Robot for realizing base station recharging based on optical communication driving module

Abstract

The invention relates to the field of robot recharging, and discloses a robot for realizing base station recharging based on an optical communication driving module, the robot comprises a base and an upper cover rotatably connected to the top of the base, the surface of the upper cover is rotatably connected with a housing, the interior of the housing is movably connected with a laser radar, and the interior of the base is provided with the optical communication driving module; an adjusting assembly for adjusting the position of the laser radar is arranged between the base and the upper cover and comprises a sleeve fixedly connected to the bottom of the upper cover and a rotating shaft fixedly connected to the upper end of the base, and the sleeve sleeves the rotating shaft and is connected with the rotating shaft through a coil spring; the bottom of the housing is fixedly connected with a connecting shaft, and the exterior of the connecting shaft is fixedly connected with a gear block; by adjusting the position of the laser radar, the laser radar is located at a high position, the probability that the detection range is reduced due to the fact that the laser radar is affected by an inclined plane is further reduced, and the precision of path detection and planning by the laser radar when the robot moves is ensured.

Description

Technical Field

[0001] This invention relates to the field of robot recharging technology, and more specifically, to a robot that realizes base station recharging based on an optical communication drive module. Background Technology

[0002] Optical communication driver modules are core components for photoelectric and electro-optical conversion. They are mainly used in fiber optic communication systems to convert electrical signals into optical signals for transmission through optical fibers, and then convert the received optical signals back into electrical signals. Their core functions include signal modulation, transmission, reception, and photoelectric conversion.

[0003] The application of optical communication drive modules in robots is mainly reflected in high-speed data transmission, remote control, industrial automation and scientific research. They improve communication efficiency and stability through optical signal transmission, and enable robots to recharge stably.

[0004] During the recharging process, the robot actively emits and receives laser pulses using lidar to generate point cloud data, enabling precise detection of distance, shape, and dynamic objects. This allows the robot to achieve autonomous navigation, obstacle avoidance, and environmental modeling.

[0005] Because robots need to cope with various road conditions during movement, the ranging accuracy of the lidar on the robot is affected by the slope angle, the reflection characteristics of obstacles, and the installation position of the lidar when the robot climbs over obstacles and moves downhill. This results in a reduction in the radar detection range, inaccurate detection of the path, and errors in path planning, which affects the robot's recharging efficiency. Summary of the Invention

[0006] This invention provides a robot based on an optical communication drive module to recharge a base station, solving the technical problem in related technologies where the path planning of the lidar is affected by the reflection of the slope angle during the process of crossing obstacles or moving down a slope.

[0007] This invention provides a robot for base station recharging based on an optical communication drive module, including a base and an upper cover rotatably connected to the top of the base. A cover is rotatably connected to the surface of the upper cover, and a lidar is movably connected inside the cover. An optical communication drive module is provided inside the base. An adjustment component for adjusting the position of the laser radar is provided between the base and the top cover. The adjustment component includes a sleeve fixedly connected to the bottom of the top cover and a rotating shaft fixedly connected to the top of the base. The sleeve is sleeved on the outside of the rotating shaft and connected by a coil spring. A first counterweight is fixedly connected to one side of the bottom of the top cover.

[0008] As a further optimization of the present invention, a connecting shaft is fixedly connected to the bottom of the cover, and a gear is fixedly connected to the outside of the connecting shaft. The inner edge of the upper cover is fixedly arrayed with toothed blocks that can mesh with the gear.

[0009] As a further optimization of the present invention, a plurality of tooth blocks are symmetrically distributed on both sides of the gear, and the length of the plurality of tooth blocks is equal to twice the circumference of the gear.

[0010] As a further optimization of the present invention, the inside of the housing is provided with a stabilizing component, the stabilizing component includes stabilizing arms fixedly connected to the top and sides of the lidar, the top and the inner walls of both sides of the housing are fixedly connected with slide rails, and the stabilizing arms are slidably engaged with the surface of the slide rails, and the bottom of the lidar is fixedly connected with a second counterweight.

