Accurate tracing search robot

Abstract

The utility model discloses an accurate tracing search robot which comprises a tracing walking mechanism and a search execution mechanism. The search execution mechanism comprises a grabbing mechanism and a visual identification module; the grabbing mechanism comprises a terminal clamp and a manipulator; the manipulator comprises a first-stage rotary joint, a second-stage rotary joint and a third-stage rotary joint, and the second-stage rotary joint and the third-stage rotary joint are arranged on one side of a first-stage swing arm of the first-stage rotary joint; the rotation plane of the second-stage rotation joint is parallel to the rotation plane of the first-stage rotation joint, and the rotation plane of the third-stage rotation joint is perpendicular to the rotation plane of the first-stage rotation joint. The visual identification module comprises a first-level visual identification module and a second-level visual identification module, and the second-level visual identification module is arranged on the other side of the first-level swing arm of the first-level rotary joint. The accurate tracing search robot not only can be close to a target for observation, but also can grab the target for inspection, and is relatively accurate.

Description

Technical Field

[0001] The utility model relates to a robot, in particular to an accurate tracking and searching robot. Background Art

[0002] With the development of science and technology and the progress of society, the use of intelligent robots is becoming more and more frequent in various fields, such as military, transportation and service industries. In some dangerous environments, intelligent robots can replace human labor to identify various information, and then plan routes and return intelligently, greatly improving the safety of the identification process; for modern urban traffic, intelligent robots can better identify traffic lights to avoid various traffic accidents caused by the inability to identify red lights. Therefore, intelligent robots will become a major trend in the fields of rescue missions, reconnaissance operations, and intelligent transportation in the future.

[0003] When searching for a target, existing robots will first approach a suspected object, then use visual recognition tools to identify the suspected object, and then determine whether the suspected object is the target. Although this can search for the correct target to a certain extent, it still has the following defects:

[0004] Since the target is generally fixed at a specific position, the robot only approaches the target for observation and fails to grab the target for inspection. This is not accurate enough and is prone to misjudgment. Utility Model Content

[0005] The purpose of the utility model is to overcome the above-mentioned problems and provide a precise tracking and searching robot. The precise tracking and searching robot not only approaches the target for observation, but also grabs the target for inspection, which is more accurate and less prone to misjudgment.

[0006] The purpose of the utility model is achieved through the following technical solutions:

[0007] A precise tracking and searching robot comprises a tracking walking mechanism and a searching execution mechanism arranged on the tracking walking mechanism;

[0008] The search execution mechanism includes a grasping mechanism and a visual recognition module; the grasping mechanism includes a terminal fixture for grasping materials and a manipulator for driving the terminal fixture to move in space; the manipulator includes a primary swivel joint, a secondary swivel joint and a tertiary swivel joint, and the secondary swivel joint and the tertiary swivel joint are arranged on one side of the primary swing arm of the primary swivel joint; the swivel plane of the secondary swivel joint is parallel to the swivel plane of the primary swivel joint, and the swivel plane of the tertiary swivel joint is perpendicular to the swivel plane of the primary swivel joint; the terminal fixture is arranged on the tertiary swivel joint;

[0009] The visual recognition module includes a primary visual recognition module and a secondary visual recognition module. The primary visual recognition module is arranged at the front end of the tracking walking mechanism; the secondary visual recognition module is arranged on the other side of the primary swing arm of the primary rotary joint; the primary visual recognition module and the secondary visual recognition module are electrically connected to the processor.

[0010] The working principle of the above-mentioned precise tracking and searching robot is as follows:

[0011] When working, the search actuator is carried by the tracking walking mechanism to move, and the first-level visual recognition module is used to identify the object in front of the path. If an object suspected to be the target is found, the search actuator will stop after approaching the object; the terminal fixture on one side is driven by the manipulator to approach the object, and the terminal fixture is grasped by the terminal fixture, and then the terminal fixture is driven by the manipulator to approach the front of the second-level visual recognition module on the other side, and the second-level visual recognition module performs image recognition of the object at close range. This operation method is more accurate and less prone to errors. If the object matches the target's features, the target is moved to the specified position. If the object does not match the target's features, the object is put down and the search for the target continues.

