Multifunctional vehicle capable of being controlled in multiple modes

Abstract

The utility model provides a multifunctional vehicle capable of being controlled in multiple modes. The multifunctional vehicle comprises a vehicle body. The vehicle top plate structure is arranged at the top of the vehicle main body and can ascend and descend relative to the vehicle main body, so that articles can be placed in the vehicle main body; the walking structure is arranged at the bottom of the trolley body, and the trolley body can ascend and descend relative to the walking structure so as to adjust the height of the bottom of the trolley body; the mechanical arm is connected with the vehicle body and can rotate relative to the vehicle body, so that the mechanical arm is matched with the vehicle body, vehicle body balance adjustment is conducted, and objects are grabbed; and the control system is connected with the vehicle top plate structure, the walking structure and the mechanical arm and controls the vehicle top plate structure, the walking structure and the mechanical arm to act. The multifunctional vehicle has the beneficial effects that the multifunctional vehicle can be controlled in a close range and a remote range, the application range is wide, the functions are multiple, the operation modes are multiple, the application scenes and the application fields are greatly increased, and the multifunctional vehicle can better serve people in more scenes.

Description

Technical Field

[0001] This utility model belongs to the field of intelligent vehicle technology, and in particular relates to a multi-functional vehicle that can be controlled in multiple ways. Background Technology

[0002] Existing similar intelligent vehicles include a chassis, vehicle drive components, obstacle avoidance components, navigation components, a battery unit, a built-in system control unit, a remote control unit, a communication unit, and a separately operating robotic arm unit. Although they have a chassis and drive unit, they are slow and inflexible, their starting speed cannot be adjusted, they cannot climb stairs, they are not suitable for all road conditions, they cannot carry heavy loads, and they cannot carry passengers. They cannot make or receive phone calls autonomously, and although they have a battery unit, they cannot charge external devices. They are designed for specific working environments, with simple structures and limited functions. Correspondingly, their control systems and control methods are limited, mostly based on remote control or a single built-in program. The vehicle body and robotic arm are controlled separately; the drive unit and the robotic arm's movements are unrelated and do not coordinate. They are primarily used in industrial and disaster relief applications, significantly limiting their application scenarios and fields. Utility Model Content

[0003] In view of the above problems, this utility model provides a multi-functional vehicle that can be operated in multiple ways to solve the above or other problems existing in the prior art.

[0004] To solve the above-mentioned technical problems, the technical solution adopted by this utility model is: a multi-functional vehicle that can be operated in multiple ways, including a vehicle body, and further including:

[0005] A roof panel structure located on top of the vehicle body, which can be raised and lowered relative to the vehicle body so that items can be placed inside the vehicle body;

[0006] The vehicle body is located at the bottom of the vehicle body, and the vehicle body can be raised and lowered relative to the vehicle body to adjust the height of the bottom of the vehicle body;

[0007] The robotic arm is connected to the vehicle body and can rotate relative to the vehicle body so that the robotic arm can cooperate with the vehicle body to adjust the vehicle body balance and grasp objects.

[0008] The control system is connected to the roof structure, the walking structure, and the robotic arm, and controls the movements of the roof structure, the walking structure, and the robotic arm.

[0009] Furthermore, the roof panel structure includes a roof panel and a first lifting device that cooperates with the roof panel. When the first lifting device is activated, it drives the roof panel to rise or fall.

[0010] Furthermore, the first lifting device includes a power drive device, a rotating component connected to the power drive device, and a moving component disposed on the rotating component. One end of the rotating component is connected to the power drive device, the power drive device drives the rotating component to rotate, the moving component can move along the rotating component, and the moving component contacts and engages with the roof panel to drive the roof panel to move.

[0011] Furthermore, the rotating component has two sets of threads with opposite directions, and the moving component is threadedly connected to the rotating component;

[0012] The moving part has a cross structure, with two ends on both sides of the cross point. The two ends on one side are respectively fitted onto the two ends of the rotating part, and the two ends on the other side are respectively equipped with rollers. By rotating the rotating part, the two ends of the moving part located at both ends of the rotating part move closer or further apart, driving the two rollers to move closer or further apart, thus moving the roof panel up and down.

[0013] Furthermore, the walking structure includes a walking device and a second lifting device connected to the walking device. The second lifting device drives the vehicle body to rise and fall to adjust the height of the bottom of the vehicle body; wherein,

[0014] The walking device includes wheeled or tracked walking components for movement;

[0015] The second lifting device includes a power drive component and a connecting component connected to the power drive component. The connecting component is connected to the traveling device, and the power drive component drives the connecting component to move, so that the vehicle body moves up and down along the axial direction of the traveling device.

[0016] Furthermore, the robotic arm is equipped with a gripper, which can rotate relative to the vehicle body to drive the gripper to grasp objects; the robotic arm is also equipped with a vision detection module to detect the environment around the vehicle body.

[0017] Furthermore, the control system includes a main control module, a detection unit, and an execution unit. The main control module receives the detection signals from the detection unit and controls the execution unit to perform actions.

[0018] Furthermore, the detection unit includes a network control module, a voice control module, a call module, a remote control module, a visual inspection module, a height detection module, a center of gravity detection module, and a distance measurement detection module, among which...

[0019] The network control module is electrically connected to the main control module. The communication module, remote control module, and vision inspection module are all electrically connected to the network control module and communicate with the main control module through the network control module; and / or, the communication module is electrically connected to the main control module, and the vision inspection module is electrically connected to the main control module to communicate.

[0020] The voice control module, distance measurement module, center of gravity detection module, and height detection module are all electrically connected to the main control module for communication.

[0021] Furthermore, the execution unit includes a positioning and navigation module and a speed adjustment module. The main control module, the positioning and navigation module and the speed adjustment module are electrically connected. The main control module controls the action of the speed adjustment module through the positioning and navigation module; and / or, the speed adjustment module is electrically connected to the main control module. The main control module controls the action of the speed adjustment module.

[0022] Furthermore, the speed regulation module includes a start-up speed regulation module and a steering speed regulation module. The start-up speed regulation module is located on the running gear, and the steering speed regulation module is located on the vehicle body, controlling the start-up and steering speeds.

[0023] Furthermore, the visual inspection module is located on the robotic arm and the vehicle body.

[0024] Furthermore, the control system also includes a lighting control module and a sound control module. Both the lighting control module and the sound control module are electrically connected to the main control module for communication and control of their actions.

[0025] Furthermore, it also includes a battery control device, which is connected to the main control module, transmits signals to the main control module, and receives signals sent by the main control module.

[0026] Due to the adoption of the above technical solutions, this multi-functional vehicle has a main control module that can autonomously select routes according to instructions; a positioning and navigation module that can autonomously select navigation routes based on positioning; the vehicle body and the robotic arm mounted on the vehicle body cooperate to carry people, goods, and transport objects, grasp objects and hold them at various angles and positions, and the robotic arm can autonomously change the position and angle of the held object according to instructions, such as two robotic arms working together to serve tea or water, knead or strike, etc.; based on the weight of the grasped object, it generates center of gravity data in real time and adjusts the position and angle of the vehicle body and robotic arm in a timely manner to maintain vehicle balance, such as for retrieving items from outside; the robotic arm and the vehicle body cooperate to climb stairs, and the end of the robotic arm can touch the ground from all sides of the vehicle to climb stairs; it has a battery control device that can provide power to external electrical appliances and also power the vehicle itself, serving as a self-propelled power source, capable of self-charging, and displaying the battery level; it has a lighting control module that can provide lighting with full color gamut light, can be set for nighttime rest periods, and detects objects during nighttime rest periods. When an object moves, it autonomously turns on some lights and allows users to manually or autonomously select the light color. The robotic arm can be used as a mobile phone holder and projector holder, and has a network control module, a vision detection module, a voice control module, and a call module. It can autonomously make phone calls, send video calls, and send messages to designated numbers for voice communication and chatting. It can autonomously adjust the angle between the screen held at the end of the robotic arm and the user's face, and autonomously adjust the angle between the projector and the projected plane. It can detect when a person has fallen and simultaneously make designated phone calls, send videos, and help the person up. During video calls, it keeps the vehicle following the user's movements and autonomously adjusts the mobile phone or tablet with a camera held at the end of the robotic arm to keep the user's head within the camera's range. The multi-functional vehicle can be controlled at close range and remotely via remote control, voice, gestures, and built-in programs. It can be remotely controlled via telephone voice or controlled according to set programs and other conditions. With its wide range of uses, multiple functions, and multiple operating methods, the application scenarios and application areas have been greatly expanded, enabling the multi-functional vehicle to better serve people in more scenarios. Attached Figure Description

