Mobile robot

Abstract

The utility model discloses a mobile robot. The mobile robot comprises a robot body, a moving mechanism and an executing mechanism. The moving mechanism is arranged on one side of the robot body and used for driving the robot body to move along the ground. The executing mechanism is connected with the robot body, the tail end of the executing mechanism is detachably connected with the image collecting part, and the image collecting part is used for collecting images. The executing mechanism of the mobile robot can be driven to any position along with movement of the moving mechanism, the image collecting piece can conduct image collecting in the moving process or at a certain fixed position, the mobile robot can replace traditional handheld shooting to conduct mobile shooting, the manual shooting cost is reduced, and the shooting efficiency is improved. And the problem of poor shooting effect caused by manual shooting is reduced, and the efficiency of mobile shooting is improved.

Description

Technical Field

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

[0002] With the further development of automation control technology and artificial intelligence technology, mobile robots are able to provide smooth, high-speed and precise movement effects in a flat environment, allowing mobile robots to gradually enter various industries to improve people's quality of life through convenient services.

[0003] In the field of mobile shooting, users usually use handheld gimbals and other equipment to shoot, and the shooting effect is affected by the user, the labor cost is high, and the efficiency of mobile shooting is low. Therefore, there is an urgent need for a mobile robot that can perform mobile tracking shooting to replace handheld shooting and improve the efficiency of mobile shooting. Utility Model Content

[0004] In order to solve the technical problem of low efficiency of mobile shooting in the prior art, the present application provides a mobile robot.

[0005] In order to solve the technical problems existing in the prior art, the present application provides a mobile robot, which includes a robot body, a moving mechanism and an actuator. The moving mechanism is arranged on one side of the robot body, and is used to drive the robot body to move along the ground; the actuator is connected to the robot body, and the end of the actuator is detachably connected to an image acquisition component, and the image acquisition component is used to acquire images.

[0006] Optionally, the actuator includes a mechanical arm and a mounting component, the mechanical arm is connected to the robot body, the mounting component is connected to the end of the mechanical arm, and the mounting component is used to mount the image acquisition component.

[0007] Optionally, a magnetic attraction portion is provided on the mounting member, and the mounting member is magnetically connected to the robotic arm via the magnetic attraction portion.

[0008] Optionally, the image acquisition component includes a camera and a mobile terminal, and the mounting component is used to mount the camera or the mobile terminal; alternatively, the mounting component includes a first bracket and a second bracket, the first bracket is used to mount the camera, and the second bracket is used to mount the mobile terminal, and the first bracket and the second bracket are respectively detachably connected to the mechanical arm.

[0009] Optionally, the actuator is used to move relative to the robot body to adjust the position of the image acquisition component relative to the robot body.

[0010] Optionally, the actuator includes a base and a robotic arm, the base is disposed on the robot body, one end of the robotic arm is movably connected to the base, and the other end of the robotic arm is used for mounting the image acquisition component.

[0011] Optionally, the robotic arm comprises at least two sequentially connected extension arms, and two adjacent extension arms are movably connected.

[0012] Optionally, two adjacent extension arms are rotatably connected.

[0013] Optionally, the mobile robot further includes an adjustment mechanism, one end of which is connected to the mobile mechanism, and the other end of which is connected to the robot body, and the adjustment mechanism is used to adjust the angle and / or height between the robot body and the ground.

[0014] Optionally, the adjustment mechanism includes a driving member and a transmission member, one end of the transmission member is connected to the robot body through the driving member, and the other end of the transmission member is connected to the moving mechanism, and the driving member is used to drive the transmission member to move relative to the robot body to adjust the angle and / or height between the robot body and the ground.

[0015] Optionally, the moving mechanism includes a driving wheel and a driven wheel, the driving wheel is connected to the robot body via the adjustment mechanism, the driven wheel is arranged at the bottom of the robot body, the driving wheel and the driven wheel are used to contact the ground and perform wheeled movement, and the driven wheel is also used to contact the ground or lose contact with the ground as the angle and / or height between the robot body and the ground changes.

[0016] Compared with the prior art, the mobile robot of the present application includes a robot body, a moving mechanism, and an actuator; the moving mechanism is arranged on one side of the robot body, and is used to drive the robot body to move along the ground; the actuator is connected to the robot body, and the end of the actuator is detachably connected to the image acquisition component, and the image acquisition component is used to acquire images. The actuator of the mobile robot of the present application can be driven to any position as the moving mechanism moves, and the image acquisition component can acquire images during the movement or at a fixed position, so that the mobile robot can replace the traditional handheld shooting for mobile shooting, reduce the cost of manual shooting, and reduce the problem of poor shooting effect caused by manual shooting, and improve the efficiency of mobile shooting. BRIEF DESCRIPTION OF THE DRAWINGS

[0017] In order to more clearly illustrate the embodiments of the present application or the technical solutions in the prior art, the drawings required for use in the embodiments will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present application. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative work.

[0018] Figure 1 is a structural schematic diagram of a first embodiment of a mobile robot provided by the present application;

[0019] Figure 2 yes Figure 1 Exploded diagram of the structure of the actuator;

[0020] Figure 3 is a structural schematic diagram of a second embodiment of the mobile robot provided by the present application;

[0021] Figure 4 is a structural schematic diagram of a third embodiment of the mobile robot provided by the present application;

[0022] Figure 5 is a structural schematic diagram of a fourth embodiment of the mobile robot provided by the present application;

[0023] Figure 6 is a structural schematic diagram of a fifth embodiment of the mobile robot provided by the present application;

[0024] Figure 7 is a structural schematic diagram of a sixth embodiment of the mobile robot provided by the present application;

[0025] Figure 8 is a structural schematic diagram of a seventh embodiment of the mobile robot provided by the present application;

[0026] Fig. 9 It is a structural schematic diagram of the eighth embodiment of the mobile robot provided in the present application. DETAILED DESCRIPTION

[0027] The present application is further described in detail below in conjunction with the accompanying drawings and examples. It is particularly noted that the following examples are only used to illustrate the present application, but are not intended to limit the scope of the present application. Similarly, the following examples are only some embodiments of the present application rather than all embodiments, and all other embodiments obtained by those of ordinary skill in the art without making creative work are within the scope of protection of the present application.

