Integrated mobile robot

Abstract

The application provides an integrated mobile robot, comprising: a mobile base for moving to an arbitrary position or pausing at an arbitrary position and determining an orientation angle according to a received control instruction; a mechanical arm arranged on the mobile base and used for moving a target box on a picking position to a placing position; first and second camera support mechanisms are respectively arranged on two sides of a rotating seat of the mechanical arm; a first vision sensing module is arranged on the first camera support mechanism, and a second vision sensing module is arranged on the second camera support mechanism; the vision sensing module comprises a 2D camera and a laser radar, and the 2D camera and the laser radar are used for cooperating to realize image information collection of the target box or a box stack formed by the target box. In the application, the vision sensing module can rotate with the mechanical arm and can also rotate through the camera support mechanism, so that the imaging efficiency of the target box can be improved, and the efficiency of the mechanical arm in grabbing the target box is improved.

Description

Technical Field

[0001] This invention relates to intelligent robots, and more specifically, to an integrated mobile robot. Background Technology

[0002] Intelligent robots are smart devices equipped with sensors, lenses, and electro-optical systems that can quickly sort and transport goods.

[0003] More and more visual and force sensors will be used in intelligent robots, making them increasingly intelligent. With advancements in sensing and recognition systems, artificial intelligence, and other technologies, robots are evolving from being controlled unidirectionally to storing and applying their own data, gradually becoming information-based.

[0004] To expand the application scenarios and scope of intelligent robots, existing technologies involve installing intelligent robots on mobile bases to create mobile robots, thereby enabling the intelligent robots to move and perform functions such as mobile depalletizing and mobile picking. However, in order to achieve rapid operation of mobile robots, how to acquire physical visual information is an urgent problem to be solved. Summary of the Invention

[0005] In view of the shortcomings of the prior art, the purpose of this invention is to provide an integrated mobile robot.

[0006] The integrated mobile robot provided according to the present invention includes:

[0007] A movable base, used to move to any position or pause at any position and determine the orientation angle according to received control commands;

[0008] A robotic arm, mounted on the movable base, is used to move a target box from the picking position to a discharging position; a first camera support mechanism and a second camera support mechanism are respectively provided on both sides of the rotating base of the robotic arm.

[0009] The first camera support mechanism is provided with a first visual perception module, and the second camera support mechanism is provided with a second visual perception module; the visual perception module includes a 2D camera and a lidar, and the 2D camera and the lidar are used to cooperate to acquire image information of the target box or the box stack formed by the target box.

[0010] Preferably, the camera support mechanism includes a mounting base and a support column;

[0011] The mounting base is connected to the rotating seat of the robotic arm via a mounting base plate;

[0012] The support column is mounted on the mounting base, and the mounting base is used to drive the support column to rotate.

[0013] The sensory module is located at the top of the support column so that it rotates with the support column.

[0014] Preferably, it further includes a first rotation drive module and a second rotation drive module, wherein the first rotation drive module is used to drive the first camera support mechanism to rotate along its axial direction;

[0015] The second rotation drive module is used to drive the second camera support mechanism to rotate along its axial direction.

[0016] Preferably, the mounting base includes a hollow shaft rotating platform and a support motor;

[0017] The power output end of the bracket motor is connected to the motor connection port of the hollow shaft rotating platform;

[0018] The support column is mounted on the rotating platform of the hollow shaft rotating platform;

[0019] The bracket motor is used to drive the support column to rotate via the hollow shaft rotating platform.

[0020] Preferably, the lidar includes a first lidar and a second lidar;

[0021] The first and second lidars are symmetrically arranged back-to-back on the support column;

[0022] The 2D camera is equipped with a first wide-angle lens;

[0023] The 2D camera is positioned between the first lidar and the second lidar, or above the junction of the first lidar and the second lidar.

[0024] Preferably, the robotic arm includes a robotic arm body, a fixed base, and a rotating base;

[0025] The fixed base is mounted on the movable base, the rotating base is rotatably connected to the fixed base, and the lower end of the robotic arm body is connected to the rotating base, enabling it to rotate along its axial direction on the rotating base.

