Autonomous mobile robot

Abstract

The utility model is suitable for the technical field of robots, and provides an autonomous mobile robot. The autonomous mobile robot comprises a mobile chassis which at least comprises a base and a power supply battery, the base is provided with a containing space, the power supply battery is arranged in the containing space, and the gravity center of the power supply battery coincides with the gravity center of the mobile chassis; the execution part comprises a cradle head and a first environment sensing component, the cradle head is installed on the base and provided with an installation structure, and the installation structure is arranged in the direction away from the base and used for horizontally rotating or vertically overturning; the first environment sensing component is installed on the holder and used for sensing the environment around the holder. The control part is electrically connected with the power supply battery, and the first environment sensing component is electrically connected with the control part; and the display terminal is mounted on the mounting structure, rotates or turns over by a specified angle along with the mounting structure, and is in communication connection with the control part. The autonomous mobile robot can keep stable movement during movement, and the unstable conditions that inclination or shaking is likely to happen are remarkably improved.

Description

TECHNICAL FIELD

[0001] The application belongs to the technical field of robots, and more particularly relates to an autonomous mobile robot. BACKGROUND

[0002] The autonomous mobile robot is a mechanical device capable of autonomously performing tasks, and is usually composed of hardware and software; the autonomous mobile robot can perceive the surrounding environment, obtain information through sensors, make decisions according to preset programs or artificial intelligence algorithms, and complete physical actions through actuators (such as motors, cylinders, etc.).

[0003] Although the autonomous mobile robot in the related art can move, the unreasonable chassis design easily leads to unstable center of gravity, so that the autonomous mobile robot is prone to tilting or shaking during movement, which may cause damage to the autonomous mobile robot and shorten its service life. CONTENT OF THE UTILITY MODEL

[0004] The purpose of the embodiment of the application is to provide an autonomous mobile robot, aiming to solve the technical problem of unstable movement of the autonomous mobile robot in the related art.

[0005] To achieve the above-mentioned purpose, according to one aspect of the application, an autonomous mobile robot is provided, comprising: a mobile chassis, at least comprising a base and a power supply battery, the base having a containing space, the power supply battery being installed in the containing space, and the center of gravity of the power supply battery coinciding with the center of gravity of the mobile chassis; an execution part, comprising a holder and a first environment perception component, the holder being installed on the base and having a mounting structure, the mounting structure being arranged in a direction away from the base, for horizontal rotation or up-down flipping; the first environment perception component being installed on the holder, for perceiving the environment around the holder; a control part, the control part being electrically connected with the power supply battery, the first environment perception component being electrically connected with the control part; a display terminal, being installed on the mounting structure and rotating or flipping with the mounting structure by a specified angle, and being in communication connection with the control part.

[0006] Optionally, the holder comprises a support rod and an adjusting rod, the adjusting rod being installed on the support rod, the support rod being installed on the base; the mounting structure being arranged in the support rod and the adjusting rod and being capable of horizontally rotating or up-down flipping the adjusting rod; when the display terminal is installed on the adjusting rod, the perception part of the first environment perception component is located above the display terminal; the display terminal being installed on the adjusting rod through a connecting component on the adjusting rod, and being capable of horizontally rotating or up-down flipping with the adjusting rod.

[0007] Optionally, the connecting component is a magnetic suction block, the display terminal being detachably installed on the adjusting rod through the magnetic attraction force of the magnetic suction block; and / or, the first environment perception component is an RGBD camera; and / or, the display terminal is a touch display panel, the touch display panel being in communication connection with the control part through a wireless transmission module.

[0008] Optionally, the mobile chassis has opposite front and rear ends, the front end faces the advancing direction when moving; the execution part further comprises a mechanical arm and a second environment sensing component, the mechanical arm is installed on the base; the second environment sensing component is installed on the mechanical arm and electrically connected with the control part, for sensing the target working environment of the mechanical arm; the output end of the mechanical arm is further provided with an object taking device, for picking up objects or pressing target positions; the direction from the front end to the rear end is a preset direction, the base has a preset center line parallel to the preset direction; the mechanical arm and the gimbal are arranged along the preset center line; the mechanical arm is located on the side away from the front end; when the mechanical arm is in the retracted state and the display terminal is at the initial angle, the orthographic projection of the mobile chassis covers the execution part.

[0009] Optionally, the base comprises a seat body and a cover plate, the accommodation space is located in the seat body and has an accommodation opening; the cover plate is located on the top of the seat body and is installed on the seat body to block the accommodation opening; the execution part is installed on the seat body through the cover plate; the cover plate is a heat dissipation structure; the autonomous mobile robot further comprises an emergency stop switch, the emergency stop switch is installed on the base and electrically connected with the control part; the emergency stop switch has an emergency stop button, the emergency stop button is installed on the cover plate, the center of the mounting hole of the emergency stop button on the cover plate and the center of the mounting hole of the gimbal on the cover plate are located on the same horizontal line.

