A dual-wheel foot mobile robot with a projection module

Abstract

This invention belongs to the field of robotics technology, specifically disclosing a bipedal mobile robot equipped with a projection module. The bipedal robot and projection module are systematically integrated, combining mobility, posture adjustment, and information projection functions. The projection module is fixedly installed, eliminating the need for a separate gimbal or robotic arm, resulting in a simple structure and high reliability. Utilizing the robot's own wheel drive and leg posture adjustment capabilities, the overall adjustment of projection position, height, and angle is achieved, reducing structural complexity. Compared to ordinary wheeled chassis, the bipedal structure offers better terrain adaptability, enabling operation in complex terrain environments. Through posture detection and correction, projection distortion is effectively reduced, improving image stability and usability. It is suitable for various application scenarios such as family companionship, mobile cinemas, guided tours, inspection prompts, educational displays, and advertising displays.

Description

Technical Field

[0001] This invention belongs to the field of robotics technology, specifically relating to a bipedal mobile robot equipped with a projection module. Background Technology

[0002] Most existing projection equipment is fixed or semi-fixed, typically requiring manual transport to a designated location for installation, focusing, and projection. This presents several drawbacks: 1. Existing projection equipment lacks mobility, making it difficult to autonomously reach the projection position in different rooms, corridors, stairwells, or complex terrain. 2. If existing projection equipment is mounted on a standard mobile platform, the platform's posture is difficult to adjust precisely after parking, resulting in skewed projection images, significant trapezoidal distortion, and unstable projection quality. 3. Using independent pan-tilt units, lifting platforms, or multi-degree-of-freedom robotic arms to support existing projection equipment significantly increases structural complexity, weight, cost, and failure rate, hindering product miniaturization and reliability improvements. Therefore, there is an urgent need for an autonomous projection system that combines mobility, self-adjustment, and stable projection capabilities. Summary of the Invention

[0003] The purpose of this invention is to provide a bipedal mobile robot equipped with a projection module to solve the above-mentioned problems existing in the prior art.

[0004] To achieve the above objectives, the present invention adopts the following technical solution: This invention provides a two-wheeled legged mobile robot equipped with a projection module, comprising a robot body, a two-wheeled legged movement mechanism, a projection module, an attitude detection module, and a control module. The control module is electrically connected to the two-wheeled legged movement mechanism, the projection module, and the attitude detection module. The two-wheeled legged movement mechanism is mounted on the robot body and is used to move the robot body according to the control of the control module, and to adjust the attitude of the robot body according to the control of the control module. The projection module is fixedly mounted on the top of the robot body and is used to project and play content according to the control of the control module. The attitude detection module is installed inside the robot body and is used to detect the attitude parameters of the robot body and transmit the attitude parameters to the control module. The control module is installed inside the robot body and is used to control the movement of the two-wheeled legged movement mechanism, receive the attitude parameters transmitted by the attitude detection module, control the two-wheeled legged movement mechanism to adjust the attitude of the robot body according to the attitude parameters, and control the projection module to project and play content.

[0005] In one possible design, the dual-wheeled locomotion mechanism includes two sets of symmetrically mounted motion adjustment mechanisms on the robot body. Each motion adjustment mechanism includes a body link, a joint motor link, a hub motor link, a joint drive motor, a hub motor, and a drive wheel. One end of the body link is rotatably connected to the robot body, and the other end is rotatably connected to the hub motor link. The other end of the hub motor link is connected to the hub motor, which is mounted on the hub of the drive wheel and electrically connected to the control module. It drives the drive wheel to rotate according to the control module's control. The joint drive motor is mounted on the robot body, and one end of the joint motor link is connected to the joint drive motor. The other end is rotatably connected to the arm of the hub motor link. The joint drive motor is electrically connected to the control module and drives the joint motor link to rotate according to the control module's control.

[0006] In one possible design, the robot also includes a communication module for receiving position movement commands and projection commands from the user, and transmitting the position movement commands and projection commands to a control module. The control module is used to control the dual-wheeled leg movement mechanism to move to the target position according to the position movement commands, and to control the projection module to perform projection playback according to the projection commands.

[0007] In one possible design, the projection instruction includes the projection content, projection direction, and projection mode.

[0008] In one possible design, the robot also includes a power supply module for powering the bipedal locomotion mechanism, projection module, posture detection module, control module, and communication module.

