Intelligent blind guiding robot

Abstract

The utility model discloses an intelligent blind guiding robot which comprises two sets of planet wheels. The power assembly, the control main body, the traction rod and the handle are sequentially arranged on the planet wheel from bottom to top; wherein each group of planet wheels comprises three rollers which are the same in size and are arranged in a central symmetry manner; the power assembly is used for providing driving force for the planet wheel and controlling the moving direction of the planet wheel. The control main body comprises a power supply, a processor and a sensor assembly which are packaged into a whole, and the processor is used for controlling the power assembly to adjust the moving direction of the planet wheel according to an obstacle image acquired by the sensor assembly; the traction rod is a rigid rod with the telescopic and adjustable length. The intelligent blind guiding robot is provided with the two planet wheels facilitating step climbing, the planet wheels are connected with the power assembly enabling the robot to walk autonomously, the rigid traction rod is arranged, the safety of visually impaired people is guaranteed, and the intelligent blind guiding robot can assist the visually impaired people in walking.

Description

TECHNICAL FIELD

[0001] The utility model relates to intelligent robot technical field, especially a kind of intelligent blind guiding robot. BACKGROUND

[0002] Because of the reason of visual impairment, it is crucial to ensure the safety of the visually impaired person when going out. At present, using guide dogs to accompany the visually impaired person is the most common and effective measure to ensure the safety of the visually impaired person. However, the cultivation and training of guide dogs requires a long time, and the number is small, and it is difficult and expensive to cultivate, which greatly limits the use of guide dogs by the visually impaired person.

[0003] With the development of intelligent equipment, robots with intelligent navigation function are a good choice to replace guide dogs. At present, the robots on the market that serve the visually impaired people mostly simulate guide dogs in appearance and walking mode, and the visually impaired people pull each other with the robot. This type of robot has a lot of room for improvement in function and safety of the visually impaired person. SUMMARY

[0004] The utility model aims at providing a kind of intelligent blind guiding robot, on the basis of ensuring the safety of the visually impaired person, improve the auxiliary function of robot.

[0005] To solve the above technical problems, the utility model provides a kind of intelligent blind guiding robot, including planetary wheel, power assembly, control main body, traction rod and handle;

[0006] The power assembly is connected with the planetary wheel, for providing driving force for the planetary wheel and controlling the moving direction of the planetary wheel;

[0007] The control main body includes processor and sensor assembly, the processor is used to obtain the environmental information collected by the sensor assembly, and the power assembly is controlled to adjust the moving direction of the planetary wheel;

[0008] The bottom end of the traction rod is connected with the planetary wheel, the top end of the traction rod is connected with the handle, and the traction rod is a rigid rod.

[0009] In an alternative embodiment of the present application, the sensor assembly includes one or more of a depth camera, an infrared camera and a laser radar.

[0010] In an alternative embodiment of the present application, the depth camera includes a first depth camera and a second depth camera, the first depth camera is located at the bottom end of the traction rod, and the second depth camera is located at the top end of the traction rod.

[0011] In an alternative embodiment of the present application, the top end of the traction rod is further provided with a warning light.

[0012] In an alternative embodiment of the present application, the angle between the length direction of the traction rod and the vertical direction is 30-60 degrees.

[0013] The handle comprises a first straight section extending along the length direction of the traction rod, a second straight section perpendicular to the first straight section, and a curved section; the first straight section, the second straight section, and the curved section are sequentially connected end to end to form a ring structure.

[0014] In an alternative embodiment of the present application, the gripping part of the handle is provided with a groove structure; at least two groups of vibration motors are arranged in the groove structure; and the gripping part is encapsulated with a flexible sleeve for encapsulating the vibration motors in the groove structure.

[0015] And / or, a one-key SOS button is further arranged on the handle and connected with the processor.

[0016] The processor is connected with a wireless communication module; when the one-key SOS button is pressed, the processor outputs an SOS information to a remote terminal through the wireless communication module.

[0017] And / or, a charging button is further arranged on the handle and connected with the processor in communication, and the outer surface of the control body is further provided with a charging area for docking charging with a charging pile.

[0018] When the charging button is pressed, the processor controls the power assembly to drive the planetary wheels to move to a set charging position where the charging pile is located.

[0019] In an alternative embodiment of the present application, the power assembly comprises a driving motor, and a group of driving gear sets corresponding to each group of planetary wheels.