[0027] Figure 1 This is a front view structural schematic diagram of a multi-functional vehicle according to an embodiment of the present invention;

[0028] Figure 2 This is a side view of a multi-functional vehicle according to an embodiment of the present invention;

[0029] Figure 3 This is a schematic diagram of the second lifting structure of the walking structure according to an embodiment of the present invention;

[0030] Figure 4 This is an overall schematic diagram of the first lifting structure of the roof panel structure according to an embodiment of the present utility model;

[0031] Figure 5 This is a schematic diagram of the first lifting structure of the roof panel structure according to an embodiment of the present invention;

[0032] Figure 6 This is a schematic diagram of the control system of one embodiment of the present invention;

[0033] Figure 7 This is a schematic diagram of the structure of the main control device for a robotic arm according to an embodiment of the present invention;

[0034] Figure 8 This is a schematic diagram of the structure of the tracking and speed measurement main control module according to an embodiment of the present invention;

[0035] Figure 9 This is a schematic diagram of the structure of the first tracking module according to an embodiment of the present invention;

[0036] Figure 10 This is a schematic diagram of the structure of an infrared ranging circuit according to an embodiment of the present invention;

[0037] Figure 11 This is a schematic diagram of the speed adjustment module according to an embodiment of the present invention;

[0038] Figure 12 This is a schematic diagram of the structure of an ultrasonic ranging circuit according to an embodiment of the present invention;

[0039] Figure 13 This is a schematic diagram of the communication main control module according to an embodiment of the present invention;

[0040] Figure 14 This is a schematic diagram of the structure of the left-side DC motor drive circuit according to an embodiment of the present invention;

[0041] Figure 15 This is a schematic diagram of the structure of a voice control module according to an embodiment of the present invention;

[0042] Figure 16 This is a schematic diagram of the structure of a center of gravity detection module according to an embodiment of the present invention;

[0043] Figure 17 This is a schematic diagram of the signal amplification circuit structure according to an embodiment of the present invention;

[0044] Figure 18 This is a schematic diagram of the structure of a serial servo motor according to an embodiment of the present invention;

[0045] Figure 19 This is a schematic diagram of the structure of a battery control unit according to an embodiment of the present invention;

[0046] Figure 20This is a schematic diagram of the drive control unit according to an embodiment of the present invention;

[0047] Figure 21 This is a schematic diagram of the structure of a vision control unit according to an embodiment of the present invention;

[0048] Figure 22 This is a schematic diagram of the structure of a network control unit according to an embodiment of the present invention.

[0049] In the picture:

[0050] 1. Vehicle body 2. USB charging port 3. 220V charging port

[0051] 4. Vehicle charging port; 5. Distance detection module; 6. Walking structure

[0052] 7. Height detection module; 8. Center of gravity detection module; 9. Battery control device

[0053] 10. Network control module; 11. Vision inspection module; 12. Robotic arm

[0054] 13. Sound control module; 14. Main control module; 15. Roof panel structure.

[0055] 16. Speed ​​adjustment module; 17. Display screen; 18. Lighting control module

[0056] 19. Phone card slot; 60. Power drive component; 61. Connector.

[0057] 160. First lifting device; 1601. Power drive device; 1602. Rotating component.

[0058] 1603, Moving part 20, Headlight R1, First resistor

[0059] R2, second resistor R3, third resistor R4, fourth resistor

[0060] R5, fifth resistor; R6, sixth resistor; R7, seventh resistor

[0061] R8, eighth resistor; R9, ninth resistor; R10, tenth resistor

[0062] R11, eleventh resistor R12, twelfth resistor U1, optocoupler

[0063] U2, First comparator RP1, First variable resistor IR1, Infrared transmitter

[0064] IQ1, infrared receiver C1, first capacitor C2, second capacitor

[0065] C3, third capacitor C4, fourth capacitor C5, fifth capacitor

[0066] C6, sixth capacitor; C7, seventh capacitor; C8, eighth capacitor

[0067] C9, Ninth capacitor; C10, Tenth capacitor; C11, Polarized capacitor

[0068] RP2, second variable resistor Detailed Implementation

[0069] The present invention will be further described below with reference to the accompanying drawings and specific embodiments.

[0070] Figure 1 The diagram shows a structural schematic of one embodiment of the present invention. This embodiment relates to a multi-functional vehicle that can be operated in multiple ways. The multi-functional vehicle has a liftable roof for storing items, and its walking structure can be raised and lowered, allowing the chassis height of the multi-functional vehicle to be adjusted to adapt to various walking environments. It has a control system with judgment rules set in the system, which can integrate various commands and send command signals based on detected signals to control the actions of various components, greatly increasing its application scenarios and usage areas, enabling the multi-functional vehicle to better serve people in more scenarios.

[0071] A multi-functional vehicle that can be operated in multiple ways, such as Figure 1-6 As shown, the vehicle includes a main body 1, which is a box structure with internal storage space, so that the multi-functional vehicle can store and transport items, and at the same time, it can carry people to assist them in walking, climbing stairs and other actions, so as to meet the needs of different application scenarios.

[0072] The multi-purpose vehicle also includes:

[0073] The roof panel structure 15 is located on the top of the vehicle body 1. The roof panel structure 15 can be raised and lowered relative to the vehicle body 1. When the roof panel structure 15 is fastened to the top of the vehicle body 1, the roof panel structure 15 covers the top of the vehicle body 1 and seals the storage space inside the vehicle body 1 so that items can be placed in the storage space. When the multi-functional vehicle is moving, the items in the storage space will not fall out. When the roof panel structure 15 is raised, the storage space inside the vehicle body 1 can be exposed, making it convenient to put items in.

[0074] like Figure 1-5As shown, the roof panel structure 15 includes a roof panel and a first lifting device 160 connected to the roof panel. The first lifting device 160 actuates to drive the roof panel to rise and fall. The roof panel is a plate-like structure, and its shape and size are adapted to the shape and size of the top of the vehicle body 1, so that the roof panel covers the top of the vehicle body 1. To prevent the roof panel from slipping during the movement of the multi-functional vehicle, in this embodiment, the roof panel includes a main panel and side panels disposed around the main panel. The side panels intersect with the main panel, preferably perpendicularly, so that the cross-sectional shape of the roof panel is such that it can be fastened to the top of the vehicle body 1. To ensure that the roof panel can rise and fall smoothly, the number of the first lifting devices 160 is at least two. Multiple first lifting devices 160 are arranged opposite each other on both sides of the roof panel, or multiple first lifting devices 160 are evenly arranged along the circumferential direction of the roof panel, so that the roof panel is subjected to balanced force. The roof panel and the first lifting device 160 are detachably connected so that the roof panel can be replaced.

