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 mechanism is arranged on a rotating base of the mechanical arm to rotate along with the rotating base or is arranged on the movable base, the camera supporting mechanism is at least provided with a first visual perception module, the first visual perception module comprises a 2D camera and a laser radar, and the 2D camera and the laser radar are arranged on the camera supporting mechanism; 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 mechanism, 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, and specifically to an integrated mobile robot. Background Art

[0002] An industrial robot is an intelligent device equipped with sensors, objective lenses, and electro-optical systems, which can quickly perform goods sorting and handling.

[0003] More and more visual sensors and force sensors are used in industrial robots, and industrial robots will become more and more intelligent. With the progress of technologies such as sensing and recognition systems and artificial intelligence, robots are developing from being unidirectionally controlled to storing and applying data by themselves, and are gradually becoming informatized.

[0004] In order to expand the application scenarios and scope of industrial robots, in the prior art, mobile robots are manufactured by installing industrial robots on mobile bases, so as to realize the movement of industrial robots to achieve functions such as mobile depalletizing and mobile picking. However, in order to realize the rapid operation of mobile robots, how to collect physical visual information is an urgent problem to be solved. Summary of the Utility Model

[0005] Aiming at 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, which is used to move to any position or pause at any position according to the received control instruction and determine the orientation angle;

[0008] A robotic arm, which is used to move the target box at the picking position to a discharging position;

[0009] A camera support mechanism, the camera support mechanism is arranged on the rotating seat of the robotic arm to rotate with the rotating seat, and the camera support mechanism includes a first visual perception module, the first visual perception module includes a 2D camera and a lidar, and the 2D camera and the lidar are used to cooperate to collect image information of the target box or the box stack formed by the target box.

[0010] Preferably, the camera support mechanism includes a base and a support column;

[0011] The base is connected to the rotating seat of the robotic arm through a mounting base plate;

[0012] The support column is arranged on the base, and the base is used to drive the support column to rotate;

[0013] The first visual perception module is arranged at the top of the support column and rotates along with the rotation of the support column.

[0014] Preferably, the camera support mechanism includes a chassis, a base, and a bracket;

[0015] The chassis is connected to the rotating base of the robotic arm;

[0016] The base is arranged on the top side surface of the chassis;

[0017] The bracket is arranged on the base, and the base is used to drive the bracket to rotate;

[0018] The first visual perception module is arranged on the bracket and rotates along with the rotation of the bracket.

[0019] Preferably, it further includes the rotation driving module, which is used to drive the camera support mechanism to rotate along its axial direction.

[0020] Preferably, the base includes a hollow shaft rotary platform and a bracket motor;

[0021] The power output end of the bracket motor is connected to the motor connection port of the hollow shaft rotary platform;

[0022] The bracket is arranged on the rotary platform of the hollow shaft rotary platform;

[0023] The bracket motor is used to drive the bracket to rotate through the hollow shaft rotary platform.

[0024] Preferably, the lidar includes a first lidar and a second lidar;

[0025] The first lidar and the second lidar are symmetrically arranged back to back on the bracket;

[0026] The 2D camera is provided with a first wide-angle lens;

[0027] The 2D camera is arranged between the first lidar and the second lidar or on the upper side of the docking position of the first lidar and the second lidar.

[0028] Preferably, the first lidar is arranged on one side surface of the bracket, and the second lidar is arranged on the other side surface of the bracket;

[0029] The 2D camera is arranged inside the bracket or on the upper side surface of the bracket and between the first lidar and the second lidar.

[0030] Preferably, a second visual perception module is arranged on the front side surface of the mobile base;

[0031] The second visual perception module is configured to collect image information of the target box body located in front of the mobile base or the stack of boxes formed by the target box body.

[0032] Preferably, the robotic arm includes a robotic arm main body, a fixed seat, and a rotating seat;

[0033] The fixed seat is arranged on the mobile base, the rotating seat is rotatably connected to the fixed seat, and the lower end of the robotic arm main body is connected to the rotating seat and can rotate along its axial direction driven by the rotating seat.

[0034] Preferably, a speed reducer is arranged on the rotating seat;

[0035] One end of the chassis is connected to the rotating seat, and the other end is connected to the housing of the rotating seat.

