Integrated mobile robot

Abstract

The utility model provides an integrated mobile robot which comprises a mobile base which is used for moving to any position or pausing at any position according to a received control instruction and determining an orientation angle; the mechanical arm is used for upwards moving the target box body on the material taking position to a material placing position; the camera supporting rod is arranged on a rotating seat of the mechanical arm to rotate along with the rotating seat, or the camera supporting rod is arranged on the movable base, the camera supporting rod is at least provided with a first visual perception module, the first visual perception module comprises a multispectral camera and a laser radar, and the multispectral camera and the laser radar are arranged on the camera supporting rod; the image acquisition module is used for cooperatively realizing image information acquisition of the target box body and the box stack body formed by the target box body. The visual perception module can rotate along with the mechanical arm and can also rotate through the camera supporting rod, the imaging efficiency of the target box body can be improved, and then the grabbing efficiency of the mechanical arm on the target box body is improved.

Description

Technical Field

[0001] The utility model relates to an industrial robot, in particular to an integrated mobile robot. Background Art

[0002] An industrial robot is an intelligent device equipped with sensors, objective lenses and electronic optical systems that can quickly sort and move goods.

[0003] More and more visual sensors and force sensors will be used in industrial robots, and industrial robots will become more and more intelligent. With the advancement of sensing and recognition systems, artificial intelligence and other technologies, robots are moving from being controlled in one direction to storing and applying data by themselves, and are gradually becoming information-based.

[0004] In order to expand the application scenarios and application scope of industrial robots, in the prior art, a mobile robot is manufactured by installing an industrial robot on a mobile base, thereby realizing the movement of the industrial robot to achieve functions such as mobile depalletizing and mobile picking. However, in order to realize the rapid operation of the mobile robot, how to realize physical visual information collection is a problem that needs to be solved urgently. Utility Model Content

[0005] In view of the defects in the prior art, the purpose of the utility model is to provide an integrated mobile robot.

[0006] The integrated mobile robot provided by the utility model includes:

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

[0008] A mechanical arm is used to move a target box on a material taking position to a material placing position;

[0009] A camera support rod, wherein the camera support rod is arranged on the rotating seat of the robotic arm so as to rotate with the rotating seat, or is arranged on the mobile base, and at least a first visual perception module is arranged on the camera support rod, and the first visual perception module includes a multi-spectral camera and a laser radar, and the multi-spectral camera and the laser radar are used to cooperate to realize the image information collection of the target box and the box stack formed by the target box.

[0010] Preferably, the camera support rod at least comprises a support rod base and a lifting rod;

[0011] The lifting rod is arranged in the support rod base and can be lifted and lowered along the support rod base;

[0012] The first visual perception module is arranged on the lifting rod to rise and fall along with the lifting rod.

[0013] Preferably, the camera support rod comprises a first camera support rod and a second camera support rod located on both sides of the mechanical arm;

[0014] The first camera support rod is arranged on one side of the top side of the mobile base, and the second camera support rod is arranged on the other side of the top side of the mobile base;

[0015] A first visual perception module is disposed on the first camera support rod, and another first visual perception module is disposed on the second camera support rod.

[0016] Preferably, the first visual perception module is connected to the camera support rod via a camera bracket;

[0017] The camera bracket includes a rotating base and a first pitch adjustment bracket;

[0018] The rotating base is arranged on the camera support rod and can rotate around the axial direction of the camera support rod, and the first pitch adjustment is mounted on the rotating base;

[0019] The first visual perception module is arranged on the first pitch adjustment frame, and the first pitch adjustment frame is used to adjust the pitch angle of the first visual perception module.

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

[0021] The first laser radar and the second laser radar are symmetrically arranged back to back on the camera support pole;

[0022] The multispectral camera is provided with a first wide-angle lens;

[0023] The multispectral camera is arranged between the first laser radar and the second laser radar.

