A general-purpose chassis and robot

Abstract

This utility model relates to a universal chassis, including a chassis body, a base plate, and an outer shell on top of the base plate. An inner frame is located inside the outer shell, with casters at the four corners of the bottom of the inner frame. Two mounting plates extend downwards from the center of the inner frame, with drive wheels mounted on the mounting plates via drive components. A slot is provided on the rear side of the outer shell, housing a battery module. Two charging contacts are located on the rear side of the battery module. A depth camera is located on the front top of the outer shell, and two lidar sensors are located diagonally on the top of the outer shell. A lifting slot is located on the rear side of the battery module, with a rotating pull ring within it. The angle difference between the depth camera and the outer shell is 45°. The lidar sensors in this utility model are divided into forward and backward types. The backward lidar is specifically designed for rapidly approaching moving obstacles (such as pedestrians and vehicles) to perform velocity vector analysis. Combined with forward lidar data, collision time can be predicted, supporting robots to perform reversing avoidance or path replanning, making the chassis safer and more flexible in dynamic environments, with a detection range covering 360°.

Description

Technical Field

[0001] This utility model belongs to the field of braking device technology, specifically relating to a general chassis and robot. Background Technology

[0002] In today's era of rapid technological development, robotics technology is being widely applied in various fields. Among the important components of robots, the general-purpose chassis plays a role in supporting the robot's main body and enabling it to move and position itself.

[0003] Traditional general-purpose chassis mostly rely on simple sensors and preset programs to control their movement. These sensors can usually only provide limited environmental information, such as distance measurement and speed feedback. In complex real-world environments, this limited perception capability makes it difficult for robots to accurately identify and deal with various obstacles during movement. Furthermore, because general-purpose chassis cannot accurately perceive the shape, size, and position of surrounding objects, robots are prone to colliding with these objects, leading to frequent jamming. This jamming not only reduces work efficiency but may also damage the robot itself as well as surrounding equipment and objects. Utility Model Content

[0004] The purpose of this invention is to provide a universal chassis and robot to solve the problems mentioned in the background art.

[0005] In a first aspect, this utility model provides a universal chassis, comprising a chassis body, the chassis body including a base plate and a shell disposed on the top of the base plate, an inner frame disposed inside the shell, universal wheels disposed at the four corners of the bottom of the inner frame, two mounting plates extending downward from the middle of the inner frame, drive wheels mounted on the mounting plates via drive components, a slot provided on the rear side of the shell, a battery module disposed in the slot, two charging contacts disposed on the rear side of the battery module, a depth camera disposed on the front side of the top of the shell, and two lidars disposed diagonally on the top of the shell.

[0006] Preferably, the battery module has a lifting groove on the rear side, and a pull ring is rotatably provided in the lifting groove.

[0007] Preferably, the angle difference between the depth camera and the housing is 45°.

[0008] Preferably, the lidar is divided into a forward lidar and a backward lidar, with the forward lidar located on the front left side of the top of the housing and the backward lidar located on the rear right side of the top of the housing.

[0009] Preferably, the lidar is a unidirectional lidar with a detection range covering 360°.

[0010] Preferably, the bottom of the outer casing is provided with anti-collision strips on both the front and rear sides.

[0011] Preferably, the top of the outer casing extends to form a base, and the base has an interface.

[0012] Secondly, the present invention provides a robot comprising: the universal chassis described in any one of the first aspects.

[0013] Compared with the prior art, the beneficial effects of this utility model are:

[0014] The four omnidirectional wheels in this invention can rotate in any direction, assisting in movement and adjustment, making the robot turn smoothly, distributing the load weight, reducing the burden on the drive wheels, and improving the stability and durability of the chassis. The two drive wheels are larger in size, providing a larger contact area and stronger grip, enhancing traction and load capacity, reducing energy loss, and improving movement speed and efficiency. Together, they realize the basic movement function of the chassis body.

[0015] The depth camera in this invention is installed at a 45° angle upwards, and its field of view can cover the three-dimensional space within a range of 1.5 to 3 meters in front of it. It can simultaneously capture point cloud data of ground obstacles and low-altitude hanging objects, avoid blind spots, and provide detailed information for path planning.