[0010] Optionally, the seat body has a slope surrounding shell connected with the cover plate, the slope surrounding shell has a slope surface with a preset angle on the front end side, the slope surface inclines downward from the upper end of the base; a microphone is installed in the accommodation space and electrically connected with the control part; a sound collecting hole is arranged on the slope surface, the microphone receives the sound from the outside through the sound collecting hole; a loudspeaker is installed in the accommodation space and electrically connected with the control part; the seat body has a surrounding shell connected with the slope surrounding shell, two sides between the front end side and the rear end side of the surrounding shell are provided with loudspeaker holes, the sound produced by the loudspeaker is conducted to the outside of the accommodation space through the loudspeaker holes; the seat body is further provided with an indicator light strip, the indicator light strip is installed on the accommodation space of the slope surrounding shell and abuts with the surrounding shell, the indicator light strip covers the rear end side and the two sides of the slope surrounding shell; the indicator light strip is electrically connected with the control part; the mobile chassis further comprises a third environment sensing component, the third environment sensing component is electrically connected with the control part, for sensing the environment around the front end; the third environment sensing component comprises an image capturing component and a distance measuring component, the image capturing component is used for capturing the image of the environment around the front end, and the distance measuring component is used for measuring the distance between the target object.

[0011] Optionally, the mobile chassis further comprises a sensing bracket installed in the accommodation space, the sensing bracket is located at a side of the power supply battery close to the front end, and the third environment sensing component is installed on the sensing bracket; the base is provided with an exposed opening in communication with the accommodation space, and a sensing part of the third environment sensing component is exposed to the accommodation space through the exposed opening to sense the environment around the front end; the image capturing component comprises two stereo vision sensors, and the two stereo vision sensors are arranged at an interval along a direction having a preset included angle with the preset direction; the distance measuring component is a laser radar, and the laser radar is located between the two stereo vision sensors; and / or, the base is provided with a protection groove, and part of the structure of the distance measuring component is located in the protection groove; and / or, the accommodation space is provided with a mounting rack, the mounting rack is located above the control part, and the mechanical arm and the holder are both installed on the mounting rack; and / or, the mechanical arm is a six-axis mechanical arm; and / or, the second environment sensing component is an RGBD camera; and / or, the object taking device is a vacuum chuck.

[0012] Optionally, the mobile chassis further comprises a counterweight, the counterweight is installed in the accommodation space and located at a side of the power supply battery close to the rear end; the sensing bracket, the power supply battery and the counterweight are arranged at an interval along the preset direction.

[0013] Optionally, the mobile chassis further comprises a mounting shell, the mounting shell is installed in the accommodation space, the upper surface of the mounting shell is provided with a mounting opening, the power supply battery is installed into the mounting shell through the mounting opening, and the mounting shell is detachably provided with a mounting cover, the mounting cover can block the mounting opening; and / or, the control part is located above the power supply battery; the control part comprises a driving circuit board and an industrial computer, the driving circuit board is electrically connected with the power supply battery, and the industrial computer is electrically connected with the driving circuit board; the driving circuit board and the industrial computer are arranged in sequence along the preset direction; the normal projection plane of the holder is located on the driving circuit board and the sensing bracket; and the normal projection plane of the mechanical arm is located on the driving circuit board and the industrial computer.

[0014] Optionally, the mobile chassis realizes differential movement of double wheels, bidirectional driving and 360° rotation in place through a differential driving part installed on the base; a plurality of universal wheels are installed on the lower surface of the base, the plurality of universal wheels are arranged at an interval around the circumference of the base and are all drivingly connected with the differential driving part; and / or, the mounting structure comprises a servo or stepping motor capable of realizing horizontal rotation or up-down overturning and a connecting accessory matched with the servo or stepping motor; and / or, a safety touch edge is installed on the surface of the base body close to the front end, and the safety touch edge is arranged towards the front end.

[0015] The autonomous mobile robot provided by the application has the beneficial effects that: based on the feature that the gravity center of the power supply battery coincides with the gravity center of the mobile chassis, the autonomous mobile robot can keep stable movement when moving, significantly improves the unstable conditions such as inclination or shaking of the autonomous mobile robot when moving, and effectively prolongs the service life of the autonomous mobile robot. In addition, the accommodation space can effectively protect the power supply battery. The design of the holder enables the display terminal to rotate horizontally or flip up and down, thereby facilitating adjustment to the best observation position. BRIEF DESCRIPTION OF DRAWINGS

[0016] In order to more clearly illustrate the technical solutions in the embodiments of the application, the drawings needed to be used in the embodiments or prior art description will be briefly introduced. Obviously, the drawings in the following description are only some embodiments of the application, and other drawings can be obtained by those skilled in the art without creative labor.

[0017] Figure 1 The structure schematic diagram of the autonomous mobile robot provided by the embodiment of the application under the first visual angle is shown in the figure.

[0018] Figure 2 The structure schematic diagram of the autonomous mobile robot provided by the embodiment of the application under the second visual angle is shown in the figure.

[0019] Figure 3 The structure schematic diagram of the autonomous mobile robot provided by the embodiment of the application after the mobile chassis hidden cover plate is shown in the figure.

[0020] Figure 4 The structure schematic diagram of the autonomous mobile robot provided by the embodiment of the application after the mobile chassis hidden cover plate and the mounting frame are shown in the figure.

[0021] Figure 5 The structure schematic diagram of the autonomous mobile robot provided by the embodiment of the application after the safety touch edge, the power supply battery, the counterweight, the sensing support, the image capturing component, the mounting shell, the differential drive and the universal wheel are shown in the figure.

[0022] Figure 6 The structure schematic diagram of the autonomous mobile robot provided by the embodiment of the application after the safety touch edge, the counterweight, the sensing support, the image capturing component, the mounting shell, the differential drive and the universal wheel are shown in the figure.