[0020] Each group of driving gear sets comprises a sun gear, three planetary gears arranged in central symmetry around the sun gear, and each planetary gear is engaged with the sawtooth structure of the sun gear; a planet carrier connected with the shafts of the three planetary gears through bearings; and a locking structure connected with the planet carrier.

[0021] Among the corresponding driving gear sets and planetary gears, the three planetary gears and the three rollers of the planetary wheels are connected one by one through a transmission shaft.

[0022] The sun gear and the driving motor are connected through a main transmission shaft.

[0023] The locking structure is used for locking the planet carrier so that the planet carrier is not rotatable, and is used for unlocking the planet carrier so that the planet carrier is rotatable.

[0024] In an alternative embodiment of the present application, the driving gear set further comprises a circular gear ring with a sawtooth structure arranged on the inner ring;

[0025] The planet gears and the sun gear are located in the circular gear ring, and the sun gear is located at the center of the circular gear ring; each planet gear is simultaneously engaged with the sun gear and the sawtooth structure of the circular gear ring;

[0026] When the locking structure locks the planet carrier, the planet carrier is not rotatable and the circular gear ring is rotatable;

[0027] When the locking structure unlocks the planet carrier, the planet carrier is rotatable and the circular gear ring is not rotatable.

[0028] In an alternative embodiment of the present application, the locking structure comprises a brake pad.

[0029] In an alternative embodiment of the present application, the power assembly further comprises a steering motor for driving the planet wheel to rotate and steer relative to the control body in the plane where the planet wheel is located.

[0030] The intelligent blind guiding robot provided by the utility model, including planet wheel, power assembly, control body, traction rod and handle, power assembly is connected with planet wheel, is used for providing driving force for planet wheel and controlling moving direction of planet wheel, control body includes processor and sensor component, processor is used for obtaining environmental information collected by sensor component, and control power assembly adjusts moving direction of planet wheel, bottom end of traction rod is connected with planet wheel, top end of traction rod is connected with handle, and traction rod is rigid rod.

[0031] The intelligent blind guiding robot provided by the utility model has two groups of planet wheels which are convenient for climbing steps; on the basis, the planet wheel is further connected with a power assembly, and a rigid traction rod is arranged on the robot, so that the robot has a driving capability of autonomous walking when actually guiding the visually impaired person, and the connection between the visually impaired person and the robot is realized by the rigid connection of the traction rod, that is, the robot can provide a certain walking traction force for the visually impaired person, so that the visually impaired person can perceive a more definite walking traction direction, and can assist the visually impaired person to walk when the visually impaired person is insufficient in physical strength, thereby improving the auxiliary function of the robot on the basis of ensuring the safety of the visually impaired person. BRIEF DESCRIPTION OF DRAWINGS

[0032] In order to more clearly illustrate the technical solutions of the embodiments of the present application or the prior art, the drawings needed to be used in the description of the embodiments or the prior art will be briefly introduced. Obviously, the drawings in the following description only constitute some embodiments of the present application, and for those skilled in the art, other drawings can also be obtained without creative labor on the basis of these drawings.

[0033] Figure 1 The structural schematic diagram of the intelligent blind guiding robot provided in the embodiments of the present application is shown in the figure.

[0034] Figure 2 The connection structure schematic diagram between the driving gear set and the planetary gear provided in the embodiments of the present application is shown in the figure.

[0035] Figure 3 The structural schematic diagram of the driving gear set provided in the embodiments of the present application is shown in the figure.

[0036] Figure 4 The schematic diagram of one rotation mode of each gear in the driving gear set provided in the embodiments of the present application is shown in the figure.

[0037] Figure 5 The schematic diagram of another rotation mode of each gear in the driving gear set provided in the embodiments of the present application is shown in the figure.

[0038] In the drawings, 1 is a planetary gear, 10 is a roller, 11 is a transmission shaft, 2 is a power assembly, 21 is a sun gear, 211 is a main transmission shaft, 22 is a planetary gear, 221 is a planet carrier, 23 is a circular gear ring, 3 is a control body, 31 is a charging area, 4 is a traction rod, 5 is a handle, 501 is a vibration motor, 502 is a one-key SOS button, and 503 is a charging button. DETAILED DESCRIPTION

[0039] At present, the robots replacing guide dogs on the market mostly adopt the robot dog simulating the guide dog. The connection between the visually impaired person and the robot dog is mostly achieved by using a flexible rope. Although the flexible rope can realize the connection between the visually impaired person and the robot dog, the intuitive perception of the visually impaired person to the robot dog is relatively weak. When the visually impaired person walks on the steps or uneven ground, it is often difficult to ensure the safety of the visually impaired person.