[0011] As a further optimization of the present invention, a first magnet is fixedly connected to the bottom of the inner part of the cover, and the magnetic attraction of the first magnet to the second counterweight is less than the weight of the second counterweight.

[0012] As a further optimization of the present invention, a drive wheel is movably connected to the bottom of the base, and a mounting groove is provided on the bottom of the base, with a universal wheel movably connected inside the mounting groove.

[0013] As a further optimization of the present invention, the base is provided with a compensation component, the compensation component includes a movable groove opened inside the mounting groove, and a first spring is fixedly connected inside the movable groove. A push plate is fixedly connected to the bottom of the first spring. The base is provided with sliding grooves on both sides of the movable groove, and a locking pin is fixedly connected inside the sliding groove through a second spring. The bottom of the locking pin is bent and hooks the push plate. A second magnet is fixedly connected to the bottom of the first counterweight.

[0014] As a further optimization of the present invention, the locking post is a magnetic post and its top is magnetically repelled by the second magnet, the sum of the elastic forces of the plurality of second springs is greater than the elastic force of the first spring, and the first spring is made of plastic.

[0015] The beneficial effects of this invention are as follows: 1. The robot based on the optical communication drive module for base station recharging described in this invention adjusts the position of the lidar to a high position, thereby reducing the probability of the lidar's detection range being reduced due to the influence of the inclined plane, and ensuring the accuracy of the lidar's path detection and planning when the robot moves.

[0016] 2. The robot based on the optical communication drive module for base station recharging described in this invention adjusts the angle of the lidar so that the lidar is always in a horizontal state when dealing with different terrains, thereby ensuring that the lidar detection is not affected and further ensuring the accuracy of the lidar for path detection and planning when the robot moves.

[0017] 3. The robot for base station recharging based on an optical communication drive module described in this invention utilizes the interaction between the omnidirectional wheels and the ground through elastic force to increase the contact torque between the robot and the ground. This helps to counteract the gravitational component when going downhill, allowing the robot to maintain dynamic balance. In addition, when the elastic force acts on the omnidirectional wheels, it will change the overall center of gravity distribution of the robot. When going downhill, the robot's tendency to lean forward intensifies, and the elastic force can push the omnidirectional wheels backward, causing the center of gravity to move backward, thereby reducing the possibility of the rear drive wheels leaving the ground and reducing the risk of the robot tipping over. Attached Figure Description

[0018] Figure 1 This is a schematic diagram of the overall structure of the present invention; Figure 2 This is a partial structural diagram of the base stabilization component of the present invention; Figure 3 This is a schematic diagram of the upper cover structure of the present invention; Figure 4 This is a view of the sleeve and rotating shaft combined in this invention; Figure 5 This is a schematic diagram of the internal structure of the casing of the present invention; Figure 6 This is a cross-sectional view of the base structure of the present invention; Figure 7 This is the present invention. Figure 6 Enlarged view of point A in the middle; Figure 8 This is a partial structural diagram of the base of the present invention.

[0019] In the picture: 10. Base; 11. Top cover; 12. Housing; 13. LiDAR; 14. Optical communication driver module; 15. Drive wheel; 16. Mounting slot; 17. Caster wheel; 20. Adjusting assembly; 21. Sleeve; 22. Rotating shaft; 23. First counterweight; 24. Connecting shaft; 25. Gear; 26. Gear block; 27. Coil spring; 30. Stabilizing component; 31. Stabilizing arm; 32. Slide rail; 33. Second counterweight; 34. First magnet; 40. Compensation component; 41. Movable groove; 42. First spring; 43. Push plate; 44. Slide groove; 45. Locking post; 46. Second spring; 47. Second magnet. Detailed Implementation

[0020] The subject matter described herein will now be discussed with reference to exemplary embodiments. It should be understood that these embodiments are discussed only to enable those skilled in the art to better understand and implement the subject matter described herein, and changes may be made to the function and arrangement of the elements discussed without departing from the scope of this specification. Various processes or components may be omitted, substituted, or added as needed in the examples. Furthermore, features described in some examples may be combined in other examples.

