Mapping mobile robot

Abstract

The utility model provides a mapping mobile robot, and relates to the technical field of robot equipment. The mapping mobile robot comprises a robot body, a camera module, a microphone and a controller, the robot body, the camera module and the microphone are electrically connected with the controller, the camera module is installed on the robot body and used for collecting image information, and the controller controls walking of the robot body based on the image information and draws a map; the microphone is installed on the robot body and used for receiving audio information of a user, and the controller is used for controlling the camera module to shoot images according to the audio information so as to set points on a map conveniently. According to the mapping mobile robot provided by the utility model, the microphone can pick up audio information of a user, and the controller controls the camera module to shoot an image of a current position based on the audio information to serve as a setting basis. Therefore, the user can set points semantically by means of the microphone, the two hands are released, and the deviation caused by manual point contact can be effectively avoided.

Description

TECHNICAL FIELD

[0001] The utility model relates to robot equipment technical field especially relates to a kind of mapping mobile robot. BACKGROUND

[0002] With the rapid development of science and technology, mobile robot devices such as automatic guided vehicles (AGV), service robots, etc. have been widely used in many fields. These devices can autonomously navigate, perform specific tasks, greatly improving work efficiency and service quality. However, in the practical application of mobile robot devices, a key prerequisite is environmental mapping, i.e. creating a map of the robot's activity area. This map is the basis for the robot to achieve autonomous navigation and positioning.

[0003] Currently, most mobile robot devices on the market use a separate mapping method, i.e. each robot needs to independently perceive the environment and build a map. In the existing mapping process, manual touch is often used to calibrate key points on the map, such as doors, stairs, obstacles, etc. This step not only takes a long time and increases labor costs, but also the accuracy of manual calibration is affected by human factors, which may lead to a decrease in map accuracy, thereby affecting the navigation accuracy and safety of the robot. SUMMARY

[0004] The utility model provides a kind of mapping mobile robot to solve the defect of manual identification key point in prior art, inconvenient operation high cost and poor precision.

[0005] The utility model provides a kind of mapping mobile robot, including robot body, camera module, microphone and controller, the robot body, the camera module and the microphone are electrically connected with the controller respectively, the camera module is installed on the robot body, for gathering image information, the controller is based on the image information control the walking of the robot body and draw map;The microphone is installed on the robot body, for receiving the audio information of user, the controller is used to control the camera module to shoot image according to the audio information to facilitate to set point on map.

[0006] According to the utility model provides a kind of mapping mobile robot, the camera module includes depth camera, the depth camera is detachably installed on the robot body, the robot body is installed with obstacle avoidance sensor, the controller is connected with the obstacle avoidance sensor, the relative position information of the depth camera and the obstacle avoidance sensor is stored in the controller.

[0007] According to the utility model provides a kind of mapping mobile robot, the depth camera is RGB-D camera.

[0008] The depth camera can be detachably installed on the connecting frame.

[0009] The depth camera can be installed in a pitching manner on the connecting frame.

[0010] The obstacle avoidance sensor is a laser radar.

[0011] The camera module comprises a monocular camera, and the monocular camera is fixed to the front side of the robot body.

[0012] The robot body comprises a body and a walking wheel installed on the body, and the walking wheel is an omni-directional wheel.

[0013] The microphone comprises a directional microphone and an omnidirectional microphone, and the directional microphone and the omnidirectional microphone are arranged at different positions of the robot body.

[0014] The directional microphone is installed on the back side of the robot body, and a plurality of omnidirectional microphones are arranged on the side wall of the robot body.

[0015] The robot can pick up audio information of the user, and the controller controls the camera module to shoot an image of the current position as a setting point based on the audio information. Thus, the user can set a semantic point by means of the microphone, release hands, improve efficiency and effectively avoid deviation caused by manual point touch. BRIEF DESCRIPTION OF DRAWINGS

[0016] In order to more clearly illustrate the technical solutions of the present application or the prior art, the following will briefly introduce the drawings needed to be used in the embodiments or the prior art description. Obviously, the drawings in the following description are 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.

[0017] Fig. 1 is a top view of the mapping mobile robot provided by the present application.

[0018] Fig. 2 is a side view of the mapping mobile robot provided by the present application.