[0016] The lidar in this invention is divided into forward and backward types. The backward lidar is specifically designed to perform velocity vector analysis on rapidly approaching moving obstacles (such as pedestrians and vehicles). Combined with forward lidar data, it can predict collision time and support robots to perform reversing avoidance or path replanning, making the chassis safer and more flexible in dynamic environments. The detection range covers 360°. Attached Figure Description

[0017] Figure 1 This is a three-dimensional structural diagram of the present invention;

[0018] Figure 2 This is another perspective view of the present invention;

[0019] Figure 3 This is an exploded view of the present invention;

[0020] Figure 4 This is a partial sectional view of the present invention;

[0021] Figure 5 This is a partial three-dimensional structural diagram of the present invention.

[0022] Numbering in the diagram: 1-Chassis body, 2-Base plate, 3-Outer shell, 4-Inner frame, 5-Universal wheel, 6-Mounting plate, 7-Drive component, 8-Drive wheel, 9-Slot, 901-Battery module, 10-Charging contact, 11-Depth camera, 12-LiDAR, 121-Forward LiDAR, 122-Rear LiDAR, 13-Lifting slot, 14-Pull ring, 15-Anti-collision strip, 16-Base, 17-Interface. Detailed Implementation

[0023] The technical solutions of the present utility model will be clearly and completely described below with reference to the accompanying drawings of the embodiments. Obviously, the described embodiments are only some embodiments of the present utility model, and not all embodiments. Based on the embodiments of the present utility model, all other embodiments obtained by those of ordinary skill in the art without creative effort are within the protection scope of the present utility model.

[0024] Example 1

[0025] like Figures 1 to 5 The diagram shows a general-purpose chassis, including a chassis body 1. The chassis body 1 includes a base plate 2 and a shell 3 disposed on the top of the base plate 2. An inner frame 4 is provided inside the shell 3. Universal wheels 5 are provided at the four corners of the bottom of the inner frame 4. Two mounting plates 6 extend downward from the middle of the inner frame 4. Drive wheels 8 are mounted on the mounting plates 6 via drive components 7. A slot 9 is provided on the rear side of the shell 3. A battery module 901 is installed in the slot 9. Two charging contacts 10 are provided on the rear side of the battery module 901. A depth camera 11 is provided on the front top of the shell 3. Two lidar sensors 12 are provided diagonally on the top of the shell 3. A lifting mechanism is provided on the rear side of the battery module 901. The lifting groove 13 has a rotating pull ring 14 inside; the angle difference between the depth camera 11 and the outer shell 3 is 45°; the lidar 12 is divided into a forward lidar 121 and a rear lidar 122, with the forward lidar 121 located on the front left side of the top of the outer shell 3 and the rear lidar 122 located on the rear right side of the top of the outer shell 3; the lidar 12 is a unidirectional lidar 12 with a detection range covering 360°; the bottom of the outer shell 3 has anti-collision strips 15 on both the front and rear sides; the top of the outer shell 3 extends to a base 16, on which an interface 17 is provided; it also includes a robot, using the general chassis described above.

[0026] The four omnidirectional wheels 5 in this invention can rotate in any direction, assisting in movement and adjustment, making the robot's steering smooth, distributing the load weight, reducing the burden on the drive wheels 8, and improving the stability and durability of the chassis. The two drive wheels 8 are larger in size, providing a larger contact area and stronger grip, enhancing traction and load capacity, reducing energy loss, and improving movement speed and efficiency. Together, they realize the basic movement function of the chassis body 1. The depth camera 11 in this invention is installed at a 45° angle upwards, and its field of view can cover the three-dimensional space within a range of 1.5 to 3 meters in front. It can simultaneously capture point cloud data of ground obstacles and low-altitude overhanging objects, avoiding blind spots, and providing detailed information for path planning. The lidar 12 in this invention is divided into forward and backward directions. The backward lidar is specifically designed for the velocity vector analysis of rapidly approaching moving obstacles (such as pedestrians and vehicles). Combined with the forward lidar data, it can predict the collision time, supporting the robot to perform reversing avoidance or path replanning, making the chassis safer and more flexible in dynamic environments, with a detection range covering 360°.