[0028] Reference to "embodiments" herein means that a particular feature, structure, or characteristic described in conjunction with the embodiments may be included in at least one embodiment of the present application. The appearance of the phrase in various locations in the specification does not necessarily refer to the same embodiment, nor is it an independent or alternative embodiment that is mutually exclusive with other embodiments. It is explicitly and implicitly understood by those skilled in the art that the embodiments described herein may be combined with other embodiments.

[0029] In the description of this application, it should be noted that, unless otherwise clearly specified and limited, the terms "install", "set", "connected", and "connected" should be understood in a broad sense. For example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be directly connected or connected through an intermediate medium. For ordinary technicians in this field, if there are directional indications (such as up, down, left, right, front, back...) involved in the embodiments of this application, the directional indications are only used to explain the relative position relationship, movement, etc. between the components in a certain specific posture (as shown in the accompanying drawings). If the specific posture changes, the directional indications will also change accordingly.

[0030] See also Figure 1 , Figure 1 Schematic diagram of the structure of the first embodiment of the mobile robot provided by the present application. Figure 1 As shown, in this embodiment, the mobile robot of the embodiment of the present application includes a robot body 10, a moving mechanism 20 and an actuator 30.

[0031] Specifically, the moving mechanism 20 is arranged on one side of the robot body 10, and the moving mechanism 20 is used to drive the robot body 10 to move along the ground; the actuator 30 is connected to the robot body 10, and the end of the actuator 30 is detachably connected to the image acquisition component 370, and the image acquisition component 370 is used for image acquisition.

[0032] The moving mechanism 20 is arranged on the bottom surface of the robot body 10 and is used to drive the robot body 10 to move in wheels, so that the robot body 10 can move smoothly to a specified position through the moving mechanism 20. In a possible implementation, the moving mechanism 20 includes but is not limited to Mecanum wheels, omnidirectional wheels or rotating wheels. The actuator 30 is rotatably connected to the vehicle body 110, and the end of the actuator 30 is used to install the image acquisition component 370. The image acquisition component 370 is a device that can be used for image acquisition. Exemplarily, the image acquisition component 370 can be a camera, a camera, a mobile terminal or other equipment, so as to perform mobile shooting, video recording and other operations through the image acquisition component 370.

[0033] In the embodiment of the present application, since the image acquisition component 370 is arranged at the end of the actuator 30, the actuator 30 can be driven to any position as the mobile mechanism 20 moves, and the image acquisition component 370 can perform image acquisition during the movement or at a fixed position, so that the mobile robot can replace the traditional handheld shooting for mobile shooting, reduce the cost of manual shooting, and reduce the problem of poor shooting effect caused by manual shooting, thereby improving the efficiency of mobile shooting.

[0034] Optionally, see Figure 2 , Figure 2 yes Figure 1 The structural exploded diagram of the actuator. Figure 2 As shown, the actuator 30 includes a mechanical arm 31 and a mounting member 32 . The mechanical arm 31 is connected to the robot body 10 . The mounting member 32 is connected to the end of the mechanical arm 31 . The mounting member 32 is used to mount the image acquisition member 370 .

[0035] Specifically, the actuator 30 may further include a base 33, which is disposed on the robot body 10, and one end of the mechanical arm 31 is connected to the robot body 10 through the base 33. In one embodiment, the other end of the mechanical arm 31 is detachably connected to the mounting member 32. The detachable connection between the mounting member 32 and the mechanical arm 31 includes, but is not limited to, a pin connection, a snap connection, a threaded connection, a magnetic connection, and the like. Exemplarily, the mounting member 32 may be used as a bracket to mount the image acquisition member 370, so that the image acquisition member 370 can be stably mounted on the actuator 30 to ensure the stability of the image acquisition process; the mounting member 32 may be mounted on the end of the mechanical arm 31 through an intermediate connector such as a pin or a snap, or a threaded portion may be provided on the mounting member 32, and the threaded portion of the mounting member 32 is connected to the mechanical arm 31 through the engagement of internal and external threads. Since the mounting member 32 is detachably connected to the robotic arm 31, the user can remove the mounting member 32 when the image acquisition member 370 needs to be replaced. When the sizes of different image acquisition members 370 differ greatly, the user can also replace the mounting member 32 with a corresponding size so that the image acquisition member 370 can be stably installed on the actuator 30, thereby improving the stability of mobile shooting.

[0036] In another embodiment, the mechanical arm 31 and the mounting member 32 can be integrally provided, the mechanical arm 31 and the mounting member 32 are integrally connected, and the image acquisition member 370 is mounted on the end of the mechanical arm 31 through the mounting member 32. This reduces the number of intermediate connecting members between the mechanical arm 31 and the mounting member 32, reduces the difficulty of assembling the actuator 30, and improves the assembly efficiency.

[0037] Optionally, a magnetic attraction portion is provided on the mounting member 32 , and the mounting member 32 is magnetically connected to the robot arm 31 via the magnetic attraction portion.

[0038] Specifically, the mobile robot of this embodiment connects the mounting member 32 to the mechanical arm 31 detachably by means of magnetic attraction. The mounting member 32 is provided with a magnetic attraction portion, and the end of the mechanical arm 31 is provided with a mounting position corresponding to the magnetic attraction portion. One of the mounting position and the magnetic attraction portion is composed of a magnetic material, and the other of the mounting position and the magnetic attraction portion is composed of a magnetic source such as a permanent magnet or an electromagnet. The mounting position at the end of the mechanical arm 31 attracts the magnetic attraction portion of the mounting member 32 by magnetic force, so that the magnetic attraction portion is magnetically connected to the mechanical arm 31. In this embodiment, the mounting member 32 is magnetically connected to the mechanical arm 31 by the magnetic attraction portion, so that the user can disassemble the mounting member 32 without tools, and the structure is simple and easy to implement, which improves the user experience.