[0040] Therefore, the intelligent blind guiding robot provided in the present application can improve the safety of the visually impaired person and provide certain power support for the activity and walking of the visually impaired person on the basis of guiding and navigating the visually impaired person.

[0041] In order to make the person skilled in the art better understand the present application, the present application will be further described in detail below in combination with the drawings and specific embodiments. Obviously, the described embodiments are only part of the embodiments of the present application, rather than all the embodiments. Based on the embodiments in the present application, all other embodiments obtained by those skilled in the art without creative labor fall within the scope of the present application.

[0042] As shown in Figure 1 , the structure schematic diagram of the intelligent blind guiding robot provided by the present application. Figure 1

[0043] In one specific embodiment of the present application, the intelligent blind guiding robot can include:

[0044] planetary wheel 1, power assembly 2, control body 3, traction rod 4 and handle 5;

[0045] The power assembly 2 is connected with the planetary wheel 1, for providing driving force for the planetary wheel 1 and controlling the moving direction of the planetary wheel 1;

[0046] The control body 3 includes a processor and a sensor assembly, the processor is used for acquiring the environment information collected by the sensor assembly, and the power assembly 1 is controlled to adjust the moving direction of the planetary wheel 1;

[0047] The bottom end of the traction rod 4 is connected with the planetary wheel 1, the top end of the traction rod 4 is connected with the handle 5, and the traction rod 4 is a rigid rod.

[0048] As shown in Figure 1 , two groups of planetary wheels 1 are arranged at the bottom end of the intelligent navigation robot in the present embodiment, and the so-called planetary wheel 1 is three rollers 10 arranged in central symmetry. When the intelligent blind guiding robot climbs steps or uneven road surfaces, the three rollers 10 can roll around the center axis of symmetry, thereby reducing the climbing resistance of the entire planetary wheel 1 on the steps and other road surfaces, and further improving the adaptability of the entire intelligent blind guiding robot to various different road surface environments.

[0049] In addition, the power for the walking movement of the planetary wheel 1 in the present embodiment is derived from the power assembly 2, that is to say, the intelligent blind guiding robot does not need to be pushed by the visually impaired person to provide the power for walking during the actual walking movement; and because the traction rod 4 arranged on the intelligent navigation robot is a rigid rod, if the visually impaired person is insufficient in physical strength during the automatic driving of the power assembly 2 to drive the rolling movement of each roller 10 in the planetary wheel 1, the rigid rod can also provide pulling traction force to assist the visually impaired person in walking, thereby saving the physical strength of the visually impaired person when climbing slopes or steps and reducing the difficulty of the visually impaired person in traveling. In addition, in order to better adapt to visually impaired persons of different heights, the length of the traction rod 4 can be adjusted.​

[0050] It should be noted that the power assembly 2 in the embodiment can not only control the walking and stopping of the planetary wheel 1, but also change the walking direction of the planetary wheel 1. In an alternative implementation of the embodiment, the power assembly 2 can include two groups of motors, one group being a driving motor for driving the planetary wheel 1 to roll forward, and the other group being a steering motor for driving the planetary wheel 1 to turn; when it is necessary to control the planetary wheel 1 to turn, the steering motor can drive the power assembly 2 and the planetary wheel 1 as a whole to rotate relative to the control body 3 in the plane in which the planetary wheel 1 is located.

[0051] Referring to Figure 1 , the power assembly 2 in the embodiment can be arranged in the space between the two groups of planetary wheels 1. Obviously, the power assembly 2 and the planetary wheels 1 can be fixedly connected through an axle and a driving motor. In order to realize the turning of the planetary wheels 1, a transmission shaft can be extended below the control body 3, and the rotating shaft of the steering motor in the power assembly 2 is connected to the transmission shaft through a bearing. When the rotating shaft of the steering motor rotates, it can drive the planetary wheels 1 and the power assembly 2 as a whole to rotate relative to the transmission shaft, thereby causing the planetary wheels 1 to turn. Of course, in actual application, the power assembly 2 and the control body 3 can also be connected in other ways, as long as the power assembly 2 can drive the planetary wheels 1 to automatically turn.