[0021] like Figures 1 to 4 and Figure 8 As shown in the figure, a robot for base station recharging based on an optical communication drive module according to an embodiment of the present invention includes a base 10 and an upper cover 11 rotatably connected to the top of the base 10. A cover 12 is rotatably connected to the surface of the upper cover 11, and a lidar 13 is movably connected inside the cover 12. An optical communication drive module 14 is provided inside the base 10. A drive wheel 15 is movably connected to the bottom of the base 10. An installation groove 16 is opened at the bottom of the base 10, and a caster wheel 17 is movably connected inside the installation groove 16. An adjustment component 20 for adjusting the position of the laser radar 13 is provided between the base 10 and the upper cover 11. The adjustment component 20 includes a sleeve 21 fixedly connected to the bottom of the upper cover 11 and a rotating shaft 22 fixedly connected to the upper end of the base 10. The sleeve 21 is sleeved on the outside of the rotating shaft 22 and connected by a coil spring 27. A first counterweight 23 is fixedly connected to one side of the bottom of the upper cover 11. The bottom of the cover 12 is fixedly connected to a connecting shaft 24, and a gear 25 is fixedly connected to the outside of the connecting shaft 24. The inner edge of the upper cover 11 is fixedly arrayed with tooth blocks 26 that can mesh with the gear 25. Multiple tooth blocks 26 are symmetrically distributed on both sides of the gear 25. The length of the multiple tooth blocks 26 is equal to twice the circumference of the gear 25. On the one hand, this ensures that the gear 25 can mesh with the tooth blocks 26 and thus adjust the orientation of the lidar 13, whether the upper cover 11 rotates counterclockwise or clockwise. On the other hand, by setting the length of the tooth block arrangement, it ensures that the lidar 13 can rotate stably by 180 degrees.

[0022] It should be noted that the robot first moves by driving the drive wheel 15, and can turn by using the omnidirectional wheel 17 during the movement. The robot's driving displacement is existing technology, so it will not be described in detail here. During the movement, the robot actively emits and receives laser pulses through the lidar 13 to generate point cloud data, so as to realize the accurate detection of distance, shape and dynamic objects, and realize the robot's autonomous navigation, obstacle avoidance and environmental modeling. At the same time, the detection and modeling data of the robot are transmitted to the cloud through the optical communication drive module 14, and stored and controlled by the cloud. If the robot encounters obstacles or moves down a slope during the recharging process, the robot will tilt, causing the lidar 13 to tilt along with the robot. This will affect the ranging accuracy of the lidar 13 due to the slope angle, the reflection characteristics of the obstacles, and the installation position of the lidar. Consequently, the detection range of the lidar will be reduced, the path condition cannot be accurately detected, and the path planning will be prone to errors, affecting the robot's recharging efficiency. Based on this, when the robot tilts, the first counterweight 23 causes the upper cover 11 and the base 10 to rotate. The side of the upper cover 11 with the first counterweight 23 rotates to the bottom of the slope under the action of gravity, while the side with the lidar 13 rotates to the top of the slope. During the rotation, the gear 25 meshes with the toothed block 26, causing the gear 25 to drive the housing 12 to rotate through the connecting shaft 24. This ensures that the lidar 13 inside the housing 12 faces the direction of the robot's movement. By adjusting the position of the lidar 13, the lidar 13 is positioned at a high level, thereby reducing the probability of the lidar 13's detection range being reduced due to the slope. This ensures the accuracy of the lidar 13's path detection and planning when the robot moves. During the rotation of the upper cover 11, the sleeve 21 and the rotating shaft 22 also rotate, and the coil spring 27 contracts during the rotation. When the robot crosses the obstacle or leaves the slope and returns to a flat state, the coil spring 27 loosens and resets, driving the upper cover 11 to move the lidar 13 back to its initial position.

