Wheeled robot

Abstract

The utility model relates to a wheeled robot which comprises a robot body, a top tray located above the robot body and a base located below the robot body, and the top tray is provided with a depth camera module used for object and space three-dimensional recognition. Three Mecanum wheels and three motors for independently driving the Mecanum wheels are uniformly distributed on the base; the robot body is provided with a mainboard integrated control module and a detachable battery module. The method can effectively guarantee the positioning precision and operation stability of the robot.

Description

Technical Field

[0001] The present application relates to the field of robotics technology, and in particular, to a wheeled robot. Background Art

[0002] Existing shopping robots are not good at navigation and stability in complex environments, especially in crowded shopping malls. In addition, these robots are still limited in terms of intelligence, such as autonomous navigation, product recognition, and user interaction. These limitations lead to low practicality and efficiency of robots, which cannot meet the growing demand for intelligent and automated shopping.

[0003] For example, patent CN208834435U provides a system including a home shopping robot equipped with a cabin for loading items and three positioning trackers. Although its design focuses on item loading and positioning capabilities, the positioning system that relies on Bluetooth and trackers is easily disturbed in complex environments such as shopping malls, resulting in inaccurate positioning. In addition, although the walking mechanism at the bottom covers a variety of wheels, it may face challenges in stability and flexibility in actual applications, especially when turning and avoiding obstacles.

[0004] Another example is patent application CN108284451A, which shows a shopping robot with a touch screen and a robot hand. The design receives user instructions through the touch screen, can transport consumers and assist in the selection of goods, thereby improving shopping comfort. However, this design mainly focuses on the user interface and the mechanical functions of the arm, and does not contribute much to the robot's autonomous navigation and intelligent shopping experience. In addition, it relies on a simple chassis walking mechanism, which may limit the robot's movement flexibility and stability in a busy environment.

[0005] In summary, although existing shopping robot technologies have achieved the functions of automation and interaction with users to a certain extent, they still have obvious deficiencies in terms of intelligence level, positioning accuracy, stability and adaptability. These defects limit the potential of robots in contactless shopping and efficient services. Therefore, it is necessary to develop a new type of shopping robot that can provide a higher level of intelligent services in a complex shopping mall environment while ensuring high efficiency and high stability of operation. Summary of the invention

[0006] The present application provides a wheeled robot that can ensure the positioning accuracy and operation stability of the robot, can achieve precise autonomous navigation and commodity identification, and can maintain high-efficiency operation even in crowded or complex shopping mall layouts.

[0007] The present application provides a wheeled robot, comprising a robot body, a top plate located above the robot body, and a base located below the robot body, wherein:

[0008] A depth camera module for three-dimensional recognition of objects and spaces is provided on the top plate;

[0009] The base is evenly provided with three Mecanum wheels and three motors for independently driving the Mecanum wheels;

[0010] The robot body is equipped with a mainboard integrated control module and a detachable battery module.

[0011] The above wheeled robot also has the following characteristics:

[0012] The depth camera module includes at least two of the following: a visual camera, a lidar, a depth camera, and an inertial measurement unit.

[0013] The above wheeled robot also has the following characteristics:

[0014] The depth camera module also includes machine learning components, time synchronization components to provide data fusion accuracy, and redundant design components to improve system robustness.

[0015] The above wheeled robot also has the following characteristics:

[0016] The top plate is set to be a regular dodecagonal top plate.

[0017] The above wheeled robot also has the following characteristics:

[0018] A mounting platform is provided on the top plate to support the physical integration of the depth camera module.

[0019] The above wheeled robot also has the following characteristics:

[0020] The base is also provided with a suspension system supporting automatic adjustment, and the Mecanum wheels are connected to the suspension system.

[0021] The above wheeled robot also has the following characteristics:

[0022] Each Mecanum wheel is equipped with an independent speed sensor and torque sensor.

[0023] The above wheeled robot also has the following characteristics:

[0024] A quick plug-in connection mechanism is provided between the Mecanum wheel and the base.

