Multi-mode intelligent on-duty robot

Abstract

The utility model provides a multi-mode intelligent on-duty robot, which relates to the technical field of artificial intelligence and comprises a head, a trunk and a chassis. The head is mounted at the upper end of the trunk, and the trunk is mounted at the upper end of the chassis; the head part comprises a head part shell, a head part display screen, a microphone array and at least one loudspeaker; the trunk comprises a trunk shell, a trunk display screen, a label printer, a card swiping module, a depth camera, a scanner and a laser printer; the chassis comprises a chassis shell, a laser radar, an inertial measurement unit and an ultrasonic module. The robot provided by the utility model can provide remote handling and welcome display of partial services of a hydropower station, can also provide basic maintenance, such as basic system information management, system configuration and the like, for operation and maintenance personnel to carry out basic maintenance on a background management system of the robot, and further can also realize intelligent question answering and support multi-system data integration.

Description

Technical Field

[0001] The utility model relates to the technical field of artificial intelligence, and in particular to a multi-modal intelligent duty robot. Background Art

[0002] At present, there are many duty points for hydropower operation duty, which are distributed in different locations and are too scattered. Each duty point needs to be manned, resulting in relatively tight human resources, which is not conducive to safe production control during the shift. At present, the means of external communication and display of hydropower operation duty are single, lacking diversified and intelligent display means, and it is urgent to use advanced voice interaction, artificial intelligence and Internet of Things technologies to fully display the window image.

[0003] Large hydropower stations are generally equipped with emergency warning equipment to warn downstream before flood discharge to prevent damage to people and property downstream. At the same time, during the call, the operator on duty also needs to use the image monitoring system to retrieve the camera in the corresponding area to check whether the flood discharge channel is normal and whether there are any boats or people in the downstream river.

[0004] In addition, there are many on-duty management systems in existing hydropower stations, but the degree of artificial intelligence integration is not high. As the power plant management center gradually matures and the operation and operation control system is gradually put into operation, the problem of the relative independence of each system has become increasingly prominent, which makes it inconvenient for on-duty personnel to fully grasp all kinds of information. It is urgent to use artificial intelligence technology to integrate the resources of various systems and form a power plant business library to achieve intelligent interaction. Utility Model Content

[0005] The embodiment of the utility model provides a multi-modal intelligent duty robot, which aims to solve the problems that the existing hydropower station duty points require a large amount of human resources, the external communication and display are single, and the degree of information integration of each water duty point is not high.

[0006] Other features and advantages of the present invention will become apparent from the following detailed description or may be learned in part from the practice of the present invention.

[0007] According to a first aspect of an embodiment of the utility model, there is provided a multimodal intelligent duty robot, comprising: a head, a torso and a chassis;

[0008] The head is mounted on the upper end of the trunk, and the trunk is mounted on the upper end of the chassis;

[0009] The head comprises: a head shell, a head display screen, a microphone array and at least one speaker; the head display screen is embedded in the front surface of the head shell, the microphone array is embedded in the top of the head shell, and the at least one speaker is embedded in the side surface of the head shell;

[0010] The trunk includes: a trunk shell, a trunk display screen, a label printer, a card swiping module, a depth camera, a scanner and a laser printer; the trunk display screen is embedded in the front surface of the trunk shell; the label printer, the card swiping module, the depth camera, the scanner and the laser printer are all arranged inside the trunk shell, and the paper input and output windows of the label printer, the sensing area of ​​the card swiping module, the sensing window of the depth camera, the paper input and output windows of the scanner and the paper output window of the laser printer are respectively arranged at corresponding positions on the front surface of the trunk shell;

[0011] The chassis includes: a chassis shell, a laser radar, an inertial measurement unit and an ultrasonic module; the laser radar and the ultrasonic module are embedded in different positions of the chassis shell, and the inertial measurement unit is arranged inside the chassis shell.

[0012] In some embodiments of the present utility model, based on the above solution, the trunk further includes: a front camera, an inverter, a computing unit, a router and a power amplifier module;

[0013] The front camera is embedded in the top of the front surface of the trunk shell;

[0014] The inverter, computing unit, router and power amplifier module are all arranged inside the trunk housing;

[0015] The computing unit is electrically connected to the speaker, the head display screen, the torso display screen, the label printer, the card swiping module, the depth camera, the laser printer, the scanner, the laser radar, the inertial measurement unit, the router and the power amplifier module respectively;

[0016] The inverter is electrically connected to the laser printer.

