Artificial intelligence visual robot

Abstract

The utility model discloses an artificial intelligence visual robot, and belongs to the technical field of robots. The upper bottom plate is arranged below the lower bottom plate; the depth camera is used for acquiring image information; the laser radar can perform target distance measurement by using a laser beam; the model of the motor driving board is stm32f103rct; a main control board; a serial port screen; wherein the depth camera and the motor driving board are both arranged at the top of the upper bottom plate, and the laser radar and the main control board are both arranged at the top of the lower bottom plate. The depth camera and the laser radar are arranged to acquire information, the motor main control board is used for controlling movement of the robot, the GY-85 attitude sensor is carried on the motor driving board, the USB-to-serial port module is integrated, a steering engine, ultrasonic waves, a serial port interface and other chip IO are reserved, and high expandability is reserved for later development.

Description

Technical Field

[0001] The utility model relates to the technical field of robots, in particular to an artificial intelligence visual robot. Background Art

[0002] With the rapid development of artificial intelligence technology, especially in the field of computer vision and machine learning, intelligent robots that can simulate the human visual system have become a hot topic of research. This kind of artificial intelligence visual robot can autonomously navigate, identify objects and perform tasks in complex environments, and has important application value in many fields such as industrial automation, medical assistance, disaster relief and home services. However, many current robots only rely on separate image acquisition for information acquisition, which has a narrow source of information, affects the accuracy of judgment and control, and has poor scalability; therefore, we propose an artificial intelligence visual robot to solve this problem. Utility Model Content

[0003] The purpose of the utility model is to provide an artificial intelligence visual robot to solve the problems raised in the above background technology.

[0004] In order to achieve the above purpose, the utility model adopts the following technical solutions:

[0005] An artificial intelligence visual robot, comprising:

[0006] Lower base plate;

[0007] An upper base plate, arranged below the lower base plate;

[0008] Depth camera, used to obtain image information;

[0009] LiDAR, which uses laser beams to measure the distance to a target;

[0010] Motor driver board, model is stm32f103rct;

[0011] Main control board;

[0012] Serial port screen;

[0013] Among them, the depth camera and the motor drive board are both arranged on the top of the upper base plate, the laser radar and the main control board are both arranged on the top of the lower base plate, the bottom of the serial port screen is fixedly installed with a screen bracket, the screen bracket is fixedly installed on the top of the upper base plate, and Mecanum wheels are arranged at the four corners of the bottom of the upper base plate.

[0014] Preferably, the Mecanum wheel includes a mounting bracket, a DC reduction motor, a connecting shaft, a hub piece, a shaft cylinder and a connecting piece, the DC reduction motor is fixedly mounted in the mounting bracket, the mounting bracket is fixedly mounted on the bottom of the upper base plate, and the output shaft of the DC reduction motor is fixedly connected to one end of the connecting shaft, the other end of the connecting shaft is fixedly connected to the shaft cylinder, the hub piece is fixedly connected to the outside of the shaft cylinder, and the connecting piece is fixedly connected to the outside of the hub piece, and a roller is rotatably mounted on the outside of the connecting piece.

[0015] Preferably, the model of the main control board is RK3588.

[0016] Preferably, the model of the laser radar is Rplidar A2, the sampling frequency is 8000 Hz, the scanning frequency is 15 Hz, the scanning angle is 360°, the angular resolution is 0.9°, the ranging distance is 0.15m-16m, the ranging resolution is <0.5mm, the range is 0-1.5 meters, and the ranging time is 0.25ms.

[0017] Preferably, the model of the depth camera is LeTV astra pro, the photosensitive sensor is MT9M001+AR0330, the RGB pixel is 1080p, the viewing angle is H60° / V47°, the static resolution is 1280*720 / 640*480, the depth resolution is 640*480 / 320*240 / 160*120, and the maximum frame rate is 30fps.

[0018] Preferably, the motor drive board supports a voltage input of 7.2 to 13 V, and is provided with an MPU6050 six-axis gyroscope and an integrated USB to serial port module, and the outside of the motor drive board is provided with a servo, ultrasonic, serial port, and temperature and humidity sensor interfaces.

[0019] Preferably, the DC reduction motor adopts a 12V DC brush encoder integrated motor, 6mm D-shaped shaft, reduction ratio 1:90, 366RPM, basic pulse 11PPR, 360-line square wave AB two-phase incremental magnetic Hall encoder with pull-up resistor after deceleration, 11 pole pairs of magnetic ring trigger poles, rated torque 5kg*cm, no-load current 160mA, rated current 1.2A, and locked-rotor current 3.5A.

[0020] Preferably, the diameter of the roller is 3 mm, the thickness of the roller is 40 mm, and the number of the rollers is 9.

[0021] Preferably, a copper column is fixedly connected to the bottom of the laser radar, the bottom end of the copper column is fixedly connected to the top of the lower base plate, and a battery holder is provided on the top of the upper base plate.