[0039] Optionally, the image acquisition component 370 includes a camera and a mobile terminal, and the mounting component 32 is used to install the camera or the mobile terminal, or the mounting component 32 includes a first bracket 321 and a second bracket 322, the first bracket 321 is used to install the camera, and the second bracket 322 is used to install the mobile terminal, and the first bracket 321 and the second bracket 322 are respectively detachably connected to the robotic arm 31.

[0040] Specifically, the image acquisition component 370 may include a camera and a mobile terminal. The camera may be a digital camera or an industrial camera dedicated to image acquisition and shooting, and the mobile terminal includes but is not limited to a mobile terminal device such as a mobile phone and a tablet computer. Figure 1 As shown, the mounting member 32 is used as a bracket to install a camera or a mobile terminal. In this case, the mounting member 32 can be fixedly connected or detachably connected to the mechanical arm 31. The mounting member 32 can be provided with an extension portion. For example, the extension portion can be extended or shortened according to the size of the image acquisition component 370. The extension portion is used to clamp the image acquisition component 370 and enable the mounting member 32 to adaptively install cameras or mobile terminals of different sizes, thereby reducing the user's disassembly operations and improving the user's experience.

[0041] In another embodiment, Figure 2 As shown, the mounting member 32 may include a first bracket 321 and a second bracket 322. The mounting dimensions of the first bracket 321 correspond to the camera, so that the first bracket 321 can be used to mount the camera; the mounting dimensions of the second bracket 322 correspond to the mobile terminal, so that the second bracket 322 can be used to mount the mobile terminal. The first bracket 321 and the second bracket 322 are detachably connected to the mechanical arm 31 respectively; in different application scenarios, the user can choose to use a camera or a mobile terminal for image acquisition according to shooting requirements. At this time, the user can replace the first bracket 321 or the second bracket 322 so that the corresponding bracket can stably mount the image acquisition member 370, thereby improving the stability of mobile shooting.

[0042] It is not difficult to understand that in some embodiments, whether it is the mounting member 32 that can adapt to both the camera and the mobile terminal, or the first bracket 321 that adapts to the camera, or the second bracket 322 that adapts to the mobile terminal, they can adjust their own size according to the size of the image acquisition component to stably install the image acquisition component. In other embodiments, the mounting member 32, the first bracket 321, and the second bracket 322 can fix the image acquisition component by clamping, or by magnetic attraction, which is not limited here.

[0043] See also Figure 3 , Figure 3 Schematic diagram of the structure of the second embodiment of the mobile robot provided by the present application. Figure 3 As shown, the mobile robot of the embodiment of the present application includes a robot body 10 , a moving mechanism 20 , an actuator 30 and an adjustment mechanism 40 .

[0044] Specifically, the moving mechanism 20 is arranged on one side of the robot body 10, and is used to drive the robot body 10 to move along the ground; the actuator 30 is connected to the robot body 10, and the end of the actuator 30 is used to install the image acquisition component 370, and the image acquisition component 370 is used to perform image acquisition; one end of the adjustment mechanism 40 is connected to the moving mechanism 20, and the other end is connected to the robot body 10, and the adjustment mechanism 40 is used to adjust the angle and / or height between the robot body 10 and the ground.

[0045] Among them, the robot body 10 is connected to the ground through a moving mechanism 20, and the robot body 10 is connected to the moving mechanism 20 through an adjustment mechanism 40. The adjustment mechanism 40 is used to adjust the angle and relative position between the robot body 10 and the moving mechanism 20 to adjust the angle and / or height between the robot body 10 and the ground. Exemplarily, the adjustment mechanism 40 can adjust the pitch angle of the robot body 10 relative to the ground to adjust the angle between the robot body 10 and the ground. Exemplarily, the adjustment mechanism 40 can adjust the height between the robot body 10 and the ground by adjusting the length of the moving mechanism 20 or adjusting the angle between the adjustment mechanism 40 itself and the ground. The adjustment mechanism 40 is used to enable the robot body 10 to move at different angles and / or heights, so that the robot body 10 can move and shoot in different postures. When the mobile robot is used in different ground environments, such as on flat ground or rugged ground, the adjustment mechanism 40 can adjust the contact surface or fulcrum between the mobile mechanism 20 and the ground by changing the angle and / or height between the robot body 10 and the ground, thereby improving the flexibility of the mobile robot and improving the mobile shooting effect of the mobile robot.

[0046] In the embodiment of the present application, the moving mechanism 20 is used to drive the robot body 10 to move along the ground, the end of the actuator 30 is used to install the image acquisition component 370, the image acquisition component 370 is used to perform image acquisition, and the adjustment mechanism 40 is used to adjust the angle and / or height between the robot body 10 and the ground, so that the robot body 10 can improve the flexibility of movement by adjusting the angle and / or height in different environments, thereby enabling the mobile robot to flexibly capture images of the acquisition object through the image acquisition component 370, thereby improving the efficiency of image acquisition and shooting effect.

[0047] In one embodiment, the robot body 10 is formed with a storage space, and the storage space is used to accommodate items to be stored.

[0048] Specifically, see Figure 4 , Figure 4 is a schematic diagram of the structure of the third embodiment of the mobile robot provided by the present application. Figure 3 As shown, the robot body 10 may include a body 110, and the body 110 is formed with a storage space, and the storage space is used to place items to be stored, so that the mobile robot can be used for carrying, transportation, etc. In a possible implementation, as Figure 4 As shown, the robot body may further include an upper cover 120, which is disposed on the vehicle body 110 and is used to cover the storage space; the upper cover 120 of the robot body 10 may be detachably connected to the vehicle body 110, for example, the upper cover 120 may be directly placed on the vehicle body 110, or the side of the vehicle body 110 may be provided with a connector such as a buckle to relatively fix the upper cover 120 to the vehicle body 110. The user may move the upper cover 120 and place the items to be stored in the storage space, and cover the storage space with the upper cover 120.

