perception module, a data processing module, a path planning module, an action control module, and a power management module. The environment perception module collects image data through an industrial camera (37). It includes an image preprocessing unit, a CNN-based feature extraction unit, and a three-dimensional reconstruction unit. The data processing module includes target detection, scene understanding, and risk assessment units. It identifies the environment based on a semantic segmentation algorithm and analyzes image features based on a CNN algorithm. The path planning module generates an adaptive movement path. It includes a global planning unit and a local optimization unit. The action control module controls the motor through a PID algorithm to achieve movement, horizontal rotation, and pitch adjustment. The power management module monitors the state of the lithium battery (16) and includes a power monitoring, energy distribution, and charging control unit. The control terminal (38) uses an embedded Linux system with a GPU acceleration unit. It communicates with the motor through a CAN bus and connects with the camera through Ethernet.
10. The robot device with adaptive functionality according to claim 8, characterized in that, The control terminal (38) also includes a state monitoring module, a fault diagnosis module, and a remote communication module. The fault diagnosis module is based on machine learning algorithms and achieves anomaly detection and positioning by comparing normal state models.