Robotically guided control box based on visual recognition

Abstract

The utility model belongs to robot technical field especially for robot guide control box based on visual identification, the edge of upper box cover installs wide -angle camera, and the wide -angle camera of upper box cover edge installation is connected with control box electricity, and control box is guided to robot through wide -angle camera identification environment, the lower surface symmetry of upper box cover is installed drive motor, the output of drive motor is fixed with drive wheel, the lower surface of upper box cover is installed with steering motor, the output shaft of steering motor is fixed with steering wheel, upper box cover and lower box cover side edge are installed with the side wheel for lateral guide, through the drive motor of symmetry of upper box cover lower surface installation, utilizes the drive wheel of drive motor output end and can directly drive control box to realize autonomous displacement, gets rid of the dependence on external drive structure, makes control box to be able to adjust position according to robot guide demand flexibly, has improved its applicability in complex environment greatly.

Description

Technical Field

[0001] This utility model belongs to the field of robotics technology, specifically relating to a robot guidance and control box based on vision recognition. Background Technology

[0002] In the field of robotics, vision-based guidance control boxes are key components for realizing robot environmental perception and path guidance. As the core component for robot movement and environmental recognition, the control box's mobility, turning stability, and lateral protection capabilities directly affect the robot's guidance accuracy and operational safety. The control box can use a wide-angle camera to identify the surrounding environment and thus guide the robot.

[0003] In existing technologies, the movement structure of robot guidance control boxes mostly adopts a single drive wheel combined with a steering mechanism. When turning, the control box is prone to shaking due to insufficient support, which affects the stability of movement. At the same time, there is a lack of effective lateral guidance and protection components. When the control box moves in complex environments, the sides are prone to friction or collision with foreign objects, which can not only damage the control box shell, but also interfere with the normal operation of internal electronic components. Utility Model Content

[0004] This utility model addresses the shortcomings of existing technologies by providing a robot guidance and control box based on vision recognition. The specific technical solution is as follows:

[0005] A vision-based robot guidance control box includes an upper cover and a lower cover, with locking screws installed between them for fixation. A control box is mounted on the lower surface of the lower cover. A wide-angle camera is mounted on the edge of the upper cover and is electrically connected to the control box. The control box guides the robot by recognizing the environment through the wide-angle camera. Drive motors are symmetrically mounted on the lower surface of the upper cover, and drive wheels are fixed to the output ends of the drive motors. A steering motor is mounted on the lower surface of the upper cover, and steering wheels are fixed to the output shaft of the steering motor. A support bearing for rotating the steering wheels is installed in a groove on the surface of the lower cover. Side wheels for lateral guidance are mounted on the sides of the upper and lower covers.

[0006] Preferably, the side wheel includes a shaft installed between the upper cover and the lower cover, a bushing rotatably mounted on the outside of the shaft, a support ring provided on the outside of the bushing, a plurality of annular arrays of buffers rotatably mounted between the bushing and the support ring, and a rubber ring fixed on the outer surface of the support ring.

[0007] Preferably, the buffer includes a damper rotatably mounted between a bushing and a support ring, the damper being fitted with a spring, and the two ends of the spring being fixed to the two ends of the damper.

[0008] Preferably, the tangent angle between the buffer and the bushing is 60 degrees.

[0009] Preferably, the outer ring of the support bearing is fixed in a groove on the surface of the lower cover, and the outer ring of the support bearing is fixed on the wheel frame of the steering wheel.

[0010] Preferably, the control box includes:

[0011] The signal receiving module is electrically connected to the wide-angle camera and is used to receive environmental image signals captured by the wide-angle camera.

[0012] The environment recognition and path planning module is connected to the signal receiving module. It performs environmental feature recognition based on the received environmental image signals, including obstacle recognition and feasible path recognition, and plans the robot's travel path based on the recognition results.

[0013] The drive control module is electrically connected to the environment recognition and path planning module and the drive motor respectively. It controls the operation of the drive motor according to the planned travel path to adjust the speed and direction of the drive wheels.