[0023] like Figure 5 As shown, the inside of the housing 12 is provided with a stabilizing component 30. The stabilizing component 30 includes stabilizing arms 31 fixedly connected to the top and sides of the lidar 13. The top and the inner walls of both sides of the housing 12 are fixedly connected with slide rails 32, and the stabilizing arms 31 are slidably engaged with the surface of the slide rails 32. The bottom of the lidar 13 is fixedly connected with a second counterweight 33. The bottom of the inner part of the cover 12 is fixedly connected to a first magnet 34, and the magnetic attraction of the first magnet 34 to the second counterweight 33 is less than the gravity of the second counterweight 33.

[0024] It should be noted that when the robot crosses obstacles or walks on an incline, it is in a tilted state. The gravity of the second counterweight 33 causes the lidar 13 to slide along the surface of the slide rail 32 using the stabilizing arm 31, thus keeping the lidar 13 in a horizontal position. The upper stabilizing arm 31 mainly works with the second counterweight 33 to adjust the tilt angle of the lidar 13, while the stabilizing arms on both sides further reduce the swaying of the lidar 13 during robot movement. Simultaneously, by placing a first magnet 34 at the bottom of the housing 12, the lidar 13 is stabilized under the influence of its bottom surface when in a stable state. The magnetic attraction between the second counterweight 33 and the first magnet 34 reduces the pressure on the lidar 13, ensuring its stability when moving on a flat surface. Since the magnetic attraction of the first magnet 34 to the second counterweight 33 is less than the weight of the second counterweight 33, the first magnet 34 will not obstruct the angle adjustment of the lidar 13 when the robot tilts. By adjusting the angle of the lidar 13, it is ensured that the lidar 13 remains horizontal when dealing with different terrains, thus ensuring that the detection of the lidar 13 is not affected and further ensuring the accuracy of the lidar 13 in path detection and planning when the robot moves.

[0025] like Figure 6 and Figure 7 As shown, the base 10 has a compensation component 40 inside. The compensation component 40 includes a movable groove 41 opened inside the mounting groove 16, and a first spring 42 is fixedly connected inside the movable groove 41. A push plate 43 is fixedly connected to the bottom of the first spring 42. The base 10 has sliding grooves 44 on both sides of the movable groove 41 inside, and a locking pin 45 is fixedly connected inside the sliding groove 44 through a second spring 46. The bottom of the locking pin 45 is bent and hooked to the push plate 43. A second magnet 47 is fixedly connected to the bottom of the first counterweight 23. The locking post 45 is a magnetic post and its top is magnetically repelled by the second magnet 47. The sum of the elastic forces of the multiple second springs 46 is greater than the elastic force of the first spring 42, and the first spring 42 is made of plastic.

[0026] It should be noted that when the robot moves down the slope, the first counterweight 23 rotates with the top cover 11 under its own weight to above the caster wheel 17. At this time, the second magnet 47 at the bottom of the first counterweight 23 pushes the locking pin 45 downward inside the slide groove 44 under the action of magnetic repulsion, thereby releasing the push plate 43 that was originally hooked by the bent part at the bottom of the locking pin 45. Therefore, the first spring 42 can apply elastic force to the caster wheel 17 through the push plate 43. Since the caster wheel 17 is in front of the robot's movement, when the caster wheel 17 is subjected to After the elastic force is applied, the force is transmitted to the inclined plane. At the same time, the inclined plane will also exert a reaction force on the omnidirectional wheel 17. The elastic force increases the contact torque between the robot and the ground through the interaction between the omnidirectional wheel 17 and the ground, which helps to counteract the gravity component when going downhill and keep the robot in dynamic balance. In addition, when the elastic force is applied to the omnidirectional wheel 17, it will change the overall center of gravity distribution of the robot. When going downhill, the robot tends to lean forward more, and the elastic force can push the omnidirectional wheel 17 backward, so that the center of gravity moves backward, thereby reducing the possibility of the rear drive wheel 15 leaving the ground and reducing the risk of the robot tipping over. When the robot reaches the flat surface, the first counterweight 23 returns to its original position along with the top cover 11. At this time, the second spring 46 pulls the locking pin 45 to its original position, so that the bent part at the bottom of the locking pin 45 hooks the push plate 43. Since the sum of the elastic forces of the multiple second springs 46 is greater than the elastic force of the first spring 42, the deformation of the first spring 42 can be limited, thereby preventing the universal wheel 17 from being affected by the elastic force when going uphill, which would cause the robot to lose its center of gravity and tip over.