[0022] In the utility model, the artificial intelligence visual robot acquires image information through a depth camera, emits a laser beam through a laser radar, thereby realizing distance measurement, and transmits the information to a motor drive board;

[0023] In the utility model, the artificial intelligence visual robot described above drives the DC reduction motor to operate through the motor driving plate, thereby driving the connecting shaft and the periphery to rotate, thereby realizing the movement of the robot;

[0024] The utility model has a reasonable structural design. It acquires information through the depth camera and laser radar, controls the movement of the robot through the motor main control board, and carries a GY-85 attitude sensor, an integrated USB to serial port module, and reserved servos, ultrasonic waves, serial port interfaces, and other chip IOs on the motor driver board, which reserves strong scalability for later development. BRIEF DESCRIPTION OF THE DRAWINGS

[0025] Figure 1 This is a schematic diagram of the three-dimensional structure of an artificial intelligence visual robot proposed in the utility model;

[0026] Figure 2 This is a schematic diagram of a three-dimensional structure from another perspective of an artificial intelligence visual robot proposed in the utility model;

[0027] Figure 3 This is a schematic diagram of the upward-looking three-dimensional structure of an artificial intelligence visual robot proposed in the utility model;

[0028] Figure 4 This is a schematic diagram of the three-dimensional structure of the Mecanum wheel proposed in the utility model;

[0029] Figure 5 The utility model is a partial three-dimensional structural schematic diagram of an artificial intelligence visual robot proposed in the present invention.

[0030] In the figure: 1. upper base plate; 2. lower base plate; 3. Mecanum wheel; 301. mounting bracket; 302. DC reduction motor; 303. connecting shaft; 304. hub plate; 305. connecting piece; 306. shaft tube; 307. roller; 4. depth camera; 5. laser radar; 501. copper column; 6. main control board; 7. serial port screen; 701. screen bracket; 8. motor drive board; 9. battery bracket. DETAILED DESCRIPTION

[0031] The technical solutions in the embodiments of the present invention will be described clearly and completely below in conjunction with the drawings in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, rather than all of the embodiments.

[0032] Reference Figure 1-5, an artificial intelligence visual robot, comprising:

[0033] Lower base plate 2;

[0034] An upper base plate 1 is arranged below the lower base plate 2;

[0035] A depth camera 4, used to obtain image information;

[0036] Laser radar 5, which can use laser beams to measure target distance;

[0037] Motor driver board 8, model is stm32f103rct;

[0038] Main control board 6;

[0039] Serial port screen 7;

[0040] Among them, the depth camera 4 and the motor drive board 8 are both arranged on the top of the upper base plate 1, the laser radar 5 and the main control board 6 are both arranged on the top of the lower base plate 2, the bottom of the serial port screen 7 is fixedly installed with a screen bracket 701, the screen bracket 701 is fixedly installed on the top of the upper base plate 1, and Mecanum wheels 3 are arranged at the four corners of the bottom of the upper base plate 1.

[0041] In this embodiment, the Mecanum wheel 3 includes a mounting bracket 301, a DC reduction motor 302, a connecting shaft 303, a hub piece 304, a shaft cylinder 306 and a connecting piece 305. The DC reduction motor 302 is fixedly installed in the mounting bracket 301, and the mounting bracket 301 is fixedly installed at the bottom of the upper base plate 1, and the output shaft of the DC reduction motor 302 is fixedly connected to one end of the connecting shaft 303, and the other end of the connecting shaft 303 is fixedly connected to the shaft cylinder 306, the hub piece 304 is fixedly connected to the outer side of the shaft cylinder 306, and the connecting piece 305 is fixedly connected to the outer side of the hub piece 304, and a roller 307 is rotatably installed on the outer side of the connecting piece 305.

[0042] In this embodiment, the model of the main control board 6 is RK3588.

[0043] In this embodiment, the model of the laser radar 5 is Rplidar A2, the sampling frequency is 8000 Hz, the scanning frequency is 15 Hz, the scanning angle is 360°, the angular resolution is 0.9°, the ranging distance is 0.15m-16m, the ranging resolution is <0.5mm, the range is 0-1.5 meters, and the ranging time is 0.25ms.

[0044] In this embodiment, the model of the depth camera 4 is LeTV astra pro, the photosensitive sensor is MT9M001+AR0330, the RGB pixel is 1080p, the viewing angle is H60° / V47°, the static resolution is 1280*720 / 640*480, the depth resolution is 640*480 / 320*240 / 160*120, and the maximum frame rate is 30fps.

[0045] In this embodiment, the motor drive board 8 supports a voltage input of 7.2 to 13 V. The motor drive board 8 is provided with an MPU6050 six-axis gyroscope and an integrated USB to serial port module. The outside of the motor drive board 8 is provided with a servo, ultrasonic, serial port, and temperature and humidity sensor interface.

[0046] In this embodiment, the DC reduction motor 302 adopts a 12V DC brush encoder integrated motor, a 6mm D-shaped shaft, a reduction ratio of 1:90, 366RPM, a basic pulse of 11PPR, and a 360-line square wave AB two-phase incremental magnetic Hall encoder with a pull-up resistor after deceleration. The magnetic ring trigger pole number is 11 pole pairs, the rated torque is 5kg*cm, the no-load current is 160mA, the rated current is 1.2A, and the locked-rotor current is 3.5A.