[0025] The above wheeled robot also has the following characteristics:

[0026] The suspension system is equipped with integrated sensors to monitor tire condition and road grip.

[0027] The above wheeled robot also has the following characteristics:

[0028] The internal structure of the Mecanum wheel is provided with a material or coating that supports self-lubrication.

[0029] Compared with the prior art, the wheeled robot of the present application is provided with a depth camera module for three-dimensional recognition of objects and space on the top plate; three Mecanum wheels are evenly distributed on the base, and three motors for independently driving the Mecanum wheels are provided; the robot body is provided with a mainboard integrated control module, and a detachable battery module; the wheeled robot of the present application can effectively improve the positioning accuracy and operation stability of the robot, can realize accurate autonomous navigation and commodity recognition, and can maintain high-efficiency operation even in crowded or complex shopping mall layouts.

[0030] Other features and advantages of the present application will be described in the following description, and partly become apparent from the description, or be understood by implementing the present application. Other advantages of the present application can be realized and obtained by the schemes described in the description and the drawings. BRIEF DESCRIPTION OF THE DRAWINGS

[0031] The accompanying drawings are used to provide an understanding of the technical solution of the present application and constitute a part of the specification. Together with the embodiments of the present application, they are used to explain the technical solution of the present application and do not constitute a limitation on the technical solution of the present application.

[0032] Figure 1 This is a schematic diagram of the base structure of an embodiment of the present application;

[0033] Figure 2 This is a schematic diagram of the top plate structure of an embodiment of the present application;

[0034] Explanation of reference numerals: 1-base, 2-Mecanum wheel, 3-top plate, 4-depth camera module. DETAILED DESCRIPTION

[0035] The present application describes multiple embodiments, but the description is exemplary rather than restrictive, and it is obvious to those skilled in the art that there may be more embodiments and implementations within the scope of the embodiments described in the present application. Although many possible feature combinations are shown in the drawings and discussed in the specific embodiments, many other combinations of the disclosed features are possible. Unless specifically limited, any feature or element of any embodiment may be used in combination with any other feature or element in any other embodiment, or may replace any other feature or element in any other embodiment.

[0036] The present application includes and contemplates combinations of features and elements known to those of ordinary skill in the art. The embodiments, features, and elements disclosed in the present application may also be combined with any conventional features or elements to form a unique technical solution defined by the claims. Any features or elements of any embodiment may also be combined with features or elements from other technical solutions to form another unique technical solution defined by the claims. Therefore, it should be understood that any feature shown and / or discussed in the present application may be implemented individually or in any appropriate combination. Therefore, except for the limitations made according to the attached claims and their equivalents, the embodiments are not subject to other restrictions. In addition, various modifications and changes may be made within the scope of protection of the attached claims.

[0037] Combination Figure 1 , Figure 2 As shown, the embodiment of the present application provides a wheeled robot, including a robot body, a top plate 3 located above the robot body, and a base 1 located below the robot body. The top plate 3 is provided with a depth camera module 4 for three-dimensional recognition of objects and space; the base 1 is evenly provided with three Mecanum wheels 2 and three motors for independently driving the Mecanum wheels 2; the robot body is provided with a Raspberry Pi motherboard integrated control module and a detachable battery module.

[0038] In the structural design of the wheeled robot, the depth camera module 4 on the top plate 3 is one of the core functions of the robot, which is used for three-dimensional recognition of objects and space. This enables the robot to accurately identify and locate objects in complex environments, providing strong technical support for shopping guide services and commodity handling; it can improve the robot's navigation ability and commodity recognition accuracy in complex environments, especially under changing lighting and spatial layout conditions; the three Mecanum wheels 2 evenly distributed on the base 1 and the independent drive motor provide a full range of mobility, which allows the robot to easily cope with narrow and crowded shopping mall environments; it can improve the robot's maneuverability and flexibility in narrow spaces, allowing complex movement and positioning operations; in addition, in the design of the Raspberry Pi motherboard integrated control module and the detachable battery module, the Raspberry Pi motherboard integrated control module provides the robot with a high degree of programmability and flexibility, and the detachable battery module ensures the robot's ability to work continuously for a long time; it can ensure the robot's upgradeability and energy efficiency, while reducing the overall cost.

