An intelligent navigation robot

Abstract

The utility model discloses a kind of intelligent navigation robots, including outer shell and the travelling assembly of detachable connection in the bottom of the outer shell, and the outer shell is also provided with main control module and the navigation component for constructing map and planning walking path, the main control module with the navigation component and the travelling assembly electric connection, for according to the information from the navigation component control the travelling assembly movement.Compared with prior art, the travelling assembly of the utility model intelligent navigation robot is detachably connected to the bottom of the outer shell, so the travelling assembly can be quickly assembled as a whole to the bottom of the outer shell, and can also be detached from the bottom of the outer shell, so that different travelling assemblies can be replaced according to different application scenarios, so that the same navigation robot can cover a variety of intelligent navigation technology application scenarios.

Description

Technical Field

[0001] This utility model relates to the field of intelligent robot technology, and in particular to an intelligent navigation robot. Background Technology

[0002] Intelligent navigation robots are autonomous mechanical devices designed for industries such as industry and education. They can perform various functions through various sensors, their own power, and control capabilities. They have been widely used in all aspects of social production and life, bringing great convenience to production and daily life.

[0003] In the field of robot design and development, the robot's autonomous walking system is a key focus in the development of various robot products, directly affecting functions such as robot route planning, autonomous navigation, and autonomous cruising. However, most existing intelligent navigation robots only have a single type of walking component. When it is necessary to verify the actual effect of the same navigation technology on different walking components, multiple navigation robots are often required. A single navigation robot cannot cover multiple application scenarios of intelligent navigation technology. Utility Model Content

[0004] The technical problem to be solved by this utility model is to provide an intelligent navigation robot with switchable travel components.

[0005] To address the aforementioned technical problems, this utility model provides an intelligent navigation robot, comprising an outer shell and a detachable traveling component connected to the bottom of the outer shell. The outer shell is also equipped with a main control module and a navigation component for constructing maps and planning walking paths. The main control module is electrically connected to the navigation component and the traveling component, and is used to control the movement of the traveling component based on information from the navigation component.

[0006] The further technical solution is as follows: the traveling component includes a chassis component and a traveling wheel assembly. The traveling wheel assembly is disposed at the front and rear of the chassis component, and the chassis component is detachably connected to the bottom of the outer shell by screws. The main control module is located on the upper surface of the chassis component and is electrically connected to the traveling wheel assembly. The navigation component is disposed on the surface of the outer shell.

[0007] The further technical solution is as follows: the chassis assembly includes a chassis and a cover plate, the cover plate is fixed above the chassis, and the cover plate is detachably connected to the bottom of the outer shell by screws, the main control module is located on the upper surface of the cover plate, and the travel wheel set is detachably disposed at the front and rear of the chassis by screws.

[0008] The further technical solution is as follows: the travel wheel set includes an Ackermann steering wheel set and a drive wheel set, the Ackermann steering wheel set and the drive wheel set are respectively disposed at the front and rear of the chassis assembly. The Ackermann steering wheel set includes a steering servo, a short connecting rod, a long connecting rod, a steering bracket, a left steering cup, a right steering cup and two wheels. The steering bracket is mounted on the chassis. The steering servo is located between the steering bracket and the chassis. The left steering cup and the right steering cup are rotatably connected to both sides of the steering bracket. The two wheels are respectively disposed on the left steering cup and the right steering cup. The drive shaft of the steering servo is movably connected to the short connecting rod through a rocker arm. The short connecting rod is movably connected to the right steering cup. The two ends of the long connecting rod are movably connected to the left steering cup and the right steering cup respectively. The drive wheel set includes two drive wheels and two first drive motors. The two first drive motors are disposed on the chassis. The two drive wheels are respectively connected to the motor shafts of the two first drive motors.

[0009] The further technical solution is as follows: the traveling wheel set includes two Mecanum wheel sets, the two Mecanum wheel sets are respectively disposed at the front and rear of the chassis, each Mecanum wheel set includes a left Mecanum wheel, a right Mecanum wheel and two second drive motors, the left Mecanum wheel and the right Mecanum wheel are respectively connected to the motor shafts of the two second drive motors.

[0010] The further technical solution is as follows: the navigation component includes a camera device and a lidar, both of which are disposed on the surface of the housing and are electrically connected to the main control module.

[0011] A further technical solution is as follows: the camera device is a gimbal camera, and the gimbal of the gimbal camera is disposed on the surface of the outer casing; or

[0012] The camera device is a depth camera, which is mounted on the surface of the housing via a mounting plate, and the camera device is movably connected to the mounting plate via a damping hinge.

[0013] The further technical solution is as follows: the main control module includes a main control board and an expansion board electrically connected to the main control board, the expansion board including a USB HUB expansion board and / or a ROS robot control expansion board.