[0049] Furthermore, the actuator 30 can move relative to the robot body 10 to be stored in the storage space, thereby reducing the volume of the mobile robot. Specifically, the actuator 30 is movably connected to the robot body 10. The actuator 30 is used to extend out of the storage space so that the image acquisition component 370 can perform image acquisition, and the actuator 30 is also used to be stored in the storage space. Figure 3 As shown, the mobile robot can perform mobile shooting through the image acquisition component 370 when the actuator 30 is extended out of the storage space. Figure 4 As shown, the mobile robot can also accommodate the actuator 30 in the storage space to reduce the overall volume of the mobile robot. In addition, the storage space can also accommodate other objects besides the actuator 30, thereby improving the diversity, flexibility and practicality of the mobile robot's functions.

[0050] In one embodiment, see Figure 5 and Figure 6 , Figure 5 is a schematic structural diagram of a fourth embodiment of the mobile robot provided by the present application, Figure 6 is a schematic diagram of the structure of the fifth embodiment of the mobile robot provided by the present application. Figure 5 As shown, the adjustment mechanism 40 includes a driving member 41 and a transmission member 42. One end of the transmission member 42 is connected to the robot body 10 through the driving member 41, and the other end of the transmission member 42 is connected to the moving mechanism 20. The driving member 42 is used to drive the transmission member 41 to move relative to the robot body 10 to adjust the angle and / or height between the robot body 10 and the ground.

[0051] Specifically, the driving member 41 is used to provide a driving force so that the transmission member 42 moves relative to the robot body 10 under the action of the driving force, and the transmission member 42 can be close to or away from the robot body 10, or the transmission member 42 can also rotate relatively along the robot body 10 to change the relative position between the transmission member 42 and the robot body 10, thereby adjusting the angle and / or height between the robot body 10 and the ground. Among them, the driving member 41 includes but is not limited to driving motors, electric cylinders and other devices, and the transmission member 42 can be but is not limited to moving relative to the robot body 10 through belt drive, gear drive, screw drive and other transmission methods.

[0052] In the embodiment of the present application, the mobile robot drives the transmission member 41 to move relative to the robot body 10 through the driving member 42 to adjust the angle and / or height between the robot body 10 and the ground, so that the robot body 10 can improve the flexibility of movement by adjusting the angle and / or height in different environments, and then the mobile robot can flexibly capture images of the capture object through the image capture member 370, thereby improving the efficiency of image capture and shooting effect.

[0053] Optionally, the driving member 41 includes a seventh motor 412, the transmission member 42 includes a first transmission rod 421 and a second transmission rod 422, the first end of the first transmission rod 421 is connected to the robot body 10 through the seventh motor 412, the second end of the first transmission rod 421 is connected to the first end of the second transmission rod 422, the second end of the second transmission rod 422 is connected to the moving mechanism 20, and the seventh motor 412 is used to drive the first transmission rod 421 to rotate relative to the robot body 10 to adjust the angle between the first transmission rod 421 and the robot body 10.

[0054] Specifically, the seventh motor 412 can be arranged on one of the side walls. The motor shaft of the seventh motor 412 is connected to the first transmission rod 421, and the seventh motor 412 is used to output the driving force to the first transmission rod 421, so as to rotate the first transmission rod 421 by the driving force, and the first transmission rod 421 rotates relative to the robot body 10, so that the first transmission rod 421 rotates relative to the robot body 10 and changes the angle between the first transmission rod 421 and the robot body 10. Therefore, the mobile robot of this embodiment can adjust the angle between the first transmission rod 421 and the robot body 10 through the seventh motor 412, so that the robot body 10 can change the pitch posture of the robot body 10 facing the ground by adjusting the angle of the robot body 10 in different environments, so that the mobile robot can perform image acquisition at different pitch angles, thereby improving the flexibility of the moving process.

[0055] Alternatively, if Figure 6 As shown, the driving member 41 also includes a sixth motor 411, and the transmission member 42 includes a first transmission rod 421 and a second transmission rod 422. The first end of the first transmission rod 421 is connected to the robot body 10, the second end of the first transmission rod 421 is connected to the first end of the second transmission rod 422, and the second end of the second transmission rod 422 is connected to the moving mechanism 20. The sixth motor 411 is used to drive the first transmission rod 421 and the second transmission rod 422 to rotate relative to each other to adjust the angle between the first transmission rod 421 and the second transmission rod 422.

[0056] Specifically, the moving mechanism 20 is connected to the robot body 10 through the second transmission rod 422 and the first transmission rod 421 connected in sequence, and the sixth motor 411 is used to drive the relative rotation between the first transmission rod 421 and the second transmission rod 422. In a possible implementation, the sixth motor 411 is arranged on the robot body 10, and the sixth motor 411 can drive the first transmission rod 421 to rotate along the second transmission rod 422, or the sixth motor 411 can also drive the second transmission rod 422 to rotate along the first transmission rod 421; or the sixth motor 411 can be arranged between the first transmission rod 421 and the second transmission rod 422, and the sixth motor 411 is used as a rotary motor to drive the first transmission rod 421 and the second transmission rod 422 to rotate.