[0039] In an exemplary embodiment, the depth camera module 4 includes at least two of the following components: a visual camera, a laser radar, a depth camera, and an inertial measurement unit. In this embodiment, the depth camera module 4 includes a visual camera, a laser radar (LiDAR), a depth camera, and an inertial measurement unit (IMU). This multi-sensor configuration enables the robot to achieve high-precision three-dimensional recognition and navigation in a complex environment. By combining different types of sensors, the depth camera module 4 can capture environmental information more accurately, improving the accuracy of object recognition and spatial perception. Furthermore, the configuration can also be adjusted according to specific application requirements, such as adding more visual cameras or using different types of depth cameras to provide a wider field of view and higher recognition accuracy.

[0040] In the application scenario, for example, the Kinect depth camera is integrated into the top plate design to improve the robot's three-dimensional recognition ability of objects and space. It can accurately capture and analyze objects in the environment, such as goods, obstacles, and people; while providing high-resolution images, the Kinect depth camera can also perform accurate depth perception, thereby significantly enhancing the robot's navigation and recognition capabilities in complex environments. Furthermore, the depth camera is not limited to Kinect, and other advanced depth camera systems can also be used, and even the data from different cameras can be combined for fusion processing to obtain more comprehensive environmental information.

[0041] In an exemplary embodiment, the depth camera module 4 further includes a machine learning component, a time synchronization component for providing data fusion accuracy, and a redundant design component for improving system robustness. Specific details for each component are as follows.

[0042] The machine learning component of the above-mentioned depth camera module 4 can use deep learning networks, such as convolutional neural networks (CNN), to analyze data collected from different sensors (visual cameras, lidar, etc.). The network is trained with a large amount of actual environment data to optimize the ability of feature extraction and pattern recognition. For example, in the task of commodity recognition, the machine learning component can identify and classify different commodities in the mall, and even distinguish between visually similar but actually different items; this component can also use algorithms such as transfer learning to quickly adapt to new environments or new types of commodities, thereby improving overall adaptability and flexibility.

[0043] The time synchronization component of the above-mentioned depth camera module 4 ensures that all sensor data have consistent timestamps by adopting precise clock synchronization technology, such as the Network Time Protocol (NTP) or the Precision Clock Synchronization Protocol (PTP); this component establishes a precise time synchronization mechanism between the depth camera module 4 and other sensors to ensure the timing consistency of the data during the fusion process; in the event of network delays or changes in sensor response time, the time synchronization component can be dynamically adjusted to ensure the accuracy of data synchronization.

[0044] The redundant design components of the depth camera module 4 include multiple sensor backups with the same functions, as well as software-level fault detection and switching mechanisms; when the main sensor fails, the system can automatically detect and switch to the backup sensor to ensure that the robot's functions are not affected. Furthermore, the component also includes a self-diagnosis function that can evaluate the performance and health status of each sensor and adjust the sensor usage strategy based on real-time diagnostic results.

[0045] In an exemplary embodiment, the top plate 3 is configured as a regular dodecagonal top plate. The top plate 3 is designed as a regular dodecagonal structure, which provides additional stability and symmetry in the structure. The regular dodecagonal top plate makes each side and corner of the top plate a potential installation point, which is convenient for installing additional modules or equipment, such as sensors, cameras or communication equipment. In addition, the design of the top plate takes into account the needs of modularity, allowing components to be easily added or removed to adapt to different functional requirements and application scenarios.