[0014] The further technical solution is as follows: the main control board is a Raspberry Pi, Jetson Nano, Jetson Orin Nano, Jetson Orin NX or RDKX5; the ROS robot control expansion board is equipped with an accelerometer, gyroscope and magnetometer.

[0015] The further technical solution is as follows: the intelligent navigation robot also includes a voice interaction module, a speaker and a display screen, the voice interaction module, the speaker and the display screen are located on the surface of the outer shell, and are all electrically connected to the main control module.

[0016] The beneficial technical effects of this utility model are as follows: Compared with the prior art, the traveling component in the intelligent navigation robot of this utility model can be detachably connected to the bottom of the outer shell. The traveling component can be quickly assembled to the bottom of the outer shell as a whole, or it can be removed from the bottom of the outer shell. Thus, different traveling components can be replaced according to different application scenarios, so that the same navigation robot can cover a variety of intelligent navigation technology application scenarios. Attached Figure Description

[0017] Figure 1 This is a three-dimensional structural diagram of the first embodiment of the intelligent navigation robot of this utility model.

[0018] Figure 2 This is an exploded view of the first embodiment of the intelligent navigation robot of this utility model.

[0019] Figure 3 yes Figure 2 The diagram shows a partial structural schematic of the traveling component in the intelligent navigation robot.

[0020] Figure 4 yes Figure 2 The diagram shows a partial structural schematic of the chassis and Ackerman steering wheel assembly in the intelligent navigation robot shown.

[0021] Figure 5 yes Figure 2 A partial structural diagram of the intelligent navigation robot after removing the traveling components.

[0022] Figure 6 This is a three-dimensional structural diagram of the second embodiment of the intelligent navigation robot of this utility model.

[0023] Figure 7 This is an exploded view of the second embodiment of the intelligent navigation robot of this utility model.

[0024] Figure 8 yes Figure 7 The diagram shows a partial structural schematic of the chassis and Mecanum wheel assembly in the intelligent navigation robot.

[0025] Figure 9 This is a structural schematic diagram of the third embodiment of the intelligent navigation robot of this utility model. Detailed Implementation

[0026] To better understand the technical content of this utility model, the technical solution of this utility model will be further introduced and explained below with reference to the schematic diagram, but it is not limited thereto.

[0027] Reference Figures 1 to 5 , Figures 1 to 5 The first embodiment of the intelligent navigation robot of this utility model is shown. In the embodiment shown in the accompanying drawings, the intelligent navigation robot includes a shell 10 and a traveling component 20 detachably connected to the bottom of the shell 10. The shell 10 also has a main control module 40 and a navigation component 30 for building maps and planning walking paths. The main control module 40 is electrically connected to the navigation component 30 and the traveling component 20, and is used to control the movement of the traveling component 20 based on information from the navigation component 30. Based on the above design, the traveling component 20 is detachably connected to the bottom of the shell 10, so the traveling component 20 can be quickly assembled onto the bottom of the shell 10 as a whole, or it can be removed from the bottom of the shell 10. This allows different traveling components 20 to be replaced according to different application scenarios, enabling the same navigation robot to cover multiple intelligent navigation technology application scenarios.

[0028] In some embodiments, the travel assembly 20 includes a chassis assembly 21 and a travel wheel set 22. The travel wheel set 22 is disposed at the front and rear of the chassis assembly 21, and the chassis assembly 21 is detachably connected to the bottom of the housing 10 by screws 23. The main control module 40 is located on the upper surface of the chassis assembly 21 and is electrically connected to the travel wheel set 22. The navigation assembly 30 is disposed on the surface of the housing 10. Based on this design, the chassis assembly 21 and the housing 10 can be quickly assembled and disassembled by screws 23, making operation convenient.

[0029] like Figure 2 As shown, the outer shell 10 includes an upper shell 11 and a front shell 12. The chassis assembly 21 is located below the upper shell 11 and includes a chassis 211 and a cover plate 212. The cover plate 212 is fixed above the chassis 211 and is detachably connected to the bottom of the upper shell 11 by screws 23. The front shell 12 is also detachably connected to the cover plate 212 by screws 23. Specifically, each side of the cover plate 212 has mounting holes 2121 at both ends. Screws 23 pass through the mounting holes 2121 of the front shell 12 / upper shell 11 and the cover plate 212 to detachably connect the cover plate 212 to the outer shell 10. The main control module 40 is located on the upper surface of the cover plate 212. The travel wheel set 22 can also be detachably mounted on the front and rear of the chassis 211 by screws.