[0026] Preferably, the main body of the robotic arm is a six-degree-of-freedom robotic arm.

[0027] Preferably, the rotating base includes a drive motor and a reducer;

[0028] The output end of the drive motor is connected to the input end of the reducer;

[0029] The reducer is provided with an output end cover; the outer edge of the output end cover extends out to a mounting chassis; a first joint module is provided on the mounting chassis;

[0030] The speed reducer has a hollow structure; a conduit is installed inside the hollow structure.

[0031] Preferably, the main body of the robotic arm includes three pitch joints, one rotation joint, and a wrist with two degrees of freedom connected in sequence.

[0032] Preferably, the pitch joint includes: a first joint, a second joint, and a third joint;

[0033] The first joint includes a first joint module and a first link. The first joint module is used to drive the first link to rotate in order to perform pitching motion.

[0034] The second joint includes a second joint module and a second link. The second joint module is disposed at the tip of the first link and is used to drive the second link to rotate to perform pitching motion.

[0035] The third joint includes a third joint module and a third link. The third joint module is located at the tip of the second link and is used to drive the third link to rotate for pitching.

[0036] Compared with the prior art, the present invention has the following beneficial effects:

[0037] In this invention, a robotic arm is mounted on a movable base. The robotic arm includes a main body, a fixed base, and a rotating base. The fixed base is mounted on the movable base, and the rotating base is rotatably connected to the fixed base. The lower end of the main body is connected to the rotating base, allowing it to rotate along its axial direction. The rotating base has a first camera support mechanism and a second camera support mechanism on its two sides, respectively. Each camera support mechanism has a vision perception module, which can rotate with the robotic arm or through the camera support mechanism. This improves the imaging efficiency of the target box, thereby increasing the robotic arm's gripping efficiency. Furthermore, the dual-camera support mechanism provides the robot with a 360° field of view, preventing interference with vision from the robotic arm and simultaneously meeting the visual requirements for loading and unloading multiple pallets. Attached Figure Description

[0038] To more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are merely embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on the provided drawings without creative effort. Other features, objects, and advantages of the present invention will become more apparent by reading the following detailed description of non-limiting embodiments with reference to the accompanying drawings:

[0039] Figure 1 This is a schematic diagram of the integrated mobile robot in an embodiment of the present invention;

[0040] Figure 2 This is a schematic diagram illustrating the cooperation between the rotating base and the camera support mechanism in an embodiment of the present invention;

[0041] Figure 3 This is a schematic diagram illustrating the cooperation between the robotic arm body and the camera support mechanism in an embodiment of the present invention;

[0042] Figure 4 This is a schematic diagram of the mechanical wrist arm in an embodiment of the present invention;

[0043] Figure 5 This is a schematic diagram of the camera support mechanism in an embodiment of the present invention;

[0044] Figure 6 This is a schematic diagram of the drive mechanism for the rotation of the robotic arm in an embodiment of the present invention;

[0045] Figure 7 This is an exploded view of the robotic arm's wrist in an embodiment of the present invention;

[0046] Figure 8 This is a schematic diagram of the conduit connection of the end effector in an embodiment of the present invention; and

[0047] Figure 9 This is a cross-sectional schematic diagram of the fourth link in an embodiment of the present invention.

[0048] In the picture:

[0049] 100 is a robotic arm; 200 is a movable base; 300 is a first camera support mechanism; 301 is a support motor; 302 is a hollow shaft rotary platform; 303 is a support column; 304 is a first vision perception module; 3041 is a first lidar; 3042 is a second lidar; 3043 is a 2D camera; 305 is a mounting base plate; 400 is an end effector; 500 is a second camera support mechanism.