[0019] Reference signs:

[0020] 10, robot body; 11, fuselage; 12, walking wheel; 13, wireless communication module; 20, camera module; 30, obstacle avoidance sensor; 40, connecting frame. DETAILED DESCRIPTION

[0021] In order to make the purpose, technical scheme and advantages of the utility model more clear, the technical scheme in the utility model will be described clearly and completely in combination with the drawings in the utility model. Obviously, the described embodiments are part of the embodiments of the utility model, rather than all the embodiments. Based on the embodiments in the utility model, all other embodiments obtained by the ordinary skilled in the art without creative labor belong to the protection scope of the utility model.

[0022] The features of the terms "first", "second" in the specification and claims of the utility model can be explicitly or implicitly included one or more features. In the description of the utility model, the meaning of "multiple" is two or more, unless otherwise specified. In addition, "and / or" in the specification and claims means at least one of the connected objects, and the character " / ", generally indicates that the front and rear associated objects are a kind of "or" relationship.

[0023] In the description of the utility model, it is understood that the orientation or positional relationship indicated by the terms "center", "longitudinal", "lateral", "length", "width", "thickness", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", "clockwise", "counterclockwise", "axial", "radial", "circumferential" is based on the orientation or positional relationship shown in the drawings, and is only for the convenience of describing the utility model and simplifying the description, and is not intended to indicate or imply that the indicated device or element must have a particular orientation, be constructed and operated in a particular orientation, and therefore cannot be understood as a limitation on the utility model.

[0024] In the description of the utility model, it should be noted that, unless otherwise specified and limited, the terms "mounting", "connection", "connection" should be understood broadly, for example, it can be fixedly connected, or it can be detachably connected, or integrally connected, it can be mechanically connected, or it can be electrically connected, it can be directly connected, or indirectly connected through an intermediate medium, it can be the communication inside two elements. For the ordinary skilled in the art, the specific meaning of the above terms in the utility model can be understood according to the specific circumstances.

[0025] The utility model will be described below Figs. 1-2 The mapping mobile robot of the utility model is described.

[0026] The utility model provides a kind of mapping mobile robot, as shown in the figure, the mapping mobile robot includes robot body 10, camera module 20, microphone and controller, robot body 10, camera module 20 and microphone are electrically connected with controller respectively.Camera module 20 is installed in robot body 10, for gathering image information, controller controls the walking of robot body 10 based on image information and draws map.Microphone is installed on robot body 10, for receiving the audio information of user, controller controls camera module 20 to shoot image according to audio information so as to set point on map.

[0027] In the conventional robot mapping process, the user controls the robot through the remote device connected with the robot wirelessly, when the robot runs to the set point position, the user operates on the remote device to identify the point position on the map.For example, when the robot moves in the hall, the hall is bound with the image currently shot by the robot by operating the remote device, so as to determine the position of the hall.Or, when the robot moves to the entrance of the bathroom, the remote device is operated to identify the position of the bathroom door on the map, and the robot shoots the image of the bathroom entrance as the basis for setting point.

[0028] The mapping mobile robot provided by the utility model embodiment, the microphone can pick up the audio information of user, and the controller controls camera module 20 to shoot the image of current position as the basis for setting point based on audio information, effectively avoiding the deviation caused by manual point touch identification point position.Therefore, the user can set point by means of microphone without operating remote device.Specifically, when robot body 10 reaches the position A where setting point is needed, the user explains through voice that A is the hall or the door of master bedroom, and the controller controls camera module 20 to shoot image according to the audio information of user, and the image is taken as the basis for setting point at A.

[0029] Camera module 20 is fixed or detachably installed on robot body 10.In the case that camera module 20 is detachably installed on robot body 10, the user can adjust the position of camera module 20 according to needs, which is convenient for maintenance.Microphone can be single microphone or microphone array, and is installed on robot body 10 by fixed or detachable manner.In the case that microphone is detachably installed on robot body 10, the microphone can be detached from robot body 10, so that robot body 10 can be applied in other occasions except mapping.

[0030] The controller comprises a processor and a wireless communication module 13. The processor is electrically connected with the microphone to identify audio information picked up by the microphone. The wireless communication module 13 communicates wirelessly with an external terminal device. The wireless communication module 13 can be a WiFi module, a Bluetooth module, a Zig-Bee module, etc. The audio information collected by the microphone can be communicated with a cloud through the wireless communication module, so as to perform semantic analysis by means of the cloud. In addition, the wireless communication module 13 can also realize wireless communication connection between the mapping mobile robot and external devices such as mobile phones and tablet computers. A user can view a map and a map constructed by the mapping mobile robot through the external device.