[0014] The steering control module is electrically connected to the environment recognition and path planning module and the steering motor respectively. It controls the operation of the steering motor according to the planned travel path to adjust the steering angle of the steering wheel.

[0015] The coordination control module is connected to the environment recognition and path planning module, the drive control module, and the steering control module, respectively. It is used to coordinate the work of each module, so that the drive control module and the steering control module can work together to ensure that the robot moves along the planned path.

[0016] Compared with the prior art, the beneficial effects of this utility model are:

[0017] 1. Achieve autonomous displacement and enhance flexibility: By symmetrically installing drive motors on the lower surface of the upper cover, the drive wheels at the output end of the drive motors can directly drive the control box to achieve autonomous displacement, eliminating the dependence on external drive structures. This allows the control box to flexibly adjust its position according to the robot's guidance needs, greatly improving its applicability in complex environments.

[0018] 2. Enhanced Steering Stability: With the steering motor and steering wheel fixed to the output shaft on the lower surface of the upper cover, the steering action of the control box can be accurately realized; at the same time, the support bearing installed in the groove on the surface of the lower cover provides rotational support for the steering wheel, effectively dispersing the force during the steering process, avoiding the steering wheel from shaking due to uneven force, significantly improving the stability of the control box during rotation, and ensuring steering accuracy.

[0019] 3. Combining lateral protection and guidance to extend service life: The side wheels installed on the sides of the upper and lower covers not only provide lateral guidance when the control box moves, helping it to move stably along a preset path, but also allow the side wheels to contact foreign objects when they approach the side, converting direct friction into rolling contact, thus providing lateral anti-collision and reducing frictional damage between the side and foreign objects, thereby extending the service life of the control box.

[0020] 4. Optimize the overall structural synergy: The coordinated design of the drive wheels, steering wheels, support bearings, and side wheels forms a complete movement-steering-protection system. This ensures that the control box can maintain sufficient driving power and precise and stable steering during autonomous movement, while also providing effective protection through the side wheels. The synergistic effect of each structure comprehensively improves the reliability and guidance efficiency of the guidance control box, better meeting the actual needs of robot guidance and control. Attached Figure Description

[0021] Figure 1 This is a three-dimensional structural schematic diagram of the present invention;

[0022] Figure 2 This is a three-dimensional schematic diagram of the present invention.

[0023] Figure 3 This is a schematic diagram of the disassembled structure of the parts of this utility model;

[0024] Figure 4 This is a schematic diagram of the upper and lower lid structures in this utility model;

[0025] Figure 5 This is a schematic diagram of the side wheel structure in this utility model;

[0026] Figure 6 This is a schematic diagram of the control box structure in this utility model.

[0027] Attached reference numerals: 1. Upper cover; 2. Lower cover; 3. Locking screw; 4. Drive motor; 5. Drive wheel; 6. Steering motor; 7. Steering wheel; 8. Support bearing; 9. Side wheel; 91. Shaft; 92. Bushing; 93. Support ring; 94. Buffer; 941. Damper; 942. Spring; 95. Rubber ring; 10. Control box; 11. Wide-angle camera. Detailed Implementation

[0028] The technical solution of this utility model will now be described with reference to the accompanying drawings and embodiments.

[0029] Please see Figure 1-6This embodiment provides the following technical solution: a robot guidance control box based on vision recognition, including an upper cover 1 and a lower cover 2. A locking screw 3 for fixing is installed between the upper cover 1 and the lower cover 2. A control box 10 is installed on the lower surface of the lower cover 2. A wide-angle camera 11 is installed on the edge of the upper cover 1. The wide-angle camera 11 installed on the edge of the upper cover 1 is electrically connected to the control box 10. The control box 10 guides the robot by recognizing the environment through the wide-angle camera 11. A drive motor 4 is symmetrically installed on the lower surface of the upper cover 1. A drive wheel 5 is fixed to the output end of the drive motor 4. A steering motor 6 is installed on the lower surface of the upper cover 1. A steering wheel 7 is fixed to the output shaft of the steering motor 6. A support bearing 8 for rotating support of the steering wheel 7 is installed in a groove on the surface of the lower cover 2. Side wheels 9 for lateral guidance are installed on the sides of the upper cover 1 and the lower cover 2.