[0009] In one possible design, the projection module is an LCOS microdisplay projection module.

[0010] In one possible design, the attitude detection module includes an inertial measurement unit.

[0011] In one possible design, the attitude parameters include pitch angle, roll angle, and yaw angle.

[0012] In one possible design, the control module includes a microcontroller.

[0013] In one possible design, the robot body is made of aluminum alloy.

[0014] Beneficial effects: This invention systematically integrates a bipedal robot with a projection module, combining mobility, posture adjustment, and information projection functions. The projection module adopts a fixed installation method, eliminating the need for a separate gimbal or robotic arm, resulting in a simple structure and high reliability. Utilizing the bipedal robot's own wheel drive and leg posture adjustment capabilities, the overall adjustment of projection position, projection height, and projection angle is achieved, reducing the complexity of the mechanism. Compared to ordinary wheeled chassis, the bipedal structure has better terrain adaptability and can operate in complex terrain environments. Through posture detection and correction, projection distortion can be effectively reduced, improving image stability and usability. It is suitable for various application scenarios such as family companionship, mobile cinemas, guided tours, inspection prompts, educational displays, and advertising displays. Attached Figure Description

[0015] 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 only some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0016] Figure 1 This is a schematic diagram of the overall structure of the present invention; Figure 2 Side view of the invention; Figure 3 This is a schematic diagram of the electrical connections for the invention.

[0017] In the diagram: 1. Robot body; 2. Dual-wheeled leg movement mechanism; 21. Body link; 22. Joint motor link; 23. Wheel hub motor link; 24. Joint drive motor; 25. Wheel hub motor; 26. Drive wheel; 3. Projection module. Detailed Implementation

[0018] It should be noted that the descriptions of these embodiments are intended to aid in understanding the invention and do not constitute a limitation thereof. The specific structural and functional details disclosed herein are merely for describing exemplary embodiments of the invention. However, the invention may be embodied in many alternative forms and should not be construed as being limited to the embodiments described herein.

[0019] It should be understood that, unless otherwise explicitly specified and limited, the corresponding terms should be interpreted broadly. For example, "connection" can be a fixed connection, a detachable connection, or an integral connection; it can be an electrical connection, a direct connection, or an indirect connection through an intermediate medium; it can also refer to the internal connection between two components. Those skilled in the art can understand the specific meaning of the above terms in the embodiments according to the specific circumstances.

[0020] Specific details are provided in the following description to provide a complete understanding of the exemplary embodiments. However, those skilled in the art will understand that the exemplary embodiments can be implemented without these specific details. For example, the system may be shown in block diagrams to avoid obscuring the example with unnecessary details. In other embodiments, well-known processes, structures, and techniques may be shown without non-essential details to avoid obscuring the embodiments.

[0021] Example: This embodiment provides a bipedal mobile robot equipped with a projection module, such as Figures 1 to 3 As shown, the robot includes a main body 1, a two-wheeled legged movement mechanism 2, a projection module 3, a posture detection module, and a control module. The control module is electrically connected to the two-wheeled legged movement mechanism 2, the projection module 3, and the posture detection module. The two-wheeled legged movement mechanism 2 is mounted on the robot main body 1 and is used to move the robot main body 1 according to the control of the control module, and to adjust the posture of the robot main body 1 according to the control module. The projection module 3 is fixedly mounted on the top of the robot main body 1 and is used to project images according to the control module. The posture detection module is installed inside the robot main body 1 and is used to detect the posture parameters of the robot main body 1 and transmit the posture parameters to the control module. The control module is installed inside the robot main body 1 and is used to control the movement of the two-wheeled legged movement mechanism 2, receive the posture parameters transmitted by the posture detection module, control the two-wheeled legged movement mechanism 2 to adjust the posture of the robot main body 1 according to the posture parameters, and control the projection module 3 to project images. The robot also includes a communication module and a power supply module. The communication module is used to receive the user's position movement command and projection command, and transmit the position movement command and projection command to the control module. The control module is used to control the two-wheeled foot movement mechanism 2 to move to the target position according to the position movement command, and to control the projection module 3 to perform projection playback according to the projection command. The projection command includes the projection content, projection direction and projection mode. The power supply module is used to supply power to the two-wheeled foot movement mechanism 2, the projection module 3, the attitude detection module, the control module and the communication module.