[0024] Preferably, the laser radar comprises a first laser radar and a second laser radar;

[0025] The first laser radar and the second laser radar are symmetrically arranged back to back on the camera support pole;

[0026] The multi-spectral camera comprises a first multi-spectral camera and a second multi-spectral camera; the first multi-spectral camera and the second multi-spectral camera are arranged on the camera support rod;

[0027] The first multi-spectral camera is associated with the first laser radar; the second multi-spectral camera is associated with the second laser radar.

[0028] Preferably, it also includes a rotation driving module; the rotation driving module is used to drive the camera support rod to rotate so that the first visual perception module has a field of view of 360° around the camera support rod.

[0029] Preferably, the laser radar is connected to the camera support rod via a second pitch adjustment frame;

[0030] The second pitch adjustment frame is used to adjust the pitch angle of the laser radar.

[0031] Preferably, the multispectral camera is connected to the camera support rod via a third pitch adjustment bracket;

[0032] The third pitch adjustment frame is used to adjust the pitch angle of the multi-spectral camera.

[0033] Preferably, a second visual perception module is provided on the front side of the mobile base;

[0034] The second visual perception module is used to collect image information of the target box located in front of the mobile base and the box stack formed by the target box.

[0035] Preferably, the mechanical arm comprises a mechanical arm body, a fixed seat and a rotating seat;

[0036] The fixed seat is arranged on the movable base, the rotating seat is rotatably connected to the fixed seat, and the lower end of the mechanical arm body is connected to the rotating seat and can be driven by the rotating seat to rotate along its axial direction.

[0037] Preferably, the camera support rod comprises a first camera support rod and a second camera support rod;

[0038] The mechanical arm comprises a first mechanical arm and a second mechanical arm;

[0039] The first mechanical arm is arranged at one end of the mobile base;

[0040] The second robotic arm is disposed on the other end of the mobile base, and the first robotic arm and the second robotic arm alternately grasp and place the target box according to a preset control logic.

[0041] The first camera support rod is arranged on the rotating seat of the first mechanical arm so as to rotate along with the rotation of the first mechanical arm; the second camera support rod is arranged on the rotating seat of the second mechanical arm so as to rotate along with the rotation of the second mechanical arm;

[0042] At least one first visual perception module is disposed on each of the first camera support rod and the second camera support rod.

[0043] Compared with the prior art, the utility model has the following beneficial effects:

[0044] In the utility model, a robotic arm is arranged on a mobile base, and the robotic arm includes a robotic arm body, a fixed base and a rotating base; the fixed base is arranged on the mobile base, and the rotating base is rotatably connected to the fixed base, and the lower end of the robotic arm body is connected to the rotating base, and can be driven by the rotating base to rotate along its axial direction; a camera support rod is arranged on the rotating base or the mobile base, and a visual perception module is arranged on the camera support rod, so that the visual perception module can rotate with the robotic arm and can also rotate through the camera support rod, which can improve the imaging efficiency of the target box, thereby improving the efficiency of the robotic arm in grasping the target box. BRIEF DESCRIPTION OF THE DRAWINGS

[0045] In order to more clearly illustrate the embodiments of the utility model or the technical solutions in the prior art, the following will briefly introduce the drawings required for use in the embodiments or the prior art descriptions. Obviously, the drawings described below are only embodiments of the utility model. For ordinary technicians in this field, other drawings can be obtained based on the provided drawings without creative work. By reading the detailed description of the non-limiting embodiments with reference to the following drawings, other features, purposes and advantages of the utility model will become more obvious:

[0046] Figure 1 This is a schematic diagram of the structure of the integrated mobile robot in the first embodiment of the utility model;

[0047] Figure 2 This is a schematic diagram of the structure of the integrated mobile robot in the second embodiment of the utility model;

[0048] Figure 3 It is a schematic diagram of the structure of the camera support rod in each embodiment of the utility model;

[0049] Figure 4 This is a schematic diagram of the structure of the camera bracket in the embodiment of the utility model;

[0050] Figure 5 This is a schematic diagram of the structure of the integrated mobile robot in the third embodiment of the utility model;

[0051] Figure 6 This is a schematic diagram of the first application scenario of the integrated mobile robot in each embodiment of the utility model;

[0052] Figure 7 A schematic diagram of a second application scenario of an integrated mobile robot in each embodiment of the utility model; and

[0053] Figure 8This is a schematic diagram of a third application scenario of the integrated mobile robot in each embodiment of the utility model.

