Intelligent accompanying robot based on Raspberry Pi

Abstract

The utility model relates to an intelligent accompanying robot based on Raspberry Pi. Each module of the robot comprises a corresponding standard interface, a control module comprises a Raspberry Pi main control board, an I / O expansion board and a first metal rod, and the I / O expansion board is in communication connection with the Raspberry Pi main control board; the motion module comprises a chassis, wheels and a motor, the motor is connected with the I / O expansion board through a standard interface, the Raspberry Pi main control board is connected with the chassis through a first metal rod, and the I / O expansion board is connected with the Raspberry Pi main control board through the first metal rod; the sensing module and the audio module are fixedly connected with the chassis and are connected with the I / O expansion board through standard interfaces; the display module is connected with the I / O expansion board through a standard interface; and the power supply module is fixedly connected with the chassis, comprises a plurality of independent battery assemblies and is connected with the other modules through standard interfaces respectively. Compared with the prior art, the intelligent accompanying robot based on the Raspberry Pi has the advantages that the expansibility and scene adaptability of the intelligent accompanying robot based on the Raspberry Pi are improved, and the maintenance complexity is reduced.

Description

Technical Field

[0001] The utility model relates to the technical field of mobile robots, in particular to an intelligent accompanying robot based on Raspberry Pi. Background Art

[0002] The development of intelligent accompanying robot technology solutions based on Raspberry Pi has made some progress. Raspberry Pi is a low-cost, open source, easy-to-program microcomputer that can be used as the core processor of intelligent robot technology solutions. Intelligent accompanying robots based on Raspberry Pi usually include technologies such as voice recognition, image recognition, and machine learning, which can realize voice interaction with users, monitor the environment, and provide entertainment. At present, intelligent accompanying robot technology based on Raspberry Pi has been applied in some fields, such as medical robots and elderly care robots. These robots can provide users with companionship, monitoring, health management and other services, which helps to improve the quality of life of users. However, the existing intelligent accompanying robots based on Raspberry Pi mostly adopt an integrated design and a fixed camera system, which is difficult to replace and repair and difficult to meet the needs of different application scenarios. Therefore, how to further improve the scalability and scene adaptability of intelligent accompanying robots based on Raspberry Pi and reduce the complexity of maintenance has become a problem that needs to be solved in this field. Utility Model Content

[0003] The purpose of the utility model is to provide an intelligent companion robot based on Raspberry Pi in order to overcome the defects of the above-mentioned prior art, which can further improve the scalability and scene adaptability of the intelligent companion robot based on Raspberry Pi and reduce the complexity of maintenance.

[0004] The purpose of the utility model can be achieved through the following technical solutions:

[0005] The utility model provides an intelligent accompanying robot based on Raspberry Pi, comprising a control module, a motion module, a sensor module, an audio module, a display module and a power module, each module comprising a corresponding standard interface, the control module comprising a Raspberry Pi main control board, an I / O expansion board and a plurality of first metal rods, the I / O expansion board being communicatively connected to the Raspberry Pi main control board; the motion module comprising a chassis and wheels and a motor fixedly connected to the chassis, the motor being connected to pins of the I / O expansion board through a standard interface, the wheels being fixedly connected to the motor, the Raspberry Pi main control board being fixedly connected to the chassis through the first metal rod, and the I / O expansion board being fixedly connected to the Raspberry Pi main control board through the first metal rod; the sensor module and the audio module being fixedly connected to the chassis, and being connected to the pins of the I / O expansion board through a standard interface; the display module being connected to the pins of the I / O expansion board through a standard interface; the power module comprising a plurality of independent battery assemblies and being fixedly connected to the chassis, the plurality of independent battery assemblies being respectively connected to the remaining modules through standard interfaces.

[0006] As a preferred technical solution, the sensing module includes a camera and a gimbal, the gimbal is fixedly connected to the chassis, the camera is fixedly connected to the gimbal, the gimbal is connected to the pins of the I / O expansion board through a standard interface, and the camera is connected to the Raspberry Pi main control board through a standard interface.

[0007] As a preferred technical solution, the pan-tilt head is a two-dimensional pan-tilt head or a three-dimensional pan-tilt head.

[0008] As a preferred technical solution, the sensor module also includes an infrared obstacle avoidance sensor and a second metal rod. The infrared obstacle avoidance sensor is fixedly connected to the chassis through the second metal rod and is connected to the pins of the I / O expansion board through a standard interface.