[0075] On a set of oppositely arranged side walls of the vehicle body 1, there are mounting grooves. The first lifting device 160 is installed in the mounting grooves. At the same time, the side panels of the roof panel are inserted into the mounting grooves to achieve the fastening of the roof panel. The first lifting device 160 includes a power drive device 1601, a rotating part 1602 connected to the power drive device 1601, and a moving part 1603 provided on the rotating part 1602. One end of the rotating part 1602 is connected to the power drive device 1601. The power drive device 1601 drives the rotating part 1602 to rotate. The moving part 1603 can move along the rotating part 1602. The moving part 1603 contacts and engages with the roof panel. By moving the moving part 1603, the roof panel is pushed to move, so that the roof panel moves up and down. Along the axial direction (length direction) of the rotating component 1602, the rotating component 1602 is provided with two sets of threads with opposite directions of rotation. The two sets of threads cover the rotating component 1602. The moving component 1603 is threadedly connected to the rotating component 1602. The moving component 1603 has a cross structure, with two ends on both sides of the cross point. The two ends on one side are fitted onto the rotating component 1602 and are located at both ends of the rotating component 1602. The two ends on the other side are respectively equipped with rollers. As the rotating component 1602 rotates, the two ends of the moving component 1603 located at both ends of the rotating component 1602 move closer or further away from each other. The rollers contact the side wall of the mounting groove, and the roller near the top of the side wall of the vehicle body 1 contacts the roof panel. The up and down movement of the rollers causes the roof panel to move up and down.

[0076] In this embodiment, the power drive device 1601 is preferably an electric motor.

[0077] The vehicle body 1 has a walking structure 6 located at the bottom of the vehicle body 1. The vehicle body 1 can be raised and lowered relative to the walking structure 6, so that the height of the bottom of the vehicle body 1 is adjustable, enabling the multi-functional vehicle to adapt to all road conditions and cope with various road obstacles, such as climbing stairs.

[0078] The number of walking structures 6 is at least four, arranged on the left and right sides of the vehicle body 1, such as the left front wheel, left rear wheel, right front wheel, and right rear wheel. The walking structure 6 includes a walking device and a second lifting device connected to the walking device. The second lifting device is connected to the vehicle body 1 and drives the vehicle body 1 to rise and fall, adjusting the height of the bottom of the vehicle body 1. The walking device enables the multi-functional vehicle to move. The walking device includes a wheeled walking assembly or a tracked walking assembly for movement. When the walking device is a wheeled walking assembly, it includes a walking wheel and a support member. One end of the support member is rotatably connected to the walking wheel, and the other end is connected to the vehicle body 1. When the walking device is a tracked walking assembly, it includes a walking wheel and a track fitted onto the walking wheel. The walking wheel is connected to the vehicle body 1 through the support member. The structure of the walking device is selected according to actual needs and is not specifically required here. The support member can be a support column or a support rod, and is a rod structure. Its cross-sectional shape is preferably circular to facilitate connection with the second lifting device.

[0079] The second lifting device includes a power drive component 60 and a connecting component 61 connected to the power drive component 60. The connecting component 61 is connected to the walking device and also to the vehicle body 1. The power drive component 60 drives the connecting component 61 to move, allowing the vehicle body 1 to move up and down along the axial direction of the walking device, so that the chassis of the multi-functional vehicle can be relatively close to or away from the ground, thus adjusting the height of the multi-functional vehicle chassis. The connecting component 61 is a sleeve structure, and the connecting component 61 is fitted and connected to the support component. The connecting component 61 and the support component are connected by threads. The power drive component 60 drives the connecting component 61 to rotate. Through threaded transmission, the connecting component 61 can move up and down along the axial direction of the support component, thereby allowing the vehicle body 1 to be raised and lowered, and thus adjusting the distance between the bottom of the vehicle body 1 and the wheels.

[0080] In this embodiment, preferably, the power drive component 60 is a motor, which can be directly connected to the connector 61 to drive the connector 61 to move. Alternatively, the motor can be connected to the connector 61 through a transmission structure, which transmits power to enable the connector 61 to move up and down. This transmission structure can be a gear transmission.

[0081] Each set of walking structures 6 has a DC motor drive circuit to control the walking action of the walking structure 6. For example, the set of walking structures located on the left side of the vehicle body 1 has a left DC motor drive circuit, and the set of walking structures located on the right side of the vehicle body 1 has a right DC motor drive circuit.

[0082] The robotic arm 12 is connected to the vehicle body 1. The robotic arm 12 can rotate relative to the vehicle body 1 to grasp objects in multiple positions. The robotic arm 12 is designed to pick up, transport, and deliver items. At the same time, the end of the robotic arm 12 can touch the ground and cooperate with the vehicle body 1 to assist in going up and down steps. In addition, the robotic arm 12 cooperates with the vehicle body 1 to maintain the balance of the multi-functional vehicle.

[0083] In some feasible embodiments, the robotic arm 12 is connected to the vehicle body 1 via a gear and rack transmission structure, a sliding platform structure, a cylinder structure, or a lead screw transmission structure, so that the robotic arm 12 can move relative to the vehicle body 1, and the position of the robotic arm 12 on the vehicle body 1 can be adjusted and its position changed.

[0084] In some feasible embodiments, the robotic arm 12 may be a six-axis robotic arm or other robotic arms capable of automating actions. These are commercially available products, and the choice is made according to actual needs. No specific requirements are made here.

[0085] The end of the robotic arm 12 is connected to a gripper. The robotic arm 12 can rotate relative to the vehicle body 1 to drive the gripper to grip. The gripper is a dexterous hand. There are various types of dexterous hands. The appropriate dexterous hand is selected according to the shape and material of different items and is automatically changed.

[0086] The number of robotic arms 12 is at least one, but can be multiple. Multiple robotic arms 12 are symmetrically arranged on both sides of the vehicle body 1, or multiple robotic arms 12 are evenly arranged along the circumferential direction of the vehicle body 1, or other arrangement methods. The number and arrangement of robotic arms 12 are selected according to actual needs, and no specific requirements are made here.

[0087] The robotic arm 12 is designed to allow the user to hold onto it while the multi-functional vehicle follows them around, and to place personal belongings on the vehicle body 1. Alternatively, the robotic arm 12 can function as a support to hold mobile phones, tablets, laptops, and projectors, and its rotation can adjust the projection angle of these devices, allowing them to be moved to any location at any time to meet user needs. Alternatively, the end of the robotic arm 12 can hold a pen for writing. Other functions of the robotic arm 12 can be selected based on actual requirements.

[0088] The materials of the vehicle body 1, the roof structure 15, the walking structure 6, and the robotic arm 12 are all waterproof materials, or waterproof coatings are applied to the surfaces of the vehicle body 1, the roof structure 15, the walking structure 6, and the robotic arm 12, making the entire multi-functional vehicle waterproof.

[0089] The control system is connected to the vehicle body 1. The control system is connected to the roof structure 15, the walking structure 6 and the robotic arm 12 respectively. The control system controls the movement of the roof structure 15, the walking structure 6 and the robotic arm 12. The control system is electrically connected to the first lifting device 160 and controls the movement of the first lifting device 160 to realize the lifting and lowering of the roof. The control system is electrically connected to the second lifting device and controls the movement of the second lifting device to realize the lifting and lowering of the walking device, thereby adjusting the distance between the bottom of the vehicle body 1 and the ground. The control system is electrically connected to the robotic arm 12 and controls the movement of the robotic arm 12 to complete the corresponding instructions.

[0090] The control system is designed to automate the multi-functional vehicle; specifically, for example... Figure 6 As shown, the control system includes a main control module 14, a detection unit, and an execution unit. The detection unit transmits the detection signal to the main control module 14. The main control module 14 analyzes the detection signal and sends a command signal to the execution unit according to the detection signal to control the execution unit to perform the action.

[0091] The aforementioned detection unit includes a network control module 10, a voice control module, a call module, a remote control module, a visual detection module 11, a center of gravity detection module 8, and a ranging detection module 5. The network control module 10 is electrically connected to the main control module 14, and transmits detection signals to the main control module 14. The call module, remote control module, and visual detection module 11 communicate with the main control module 14 through the network control module 10, respectively, and transmit their detected signals to the network control module 10. The network control module 10 analyzes and processes the received detection signals. The signal is then transmitted to the main control module 14; and / or, the communication module and the vision detection module 11 are electrically connected to the main control module 14 respectively, and the communication module and the vision detection module 11 directly transmit the detection signal to the main control module 14 for direct communication and transmission of the detection signal; the voice control module, the distance detection module 5, the center of gravity detection module 8 and the height detection module 7 are all connected to the main control module 14, and the voice control module, the distance detection module 5, the center of gravity detection module 8 and the height detection module 7 respectively transmit the detected signal to the main control module 14 for communication, and the main control module 14 sends corresponding instructions according to the received detection signal to control the multi-functional vehicle to move.