[0054] In the picture

[0055] 1 is a mobile base; 2 is a first robotic arm; 3 is a first camera support rod; 301 is a support rod base; 302 is a lifting rod; 303 is a first laser radar; 304 is a first fisheye camera; 305 is a rotating base; 306 is a first pitch adjustment frame; 4 is a second camera support rod; 100 is a first mobile robot; 200 is a telescopic conveyor; 300 is a second mobile robot; and 400 is a compartment. DETAILED DESCRIPTION

[0056] The utility model is described in detail below in conjunction with specific embodiments. The following embodiments will help those skilled in the art to further understand the utility model, but do not limit the utility model in any form. It should be pointed out that for those of ordinary skill in the art, several variations and improvements can be made without departing from the concept of the utility model. These all fall within the scope of protection of the utility model.

[0057] It should be noted that when a component is referred to as being "fixed to" or "disposed on" another component, it can be directly on the other component or indirectly on the other component. When an element is referred to as being "connected to" another element, it can be directly connected to the other element or indirectly connected to the other element. In addition, connection can be used for fixing or for circuit connection.

[0058] It should be understood that the terms "length", "width", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inside", "outside", etc., indicating the orientation or position relationship, are based on the orientation or position relationship shown in the accompanying drawings, and are only for the convenience of describing the embodiments of the utility model and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as a limitation on the utility model.

[0059] In addition, the terms "first" and "second" are used for descriptive purposes only and should not be understood as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Therefore, a feature defined as "first" or "second" may explicitly or implicitly include one or more of the features. In the description of the embodiments of the present utility model, the meaning of "multiple" is two or more, unless otherwise clearly and specifically defined.

[0060] Figure 1 Schematic diagram of the structure of the integrated mobile robot in the embodiment of the utility model, as shown in Figure 1As shown, the integrated mobile robot provided by the utility model includes:

[0061] A mobile base 1 is used to move to any position or pause at any position and determine a direction angle according to a received control instruction;

[0062] A mechanical arm is used to move the upper portion of the material taking position to a material discharging position;

[0063] A camera support rod, the camera support rod is arranged on the rotating seat of the mechanical arm to rotate with the rotating seat, or is arranged on the mobile base 1, and at least a first visual perception module is arranged on the camera support rod,

[0064] The first visual perception module is used to acquire image information of the target box and the box stack formed by the target box.

[0065] The first visual perception module includes a multispectral camera and a laser radar. The multispectral camera is used to obtain RGB images of the target box and the box stack formed by the target box. The laser radar is used to acquire point cloud image information of the target box and the box stack formed by the target box.

[0066] The first visual perception module also includes a processor unit, which is used to obtain RGB image and point cloud image information, detect the area of ​​each target box on the RGB image through a preset deep learning model, project the RGB image that detects the position of each target box into the point cloud image, and determine the position and posture of the target box according to the point cloud corresponding to each target box; send the position and posture of each target box to the robotic arm end so that the robotic arm performs a grasping action on the target box.

[0067] Figure 2 FIG. 1 is a schematic diagram of the structure of the integrated mobile robot in the second embodiment of the utility model. Figure 2 As shown, in the embodiment of the utility model, the camera support rod includes a first camera support rod 3 and a second camera support rod 4 located on both sides of the mechanical arm;

[0068] The first camera support rod 3 is arranged on one side of the top side of the mobile base 1, and the second camera support rod 4 is arranged on the other side of the top side of the mobile base 1;

[0069] A first visual perception module is disposed on the first camera support rod 3 , and another first visual perception module is disposed on the first camera support rod 3 .

[0070] By means of the cooperation of the two visual perception modules on the first camera support rod 3 and the second camera support rod 4, imaging of the entire box stack on the front side of the mobile base 1 is achieved.