[0050] 101 is a fixed base; 102 is a rotating base; 103 is a drive motor; 104 is a first joint module; 105 is a first connecting rod; 106 is a second joint module; 107 is a second connecting rod; 108 is a third joint module; 109 is a third connecting rod; 110 is a fourth joint module; 1101 is a first transmission gear; 111 is a fourth connecting rod; 1111 is a second transmission gear; 1112 is a gear output connection mechanism; 1113 is a first bearing; 1114 is a short tube for the forearm; 112 is a fifth joint module; 113 is a mounting bracket; 114 is a hollow bracket; 115 is a hollow flange; 1151 is a third transmission gear; 116 is a sixth joint module; 1161 is a fourth transmission gear. Detailed Implementation

[0051] The present invention will now be described in detail with reference to specific embodiments. These embodiments will help those skilled in the art to further understand the present invention, but do not limit the invention in any way. It should be noted that those skilled in the art can make various modifications and improvements without departing from the concept of the present invention. These all fall within the scope of protection of the present invention.

[0052] It should be noted that when a component is referred to as "fixed to" or "set on" another component, it can be directly on or indirectly on that other component. When a component is referred to as "connected to" another component, it can be directly connected to or indirectly connected to that other component. Furthermore, a connection can be for both fixing and circuit connection purposes.

[0053] It should be understood that the terms "length", "width", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", and "outer" indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. They are only for the convenience of describing the embodiments of the present invention and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limitations on the present invention.

[0054] Furthermore, the terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include one or more of that feature. In the description of embodiments of the present invention, "a plurality of" means two or more, unless otherwise explicitly specified.

[0055] Figure 1 This is a schematic diagram of the integrated mobile robot in an embodiment of the present invention. Figure 1As shown, the integrated mobile robot provided by the present invention includes:

[0056] The movable base 200 is used to move to any position or pause at any position and determine the orientation angle according to the received control command;

[0057] A robotic arm 100 is mounted on the movable base and is used to move the target box at the picking position to a discharging position; a first camera support mechanism and a second camera support mechanism are respectively provided on both sides of the rotating base of the robotic arm.

[0058] A first visual perception module is provided on the first camera support mechanism, and a second visual perception module is provided on the second camera support mechanism; the visual perception module includes a 2D camera and a lidar, and the visual perception module 304 includes a 2D camera 3043 and a lidar, the 2D camera 3043 and the lidar are used to cooperate to realize the acquisition of image information of the target box or the box stack formed by the target box.

[0059] In a variation of the present invention, the integrated mobile robot provided by the present invention further includes a first rotation drive module and a second rotation drive module;

[0060] The first rotation drive module is used to drive the first camera support mechanism 300 to rotate along its axial direction so that the first visual perception module 304 has a 360° field of view around the first camera support mechanism 300.

[0061] The second rotation drive module is used to drive the second camera support mechanism 500 to rotate along its axis so that the second visual perception module has a 360° field of view around the second camera support mechanism 500.

[0062] In this embodiment, the lower end of the camera support mechanism is connected to the rotation drive module. The rotation drive module can be configured to include a bracket motor and a reducer. The bracket motor drives the camera support mechanism to rotate through the reducer. When the camera support mechanism rotates, it can drive the visual perception module 304 to rotate, so as to collect image information of the target box or the stack of boxes formed by the target box within a 360° range.

[0063] Figure 2 This is a schematic diagram illustrating the cooperation between the rotating base and the camera support mechanism in an embodiment of the present invention, as shown below. Figure 2 As shown in the embodiment of the present invention, the camera support mechanism 300 includes a mounting base and a support column 303;

[0064] The mounting base is connected to the rotating seat 102 of the robotic arm 100 via a mounting base plate 305;

[0065] The support column 303 is disposed on the mounting base, and the mounting base is used to drive the support column 303 to rotate;

[0066] The first visual perception module 304 is disposed at the top of the support column 303 so as to rotate with the support column 303.

[0067] The mounting base includes a hollow shaft rotary platform 302 and a bracket motor 301;

[0068] The power output end of the bracket motor 301 is connected to the motor connection port 302 of the hollow shaft rotating platform;

[0069] The support column 303 is disposed on the rotating platform of the hollow shaft rotating platform 302;

[0070] The bracket motor 301 is used to drive the support column 303 to rotate via the hollow shaft rotating platform 302.