[0030] Combination Figure 3 and Figure 4In this embodiment, the travel wheel assembly 22 includes an Ackermann steering wheel assembly 221 and a drive wheel assembly 222. The Ackermann steering wheel assembly 221 and the drive wheel assembly 222 are respectively disposed at the front and rear of the chassis assembly 21. The Ackermann steering wheel assembly 221 includes a steering servo 2212, a short connecting rod 2213, a long connecting rod 2214, a steering bracket 2211, a left steering cup 2215, a right steering cup 2216, and two wheels 2210. The steering bracket 2211 is mounted on the chassis 211, and the steering servo 2212 is located between the steering bracket 2211 and the chassis 211. The left steering cup 2215 and the right steering cup 2216 are rotatably connected to both sides of the steering bracket 2211. Specifically, the left steering cup 2215 and the right steering cup 2216 are respectively provided with left connecting rods. The left and right couplings 2217 and 2218 are respectively connected to the left steering cup 2215 and the right steering cup 2216 via the left and right couplings 2217 and 2218, respectively. The drive shaft of the steering servo 2212 is movably connected to the short connecting rod 2213 via the rocker arm 2219. The short connecting rod 2213 is movably connected to the right steering cup 2216. The two ends of the long connecting rod 2214 are movably connected to the left steering cup 2215 and the right steering cup 2216, respectively. The drive wheel assembly 222 includes two drive wheels 2221 and two first drive motors 2222. The two first drive motors 2222 are mounted on the chassis 211. The two drive wheels 2221 are respectively connected to the motor shafts of the two first drive motors 2222 to rotate under the drive of the first drive motors 2222.

[0031] In some embodiments, the chassis 211 is further provided with a battery pack 90 and a DC charging terminal 80. The main control module 40 includes a main control board 41 and an expansion board 42 electrically connected to the main control board 41. The expansion board 42 includes a USB HUB expansion board 421 and / or a ROS robot control expansion board 422. The USB HUB expansion board 421 allows users to expand the robot's functions through a USB port. The ROS robot control expansion board 422 can be used to control the mobile robot to move forward, backward, and turn.

[0032] Preferably, a display screen 70 is also provided on the front housing 12. The display screen 70 is electrically connected to the main control board 41. The main control board 41 can be a Raspberry Pi, Jetson Nano, Jetson Orin Nano, Jetson Orin NX, RDK X5 or other main control system board. The antenna 43 is attached to the side of the main control board 41. The ROS robot control expansion board 422 is equipped with an accelerometer, gyroscope and magnetometer. The accelerometer, gyroscope and magnetometer sensors can provide real-time feedback on the robot's current position and attitude, and can be displayed in the display screen 70 in a model mode. Changing the actual position and attitude of the robot will change the robot attitude in the display screen 70 accordingly.

[0033] In some embodiments, the navigation component 30 includes a camera device 31 and a lidar 32 electrically connected to the main control board 41. The camera device 31 is a depth camera, which is mounted on the top of the front housing 12 via a mounting plate 33. The camera device 31 is movably connected to the mounting plate 33 via a damping pivot to adjust the camera angle. The lidar 32 is mounted on the top of the upper housing 11 and is unobstructed at 360°, ensuring normal laser emission and reception without the need for shielding. The lidar 32 can be used for real-time path monitoring and map building. The depth camera can be used to view the robot's driving status and scan object contours to build models. In this embodiment, the depth camera can be an Ansequin Nuwa-HP60C or an Intel RealSense depth camera.

[0034] Furthermore, in some embodiments, the intelligent navigation robot also includes a voice interaction module 50 and a speaker 60 electrically connected to the main control module 40. The voice interaction module 50 and the speaker 60 are located at the bottom of the upper housing 11 and behind the lidar 32. The voice interaction module 50 supports real-time acquisition of voice audio, recording, and voice broadcasting. It works with the AI ​​large model program of the main control module 40 to perform voice interaction to assign tasks, guide the robot's task decisions, and supports real-time conversion between voice and text.

[0035] Reference Figures 6 to 8 , Figures 6 to 8 This paper presents a second embodiment of the intelligent navigation robot of this utility model. The difference between this embodiment and the first embodiment lies in the specific structure of the traveling wheel assembly 22 in the traveling component 20. In this embodiment, the traveling wheel assembly 22 includes two Mecanum wheel assemblies 223, which are respectively disposed at the front and rear of the chassis 211. Figure 8As shown, each Mecanum wheel set 223 includes a left Mecanum wheel 2231, a right Mecanum wheel 2233, and two second drive motors 2232. The Mecanum wheel 2231 and the right Mecanum wheel 2233 are respectively connected to the motor shafts of the two second drive motors 2232.

[0036] As can be seen from the above, the chassis 211 of the traveling component 20 in the intelligent navigation robot of this utility model can be detachably mounted on the outer shell 10 by screws 23, so that the intelligent navigation robot can switch different traveling wheel sets 22 in different scenarios to meet the mobility needs of different application scenarios.