[0017] In some embodiments of the present invention, based on the aforementioned solution, the trunk further includes: a control panel;

[0018] The control panel is arranged inside the trunk housing;

[0019] The control board is electrically connected to the ultrasonic module and the computing unit respectively.

[0020] In some embodiments of the present utility model, based on the aforementioned solution, the trunk further comprises: at least one cooling fan and a cooling plate;

[0021] The at least one heat dissipation fan and the heat dissipation plate are both embedded in the rear surface of the trunk housing;

[0022] The cooling fan corresponds to the position of the control panel;

[0023] The heat dissipation plate is located at the bottom of the rear surface of the trunk shell.

[0024] In some embodiments of the present utility model, based on the above solution, the chassis further includes: a power module;

[0025] The power module is arranged inside the chassis shell and is electrically connected to the speaker, head display screen, torso display screen, label printer, card swiping module, depth camera, scanner, lidar, inertial measurement unit, ultrasonic module, inverter, computing unit, router, power amplifier module, control board and cooling fan respectively to supply power to each device, component, unit or module.

[0026] In some embodiments of the present utility model, based on the above solution, the chassis further includes: a plurality of anti-collision strips, a driver, two driving wheels and two universal wheels;

[0027] The plurality of anti-collision strips are arranged around the chassis shell;

[0028] The driver is arranged inside the chassis housing and is electrically connected to the two driving wheels and the power module respectively;

[0029] The two driving wheels are respectively arranged on both sides of the front lower part of the chassis shell;

[0030] The two universal wheels are respectively arranged on both sides of the lower rear of the chassis housing;

[0031] The two driving wheels and the two universal wheels are movably connected to the bottom of the chassis shell.

[0032] In some embodiments of the present utility model, based on the aforementioned solution, the chassis further includes: a rear camera, an automatic charging port, a wired charging port, and a power switch;

[0033] The rear camera is embedded in the top of the rear surface of the chassis housing;

[0034] The automatic charging port, the wire charging port and the power switch are all embedded in the rear surface of the chassis shell, and the automatic charging port, the wire charging port and the power switch are all electrically connected to the power module.

[0035] In some embodiments of the present utility model, based on the aforementioned solution, the torso further includes: an emergency stop switch;

[0036] The emergency stop switch is embedded in the rear surface of the trunk shell, and the emergency stop switch is electrically connected to the control panel.

[0037] In some embodiments of the present utility model, based on the aforementioned solution, the trunk further includes: a storage box;

[0038] The storage box is arranged inside the trunk shell, and the cover plate of the storage box is embedded in the rear surface of the trunk shell and movably connected with the rear surface of the trunk shell.

[0039] In some embodiments of the utility model, based on the aforementioned scheme, the paper input and output window of the label printer, the sensing area of ​​the card swiping module, the sensing window of the depth camera, the paper input and output window of the scanner, and the paper output window of the laser printer are all arranged below the torso display screen; a movable cover is provided on the lower side of the front surface of the torso shell, and the paper input window of the laser printer is located on the inner side of the movable cover; and / or

[0040] The laser radar is embedded in the front surface of the chassis shell; the ultrasonic module is embedded in the side surface of the chassis shell.

[0041] The technical solution of the utility model can provide remote handling and welcoming display of some services of the hydropower station, such as remote handling of work tickets, emergency calls before flood discharge, reminders of start-up and shutdown time nodes, intelligent explanations, voice key authorization, and voice access control authorization; it can also provide operation and maintenance personnel with basic maintenance of the robot background management system, such as basic system information management, system configuration, etc. Furthermore, the intelligent robot can also realize intelligent question and answer and support multi-system data integration. Through the on-duty intelligent duty robot research and development project, the utility model can, on the one hand, remotely handle some operating services to achieve unattended operation, relieve personnel pressure, and improve work efficiency; on the other hand, by integrating relevant business data, it provides auxiliary support to on-duty personnel. At the same time, through the diversified and intelligent external communication display of the intelligent duty robot, it can enhance the window image of the power plant and better display the image and style of the power plant.