[0009] As a preferred technical solution, the audio module includes a buzzer, a power amplifier board and a plurality of third metal rods, the power amplifier is fixedly connected to the chassis through the third metal rods, and the power amplifier is connected to the pins of the I / O expansion board through a standard interface, and the buzzer is fixedly connected to the power amplifier through the third metal rods.

[0010] As a preferred technical solution, the display module includes a digital voltmeter and a fourth metal rod. The digital voltmeter is fixedly connected to the chassis through the fourth metal rod and is connected to the pins of the I / O expansion board through a standard interface. The digital voltmeter is located below the power amplifier board.

[0011] As a preferred technical solution, the display module further includes an external display screen, and the external display screen is connected to the pins of the I / O expansion board via a standard interface.

[0012] As a preferred technical solution, the connection methods through standard interfaces include DuPont line connection, USB connection, HDMI connection, GPIO connection and I2C connection.

[0013] As a preferred technical solution, the battery assembly includes a lithium battery assembly.

[0014] As a preferred technical solution, the Raspberry Pi main control board is a Raspberry Pi 4B model.

[0015] Compared with the prior art, the utility model has the following beneficial effects:

[0016] 1. The Raspberry Pi-based intelligent accompanying robot provided by the utility model adopts a modular design. The Raspberry Pi main control board is connected to the I / O expansion board. Standard interfaces are designed for each module. The motion module, sensor module, audio module, display module and power module can be connected to the I / O expansion board through corresponding standard interfaces, so that the Raspberry Pi main control board can coordinate the control of each module of the robot, which is more conducive to communication and interchange between modules. Each module has a unified interface, which is convenient for plugging and replacing, and reduces the complexity of maintenance. It can not only simplify the control logic, but also increase the scalability and scene adaptability of the robot.

[0017] 2. The power module of the intelligent accompanying robot based on Raspberry Pi provided by the utility model includes multiple independent battery assemblies, and the multiple independent battery assemblies are respectively connected to the remaining modules through standard interfaces to supply power to different working modules respectively, which can reduce the power interference between the modules and improve the stability of the robot system;

[0018] 3. In the Raspberry Pi-based intelligent accompanying robot provided by the utility model, the sensing module includes a camera and a pan-tilt head. The pan-tilt head can adopt a two-dimensional pan-tilt head or a three-dimensional pan-tilt head, and is connected to the pins of the I / O expansion board through a standard interface. The two-dimensional pan-tilt head already has a certain angle adjustment capability. On this basis, the three-dimensional pan-tilt head has a higher degree of freedom of adjustment capability, which is more conducive to flexible control of the camera angle and realization of all-round monitoring and perception. It is suitable for more complex accompanying environments, provides more accurate accompanying services, and further improves the user experience. BRIEF DESCRIPTION OF THE DRAWINGS

[0019] Figure 1 This is a schematic diagram of the overall structure of the intelligent accompanying robot in the embodiment of the utility model;

[0020] Figure 2 This is a structural diagram of the control module of the intelligent accompanying robot in the embodiment of the utility model;

[0021] Figure 3This is a structural diagram of the motion module of the intelligent accompanying robot in the embodiment of the utility model;

[0022] Figure 4 This is a schematic diagram of the structure of the audio module, sensor module, power module and display module of the intelligent accompanying robot in the embodiment of the utility model;

[0023] Among them: 1. I / O expansion board; 2. Raspberry Pi 4B main control board; 3. Four-wheel drive chassis; 4. Wheels; 5. Motor; 6. Buzzer; 7. Power amplifier board; 8. Digital voltmeter; 9. Infrared obstacle avoidance sensor; 10. 2D servo gimbal; 11. HD camera; 12. Power module; 13. External display. DETAILED DESCRIPTION

[0024] The following will be combined with the drawings in the embodiments of the utility model to clearly and completely describe the technical solutions in the embodiments of the utility model. Obviously, the described embodiments are part of the embodiments of the utility model, not all of them. Based on the embodiments in the utility model, all other embodiments obtained by ordinary technicians in this field without creative work should fall within the scope of protection of the utility model.