[0037] Reference Figure 9 , Figure 9 A structural schematic diagram of the third embodiment of the intelligent navigation robot of this utility model is shown. The difference between this embodiment and the first embodiment is that the specific structure of the camera device 31 is different. In this embodiment, the camera device 31 is a gimbal camera, and the gimbal of the gimbal camera is set on the surface of the outer shell 10, and its camera angle can be adjusted by the gimbal.

[0038] In summary, in this utility model of intelligent navigation robot, the traveling component is detachably connected to the outer shell by screws. The traveling component can be quickly assembled onto the bottom of the outer shell as a whole, or it can be removed from the bottom of the outer shell. This allows different traveling components to be replaced according to different application scenarios, enabling the same navigation robot to cover multiple intelligent navigation technology application scenarios.

[0039] The above preferred embodiments should be regarded as illustrative examples of the implementation of the present utility model. Any technical deductions, substitutions, improvements, etc. that are similar to or based on the present utility model should be considered within the scope of protection of this patent.

Claims

1. An intelligent navigation robot, characterized in that, The intelligent navigation robot includes an outer shell and a detachable walking component connected to the bottom of the outer shell. The outer shell is also equipped with a main control module and a navigation component for building maps and planning walking paths. The main control module is electrically connected to the navigation component and the walking component and is used to control the movement of the walking component based on information from the navigation component.

2. The intelligent navigation robot as described in claim 1, characterized in that, The travel assembly includes a chassis assembly and a travel wheel assembly. The travel wheel assembly is disposed at the front and rear of the chassis assembly, and the chassis assembly is detachably connected to the bottom of the outer shell by screws. The main control module is located on the upper surface of the chassis assembly and is electrically connected to the travel wheel assembly. The navigation assembly is disposed on the surface of the outer shell.

3. The intelligent navigation robot as described in claim 2, characterized in that, The chassis assembly includes a chassis and a cover plate. The cover plate is fixed above the chassis and is detachably connected to the bottom of the outer shell by screws. The main control module is located on the upper surface of the cover plate, and the travel wheel set is detachably mounted on the front and rear of the chassis by screws.

4. The intelligent navigation robot as described in claim 3, characterized in that, The travel wheel assembly includes an Ackermann steering wheel assembly and a drive wheel assembly, which are respectively located at the front and rear of the chassis assembly. The Ackermann steering wheel assembly includes a steering servo, a short connecting rod, a long connecting rod, a steering bracket, a left steering cup, a right steering cup, and two wheels. The steering bracket is mounted on the chassis, and the steering servo is located between the steering bracket and the chassis. The left and right steering cups are rotatably connected to both sides of the steering bracket, and the two wheels are respectively mounted on the left and right steering cups. The drive shaft of the steering servo is movably connected to the short connecting rod via a rocker arm, and the short connecting rod is movably connected to the right steering cup. The two ends of the long connecting rod are movably connected to the left and right steering cups, respectively. The drive wheel assembly includes two drive wheels and two first drive motors, which are mounted on the chassis. The two drive wheels are respectively connected to the motor shafts of the two first drive motors.

5. The intelligent navigation robot as described in claim 3, characterized in that, The travel wheel set includes two Mecanum wheel sets, which are respectively located at the front and rear of the chassis. Each Mecanum wheel set includes a left Mecanum wheel, a right Mecanum wheel, and two second drive motors. The left Mecanum wheel and the right Mecanum wheel are respectively connected to the motor shafts of the two second drive motors.

6. The intelligent navigation robot as described in claim 1, characterized in that, The navigation component includes a camera and a lidar, both of which are mounted on the surface of the housing and are electrically connected to the main control module.

7. The intelligent navigation robot as described in claim 6, characterized in that, The camera device is a gimbal camera, and the gimbal of the gimbal camera is mounted on the surface of the housing; or The camera device is a depth camera, which is mounted on the surface of the housing via a mounting plate, and the camera device is movably connected to the mounting plate via a damping hinge.

8. The intelligent navigation robot as described in claim 1, characterized in that, The main control module includes a main control board and an expansion board electrically connected to the main control board. The expansion board includes a USB HUB expansion board and / or a ROS robot control expansion board.

9. The intelligent navigation robot as described in claim 8, characterized in that, The main control board is a Raspberry Pi, Jetson Nano, Jetson Orin Nano, Jetson Orin NX, or RDKX5; the ROS robot control expansion board is equipped with an accelerometer, gyroscope, and magnetometer.

10. The intelligent navigation robot as described in claim 1, characterized in that, The intelligent navigation robot also includes a voice interaction module, a speaker, and a display screen. The voice interaction module, speaker, and display screen are located on the surface of the outer shell and are all electrically connected to the main control module.

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