[0042] It should be understood that the above general description and the following detailed description are exemplary and explanatory only and are not restrictive of the present invention. BRIEF DESCRIPTION OF THE DRAWINGS

[0043] The drawings herein are incorporated into the specification and constitute a part of the specification, showing embodiments consistent with the present utility model, and together with the specification, are used to explain the principles of the present utility model. Obviously, the drawings described below are only some embodiments of the present utility model, and for ordinary technicians in this field, other drawings can be obtained based on these drawings without creative work. In the drawings:

[0044] Figure 1 A front side sectional view of a multimodal intelligent duty robot according to an embodiment of the utility model is shown;

[0045] Figure 2 A rear view of a multimodal intelligent duty robot according to an embodiment of the utility model is shown;

[0046] Figure 3 A front view of a multimodal intelligent robot on duty according to an embodiment of the utility model is shown.

[0047] Description of Reference Numerals

[0048] 1 represents the head, 2 represents the trunk, 3 represents the chassis; 101 represents the head shell, 201 represents the trunk shell, 301 represents the chassis shell; 10 represents the head display screen, 11 represents the speaker, 12 represents the trunk display screen, 13 represents the label printer, 14 represents the card swiping module, 15 represents the depth camera, 16 represents the scanner, 17 represents the laser printer, 18 represents the laser radar, 19 represents the power module, 20 represents the driver, 21 represents the driving wheel, 22 represents the universal wheel, 23 represents the ultrasonic module, 24 represents the anti-collision strip, 25 represents the inverter, 26 represents the 27 denotes a computing unit, 28 denotes a control board, 29 denotes an amplifier module, 30 denotes an emergency stop switch, 31 denotes a storage box, 32 denotes a cooling fan, 33 denotes a charging port, 34 denotes a power switch, 35 denotes a sensing area of ​​a card swiping module, 36 denotes a paper input and output window for label printing paper, 37 denotes a sensing window for a depth camera, 38 denotes a paper input and output window for a scanner, 39 denotes a paper output port for a laser printer, 40 denotes a microphone array, 41 denotes a front camera, 42 denotes a heat sink, 43 denotes a rear camera, and 44 denotes an automatic charging port. DETAILED DESCRIPTION

[0049] The example embodiments will now be described more fully with reference to the accompanying drawings. However, the example embodiments can be implemented in a variety of forms and should not be construed as being limited to the examples set forth herein; on the contrary, these embodiments are provided so that the present invention will be more comprehensive and complete, and the concept of the example embodiments will be fully conveyed to those skilled in the art.

[0050] In addition, the described features, structures or characteristics may be combined in one or more embodiments in any suitable manner. In the following description, many specific details are provided to provide a full understanding of the embodiments of the present utility model. However, those skilled in the art will appreciate that the technical solution of the present utility model can be practiced without one or more of the specific details, or other methods, components, devices, steps, etc. may be adopted. In other cases, known methods, devices, implementations or operations are not shown or described in detail to avoid blurring the various aspects of the present utility model.

[0051] It should be noted that the "multiple" mentioned in this article refers to two or more. "And / or" describes the association relationship of the associated objects, indicating that there can be three relationships. For example, A and / or B can mean: A exists alone, A and B exist at the same time, and B exists alone. The character " / " generally indicates that the associated objects before and after are in an "or" relationship.

[0052] It should be noted that the terms "first", "second", etc. in the specification and claims of the present invention and the above-mentioned drawings are used to distinguish similar objects, and are not necessarily used to describe a specific order or sequence. It should be understood that the objects used in this way can be interchanged where appropriate, so that the embodiments of the present invention described herein can be implemented in an order other than those shown or described.

[0053] In order to make the purpose, technical solution and advantages of the utility model clearer, the technical solution in the embodiment of the utility model will be clearly and completely described below in conjunction with the drawings in the embodiment of the utility model. Obviously, the described embodiment is only a part of the embodiment of the utility model, not all the embodiments. Based on the embodiment of the utility model, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the utility model.

[0054] Some embodiments of the present invention will be described in detail below in conjunction with the accompanying drawings. In the absence of conflict, the following embodiments and features in the embodiments can be combined with each other.