[0027] Example 2

[0028] like Figures 1 to 5 The diagram shows a universal chassis, including a chassis body 1. For mobile robots, the universal chassis is the foundation for their movement in the environment. The robot can be mounted on the universal chassis and move in different scenarios according to a preset path or a self-planned route. Simply put, it is a load-moving platform. The chassis body 1 includes a base plate 2 and an outer shell 3 on top of the base plate 2. An inner frame 4 is provided inside the outer shell 3. Universal wheels 5 are provided at the four corners of the bottom of the inner frame 4. It can be understood that the bottom of the base plate 2 also has four circular grooves. The universal wheels 5 are located in the circular grooves and protrude from the base plate 2. The universal wheels 5 can rotate in any direction. After being installed on the bottom of the universal chassis, they can be used to assist in movement and adjustment, making the robot more stable when turning. At the same time, they can also help distribute the weight of the robot loaded on the chassis body 1, reduce the burden on the drive wheels 8, and ultimately improve the stability and durability of the entire chassis body 1.

[0029] Meanwhile, two mounting plates 6 extend downward from the middle of the inner frame 4. Drive wheels 8 are mounted on the mounting plates 6 via drive components 7. That is, the drive wheels 8 are located between the casters 5 and can be autonomously rotated by the drive components 7, ultimately enabling the movement of the chassis body 1 and the load robot above. Specifically, the drive wheels 8 generate sufficient power through motor drive to propel the robot forward, backward, or turn. The drive wheels 8 are symmetrically mounted on the chassis body 1 and are steered through differential speed control. When the left drive wheel 8 rotates faster than the right drive wheel 8, the chassis body 1 will turn to the right; conversely, when the right drive wheel 8 rotates faster than the left drive wheel 8, the chassis body 1 will turn to the left.

[0030] The drive wheel 8 is larger than the omnidirectional wheel 5 to provide a larger contact area and stronger grip, thereby improving the traction and load capacity of the chassis body 1. Moreover, the larger drive wheel 8 can reduce energy loss during robot movement, cover a longer distance at the same rotation speed, and improve the robot's movement speed and efficiency.

[0031] The rear side of the outer casing 3 has a slot 9, in which a battery module 901 is installed. The robot is charged through two charging contacts 10 on its rear side. In actual operation, simply align the chassis with the charging base so that the charging contacts on the charging base are in close contact with the charging contacts 10 on the rear side of the battery module 901 to start the charging process. At the same time, a lifting groove 13 is provided on the rear side of the battery module 901. The lifting groove 13 is circular, and a pull ring 14 is rotatably installed in the lifting groove 13. The pull ring 14 is only semi-circular. When the operator needs to replace the battery module 901, the pull ring 14 can be rotated through the lifting groove 13 to protrude out of the lifting groove 13, and then the battery module 901 can be taken out from the slot 9 of the chassis or installed back, which is easier and less labor-intensive.

[0032] The top of the outer shell 3 extends to form a base 16, the cross-sectional area of ​​which is slightly smaller than that of the outer shell 3. This base 16 is designed to ensure stable support and connection with the robot. It can be made of high-strength materials such as metal, engineering plastics, or composite materials to ensure the durability and stability of the base 16 during long-term use. The base 16 is equipped with interfaces 17 for connection and communication with the robot. The number of interfaces 17 varies and can be set according to the actual installation situation. The interfaces 17 are mainly divided into mechanical connection, electrical connection, and data transmission. During installation, simply align the connection ports of the relevant modules of the robot with the interfaces 17 on the base 16 and insert them. Then, fix the modules with a mechanical locking device to complete the installation. This allows the robot to easily integrate various functional modules to meet the needs of different application scenarios.

[0033] The bottom front and rear sides of the outer casing 3 are provided with anti-collision strips 15. The anti-collision strips 15 cover at least 1 / 2 of the edge of the outer casing 3 and can be made of rubber material. They are used to protect the chassis body 1 from mechanical damage caused by collisions during movement. In addition, when the chassis body 1 collides with walls, furniture or other equipment, the anti-collision strips 15 can also buffer the collision force and reduce the impact and damage to surrounding objects. The combination of the two can reduce the severity of the collision and avoid equipment damage or liquid leakage caused by the collision, thereby ensuring the safety of personnel and the environment.