[0027] The embodiments of the present invention have been described above, but the embodiments are not limited to the specific implementation methods described above. The specific implementation methods described above are merely illustrative and not restrictive. Those skilled in the art can make many other forms under the guidance of the embodiments described above, all of which are within the protection scope of the embodiments described above.

Claims

1. A robot for base station recharging based on an optical communication drive module, comprising a base (10) and a top cover (11) rotatably connected to its top, characterized in that: The surface of the upper cover (11) is rotatably connected to the cover (12), and the inside of the cover (12) is movably connected to the lid radar (13). The base (10) is provided with an optical communication drive module (14). An adjustment assembly (20) for adjusting the position of the laser radar (13) is provided between the base (10) and the top cover (11). The adjustment assembly (20) includes a sleeve (21) fixedly connected to the bottom of the top cover (11) and a rotating shaft (22) fixedly connected to the upper end of the base (10). The sleeve (21) is sleeved on the outside of the rotating shaft (22) and connected by a coil spring (27). A first counterweight (23) is fixedly connected to one side of the bottom of the top cover (11).

2. The robot for base station recharging based on an optical communication drive module according to claim 1, characterized in that: The bottom of the cover (12) is fixedly connected to a connecting shaft (24), and a gear (25) is fixedly connected to the outside of the connecting shaft (24). The inner edge of the upper cover (11) is fixedly arrayed with tooth blocks (26) that can mesh with the gear (25).

3. A robot for base station recharging based on an optical communication drive module according to claim 2, characterized in that: Multiple tooth blocks (26) are symmetrically distributed on both sides of the gear (25), and the length of the multiple tooth blocks (26) is equal to twice the circumference of the gear (25).

4. A robot for base station recharging based on an optical communication drive module according to claim 3, characterized in that: The housing (12) is provided with a stabilizing component (30). The stabilizing component (30) includes stabilizing arms (31) fixedly connected to the top and sides of the lidar (13). The top and the inner walls of both sides of the housing (12) are fixedly connected to slide rails (32), and the stabilizing arms (31) are slidably engaged with the surface of the slide rails (32). The bottom of the lidar (13) is fixedly connected to a second counterweight (33).

5. A robot for base station recharging based on an optical communication drive module according to claim 4, characterized in that: The bottom of the inner part of the cover (12) is fixedly connected to a first magnet (34), and the magnetic attraction of the first magnet (34) to the second counterweight (33) is less than the gravity of the second counterweight (33).

6. A robot for base station recharging based on an optical communication drive module according to claim 5, characterized in that: The bottom of the base (10) is movably connected to a drive wheel (15), and the bottom of the base (10) is provided with a mounting groove (16), and a universal wheel (17) is movably connected inside the mounting groove (16).

7. A robot for base station recharging based on an optical communication drive module according to claim 6, characterized in that: The base (10) is provided with a compensation component (40). The compensation component (40) includes a movable groove (41) opened inside the mounting groove (16). A first spring (42) is fixedly connected inside the movable groove (41). A push plate (43) is fixedly connected to the bottom of the first spring (42). A sliding groove (44) is opened on both sides of the movable groove (41) inside the base (10). A locking pin (45) is fixedly connected inside the sliding groove (44) by a second spring (46). The bottom of the locking pin (45) is bent and hooked to the push plate (43). A second magnet (47) is fixedly connected to the bottom of the first counterweight (23).

8. A robot for base station recharging based on an optical communication drive module according to claim 7, characterized in that: The locking post 45 is a magnetic post and its top is magnetically repelled by the second magnet (47). The sum of the elastic forces of the multiple second springs (46) is greater than the elastic force of the first spring (42), and the first spring (42) is made of plastic.

Images