[0055] Figures 1 to 3 They are respectively a front side sectional view, a rear view and a front view of the multimodal intelligent duty robot provided by an embodiment of the utility model; Figure 1-Figure 3 It can be seen that the multimodal intelligent duty robot provided by the embodiment of the utility model may include: a head 1, a torso 2 and a chassis 3;

[0056] The head 1 is mounted on the upper end of the trunk 2, and the trunk 2 is mounted on the upper end of the chassis 3;

[0057] The head 1 comprises: a head shell 101, a head display screen 10, a microphone array 40, and at least one speaker 11; the head display screen 10 is embedded in the front surface of the head shell 101, the microphone array 40 is embedded in the top of the head shell 101, and the at least one speaker 11 is embedded in the side surface of the head shell 101;

[0058] The trunk 2 includes: a trunk shell 201, a trunk display screen 12, a label printer 13, a card swiping module 14, a depth camera 15, a scanner 16 and a laser printer 17; the trunk display screen 12 is embedded in the front surface of the trunk shell 201; the label printer 13, the card swiping module 14, the depth camera 15, the scanner 16 and the laser printer 17 are all arranged inside the trunk shell 201, and the paper input and output window 36 of the label printer, the sensing area 35 of the card swiping module, the sensing window 37 of the depth camera, the paper input and output window 38 of the scanner and the paper output window 39 of the laser printer are respectively arranged at corresponding positions on the front surface of the trunk shell 201;

[0059] The chassis 3 includes: a chassis shell 301, a laser radar 18, an inertial measurement unit (IMU) and an ultrasonic module 23; the laser radar 18 and the ultrasonic module 23 are embedded in different positions of the chassis shell 301, and the inertial measurement unit is set inside the chassis shell 301.

[0060] It should be noted that the utility model provides a multimodal intelligent duty robot that can support the remote processing and welcome display of some operating services of the hydropower station, such as remote processing of work tickets, emergency calls before flood discharge, reminders of start-up and shutdown time nodes, intelligent explanations, voice key authorization, voice access control authorization and other functions.

[0061] It can be understood by those skilled in the art that modality refers to some ways of expressing or perceiving things, and each source or form of information can be called a modality. For example, the media of information include voice, video, text, etc.; various sensors, such as lidar, ultrasound, accelerometer, etc.; each of the above can be called a modality. Multimodality means expressing or perceiving things from multiple modalities. Obviously, the multimodal intelligent duty robot mentioned in the utility model refers to a robot that can express or perceive information from multiple modalities, such as displaying video, text or image information through the head display screen and / or the torso display screen, sending voice information through the speaker, and perceiving information of different modalities inside and outside the robot through the card swiping module, depth camera, scanner, lidar, inertial measurement unit and ultrasonic module, etc.

[0062] Optionally, the speaker 11 can be used for welcoming explanations or voice interaction, etc.

[0063] Optionally, the intelligent robot can display the operation of the hydropower station, production assistance, management assistance, remote ticketing, trend analysis, and other corresponding query information of any user with corresponding authority through the head display screen 10 and the torso display screen 12, and can also support the operation and maintenance personnel to perform basic maintenance on the robot backend management system, such as basic system information management, system configuration, etc. Furthermore, the intelligent robot can also realize intelligent question and answer, support business expansion and other functions.

[0064] Optionally, the label printer 13 is used to print according to a label template.

[0065] Optionally, the card swiping module 14 is used for hydropower station staff to swipe or punch in. It can replace manpower on duty at the hydropower station.

[0066] Optionally, the laser printer 17 is mainly used for printing work tickets, pre-shift meeting materials, fault recordings and installation plate status. Further, the laser printer 17 can be a color laser printer 17.

[0067] Optionally, the scanner 16 is mainly used for scanning the work ticket. Further, the scanner 16 can be a color scanner 16.

[0068] Optionally, the depth camera 15 and the laser radar 18, the ultrasonic module 23 and at least one component of the inertial measurement unit can provide assistance for the automatic obstacle avoidance of the on-duty robot; for example, the laser radar 18 and / or the ultrasonic module 23 emit laser beams in all directions and receive the reflected signals, and then the depth camera 15 performs image recognition and depth perception of the surrounding environment, assisting the computing unit 26 inside the robot to calculate the position and distance of the surrounding obstacles, thereby assisting the robot to achieve automatic obstacle avoidance.

[0069] Further, for example, the inertial measurement unit can detect the acceleration signals of three axes and the angular velocity and acceleration in three-dimensional space, and use this to solve the posture of the robot, and assist the robot in navigation. In a specific embodiment, the robot emits lasers through the laser radars 18 around it, and calculates the position of the robot in the space through the laser signals reflected back in four directions, and scans the environment around the robot through the depth camera 15 and / or the front camera 41 and the rear camera 43. Through stereo vision combined with structured light, a stereo image of the environment is depicted through a depth calculation algorithm, and the signals of these stereo images are transmitted to the calculation unit 26, which calculates according to these signals and transmits the calculation results to other action units (such as the inertial measurement unit, the calculation unit 26, and the driver 20 and other units) to execute the corresponding action signals.