[0046] In specific applications, the above-mentioned regular dodecagonal design allows a variety of different modules to be integrated on the top plate 3, such as depth cameras, lidars, environmental monitoring sensors, etc., to provide a wider range of functions and better services. By integrating a variety of modules on the regular dodecagonal top plate, the robot is able to perform more complex tasks, such as environmental monitoring, spatial analysis, customer interaction, etc. Furthermore, the design of the top plate 3 can be further customized according to specific tasks, such as integrating high-precision inventory management sensors for warehouse work, or adding emergency response equipment for medical scenarios. The structure of the above-mentioned regular dodecagonal top plate not only ensures the stability of the robot in motion, but its symmetry also optimizes the balanced distribution of equipment in space. The structural stability and symmetry make the robot more stable when moving, reducing shaking or tilting caused by uneven weight distribution.

[0047] In an exemplary embodiment, a mounting platform for supporting the physical integration of the depth camera module 4 is provided on the top plate 3. In specific applications, the robot top plate includes a multi-layer sensor mounting platform for supporting the physical integration of the depth camera module 4 and other sensors; the platform enables the physical position relationship between the sensors to be fixed and stabilized, optimizes the relative layout of the sensors, and reduces interference and positioning errors between the sensors; this design simplifies the spatial calibration requirements in the data fusion process and improves the positioning and recognition accuracy. Furthermore, the above platform design is adjustable, allowing the user to adjust the viewing angle and coverage of the sensor according to different application scenarios.

[0048] In addition, the robot top plate is equipped with an innovative sensor quick-change system, which allows sensors to be easily and quickly replaced or upgraded; this system allows sensors to be replaced without professional tools or technicians, improving the robot's maintenance efficiency; it can reduce the robot's downtime and make it possible to adjust the sensor configuration on site. Furthermore, this system can be further integrated into the robot's automatic maintenance station to achieve automatic inspection and replacement of sensors.

[0049] In an exemplary embodiment, the robot also includes a sensor energy management system for optimizing the power consumption of the sensor; the system reduces overall energy consumption while maintaining sensor performance by precisely controlling the energy use of the sensor; it can extend the robot's battery life, especially in long-running tasks; further, the energy management system can be intelligently adjusted according to the robot's task requirements and remaining power to optimize energy distribution. In specific operations, the above-mentioned sensor energy management system includes a heat dissipation device, which can use a liquid cooling system or a fan to achieve the heat dissipation function. The heat dissipation device can automatically adjust the heat dissipation efficiency according to the heat load of the sensor operation; it can effectively prevent the sensor from overheating due to long-term operation, ensuring its stability and performance. Furthermore, the design of the above-mentioned heat dissipation device can adapt to the ambient temperature and maintain the optimal operating temperature.

[0050] In an exemplary embodiment, the base 1 is also provided with a suspension system that supports automatic adjustment, and the Mecanum wheels 2 are connected to the suspension system. In this embodiment, the base 1 of the robot is equipped with an automatically adjustable suspension system, which is connected to three Mecanum wheels 2. The system can automatically adjust the contact pressure between each wheel and the ground and the rigidity of the suspension. The above suspension system includes advanced spring and shock absorber components, which can automatically adjust according to different ground conditions (such as potholes, inclined or sliding surfaces) and the robot's motion state (such as speed and direction changes). This automatic adjustment function maintains the optimal contact between the Mecanum wheels 2 and the ground, improves the operating stability of the robot on uneven ground, and reduces the vibration impact on internal components. In addition, the suspension system can integrate sensors, such as pressure and vibration sensors, to monitor the state and grip of the tires in real time, and automatically adjust to cope with ground changes, thereby improving safety and efficiency.

[0051] In an exemplary embodiment, the suspension system supports an automatic adjustment function, which can dynamically adjust the contact pressure of each wheel according to the load and running speed of the robot to ensure the best performance of the wheels under various speeds and loads; this enables the robot to remain stable when carrying goods or moving quickly among a crowd, preventing instability caused by center of gravity shift or speed change. Furthermore, this function can be further optimized to allow the robot to quickly adjust the suspension system when encountering emergencies (such as obstacle avoidance) to improve emergency response capabilities.