[0052] As Figure 1 shown, the control body 3 in the embodiment is arranged above the planetary wheels 1, close to the bottom end of the entire intelligent blind guiding robot. The housing of the control body 3 is encapsulated with a power supply, a processor, and a sensor assembly, etc. The power supply provides electric energy for the power assembly 2, the processor, the sensor assembly, and other electric devices in the intelligent robot. The power supply should be a rechargeable power supply. The sensor assembly can mainly be a scanning device such as a camera, which can scan and obtain images of the environment around the visually impaired person to obtain environmental information. The processor can accurately control the walking direction of the power assembly 2 driving the planetary wheels 1 based on the images, thereby accurately guiding and avoiding obstacles. It can be understood that the processor in the embodiment for navigation and obstacle avoidance based on the images collected by the sensor assembly involves the running of a computer program, but at present, obstacle avoidance and navigation based on the collected environmental images can be realized based on the known technologies in the field, and is not the focus of the present application. In the present application, only the processor and the sensor assembly with the ability to avoid obstacles and navigate based on environmental images, and the power assembly 2 are connected and applied to an intelligent navigation robot, which belongs to the protection object of the utility model.

[0053] In addition, in order to ensure the accuracy and reliability of the environmental information collected by the sensor assembly, in another optional embodiment of the present application, the sensor assembly can further include one or more of a depth camera, an infrared camera, and a laser radar.

[0054] The depth camera in the embodiment can achieve accurate distance information between the relative positions of various obstacles in the environment, and the infrared camera and the laser radar can achieve obstacle detection in the environment when the light is insufficient in the environment, and have stronger anti-interference ability to factors such as insufficient light in the environment, which is beneficial to assisting the visually impaired to walk in rainy weather and at night. Through the mutual cooperation of the depth camera, the infrared camera, and the laser radar in the embodiment, the obstacles and other information in the environment can be more accurately detected, and the adaptability of the sensor assembly to various harsh environments can be improved.

[0055] In addition, in order to ensure the safety of the visually impaired person walking in the light dim environment such as rainy weather or night environment, a warning light can be further provided at the top end of the tow bar 4, so that the visually impaired person can be discovered in time by other pedestrians even if he walks in a light dim environment, so as to avoid him. In actual application, the warning light can be a red or green warning light, or a lighting lamp with good lighting function can be used; in addition, a sensor for sensing the ambient brightness can be further arranged at the top end of the tow bar 4, as long as the ambient brightness is low, the processor can automatically control the warning light to light up, thereby ensuring the safety of the visually impaired person to a certain extent.

[0056] Further, the depth camera in the embodiment can further include a first depth camera and a second depth camera, the first depth camera being located at the bottom end of the tow bar 4, and the second depth camera being located at the top end of the tow bar 4.

[0057] In the conventional obstacle avoidance scanning technology, the person or the obstacle with relatively large volume in the walking direction of the walking device is mostly scanned and avoided, and the ground condition is basically not paid too much attention. However, in the embodiment, the difficulty of the visually impaired person walking on the steps, slopes, and uneven ground is relatively large, and the danger is also relatively high; therefore, on the basis of the sensor assembly provided in the embodiment containing a plurality of different types of scanning devices, the first depth camera is arranged at the bottom end of the control main body 3, and more accurate and reliable ground image information can be collected by the first depth camera. When the intelligent guide robot guides the visually impaired person to walk, the visually impaired person can be timely informed of the road condition in front of him through voice and other ways, so as to remind the visually impaired person to pay attention.

[0058] In addition, a second depth camera can be further arranged between the traction rod 4 and the handle 5 in the embodiment, which can collect clearer images of the higher area space in the environment due to its higher position; in actual application, the first depth camera and the second depth camera cooperate with each other, and obviously can collect more comprehensive image information of the environment of the visually impaired person, and at the same time cooperate with the obstacle information collected by the infrared camera and the laser radar, so as to realize more comprehensive obstacle information of the environment of the visually impaired person, improve the adaptability of the intelligent guide robot to the environment, and ensure the reliability of the intelligent guide robot.

[0059] Based on the above discussion, the traction rod 4 in the embodiment is a rigid rod, and in order to adapt to the height of the visually impaired person and different travel conditions, the length of the traction rod 4 is telescopic; on this basis, referring to Figure 1 , the angle between the length direction of the traction rod 4 and the vertical direction in the embodiment can be 30 to 60 degrees, and the handle 5 includes a first straight section extending along the length direction of the traction rod 4, a second straight section perpendicular to the first straight section, and a curved section; the first straight section, the second straight section and the curved section are sequentially connected end to end to form a ring structure.