[0071] Figure 3 Schematic diagram of the structure of the camera support rod in each embodiment of the utility model, such as Figure 3 As shown, in the embodiment of the utility model, the camera support rod at least includes a support rod base 301 and a lifting rod 302;

[0072] The lifting rod 302 is disposed in the support rod base 301 and can be lifted and lowered along the support rod base 301;

[0073] The first visual perception module is disposed on the lifting rod 302 to rise and fall along with the lifting rod 302 .

[0074] In an embodiment of the utility model, the lifting rod 302 is driven to rise and fall along the support rod base 301 by a motor or a cylinder to enable different application scenarios. For example, when it is necessary to enter a container to load and unload a target box, the lifting rod 302 can be lowered according to the height of the container. In addition, the lifting rod 302 can be raised and lowered to expand the field of view of the first visual perception module according to the loading and unloading scenario.

[0075] In an embodiment of the utility model, the field of view of the laser radar is tilted downward.

[0076] If the angle between the central axis of the laser radar and the vertical direction is set to be between 30° and 60°, preferably 45°, it is possible to capture images of the target box close to the mobile base and the box stack formed by the target box.

[0077] In the embodiment of the utility model, in order to expand the imaging range, the laser radar may include a first laser radar 303 and a second laser radar;

[0078] The first laser radar 303 and the second laser radar are symmetrically arranged back to back on the camera support rod, and can form a 360° field of view along the circumference of the camera support rod;

[0079] The multispectral camera is provided with a first wide-angle lens, which is a fisheye lens, so the multispectral camera is also called a first fisheye camera 304; the first fisheye camera 304 is arranged between the first laser radar and the second laser radar.

[0080] The imaging field of view of the first fisheye camera 304 is associated with the imaging fields of the first laser radar 303 and the second laser radar through calibration.

[0081] In a modified example of the present invention, the first fisheye camera 304 may also be disposed on the camera support rod via a rotating base, and the rotating base is used to drive the first fisheye camera 304 to rotate axially on the camera support rod.

[0082] That is, in this embodiment, the first fisheye camera 304 is rotated 360° around the camera support rod by a rotating base, so that 360° RGB imaging can be achieved along the circumference.

[0083] In a modified example of the present invention, the laser radar includes a first laser radar 303 and a second laser radar; the first laser radar 303 and the second laser radar are symmetrically arranged back to back on the camera support rod, and can form a 360° field of view along the circumference of the camera support rod;

[0084] The number of the multispectral cameras is more than two, namely, a first multispectral camera and a second multispectral camera, that is, a first fisheye camera 304 and a second fisheye camera; the first fisheye camera 304 and the second fisheye camera are arranged on the camera support rod;

[0085] The first fisheye camera 304 is associated with the first laser radar 303; the second fisheye camera is associated with the second laser radar.

[0086] In this variation, the first fisheye camera 304 and the first laser radar 303 form a corresponding association of fields of view through calibration, and the second fisheye camera and the second laser radar form a corresponding association of fields of view through calibration.

[0087] In a variation of the utility model, the integrated mobile robot provided by the utility model also includes a rotation drive module; the rotation drive module is used to drive the camera support rod to rotate so that the first visual perception module has a field of view of 360° around the camera support rod.

[0088] In this embodiment, the lower end of the camera support rod is connected to the rotation drive module, and the rotation drive module can be configured to include a drive motor and a reducer. The drive motor drives the camera support rod to rotate through the reducer. When the camera support rod rotates, it can drive the first visual perception module to rotate, so as to collect image information of the target box and the box stack formed by the target box in a 360° range.

[0089] Figure 4 Schematic diagram of the structure of the camera bracket in the embodiment of the utility model. Figure 4 As shown, the first visual perception module is connected to the camera support rod through a camera bracket;

[0090] The camera bracket includes a rotating base 305 and a first pitch adjustment frame 306;

[0091] The rotating base 305 is arranged on the camera support rod and can rotate around the axial direction of the camera support rod. The first pitch adjustment is mounted on the rotating base 305;

[0092] The first visual perception module is disposed on the first pitch adjustment frame 306 , and the first pitch adjustment frame 306 is used to adjust the pitch angle of the first visual perception module.