[0012] In a preferred embodiment of the utility model, the tracking walking mechanism comprises a vehicle frame, walking wheels, a walking drive mechanism and a navigation module, and the walking wheels are rotatably connected to the vehicle frame and connected to the walking drive mechanism.

[0013] Furthermore, the navigation module is arranged on the vehicle frame, and the navigation module comprises a laser tracking board, on which a tracking laser transmitter and a tracking laser receiver are arranged.

[0014] Furthermore, the laser tracking plates are provided in two groups and are respectively arranged at the front end and the rear end of the frame; each group of laser tracking plates includes two laser tracking plates. By setting up a double-head structure, not only can the front and back be tracked at the same time to ensure a more accurate walking track, but also when returning, there is no need to turn around, which is quite clever.

[0015] Furthermore, the travel drive mechanism includes a travel drive motor, which is arranged on the frame and connected to at least one set of travel wheels.

[0016] In a preferred embodiment of the utility model, the terminal clamp includes a gripper and a grabbing drive mechanism; the gripper is provided with two and relatively rotatably connected to a three-stage swing arm of a three-stage rotary joint;

[0017] The grabbing drive mechanism comprises a grabbing drive motor and a synchronous gear set, wherein the grabbing drive motor is fixedly arranged on the three-stage swing arm of the three-stage rotary joint, and the output shaft of the grabbing drive motor is connected to one of the gripping claws;

[0018] The synchronous gear set includes two synchronous gears, which are respectively fixed at the ends of the two claws and mesh with each other.

[0019] In a preferred embodiment of the utility model, a visual recognition adjustment structure is provided on the other side of the primary swing arm of the primary swivel joint, and the visual recognition adjustment structure includes an adjustment drive motor and a mounting plate, wherein the adjustment drive motor is arranged on the primary swing arm, and the output shaft of the adjustment drive motor is connected to the mounting plate; the secondary visual recognition module is arranged on the mounting plate. Through the above structure, the posture of the secondary visual recognition module can be adjusted to adapt to different occasions.

[0020] In a preferred embodiment of the utility model, the first-level visual recognition module is provided with two groups, one of which is arranged at the front end of the tracking walking mechanism, and the other is arranged at the rear end of the tracking walking mechanism.

[0021] Compared with the prior art, the utility model has the following beneficial effects:

[0022] The precise tracking and searching robot of the utility model searches for suspected objects by means of a primary visual recognition module. After discovering and approaching the suspected object, the suspected object is grasped in front of a secondary visual recognition module, and the secondary visual recognition module performs image recognition of the object at a close distance, which is relatively accurate and less prone to misjudgment. BRIEF DESCRIPTION OF THE DRAWINGS

[0023] Figure 1-2 The three-dimensional structure diagrams of the precise tracking and searching robot of the utility model are shown in two different perspectives. DETAILED DESCRIPTION

[0024] In order to enable those skilled in the art to better understand the technical solution of the utility model, the utility model is further described below in conjunction with embodiments and drawings, but the implementation methods of the utility model are not limited thereto.

[0025] See also Figure 1-2 The precise tracking and searching robot of this embodiment includes a tracking walking mechanism and a searching execution mechanism arranged on the tracking walking mechanism; wherein, the tracking walking mechanism includes a frame 1, walking wheels 2, a walking driving mechanism and a navigation module, and the walking wheels 2 are rotatably connected to the frame 1 and connected to the walking driving mechanism.

[0026] Furthermore, the navigation module is arranged on the frame 1, including a laser tracking module, an IO expansion chip, a nine-axis gyroscope module, an OpenMV vision module and an infrared diffuse reflection obstacle avoidance module.

[0027] See also Figure 1-2The laser tracking module includes a laser tracking board 3, on which a tracking laser transmitter and a tracking laser receiver are provided; specifically, other structures of the navigation module of this embodiment may refer to the prior art.