[0092] The aforementioned execution unit includes a positioning and navigation module and a speed adjustment module 16. The positioning and navigation module is connected to the main control module 14, receives instructions sent by the main control module 14, and communicates with it. The speed adjustment module 16 is connected to the main control module 14 through the positioning and navigation module, and the main control module 14 sends instruction signals to the speed adjustment module 16 through the positioning and navigation module to control the action of the speed adjustment module 16; and / or, the speed adjustment module 16 is connected to the main control module 14, and the main control module 14 directly sends instruction signals to the speed adjustment module 16 to communicate and control the action of the speed adjustment module 16.

[0093] The aforementioned main control module 14 is installed inside the vehicle body 1. This main control module 14 is a main control board, which can be a control chip, selected according to actual needs. The main control module 14 contains pre-programmed instructions that send corresponding control commands based on different received detection signals, controlling the multi-functional vehicle to complete corresponding actions. The aforementioned network control module 10 is also installed inside the vehicle body 1. This network control module 10 includes one or more of the following: a SIM card, WiFi, and Bluetooth. This allows the vehicle to connect to the network in real time, autonomously answer and make phone calls, control the vehicle via voice, and remotely access the monitoring system to control the multi-functional vehicle remotely via voice or software. A SIM card slot 19 is installed on the outer shell of the vehicle body 1, and a SIM card can be installed in the SIM card slot 19.

[0094] The aforementioned voice control module features voice dialogue capabilities, recognizes human language emotions, provides emotional support, and automatically switches music according to the context. The aforementioned call module has a built-in microphone and, through echo cancellation and noise reduction processing, performs voice analysis based on a large-scale language model and neural network algorithms. By analyzing the order and intensity of sound reception, it completes sound source localization, accurately locating the sound source for voice interaction.

[0095] The aforementioned remote control module can be one or more of the following terminals: mobile phone, tablet, computer, and wristband, selected according to actual needs. The remote control module features monitoring and surveillance modes, as well as autonomous patrol functions. Opening the program installed on the remote terminal device allows direct access to vehicle monitoring, and the vehicle can be controlled directly using the program's control options. The remote control module and visual detection module can recognize voice, gestures, and facial expressions, enabling near-field and remote control via remote control, mobile phone software, wristband, sound (including voice and specific sounds), gestures, eye movements, and brain activity.

[0096] The aforementioned visual detection module 11 is mounted on the vehicle body 1 and the robotic arm 12. Through the cooperation of the visual detection module 11 on the vehicle body 1 and the visual detection module 11 on the robotic arm 12, and through the program set in the main control module 14, it makes corresponding responses based on the detected situation. For example, it can identify a person with mobility impairment and assist them, or determine if a person has fallen and dial a pre-set emergency number. In this embodiment, the visual detection module 11 is preferably a visual sensor.

[0097] When the vision detection module 11 is mounted on the robotic arm 12, it detects the environment around the vehicle, ensuring that the robotic arm 12 does not touch unnecessary objects during movement. In this case, the vision detection module 11 can also be a camera, especially a panoramic camera. The vision detection module 11 has photo, video, and remote video modes. In this mode, the vehicle body can autonomously select the angle to take photos and videos based on the image from the camera, and can also follow the movement of the subject. The system can continuously improve the quality and effect of fixed photo, video, and follow-up shooting through simulation training. In this structure, a display screen can be mounted on the robotic arm 12, which is connected to the vision detection module 11 to display the video output of the vision detection module 11.

[0098] The vehicle body 1 is equipped with a display screen 17, which is electrically connected to the vision detection module 11 and the main control module 14. Both the vision detection module 11 on the vehicle body 1 and the vision detection module 11 on the robotic arm 12 can be connected to remote video. When the device receives or sends an instruction to open the monitoring video, the display screen 17 on the vehicle body 1 will not display the real-time video. When the device receives or sends an instruction to open a real-time video call, the display screen 17 on the vehicle body 1 will display the real-time video.

[0099] The aforementioned center of gravity detection module 8 is mounted on the vehicle body 1. The main control module 14, based on instructions and requests from the center of gravity detection module 8, fulfills the instruction requirements while simultaneously adjusting the relative position of the robotic arm 12 and the vehicle body 1 to ensure the center of gravity does not deviate. In this embodiment, the center of gravity detection module 8 is preferably a gyroscope center of gravity sensor. When the multi-functional vehicle is moving and the robotic arm 12 is under load, the resulting center of gravity of the vehicle body is transmitted to the center of gravity detection module 8. The center of gravity detection module 8 transmits a signal to the main control module 14, which then adjusts the relative position of the vehicle body and the robotic arm 12 based on this signal to maintain the center of gravity detection module 8 in a balanced state. When the position of the robotic arm's end effector needs to remain unchanged, the main control module 14 adjusts the overall vehicle posture and position to ensure the position of the robotic arm's end effector.

[0100] The aforementioned ranging detection module 5 is installed on the vehicle body 1. This ranging detection module 5 can detect the distance to obstacles around the vehicle body 1, preventing the vehicle body 1 from hitting obstacles and ensuring the smooth movement of the vehicle body 1. In this embodiment, the ranging detection module 5 is preferably a radar sensor.

[0101] The height detection module 7 is located at the bottom of the vehicle body 1 and is electrically connected to the main control module 14. The height detection module 7 transmits the detected signal to the main control module 14. The main control module 14 controls the second lifting device of the walking structure 6 to operate according to the detection signal. It can judge the change in chassis (bottom of vehicle body 1) height at any time and transmit the chassis height data to the main control module 14 in real time. The main control module 14, together with the environmental information obtained by the vision detection module 11, determines whether to adjust the chassis height. If adjustment is required, it transmits the data to the second lifting device in real time to adjust the chassis height. In this embodiment, the height detection module 7 is preferably a height sensor.

[0102] The aforementioned positioning and navigation module is located on the vehicle body 1. It can set a destination and drive autonomously, realizing navigation control and autonomous cruising.

[0103] The aforementioned speed regulation module 16 is mounted on the vehicle body 1. This module includes a start-up speed regulation module and a steering speed regulation module. The main control module 14 controls the vehicle's start-up speed and steering speed according to instructions and requests from the start-up speed regulation module and the steering speed regulation module. In this embodiment, the speed regulation module 16 is a speed regulator, a commercially available product, selected based on actual needs. The start-up speed regulation module is mounted on the walking device and regulates the vehicle's start-up speed. When the vehicle's start-up speed needs to be increased, the start-up speed regulator instantaneously increases the current of the power motor.

[0104] The aforementioned main control module 14 also includes a tracking module, which has a tracking function. When the multi-functional vehicle receives a summoning message, it can quickly and autonomously reach the summoner, including the function of following the target.

[0105] To further optimize the solution, the aforementioned control system also includes a lighting control module 18 and a sound control module 13. Both the lighting control module 18 and the sound control module 13 are electrically connected to the main control module 14 for communication and to control their operation. The lighting control module 18 is installed on the vehicle body 1 and the robotic arm 12. The lighting control module 18 includes full-color gamut lights, light pillars, light strips, headlights 20, etc. The main control module 14 can set the time for automatic switching of the lights. During nighttime rest periods, the lights will illuminate when an object is detected moving. The color is adjustable and can change according to voice commands. The lights can also change color and form in sync with music.

[0106] The aforementioned sound control module 13 can be a speaker, loudspeaker, or other similar device for transmitting sound.