[0060] It can be understood that when the visually impaired person holds the handle 5, the second straight section of the handle 5 is mainly held, and the second straight section perpendicular to the traction rod 4 is obviously inclined downward at a certain angle with the horizontal plane, thereby more conforming to the ergonomic design, so that the handle 5 has better comfort.

[0061] On this basis, in order to more intuitively convey the obstacle information on the forward route to the visually impaired person, in an optional implementation manner of the embodiment, a groove structure can be further arranged at the holding part of the handle 5; at least two groups of vibration motors 501 are arranged in the groove structure; and the holding part is encapsulated with a flexible sleeve for encapsulating the vibration motors 501 in the groove structure.

[0062] As described above, the holding part of the handle 5 is the second straight section described above, at least two groups of vibration motors 501 are arranged in the groove structure of the holding part, and the flexible sleeve is wrapped and encapsulated in the holding part, which can form a cavity structure accommodating the vibration motors 501 together with the groove structure.

[0063] When the visually impaired person holds the grip part of the handle 5, it is clear that it is directly attached to the flexible sleeve, and at this time if the vibration motor 501 produces vibration, this vibration can be transmitted to the hands of the visually impaired person through the flexible sleeve. Thus, the vibration motor 501 is two eccentric vibration motors, and the vibration points of the two eccentric vibration motors are attached to the right rear and left front of the handle 5 respectively; when the visually impaired person holds the handle 5, the vibration point of the right rear vibration motor 501 is opposite the palm position, and the vibration point of the left front vibration motor 501 is opposite the finger position.

[0064] When the obstacle is on the left side of the forward direction, the left front vibration motor 501 vibrates alone; when the obstacle is on the right side of the forward direction, the left front vibration motor 501 and the right rear vibration motor 501 vibrate synchronously; when the obstacle is on the left side direction, the left front vibration motor 501 vibrates twice and the right rear vibration motor 501 vibrates once in an alternating manner; when the obstacle is on the right side direction, the left front vibration motor 501 vibrates once and the right rear vibration motor 501 vibrates twice in an alternating manner. In short, as long as the visually impaired person can distinguish the approximate direction of the obstacle based on the different vibration modes of the two groups of vibration motors 501.

[0065] In another alternative embodiment of the present embodiment, the handle 5 is also provided with a one-key distress button 502, which is connected with the processor; and the processor is connected with a wireless communication module; when the one-key distress button 502 is pressed, the processor outputs distress information to a remote terminal through the wireless communication module.

[0066] In actual application, the one-key distress button 502 can be a button with a pressure sensor arranged inside or other switch button that can trigger a signal; when the processor receives the trigger signal generated by the pressing of the one-key distress button 502, the processor outputs address information to a remote terminal through the wireless communication module; the remote terminal can be a mobile phone of the family of the visually impaired person, or an emergency call device (such as an emergency phone) in the hospital near the visually impaired person, so that the visually impaired person can be provided with the fastest rescue when an accident occurs.

[0067] As described above, the control body 3 is provided with a rechargeable power supply that provides power for the intelligent guide robot; therefore, in another alternative embodiment of the present application, a charging button 503 in communication with the processor can be further arranged on the handle 5, and the outer surface of the control body 3 is also provided with a charging area 31 for docking charging with a charging pile;

[0068] When the charging button 503 is pressed, the processor controls the power assembly 2 to drive the planetary wheel 1 to move to a set charging position where the charging pile is located.

[0069] As shown in Figure 1 , a charging button 503 in communication connection with the processor can be arranged on the curved section of the handle 5; when the charging button 503 is pressed, the processor controls the power assembly 2 to drive the planetary wheel 1 to move to a preset charging position where the charging pile is located, and makes the charging area on the control body 3 with a charging device can automatically contact the corresponding charging device on the charging pile and start charging. For example, the charging area 301 of the control body 3 can be provided with a receiving coil of a wireless charging device, and the processor can control the power assembly (2) to drive the intelligent blind guiding robot to the position where the charging pile is located, and make the receiving coil of the wireless charging device of the charging area 301 and the transmitting coil of the wireless charging device in the charging pile opposite, that is, the charging of the intelligent blind guiding robot can start. For another example, the charging area 301 can be a charging contact or a charging socket, and a waterproof cover covering the charging area, when the processor controls the power assembly 2 to drive the intelligent blind guiding robot to move to the position where the charging pile is located, the processor can automatically control the waterproof cover to open, so that the charging contact or the charging socket can be connected with the charging contact or the charging plug on the charging pile, and the charging of the intelligent blind guiding robot can also be realized. In short, as long as the processor and the power assembly cooperate with each other to make the charging device of the charging area 31 can realize the transmission of electric energy with the charging device on the charging pile, and then the complete intelligent robot can be automatically charged.