[0036] Compared with the prior art, the utility model has the following beneficial effects:

[0037] In the utility model, the robotic arm is arranged on a mobile base. The robotic arm includes a robotic arm main body, a fixed seat, and a rotating seat. The fixed seat is arranged on the mobile base, the rotating seat is rotatably connected to the fixed seat, and the lower end of the robotic arm main body is connected to the rotating seat and can rotate along its axial direction driven by the rotating seat. A camera support mechanism is arranged on the rotating seat or the mobile base, and a visual perception module is arranged on the camera support mechanism. Thus, the visual perception module can rotate following the robotic arm or can rotate through the camera support mechanism, which can improve the imaging efficiency of the target box body, and further improve the grasping efficiency of the robotic arm for the target box body. Description of the Drawings

[0038] In order to more clearly illustrate the technical solutions in the embodiments of the present utility model or the prior art, the following will briefly introduce the drawings required for use in the description of the embodiments or the prior art. Obviously, the drawings in the following description are only the embodiments of the present utility model. For those of ordinary skill in the art, without creative efforts, other drawings can also be obtained according to the provided drawings. By reading the detailed description of the non-restrictive embodiments with reference to the following drawings, other features, objectives, and advantages of the present utility model will become more obvious:

[0039] Figure 1 Structural schematic diagram of the integrated mobile robot in the first embodiment of the present utility model;

[0040] Figure 2 Structural schematic diagram of the integrated mobile robot in the second embodiment of the present utility model;

[0041] Figure 3Schematic diagram of the structure of the integrated robotic arm in the first embodiment of the present utility model;

[0042] Figure 4 Schematic diagram of the cooperation between the integrated robotic arm and the camera support mechanism in the first embodiment of the present utility model;

[0043] Figure 5 Schematic diagram of the structure of the camera support mechanism in the first embodiment of the present utility model;

[0044] Figure 6 Schematic diagram of the structure of the integrated robotic arm in the second embodiment of the present utility model;

[0045] Figure 7 Schematic diagram of the structure of the camera support mechanism in one direction in the second embodiment of the present utility model;

[0046] Figure 8 Schematic diagram of the structure of the camera support mechanism in another direction in the second embodiment of the present utility model; and

[0047] Figure 9 Schematic diagram of the structure of the integrated mobile robot in the third embodiment of the present utility model.

[0048] In the figure

[0049] 100 is the robotic arm; 200 is the mobile base; 300 is the camera support mechanism; 301 is the bracket motor; 302 is the hollow shaft rotating platform; 303 is the support column; 304 is the first visual perception module; 3041 is the first lidar; 3042 is the second lidar; 3043 is the 2D camera; 305 is the mounting base plate; 306 is the chassis; 307 is the bracket; 400 is the end effector; 101 is the fixed seat; 102 is the rotating seat; 103 is the drive motor; 104 is the first joint module; 105 is the first connecting rod; 106 is the second joint module; 107 is the second connecting rod; 108 is the third joint module; 109 is the third connecting rod; 1010 is the fourth joint module; 1011 is the fourth connecting rod; 1012 is the fifth joint module; 1013 is the first reducer; 1014 is the second reducer. Detailed implementation manners

[0050] The present utility model will be described in detail below with reference to specific embodiments. The following embodiments will help those skilled in the art to further understand the present utility model, but do not limit the present utility model in any form. It should be noted that those of ordinary skill in the art can make several deformations and improvements without departing from the concept of the present utility model. These all belong to the protection scope of the present utility model.

[0051] It should be noted that when an element is referred to as being "fixed to" or "disposed on" another element, it can be directly on the other element or indirectly on the other element. 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, the connection can be for fixing or for circuit connection.

[0052] It should be understood that the orientation or positional relationship indicated by the terms "length", "width", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", etc. is based on the orientation or positional relationship shown in the drawings. It is only for the convenience of describing the embodiments of the present invention and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and thus should not be construed as a limitation to the present invention.

[0053] In addition, the terms "first" and "second" are only used for descriptive purposes and should not be construed as indicating or implying relative importance or implicitly indicating the quantity of the indicated technical features. Thus, the features defined with "first" and "second" may explicitly or implicitly include one or more of such features. In the description of the embodiments of the present invention, the meaning of "a plurality" is two or more, unless otherwise specifically defined.

[0054] Figure 1 It is a schematic structural diagram of the integrated mobile robot in the first embodiment of the present invention. Figure 2 It is a schematic structural diagram of the integrated mobile robot in the second embodiment of the present invention. As Figure 1 、 Figure 2 shown, the integrated mobile robot provided by the present invention includes:

[0055] A mobile base 200, configured to move to any position or pause at any position according to the received control instruction and determine the orientation angle.

[0056] A robotic arm 100, configured to move the target box on the picking position to a discharging position.

[0057] A camera support mechanism 300, the camera support mechanism 300 is disposed on the rotating base 102 of the robotic arm 100 to rotate with the rotating base 102. The camera support mechanism 300 includes a first visual perception module 304. The first visual perception module 304 includes a 2D camera 3043 and a lidar. The 2D camera 3043 and the lidar are used to cooperate to collect the image information of the target box or the box stack formed by the target box.