[0057] Therefore, the mobile robot of this embodiment can adjust the angle between the first transmission rod 421 and the second transmission rod 422 through the sixth motor 411, so that the first transmission rod 421 and the second transmission rod 422 are relatively bent to lower the height of the robot body 10 and the ground, or the first transmission rod 421 and the second transmission rod 422 are relatively stretched to raise the height of the robot body 10 and the ground. The robot body 10 can change the distance between the robot body 10 and the ground by adjusting the height of the robot body 10 in different environments, so that the mobile robot can flexibly move on the corresponding ground environment through the mobile mechanism 20, reduce the problems of damage to the robot body 10 and inconvenience in movement caused by the robot body 10 being too close to the ground during the movement, improve the driving stability of the mobile robot, and improve the flexibility of the movement process.

[0058] Furthermore, if Figure 6 As shown, the adjustment mechanism 40 also includes a synchronous belt 433 and a first synchronous pulley 431 and a second synchronous pulley 432 connected by the synchronous belt 433, the sixth motor 411 is arranged on the robot body 10, the first synchronous pulley 431 is connected to the motor shaft of the sixth motor 411, and the second transmission rod 422 is connected to the first transmission rod 421 through the second synchronous pulley 432.

[0059] Specifically, the number of teeth of the first synchronous pulley 431 is greater than the number of teeth of the second synchronous pulley 432, that is, the first synchronous pulley 431 is a large pulley and the second synchronous pulley 432 is a small pulley. The sixth motor is used to drive the second synchronous pulley 432 to rotate to adjust the angle between the first transmission rod 421 and the second transmission rod 422. When the sixth motor 411 is working, the motor shaft of the sixth motor 411 drives the first synchronous pulley 431 to rotate, and transmits the rotational force to the second synchronous pulley 432 under the transmission of the synchronous belt 433 to drive the second synchronous pulley 432 to rotate. The first transmission rod 421 and the second transmission rod 422 are connected through the second synchronous pulley 432, so as to adjust the angle between the first transmission rod 421 and the second transmission rod 422 by rotating the second synchronous pulley 432. The sixth motor 411 of this embodiment is transmitted by means of a synchronous pulley, with a simple structure and smooth transmission, so that the adjustment mechanism 40 can accurately adjust the angle between the first transmission rod 421 and the second transmission rod 422.

[0060] Further, the sixth motor 411 and the seventh motor 412 can be arranged on opposite sides of one of the side walls of the vehicle body 110 to reduce the space occupied by the driving member 41. In a possible implementation, the moving mechanism 20 includes a driving wheel 210 and a driven wheel 220, and the moving mechanism 20 is used to control the rotation of the driving wheel 210, and the driven wheel 220 is used to move along the ground under the drive of the driving wheel 210, so that the robot body 10 can move smoothly on the ground. When the number of driving wheels 210 is multiple, the above-mentioned driving member 41 and the transmission member 42 are respectively used to adjust the angle and height between the same driving wheel 210 and the robot body 10. Exemplarily, when there are two driving wheels 210, two sets of adjustment mechanisms 40 need to be set to drive one driving wheel 210 respectively. The driving wheel 210 is connected to the vehicle body 110 through the second transmission rod 422 and the first transmission rod 421. The leg-type structure composed of the first transmission rod 421 and the second transmission rod 422 has higher flexibility, which facilitates the mobile robot to adjust the height, angle, etc. of the robot body 10, thereby improving the flexibility of the mobile robot.

[0061] Optionally, in other embodiments, the driving member 41 includes a seventh motor 412 , and the transmission member 42 may be an integral transmission rod. The seventh motor 412 is used to drive the transmission member 42 to rotate along the robot body 10 to adjust the angle between the robot body 10 and the transmission member 42 .

[0062] In one embodiment, the actuator 30 is used to move relative to the robot body 10 to adjust the position of the image acquisition component 370 relative to the robot body 10 .

[0063] Specifically, the robot body 10 is connected to the image acquisition component 370 through the actuator 30, and the actuator 30 can be moved by means of connecting rod transmission, gear transmission, etc., so that the actuator 30 can move relative to the robot body 10 and change the position of the image acquisition component 370 relative to the robot body 10. When the position of the robot body 10 is fixed, the image acquisition component 370 can move the lens at different heights and angles through the movement of the actuator 30 to improve the shooting effect.

[0064] Optionally, the actuator 30 includes a base 33 and a mechanical arm 31 , the base 33 is disposed on the robot body 10 , one end of the mechanical arm 31 is movably connected to the base 33 , and the other end of the mechanical arm 31 is used to install the image acquisition component 370 .

[0065] Specifically, the base 33 is used to provide support for the robot arm 31, so that the actuator 30 can be stably supported on the robot body 10. The base 33 can be movably connected to the robot arm 31 by means of a gear train, a worm gear, etc., so that the robot arm 31 can rotate relatively along the base 33, or the base 33 is limited to a moving trajectory, and the robot arm 31 can move linearly or nonlinearly along the moving trajectory. Therefore, the mobile robot can adjust the position of the image acquisition component 370 relative to the robot body 10 through the relative movement of the robot arm 31 to the base 33, and the image acquisition component 370 can be moved at different heights and angles to improve the shooting effect.

[0066] Optionally, see Figure 7 , Figure 7 is a schematic diagram of the structure of the sixth embodiment of the mobile robot provided by the present application. Figure 2 and Figure 7 As shown, the mechanical arm 31 includes at least two sequentially connected extension arms, and the adjacent extension arms are movably connected. The mechanical arm 31 may include a plurality of sequentially connected extension arms, and the end of the sequentially connected extension arm away from the base 33 is used to install the image acquisition component 370. The adjacent extension arms are respectively defined as the first extension arm 311 and the second extension arm 312, and the movable connection between the adjacent extension arms includes but is not limited to: the first extension arm 311 moves along the extension direction of the second extension arm 312; the second extension arm 312 moves along the extension direction of the first extension arm 311; the first extension arm 311 and the second extension arm 312 rotate relative to each other.

[0067] Furthermore, two adjacent extension arms are rotatably connected.