[0093] In the embodiment of the utility model, the first pitch adjustment frame and the rotating base 305 use a motor module to cooperate to perform pitch and rotation actions;

[0094] In the embodiment of the utility model, a second visual perception module is provided on the front side of the mobile base 1;

[0095] The second visual perception module is used to collect image information of the target box located in front of the mobile base 1 and the box stack formed by the target box.

[0096] The second visual perception module located on the front side of the mobile base 1 collects image information of the target box located on the front side of the mobile base 1 and the box stack formed by the target box, so as to realize loading and unloading of the target box on the front side of the mobile base 1.

[0097] Figure 5 FIG. 1 is a schematic diagram of the structure of the integrated mobile robot in the third embodiment of the utility model. Figure 5 As shown, the mechanical arm includes a mechanical arm body, a fixed seat and a rotating seat;

[0098] The fixed seat is arranged on the mobile base 1, the rotating seat is rotatably connected to the fixed seat, and the lower end of the mechanical arm body is connected to the rotating seat and can be driven by the rotating seat to rotate along its axial direction.

[0099] In this variation, the rotating seat can be set as the first rotating joint of the mechanical arm. The camera support rod is set on the rotating seat.

[0100] In an embodiment of the utility model, the camera support rod comprises a first camera support rod 3 and a second camera support rod 4;

[0101] The mechanical arm comprises a first mechanical arm 2 and a second mechanical arm;

[0102] The first mechanical arm 2 is arranged at one end of the mobile base 1;

[0103] The second robotic arm is disposed on the other end of the mobile base 1 , and the first robotic arm 2 and the second robotic arm alternately grasp and place the target box according to a preset control logic.

[0104] The first camera support rod 3 is arranged on the rotating seat of the first mechanical arm 2 so as to rotate along with the rotation of the first mechanical arm 2; the second camera support rod 4 is arranged on the rotating seat of the second mechanical arm so as to rotate along with the rotation of the second mechanical arm;

[0105] At least one first visual perception module is disposed on each of the first camera support rod 3 and the second camera support rod 4 .

[0106] In an embodiment of the utility model, the pre-set control logic is specifically that when the first robotic arm 2 grabs the target box on the first conveyor, the second robotic arm places the target box grabbed from the first conveyor at a target position on the discharge position, or when the first robotic arm 2 grabs the target box on the discharge position, the second robotic arm places the target box grabbed from the discharge position on the first conveyor, thereby improving the stability of the mobile robot.

[0107] In the embodiment of the utility model, the first robot arm 2 and the second robot arm can be selected from multi-axis robots such as six-axis robots, four-axis robots, eight-axis robots, or Scara robots with three rotating joints that can be used for assembly operations, or Delta robots that can achieve high-precision material picking, etc. It is worth noting that in actual application scenarios, any automated device that can achieve the functions of grasping and transporting can be applied to the technical solution of the utility model.

[0108] Figure 6 Schematic diagram of the first application scenario of the integrated mobile robot in each embodiment of the utility model, such as Figure 6 As shown, the loading and unloading vehicle system provided by the utility model includes: a first mobile robot 100, a telescopic conveyor 200 and a second mobile robot 300;

[0109] The first mobile robot 100 is disposed at one end of the telescopic conveyor 200, and the second mobile robot 300 is disposed at the other end of the telescopic conveyor 200 and is located inside the compartment 400;

[0110] The first mobile robot 100 is used to load the target box onto the telescopic conveyor 200, so that the telescopic conveyor 200 transports the target box to the operating range of the second mobile robot 300; or, the second mobile robot 300 moves the target box onto the telescopic conveyor 200, so that the telescopic conveyor 200 transports the target box to the operating range of the first mobile robot 100;

[0111] When the first mobile robot 100 and the second mobile robot 300 are performing grabbing and placing of the curtain box, the image information of the target box and the box stack formed by the target box are acquired through the visual perception module.