[0070] In some possible embodiments, the trunk further includes: a front camera 41, an inverter 25, a computing unit 26, a router 27, and a power amplifier module 29;

[0071] The front camera 41 is embedded in the top of the front surface of the trunk housing 201;

[0072] The inverter 25, the computing unit 26, the router 27 and the power amplifier module 29 are all arranged inside the trunk housing 201;

[0073] The computing unit 26 is electrically connected to the speaker 11, the head display screen 10, the torso display screen 12, the label printer 13, the card swiping module 14, the depth camera 15, the laser printer 17, the scanner 16, the laser radar 18, the inertial measurement unit, the router 27 and the power amplifier module 29 respectively;

[0074] The inverter 25 is electrically connected to the laser printer 17 .

[0075] In some possible embodiments, the torso further includes: a control panel 28;

[0076] The control panel 28 is disposed inside the trunk housing 201;

[0077] The control board 28 is electrically connected to the ultrasonic module 23 and the computing unit 26 respectively.

[0078] In some possible embodiments, the trunk further includes: at least one cooling fan 32 and a cooling plate 42;

[0079] The at least one heat dissipation fan 32 and the heat dissipation plate 42 are both embedded in the rear surface of the trunk housing 201;

[0080] The cooling fan 32 corresponds to the position of the control board 28;

[0081] The heat sink 42 is located at the bottom of the rear surface of the trunk housing 201 .

[0082] It is understandable that the cooling fan 32 can be connected to the power module 19 to dissipate heat from the main control board 28 .

[0083] In some possible embodiments, the chassis further includes: a power module 19;

[0084] The power module 19 is arranged inside the chassis shell 301, and is electrically connected to the speaker 11, the head display screen 10, the torso display screen 12, the label printer 13, the card swiping module 14, the depth camera 15, the scanner 16, the lidar 18, the inertial measurement unit, the ultrasonic module 23, the inverter 25, the computing unit 26, the router 27, the power amplifier module 29, the control board 28 and the cooling fan 32 respectively.

[0085] In one instance, the torso display screen 12, the label printer 13, and the card swiping module 14 can be powered by 12vDC and can be connected to the computing unit 26 via USB; the depth camera 15 can be powered by USB and can be connected to the control board 28 via a USB cable; the scanner 16 can be powered by 24v DC and can be connected to the computing unit 26 via USB; the laser printer 17 can be powered by the inverter 25 and can be connected to the computing unit 26 via USB; the inverter 25 can be powered by 48v DC; the computing unit 26 and the router 27 can be powered by 12v DC; the control board 28 can be powered by 5v DC; and the power amplifier module 29 can be powered by a 24v DC isolated power supply.

[0086] It can be understood that the above-mentioned power supply voltages are all provided by a power supply module 19 equipped with multiple power conversion modules.

[0087] In some possible embodiments, the chassis further includes: a plurality of anti-collision strips 24, a driver 20, two driving wheels 21 and two universal wheels 22;

[0088] The plurality of anti-collision strips 24 are arranged around the chassis shell 301;

[0089] The driver 20 is disposed inside the chassis housing 301 and is electrically connected to the two driving wheels 21 and the power module 19 respectively;

[0090] The two driving wheels 21 are respectively arranged on both sides of the front lower part of the chassis housing 301;

[0091] The two universal wheels 22 are respectively arranged on both sides of the lower rear of the chassis housing 301;

[0092] The two driving wheels 21 and the two universal wheels 22 are movably connected to the bottom of the chassis shell 301 .

[0093] It can be understood that the driver 20, the driving wheel 21 and the universal wheel 22 can realize the autonomous navigation and movement of the robot, making the intelligent duty robot more flexible and easier to replace human resources, thus greatly reducing the cost of human resource investment.

[0094] In some possible embodiments, the chassis further includes: a rear camera 43, an automatic charging port 44, a wire charging port 33, and a power switch 34;

[0095] The rear camera 43 is embedded in the top of the rear surface of the chassis housing 301;

[0096] The automatic charging port 44 , the wire charging port 33 and the power switch 34 are all embedded in the rear surface of the chassis housing 301 , and the automatic charging port 44 , the wire charging port 33 and the power switch 34 are all electrically connected to the power module 19 .