[0071] In this embodiment of the invention, the support column 303 is driven to rotate by the bracket motor 301, so that when the rotating seat 102 rotates in one direction, the support column 303 can be driven to rotate in another direction, thereby maintaining the acquisition of image information of the target box or the stack of boxes formed by the target box on the front side of the movable base 200.

[0072] like Figure 5 As shown, each of the aforementioned visual perception modules includes a 2D camera 3043 and a lidar;

[0073] The 2D camera 3043 is used to acquire RGB images of the target box or the stack of boxes formed by the target box;

[0074] The lidar is used to acquire point cloud image information of the target box or the stack of boxes formed by the target box.

[0075] The visual perception module 304 further includes a processor unit, which is used to acquire RGB image and point cloud image information, detect the region of each target box on the RGB image through a pre-set deep learning model, project the RGB image of each target box position into the point cloud image, determine the pose of the target box according to the point cloud corresponding to each target box, and send the pose of each target box to the robotic arm so that the robotic arm 100 performs a grasping action on the target box.

[0076] In this embodiment of the invention, the lidar includes a first lidar 3041 and a second lidar 3042; the first lidar 3041 is disposed on one side of the lidar vertical plate, and the second lidar 3042 is disposed on the other side of the lidar vertical plate.

[0077] The 2D camera 3043 is mounted on the side of the radar vertical plate and is located between the first lidar 3041 and the second lidar 3042.

[0078] The radar vertical plate is sheet-shaped, with its lower end face connected to the upper end face of the support column 303 and its upper end face connected to the camera base; the 2D camera 3043 is mounted on the camera base.

[0079] In this embodiment of the invention, the field of view of the 2D camera 3043 is tilted downwards.

[0080] If the angle between the central axis of the 2D camera 3043 and the vertical direction is set to be between 30° and 60°, preferably 45°, then images can be acquired of the target box near the movable base and the stack of boxes formed by the target box.

[0081] The 2D camera 3043 is equipped with a first wide-angle lens, which is a fisheye lens, so the 2D camera 3043 is also called a fisheye camera; the fisheye camera is located between the first lidar 3041 and the second lidar 3042.

[0082] The imaging field of view of the first fisheye camera 304 is associated with the imaging field of view of the first lidar 3041 and the second lidar 3042 by calibration.

[0083] In embodiments of the present invention, such as Figure 2 As shown, the robotic arm 100 includes a robotic arm body, a fixed base 101, and a rotating base 102;

[0084] The fixed base 101 is disposed on the movable base 200, the rotating base 102 is rotatably connected to the fixed base 101, and the lower end of the main body of the robotic arm is connected to the rotating base 102, which can rotate along its axial direction driven by the rotating base 102.

[0085] In this embodiment of the invention, the rotating base 102 can be configured as the first rotating joint of the robotic arm 100. The camera support mechanism 300 is disposed on the rotating base 102.

[0086] In this embodiment of the invention, the robotic arm 100 can be a six-axis robotic arm, a four-axis robotic arm, an eight-axis robotic arm, or other multi-axis robotic arms. Alternatively, it can be a Scara robotic arm with three rotary joints capable of assembly operations, or a Delta robot capable of high-precision material picking, etc. It is worth noting that in practical application scenarios, any automated device capable of grasping and transporting functions can be applied to the technical solution of this invention.

[0087] In a modified embodiment of the present invention, the support column 303 is capable of being raised and lowered;

[0088] The visual perception module 304 is mounted on the support column 303 so that it rises and falls with the support column 303.

[0089] The support column 303 can be raised and lowered by a motor or cylinder to suit different application scenarios. For example, when it is necessary to enter the container for loading and unloading of the target container, the support column 303 can be lowered according to the height of the container. In addition, the support column 303 can be raised and lowered according to the loading and unloading scenario to expand the field of view of the visual perception module 304.

[0090] In this embodiment of the invention, the main body of the robotic arm is a six-degree-of-freedom robotic arm. The rotating base 102 includes a drive motor 103 and a reducer;

[0091] The output end of the drive motor 103 is connected to the input end of the reducer;

[0092] The reducer is provided with an output end cover; the outer edge of the output end cover extends to a mounting chassis; a first joint module 104 is provided on the mounting chassis.