[0107] The control system also includes a battery control device 9, which is connected to the main control module 14, transmits signals to the main control module 14, and receives signals from the main control module 14. The battery control device 9 includes a battery management module, a battery current distribution module, an over-temperature protection module, a charging voltage regulation module, and a DC / AC conversion regulation module. These modules are connected to the battery management module to control the charging and discharging of the battery.

[0108] The over-temperature protection module is an over-temperature protection circuit for overheat protection; the charging voltage regulation module is used to regulate the charging voltage; the DC-AC conversion regulation module can realize DC to DC and DC to AC conversion; and the battery current distribution module is used to distribute the current during battery charging and discharging.

[0109] The vehicle body 1 is equipped with a power charging port, a wireless charging module, and a USB charging port 2. These are located on the outer shell of the vehicle body 1 and are all installed in a groove in the outer shell of the vehicle body 1. A cover is provided on the groove to hide the power charging port, the wireless charging module, and the USB charging port 2, thereby protecting them.

[0110] The power charging port includes a 220V charging port 3 and a vehicle charging port 4. The 220V charging port 3 connects to external electrical appliances to provide power. For convenient charging of external appliances, the 220V charging port 3 can be connected to a wired plug. The vehicle charging port 4 connects to an external power source to charge the vehicle's battery. The wireless charging module connects to the battery control device 9, controlling the wireless charging module to charge the battery. The wireless charging module has multiple output power options. The USB charging port 2 is a full-voltage USB interface that provides power to external electrical appliances. The battery connects to the 220V charging port 3 on the vehicle body 1 and to the full-voltage USB interface. This battery control device not only powers the vehicle but also external electrical appliances. When the battery is low, it automatically searches for a charging station and can also act as a power source to charge external devices, providing all the voltages, AC, and DC power required by peripherals.

[0111] The aforementioned 220V charging port 3 and vehicle charging port 4 utilize a circuit structure consisting of a PL5501 module connected to an INA180A2IDBVR current sensing amplifier, providing short-circuit and overcurrent protection. The aforementioned USB charging port employs a PL5501 module and an SW2303 module, supporting up to PD 100W fast charging.

[0112] The wireless charging module mentioned above uses the CH246 module, which integrates a full-bridge NMOS driver, has overvoltage, overcurrent and overtemperature detection protection, supports PD fast charging input for multiple protocols, and supports 5W, 7.5W and 10W wireless charging output.

[0113] The battery control device 9 also includes a battery power display and reminder module, which is connected to the battery management module and the battery, respectively. This module displays the remaining battery power and provides a charging reminder when the battery power is low (less than 10% of the total capacity). The battery power display and reminder module uses a standard existing circuit structure and will not be described in detail here.

[0114] The main control module 14 includes a robotic arm control unit, a drive control unit, a vision control unit, a line-following and speed-measuring control unit, a communication control unit, a network control unit, and a battery control unit. Through the communication control unit and the network control unit, the robotic arm control unit, drive control unit, vision control unit, line-following and speed-measuring control unit, and battery control unit can communicate, control the actions of the corresponding modules, and provide signal feedback.

[0115] like Figure 7 As shown, the aforementioned robotic arm control unit is connected to the robotic arm 12 and controls the movement of the robotic arm 12 according to the received signals. The robotic arm control unit includes a robotic arm main control device, a stepper motor drive IC circuit, a servo motor interface, and a PPM monitoring and debugging interface. The stepper motor drive IC circuit, the servo motor interface, and the PPM monitoring and debugging interface are electrically connected to the robotic arm main control device. The robotic arm main control device uses an STC8G2K64S4-36I-LQFP48 module. The servo motor interface is used to connect to external servo motor components. The PPM monitoring and debugging interface is used to detect and debug the parameters of the robotic arm. As an accuracy or performance indicator, it reflects the precision of the design, manufacturing, control algorithm, and overall system performance of the robotic arm 12. The stepper motor drive IC circuit is mainly responsible for receiving control signals and converting these signals to drive various actuators, such as stepper motors, DC motors, electromagnets, etc., to achieve precise motion control of the robotic arm.

[0116] The aforementioned stepper motor driver IC circuit uses a Darlington transistor ULN2803. Pins 1-8 are input pins, connected to the robotic arm's main control device. When the input is low, the corresponding Darlington transistor conducts, driving the load. Pins 11-18 are output pins, the open-collector outputs of the Darlington transistor, used to connect to the load, such as a motor or relay coil. When the corresponding input signal is valid, the load is driven. Pin 10 is both an input and an output, used to connect to the negative terminal of an inductive load. A built-in clamping diode is located on this pin to suppress back electromotive force and protect the circuit from damage caused by reverse voltage from the inductive load. Three stepper motor driver IC circuits are used, all connected to the robotic arm's main control device. Signals sent by the main control device control different movements of the robotic arm 12. The three stepper motor driver IC circuits respectively control the closing of the gripper (gripper) and the rotation joints, while providing sufficient current to drive the motors, allowing the robotic arm's joints to move powerfully.

[0117] like Figure 13-18 As shown, the aforementioned communication control unit includes a communication main control module, which uses an ESP32 module. This ESP32 module integrates Bluetooth and WiFi functions and connects to the serial bus servo interface, the left-side DC motor drive circuit, the right-side DC motor drive circuit, the center of gravity detection module 8, and the voice control module. The serial bus servo interface includes a connected signal amplification circuit structure and a serial servo structure. The signal amplification circuit structure enhances the PWM signal from the ESP32 module to the servo, ensuring that the signal is not distorted during transmission, especially under long-distance wiring or multi-load conditions. This signal amplification circuit structure uses a 74HC126 module, wherein pin nY (pin 1Y, pin...) Pins 2Y, 3Y, and 4Y are data output terminals, connected to the serial servo structure, buffering the input signal before outputting to drive the servo or other loads; pins nOE (1OE, 2OE, 3OE, and 4OE) are data enable input terminals. When nOE is low, all output ports enter a high-impedance state and do not drive any load; otherwise, they drive the load according to the input signal; pins nA (1A, 2A, 3A, and 4A) are data input terminals, and the received control signals are input to these pins; pins VCC and 4OE are both connected to the positive power supply, pins 2A and 1Y are both connected to the positive power supply, and pin GND is connected to ground.

[0118] The aforementioned serial bus servo interface includes multiple servos, model HTS-35H, responsible for driving the rotation of the wheels, thereby controlling the movement direction and attitude of the multi-functional vehicle. Pin 1 of each servo is connected to ground, pin 2 is connected to the power supply, and pin 3 is connected to the data output terminal of the signal amplification circuit. In some feasible embodiments, the number of servos is six. The 74HC126 module provides independent signal channels for the six serial servos, ensuring accurate delivery of control commands. The 74HC126 can receive control signals from the ESP32 module and then activate the servo control lines through drive capability, ensuring precise and reliable steering or speed control.

[0119] The left-side DC motor drive circuit described above has the same structure as the right-side DC motor drive circuit. The following detailed explanation will take the structure of the left-side DC motor drive circuit as an example.

[0120] The left-side DC motor drive circuit uses an RZ7899 module to control the movement of the left-side traveling wheel. Pin BI of the RZ7899 module controls the traveling wheel to move backward. When the BI pin receives a high-level signal (H), it indicates that the motor should move backward, which is typically associated with a backward command in the control circuit. Pin FI controls the traveling wheel to move forward. When the FI pin receives a high-level signal (H), the motor rotates forward. This is the control port for the forward command, connected to the forward signal source of the control circuit. Pin VCC is connected to the positive terminal of the power supply, providing the operating voltage for the RZ7899 module. This voltage range is 3.0V to 25V, adapting to various power supply configurations. Pin GND is used for grounding, and a tenth capacitor C10 and a polarized capacitor C11 are connected in parallel between pins VCC and GND. Pin FO is connected to the forward winding of the motor. When the motor needs to rotate forward, this port outputs a high level or a corresponding drive current. Pin BO is connected to the reverse winding of the motor. When the motor needs to move backward, this port outputs a high level or a drive current. In wheel motor drive applications, the forward and reverse rotation control of the traveling wheels can be easily achieved by controlling the forward input (FI) and reverse input (BI) logic signals of the RZ7899 module. The RZ7899 module also has emergency stop, overheat protection, overcurrent protection and short circuit protection functions, which improves the safety and stability in traveling wheel drive applications.