[0097] For example, the automatic charging port 44 is for the intelligent robot to autonomously move to the charging station for charging; the wired charging port 33 is for the user to actively charge the intelligent robot.

[0098] In some possible embodiments, the torso further includes: an emergency stop switch 30;

[0099] The emergency stop switch 30 is embedded in the rear surface of the trunk housing 201 , and the emergency stop switch 30 is electrically connected to the control board 28 .

[0100] For example, NO and COM of the emergency stop switch 30 may be connected to GPIO and GND of the control board 28 , respectively.

[0101] In some possible embodiments, the torso further includes: a storage box 31;

[0102] The storage box 31 is arranged inside the trunk shell 201, and the cover plate of the storage box 31 is embedded in the rear surface of the trunk shell 201 and movably connected to the rear surface of the trunk shell 201.

[0103] It should be noted that the storage box 31 can be used by the on-duty personnel to place operating tools, operating keys, technical materials, maintenance devices and items that need to be transported to realize functions such as material storage or material distribution.

[0104] In some possible embodiments, the paper input and output window 36 of the label printer, the sensing area 35 of the card swiping module, the sensing window 37 of the depth camera, the paper input and output window 38 of the scanner, and the paper output window 39 of the laser printer are all arranged below the torso display screen 12; a movable cover is provided on the lower side of the front surface of the torso shell 201, and the paper input window of the laser printer 17 is located on the inner side of the movable cover; and / or the laser radar 18 is embedded in the front surface of the chassis shell 301; the ultrasonic module 23 is embedded in the side surface of the chassis shell 301.

[0105] For example, the structural design of the duty robot is based on the realization of practical functions such as remote business processing, welcoming explanations, intelligent Q&A, and material distribution. In the process of structural design, the principles of modular design, scalability design, and easy maintainability design are followed, and various environmental factors faced in actual work are considered, striving to achieve good user-friendliness and environmental friendliness. The above design ideas are used as the starting point for the product design of the welcoming duty robot, and the functional requirements are always achieved. On this basis, conceptual design, detailed design, prototyping and testing are carried out, and finally product optimization and improvement are carried out.

[0106] Preferably, the intelligent duty robot has the ability to move freely forward, backward, left and right on a plane, and can turn 360° on the spot. It can sense obstacles around itself and its own position through two or more recognition technologies such as laser radar 18 and ultrasonic sensors, infrared sensors (which can be set in the robot), and bypass obstacles through obstacle avoidance algorithms. It supports front cliff detection to effectively avoid the risk of falling from stairs in front. The intelligent duty robot can also support geomagnetic induction to effectively detect obstacles at the bottom of the robot to prevent the robot from being damaged. It automatically stops moving after sensing an obstacle to ensure the safety of the user and the robot itself during movement. When the battery is low, the intelligent duty robot can also automatically move to the charging point and automatically connect to the charger for charging.

[0107] Furthermore, as an example, the intelligent duty robot has built-in hardware such as a printer and a scanner 16, and meets the requirements of reliability, stability, ease of use, economy and autonomous control.

[0108] The intelligent duty robot supports role setting, including auxiliary robots and central control robots. After the role setting, the robot can provide different business functions to users according to different role positioning.

[0109] Optionally, the depth camera 15 can also be used as a camera of the intelligent robot. In addition, other cameras can be installed on the intelligent robot, such as installed in the head display screen 10 or the torso display screen 12, or embedded in the upper side of the front surface of the torso and the front and rear surfaces of the chassis. Furthermore, the intelligent duty robot obtains images and other signals through cameras or other sensors, and transmits the signals to the robot computing unit 26. The computing unit 26 extracts the characteristic value of the signal according to the image recognition technology and algorithm, and compares the characteristic value with the characteristic library inside the robot. When the characteristic value meets certain requirements, the entity corresponding to the characteristic library is output to the outside.