[0023] Figure 7 The circuit schematic diagram of the autonomous mobile robot provided by the embodiment of the application is shown in the figure.

[0024] The label details involved in the above drawings are as follows:

[0025] 100, mobile chassis; 110, base; 111, base body; 111a, accommodating space; 111b, slope surface surrounding shell; 111c, sound hole; 111d, surrounding shell; 111e, speaker hole; 112, cover plate; 113, protection groove; 114, safety touch edge; 115, mounting rack;

[0026] 120, power supply battery; 130, third environment sensing component; 131, image capture component; 132, ranging component; 140, sensing support; 150, counterweight; 160, mounting shell; 170, mounting cover;

[0027] 200, execution part; 210, holder; 211, support rod; 212, adjusting rod; 213, connecting component; 220, first environment sensing component; 230, mechanical arm; 240, second environment sensing component; 250, object taking part;

[0028] 300, control part; 310, drive circuit board; 320, industrial computer;

[0029] 400, display terminal;

[0030] 500, differential drive; 600, universal wheel;

[0031] 700, emergency stop switch; 710, emergency stop button;

[0032] 800, microphone;

[0033] 900, speaker;

[0034] 1000, indicator light strip. DETAILED DESCRIPTION

[0035] In order to make the technical problems to be solved by the present application, the technical solutions and beneficial effects clearer, the present application will be further described in detail below in combination with the drawings and embodiments. It should be understood that the specific embodiments described herein are only used to explain the present application, and are not used to limit the present application.

[0036] 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. The embodiments in the present application and the features in the embodiments can be combined with each other without conflict. The present application will be described in detail below with reference to the drawings and in combination with the embodiments.

[0037] It should be understood that the terms "length", "width", "upper", "lower", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer" and the like indicate the orientation or positional relationship based on the orientation or positional relationship shown in the drawings, and are only for the convenience of describing the present application and simplifying the description, and do not indicate or imply that the devices or elements referred to must have a particular orientation, be constructed and operated in a particular orientation, and therefore cannot be understood as limiting the present application.

[0038] In addition, the terms "first", "second" are only 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 with "first", "second" can explicitly or implicitly include one or more of the features. In the description of the present application, the meaning of "multiple" is more than two, unless otherwise explicitly and specifically limited.

[0039] As described in the background, an autonomous mobile robot is a mechanical device capable of autonomously performing tasks, usually composed of hardware and software; the autonomous mobile robot can perceive its surrounding environment, obtain information through sensors, make decisions according to preset programs or artificial intelligence algorithms, and complete physical actions through actuators such as motors, cylinders, etc. Although the autonomous mobile robot in the related art can move, due to the unreasonable design of the chassis, it is easy to cause the center of gravity to be unstable, so that tilting or shaking is easy to occur during movement, which may cause the autonomous mobile robot to be damaged and shorten its service life.

[0040] Reference Figures 1 to 7 In order to solve the above problems, according to one aspect of the present application, the embodiments of the present application provide an autonomous mobile robot, the autonomous mobile robot comprising a mobile chassis 100, an execution part 200, a control part 300 and a display terminal 400, wherein the mobile chassis 100 at least comprises a base 110 and a power supply battery 120, the base 110 has a containing space 111a, the power supply battery 120 is arranged in the containing space 111a, and the center of gravity of the power supply battery 120 coincides with the center of gravity of the mobile chassis 100; the execution part 200 comprises a holder 210 and a first environment sensing component 220, the holder 210 is installed on the base 110 and has a mounting structure, the mounting structure is arranged in a direction away from the base 110, and is used for horizontal rotation or up-down flipping; the first environment sensing component 220 is installed on the holder 210 and is used for sensing the surrounding environment; the control part 300 is electrically connected with the power supply battery 120, and the first environment sensing component 220 is electrically connected with the control part 300; the display terminal 400 is installed on the mounting structure and rotates or flips a specified angle with the mounting structure, and is in communication connection with the control part 300.

[0041] In the embodiments of the present application, the application scenarios of the autonomous mobile robot are mostly teaching scenarios or competition scenarios. In other embodiments, the application scenarios of the autonomous mobile robot can also be production scenarios. Meanwhile, the autonomous mobile robot adopts the ROS open source system and supports the development of multiple languages such as C++ and Python (ROS: Robot Operating System). The mobile chassis 100 realizes differential movement, bidirectional driving and 360° rotation in place through the differential driving member 500 installed on the base 110. The differential driving member 500 is a conventional differential driving device. In addition, a plurality of universal wheels 600 are installed on the lower surface of the base 110, and the plurality of universal wheels 600 are arranged at intervals around the circumference of the base 110 and are drivingly connected with the differential driving member 500 to drive the base 110 to turn. The endurance time of the power supply battery 120 is 8-12 hours. The mounting structure includes a servo or stepping motor capable of realizing horizontal rotation or up-down flipping and a connecting accessory such as a bearing and a gear used in cooperation with the servo or stepping motor, and the angle range of the horizontal rotation of the mounting structure is 0-40°, and the angle range of the up-down flipping is -30°-30°. The first environment sensing component 220 can be a camera, an ultrasonic sensor, an infrared sensor or a laser radar. The display terminal 400 can be a display panel or a display screen.