[0047] In this embodiment, the diameter of the roller 307 is 3 mm, the thickness of the roller 307 is 40 mm, and the number of the rollers 307 is 9.

[0048] In this embodiment, a copper column is fixedly connected to the bottom of the laser radar 5, the bottom end of the copper column is fixedly connected to the top of the lower base plate 2, and a battery holder 9 is provided on the top of the upper base plate 1.

[0049] In this embodiment, when in use, image information is obtained by the depth camera 4, and a laser beam is emitted by the laser radar 5 to achieve distance measurement, and the information is transmitted to the motor drive board 8, and the DC reduction motor 302 is driven by the motor drive board 8 to operate, thereby driving the connecting shaft 303 and the Zhoutong to rotate, thereby realizing the movement of the robot.

[0050] The above is a detailed introduction to an artificial intelligence visual robot provided by the utility model. This article uses specific embodiments to illustrate the principles and implementation methods of the utility model. The description of the above embodiments is only used to help understand the method and core idea of ​​the utility model. It should be pointed out that for ordinary technicians in this technical field, without departing from the principle of the utility model, the utility model can also be improved and modified, and these improvements and modifications also fall within the scope of protection of the claims of the utility model.

Claims

1. An artificial intelligence visual robot, characterized in that: include: Lower base plate (2); An upper base plate (1) is arranged below the lower base plate (2); A depth camera (4), used to obtain image information; Laser radar (5), which can measure the distance to a target using a laser beam; Motor driver board (8), model: stm32f103rct; Main control board (6); Serial port screen (7); The depth camera (4) and the motor drive board (8) are both arranged on the top of the upper base plate (1), the laser radar (5) and the main control board (6) are both arranged on the top of the lower base plate (2), a screen bracket (701) is fixedly installed at the bottom of the serial port screen (7), and the screen bracket (701) is fixedly installed on the top of the upper base plate (1), and Mecanum wheels (3) are arranged at the four corners of the bottom of the upper base plate (1).

2. An artificial intelligence visual robot according to claim 1, characterized in that: The Mecanum wheel (3) comprises a mounting bracket (301), a DC reduction motor (302), a connecting shaft (303), a hub piece (304), a shaft cylinder (306) and a connecting piece (305), wherein the DC reduction motor (302) is fixedly mounted in the mounting bracket (301), the mounting bracket (301) is fixedly mounted at the bottom of the upper base plate (1), and the output shaft of the DC reduction motor (302) is fixedly connected to one end of the connecting shaft (303), the other end of the connecting shaft (303) is fixedly connected to the shaft cylinder (306), the hub piece (304) is fixedly connected to the outer side of the shaft cylinder (306), and the connecting piece (305) is fixedly connected to the outer side of the hub piece (304), and a roller (307) is rotatably mounted on the outer side of the connecting piece (305).

3. The artificial intelligence visual robot according to claim 1, characterized in that: The model of the main control board (6) is RK3588.

4. The artificial intelligence visual robot according to claim 1, characterized in that: The model of the laser radar (5) is Rplidar A2, the sampling frequency is 8000 Hz, the scanning frequency is 15 Hz, the scanning angle is 360°, the angle resolution is 0.9°, the ranging distance is 0.15m-16m, the ranging resolution is <0.5mm, the range is 0-1.5 meters, and the ranging time is 0.25ms.

5. The artificial intelligence visual robot according to claim 1, characterized in that: The model of the depth camera (4) is LeTV astra pro, the photosensor is MT9M001+AR0330, the RGB pixel is 1080p, the viewing angle is H60° / V47°, the static resolution is 1280*720 / 640*480, the depth resolution is 640*480 / 320*240 / 160*120, and the maximum frame rate is 30fps.

6. The artificial intelligence visual robot according to claim 1, characterized in that: The motor drive board (8) supports a voltage input of 7.2 to 13 V. An MPU6050 six-axis gyroscope and an integrated USB to serial port module are arranged inside the motor drive board (8). A steering gear, an ultrasonic wave, a serial port, and a temperature and humidity sensor interface are arranged on the outside of the motor drive board (8).

7. The artificial intelligence visual robot according to claim 2, characterized in that: The DC reduction motor (302) adopts a 12V DC brush encoder integrated motor, a 6mm D-shaped shaft, a reduction ratio of 1:90, 366RPM, a basic pulse of 11PPR, a 360-line square wave AB two-phase incremental magnetic Hall encoder with a pull-up resistor after reduction, a magnetic ring trigger pole number of 11 pole pairs, a rated torque of 5kg*cm, a no-load current of 160mA, a rated current of 1.2A, and a locked-rotor current of 3.5A.

8. The artificial intelligence visual robot according to claim 2, characterized in that: The diameter of the roller (307) is 3 mm, the thickness of the roller (307) is 40 mm, and the number of the rollers (307) is 9.

9. The artificial intelligence visual robot according to claim 1, characterized in that: A copper column is fixedly connected to the bottom of the laser radar (5), the bottom end of the copper column is fixedly connected to the top of the lower base plate (2), and a battery bracket (9) is provided on the top of the upper base plate (1).

Images