[0025] In the description of the present utility model, it should be noted that the terms "center", "upper", "lower", "left", "right", "vertical", "horizontal", "inside", "outside" and the like indicate positions or positional relationships based on the positions or positional relationships shown in the accompanying drawings, or the positions or positional relationships in which the utility model product is usually placed when in use, which are only for the convenience of describing the present 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 present utility model. For example, "horizontal" only means that its direction is more horizontal relative to "vertical", and does not mean that the structure must be completely horizontal, but can be slightly tilted. In addition, the terms "first" and "second" are only used for descriptive purposes, and cannot be understood as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Therefore, the features defined as "first" and "second" may explicitly or implicitly include one or more of the features. In the description of the present application, the meaning of "multiple" is two or more, unless otherwise clearly and specifically defined.

[0026] Example:

[0027] like Figure 1As shown, this embodiment provides an intelligent accompanying robot based on Raspberry Pi. The robot includes a control module, a motion module, a sensor module, an audio module, a display module and a power module. Each module is provided with a corresponding standard interface. The standard interface connection methods include DuPont line connection, USB connection, HDMI connection, GPIO connection, I2C connection, etc. The robot is an AI visual intelligent car, which uses Raspberry Pi 4B as the main control board and is an autonomous mobile robot integrating modern computer vision technology and artificial intelligence algorithms.

[0028] It should be particularly noted that Raspberry Pi, as the core control unit of the structure of the utility model, has integrated technical functions. The technology of the utility model is to utilize the functions of Raspberry Pi, and the implementation of this function is with the help of general technical means rather than relying on descriptions such as programs or algorithms, software, etc. It is only to facilitate technical personnel in this field or general technical personnel to understand the specific implementation of this technology, and the technical implementation is not based on this as the main basis.

[0029] like Figure 2 As shown, the control module includes an I / O expansion board 1, a Raspberry Pi 4B main control board 2 and a plurality of first metal rods. The I / O expansion board 1 is connected to the Raspberry Pi 4B main control board 2 for communication. Depending on the connection module, corresponding interfaces can be used to achieve plugging and unplugging. The Raspberry Pi 4B main control board 2, as the central processing unit of the car, is responsible for running the operating system and control program, and communicates with other components of the car, such as the motor and its driver, various sensors, etc., through GPIO (general input and output) pins.

[0030] like Figure 3 As shown, the motion module includes a four-wheel drive chassis 3 and wheels 4 and motors 5 fixedly connected to the four-wheel drive chassis 3. The four-wheel drive chassis 3 is the skeleton of the entire vehicle and is used to support all components. The wheels 4 are fixedly connected to the shaft of the motor 5 by screws, and the motor 5 is fixed to the inner wall of the side of the four-wheel drive chassis 3 by screws. The motor 5 is connected to the GPIO pin of the I / O expansion board 1 through a DuPont line and a standard interface to receive control signals.

[0031] The Raspberry Pi 4B main control board 2 is fixedly connected to the four-wheel drive chassis 3 through the first metal rod and is mounted on the rear end of the four-wheel drive chassis 3. The I / O expansion board 1 is fixedly connected to the Raspberry Pi 4B main control board 2 through the first metal rod and is mounted on the Raspberry Pi 4B main control board 2. The motor 5 is the power source for driving the car forward, backward, and turning. The motor 5 is generally connected to a matching driver. The motor driver is responsible for receiving instructions from the Raspberry Pi 4B main control board 2, converting electrical energy into a form suitable for motor operation, and controlling the speed and direction of the motor.

[0032] like Figure 4As shown, the audio module includes a buzzer 6, a power amplifier board 7 and a plurality of third metal rods. The power amplifier board 7 is fixedly connected to the four-wheel drive chassis 3 through the third metal rod and is mounted in the middle of the four-wheel drive chassis 3. The buzzer 6 is fixedly mounted above the power amplifier 7 through the third metal rod and is connected to the power amplifier board 7 through a wire. The power amplifier board 7 is connected to the pins of the I / O expansion board 1 through a DuPont line. A digital display voltmeter 8 is installed below the power amplifier board 7.