[0028] Furthermore, the laser tracking plates 3 are provided in two groups and are respectively arranged at the front end and the rear end of the frame 1; each group of laser tracking plates 3 includes two laser tracking plates 3. By setting a double-head structure, not only can the front and back be tracked at the same time to ensure a more accurate walking track, but also when returning, there is no need to turn around, which is quite clever.

[0029] Furthermore, the nine-axis gyroscope module is composed of the ATK-IMU901 angle sensor and its surrounding circuits, which can return the robot's attitude angle relative to the power-on state at a frequency of 200Hz. It mainly serves the turning and uphill and downhill detection of specified angles, and also has the functions of air pressure, temperature, and acceleration measurement.

[0030] Furthermore, the OpenMV visual module is composed of an OpenMV visual sensor, which is mainly used to identify the status of traffic lights. It has an independent system inside, and the program is written in Python. It can call different functions according to actual conditions, including object recognition.

[0031] Furthermore, the infrared diffuse reflection obstacle avoidance module is composed of a plurality of infrared sensors distributed throughout the entire machine, and can monitor multi-angle spaces including the front, rear, and bottom; at the same time, by utilizing the infrared detection characteristics, it can also perform a simple detection of the color depth of the road surface below.

[0032] See also Figure 1-2 The travel drive mechanism includes a travel drive motor, which is arranged on the frame 1 and connected to at least one set of travel wheels 2.

[0033] See also Figure 1-2 , the search execution mechanism includes a grasping mechanism and a visual recognition module; the grasping mechanism includes a terminal clamp for grasping materials and a manipulator for driving the terminal clamp to move in space; the manipulator includes a primary swivel joint 4, a secondary swivel joint 5 and a tertiary swivel joint 6, and the secondary swivel joint 5 and the tertiary swivel joint 6 are arranged on one side of the primary swing arm of the primary swivel joint 4; the swivel plane of the secondary swivel joint 5 is parallel to the swivel plane of the primary swivel joint 4, and the swivel plane of the tertiary swivel joint 6 is perpendicular to the swivel plane of the primary swivel joint 4; the terminal clamp is arranged on the tertiary swivel joint 6; specifically, other structures of the manipulator of this embodiment can refer to the prior art.

[0034] See also Figure 1-2The terminal clamp includes a claw 7 and a grasping drive mechanism; the claw 7 is provided with two claws and is relatively rotatably connected to the three-stage swing arm of the three-stage rotary joint 6; the grasping drive mechanism includes a grasping drive motor 8 and a synchronous gear set, the grasping drive motor 8 is fixedly arranged on the three-stage swing arm of the three-stage rotary joint 6, and the output shaft of the grasping drive motor 8 is connected to one of the claws 7; the synchronous gear set includes two synchronous gears, and the two synchronous gears are respectively fixedly arranged at the ends of the two claws 7 and mesh with each other.

[0035] See also Figure 1-2 The visual recognition module includes a primary visual recognition module 9 and a secondary visual recognition module 10. The primary visual recognition module 9 is provided with two groups, one of which is arranged at the front end of the tracking walking mechanism, and the other is arranged at the rear end of the tracking walking mechanism; the secondary visual recognition module 10 is arranged at the other side of the primary swing arm of the primary swivel joint 4; the primary visual recognition module 9 and the secondary visual recognition module 10 are electrically connected to the processor. Specifically, the primary visual recognition module 9 and the secondary visual recognition module 10 of this embodiment both use cameras.

[0036] See also Figure 1-2 The other side of the primary swing arm of the primary swivel joint 4 is provided with a visual recognition adjustment structure, which includes an adjustment drive motor 11 and a mounting plate 12. The adjustment drive motor 11 is arranged on the primary swing arm, and the output shaft of the adjustment drive motor 11 is connected to the mounting plate 12; the secondary visual recognition module 10 is arranged on the mounting plate 12. Through the above structure, the posture of the secondary visual recognition module 10 can be adjusted to adapt to different occasions.