[0058] In a modified example of the present utility model, the integrated mobile robot provided by the present utility model further includes the rotation driving module, which is used to drive the camera support mechanism 300 to rotate along its axis, so that the first visual perception module 304 has a 360° field of view around the camera support mechanism 300.

[0059] In this embodiment, the lower end of the camera support mechanism 300 is connected to the rotation driving module. The rotation driving module can be set to include a bracket motor 103 and a speed reducer. The bracket motor 103 drives the camera support mechanism 300 to rotate through the speed reducer. When the camera support mechanism 300 rotates, it can drive the first visual perception module 304 to rotate, so as to collect image information of the target box or the stack of boxes formed by the target box within a range of 360°.

[0060] Such as Figure 4 、 Figure 5 、 Figure 7 、 Figure 8 shown, the first visual perception module 304 includes a 2D camera 3043 and a lidar;

[0061] The 2D camera 3043 is used to obtain the RGB image of the target box or the stack of boxes formed by the target box;

[0062] The lidar is used to collect point cloud image information of the target box or the stack of boxes formed by the target box.

[0063] The first visual perception module 304 further includes a processor unit, which is used to obtain the RGB image and the point cloud image information, detect the area of each target box on the RGB image through a pre-set deep learning model, project the RGB image of the detected position of each target box into the point cloud image, and determine the pose of the target box according to the point cloud corresponding to each target box; send the pose of each target box to the robotic arm end, so that the robotic arm 100 performs a grasping action on the target box.

[0064] Figure 4 It is a schematic diagram of the cooperation between the integrated robotic arm and the camera support mechanism in the first embodiment of the present utility model. Such as Figure 4 shown, the camera support mechanism 300 includes a base and a support column 303;

[0065] The base 3 is connected to the rotating seat 102 of the robotic arm 100 through a mounting base plate 305;

[0066] The support column 303 is arranged on the base, and the base is used to drive the support column 303 to rotate;

[0067] The first visual perception module 304 is disposed at the top of the support column 303 and rotates with the rotation of the support column 303.

[0068] Figure 5 It is a schematic structural diagram of the camera support mechanism in the first embodiment of the present invention. As Figure 5 shown, the base includes a hollow shaft rotating platform 302 and a bracket motor 301;

[0069] The power output end of the bracket motor 301 is connected to the motor connection port of the hollow shaft rotating platform 302;

[0070] The support column 303 is disposed on the rotating platform of the hollow shaft rotating platform 302;

[0071] The bracket motor 301 is used to drive the support column 303 to rotate through the hollow shaft rotating platform 302.

[0072] In each embodiment of the present invention, by driving the support column 303 to rotate through the bracket motor 301, when the rotating base 102 rotates in one direction, the support column 303 can be driven to rotate in the other direction, so as to maintain the image information acquisition of the target box body in front of the mobile base 200 or the stack of boxes formed by the target box body.

[0073] In the first embodiment of the present invention, the first lidar 3041 is disposed on one side surface of the radar vertical plate, and the second lidar 3042 is disposed on the other side surface of the radar vertical plate;

[0074] The 2D camera 3043 is disposed on the upper side surface of the radar vertical plate and between the first lidar 3041 and the second lidar 3042.

[0075] The radar vertical plate is in a sheet shape. The lower end surface of the radar vertical plate is connected to the upper end surface of the support column 303, and the upper end surface is connected to the camera chassis; the 2D camera 3043 is installed on the camera chassis.

[0076] In the embodiment of the present invention, the field of view of the 2D camera 3043 is inclined downward.

[0077] For example, the included angle between the central axis of the 2D camera 3043 and the vertical direction is set to be between 30° and 60°, preferably 45°, so as to be able to perform image acquisition on the target box body close to the mobile base and the stack of boxes formed by the target box body.

[0078] In each embodiment of the present invention, the robotic arm 100 includes a robotic arm main body, a fixed seat 101, and a rotating seat 102;

[0079] The fixed seat 101 is arranged on the moving base 200. The rotating seat 102 is rotatably connected to the fixed seat 101. The lower end of the robotic arm main body is connected to the rotating seat 102 and can rotate along its axis driven by the rotating seat 102.

[0080] In a variant embodiment of the present utility model, the support column 303 can be lifted and lowered.

[0081] The first visual perception module 304 is arranged on the support column 303 and can be lifted and lowered along with the support column 303.