[0093] The speed reducer has a hollow structure; a conduit is installed inside the hollow structure.

[0094] The main body of the robotic arm includes three pitch joints, a rotation joint, and a two-degree-of-freedom wrist connected in sequence.

[0095] The pitch joint includes: a first joint, a second joint, and a third joint;

[0096] The first joint includes a first joint module 104 and a first link 105. The first joint module 104 is used to drive the first link 105 to rotate in order to perform a pitching motion.

[0097] The second joint includes a second joint module 106 and a second link 107. The second joint module 106 is disposed at the distal end of the first link 105 and is used to drive the second link 107 to rotate for pitching motion; and

[0098] The third joint includes a third joint module 108 and a third link 109. The third joint module 108 is disposed at the end of the second link 107 and is used to drive the third link 109 to rotate for pitching.

[0099] In this embodiment of the invention, the axial directions of the first joint module 104, the second joint module 106, and the third joint module 108 are parallel to each other.

[0100] In this embodiment of the invention, the joint module enables rapid production and rapid assembly of robots, saving the manpower and time costs of selecting, designing, purchasing, and assembling hundreds of mechanical and electronic components.

[0101] The joint module includes:

[0102] An absolute encoder at the motor end is used to measure joint speed and is placed at the end of the motor to acquire the motor speed.

[0103] The output end features a multi-turn absolute encoder that can memorize single-turn and multi-turn power-off positions, enabling full closed-loop control.

[0104] Frameless torque motors are used to output torque to speed reducers;

[0105] Precision harmonic reducers, including 50, 80, 100, or 120 reduction ratios.

[0106] A DC driver is used to change the motor voltage to control the speed of a brushless DC motor.

[0107] Friction brake retainer is used for braking and position holding of joint modules, enabling full-load zero-speed start and full-speed heavy-load emergency stop;

[0108] Torque sensor, used to measure torque and speed.

[0109] Figure 4 This is a schematic diagram of the mechanical wrist arm in an embodiment of the present invention, as shown below. Figure 4 As shown, the rotary joint includes a fourth joint module 110 and a fourth link 111;

[0110] The third link 109 includes an upper support and a lower support; the root end of the lower support is connected to the third joint module 108, and the tip end is connected to the upper support; the fourth joint module 110 and the fourth link 111 are sequentially arranged on the upper support along one direction;

[0111] The fourth joint module 110 is used to drive the fourth link 111 to rotate in the axial direction, and thereby drive the wrist to rotate.

[0112] In this embodiment of the invention, the axis of the fourth joint module 110 is perpendicular to the axes of the first joint module 104, the second joint module 106 and the third joint module 108.

[0113] Figure 6 This is a schematic diagram of the drive mechanism for the rotation of the robotic arm in an embodiment of the present invention, as shown below. Figure 6 As shown, a first transmission gear 1111 is provided on the output flange of the fourth joint module 110, and a second transmission gear 1111 is provided at the root end of the fourth connecting rod 111; the first transmission gear 1111 and the second transmission gear 1111 mesh so that the fourth joint module 110 drives the fourth connecting rod 111 to rotate in sequence through the first transmission gear 1111 and the second transmission gear 1111.

[0114] The fourth link 111 and the fourth joint module 110 are connected by a fixing bracket 901;

[0115] Figure 7 This is an exploded view of the robotic arm's wrist in an embodiment of the present invention, as shown below. Figure 7 As shown, the wrist includes a fifth joint module 112, a sixth joint module 116, a mounting bracket 113, a hollow bracket 114, and a hollow flange 115;

[0116] The mounting bracket 113 is disposed at the tip of the fourth link 111; the fifth joint module 112 is disposed on the mounting bracket 113 and is used to drive the hollow bracket 114 to rotate.

[0117] The hollow support 114 is provided with the hollow flange 115 and the sixth joint module 116 in sequence along one direction; the sixth joint module 116 is used to drive the hollow flange 115 to rotate, and the hollow flange 115 is used for the installation of the end effector.