[0070] It can be understood that the charging button 503 should be pressed to generate a trigger signal only when the corresponding charging pile exists in the area near the environment where the intelligent blind guiding robot is located. In actual application, the charging button 503 can be further configured with a wireless Bluetooth, if the wireless Bluetooth can be connected to the corresponding charging pile in its surrounding environment, when the charging button 503 is pressed, a charging instruction can be triggered to the processor, and the processor controls the power assembly 2 to drive the planetary wheel 1 to move to the set charging position where the charging pile is located according to the position of the charging pile searched and connected by the wireless Bluetooth.

[0071] Based on any of the above embodiments, as shown in Figures 2 to 4 , in another optional embodiment of the present application, the power assembly 2 of the intelligent blind guiding robot can further include:

[0072] a drive motor, and a set of drive gear sets corresponding to each set of planetary wheels 1;

[0073] Each group of driving gear set comprises a sun gear 21, three planetary gears 22 arranged in central symmetry around the sun gear 21, each of the planetary gears 22 is engaged with the sawtooth structure of the sun gear 21, a planet carrier 221 connected with the rotation shafts of the three planetary gears 22 through bearings respectively, and a locking structure connected with the planet carrier 221;

[0074] Among the corresponding driving gear set and the planetary wheel 1, the three planetary gears 22 and the three rollers 10 of the planetary wheel 1 are connected through the transmission shaft 12 one by one.

[0075] The sun gear 21 and the driving motor are connected through the main transmission shaft 211.

[0076] The locking structure is used for locking the planet carrier 221 so that the planet carrier 221 cannot rotate, and is used for unlocking the planet carrier 221 so that the planet carrier 221 can rotate.

[0077] Referring to Figure 2 and Figure 3 The rotation shaft of the driving motor and the wheel shaft of the sun gear 21 are fixedly connected through the main transmission shaft 211, the three planetary gears 22 are arranged in central symmetry around the sun gear 21 through the planet carrier 221, and the three planetary gears 22 are engaged with the sawtooth structure of the sun gear 21.

[0078] The planet carrier 221 can be a triangular structure, or can be a circular flat plate structure, in any case, it should be a central symmetric structure with the wheel shaft of the sun gear 21 as the center, and the main transmission shaft 211 of the sun gear 21 penetrates through the center of the planet carrier 221, and the two are connected through bearings, in addition, the planet carrier 221 and the rotation shafts of the three planetary gears 22 are also connected through bearings, so as to ensure that the planet carrier 221 does not limit the rotation of the three planetary gears 22 with their own wheel shafts as the center. In addition, the wheel shafts of the three planetary gears 22 are also fixedly connected with the wheel shafts of the rollers 10 in the corresponding group of planetary wheels 1 through the transmission shaft 11, that is to say, each planetary gear 22 can drive the roller 10 connected therewith to rotate and roll synchronously. In addition, a locking structure is further provided, which can lock the planet carrier 221 to limit the rotation of the planet carrier 221, and can also unlock the planet carrier 221, so that the planet carrier 221 can rotate with the main transmission shaft 211 as the rotation center shaft.

[0079] Therefore, when the intelligent guide robot walks on a flat surface, the locking structure can lock the planetary carrier 221. Since the planetary carrier 221 cannot rotate, as the drive motor drives the sun gear 21 to rotate, the three planetary gears 22 will rotate around their respective axles and will not rotate around the main drive shaft 211. The three rollers 10, which are connected to the three planetary carriers 221 respectively, can also rotate around their own axes, thus facilitating walking and rolling on the platform.

[0080] When the intelligent guide robot is climbing stairs or uneven, potholed surfaces, the locking structure can unlock the planetary carrier 221. At this time, as the drive motor drives the sun gear 21 to rotate, each planetary gear 22 can revolve around the sun gear 21, which in turn drives each roller 10 in the planetary gear 1 to rotate around the axis of the sun gear 21. Obviously, the planetary gear 1 can climb stairs or uneven, potholed surfaces more easily at this time.