[0022] In practice, the user can send position movement commands and projection commands to the communication module via a corresponding remote control terminal. The communication module transmits the position movement commands to the control module. The control module then controls the dual-wheeled mobile mechanism 2, carrying the robot body 1, to move to the target position according to the position movement commands. Simultaneously, the attitude detection module within the robot body 1 monitors the robot body 1's attitude parameters in real time, including angular velocity, pitch angle, roll angle, and yaw angle, and transmits these parameters to the control module. The control module then controls the dual-wheeled mobile mechanism 2 to adjust the robot body 1's attitude, including body height and pitch angle, so that the fixedly installed projection module 3 achieves the target projection attitude. At this point, the robot enters a stable projection state, and the control module begins to control the projection module 3 to perform projection playback according to the projection commands. The projection commands can include the projection content, projection direction, and projection mode. During projection, the control module continuously monitors the robot body 1's attitude changes through the attitude parameters transmitted by the attitude detection module and performs corresponding attitude fine-tuning and projection correction. After projection ends, the control module exits the projection mode and enters standby mode or controls the robot to move to the next target position. The power supply module can use a unified battery pack for power supply, and set up a drive power supply branch and a projection power supply branch to ensure stable power supply when the robot is moving and when it is projecting.

[0023] The dual-wheeled movement mechanism 2 includes two sets of symmetrically mounted movement adjustment mechanisms on both sides of the robot body 1. Each movement adjustment mechanism includes a body link 21, a joint motor link 22, a hub motor link 23, a joint drive motor 24, a hub motor 25, and a drive wheel 26. One end of the body link 21 is rotatably connected to the robot body 1, and the other end is rotatably connected to the hub motor link 23. The other end of the hub motor link 23 is connected to the hub motor 25. The hub motor 25 is mounted on the hub of the drive wheel 26 and electrically connected to the control module (e.g., via a CAN bus) to drive the drive wheel 26 to rotate according to the control of the control module. The joint drive motor 24 is mounted on the robot body 1. One end of the joint motor link 22 is connected to the joint drive motor 24, and the other end is rotatably connected to the arm of the hub motor link 23. The joint drive motor 24 is electrically connected to the control module (e.g., via a CAN bus) to drive the joint motor link 22 to rotate according to the control of the control module.

[0024] When the robot needs to move, the control module can control the two hub motors 25 of the dual-wheeled leg movement mechanism 2 to operate. The hub motors 25 drive the drive wheels 26 to rotate, thereby carrying the robot body 1 to move. When the height and posture of the robot body 1 need to be adjusted, the control module can control the two joint drive motors 24 of the dual-wheeled leg movement mechanism 2 to operate. The joint drive motors 24 drive the joint motor connecting rods 22 to rotate. When the joint motor connecting rods 22 rotate, they pull the hub motor connecting rods 23, causing the hub motor connecting rods 23 and the body connecting rods 21 connected to the hub motor connecting rods 23 to rotate synchronously, thereby realizing the adjustment of the posture and height of the robot body 1. In this way, the dual-wheeled leg movement mechanism 2 can both drive the robot to move quickly on flat ground and change the height and posture of the robot body 1 by adjusting the leg posture. During the projection preparation stage, the dual-wheeled leg movement mechanism 2 completes the fine adjustment of the robot's body posture, so that the fixedly installed projection module 3 can obtain a suitable projection angle.

[0025] The projection module 3 can be mounted on the top of the robot body 1 via a fixed bracket, allowing the projection module 3 to switch working postures without relying on an independent multi-degree-of-freedom active gimbal. The fixed bracket can be a 3D printed bracket. The projection module 3 can be an LCOS (Liquid Crystal on Silicon) micro-display projection module, including an optical engine, a light source driving circuit, an image processing circuit, and a lens assembly, etc., and is connected to the control module via a UART serial port.

[0026] The attitude detection module includes an inertial measurement unit (IMU), which can collect the attitude parameters of the robot body 1, including pitch angle, roll angle, yaw angle and corresponding angular velocity information. The control module determines whether the robot is in a stable attitude suitable for projection based on the data output by the inertial measurement unit, and controls the two-wheeled foot movement mechanism 2 to adjust and compensate when the attitude deviation exceeds the threshold.