[0068] Specifically, the actuator 30 further includes a third motor 340, and the second extension arm 312 is connected to the first extension arm 311 through the third motor 340, and the third motor 340 is used to drive the second extension arm 312 to rotate along the first extension arm 311. The third motor 340 is a rotary motor, and the third motor 340 is used to drive the movement between the first extension arm 311 and the second extension arm 312 by rotating to adjust the angle between the first extension arm 311 and the second extension arm 312, so that the actuator 30 can move at different positions, improve the flexibility of the actuator 30, and further improve the shooting effect of the image acquisition component 370.

[0069] Furthermore, the actuator 30 further includes a linear transmission mechanism 35, and the two adjacent extension arms are slidably connected by the linear transmission mechanism 35. The linear transmission mechanism 35 is used to drive at least one of the two adjacent extension arms to perform linear motion; for example, the two adjacent extension arms are respectively defined as a first extension arm 311 and a second extension arm 312, and the linear transmission mechanism 35 is used to drive: the first extension arm 311 to slide along the second extension arm 312, and / or the second extension arm 312 to slide along the first extension arm 311.

[0070] Furthermore, the linear transmission mechanism 35 includes a first movable structure and a second movable structure, the first movable structure is connected to the first extension arm 311, and the second movable structure is respectively connected to the first movable structure and the second extension arm 312, the first movable structure is used to drive the first extension arm 311 to move relative to the second extension arm 312 along the extension direction of the first extension arm 311, and the second movable structure is used to drive the second extension arm 312 to move relative to the first extension arm 311 along the extension direction of the second extension arm 312.

[0071] In a possible implementation, the linear transmission mechanism 35 can be driven by a screw rod to achieve a sliding connection between two adjacent extension arms. Figure 7 As shown, the linear transmission mechanism 35 also includes a fourth motor 350, the second movable structure includes a screw rod 351, and the first movable structure includes a screw nut 352. One end of the screw rod 351 is connected to the second extension arm 312, and the other end of the screw rod 351 is connected to the fourth motor 350. The screw nut 352 is sleeved on the screw rod 351 and connected to the first extension arm 311. The fourth motor 350 is used to drive the screw nut 352 to move along the screw rod 351. Among them, the fourth motor 350 is a screw motor, and the fourth motor 350 is used to drive the screw nut 352 to move axially along the screw rod 351, so that the second extension arm 312 moves relative to the first extension arm 311 along the extension direction of the second extension arm 312, and / or the first extension arm 311 moves relative to the second extension arm 312 along the extension direction of the first extension arm 311. In other embodiments, the sliding connection between two adjacent extension arms can also be achieved by means of an electric cylinder, etc., which is not specifically limited here.

[0072] The mobile robot of this embodiment can realize the sliding of the first extension arm 311 relative to the second extension arm 312 through the linear transmission mechanism 35, and the sliding direction of the first extension arm 311 is parallel to its extension direction; the second extension arm 312 can realize the sliding of the second extension arm 312 relative to the first extension arm 311 through the linear transmission mechanism 35, and the sliding direction of the second extension arm 312 is parallel to its extension direction. Therefore, the mobile robot of this embodiment can adjust the relative position of the first extension arm 311 and the second extension arm 312 through the linear transmission mechanism 35, so that the image acquisition component 370 at the end of the second extension arm 312 can be moved at different heights and angles, thereby improving the flexibility of the actuator 30 and further improving the shooting effect of the mobile robot.

[0073] Optionally, the actuator 30 also includes a fifth motor (not shown), which is arranged on the second extension arm 312 and connected to the actuator 30. The second extension arm 312 may have a telescopic rod. The fifth motor is used to drive the image acquisition component 370 to move along the axial direction of the second extension arm 312 to adjust the front and rear positions of the image acquisition component 370 on the second extension arm 312, so that the image acquisition component 370 can move along the extension direction of the second extension arm 312, thereby improving the flexibility of the actuator 30 and further improving the shooting effect of the mobile robot.

[0074] Optionally, the base 33 includes a first motor 331 and a second motor 332, the first motor 331 is arranged on the robot body 10, and the second motor 332 is respectively connected to the first motor 331 and the robotic arm 31, the first motor 331 is used to drive the robotic arm 31 to rotate around a first rotation axis, and the second motor 332 is used to drive the robotic arm 31 to rotate around a second rotation axis, and the first rotation axis and the second rotation axis are perpendicular.

[0075] Specifically, one end of the second motor 332 is connected to the first motor 331, and the other end of the second motor 332 is connected to the mechanical arm 31. When the second motor 332 is stationary and the first motor 331 is working, the first motor 331 is used to drive the second motor 332 and the mechanical arm 31 to rotate around the first rotation axis to adjust the shooting orientation of the image acquisition component 370. When the second motor 332 is working and the first motor 331 is stationary, the second motor 332 is used to drive the mechanical arm 31 to rotate around the second rotation axis. At this time, the second motor 332 can be used to adjust the angle between the mechanical arm 31 and the base 33, that is, to adjust the pitch angle of the image acquisition component 370 during shooting.

[0076] In the embodiment of the present application, the angle between the robotic arm 31 and the robot body 10 and the orientation of the robotic arm 31 are adjusted by the first motor 331 and the second motor 332, so that the actuator 30 can capture images at different positions, thereby improving the flexibility of the actuator 30 and further improving the shooting effect of the mobile robot.

[0077] In one embodiment, the robot arm 31 includes a first extension arm 311 and a second extension arm 312 connected in sequence. Figure 7 As shown, the first extension arm 311 is connected to the base 33 , the second extension arm 312 is connected to the first extension arm 311 , and one end of the second extension arm 312 away from the first extension arm 311 is used to mount the image acquisition component 370 .