[0030] In this embodiment, the drive motors 4 are symmetrically mounted on the lower surface, which facilitates the output shaft of the drive motors 4 to drive the drive wheels 5 to achieve the displacement of the control box. The steering wheel 7, whose output shaft is fixed, is used for steering. The support bearing 8, which is installed in the groove on the surface of the lower cover 2, is used to support the rotation of the steering wheel 7, which increases the stability of the control box when it rotates. The side wheels 9 are installed on the sides of the upper cover 1 and the lower cover 2 for lateral guidance, which facilitates the lateral guidance of the control box through the side wheels 9, and serves the purpose of lateral anti-collision. The wide-angle camera 11 installed on the edge of the upper cover 1 is electrically connected to the control box 10, which facilitates the control box 10 to identify the environment through the wide-angle camera 11 to guide the robot and avoid the side of the control box from rubbing against foreign objects when it moves.

[0031] Specifically, the side wheel 9 includes a shaft 91 installed between the upper cover 1 and the lower cover 2. A bushing 92 is rotatably installed on the outside of the shaft 91. A support ring 93 is provided on the outside of the bushing 92. A plurality of annular arrays of buffers 94 are rotatably installed between the bushing 92 and the support ring 93. A rubber ring 95 is fixed on the outer surface of the support ring 93. The tangent angle between the buffer 94 and the bushing 92 is 60 degrees.

[0032] In this embodiment, a side wheel 9 is composed of a shaft 91, a bushing 92, a support ring 93, a buffer 94, and a rubber ring 95. The buffer 94 is used to buffer the support ring 93, so that the side wheel 9 can buffer when it comes into contact with foreign objects. The rubber ring 95 fixed on the outer surface of the support ring 93 also serves to buffer the side wheel 9, so that the side wheel 9 can guide the side of the control box and avoid friction between the side of the control box and foreign objects when it moves.

[0033] Specifically, the buffer 94 includes a damper 941 rotatably mounted between the bushing 92 and the support ring 93. The damper 941 is fitted with a spring 942, and the two ends of the spring 942 are fixed to the two ends of the damper 941.

[0034] In this embodiment, a buffer 94 consisting of a damper 941 and a spring 942 is used, where the damper 941 is used for buffering and the spring 942 is used for resetting the damper 941 after deformation, so that the buffer 94 can buffer the support ring 93.

[0035] Specifically, the outer ring of the support bearing 8 is fixed in a groove on the surface of the lower cover 2, and the outer ring of the support bearing 8 is fixed on the wheel frame of the steering wheel 7.

[0036] In this embodiment, the support bearing 8 is designed to support the steering wheel 7 when it is turning.

[0037] Specifically, the control box 10 includes:

[0038] The signal receiving module is electrically connected to the wide-angle camera 11 and is used to receive environmental image signals collected by the wide-angle camera 11.

[0039] The environment recognition and path planning module is connected to the signal receiving module. It performs environmental feature recognition based on the received environmental image signals, including obstacle recognition and feasible path recognition, and plans the robot's travel path based on the recognition results.

[0040] The drive control module is electrically connected to the environment recognition and path planning module and the drive motor 4 respectively. It controls the operation of the drive motor 4 according to the planned travel path to adjust the speed and direction of the drive wheel 5.

[0041] The steering control module is electrically connected to the environment recognition and path planning module and the steering motor 6 respectively. It controls the operation of the steering motor 6 according to the planned travel path to adjust the steering angle of the steering wheel 7.

[0042] The coordination control module is connected to the environment recognition and path planning module, the drive control module, and the steering control module, respectively. It is used to coordinate the work of each module, so that the drive control module and the steering control module can work together to ensure that the robot moves along the planned path.