[0042] Based on the characteristic that the center of gravity of the power supply battery 120 coincides with the center of gravity of the mobile chassis 100, the autonomous mobile robot of the present application can maintain stable movement when moving, significantly improving the unstable conditions such as tilting or shaking that are prone to occur when the autonomous mobile robot moves, thereby effectively prolonging the service life of the autonomous mobile robot. In addition, the accommodation space 111a can effectively protect the power supply battery 120. The design of the holder 210 enables the display terminal 400 to rotate horizontally or flip up and down, thereby facilitating adjustment to the best observation position.

[0043] With reference to Figure 1 , Figure 2 and Figure 7 In an embodiment, the holder 210 includes a support rod 211 and an adjusting rod 212, the adjusting rod 212 is installed on the support rod 211, and the support rod 211 is installed on the base 110; a mounting structure is arranged in the support rod 211 and the adjusting rod 212 and can enable the adjusting rod 212 to rotate horizontally or flip up and down; when the display terminal 400 is installed on the adjusting rod 212, the sensing part of the first environment sensing component 220 is located above the display terminal 400; the display terminal 400 is installed on the adjusting rod 212 through the connecting accessory 213 on the adjusting rod 212 and can rotate horizontally or flip up and down with the adjusting rod 212.

[0044] In the embodiment, the support rod 211 is vertically arranged and fixedly installed on the base 110 and extends away from the base 110; the adjusting rod 212 is rotatably installed on the upper end of the support rod 211 to realize horizontal rotation or up-down flipping. The internal space of the support rod 211 is in communication with the internal space of the adjusting rod 212, and the mounting structure is installed in the internal space of the support rod 211 and the adjusting rod 212 and is drivingly connected with the adjusting rod 212 to drive the adjusting rod 212 to horizontally rotate or flip up and down. When the display terminal 400 is installed on the adjusting rod 212, the design that the sensing part of the first environment sensing component 220 is located above the display terminal 400 helps the first environment sensing component 220 to sense most of the environment around the holder 210, greatly widening the sensing range. In other embodiments, the display terminal 400 can also be fixedly installed on the adjusting rod 212 and horizontally rotate or flip up and down with the adjusting rod 212.

[0045] With reference to Figure 1 , Figure 2 and Figure 7 , in an embodiment, the connecting component 213 is a magnetic block, and the display terminal 400 is detachably installed on the adjusting rod 212 by the magnetic attraction of the magnetic block. The above design improves the convenience of dismounting operation between the display terminal 400 and the adjusting rod 212, so that the user can use it at will, especially in the research / teaching scene, which facilitates the interaction and discussion between students and teachers. In other embodiments, the connecting component 213 can also be a magic tape or a T-shaped clamping block to adapt to different installation requirements.

[0046] With reference to Figure 1 , Figure 2 and Figure 7 , in an embodiment, the first environment sensing component 220 is an RGBD camera. The full name of RGBD in English is Red Green Blue Depth, and the Chinese name is red green blue depth. The above design not only helps to provide more comprehensive data for environment sensing, but also can provide more accurate depth measurement, and further ensures the response speed; the above advantages make the RGBD camera play an important role in environment sensing.

[0047] With reference to Figure 1 , Figure 2 and Figure 7In one embodiment, the display terminal 400 is a touch display tablet, which is connected to the control unit 300 via a wireless transmission module. In this embodiment, the touch display tablet is connected to the control unit 300 via a WiFi wireless transmission module. In other embodiments, the touch display tablet can also be connected to the control unit 300 via a Bluetooth wireless transmission module. At the same time, the touch display tablet not only has a human-computer interaction function, which can intuitively obtain the required information or complete the specified task, but also can browse the web address of the automatic mobile robot (ROS navigation server) and implement navigation. The above design allows the display terminal 400 to still be used after being removed from the adjustment rod 212, which broadens the scope of application and usage scenarios of the display terminal 400.

[0048] Reference Figure 1 、 Figure 2 as well as Figure 7 In one embodiment, the mobile chassis 100 has a front end and a rear end relative to each other, and the front end faces the forward direction when moving; the execution unit 200 also includes a robotic arm 230 and a second environment sensing component 240, and the robotic arm 230 is installed on the base 110; the second environment sensing component 240 is installed on the robotic arm 230 and is electrically connected to the control unit 300, and is used to sense the target working environment of the robotic arm 230; the output end of the robotic arm 230 is also installed with a picking component 250 for picking up objects or pressing the target position.

[0049] In the present embodiment, the robotic arm 230 is a six-axis robotic arm 230 with multiple degrees of freedom, which can adapt to various complex working environments and tasks. In other embodiments, the robotic arm 230 can also be a four-axis robotic arm 230 or a five-axis robotic arm 230. The second environment sensing component 240 is an RGBD camera. In other embodiments, the second environment sensing component 240 can also be an ultrasonic sensor, an infrared sensor or a lidar. The object picking component 250 is a vacuum suction cup to ensure that no damage is caused to the object to be picked up. In other embodiments, the object picking component 250 can also be a mechanical claw, a magnetic gripper or a pneumatic clamp. The robotic arm 230, the second environment sensing component 240 and the object picking component 250 used in this application are suitable for teaching simulation applications such as the transportation, stacking and processing of small parts, and can quickly realize automated grasping operations in the teaching and research field. In addition, when the adjustment rod 212 is at zero degrees horizontally, the front of the adjustment rod 212 and the front of the display terminal 400 are both set towards the front end.