[0118] In this embodiment of the invention, a third transmission gear 1151 is provided on the hollow flange 115; a fourth transmission gear 1161 is provided on the output flange of the sixth joint module 116; the fourth transmission gear 1161 meshes with the third transmission gear 1151.

[0119] The sixth joint module 116 drives the hollow flange 115 to rotate sequentially through the fourth transmission gear 1161 and the third transmission gear 1151, thereby driving the end effector on the hollow flange 115 to rotate.

[0120] In this embodiment of the invention, the axes of the fifth joint module 112 and the sixth joint module 116 are perpendicular to each other;

[0121] The axis of the fourth joint module 110 is perpendicular to the axis of the fifth joint module 112 and parallel to the axis of the sixth joint module 116.

[0122] The axis of the fifth joint module 112 is parallel to the axes of the first joint module 104, the second joint module 106 and the third joint module 108.

[0123] The axis of the sixth joint module 116 is perpendicular to the axes of the first joint module 104, the second joint module 106, and the third joint module 108.

[0124] Figure 8 This is a schematic diagram of the conduit connection of the end effector in an embodiment of the present invention, as shown below. Figure 8 As shown, in this embodiment of the invention, the end effector includes a vacuum source, a conduit, and a suction cup assembly;

[0125] The vacuum source is connected to the suction cup assembly via the conduit, and is used to provide a vacuum to the suction cup assembly;

[0126] The conduit passes sequentially through the inner cavity of the fourth connecting rod 111 and the inner cavity of the hollow flange 115 to connect to the suction cup assembly.

[0127] In this embodiment of the invention, the hollow flange 115 and the fourth connecting rod 111 are coaxially arranged.

[0128] Figure 9 This is a cross-sectional schematic diagram of the fourth link in an embodiment of the present invention, as shown below. Figure 9 As shown, the fourth link 111 includes a forearm short tube 1114, a first bearing 1113, and a gear output connection mechanism 1112; the first transmission gear 1111 is connected to the root end of the forearm short tube 1114 through the gear output connection mechanism 1112, and the tip end of the forearm short tube 1114 is connected to the mounting bracket 113.

[0129] When using the integrated mobile robot provided by the present invention, trays are respectively provided on both sides of the mobile base 200, and a transmission line is provided on the front side;

[0130] The robotic arm 100 can sequentially stack the materials transported by the conveyor line onto the pallets on both sides. When the robotic arm 100 stacks the left pallet located on the mobile base 200, it acquires image information through the first vision sensing module on the first camera support mechanism on the left side; when the robotic arm 100 stacks the right pallet located on the mobile base 200, it acquires image information through the second vision sensing module on the second camera support mechanism on the right side.

[0131] The robotic arm 100 can sequentially place materials from the pallets on both sides onto the conveyor line for transport. When the robotic arm 100 grasps materials on the left pallet of the mobile base 200, image information is acquired through the first visual perception module on the first camera support mechanism on the left side. When the robotic arm 100 grasps materials on the right pallet of the mobile base 200, image information is acquired through the second visual perception module on the second camera support mechanism on the right side.

[0132] In this embodiment of the invention, a robotic arm is mounted on a movable base. The robotic arm includes a robotic arm body, a fixed base, and a rotating base. The fixed base is mounted on the movable base, and the rotating base is rotatably connected to the fixed base. The lower end of the robotic arm body is connected to the rotating base and can rotate along its axial direction on the rotating base. The rotating base is provided with a first camera support mechanism and a second camera support mechanism on both sides. Each camera support mechanism is provided with a vision perception module, so that the vision perception module can rotate with the robotic arm or rotate through the camera support mechanism. This improves the imaging efficiency of the target box, thereby improving the efficiency of the robotic arm in grasping the target box. At the same time, the dual-camera support mechanism can provide the robot with a 360° field of view, avoiding interference of the robotic arm with vision, and can simultaneously meet the vision requirements for loading and unloading multiple pallets.