[0121] The voice control module uses the CI-C22GS02S voice recognition module, which is low-cost and simple to design. It can recognize up to 200 offline command words, uses a single microphone input, supports noise reduction and echo cancellation, and has a high recognition rate in complex environments. It has one microphone interface and one speaker interface for connecting to a microphone and a speaker (sound control module). The VDD pin of this voice control module is used for power output. Pin RX0 is for UART0_RX serial communication, receiving data from the main communication control module. Pin TX0 is for UART0_TX serial communication, sending data to the main communication control module. Pin RX1 is for UART1_RX serial communication, receiving data from the main communication control module. Pin TX1 is for UART1_TX serial communication, sending data to the main communication control module. Pin MICL- is used to connect to the negative terminal of the microphone, and pin MICL+ is used to connect to the positive terminal of the microphone. Pins SPKL+ and SPKL- are connected to the speaker for speaker output. Pin MCLK is multiplexed as UART_UPDATE_EN. A high level indicates the upgrade mode upon power-up. Pins 8 and 17 are both connected to the power supply. Among them, a seventh capacitor C7, an eighth capacitor C8, and a ninth capacitor C9 are connected in parallel between pin 17 and ground, and the capacitance values ​​of the seventh capacitor C7, the eighth capacitor C8, and the ninth capacitor C9 are different.

[0122] The center of gravity detection module 8 uses the MPU-6050 module. This MPU-6050 module, as a six-axis motion sensor, integrates a three-axis accelerometer and a three-axis gyroscope for attitude measurement rather than direct center of gravity detection. However, by combining accelerometer data with some physical principles, the robot's center of gravity position or changes can be indirectly inferred to some extent. For example, using an accelerometer to measure the components of gravitational acceleration—that is, in a static or uniform linear motion state—it senses the components of Earth's gravity along three axes. Theoretically, on a horizontally placed robot, when the robot is completely stationary, the accelerometer readings on the x and y axes should be close to zero, while the z-axis (vertically downward) reading should be close to 1g (approximately 9.8 m / s²). 2 (The specific value depends on the units used). When a robot moves or rotates, the gyroscope provides angular velocity information, helping to correct accelerometer errors introduced by dynamic effects, such as non-gravitational acceleration disturbances caused by swaying or tilting. Data fusion using accelerometer and gyroscope data, typically employing algorithms such as Kalman filtering, complementary filtering, or DMP (Digital Motion Processor), can more accurately estimate the robot's posture. Once the posture is understood, the distribution of gravity on the accelerometer under different postures can be further analyzed, indirectly inferring the center of gravity position.

[0123] The VDD pin is used for power input and is connected to the power supply. It is also connected to ground through the fifth capacitor C5. The SCL pin is connected to the clock line of the I2C bus, the SDA pin is connected to the data line of the I2C bus, and the AD0 pin is the address selection pin, which can be connected to a high or low level to set different I2C addresses. The CPOUT pin is connected to ground through the sixth capacitor C6. The GND pin is connected to ground. The VLOGIC pin is connected to the power supply and is also connected to ground through the third capacitor C3. The REGOUT pin is connected to ground through the fourth capacitor C4.

[0124] like Figure 8-12 As shown, the aforementioned tracking speed control unit includes a tracking speed main control module. A distance detection module 5, a speed adjustment module, and a tracking module are respectively connected to the tracking speed main control module, receiving signals sent by the tracking speed main control module to perform speed measurement, distance measurement, and tracking. In this embodiment, the tracking speed main control module is an STC89C52RC-40I module.

[0125] The ranging detection module 5 includes an infrared ranging circuit structure and an ultrasonic ranging circuit structure. The appropriate ranging circuit structure is selected based on the installation location. The infrared and ultrasonic ranging circuit structures are respectively connected to the track-following and speed-measuring main control module. The infrared ranging circuit structure includes a first infrared ranging structure and a second infrared ranging structure. The first and second infrared ranging structures are respectively installed on the left and right sides of the vehicle body 1, performing ranging and obstacle avoidance on the left and right sides of the vehicle body 1. The first and second infrared ranging structures have the same structure; the first infrared ranging structure will be described in detail below.

[0126] The first infrared ranging structure, based on the principle of infrared emission and reception, combines appropriate signal processing circuitry to determine the distance to an object and the presence of an obstacle. It includes an infrared transmitter IR1, an infrared receiver IQ1, a second comparator, and a fourth light-emitting diode (LED). The infrared transmitter IR1 emits infrared light; its positive terminal is connected to the positive power supply via an eighth resistor R8, and its negative terminal is connected to ground. The infrared receiver IQ1 receives reflected infrared light; its input terminal is connected to the positive power supply via a ninth resistor R9, and its output terminal is connected to ground. The positive input terminal of the second comparator is connected to the input terminal of the infrared receiver IQ1, and its negative input terminal is connected to the adjustment terminal of a second variable resistor RP2. The two ends of the second variable resistor RP2 are connected to the positive power supply and ground, respectively. The second variable resistor RP2 is used to adjust the receiver's sensitivity, thus affecting the detection distance. The output terminal of the second comparator is connected to the positive power supply via a tenth resistor R10. The positive terminal of the fourth LED is connected to the positive power supply via an eleventh resistor R11, and its negative terminal is connected to the output terminal of the second comparator.

[0127] In this embodiment, the infrared transmitter IR1 is an IR333C module, the infrared receiver IQ1 is a PT333-3B module, and the second comparator is an XD393 module, which can enhance the sensitivity and accuracy of photoelectric detection and achieve fast response and noise suppression.

[0128] The ultrasonic ranging circuit uses an HC04 ultrasonic module, which is suitable for a range of 2cm to 400cm and has high accuracy. Its power input terminal is connected to the power supply and one end of the second capacitor C2, and this end of the second capacitor C2 is connected to the power supply. Its common input terminal and the other end of the second capacitor C2 are both connected to ground. Pin 2 is the trigger input terminal, and a high-level pulse signal of at least 10us is used to start ranging. Pin 4 is the echo output, which provides feedback on the ranging result. The echo time represents the round-trip time of the ultrasonic wave.

[0129] This speed regulation module is a speed measurement circuit based on a Hall effect sensor. Its main purpose is to detect changes in the magnetic field and convert them into electrical signals, thereby measuring the rotational speed of the wheels on the vehicle body 1 and converting the rotational speed into the vehicle's travel speed. The speed regulation module includes a Hall switch, a voltage control circuit connected to the power supply pin of the Hall switch, and an output control circuit connected to the output pin of the Hall switch. The ground pin of the Hall switch is connected to ground, providing a reference potential to ensure normal circuit operation. The voltage control circuit includes a first capacitor C1, a second light-emitting diode (LED), and a seventh resistor R7. The power supply pin of the Hall switch is connected to the positive terminal of the power supply. The power supply pin of the Hall switch is connected to ground and the negative terminal of the second LED through the first capacitor C1. The positive terminal of the LED is connected to the positive terminal of the power supply through the seventh resistor R7, providing the necessary power for the Hall switch circuit to operate. The output control circuit includes a fifth resistor R5, a sixth resistor R6, and a third LED. The output pin of the Hall switch is connected to the positive terminal of the power supply through the fifth resistor R5, and the output pin of the Hall switch is connected to the negative terminal of the third LED. The positive terminal of the third LED is connected to the positive terminal of the power supply through the sixth resistor R6. When a preset magnetic field change is detected, such as when triggered by an N-pole magnetic field, the Hall switch changes its output state. When the N-pole magnetic field is close, the output switches to a low level (usually 0V or logic low); when there is no magnetic field or a S-pole magnetic field, the output is high (usually VCC or logic high).