[0082] It can be set to drive the support column 302 to lift and lower along the support column base 301 by a motor or a cylinder to adapt to different application scenarios. For example, when it is necessary to enter a container for loading and unloading the target box, the support column 303 can be lowered according to the height of the container. In addition, the support column 303 can be lifted and lowered according to the loading and unloading scenario to expand the field of view of the first visual perception module 304.

[0083] Such as Figure 7 、 Figure 8 As shown, the camera support mechanism 300 includes a chassis 306, a base and a bracket 307.

[0084] The chassis 306 is connected to the rotating seat 102 of the robotic arm 100.

[0085] The base is arranged on the top side surface of the chassis 306.

[0086] The bracket 307 is arranged on the base. The base is used to drive the bracket 307 to rotate.

[0087] The first visual perception module 304 is arranged on the bracket 307 and can rotate along with the rotation of the bracket 307.

[0088] In the second embodiment of the present utility model, the robotic arm 100 includes a robotic arm main body, a fixed seat 101 and a rotating seat 102.

[0089] The fixed seat 101 is arranged on the moving base 200. The rotating seat 102 is rotatably connected to the fixed seat 101. The lower end of the robotic arm main body is connected to the rotating seat 102 and can rotate along its axis driven by the rotating seat 102.

[0090] A speed reducer is arranged on the rotating seat 102.

[0091] One end of the chassis 306 is connected to the rotating seat 102, and the other end is connected to the outer shell of the rotating seat 102.

[0092] Figure 7This is a schematic structural diagram of one direction of the camera support mechanism in the second embodiment of the present utility model, as Figure 7 shown, the base includes a hollow shaft rotating platform 302 and a bracket motor 301;

[0093] The power output end of the bracket motor 301 is connected to the motor connection port of the hollow shaft rotating platform 302;

[0094] The bracket 307 is arranged on the rotating platform of the hollow shaft rotating platform 302;

[0095] The bracket motor 301 is used to drive the bracket 307 to rotate through the hollow shaft rotating platform 302.

[0096] In each embodiment of the present utility model, by driving the bracket 307 to rotate through the bracket motor 301, when the rotating base 102 rotates in one direction, the bracket 307 can be driven to rotate in another direction, so as to maintain the acquisition of image information of the target box body in front of the moving base 200 or the stack of boxes formed by the target box body.

[0097] Figure 8 This is a schematic structural diagram of another direction of the camera support mechanism in the second embodiment of the present utility model, as Figure 8 shown, the lidar includes a first lidar 3041 and a second lidar 3042;

[0098] The first lidar 3041 and the second lidar 3042 are symmetrically arranged back to back on the bracket 307;

[0099] The 2D camera 3043 is provided with a first wide-angle lens;

[0100] The 2D camera 3043 is arranged between the first lidar 3041 and the second lidar 3042 or on the upper side of the docking part of the first lidar 3041 and the second lidar 3042.

[0101] In the second embodiment of the present utility model, the first lidar 3041 is arranged on one side surface of the bracket 307, and the second lidar 3042 is arranged on the other side surface of the bracket 307;

[0102] The 2D camera 3043 is arranged inside the bracket 307 or on the upper side surface of the bracket 307 and is located between the first lidar 3041 and the second lidar 3042.

[0103] The 2D camera 3043 is provided with a first wide-angle lens, which is a fish-eye lens. Therefore, the 2D camera 3043 is also called the first fish-eye camera 304. The first fish-eye camera 304 is arranged between the first lidar 3041 and the second lidar 3042.

[0104] The imaging field of view of the first fish-eye camera 304 is associated with the imaging fields of view of the first lidar 3041 and the second lidar 3042 through calibration.

[0105] In the second embodiment of the present invention, a second visual perception module is arranged on the front side of the mobile base 200.

[0106] The second visual perception module is used to collect image information of the target box or the stack of boxes formed by the target box located in front of the mobile base 200.

[0107] In each embodiment of the present invention, the rotating seat 102 can be set as the first rotating joint of the robotic arm 100. The camera support mechanism 300 is arranged on the rotating seat 102.

[0108] In the embodiment of the present invention, the robotic arm 100 can be a multi-axis robotic arm such as a six-axis robotic arm, a four-axis robotic arm, an eight-axis robotic arm, etc., or a Scara robotic arm with 3 rotating joints that can be applied to assembly operations, or a Delta robot that can achieve high-precision picking, etc. It should be noted that in actual application scenarios, any automated device that can achieve grasping and transportation functions can be applied to the technical solution of the present invention.

[0109] Figure 9 This is a schematic structural diagram of the integrated mobile robot in the third embodiment of the present invention. As Figure 9 shown, the integrated mobile robot provided by the present invention includes:

[0110] A mobile base 200, which is used to move to any position or pause at any position according to the received control instruction and determine the orientation angle.