[0027] The robot body 1 serves as the supporting foundation for mounting the dual-wheeled mobile mechanism 2, projection module 3, etc. The main frame is preferably made of aluminum alloy to balance structural strength and lightweight design. The control module, which can be a microcontroller (MCU), acts as the core of the entire robot's decision-making process and connects to the dual-wheeled mobile mechanism 2, projection module 3, attitude detection module, power supply module, and communication module. In mobile mode, the control module controls the dual-wheeled mobile mechanism 2 to move the robot to the target position. In projection mode, the control module controls the dual-wheeled mobile mechanism 2 to adjust the height and pitch of the robot body 1, ensuring the fixedly mounted projection module 3 faces the target projection surface. Once the target attitude is achieved, the control module activates the projection module 3 to project. If the control module detects attitude or position deviations during projection, it compensates and corrects for these deviations to maintain the projection effect.

[0028] Finally, it should be noted that the above description is merely a preferred embodiment of the present invention and is not intended to limit the scope of protection of the present invention. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of the present invention should be included within the scope of protection of the present invention.

Claims

1. A bipedal mobile robot equipped with a projection module, characterized in that, The system includes a robot body (1), a two-wheeled leg movement mechanism (2), a projection module (3), a posture detection module, and a control module. The control module is electrically connected to the two-wheeled leg movement mechanism (2), the projection module (3), and the posture detection module. The two-wheeled leg movement mechanism (2) is installed on the robot body (1) and is used to carry the robot body (1) to move according to the control of the control module, and to adjust the posture of the robot body (1) according to the control of the control module. The projection module (3) is fixedly installed on the top of the robot body (1) and is used to project and play according to the control of the control module. The posture detection module is installed inside the robot body (1) and is used to detect the posture parameters of the robot body (1) and transmit the posture parameters to the control module. The control module is installed inside the robot body (1) and is used to control the movement of the two-wheeled leg movement mechanism (2), receive the posture parameters transmitted by the posture detection module, control the two-wheeled leg movement mechanism (2) to adjust the posture of the robot body (1) according to the posture parameters, and control the projection module (3) to project and play.

2. The bipedal mobile robot equipped with a projection module according to claim 1, characterized in that, The dual-wheeled movement mechanism (2) includes two sets of symmetrically mounted movement adjustment mechanisms on the robot body (1). The movement adjustment mechanism includes a body link (21), a joint motor link (22), a hub motor link (23), a joint drive motor (24), a hub motor (25), and a drive wheel (26). One end of the body link (21) is rotatably connected to the robot body (1), and the other end is rotatably connected to the hub motor link (23). The other end of the hub motor link (23) is connected to the hub motor (25). The hub motor (25) is mounted on the hub of the drive wheel (26) and electrically connected to the control module. It is used to drive the drive wheel (26) to rotate according to the control of the control module. The joint drive motor (24) is mounted on the robot body (1). One end of the joint motor link (22) is connected to the joint drive motor (24), and the other end is rotatably connected to the arm of the hub motor link (23). The joint drive motor (24) is electrically connected to the control module and is used to drive the joint motor link (22) to rotate according to the control of the control module.

3. A bipedal mobile robot equipped with a projection module according to claim 1, characterized in that, The robot also includes a communication module, which is used to receive the user's position movement command and projection command, and transmit the position movement command and projection command to the control module. The control module is used to control the dual-wheeled foot movement mechanism (2) to move to the target position according to the position movement command, and to control the projection module (3) to perform projection playback according to the projection command.

4. A bipedal mobile robot equipped with a projection module according to claim 3, characterized in that, The projection command includes the projection content, projection direction, and projection mode.

5. A bipedal mobile robot equipped with a projection module according to claim 3, characterized in that, The robot also includes a power supply module, which provides power to the dual-wheeled foot movement mechanism (2), projection module (3), posture detection module, control module and communication module.

6. A bipedal mobile robot equipped with a projection module according to claim 1, characterized in that, The projection module (3) adopts the LCOS micro-display projection module.

7. A bipedal mobile robot equipped with a projection module according to claim 1, characterized in that, The attitude detection module includes an inertial measurement unit.

8. A bipedal mobile robot equipped with a projection module according to claim 7, characterized in that, The attitude parameters include pitch angle, roll angle, and yaw angle.

9. A bipedal mobile robot equipped with a projection module according to claim 1, characterized in that, The control module includes a microcontroller.

10. A bipedal mobile robot equipped with a projection module according to claim 1, characterized in that, The robot body (1) is made of aluminum alloy.

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