[0130] In this embodiment, preferably, the Hall switch described above is an OH34N module.

[0131] The tracking module is an infrared tracking module, which includes a first tracking module and a second tracking module. The first tracking module and the second tracking module are located on the left and right sides of the vehicle body 1, respectively, and track the left and right sides of the vehicle body 1. The first tracking module and the second tracking module have the same structure. The structure of the first tracking module will be described in detail below.

[0132] The first tracking module includes an optocoupler U1, a first resistor R1, a second resistor R2, a first comparator U2, a third resistor R3, a fourth resistor R4, and a first variable resistor RP1. The cathode of the optocoupler U1 is connected to ground, the emitter of the optocoupler U1 is connected to ground, the anode of the optocoupler U1 is connected to one end of the first resistor R1, and the collector of the optocoupler U1 is connected to one end of the second resistor R2 and the positive input pin of the first comparator U2. The other ends of the first resistor R1, the second resistor R2, and the first comparator... The positive power supply pin of U2, one end of the third resistor R3, and one end of the first variable resistor RP1 are all connected to the positive power supply. The other end of the third resistor R3 is connected to the output of the first comparator U2. The other end of the first variable resistor RP1 and the negative power supply pin of the first comparator U2 are both connected to ground. The negative input pin of the first comparator U2 is connected to the adjustment terminal of the first variable resistor RP1. The output of the first comparator U2 is connected to the positive terminal of the first light-emitting diode. The negative terminal of the first light-emitting diode is connected to ground through the fourth resistor R4.

[0133] In this embodiment, the aforementioned optocoupler U1 is an ITR9909 optocoupler U1, primarily used in reflective infrared detection applications. It provides excellent shielding against visible light, focuses on the infrared region, and effectively captures weak infrared signals. Its collector monitors changes in collector current to achieve non-contact detection, determining whether an object has passed by or approached. Simultaneously, its connection to the first comparator U2 enhances the sensitivity and accuracy of photoelectric detection, while also enabling rapid response and noise suppression. The core function of the optocoupler U1's emitter is to generate and emit infrared light, serving as the active light source in the photoelectric detection system, collaborating with other components to complete the detection task of the environment or target objects.

[0134] In this embodiment, the first comparator U2 mentioned above is the XD393 first comparator U2.

[0135] The infrared ranging module, infrared tracking module, and Hall sensor mentioned above can also be used to measure height, depending on the application scenario.

[0136] like Figure 19As shown, the battery control unit is electrically connected to the battery control device, communicates with the battery control device, and controls the operation of the battery control device. The battery control unit is an STC8H4K64TLCD module, which includes a built-in lithium battery control unit, a control voltage drop unit, a multiplexer unit, a panel switch unit, a charge / discharge indicator unit, an AC current measurement unit, a battery detection unit, a relay socket unit, an LCD circuit unit, and a battery charge / discharge current monitoring unit. The MCU step-down circuit uses a step-down DC-DC chip to reduce 12V to 5V as the power supply voltage for the STC8H4K64TLCD module, such as the XL1509-5.0X chip or the HT7550-1 chip. The multiplexer unit is a CD4051BMT / TR module. The panel switch unit physically controls the opening and closing of the main power supply. The charge / discharge indicator unit is directly controlled by the high and low levels of the corresponding I / O port of the built-in lithium battery control unit. The AC current measurement unit includes an energy metering circuit and an isolated power supply module circuit. The energy metering circuit uses the HLW8032 module, a high-precision energy metering integrated circuit capable of measuring and calculating multiple energy-related parameters in real time, including but not limited to active power and apparent current. Power, current RMS value, voltage RMS value, and power factor are measured by an integrated Σ-Δ analog-to-digital converter (ADC) and energy metering core. This energy metering circuit provides accurate energy data, facilitating user monitoring and management of energy consumption. The isolated power supply module uses a B0505S-1W module, an isolated DC-DC converter. Its main function is to provide 1W of power conversion between input and output while maintaining electrical isolation between them to eliminate interference from ground loops. The battery detection unit reads the battery voltage value through the ADC_BAT pin of the built-in lithium battery control unit. The relay socket unit integrates a relay with a three-prong socket. The two ends of the relay coil are connected to the control circuit. In the DC power supply controlled by this control circuit, the live wire (L) of the socket is connected to one end of the normally open contact (ON) of the relay, the common terminal (COM) of the relay is connected to the other end of the three-prong socket, the neutral wire (N) is directly connected to the neutral terminal of the three-prong socket, and the ground wire (GND) is kept grounded.

[0137] The aforementioned LCD circuit unit is controlled by connecting to the LCD module via the LED pin of the built-in lithium battery control unit.

[0138] The battery charge / discharge current monitoring unit mentioned above uses the DS2740U+ to measure the current flowing through the battery or load.

[0139] The aforementioned built-in lithium battery control unit is connected to a battery protection structure, which is a BQ40Z80 lithium-ion pack manager with equalization capabilities. External equalization or internal equalization can be used; however, internal equalization is slow. For faster equalization, external equalization can be employed. The BQ40Z80 lithium-ion pack manager is compatible with 6s1p lithium battery stacks. Basic protection parameters are written to the battery using an EV2400 programmer. An equalization indicator light is provided for battery monitoring. It supports up to four temperature probes. In some feasible embodiments, a single temperature probe is integrated into the BQ40Z80 lithium-ion pack manager to measure the FET temperature.

[0140] like Figure 20 As shown, the drive control unit mentioned above uses an STM32F030K6T6 module, which is connected to the switch, pressure sensor and air pump respectively, to drive the robotic arm 12, the walking structure 6 and the roof structure.

[0141] like Figure 21 As shown, the aforementioned vision control unit uses an STM32H7 module, which is connected to the lighting control module, the communication module, and the vision detection module respectively. It receives signals from the vision detection module and the communication module and controls the operation of the lighting control module.

[0142] like Figure 22 As shown, the aforementioned network control unit is electrically connected to both the remote control module and the network control module for communication and to control their operation. The network control unit includes a network master control module, a bus isolation module, a SIM card slot, and an SD card interface. These components are connected to the network master control module for communication. The network master control module uses an EC20_MINIPCIE 4G module. The bus isolation module includes a CAN bus isolation module and an RS485 bus isolation module, both connected to the network master control module. The CAN bus isolation module uses a TD301MCAN module, and the RS485 bus isolation module uses a TD301M485 module. The SIM card slot uses a NANO_SIM module, and the SD card interface uses a TF-Card module for communication.

[0143] The multi-functional vehicle also includes a mobile phone holder for placing and supporting mobile phones. The mobile phone holder is connected to the vehicle body 1 and includes a telescopic rod and a tray connected to it. The tray can be raised and lowered by the telescopic rod to adjust the height of the tray. The telescopic rod is existing technology and will not be described in detail here.

[0144] The multi-functional vehicle also includes a fixing buckle, which is fixed to the vehicle body 1 and used to hold an umbrella.

[0145] This multi-functional vehicle, which can be operated in multiple ways, can accommodate various needs. Items can be placed in the storage space, and people can sit on the vehicle for carrying passengers and goods. Depending on road conditions, the main control module 14 controls the movement of the walking structure 6, causing the bottom of the vehicle body 1 to rise and fall to cope with different road conditions. When it is necessary to grab items or support people or electronic products, the main control module 14 controls the movement of the robotic arm 12. The robotic arm 12 rotates to provide auxiliary support for people, and electronic products can be placed on the robotic arm 12, with their angle adjusted for use. The main control module 14 also controls the movement of the robotic arm 12, rotating it to support the ground and lift one side of the vehicle body 1's wheels to move up and down steps. Based on signals detected by the detection unit, the main control module 14 controls the execution unit to raise and lower the roof panel for storage, controls the battery control device to charge the battery or external electrical appliances, controls the multi-functional vehicle's start-up speed and turning speed during driving, controls the sound control module to play sound, and controls the lighting control module to adjust the lights.