[0112] The second mobile robot 300 moves to the designated compartment 400 according to the first control instruction sent remotely and / or the second control instruction generated by its own processor, and moves and operates in the compartment according to the operation progress.

[0113] In the embodiment of the utility model, the telescopic conveyor 200 can be a telescopic belt conveyor or a telescopic roller line.

[0114] In the embodiment of the utility model, the telescopic conveyor 200 comprises: a multi-stage telescopic mechanism, and the multi-stage telescopic mechanism can realize lateral length adjustment under the drive of a motor.

[0115] The telescopic conveyor 200 includes: a first-level telescopic mechanism, a second-level telescopic mechanism, and a third-level telescopic mechanism. The upper surfaces of the first-level telescopic mechanism, the second-level telescopic mechanism, and the third-level telescopic mechanism are kept flush and share the same conveyor belt. The telescopic conveyor 200 also includes: at least one lifting column, which is used to support the body of the telescopic conveyor 200 and realize longitudinal adjustment to adapt to working scenes at different heights; in addition, a hydraulic cylinder or an electric cylinder can be set to adjust the travel slope of the telescopic conveyor 200, which can also adapt to working scenes at different heights.

[0116] Figure 7 Schematic diagram of the second application scenario of the integrated mobile robot in each embodiment of the utility model, such as Figure 7 As shown, the first mobile robot 100 is disposed on one side of one end of the telescopic conveyor 200, and the second mobile robot 300 is disposed on the other end of the telescopic conveyor 200 and is located inside the compartment 400;

[0117] The second mobile robot 300 moves the target box to the telescopic conveyor 200, so that the telescopic conveyor 200 transfers the target box to the working range of the first mobile robot 100; the first mobile robot 100 grabs the target object and stacks it into box stacks on the pallet.

[0118] When the first mobile robot 100 and the second mobile robot 300 are performing grabbing and placing of the curtain box, the image information of the target box and the box stack formed by the target box are acquired through the visual perception module.

[0119] Figure 8 Schematic diagram of the third application scenario of the integrated mobile robot in each embodiment of the utility model, such as Figure 8 As shown, the first mobile robot 100 will surround the target boxes on multiple pallets of the first mobile robot 100 and pick the target boxes from different pallets to a target pallet in sequence according to order requirements;

[0120] The freely movable mobile platform moves to the lower side of the target pallet 5 , and then lifts the box stack on the pallet 5 to transport it to the target storage area to prepare for material distribution and transports the empty target pallet to the working space of the first mobile robot 100 .

[0121] When the first mobile robot 100 and the second mobile robot 300 are performing grabbing and placing of the curtain box, the image information of the target box and the box stack formed by the target box are acquired through the visual perception module.

[0122] In this specification, each embodiment is described in a progressive manner, and each embodiment focuses on the differences from other embodiments, and the same and similar parts between the embodiments can be referred to each other. The above description of the disclosed embodiments enables professionals and technicians in this field to implement or use the utility model. Various modifications to these embodiments will be obvious to professionals and technicians in this field, and the general principles defined herein can be implemented in other embodiments without departing from the spirit or scope of the utility model. Therefore, the utility model will not be limited to the embodiments shown herein, but will conform to the widest range consistent with the principles and novel features disclosed herein.

[0123] The above describes the specific embodiments of the present invention. It should be understood that the present invention is not limited to the above specific embodiments, and those skilled in the art can make various modifications or variations within the scope of the claims, which does not affect the essence of the present invention.

Claims

1. An integrated mobile robot, characterized in that: include: A mobile base, used to move to any position or pause at any position and determine the orientation angle according to the received control command; A mechanical arm is used to move a target box on a material taking position to a material placing position; A camera support rod, wherein the camera support rod is arranged on the rotating seat of the robotic arm so as to rotate with the rotating seat, or is arranged on the mobile base, and at least a first visual perception module is arranged on the camera support rod, and the first visual perception module includes a multi-spectral camera and a laser radar, and the multi-spectral camera and the laser radar are used to cooperate to realize the image information collection of the target box and the box stack formed by the target box.