[0033] The sensing module includes an infrared obstacle avoidance sensor 9, a second metal rod, a two-dimensional servo platform 10 and a high-definition camera 11. The infrared obstacle avoidance sensor 9 is fixedly connected to the four-wheel drive chassis 3 through the second metal rod, and is connected to the pins of the I / O expansion board 1 through a standard interface. The two-dimensional servo platform 10 is fixedly connected to the front end of the four-wheel drive chassis 3 by screws, and the high-definition camera 11 is fixedly connected to the two-dimensional servo platform 10 by screws. The two-dimensional servo platform 10 is connected to the pins of the I / O expansion board 1 through a standard interface such as a DuPont line, and the high-definition camera 11 is connected to the USB Type-C interface of the Raspberry Pi 4B main control board 2 through a USB power adapter. In some other embodiments, a three-dimensional servo platform or a panoramic camera can be used to increase the freedom of monitoring, which is more suitable for other complex scenes and improves user experience. The sensing module is used to capture surrounding environment data, the infrared obstacle avoidance sensor 9 can detect obstacle data, and the high-definition camera 11 can collect environmental image data, which will be transmitted to the Raspberry Pi 4B main control board 2 in a timely manner for processing to achieve object recognition, path planning and other functions.

[0034] The display module includes a digital voltmeter 8 and a fourth metal rod. The digital voltmeter 8 is fixedly connected to the four-wheel drive chassis 3 through the fourth metal rod, and is located in the middle of the four-wheel drive chassis 3 and below the power amplifier board 7. The digital voltmeter 8 is connected to the pins of the I / O expansion board 1 through a DuPont line.

[0035] The power module 12 includes a plurality of independent battery assemblies, which are fixedly connected to the bottom of the four-wheel drive chassis 3 by nylon cable ties. The plurality of independent battery assemblies are respectively connected to the remaining modules through standard interfaces to provide a stable power supply for the Raspberry Pi 4B main control board 2 and other electronic devices, for example, connected to the motor 5 through a DuPont line or a pluggable connector to power the motor driver. The battery assembly can be a lithium battery assembly.

[0036] The display module further includes an external display screen 13, and the external display screen 13 is connected to the pins of the I / O expansion board 1 through a standard interface. In some other embodiments, the display module further includes a touch screen.

[0037] In addition, the intelligent accompanying robot provided in this embodiment communicates with an external device (such as a smart phone, a computer or a cloud server) through a wireless communication module (such as a Wi-Fi module) to achieve remote control or data upload. The wireless communication module is connected to the Raspberry Pi 4B main control board 2 through a USB interface or a built-in wireless network card, and the external display screen 13 is connected to the Raspberry Pi 4B main control board 2 through an HDMI interface for displaying information and receiving user input.

[0038] The functions of the above main structures are as follows:

[0039] Raspberry Pi 4B main control board 2: executes software logic, processes image data, and sends control signals;

[0040] Sensor module: provides additional environmental information and enhances the perception ability of the car. The high-definition camera 11 is used to collect environmental images for subsequent analysis and processing;

[0041] Motor 5: provides power and adjusts the motion state according to the control signal;

[0042] Four-wheel drive chassis 3 and wheels 4: support and move the entire car structure;

[0043] Power module 12: used for group power management to ensure stable and reliable power supply;

[0044] Wireless communication module: realize data exchange and remote control with the outside world.

[0045] The working principle of the intelligent accompanying robot provided in this embodiment is as follows:

[0046] The intelligent accompanying robot, i.e., the intelligent car, captures real-time images through a high-definition camera 11 and transmits the images to the Raspberry Pi 4B main control board 2. The existing machine vision algorithm carried on the Raspberry Pi main control board 2 processes the images collected by the high-definition camera 11, including image denoising, image enhancement, image compression, etc. The machine vision algorithm extracts key features, such as edges, colors, etc., from the processed images for subsequent target detection and recognition. The existing machine learning algorithm or deep learning algorithm (such as a convolutional neural network or a lightweight deep learning framework TensorFlow Lite) analyzes and recognizes the image after feature extraction, thereby detecting the targets that the car needs to pay attention to, such as people, cars, etc.; the results of the target detection are processed to obtain the actions that the car needs to perform, such as moving forward, backward, turning, etc.; the decision results are converted into signal outputs of the motor driver to control the car to perform the corresponding actions, thereby achieving precise control of the car. In this way, the intelligent car can perceive and respond to the surrounding environment, thereby achieving autonomous movement and control.