[0146] This multi-functional vehicle boasts a robust and pressure-resistant body, capable of carrying both people and goods, adapting to all road conditions, and navigating stairs. When the robotic arm extends or holds an object, the vehicle body coordinates with the arm's movements to ensure vehicle balance, adjusting the overall posture and position to guarantee the robotic arm's end effector position. It recognizes the meaning of voice, gestures, and facial expressions, autonomously making phone calls and sending video calls. Equipped with a battery control module, it features overheat protection and can convert DC to DC and DC to AC, powering not only the vehicle itself but also external electrical appliances, making it suitable for a wide range of applications.

[0147] Due to the adoption of the above technical solutions, this multi-functional vehicle has a main control module that can autonomously select routes according to instructions; a positioning and navigation module that autonomously selects navigation routes based on positioning; the vehicle body cooperates with a robotic arm mounted on the vehicle body to carry people, goods, and transport objects, grasp objects and hold them at various angles and positions, and the robotic arm autonomously changes the position and angle of the held object according to instructions; it generates center of gravity data in real time based on the weight of the grasped object and adjusts the position and angle of the vehicle body and robotic arm in a timely manner to maintain vehicle balance; the robotic arm cooperates with the vehicle body to go up and down steps, and the end of the robotic arm can touch the ground from all sides of the vehicle; it has a battery control device that can provide power to external electrical appliances and also power the vehicle itself, serving as a self-propelled power source, capable of self-charging, and displaying the battery level; and it has a lighting control module that can provide full-color gamut lighting, can be set for nighttime rest periods, and autonomously turns on some lights when movement is detected during the nighttime rest period. The robotic arm can be used as a phone holder or projector holder, and has a network control module, a vision detection module, a voice control module, and a call module. It can autonomously make phone calls, send video calls, and send messages to designated numbers. It can autonomously adjust the angle between the screen held at the end of the robotic arm and the person's face, and autonomously adjust the angle between the projector and the projected plane. It can detect when a person has fallen and simultaneously take actions such as autonomously making designated phone calls, sending videos, and helping the person up. During video calls, it keeps the vehicle following the person's movements and autonomously adjusts the camera-equipped device such as a mobile phone or tablet held at the end of the robotic arm to keep the person's head within the camera's range. The multi-functional vehicle can be controlled at close range and remotely via remote control, voice, gestures, and built-in programs. It can be remotely controlled via telephone voice and can also be controlled according to set programs and other conditions. With its wide range of uses, multiple functions, and multiple operating methods, the application scenarios and application areas have been greatly expanded, enabling the multi-functional vehicle to better serve people in more scenarios.

[0148] The embodiments of this utility model have been described in detail above, but the content described is only a preferred embodiment of this utility model and should not be considered as limiting the scope of implementation of this utility model. All equivalent changes and improvements made in accordance with the claims of this utility model should still fall within the patent coverage of this utility model.

Claims

1. A multi-functional vehicle capable of being operated in multiple modes, comprising a vehicle body, characterized in that: Also includes: A roof panel structure located on top of the vehicle body, the roof panel structure being able to be raised and lowered relative to the vehicle body so that items can be placed inside the vehicle body; A running structure is provided at the bottom of the vehicle body, and the vehicle body can be raised and lowered relative to the running structure to adjust the height of the bottom of the vehicle body; A robotic arm connected to the vehicle body, the robotic arm being able to rotate relative to the vehicle body so that the robotic arm cooperates with the vehicle body to adjust the vehicle body balance and to grasp items; A control system is connected to the roof panel structure, the walking structure, and the robotic arm, respectively, and controls the movements of the roof panel structure, the walking structure, and the robotic arm.

2. The multi-functional vehicle capable of multi-mode operation according to claim 1, characterized in that: The roof panel structure includes a roof panel and a first lifting device that cooperates with the roof panel. When the first lifting device is activated, it drives the roof panel to rise or fall.

3. The multi-functional vehicle capable of multi-mode operation according to claim 2, characterized in that: The first lifting device includes a power drive device, a rotating component connected to the power drive device, and a moving component disposed on the rotating component. One end of the rotating component is connected to the power drive device, the power drive device drives the rotating component to rotate, the moving component can move along the rotating component, and the moving component contacts and engages with the roof panel to drive the roof panel to move.

4. The multi-functional vehicle capable of multi-mode operation according to claim 3, characterized in that: The rotating component is provided with two sets of threads with opposite directions of rotation, and the moving component is threadedly connected to the rotating component; The moving part has a cross structure, with two ends on both sides of the cross point. The two ends on one side are respectively fitted onto the two ends of the rotating part, and the two ends on the other side are respectively provided with rollers. By rotating the rotating part, the two ends of the moving part located at both ends of the rotating part move closer or further away from each other, driving the two rollers to move closer or further away from each other, so that the roof panel moves up and down.

5. The multi-functional vehicle capable of multi-mode operation according to any one of claims 1-4, characterized in that: The walking structure includes a walking device and a second lifting device connected to the walking device. The second lifting device drives the vehicle body to rise and fall, thereby adjusting the height of the bottom of the vehicle body. The walking device includes a wheeled walking assembly or a tracked walking assembly for walking; The second lifting device includes a power drive component and a connecting component connected to the power drive component. The connecting component is connected to the traveling device, and the power drive component drives the connecting component to move, so that the vehicle body moves up and down along the axial direction of the traveling device.

6. The multi-functional vehicle capable of multi-mode operation according to claim 5, characterized in that: The robotic arm is equipped with a gripping component, and the robotic arm can rotate relative to the vehicle body to drive the gripping component to grip; the robotic arm is equipped with a vision detection module to detect the environment around the vehicle body.

7. The multi-functional vehicle capable of multi-mode operation according to any one of claims 1-4 and 6, characterized in that: The control system includes a main control module, a detection unit, and an execution unit. The main control module receives detection signals from the detection unit and controls the execution unit to perform actions.

8. The multi-functional vehicle capable of being operated in multiple modes according to claim 7, characterized in that: The detection unit includes a network control module, a voice control module, a call module, a remote control module, a visual detection module, a height detection module, a center of gravity detection module, and a distance measurement detection module, wherein... The network control module is electrically connected to the main control module, and the call module, the remote control module, and the visual detection module are all electrically connected to the network control module, communicating with the main control module through the network control module; and / or, the call module is electrically connected to the main control module, and the visual detection module is electrically connected to the main control module, communicating with it. The voice control module, the distance measurement module, the center of gravity detection module, and the height detection module are all electrically connected to the main control module for communication.

9. The multi-functional vehicle capable of being operated in multiple modes according to claim 8, characterized in that: The execution unit includes a positioning and navigation module and a speed adjustment module. The main control module, the positioning and navigation module and the speed adjustment module are electrically connected. The main control module controls the action of the speed adjustment module through the positioning and navigation module; and / or, the speed adjustment module is electrically connected to the main control module. The main control module controls the action of the speed adjustment module.

10. The multi-functional vehicle capable of being operated in multiple modes according to claim 9, characterized in that: The speed regulation module includes a start-up speed regulation module and a steering speed regulation module. The start-up speed regulation module is located on the walking device, and the steering speed regulation module is located on the vehicle body, controlling the start-up and steering speeds.

11. The multi-functional vehicle capable of being operated in multiple modes according to claim 10, characterized in that: The visual inspection module is located on the robotic arm and the vehicle body.

12. The multi-functional vehicle capable of multi-mode operation according to any one of claims 8-11, characterized in that: The control system also includes a lighting control module and a sound control module. Both the lighting control module and the sound control module are electrically connected to the main control module for communication and control of their operation.

13. The multi-functional vehicle capable of multi-mode operation according to claim 12, characterized in that: It also includes a battery control device, which is connected to the main control module, transmits signals to the main control module, and receives signals sent by the main control module.

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