2. The integrated mobile robot according to claim 1, characterized in that: The camera support rod at least includes a support rod base and a lifting rod; The lifting rod is arranged in the support rod base and can be lifted and lowered along the support rod base; The first visual perception module is arranged on the lifting rod to rise and fall along with the lifting rod.

3. The integrated mobile robot according to claim 1, characterized in that: The camera support rod comprises a first camera support rod and a second camera support rod located on both sides of the mechanical arm; The first camera support rod is arranged on one side of the top side of the mobile base, and the second camera support rod is arranged on the other side of the top side of the mobile base; A first visual perception module is disposed on the first camera support rod, and another first visual perception module is disposed on the second camera support rod.

4. The integrated mobile robot according to claim 1, characterized in that: The laser radar includes a first laser radar and a second laser radar; The first laser radar and the second laser radar are symmetrically arranged back to back on the camera support pole; The multispectral camera is provided with a first wide-angle lens; The multispectral camera is arranged between the first laser radar and the second laser radar.

5. The integrated mobile robot according to claim 1, characterized in that: The laser radar includes a first laser radar and a second laser radar; The first laser radar and the second laser radar are symmetrically arranged back to back on the camera support pole; The multi-spectral camera comprises a first multi-spectral camera and a second multi-spectral camera; the first multi-spectral camera and the second multi-spectral camera are arranged on the camera support rod; The first multispectral camera is correspondingly associated with the first laser radar; The second multispectral camera and the second laser radar are correspondingly associated.

6. The integrated mobile robot according to claim 1, characterized in that: The first visual perception module is connected to the camera support rod via a camera bracket; The camera bracket includes a rotating base and a first pitch adjustment bracket; The rotating base is arranged on the camera support rod and can rotate around the axial direction of the camera support rod, and the first pitch adjustment is mounted on the rotating base; The first visual perception module is arranged on the first pitch adjustment frame, and the first pitch adjustment frame is used to adjust the pitch angle of the first visual perception module.

7. The integrated mobile robot according to claim 1, characterized in that: It also includes a rotation drive module; the rotation drive module is used to drive the camera support rod to rotate so that the first visual perception module has a field of view of 360° around the camera support rod.

8. The integrated mobile robot according to claim 1, characterized in that: The laser radar is connected to the camera support rod via a second pitch adjustment frame; The second pitch adjustment frame is used to adjust the pitch angle of the laser radar.

9. The integrated mobile robot according to claim 1 or 6, characterized in that: The multi-spectral camera is connected to the camera support rod via a third pitch adjustment bracket; The third pitch adjustment frame is used to adjust the pitch angle of the multi-spectral camera.

10. The integrated mobile robot according to claim 1, characterized in that: A second visual perception module is provided on the front side of the mobile base; The second visual perception module is used to collect image information of the target box located in front of the mobile base and the box stack formed by the target box.

11. The integrated mobile robot according to claim 1, characterized in that: The mechanical arm comprises a mechanical arm body, a fixed seat and a rotating seat; The fixed seat is arranged on the movable base, the rotating seat is rotatably connected to the fixed seat, and the lower end of the mechanical arm body is connected to the rotating seat and can be driven by the rotating seat to rotate along its axial direction.

12. The integrated mobile robot according to claim 1, characterized in that: The camera support rod comprises a first camera support rod and a second camera support rod; The mechanical arm comprises a first mechanical arm and a second mechanical arm; The first mechanical arm is arranged at one end of the mobile base; The second robotic arm is disposed on the other end of the mobile base, and the first robotic arm and the second robotic arm alternately grasp and place the target box according to a preset control logic; The first camera support rod is arranged on the rotating seat of the first mechanical arm so as to rotate along with the rotation of the first mechanical arm; the second camera support rod is arranged on the rotating seat of the second mechanical arm so as to rotate along with the rotation of the second mechanical arm; At least one first visual perception module is disposed on each of the first camera support rod and the second camera support rod.

Images