[0081] Based on this, in order to further improve the stability of the entire drive gear set structure, in another optional implementation of this embodiment, the drive gear set also includes a circular gear ring 23 with a sawtooth structure on the inner ring;

[0082] Planetary gear 22 and sun gear 21 are both located inside the circular gear ring 23; the sun gear 21 is located at the center of the circular gear ring 23; each planetary gear 22 simultaneously meshes with the sawtooth structure of the sun gear 21 and the circular gear ring 23.

[0083] When the locking mechanism locks the planet carrier 221, the planet carrier 221 cannot rotate while the circular gear ring 23 can rotate.

[0084] When the locking mechanism unlocks the planetary carrier 221, the planetary carrier 221 can rotate while the circular toothed ring 23 cannot rotate.

[0085] like Figure 4 As shown, when the locking structure locks the circular gear ring 23 and unlocks the planetary carrier 221, as the drive motor drives the sun gear 21 to rotate, each planetary gear 22 rotates around its own axle. Since the circular gear ring 23 is locked and the planetary carrier 221 is unlocked, the planetary carrier 221 and the planetary gears 22 can revolve around the sun gear 21 within the circular gear ring 23. As each planetary gear 22 revolves around the sun gear 21, it also drives each roller 10 in the planetary gear 1 to rotate around the axis of the sun gear 21. Obviously, the planetary gear 1 can climb steps or uneven, bumpy surfaces more easily at this time.

[0086] like Figure 5As shown, when the locking structure is unlocked to the circular gear ring 23 and the planet carrier 221 is locked, as the driving motor drives the sun gear 21 to rotate, the planetary gear 22 rotates around its own rotation axis at the same time, and because the planet carrier 221 cannot rotate, it means that the planetary gear 22 cannot rotate around the circular gear ring 23, and at the same time, the rotation of the planetary gear 22 in the circular gear ring 23 can drive the circular gear ring 23 to rotate around the sun gear 21, and correspondingly, each planetary wheel 1 also rotates around its own rotation axis. Obviously, the planetary wheel 1 at this time is more suitable for walking movement on the ground relative to the platform.

[0087] In actual application, the image collected by the first depth camera can be used to determine whether the ground walked by the intelligent blind guiding robot is a step or a flat ground. If it is a flat ground, the locking structure is controlled to release the circular gear ring 23 and lock the planet carrier 221, and if it is a step, the locking structure is controlled to lock the circular gear ring 23 and release the planet carrier 221. The locking structure can be a brake pad that clamps the circular gear ring 23 and the planet carrier 221, and the application does not specifically limit this.

[0088] The intelligent blind guiding robot in the embodiment can provide forward driving force for the intelligent navigation robot through the driving motor cooperating with the driving gear set, whether on a flat ground or on a rough ground or on a ground with steps, without the need for the visually impaired person to manually push the intelligent blind guiding robot to walk, thereby reducing the difficulty of using the intelligent blind guiding robot to a certain extent, and even when the visually impaired person is not strong enough, the intelligent blind guiding robot can also provide a certain traction force for the visually impaired person, thereby expanding the function of the intelligent blind guiding robot and providing convenience for the visually impaired person to travel.

[0089] The intelligent blind guiding robot provided by the application has two groups of planetary wheels that are convenient for climbing steps; on this basis, the planetary wheel is also connected with a power assembly, and a rigid traction rod is arranged on the robot, so it can be seen that the robot in the application has a driving capability of autonomous walking when actually guiding the visually impaired person, and the connection between the visually impaired person and the robot is realized through the rigid connection of the traction rod, that is, the robot can provide a certain walking traction force for the visually impaired person, so that the visually impaired person can perceive a more definite walking traction direction through the walking traction force, and the robot can also assist the visually impaired person to walk when the visually impaired person is not strong enough, thereby improving the auxiliary function of the robot on the basis of ensuring the safety of the visually impaired person.

[0090] It should be noted that the relative terms, such as first and second, and the like, are used herein solely to distinguish one entity or action from another, without necessarily requiring or implying any such actual relationship or order between such entities or actions. Moreover, the terms "comprises", "comprising", or any other variations thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but can include other elements not expressly listed or inherent to such process, method, article, or apparatus. Without further limitation, an element preceded by "comprises... " does not, without more limitations, preclude the existence of further identical elements in the process, method, article, or apparatus that comprises the recited element. In addition, the above technical solutions provided by the embodiments of the present application have not been described in detail, so as not to be too verbose.