[0034] Example 3

[0035] Furthermore, a depth camera 11 is mounted on the top front side of the outer shell 3. The angle difference between the depth camera 11 and the outer shell 3 is 45°, that is, it is mounted at an angle of 45° upwards. This design has been optimized through multiple rounds of simulation to ensure that the camera's field of view (FOV) can cover the three-dimensional space within a range of 1.5 to 3 meters in front of the robot. The tilted camera can simultaneously capture point cloud data of ground obstacles (such as steps and ditches) and low-altitude overhangs (such as table edges and tree branches), avoiding the blind spot problem caused by traditional horizontal installation. Moreover, the depth camera 11 supports RGB-D synchronous output, which, combined with the SLAM algorithm, can build a dense map of the environment in real time and provide object height, distance and contour information for path planning.

[0036] Understandably, the anti-collision strip 15 in Embodiment 2 usually works in conjunction with the obstacle avoidance sensor of the chassis body 1. It is wrapped with rubber or other materials around the edge of the outer shell 3 and has a pressure-sensing film embedded inside, forming a double protection with the distributed infrared sensors. When the robot approaches an obstacle, the obstacle avoidance sensor will trigger a warning signal within the priority distance, and the control system will then start to decelerate. If the obstacle enters the emergency braking range, the deformation signal generated by the pressure on the anti-collision strip 15 will directly cut off the power supply to the drive motor, achieving a physical-level emergency stop.

[0037] Meanwhile, two lidars 12 are diagonally positioned on the top of the outer shell 3. The lidars 12 are divided into a forward lidar 121 and a rear lidar 122. The forward lidar 121 is located on the front left side of the top of the outer shell 3, while the rear lidar 122 is located on the rear right side of the top of the outer shell 3. This arrangement eliminates coaxial interference through geometric misalignment and expands the dead zone compensation range of the joint detection of the two lidars. Specifically, the rear lidar is specifically designed to perform velocity vector analysis on rapidly approaching moving obstacles (such as pedestrians and vehicles). Combined with the data from the forward lidar, it can predict the collision time and support the robot to perform reversing avoidance or path replanning. This allows the chassis body 1 to monitor the environment in front and behind at the same time when it is moving, which greatly improves its safety and flexibility in dynamic environments. The detection range covers 360°.

[0038] It should be noted that, in this document, relational terms such as "first" and "second" are used only to distinguish one entity or operation from another, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Furthermore, the terms "comprising," "including," or any other variations thereof are intended to cover non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such a process, method, article, or apparatus. Without further limitations, an element defined by the phrase "comprising one..." does not exclude the presence of other identical elements in the process, method, article, or apparatus that includes said element.

[0039] The above description is only used to illustrate the technical solution of this utility model and is not intended to limit it. Any other modifications or equivalent substitutions made by those skilled in the art to the technical solution of this utility model, as long as they do not depart from the spirit and scope of the technical solution of this utility model, should be covered within the scope of the claims of this utility model.

Claims

1. A universal chassis, comprising a chassis body, the chassis body including a base plate and a shell disposed on top of the base plate, characterized in that, The outer shell has an inner frame, and the bottom four corners of the inner frame are equipped with casters. Two mounting plates extend downward from the middle of the inner frame, and drive wheels are mounted on the mounting plates via drive components. A slot is opened on the rear side of the outer shell, and a battery module is installed in the slot. Two charging contacts are provided on the rear side of the battery module. A depth camera is provided on the front top of the outer shell, and two lidar sensors are provided diagonally on the top of the outer shell.

2. A universal chassis according to claim 1, characterized in that, The battery module has a lifting groove on the rear side, and a pull ring is rotatably installed in the lifting groove.

3. A universal chassis according to claim 1, characterized in that, The angle difference between the depth camera and the housing is 45°.

4. A universal chassis according to claim 1, characterized in that, The lidar is divided into a forward lidar and a backward lidar. The forward lidar is located on the top left of the outer casing, and the backward lidar is located on the top right of the outer casing.

5. A universal chassis according to claim 4, characterized in that, The lidar is a unidirectional lidar with a detection range covering 360°.

6. A universal chassis according to claim 1, characterized in that, The bottom of the outer casing is equipped with anti-collision strips on both the front and rear sides.

7. A universal chassis according to claim 1, characterized in that, The top of the outer casing extends to a base, and the base has an interface.

8. A robot, characterized in that, Includes the universal chassis described in any one of claims 1-7.

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