[0043] In this embodiment, the control module of the control box 10 achieves systematic and intelligent robot guidance control through the coordinated work of the signal receiving module, environment recognition and path planning module, drive control module, steering control module, and coordination control module. The signal receiving module ensures the effective acquisition of environmental image information, providing basic data for subsequent control. The environment recognition and path planning module accurately identifies the environment and plans the path based on visual information, enabling the robot to adapt to complex environments, autonomously avoid obstacles, and select the optimal path. The drive control module and steering control module perform precise control of the drive wheels and steering wheels, respectively, ensuring accurate adjustment of the robot's speed and direction. The coordination control module coordinates the operation of each module, avoiding conflicts between different control parts, improving the coherence and accuracy of robot guidance control, and enabling the robot to complete guided movement more efficiently and stably according to environmental changes.

[0044] The above description is only a preferred embodiment of the present utility model and is not intended to limit the present utility model. Any modifications, equivalent substitutions and improvements made within the spirit and principles of the present utility model should be included within the protection scope of the present utility model.

Claims

1. A robot guidance control box based on vision recognition, comprising an upper cover (1) and a lower cover (2), wherein a locking screw (3) for fixing is installed between the upper cover (1) and the lower cover (2), characterized in that: A control box (10) is installed on the lower surface of the lower cover (2). A wide-angle camera (11) is installed on the edge of the upper cover (1). The wide-angle camera (11) installed on the edge of the upper cover (1) is electrically connected to the control box (10). The control box (10) uses the wide-angle camera (11) to identify the environment and guide the robot. A drive motor (4) is symmetrically installed on the lower surface of the upper cover (1). A drive wheel (5) is fixed at the output end of the drive motor (4). A steering motor (6) is installed on the lower surface of the upper cover (1). A steering wheel (7) is fixed at the output shaft of the steering motor (6). A support bearing (8) for rotating the steering wheel (7) is installed in a groove on the surface of the lower cover (2). Side wheels (9) for lateral guidance are installed on the sides of the upper cover (1) and the lower cover (2).

2. The robot guidance and control box based on vision recognition according to claim 1, characterized in that: The side wheel (9) includes a shaft (91) installed between the upper cover (1) and the lower cover (2). A bushing (92) is rotatably installed on the outside of the shaft (91). A support ring (93) is provided on the outside of the bushing (92). A plurality of buffers (94) in an annular array are rotatably installed between the bushing (92) and the support ring (93). A rubber ring (95) is fixed on the outer surface of the support ring (93).

3. The robot guidance and control box based on vision recognition according to claim 2, characterized in that: The buffer (94) includes a damper (941) rotatably mounted between a bushing (92) and a support ring (93), the damper (941) being sleeved with a spring (942), and the two ends of the spring (942) being fixed to the two ends of the damper (941).

4. The robot guidance and control box based on vision recognition according to claim 2, characterized in that: The angle between the tangents of the buffer (94) and the bushing (92) is 60 degrees.

5. The robot guidance and control box based on vision recognition according to claim 1, characterized in that: The outer ring of the support bearing (8) is fixed in a groove on the surface of the lower cover (2), and the outer ring of the support bearing (8) is fixed on the wheel frame of the steering wheel (7).

6. The robot guidance control box based on vision recognition according to claim 1, characterized in that: The control box (10) includes: The signal receiving module is electrically connected to the wide-angle camera (11) and is used to receive environmental image signals collected by the wide-angle camera (11); The environment recognition and path planning module is connected to the signal receiving module. It performs environmental feature recognition based on the received environmental image signals, including obstacle recognition and feasible path recognition, and plans the robot's travel path based on the recognition results. The drive control module is electrically connected to the environment recognition and path planning module and the drive motor (4) respectively. It controls the operation of the drive motor (4) according to the planned travel path to adjust the speed and direction of the drive wheel (5). The steering control module is electrically connected to the environment recognition and path planning module and the steering motor (6) respectively. It controls the operation of the steering motor (6) according to the planned travel path to adjust the steering angle of the steering wheel (7). The coordination control module is connected to the environment recognition and path planning module, the drive control module, and the steering control module, respectively. It is used to coordinate the work of each module, so that the drive control module and the steering control module can work together to ensure that the robot moves along the planned path.

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