[0091] The principles and implementation modes of the present application are described herein by applying specific examples, and the above description of the embodiments is only used to help understand the method of the present application and its core idea. It should be pointed out that for ordinary skilled persons in the technical field, without departing from the principles of the present application, the present application can be improved and modified in several ways, and these improvements and modifications also fall within the protection scope of the claims of the present application.

Claims

1. An intelligent guide robot, characterized by, The planet wheel (1), the power assembly (2), the control body (3), the traction rod (4) and the handle (5) are included. The power assembly (2) is connected with the planet wheel (1) and is used for providing driving force for the planet wheel (1) and controlling the moving direction of the planet wheel (1). The control body (3) includes a processor and a sensor assembly, the processor is used for acquiring environmental information collected by the sensor assembly, and the power assembly (2) is controlled to adjust the moving direction of the planet wheel (1). The bottom end of the traction rod (4) is connected with the planet wheel (1), the top end of the traction rod (4) is connected with the handle (5), and the traction rod (4) is a rigid rod.

2. The intelligent guide robot for the blind according to claim 1, wherein The sensor assembly includes one or more of a depth camera, an infrared camera and a laser radar.

3. The intelligent guide robot for the blind according to claim 2, wherein The depth camera includes a first depth camera and a second depth camera, the first depth camera is located at the bottom end of the traction rod (4), and the second depth camera is located at the top end of the traction rod (4).

4. The intelligent guide robot for the blind according to claim 2, wherein The top end of the traction rod (4) is further provided with a warning light.

5. The intelligent guide robot according to claim 1, wherein, The angle between the length direction of the traction rod and the vertical direction is 30 to 60 degrees. The handle (5) includes a first straight section extending along the length direction of the traction rod (4), a second straight section and a curved section perpendicular to the first straight section, and the first straight section, the second straight section and the curved section are sequentially connected in a ring structure.

6. The intelligent guide robot according to claim 1, wherein, The holding part of the handle (5) is provided with a groove structure, at least two groups of vibration motors (501) are arranged in the groove structure, and the holding part is encapsulated with a flexible sleeve for encapsulating the vibration motors (501) in the groove structure. And / or, a one-key distress call button (502) is further arranged on the handle (5) and connected with the processor. The processor is connected with a wireless communication module, when the one-key distress call button (502) is pressed, the processor outputs distress call information to a remote terminal through the wireless communication module. And / or, a charging button (503) in communication connection with the processor is further arranged on the handle (5), and an external surface of the control body (3) is further provided with a charging area (31) for docking charging with a charging pile. When the charging button (503) is pressed, the processor controls the power assembly (2) to drive the planet wheel (1) to move to a set charging position of the charging pile.

7. The intelligent guide robot according to any one of claims 1 to 6, wherein, The power assembly (2) includes a driving motor, and one group of driving gear sets is arranged corresponding to each group of planet wheels (1). Each group of driving gear sets includes a sun gear (21), three planet gears (22) arranged in a central symmetry around the sun gear (21), each planet gear (22) is engaged with a sawtooth structure of the sun gear (21), a planet carrier (221) connected with the rotating shafts of the three planet gears (22) through bearings, and a locking structure connected with the planet carrier (221). Among the corresponding driving gear set and the planetary gear (22), three planetary gears (22) and three rollers (10) of the planetary gear (1) are connected one by one through a transmission shaft (11); The sun gear (21) and the driving motor are connected through a main transmission shaft (211); The locking structure is used for locking the planet carrier (221) so that the planet carrier (221) cannot rotate, and is used for unlocking the planet carrier (221) so that the planet carrier (221) can rotate.

8. The intelligent guide robot as claimed in claim 7, wherein, The driving gear set further comprises a circular gear ring (23) provided with a sawtooth structure on the inner ring; The planetary gear (22) and the sun gear (21) are located in the circular gear ring (23); the sun gear is located at the center of the circular gear ring; each planetary gear (22) is simultaneously engaged with the sun gear (21) and the sawtooth structure of the circular gear ring (23); When the locking structure locks the planet carrier (221), the planet carrier (221) cannot rotate and the circular gear ring (23) can rotate; When the locking structure unlocks the planet carrier (221), the planet carrier (221) can rotate and the circular gear ring (23) cannot rotate.

9. The intelligent guide robot as claimed in claim 7, wherein, The locking structure comprises a brake pad.

10. The intelligent guide robot as claimed in claim 1, wherein, The power assembly (2) further comprises a steering motor for driving the planetary gear (1) to rotate and steer relative to the control main body (3) in the plane where the planetary gear (1) is located.

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