[0031] In an embodiment, the camera module 20 comprises a depth camera which is detachably installed on the robot body 10. An obstacle avoidance sensor 30 is installed on the robot body 10, and the controller is in communication connection with the obstacle avoidance sensor 30. The relative position information of the depth camera and the obstacle avoidance sensor 30 is stored in the controller.

[0032] Specifically, the obstacle avoidance sensor 30 can be fixedly or detachably installed on the robot body 10. The controller is in communication connection with the obstacle avoidance sensor 30 to control the movement of the robot body 10 according to the information collected by the obstacle avoidance sensor 30, so as to realize robot obstacle avoidance. In addition, the robot body 10 can also be in communication connection with external devices such as mobile phones or tablet computers through the wireless communication module 13, and the movement direction and speed of the robot body 10 can be manually controlled by means of a control APP in the external device.

[0033] The obstacle avoidance sensor 30 can be a laser radar, an infrared sensor, an ultrasonic sensor, etc. As shown in the figure, the obstacle avoidance sensor 30 is a laser radar which is detachably installed on the top of the robot body 10. In an embodiment, the top of the robot body 10 is provided with a clamping groove, and the laser radar is clamped and fixed in the clamping groove, and the transmitting and receiving end of the laser radar is exposed outside the clamping groove. In another embodiment, a base is detachably installed on the top of the robot body 10 by means of bolts or other fasteners, and the laser radar is installed on the base. In this way, the obstacle avoidance sensor 30 is detachably installed on the robot body 10, so as to facilitate adjustment of the position and quantity of the obstacle avoidance sensor 30 according to the mapping needs.

[0034] Optionally, the depth camera can be an RGB-D camera, a binocular camera, a TOF camera, etc. For example, the depth camera is an RGB-D camera which generates point cloud data by capturing the depth information of each point in the scene, so as to generate point cloud data with depth information, and the controller constructs a closed-loop map of the entire scene according to the point cloud data collected by the depth camera.

[0035] The relative positions of the depth sensor and the obstacle avoidance sensor 30 are different, and the information collected by the two when constructing the map is fused with different fusion parameters. The mapping mobile robot provided in the embodiment of the utility model stores the relative positions of the depth sensor and the obstacle avoidance sensor 30 in the controller by setting the depth sensor and the obstacle avoidance sensor 30 at specific positions of the robot body 10 to construct the map, and the entire mapping method can be directly used on other robot bodies 10, as long as the relative positions of the depth sensor and the obstacle avoidance sensor 30 on another robot body 10 are determined. For example, the relative positions of the depth sensor and the obstacle avoidance sensor 30 on different robot bodies 10 are the same, and therefore the different robot bodies 10 can share the map that has been constructed by the previous robot body 10 when constructing the map of the same region. For another example, the relative positions of the depth sensor and the obstacle avoidance sensor 30 on different robot bodies 10 are different, and therefore the map is adjusted by an algorithm according to the position deviation of the depth sensor and the obstacle avoidance sensor 30 on different robot bodies 10, so that the different robot bodies can share the map constructed by a certain robot body 10, and it is not necessary to repeat the mapping, thereby simplifying the mapping cost when multiple robots are arranged in the same environment.

[0036] In an embodiment, the robot body 10 is provided with a connecting frame 40, and the depth camera is detachably installed on the connecting frame 40. Specifically, the bottom of the connecting frame 40 is fixed on the top or the side wall of the robot body 10 by bolts or other fasteners, and the depth camera is detachably installed on the connecting frame 40 by buckling or screwing or other fixing methods.

[0037] The mapping mobile robot provided in the embodiment of the utility model has the depth camera detachably installed on the connecting frame 40, which is convenient for users to disassemble and replace the depth camera, and provides convenience for the maintenance and upgrading of the camera module 20. In addition, the position of the depth camera can also be adjusted according to the mapping environment.