[0047] The intelligent accompanying robot provided in this embodiment uses Raspberry Pi as the control core, combined with high-performance sensors and actuators, to achieve more accurate data collection and action execution, improve the robot's response speed and accuracy, and through high-precision sensors, the robot can identify abnormal conditions of the accompanying object in a shorter time and respond quickly, thereby improving the safety and efficiency of the accompanying. On this basis, a modular design is adopted, and the modularity of the robot is improved through the design of I / O expansion boards and standard interfaces of each module, making it easier to expand and maintain; at the same time, multiple battery assemblies are used to power each module separately, reducing power supply interference and further improving the stability of the robot system; in addition, the establishment of a three-dimensional pan-tilt head enables the camera to be adjusted at more angles, which is suitable for more complex monitoring and accompanying scenes.

[0048] The preferred specific embodiments of the utility model are described in detail above. It should be understood that ordinary technicians in this field can make many modifications and changes based on the concept of the utility model without creative work. Therefore, all technical solutions that can be obtained by technicians in this technical field based on the concept of the utility model through logical analysis, reasoning or limited experiments on the basis of the existing technology should be within the scope of protection determined by the claims.

Claims

1. An intelligent companion robot based on Raspberry Pi, characterized in that: The invention comprises a control module, a motion module, a sensor module, an audio module, a display module and a power module, each module comprises a corresponding standard interface, the control module comprises a Raspberry Pi main control board, an I / O expansion board and a plurality of first metal rods, the I / O expansion board is communicatively connected with the Raspberry Pi main control board; the motion module comprises a chassis and wheels and a motor fixedly connected with the chassis, the motor is connected with the pins of the I / O expansion board through a standard interface, the wheels are fixedly connected with the motor, the Raspberry Pi main control board is fixedly connected with the chassis through the first metal rod, and the I / O expansion board is fixedly connected with the Raspberry Pi main control board through the first metal rod; the sensor module and the audio module are both fixedly connected with the chassis, and are both connected with the pins of the I / O expansion board through a standard interface; the display module is connected with the pins of the I / O expansion board through a standard interface; the power module comprises a plurality of independent battery assemblies and is fixedly connected with the chassis, and the plurality of independent battery assemblies are respectively connected with the remaining modules through standard interfaces.

2. The intelligent accompanying robot based on Raspberry Pi according to claim 1, characterized in that: The sensor module includes a camera and a gimbal, wherein the gimbal is fixedly connected to the chassis, the camera is fixedly connected to the gimbal, the gimbal is connected to the pins of the I / O expansion board through a standard interface, and the camera is connected to the Raspberry Pi main control board through a standard interface.

3. The intelligent accompanying robot based on Raspberry Pi according to claim 2, characterized in that: The pan head is a two-dimensional pan head or a three-dimensional pan head.

4. The intelligent accompanying robot based on Raspberry Pi according to claim 2, characterized in that: The sensor module also includes an infrared obstacle avoidance sensor and a second metal rod. The infrared obstacle avoidance sensor is fixedly connected to the chassis through the second metal rod and is connected to the pins of the I / O expansion board through a standard interface.

5. The intelligent accompanying robot based on Raspberry Pi according to claim 1, characterized in that: The audio module includes a buzzer, a power amplifier board and a plurality of third metal rods, the power amplifier board is fixedly connected to the chassis through the third metal rods, and the power amplifier board is connected to the pins of the I / O expansion board through a standard interface, and the buzzer is fixedly connected to the power amplifier board through the third metal rods.

6. The intelligent accompanying robot based on Raspberry Pi according to claim 5, characterized in that: The display module includes a digital voltmeter and a fourth metal rod. The digital voltmeter is fixedly connected to the chassis through the fourth metal rod and is connected to the pins of the I / O expansion board through a standard interface. The digital voltmeter is located below the power amplifier board.

7. The intelligent accompanying robot based on Raspberry Pi according to claim 6, characterized in that: The display module also includes an external display screen, which is connected to the pins of the I / O expansion board via a standard interface.

8. The intelligent accompanying robot based on Raspberry Pi according to claim 1, characterized in that: The connection methods through standard interfaces include DuPont line connection, USB connection, HDMI connection, GPIO connection and I2C connection.

9. The intelligent accompanying robot based on Raspberry Pi according to claim 1, characterized in that: The battery assembly includes a lithium battery assembly.

10. The intelligent accompanying robot based on Raspberry Pi according to claim 1, characterized in that: The Raspberry Pi main control board is Raspberry Pi 4B model.

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