[0050] Reference Figure 1 、 Figure 2 as well as Figure 7In an embodiment, the front-to-rear direction is a preset direction, the base 110 has a preset center line parallel to the preset direction, the mechanical arm 230 and the holder 210 are arranged along the preset center line, the mechanical arm 230 is located on a side away from the front end, and the orthographic projection of the mobile chassis 100 covers the execution part 200 when the mechanical arm 230 is in the retracted state and the display terminal 400 is at the initial angle.

[0051] In the embodiment, the holder 210 is located on a side of the mechanical arm 230 close to the front end, and the adjusting rod 212 is at a horizontal zero degree when the display terminal 400 is at the initial angle, at which time the horizontal rotation angle of the adjusting rod 212 is zero, the up-and-down flip angle is also zero, and the length direction of the adjusting rod 212 is perpendicular to the preset center line. The above design not only ensures the relative installation position of the mechanical arm 230 and the holder 210, but also enables the autonomous mobile robot that is no longer in use to actively reduce its volume, thereby facilitating storage.

[0052] With reference to Figure 1 In an embodiment, the base 110 includes a seat body 111 and a cover plate 112, the accommodation space 111a is located in the seat body 111 and has an accommodation opening, the cover plate 112 is located on the top of the seat body 111 and is installed on the seat body 111 to block the accommodation opening, and the execution part 200 is installed on the seat body 111 through the cover plate 112.

[0053] In the embodiment, the cover plate 112 is detachably installed on the top of the seat body 111 to facilitate installation and removal of the power battery 120 in and from the accommodation space 111a, and in other embodiments, the cover plate 112 can be fixedly installed on the top of the seat body 111. In addition, the holder 210 and the mechanical arm 230 can be installed on the cover plate 112. The cover plate 112 not only blocks the accommodation opening, but also installs and carries the execution part 200.

[0054] With reference to Figure 2 and Figure 7 In an embodiment, the cover plate 112 is of a heat dissipation structure and is made of a heat dissipation material. In the embodiment, the cover plate 112 is made of a material with good heat conductivity, such as aluminum alloy or copper, to improve the heat conduction efficiency, and in other embodiments, the cover plate 112 can also be provided with heat dissipation holes or vents to enhance air circulation and promote heat dissipation.

[0055] With reference to Figures 1 to 4 , Figure 1 and Figure 2In an embodiment, the autonomous mobile robot further comprises an emergency stop switch 700 mounted on the base 110 and electrically connected to the control unit 300; the emergency stop switch 700 has an emergency stop button 710 mounted on the cover plate 112, the emergency stop button 710 is located on one side of the holder 210, and the center of the mounting hole of the emergency stop button 710 on the cover plate 112 is located on the same horizontal line as the center of the mounting hole of the holder 210 on the cover plate 112.

[0056] In the embodiment, the horizontal line on which the center of the mounting hole of the emergency stop button 710 on the cover plate 112 and the center of the mounting hole of the holder 210 on the cover plate 112 are located is perpendicular to the preset center line; in other embodiments, the horizontal line on which the center of the mounting hole of the emergency stop button 710 on the cover plate 112 and the center of the mounting hole of the holder 210 on the cover plate 112 are located can also have an acute angle with the preset center line. The emergency stop switch 700 provided can quickly cut off the power supply in an emergency to ensure the safety of the equipment and the user.

[0057] Referring to Figure 1 , Figure 2 and Figure 7 In an embodiment, the base body 111 has a slope surrounding shell 111b connected to the cover plate 112, the slope surrounding shell 111b has a slope with a preset angle on the front end side, and the slope inclines downward from the upper end of the base 110; a microphone 800 is installed in the accommodation space 111a, and the microphone 800 is electrically connected to the control unit 300; a sound collecting hole 111c is arranged on the slope, and the microphone 800 receives the sound from the outside through the sound collecting hole 111c.

[0058] In the embodiment, the front end of the slope surrounding shell 111b refers to the same position as the front end of the mobile chassis 100. In addition, the microphone 800 supports the AEC (English full name: Automatic Error Correction, Chinese name: Automatic Error Correction) function, supports the 60° / 40° range directivity pickup beam, DNN (English full name: Deep Neural Network, Chinese name: Deep Neural Network) noise reduction algorithm, supports offline language recognition, supports voice cloud service, and supports voice broadcast. The above design shortens the sound collecting distance of the microphone 800, thereby improving the sound collecting accuracy of the microphone 800.

[0059] Referring to Figure 3 , Figure 4 and Figure 7In an embodiment, a loudspeaker 900 is installed in the accommodation space 111a, and the loudspeaker 900 is electrically connected to the control unit 300; the seat body 111 is provided with a surrounding shell 111d connected to the slope surrounding shell 111b, and the surrounding shell 111d is provided with loudspeaker holes 111e on two sides between the front end side and the rear end side, and the sound generated by the loudspeaker 900 is conducted to the outside of the accommodation space 111a through the loudspeaker holes 111e.

[0060] In the embodiment, the surrounding shell 111d is arranged along the circumference of the base 110, the front end side of the surrounding shell 111d is the same position as the front end of the mobile chassis 100, and the rear end side of the surrounding shell 111d is the same position as the rear end of the mobile chassis 100; the loudspeaker holes 111e are arranged on two opposite sides of the surrounding shell 111d, and the two sides are arranged adjacent to the surface of the surrounding shell 111d close to the front end side. The above design is helpful for the loudspeaker 900 to conduct sound to the outside of the accommodation space 111a. In addition, the surface of the surrounding shell 111d close to the rear end is provided with an interface connected to the mechanical arm 230.