[0037] See also Figure 1-2 The working principle of the precise tracking and searching robot of this embodiment is as follows:

[0038] When working, the search actuator is carried by the tracking walking mechanism to move, and the primary visual recognition module 9 identifies the object in front of the path. If an object suspected to be the target is found, the search actuator stops after approaching the object; the terminal fixture on one side is driven by the manipulator to approach the object, and the terminal fixture is grasped by the terminal fixture, and then the terminal fixture is driven by the manipulator to approach the front of the secondary visual recognition module 10 on the other side, and the secondary visual recognition module 10 performs image recognition of the object at close range. This operation method is more accurate and less prone to omission. If the object matches the characteristics of the target, the target is moved to the specified position. If the object does not match the characteristics of the target, the object is put down and the search for the target continues.

[0039] The above is a preferred implementation mode of the present invention, but the implementation mode of the present invention is not limited by the above content. Any other changes, modifications, substitutions, combinations, and simplifications made without departing from the spirit and principle of the present invention should be equivalent replacement methods and are included in the protection scope of the present invention.

Claims

1. A precise tracking and searching robot, characterized in that: It includes a tracking walking mechanism and a searching execution mechanism arranged on the tracking walking mechanism; The search execution mechanism includes a grasping mechanism and a visual recognition module; the grasping mechanism includes a terminal fixture for grasping materials and a manipulator for driving the terminal fixture to move in space; the manipulator includes a primary swivel joint, a secondary swivel joint and a tertiary swivel joint, and the secondary swivel joint and the tertiary swivel joint are arranged on one side of the primary swing arm of the primary swivel joint; the swivel plane of the secondary swivel joint is parallel to the swivel plane of the primary swivel joint, and the swivel plane of the tertiary swivel joint is perpendicular to the swivel plane of the primary swivel joint; the terminal fixture is arranged on the tertiary swivel joint; The visual recognition module includes a primary visual recognition module and a secondary visual recognition module, and the primary visual recognition module is arranged at the front end of the tracking walking mechanism; The secondary visual recognition module is arranged on the other side of the primary swing arm of the primary rotary joint; the primary visual recognition module and the secondary visual recognition module are electrically connected to the processor.

2. The precise tracking and searching robot according to claim 1, characterized in that: The tracking walking mechanism comprises a vehicle frame, walking wheels, a walking driving mechanism and a navigation module, wherein the walking wheels are rotatably connected to the vehicle frame and connected to the walking driving mechanism.

3. The precise tracking and searching robot according to claim 2, characterized in that: The navigation module is arranged on the vehicle frame and comprises a laser tracking board on which a tracking laser transmitter and a tracking laser receiver are arranged.

4. The precise tracking and searching robot according to claim 3, characterized in that: The laser tracking plates are provided in two groups and are respectively arranged at the front end and the rear end of the frame; each group of laser tracking plates includes two laser tracking plates.

5. The precise tracking and searching robot according to claim 1, characterized in that: The terminal clamp comprises a gripper and a gripping drive mechanism; the gripper is provided with two and is relatively rotatably connected to a three-stage swing arm of a three-stage rotary joint; The grabbing drive mechanism comprises a grabbing drive motor and a synchronous gear set, wherein the grabbing drive motor is fixedly arranged on the three-stage swing arm of the three-stage rotary joint, and the output shaft of the grabbing drive motor is connected to one of the gripping claws; The synchronous gear set includes two synchronous gears, which are respectively fixed at the ends of the two claws and mesh with each other.

6. The precise tracking and searching robot according to claim 1, characterized in that: A visual recognition adjustment structure is provided on the other side of the first-level swing arm of the first-level rotary joint, and the visual recognition adjustment structure includes an adjustment drive motor and a mounting plate. The adjustment drive motor is arranged on the first-level swing arm, and the output shaft of the adjustment drive motor is connected to the mounting plate; the second-level visual recognition module is arranged on the mounting plate.

7. The precise tracking and searching robot according to claim 1, characterized in that: The first-level visual recognition module is provided with two groups, one of which is arranged at the front end of the tracking walking mechanism, and the other is arranged at the rear end of the tracking walking mechanism.

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