[0078] Specifically, the mobile robot can adjust the orientation of the image acquisition component 370 and the robotic arm 31 through the first motor 331, adjust the angle between the first extension arm 311 and the base 33 through the second motor 332, adjust the angle between the second extension arm 312 and the first extension arm 311 through the third motor 340, control the relative sliding between the first extension arm 311 and the second extension arm 312 through the linear transmission mechanism 35, and adjust the front and rear position of the image acquisition component 370 on the second extension arm 312 through the fifth motor.

[0079] Therefore, the image acquisition component 370 of this embodiment can perform mechanical movements with multiple degrees of freedom, which is beneficial to the precise control of the image acquisition component 370; when the image acquisition component 370 is an image acquisition component used for image acquisition and shooting, it is also beneficial for the image acquisition component 370 to shoot through multiple angles and multiple lens movement methods, thereby improving the shooting effect of the mobile robot and improving the user experience.

[0080] Furthermore, the mobile robot can realize various relative movements of the first extension arm 311, the second extension arm 312, the image acquisition component 370, etc. through the control and driving of the first motor 331, the second motor 332, the third motor 340, the fourth motor 350, and the fifth motor, so that the first extension arm 311 and the second extension arm 312 can be relatively folded. Figure 8 , Figure 8 is a schematic diagram of the structure of the seventh embodiment of the mobile robot provided by the present application. Figure 8 As shown, the mobile robot can adjust the positions of the first extension arm 311 and the second extension arm 312 so that they are folded and overlapped, so that the folded actuator 30 can be stored in the storage space with the smallest volume, thereby reducing the space occupied by the actuator 30, reducing the volume of the mobile robot, and further improving the portability of the mobile robot.

[0081] In one embodiment, the moving mechanism 20 includes a driving wheel 210 and a driven wheel 220. Figure 7 As shown, the driving wheel 210 is connected to the robot body 10 through the adjustment mechanism 40, and the driven wheel 220 is arranged at the bottom of the robot body 10. The driving wheel 210 and the driven wheel 220 are used to contact the ground and move in a wheeled manner. The driven wheel 220 is also used to contact the ground or lose contact with the ground as the angle and / or height between the robot body 10 and the ground changes.

[0082] Specifically, the moving mechanism 20 may include an eighth motor, which is used to drive the driving wheel 210 to rotate, and the driven wheel 220 is used to move along the ground under the drive of the driving wheel 210, so that the robot body 10 can move smoothly on the ground. The moving mechanism 20 may include a first state and a second state, and the adjustment mechanism 40 is used to adjust the angle and / or height between the robot body 10 and the ground, so that the driven wheel 220 contacts the ground and the moving mechanism 20 is in the first state, or the driven wheel 220 is out of contact with the ground and the moving mechanism 20 is in the second state.

[0083] like Figure 2 As shown, when the mobile mechanism 20 is in the first state, the driving wheel 210 and the driven wheel 220 are both in contact with the ground, the eighth motor is used to drive the driving wheel 210 to move along the ground, and the driven wheel 220 is used to move along the ground driven by the driving wheel 210, so as to increase the support points between the mobile mechanism 20 and the ground, so that the mobile robot can move stably on a relatively stable ground. Figure 3-6 As shown, the adjustment mechanism 40 is used to adjust the angle and / or height between the robot body 10 and the ground, so that the driven wheel 220 is lifted, the moving mechanism 20 is in the second state, and the eighth motor is used to drive the driving wheel 210 to move along the ground. When the ground environment is relatively rugged, the robot body 10 can only move through the driving wheel 210, thereby improving the movement stability of the robot body 10.

[0084] Furthermore, the mobile mechanism 20 may include two driving wheels 210 and two driven wheels 220, the two driving wheels 210 are respectively arranged on both sides of the vehicle body 110, and the two driven wheels 220 are arranged corresponding to the two driving wheels 210, so that there is a driving wheel 210 and a driven wheel 220 on each side of the vehicle body 110.

[0085] When the mechanism 20 is in the first state, the two driving wheels 210 and the two driven wheels 220 are placed on the ground, and the two driving wheels 210 and the two driven wheels 220 are used to contact the ground and move in a wheeled manner; that is, the mobile mechanism 20 is in a four-wheel mode in the first state, which is conducive to the smooth and rapid movement of the mobile robot. When the mobile mechanism 20 is in the second state, the two driven wheels 220 are lifted, and the two driving wheels 210 are used to contact the ground and move in a wheeled manner; that is, the mobile mechanism 20 is in a two-wheel mode in the second state, which is convenient for the mobile robot to move over obstacles and improve the flexibility of the mobile robot.

[0086] In the embodiment of the present application, by switching different motion states of the mobile mechanism 20, the mobile robot can be enabled to cope with different ground environments, thereby improving the environmental adaptability of the mobile robot, and thereby improving the flexibility and practicality of the mobile robot.

[0087] In one embodiment, see Fig. 9 , Fig. 9 is a schematic diagram of the structure of the eighth embodiment of the mobile robot provided by the present application. Fig. 9 As shown, the robot body 10 also includes a handle 130 for the user to hold, and the handle 130 is fixedly connected or movably connected to the robot body 10. In one embodiment, the handle 130 is fixedly disposed on one side of the robot body 10, and the user can provide support for the mobile robot through the handle 130, or the user can also lift the mobile robot through the handle 130 to improve the user experience. In another embodiment, the handle 130 is movably connected to the robot body 10. Exemplarily, the handle 130 can be extended and retracted to be in an extended state or a retracted state. Figure 8 As shown, when the handle 130 is in the retracted state, the handle 130 is minimally visible on the surface of the vehicle body 110, so as to reduce the area occupied by the handle 130 and improve the appearance of the mobile robot. Fig. 9 As shown, when the handle 130 is in the extended state, the handle 130 is extended and held by the user, so that the handle 130 can drive the moving mechanism 20 to move under the action of an external force to drive the robot body 10.