[0052] In an exemplary embodiment, the Mecanum wheel 2 is provided with an independent speed sensor and a torque sensor. In this embodiment, each Mecanum wheel 2 is equipped with an independent speed sensor and a torque sensor. These sensors are responsible for measuring the real-time speed of the wheel and the applied torque. In a specific application, the speed sensor can be a photoelectric encoder for accurately measuring the rotation speed of the wheel, and the torque sensor can be a strain gauge for measuring the force applied to the wheel. These sensors provide accurate real-time data for the robot's control system, ensuring that the speed of the wheel accurately matches the direction of movement of the robot, thereby achieving smoother and more accurate navigation. Furthermore, the collected sensor data can be used to train machine learning models that can automatically adjust the robot's motion strategy according to different ground conditions to improve its adaptability and efficiency.

[0053] In an exemplary embodiment, a quick-plug connection mechanism is provided between the Mecanum wheel 2 and the base 1. The quick-plug connection mechanism design between the Mecanum wheel 2 and the base 1 allows the wheel to be quickly and easily installed or removed without complex tools or professional techniques. The above-mentioned quick-plug mechanism includes a simple locking device, such as a spring lock or a twist lock, which allows the wheel to be quickly installed on the base 1 or removed from the base 1. This design simplifies the wheel replacement process, greatly reduces the maintenance and configuration time of the robot, and makes it more efficient and convenient to adapt to different ground conditions and application scenarios. Furthermore, the design of the base 1 can be compatible with various types of commercial wheels, and even supports the customization of special wheels through 3D printing technology to adapt to special ground conditions or specific functional requirements.

[0054] In addition, in an exemplary embodiment, a modular base 1 design may be supported. The base 1 of this embodiment is designed as a modular structure, so that the robot can quickly adapt to different application scenarios and ground conditions, and adjust the performance by replacing different types of wheel devices. The modular base 1 may include multiple interfaces and brackets to accommodate wheels of different specifications and functions. The modular base 1 improves the adaptability and versatility of the robot, enabling it to perform a variety of tasks in different environments. Furthermore, the modular design of the base 1 can be further combined with an intelligent diagnostic system, and when the wheels are worn or require special maintenance, the robot can automatically navigate to a service station for inspection or replacement.

[0055] In an exemplary embodiment, the suspension system is provided with integrated sensors for monitoring tire conditions and grip conditions. In this embodiment, the suspension system of the robot is equipped with integrated sensors for monitoring the tire condition and grip conditions of the Mecanum wheel 2. These sensors provide key real-time data to help the robot understand its interaction with the ground. The integrated sensors include pressure sensors, vibration sensors, and surface friction coefficient detection sensors for real-time monitoring of the tire's contact pressure, vibration level, and friction conditions with the ground. The data from these sensors can provide important information about tire wear, suspension system performance, and tire grip, which helps the robot maintain optimal operating conditions and safety. Further, the sensor data can be used to dynamically adjust the rigidity and damping of the suspension system to adapt to different loads and operating conditions, or provide guidance for preventive maintenance.

[0056] In addition, in an exemplary embodiment, a temperature monitoring sensor is integrated into the Mecanum wheel 2. In a specific application, the Mecanum wheel 2 includes a temperature monitoring sensor for real-time monitoring of the temperature of the wheel to prevent overheating problems caused by long-term operation or overload; the temperature sensor can be installed in key parts of the wheel, such as inside the motor or tire, to monitor potential overheating risks. By timely detecting and responding to overheating conditions, these sensors help prevent overheating of the robot system and maintain stable and safe operation. Furthermore, temperature data can be used to adjust the power output of the motor to avoid excessive wear and energy waste, thereby extending the service life of the wheel and motor and improving energy efficiency.