[0133] The various embodiments described in this specification are presented in a progressive manner, with each embodiment focusing on its differences from other embodiments. Similar or identical parts between embodiments can be referred to interchangeably. The above description of the disclosed embodiments enables those skilled in the art to make or use the invention. Various modifications to these embodiments will be readily apparent to those skilled in the art, and the general principles defined herein may be implemented in other embodiments without departing from the spirit or scope of the invention. Therefore, the invention is not to be limited to the embodiments shown herein, but is to be accorded the widest scope consistent with the principles and novel features disclosed herein.

[0134] The specific embodiments of the present invention have been described above. It should be understood that the present invention is not limited to the specific embodiments described above, and those skilled in the art can make various modifications or variations within the scope of the claims, which do not affect the essence of the present invention.

Claims

1. An integrated mobile robot, characterized in that, include: A movable base, used to move to any position or pause at any position and determine the orientation angle according to received control commands; A robotic arm, mounted on the movable base, is used to move a target box from the picking position to a discharging position; a first camera support mechanism and a second camera support mechanism are respectively provided on both sides of the rotating base of the robotic arm. The first camera support mechanism is provided with a first visual perception module, and the second camera support mechanism is provided with a second visual perception module; the visual perception module includes a 2D camera and a lidar, and the 2D camera and the lidar are used to cooperate to acquire image information of the target box or the box stack formed by the target box.

2. The integrated mobile robot according to claim 1, characterized in that, The camera support mechanism includes a mounting base and a support column; The mounting base is connected to the rotating seat of the robotic arm via a mounting base plate; The support column is mounted on the mounting base, and the mounting base is used to drive the support column to rotate. The sensory module is located at the top of the support column so that it rotates with the support column.

3. The integrated mobile robot according to claim 1, characterized in that, It also includes a first rotation drive module and a second rotation drive module. The first rotation drive module is used to drive the first camera support mechanism to rotate along its axial direction. The second rotation drive module is used to drive the second camera support mechanism to rotate along its axial direction.

4. The integrated mobile robot according to claim 2, characterized in that, The mounting base includes a hollow shaft rotary platform and a support motor; The power output end of the bracket motor is connected to the motor connection port of the hollow shaft rotating platform; The support column is mounted on the rotating platform of the hollow shaft rotating platform; The bracket motor is used to drive the support column to rotate via the hollow shaft rotating platform.

5. The integrated mobile robot according to claim 1, characterized in that, The lidar includes a first lidar and a second lidar; The first and second lidars are symmetrically arranged back-to-back on the support column; The 2D camera is equipped with a first wide-angle lens; The 2D camera is positioned between the first lidar and the second lidar, or above the junction of the first lidar and the second lidar.

6. The integrated mobile robot according to claim 1, characterized in that, The robotic arm includes a robotic arm body, a fixed base, and a rotating base; The fixed base is mounted on the movable base, the rotating base is rotatably connected to the fixed base, and the lower end of the robotic arm body is connected to the rotating base, enabling it to rotate along its axial direction on the rotating base.

7. The integrated mobile robot according to claim 6, characterized in that, The main body of the robotic arm is a six-degree-of-freedom robotic arm.

8. The integrated mobile robot according to claim 6, characterized in that, The rotating base includes a drive motor and a reducer; The output end of the drive motor is connected to the input end of the reducer; The reducer is provided with an output end cover; the outer edge of the output end cover extends out to a mounting chassis; a first joint module is provided on the mounting chassis; The speed reducer has a hollow structure; a conduit is installed inside the hollow structure.

9. The integrated mobile robot according to claim 6, characterized in that, The main body of the robotic arm includes three pitch joints, one rotation joint, and a wrist with two degrees of freedom connected in sequence.

10. The integrated mobile robot according to claim 9, characterized in that, The pitch joint includes: a first joint, a second joint, and a third joint; The first joint includes a first joint module and a first link. The first joint module is used to drive the first link to rotate in order to perform pitching motion. The second joint includes a second joint module and a second link. The second joint module is disposed at the tip of the first link and is used to drive the second link to rotate to perform pitching motion. The third joint includes a third joint module and a third link. The third joint module is located at the tip of the second link and is used to drive the third link to rotate for pitching.

Images