[0088] Specifically, the handle 130 may be composed of a plurality of sleeved pull rods 131. When the handle 130 is in the retracted state, the plurality of pull rods 131 are sleeved together and overlapped, so that the length of the pull rod 131 is the shortest, the pull rod 131 is accommodated in the storage space of the vehicle body 110, and the handle 130 is in the retracted state and placed on the surface of the vehicle body 110. When the handle 130 is in the extended state, two adjacent pull rods 131 are connected end to end and the pull rod 131 is extended, the pull rod 131 extends out of the storage space, and the handle 130 is in the extended state and is used to be held by the user.

[0089] In one embodiment, the mobile mechanism 20 can be driven by an eighth motor, and the mobile robot can also include a control module (not shown), which is connected to the eighth motor. Specifically, the control module can be an integrated circuit chip integrated with one or more control chips for signal processing; or, the control module can also be a general-purpose processor, a digital signal processor, a programmable logic device, etc. for signal processing, which is not specifically limited here. The user can operate the mobile robot through a remote control device, a communication terminal, etc. that has a communication connection with the mobile robot, or input commands through touch, click, voice control, etc., which is not specifically limited here.

[0090] The control module is used to generate a control instruction based on the user operation, so as to drive the mobile mechanism 20 to move based on the control instruction. Furthermore, the control module is connected to the actuator 30; a following object can also be set in the control instruction, and the control module is used to perform image recognition through the image acquisition component 370 installed on the actuator 30 to obtain the position of the following object. The control module is also used to plan the moving path according to the position of the following object, so as to control the eighth motor to work based on the calculated moving path, so as to enable the mobile robot to achieve intelligent following, reduce the user's physical exertion, and improve the user's experience.

[0091] In a possible implementation, the control module of the mobile robot can also switch the robot state according to the recognition of the ground environment, user operation, etc. For example, when receiving a control instruction from the user to switch from a first state to a second state, the control module is used to coordinately control the adjustment mechanism 40 so that the driven wheel 220 is lifted or lowered, and the driven wheel 220 contacts the ground or loses contact with the ground.

[0092] In one embodiment, the control module of the mobile robot is used to control the movement of the mobile mechanism 20 based on the control instruction, and control the image acquisition component 370 to acquire images of preset scenes or characters.

[0093] After the user sends a control instruction to the mobile robot, the control instruction can indicate a preset person or object for follow-up shooting, or indicate a scene that needs to be shot; the control module is used to control the mobile mechanism 20 to move according to the planned moving path based on the control instruction and control the image acquisition component 370 to perform image acquisition, so as to obtain captured images, video frames and other data of the preset scene, person or object.

[0094] Optionally, the control module may also be equipped with an intelligent script generation program, a camera movement selection program, etc., so that after receiving the control command, the control module can control the mobile mechanism 20 and the actuator 30 to perform corresponding operations based on the selected script and camera movement, so as to improve the finished product effect and user experience. Alternatively, the control module may also automatically match the script and camera movement based on the distance and position of the preset person or object to be photographed, so as to realize the automatic follow-up shooting of the mobile robot and improve the shooting efficiency of the mobile robot.

[0095] The above description is only an implementation method of the present application, and does not limit the patent scope of the present application. Any equivalent structure or equivalent process transformation made using the contents of the present application specification and drawings, or directly or indirectly used in other related technical fields, are also included in the patent protection scope of the present application.

Claims

1. A mobile robot, characterized in that: include: Robot body; A moving mechanism, disposed on one side of the robot body, for driving the robot body to move along the ground; An actuator is connected to the robot body, and a terminal end of the actuator is detachably connected to an image acquisition component, and the image acquisition component is used for image acquisition.

2. The mobile robot according to claim 1, characterized in that: The actuator includes a mechanical arm and a mounting component, wherein the mechanical arm is connected to the robot body, the mounting component is detachably connected to the end of the mechanical arm, and the mounting component is used to mount the image acquisition component.

3. The mobile robot according to claim 2, characterized in that: The mounting piece is provided with a magnetic attraction portion, and the mounting piece is magnetically connected to the mechanical arm via the magnetic attraction portion.

4. The mobile robot according to claim 2, characterized in that: The image acquisition component includes a camera and a mobile terminal, and the mounting component is used to mount the camera or the mobile terminal, or the mounting component includes a first bracket and a second bracket, the first bracket is used to mount the camera, and the second bracket is used to mount the mobile terminal, and the first bracket and the second bracket are respectively detachably connected to the mechanical arm.

5. The mobile robot according to claim 1, characterized in that: The actuator is used to move relative to the robot body to adjust the position of the image acquisition component relative to the robot body.

6. The mobile robot according to claim 5, characterized in that: The actuator includes a base and a mechanical arm. The base is arranged on the robot body. One end of the mechanical arm is movably connected to the base, and the other end of the mechanical arm is used for installing the image acquisition component.

7. The mobile robot according to claim 6, characterized in that: The mechanical arm comprises at least two sequentially connected extension arms, and two adjacent extension arms are movably connected.

8. The mobile robot according to claim 1, characterized in that: The mobile robot also includes an adjustment mechanism, one end of which is connected to the mobile mechanism, and the other end of which is connected to the robot body, and the adjustment mechanism is used to adjust the angle and / or height between the robot body and the ground.

9. The mobile robot according to claim 8, characterized in that: The adjustment mechanism includes a driving member and a transmission member, one end of the transmission member is connected to the robot body through the driving member, and the other end of the transmission member is connected to the moving mechanism. The driving member is used to drive the transmission member to move relative to the robot body to adjust the angle and / or height between the robot body and the ground.

10. The mobile robot according to claim 8, characterized in that: The moving mechanism includes a driving wheel and a driven wheel, the driving wheel is connected to the robot body through the adjustment mechanism, and the driven wheel is arranged at the bottom of the robot body. The driving wheel and the driven wheel are used to contact the ground and move in a wheeled manner. The driven wheel is also used to contact the ground or lose contact with the ground as the angle and / or height between the robot body and the ground changes.

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