[0057] In an exemplary embodiment, the internal structure of the Mecanum wheel 2 is provided with a material or coating that supports self-lubrication. In a specific application, the above self-lubricating material is applied to the internal structure of the Mecanum wheel 2: the self-lubricating material used can be polytetrafluoroethylene (PTFE) or a graphite-based composite material. These materials are applied to the bearing and inner ring of the wheel. PTFE and graphite-based composite materials are selected for their low friction coefficient and high wear resistance, which effectively prolongs the service life of the internal structure of the wheel while maintaining the smooth operation of the wheel.

[0058] In addition, in an exemplary embodiment, there is also a composite material design of the Mecanum wheel rim: the composite material used in the rim can be carbon fiber reinforced polymer (CFRP). Due to its light weight and high strength, CFRP is very suitable for reducing the weight of the wheel and increasing durability; the application of the above CFRP makes the Mecanum wheel rim lighter and stronger, improving the handling efficiency and durability of the robot. Further, the Mecanum wheel tire can adopt a new composite rubber material: the new composite rubber material used in the tire can be a mixture of silica gel and nitrile rubber, to which silica or carbon black can be added as a filler to enhance grip and wear resistance. This mixture provides excellent wear resistance and grip, ensuring the stable driving of the robot under various road conditions. In addition, further research and development of tire materials can include adding microcapsule self-healing agents, so that the tire can automatically repair when slightly scratched to maintain optimal performance.

[0059] It will be appreciated by those skilled in the art that all or some of the steps, systems, and functional modules / units in the methods disclosed above may be implemented as software, firmware, hardware, and appropriate combinations thereof. In hardware implementations, the division between the functional modules / units mentioned in the above description does not necessarily correspond to the division of physical components; for example, a physical component may have multiple functions, or a function or step may be performed by several physical components in cooperation. Some or all components may be implemented as software executed by a processor, such as a digital signal processor or a microprocessor, or implemented as hardware, or implemented as an integrated circuit, such as an application-specific integrated circuit. Such software may be distributed on a computer-readable medium, which may include a computer storage medium (or non-transitory medium) and a communication medium (or transient medium). As is known to those skilled in the art, the term computer storage medium includes volatile and non-volatile, removable and non-removable media implemented in any method or technology for storing information, such as computer-readable instructions, data structures, program modules, or other data. Computer storage media include, but are not limited to, RAM, ROM, EEPROM, flash memory or other memory technology, CD-ROM, digital versatile disks (DVD) or other optical disk storage, magnetic cassettes, magnetic tapes, magnetic disk storage or other magnetic storage devices, or any other medium that can be used to store the desired information and can be accessed by a computer. In addition, it is well known to those skilled in the art that communication media typically contain computer-readable instructions, data structures, program modules, or other data in a modulated data signal such as a carrier wave or other transport mechanism, and may include any information delivery media.

Claims

1. A wheeled robot, comprising a robot body, a top plate located above the robot body, and a base located below the robot body, characterized in that: The top plate is configured as a regular dodecagonal top plate; a depth camera module for three-dimensional recognition of objects and space is disposed on the top plate; the depth camera module includes at least two of the following: a visual camera, a laser radar, a depth camera, and an inertial measurement unit; the depth camera module also includes a machine learning component, a time synchronization component for providing data fusion accuracy, and a redundant design component for improving system robustness; The base is evenly provided with three Mecanum wheels and three motors for independently driving the Mecanum wheels. The base is also provided with a suspension system supporting automatic adjustment. The Mecanum wheels are connected to the suspension system. Each Mecanum wheel is provided with an independent speed sensor and torque sensor. The suspension system is provided with an integrated sensor for monitoring tire conditions and grip conditions. The robot body is provided with a Raspberry Pi mainboard integrated control module and a detachable battery module.

2. The wheeled robot according to claim 1, characterized in that: The top plate is provided with a mounting platform for supporting the physical integration of the depth camera module.

3. The wheeled robot according to claim 1, characterized in that: A quick plug-in connection mechanism is provided between the Mecanum wheel and the base.

4. The wheeled robot according to claim 1, characterized in that: The internal structure of the Mecanum wheel is provided with a material or coating that supports self-lubrication.

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