[0061] Referring to Figure 3 , Figure 4 and Figure 7 , in an embodiment, the seat body 111 is further provided with an indicator light strip 1000, the indicator light strip 1000 is installed in the accommodation space of the slope surrounding shell 111b and is adjacent to the surrounding shell 111d, the indicator light strip 1000 covers the rear end side and the two sides of the slope surrounding shell 111b; the indicator light strip 1000 is electrically connected to the control unit 300.

[0062] In the embodiment, the accommodation space of the slope surrounding shell 111b is in direct contact with the surrounding shell 111d. The indicator light strip 1000 arranged not only plays a role of state indication, but also can be used to remind the surrounding personnel to pay attention to the activity of the autonomous mobile robot, thereby improving the safety of the working environment.

[0063] Referring to Figure 3 and Figure 4 , in an embodiment, the mobile chassis 100 further comprises a third environment sensing component 130, the third environment sensing component 130 is electrically connected to the control unit 300 and is used for sensing the environment around the front end; the third environment sensing component 130 comprises an image capturing component 131 and a distance measuring component 132, the image capturing component 131 is used for capturing the image of the environment around the front end, and the distance measuring component 132 is used for measuring the distance between the target object. The image capturing component 131 and the distance measuring component 132 used in combination in the application significantly improve the detection accuracy of the third environment sensing component 130. In addition, the surface of the seat body 111 close to the front end is provided with a safety touch edge 114, and the safety touch edge 114 is arranged towards the front end.

[0064] Referring toFigure 7 And Figure 1 In an embodiment, the mobile chassis 100 further comprises a sensing bracket 140 installed in the accommodation space 111a, the sensing bracket 140 is located at the side of the power battery 120 close to the front end, and the third environment sensing component 130 is installed on the sensing bracket 140; the base 110 is provided with an exposed opening in communication with the accommodation space 111a, and the sensing part of the third environment sensing component 130 is exposed to the accommodation space 111a through the exposed opening to sense the environment around the front end. The sensing bracket 140 is not only used for installing and carrying the third environment sensing component 130, but also makes the third environment sensing component 130 installed in the accommodation space 111a, so as to protect the third environment sensing component 130.

[0065] Referring to Figures 5 to 7 And Figure 1 In an embodiment, the image capturing component 131 comprises two stereo vision sensors, and the two stereo vision sensors are arranged at intervals along a direction having a preset included angle with the preset direction; the distance measuring component 132 is a laser radar, and the laser radar is located between the two stereo vision sensors. In this embodiment, the measurement distance of the laser radar is 0.05m-25m; 3% reflectivity≥4m, 10% reflectivity≥10m. 90% reflectivity≥25m; blind area range≤5cm; scanning range: 270°(-45°-225°). The above design significantly improves the detection accuracy of the third environment sensing component 130.

[0066] Referring to Figures 5 to 7 And Figure 1 In an embodiment, the base 110 is provided with a protection groove 113, and part of the structure of the distance measuring component 132 is located in the protection groove 113. The protection groove 113 plays a protective role for the distance measuring component 132, prolonging the service life of the distance measuring component 132.

[0067] Referring to 1 to Figures 5 to 7 And Figure 1 In an embodiment, the accommodation space 111a is provided with a mounting rack 115, the mounting rack 115 is located above the control part 300, and the mechanical arm 230 and the holder 210 are both installed on the mounting rack 115. The mounting rack 115 plays a role of carrying and installing the mechanical arm 230 and the holder 210.

[0068] Referring to Figures 5 to 7 And Figure 4In an embodiment, the mobile chassis 100 further comprises a counterweight 150, which is installed in the accommodation space 111a and located at a side of the power supply battery 120 close to the rear end; the sensing bracket 140, the power supply battery 120 and the counterweight 150 are arranged in a preset direction. The counterweight 150 improves the stability of the movement of the mobile chassis 100.

[0069] With reference to Figure 7 and Figure 5 In an embodiment, the mobile chassis 100 further comprises a mounting shell 160, which is installed in the accommodation space 111a, and an installation opening is arranged on the upper surface of the mounting shell 160, the power supply battery 120 is installed into the mounting shell 160 through the installation opening, and a mounting cover 170 is detachably mounted on the mounting shell 160, and the mounting cover 170 can seal the installation opening.

[0070] In the embodiment, the mounting shell 160 is fixedly installed in the accommodation space 111a, and the mounting cover 170 is detachably mounted on the mounting shell 160 by means of screws or magnetic attraction. The mounting shell 160 and the mounting cover 170 used in cooperation in the application play the role of bearing and protecting the power supply battery 120.

[0071] With reference to Figure 6 and Figure 5 Figure 6 Figure 4 Figure 7 In an embodiment, the control unit 300 is located above the power supply battery 120; the control unit 300 comprises a driving circuit board 310 and an industrial computer 320, the driving circuit board 310 is electrically connected with the power supply battery 120, and the industrial computer 320 is electrically connected with the driving circuit board 310; the driving circuit board 310 and the industrial computer 320 are arranged in a preset direction, the orthographic projection of the holder 210 is located on the driving circuit board 310 and the sensing bracket 140, and the orthographic projection of the mechanical wall is located on the driving circuit board 310 and the industrial computer 320.