[0110] Preferably, the intelligent robot can respond to the user's voice call or command to send a call, and then move autonomously to the user for the user to use the intelligent robot; or in an emergency, the intelligent robot can directly move autonomously to the user, or send an emergency alarm or command to the user. Specifically, when it is necessary to move the position, the intelligent robot can realize the free movement of the robot by controlling its own driving wheel 21 and universal wheel 22, such as forward, backward, left turn, right turn, circle in place, climb, go downhill, movement speed, etc. The signal source of the robot movement is based on the transmission of external signals or algorithmic decisions such as obstacle avoidance. In the utility model, automatic obstacle avoidance is combined with multiple schemes. In the utility model, the robot uses laser radar and depth camera for automatic obstacle avoidance. The laser radar emits laser beams to the surroundings and receives the reflected signals, and then uses the depth camera to perform image recognition and depth perception of the surrounding environment, calculates the position and distance of surrounding obstacles, and thus realizes automatic obstacle avoidance.

[0111] Preferably, map sampling is required before robot path planning. The collected content is mainly the path point information and the relationship between the points. When sampling, the robot is set as a particle. Due to the difference in volume of the robot itself, its own expansion configuration will be set according to the appearance of the robot. The main reference is the size of the robot. It is placed in the path planning process when the robot body touches obstacles or cannot pass through certain places. After the setting is completed, path data can be collected in the area, that is, the points that the robot can reach and the relationship between the points and other points. The data after map collection can be used for the same type of robots.

[0112] Preferably, after completing the map sampling of multiple places, multiple map association is performed. When map switching is required, the switching method can be to switch maps by going up and down the elevator unit. For example, the robot has already sampled the 4th, 5th, 6th and 7th floors. The robot is currently on the 5th floor. After entering the elevator, the robot goes up to the 7th floor. Then the multi-map switching instruction of going up to the 7th floor and the map information of the 5th and 7th floors are stored in the map switching mode of the database. Then the robot can plan the path between different maps based on the stored map information and the multi-map switching information.

[0113] Specifically, path planning mainly involves the robot generating and executing a path map based on the completed map data according to the shortest path algorithm. During the path execution process, if an obstacle is encountered on the specified route, the robot will identify the obstacle and replan the route and execute it until it reaches the destination.

[0114] Optionally, as an example, the robot scans the environment around the robot through a depth camera and / or a front camera and a rear camera, and depicts a stereo image of the environment through stereo vision combined with structured light and a depth calculation algorithm, and transmits the signals of these stereo images to the computing unit, which calculates based on these signals and transmits the calculation results to other action units to execute corresponding action signals.

[0115] In one embodiment, the internal power module of the intelligent robot provides a power signal to all modules in the robot. After receiving the power signal, the robot can automatically trigger the generation of path planning to the nearest charging pile according to the set automatic charging rules. For example, when the power is less than 20%, the robot can automatically trigger the generation of path planning to the nearest charging pile and navigate to the charging pile to charge through the charging port 33.

[0116] It is understandable that the robot's built-in hardware includes a scanner, printer, card swiping module and label printer. The scanner supports A4 scanners and is mainly used for scanning work tickets. The printer is a color laser double-sided printer, which is mainly used for printing work tickets, pre-shift meeting materials, fault recordings and installation plate status. The card swiping module is mainly used for employee identity authentication. The label printer mainly prints according to the label template. Optionally, the robot provides secondary development based on its local hardware and background services, and the secondary development docking method is the local software development kit (SDK) and the Web service interface. The local SDK mainly provides the operation and use of the robot-side camera, scanner, printer, card swiping module, label printer and other hardware.

[0117] For example, the robot can drive the camera to perform face recognition and audio and video calls. Drive the scanner to scan work tickets. Drive the printer to print documents or images. Drive the card swiping module to read employee card information. Drive the label printer to print labels. The Web service interface mainly provides business services. Get the robot's status information. The robot can also be used by hydropower station staff to handle business on the robot.

[0118] Those skilled in the art will readily come up with other embodiments of the present invention after considering the specification and practicing the embodiments disclosed herein. The present invention is intended to cover any variations, uses or adaptations of the present invention, which follow the general principles of the present invention and include common knowledge or customary technical means in the art that are not disclosed in the present invention. It should be understood that the present invention is not limited to the precise structure described above and shown in the accompanying drawings, and various modifications and changes can be made without departing from the scope thereof. The scope of the present invention is limited only by the appended claims.