[0038] To facilitate the adjustment of the field of view of the depth camera, the depth camera can be installed on the connecting frame 40 in a pitching manner. For example, the connecting frame 40 has two ears, the depth camera is accommodated between the two ears, and the opposite sides of the depth camera are rotationally connected with the corresponding ears. In addition, the connecting frame 40 can include a base, a support rod and a connecting rod, the base is installed on the robot body, the support rod is fixedly installed on the base in a vertical direction, the connecting rod is rotationally installed on the support rod through a rotating shaft, and the depth camera is detachably installed on the support rod. The relative positions of the support rod and the connecting rod are adjusted to realize the pitching adjustment of the depth camera.

[0039] On the basis of the above-mentioned embodiments, the camera module 20 further comprises a monocular camera fixed to the front side of the robot body 10. The monocular camera is used to collect the plane information of the surrounding environment and the scene image. The scene image captured by the monocular camera can be used for later viewing and can provide real-time scene images for mapping.

[0040] In addition, the monocular camera can also be used as an obstacle avoidance sensor 30. By being fixed to the front side of the robot body 10, the monocular camera can collect the obstacle image in the walking direction, and the controller can control the walking of the robot body 10 according to the image information collected by the monocular camera.

[0041] The robot body 10 comprises a body 11 and a walking wheel 12 mounted on the body 11. The walking wheel 12 is an omnidirectional wheel. As shown in the figure, the body 11 is flat, and the walking wheel 12 comprises an axle and a plurality of small wheels mounted on the circumference of the axle, forming an omnidirectional wheel shape. With the omnidirectional wheel, the robot body 10 can move flexibly in a small space.

[0042] The microphones can be arranged on the robot body 10 in a single or array manner. For example, a plurality of microphones are arranged in an array on the back side of the robot body 10.

[0043] In an embodiment, the microphones comprise directional microphones and omnidirectional microphones, and the directional microphones and omnidirectional microphones are arranged at different positions of the robot body 10. For example, the directional microphones are mounted on the back side of the robot body 10, and a plurality of omnidirectional microphones are arranged on the side wall of the robot body 10.

[0044] When the user is located on either side of the robot body 10, the audio information of the user is collected by the directional microphones and omnidirectional microphones arranged at different positions, thereby improving the sound pickup instruction.

[0045] Finally, it should be noted that: the above embodiments are only used to illustrate the technical solutions of the present application, and not to limit them; although the present application has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that: it can still modify the technical solutions recorded in the foregoing embodiments, or make equivalent replacement for part of the technical features; and these modifications or replacements do not make the essence of the corresponding technical solutions deviate from the spirit and scope of the technical solutions of the embodiments of the present application.

Claims

1. A mapping mobile robot, characterized by The robot comprises a robot body, a camera module, a microphone and a controller, the robot body, the camera module and the microphone are electrically connected with the controller respectively, the camera module is installed on the robot body and used for collecting image information, the controller controls the walking of the robot body and draws a map based on the image information; the microphone is installed on the robot body and used for receiving audio information of a user, and the controller controls the camera module to take pictures according to the audio information to facilitate setting points on the map.

2. The mapping mobile robot of claim 1, wherein, The camera module comprises a depth camera, the depth camera is detachably installed on the robot body, an obstacle avoidance sensor is installed on the robot body, the controller is in communication connection with the obstacle avoidance sensor, and the relative position information of the depth camera and the obstacle avoidance sensor is stored in the controller.

3. The mapping mobile robot of claim 2, wherein, The depth camera is an RGB-D camera.

4. The mapping mobile robot of claim 2, wherein, The robot body is provided with a connecting frame, and the depth camera is detachably installed on the connecting frame.

5. The mapping mobile robot of claim 4, wherein, The depth camera is installed on the connecting frame in a pitching manner.

6. The mapping mobile robot of claim 2, wherein, The obstacle avoidance sensor is a laser radar.

7. The mapping mobile robot of claim 1 or 2, wherein, The camera module comprises a monocular camera, and the monocular camera is fixed to the front side of the robot body.

8. The mapping mobile robot of claim 1, wherein, The robot body comprises a body and a walking wheel installed on the body, and the walking wheel is an omnidirectional wheel.

9. The mapping mobile robot of claim 1, wherein, The microphone comprises a directional microphone and an omnidirectional microphone, and the directional microphone and the omnidirectional microphone are arranged at different positions of the robot body.

10. The mapping mobile robot of claim 9, wherein, The directional microphone is installed on the back side of the robot body, and a plurality of omnidirectional microphones are arranged on the side wall of the robot body.

Images