[0072] In the embodiment, the industrial computer 320 has the functions of power-on boot, timing boot, network wake-up, PXE (English: Preboot Execution Environment, Chinese name: Preboot Execution Environment) boot, watchdog (0-255 level), TPM2.0 security encryption, etc. in addition to basic functions. The drive circuit board 310 has a charging pile detection function: resonance generates a 100Hz signal that can detect the chassis control board of the charging pile; emergency stop can directly disconnect the 48V power supply of the main circuit; the electronic switch can directly disconnect the 12V power supply of the system; provide system 12V: single circuit can provide a maximum of 12V 5A current; IO of front and rear panels: can detect the collision edge signal; control of LED light ring: 5V power supply, control front and rear turn signals, and provide PWM signals to control the color light ring and the industrial computer 320 to communicate through RS232 or connect to the PC end through 232 to USB to read the board card data and control; IMU, ultrasonic, PSD data acquisition; motor communication and control: RS485 communication with the motor to control the motor movement; serial port download function; motor emergency unlocking function; CAN communication function; battery charging function and anti-backflow function and independent motor power supply, which is controlled by the emergency stop switch 700 and the emergency stop control board. The drive circuit board 310 and the industrial computer 320 used in combination in the application can realize linkage of each component in the autonomous mobile robot.

[0073] The autonomous mobile robot of the application has the following core functions:

[0074] 1. Platform function: realize indoor mapping (generate two-dimensional or three-dimensional environment map by laser radar and robot odometer to perceive environment state), positioning and navigation, path planning, simulation demonstration, voice interaction, multi-modal obstacle avoidance, face detection and tracking, lane line detection, color block recognition, shape recognition, animal classification, fruit classification, OCR (English: Optical Character Recognition, Chinese name: Optical Character Recognition), vehicle license plate recognition, gesture key point detection, human body key point detection function;

[0075] 2. Positioning and navigation: according to the data of odometer, laser radar and other sensors and SLAM (English: Simultaneous Localization and Mapping, Chinese name: Simultaneous Localization and Mapping) global map, etc., the safe and reliable robot motion control instruction is calculated through the fusion of positioning and navigation algorithm;

[0076] 3. Path planning: plan the path through the algorithm to make the robot avoid collision with obstacles and find the optimal route;

[0077] 4. Simulation demonstration: observe the robot movement process through a three-dimensional view in a graphical monitoring environment;

[0078] 5. Voice control: voice interaction based on speech recognition and speech synthesis technology, which can control the movement of the robot and the gimbal 210 through voice;

[0079] 6. Face tracking: based on AI deep learning, accurately capture face information in vision through RGBD camera, and control the programmable gimbal 210 to track the face;

[0080] 7. Large language model application interface: support the access of commonly used large language models at home and abroad, and realize the control of robots through large model configuration development.

[0081] 8. Robot picking: based on mapping, positioning, navigation, voice interaction, large language model, motion control, visual recognition and other technology integration, use the robot to complete the comprehensive task of taking the specified fruit to the specified room area and returning.

[0082] In summary, the autonomous mobile robot provided by the embodiment has at least the following beneficial technical effects: based on the feature that the center of gravity of the power supply battery 120 coincides with the center of gravity of the mobile chassis 100, the autonomous mobile robot can maintain stable movement when moving, significantly improving the unstable situation such as tilting or shaking of the autonomous mobile robot when moving, thereby effectively prolonging the service life of the autonomous mobile robot. In addition, the accommodation space 111a can effectively protect the power supply battery 120. The design of the gimbal 210 allows the display terminal 400 to rotate horizontally or flip up and down, thereby facilitating adjustment to the best observation position.

[0083] The above is only a preferred embodiment of the present application and is not intended to limit the present application. Any modifications, equivalent replacements and improvements made within the spirit and principles of the present application shall be included in the protection scope of the present application.

Claims

1. An autonomous mobile robot, characterized in that, The application relates to a mobile chassis, which comprises a base and a power battery, wherein the base has a containing space, the power battery is arranged in the containing space, and the center of gravity of the power battery coincides with the center of gravity of the mobile chassis; an execution part, which comprises a holder and a first environment sensing component, the holder is mounted on the base and has a mounting structure arranged in a direction away from the base for horizontal rotation or up-down flipping, and the first environment sensing component is mounted on the holder for sensing the environment around the holder; a control part, which is electrically connected with the power battery, and the first environment sensing component is electrically connected with the control part; and a display terminal, which is mounted on the mounting structure and rotates or flips by a specified angle along with the mounting structure, and is in communication connection with the control part. The holder comprises a supporting rod and an adjusting rod, the adjusting rod is mounted on the supporting rod, and the supporting rod is mounted on the base; the mounting structure is arranged in the supporting rod and the adjusting rod and can make the adjusting rod horizontally rotate or up-down flip; when the display terminal is mounted on the adjusting rod, the sensing part of the first environment sensing component is located above the display terminal; the display terminal is mounted on the adjusting rod through a connecting component on the adjusting rod and can horizontally rotate or up-down flip along with the adjusting rod. The connecting component is a magnetic block, the display terminal is detachably mounted on the adjusting rod through the magnetic attraction of the magnetic block; and / or, the first environment sensing component is an RGBD camera; and / or, the display terminal is a touch display panel, and the touch display panel is in communication connection with the control part through a wireless transmission module. The mobile chassis has opposite front and rear ends, and the front end faces the advancing direction when the mobile chassis moves; The execution part further comprises a mechanical arm and a second environment sensing component, the mechanical arm is mounted on the base; the second environment sensing component is mounted on the mechanical arm and is electrically connected with the control part, and is used for sensing the target working environment of the mechanical arm; the output end of the mechanical arm is further provided with an object taking device for taking objects or pressing target positions; 2. The autonomous mobile robot of claim 1, wherein, The direction from the front end to the rear end is a preset direction, the base has a preset center line parallel to the preset direction; the mechanical arm and the holder are arranged along the preset center line; and the mechanical arm is located on the side away from the front end. When the mechanical arm is in a retracted state and the display terminal is at an initial angle, the orthographic projection of the mobile chassis covers the execution part.