Claims

1. A multimodal intelligent duty robot, characterized in that: include: head, torso and chassis; The head is mounted on the upper end of the trunk, and the trunk is mounted on the upper end of the chassis; The head comprises: a head shell, a head display screen, a microphone array and at least one speaker; the head display screen is embedded in the front surface of the head shell, the microphone array is embedded in the top of the head shell, and the at least one speaker is embedded in the side surface of the head shell; The trunk includes: a trunk shell, a trunk display screen, a label printer, a card swiping module, a depth camera, a scanner and a laser printer; the trunk display screen is embedded in the front surface of the trunk shell; the label printer, the card swiping module, the depth camera, the scanner and the laser printer are all arranged inside the trunk shell, and the paper input and output windows of the label printer, the sensing area of ​​the card swiping module, the sensing window of the depth camera, the paper input and output windows of the scanner and the paper output window of the laser printer are respectively arranged at corresponding positions on the front surface of the trunk shell; The chassis includes: a chassis shell, a laser radar, an inertial measurement unit and an ultrasonic module; the laser radar and the ultrasonic module are embedded in different positions of the chassis shell, and the inertial measurement unit is arranged inside the chassis shell.

2. The robot according to claim 1, characterized in that: The trunk also includes: a front camera, an inverter, a computing unit, a router and a power amplifier module; The front camera is embedded in the top of the front surface of the trunk shell; The inverter, computing unit, router and power amplifier module are all arranged inside the trunk housing; The computing unit is electrically connected to the speaker, the head display screen, the torso display screen, the label printer, the card swiping module, the depth camera, the laser printer, the scanner, the laser radar, the inertial measurement unit, the router and the power amplifier module respectively; The inverter is electrically connected to the laser printer.

3. The robot according to claim 2, characterized in that: The trunk further comprises: a control panel; The control panel is arranged inside the trunk housing; The control board is electrically connected to the ultrasonic module and the computing unit respectively.

4. The robot according to claim 3, characterized in that: The trunk further comprises: at least one cooling fan and a cooling plate; The at least one heat dissipation fan and the heat dissipation plate are both embedded in the rear surface of the trunk housing; The cooling fan corresponds to the position of the control panel; The heat dissipation plate is located at the bottom of the rear surface of the trunk shell.

5. The robot according to claim 4, characterized in that: The chassis also includes: a power module; The power module is arranged inside the chassis shell and is electrically connected to the speaker, head display screen, torso display screen, label printer, card swiping module, depth camera, scanner, lidar, inertial measurement unit, ultrasonic module, inverter, computing unit, router, power amplifier module, control board and cooling fan respectively to supply power to each device, component, unit or module.

6. The robot according to claim 5, characterized in that: The chassis also includes: a plurality of anti-collision strips, a driver, two driving wheels and two universal wheels; The plurality of anti-collision strips are arranged around the chassis shell; The driver is arranged inside the chassis housing and is electrically connected to the two driving wheels and the power module respectively; The two driving wheels are respectively arranged on both sides of the front lower part of the chassis shell; The two universal wheels are respectively arranged on both sides of the lower rear of the chassis housing; The two driving wheels and the two universal wheels are movably connected to the bottom of the chassis shell.

7. The robot according to claim 5 or 6, characterized in that: The chassis also includes: a rear camera, an automatic charging port, a wired charging port, and a power switch; The rear camera is embedded in the top of the rear surface of the chassis housing; The automatic charging port, the wire charging port and the power switch are all embedded in the rear surface of the chassis shell, and the automatic charging port, the wire charging port and the power switch are all electrically connected to the power module.

8. The robot according to claim 5 or 6, characterized in that: The trunk also includes: an emergency stop switch; The emergency stop switch is embedded in the rear surface of the trunk shell, and the emergency stop switch is electrically connected to the control panel.

9. The robot according to claim 5 or 6, characterized in that: The trunk also includes: a storage box; The storage box is arranged inside the trunk shell, and the cover plate of the storage box is embedded in the rear surface of the trunk shell and movably connected with the rear surface of the trunk shell.

10. The robot according to claim 5 or 6, characterized in that: The paper input and output window of the label printer, the sensing area of ​​the card swiping module, the sensing window of the depth camera, the paper input and output window of the scanner and the paper output window of the laser printer are all arranged below the torso display screen; a movable cover plate is arranged on the lower side of the front surface of the torso shell, and the paper input window of the laser printer is located on the inner side of the movable cover plate; and / or The laser radar is embedded in the front surface of the chassis shell; the ultrasonic module is embedded in the side surface of the chassis shell.

Images