[0111] A robotic arm 100, which is used to move the target box at the picking position to a placing position.

[0112] The camera support mechanism 300 is disposed on the rotating base 102 of the robotic arm 100 to rotate along with the rotating base 102. The camera support mechanism 300 includes a first visual perception module 304. The first visual perception module 304 includes a 2D camera 3043 and a lidar. The 2D camera 3043 and the lidar are used to cooperate to collect image information of the target box or the stack of boxes formed by the target box.

[0113] In this embodiment, a mounting plate extends from the rotating base 102, and a motor bracket is disposed on the mounting plate; the hollow shaft rotating platform 302 is disposed on the top side surface of the motor bracket; the power output end of the driving motor 103 is connected to the motor connection port of the hollow shaft rotating platform 302; the support column 303 is disposed on the rotating platform of the hollow shaft rotating platform 302; the driving motor 103 drives the support column 303 to rotate through the hollow shaft rotating platform 302.

[0114] In an embodiment of the present invention, the robotic arm is disposed on a mobile base. The robotic arm includes a robotic arm main body, a fixed base, and a rotating base; the fixed base is disposed on the mobile base, the rotating base is rotatably connected to the fixed base, and the lower end of the robotic arm main body is connected to the rotating base and can rotate along its axis driven by the rotating base. A camera support mechanism is disposed on the rotating base or the mobile base, and a visual perception module is disposed on the camera support mechanism, so that the visual perception module can follow the rotation of the robotic arm and can also rotate through the camera support mechanism, which can improve the imaging efficiency of the target box and further improve the grasping efficiency of the robotic arm for the target box.

[0115] In this specification, the various embodiments are described in a progressive manner. Each embodiment focuses on the differences from other embodiments. The same or similar parts among the various embodiments can be referred to each other. The above description of the disclosed embodiments enables those skilled in the art to implement or use the present invention. Various modifications to these embodiments will be obvious to those skilled in the art. The general principles defined herein can be implemented in other embodiments without departing from the spirit or scope of the present invention. Therefore, the present invention will not be limited to the embodiments shown herein, but will be accorded the widest scope consistent with the principles and novel features disclosed herein.

[0116] The specific embodiments of the present invention have been described above. 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 deformations or modifications 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 mechanism, wherein the camera support mechanism is arranged on a rotating seat of the robotic arm so as to rotate with the rotating seat, the camera support mechanism includes a first visual perception module, the first visual perception module includes a 2D camera and a laser radar, and the 2D camera and the laser radar are used to cooperate to realize image information collection of the target box or a box stack formed by the target box.

2. The integrated mobile robot according to claim 1, characterized in that: The camera support mechanism includes a base and a support column; The base is connected to the rotating base of the mechanical arm through a mounting base plate; The support column is arranged on the base, and the base is used to drive the support column to rotate; The first visual perception module is arranged at the top end of the support column so as to rotate along with the rotation of the support column.

3. The integrated mobile robot according to claim 1, characterized in that: The camera support mechanism includes a chassis, a base and a bracket; The base frame is connected to the rotating seat of the mechanical arm; The base is arranged on the top side of the base frame; The bracket is arranged on the base, and the base is used to drive the bracket to rotate; The first visual perception module is arranged on the bracket so as to rotate along with the bracket.

4. The integrated mobile robot according to claim 1, characterized in that: It also includes a rotation driving module, which is used to drive the camera supporting mechanism to rotate along its axial direction.

5. The integrated mobile robot according to claim 3, characterized in that: The base includes a hollow shaft rotating platform and a bracket motor; The power output end of the bracket motor is connected to the motor connection port of the hollow shaft rotating platform; The bracket is arranged on the rotating platform of the hollow shaft rotating platform; The support motor is used to drive the support to rotate through the hollow shaft rotating platform.

6. The integrated mobile robot according to claim 5, 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 bracket; The 2D camera is provided with a first wide-angle lens; The 2D camera is arranged between the first laser radar and the second laser radar or on the upper side of the joint between the first laser radar and the second laser radar.

7. The integrated mobile robot according to claim 6, characterized in that: The first laser radar is arranged on one side surface of the bracket, and the second laser radar is arranged on the other side surface of the bracket; The 2D camera is arranged inside the bracket or on the upper side of the bracket and is located between the first laser radar and the second laser radar.

8. 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 or a box stack formed by the target box.

9. 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.

10. The integrated mobile robot according to claim 3, characterized in that: A reducer is arranged on the rotating seat; One end of the base frame is connected to the rotating seat, and the other end is connected to the outer shell of the rotating seat.

Images