3. The autonomous mobile robot of claim 2, wherein, The base comprises a base body and a cover plate, the containing space is located in the base body and has a containing opening; the cover plate is located on the top of the base body and is mounted on the base body to block the containing opening; the execution part is mounted on the base body through the cover plate; and the cover plate is a heat dissipation structure. ​ ​ 4. The autonomous mobile robot according to any one of claims 1 to 3, wherein, ​ ​ ​ ​ 5. The autonomous mobile robot of claim 4, wherein, ​ The autonomous mobile robot further comprises an emergency stop switch mounted on the base and electrically connected with the control unit; the emergency stop switch has an emergency stop button mounted on the cover plate, the emergency stop button is located on one side of the holder, and the center of the mounting hole of the emergency stop button on the cover plate is located on the same horizontal line as the center of the mounting hole of the holder on the cover plate.

6. The autonomous mobile robot of claim 5, wherein, The seat body has a slope surrounding shell connected with the cover plate, one side of the front end of the slope surrounding shell has a slope surface with a preset angle, and the slope surface inclines downward from the upper end of the base; a microphone is installed in the accommodation space and electrically connected with the control unit; a sound receiving hole is arranged on the slope surface, and the microphone receives external sound through the sound receiving hole; A loudspeaker is installed in the accommodation space and electrically connected with the control unit; the seat body has a surrounding shell connected with the slope surrounding shell, both sides between the front end side and the rear end side of the surrounding shell are provided with loudspeaker holes, and the sound produced by the loudspeaker is conducted to the outside of the accommodation space through the loudspeaker holes; The seat body is further provided with an indicator light strip, the indicator light strip is installed on the space provided by the slope surrounding shell and is adjacent to the surrounding shell, the indicator light strip covers the rear end side and both sides of the slope surrounding shell, and the indicator light strip is electrically connected with the control unit; The mobile chassis further comprises a third environment sensing component electrically connected with the control unit and used for sensing the environment around the front end; the third environment sensing component comprises an image capturing component and a distance measuring component, the image capturing component is used for capturing images of the environment around the front end, and the distance measuring component is used for measuring the distance between the target object.

7. The autonomous mobile robot of claim 6, wherein, The mobile chassis further comprises a sensing support installed in the accommodation space, the sensing support is located on the side of the power supply battery close to the front end, and the third environment sensing component is installed on the sensing support; The base is provided with an exposed opening in communication with the accommodation space, and the sensing part of the third environment sensing component is exposed to the accommodation space through the exposed opening to sense the environment around the front end; The image capturing component comprises two stereo vision sensors, the two stereo vision sensors are arranged at a preset included angle with respect to the preset direction; the distance measuring component is a laser radar, and the laser radar is located between the two stereo vision sensors; and / or, The base is provided with a protection groove, and part of the structure of the distance measuring component is located in the protection groove; and / or, An installation rack is installed in the accommodation space, the installation rack is located above the control unit, and the mechanical arm and the holder are both installed on the installation rack; and / or, The mechanical arm is a six-axis mechanical arm; and / or, The second environment sensing component is an RGBD camera; and / or, The object taking device is a vacuum suction cup.

8. The autonomous mobile robot of claim 7, wherein, The mobile chassis further comprises a counterweight mounted in the accommodation space and located at a side of the power supply battery close to the rear end; the sensing support, the power supply battery and the counterweight are arranged in the preset direction.

9. The autonomous mobile robot of claim 8, wherein, The mobile chassis further comprises a mounting shell mounted in the accommodation space, an upper surface of the mounting shell is provided with a mounting opening, the power supply battery is mounted into the mounting shell through the mounting opening, and a mounting cover is detachably mounted on the mounting shell and capable of sealing the mounting opening; And / or, The control unit is located above the power supply battery; the control unit comprises a drive circuit board and an industrial computer, the drive circuit board is electrically connected with the power supply battery, and the industrial computer is electrically connected with the drive circuit board; the drive circuit board and the industrial computer are sequentially arranged in the preset direction; the normal projection plane of the holder is located on the drive circuit board and the sensing support; and the normal projection plane of the mechanical arm is located on the drive circuit board and the industrial computer.

10. The autonomous mobile robot of claim 5, wherein, The mobile chassis realizes differential movement of double wheels, bidirectional driving and 360° rotation in place through the differential driving element mounted on the base; A plurality of universal wheels are mounted on the lower surface of the base, the plurality of universal wheels are arranged in the circumferential direction of the base and are drivingly connected with the differential driving element; and / or, The mounting structure comprises a servo or stepping motor capable of realizing horizontal rotation or up-down overturning and a connecting accessory used in cooperation with the servo or stepping motor; and / or, A safety touch edge is mounted on the surface of the seat body close to the front end and is arranged towards the front end.

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