A multi-sensor fusion tracked robotic arm

Abstract

The utility model relates to intelligent robot technical field especially, more sensor fusion caterpillar type mechanical arm robot, including base, the both sides of base are equipped with caterpillar type moving system, the top rear side of base is installed six -axis mechanical arm, the terminal of six -axis mechanical arm is installed adaptive double -fingered gripper, the rear side of six -axis mechanical arm is equipped with electrical protection pipeline, the top front side of base is equipped with more sensor perception system, the inside of base is equipped with robot intelligence control hub and power supply. The utility model has high -precision environment sensing ability, can operate stably in complex terrain, realizes mobile and mechanical arm efficient collaborative operation, its more sensor fusion and caterpillar structure significantly promote identification and through performance, and electrical protection and durable element design reduce the failure rate and maintenance cost simultaneously, and overall operation efficiency and reliability greatly promote.

Description

Technical Field

[0001] This utility model relates to the field of intelligent robot technology, and in particular to a multi-sensor fusion tracked robotic arm robot. Background Technology

[0002] Intelligent robots are now widely used in industry, scientific research, education, and other fields. However, traditional robots have significant limitations: some robots are equipped with only a single sensor (such as a camera or radar alone), resulting in incomplete environmental perception and making them prone to decision-making biases in complex environments (such as those with dense obstacles or insufficient lighting); most mobile robots use traditional wheel structures, which make them poorly maneuverable in unstructured terrain (such as gravel, mud, or gentle slopes), easily getting stuck or impassable; some robotic arm robots have low modularity, resulting in weak coordination between movement and grasping actions, making it difficult to meet the integrated requirements of "perception-movement-operation". Existing improvement solutions either focus on optimizing a single function (such as only improving sensor accuracy or only improving the movement structure) and have not formed a multi-system collaborative design, so the overall operating efficiency and environmental adaptability still need to be improved. Summary of the Invention

[0003] The purpose of this invention is to solve the problems of single environmental perception, poor passability in complex terrain, and weak operational coordination in the existing technology, and to propose a multi-sensor fusion tracked robotic arm robot.

[0004] To achieve the above objectives, the present invention adopts the following technical solution: A multi-sensor fusion tracked robotic arm robot includes a base, tracked mobility systems on both sides of the base, a six-axis robotic arm mounted on the rear top of the base, an adaptive two-finger gripper mounted at the end of the six-axis robotic arm, an electrical protection circuit on the rear side of the six-axis robotic arm, a multi-sensor sensing system on the front top of the base, and a robot intelligent control center and power supply inside the base.

[0005] Preferably, the tracked mobile system includes two sets of triangular track wheels and two sets of tracked wheel sets. The two sets of triangular track wheels are respectively installed on both sides of the head of the base, and each set of triangular track wheels is independently driven by two planetary geared motors installed inside the base. The two sets of tracked wheel sets are respectively installed on both sides of the tail of the base, and each set of tracked wheel sets is independently driven by a single bevel geared motor.

[0006] Preferably, both the triangular track wheel and the track in the tracked wheel assembly are made of highly wear-resistant rubber material, with anti-slip texture on the surface.

[0007] Preferably, the electrical protection conduit is made of PVC material and contains built-in power cables and signal cables for the robotic arm.

[0008] Preferably, the multi-sensor perception system includes a camera, a radar, and an ultrasonic sensor mounted on the front end of the base via a mounting bracket. The camera is used to acquire environmental images and identify target objects. The radar is used to scan the surrounding environment and construct a three-dimensional point cloud map. The ultrasonic sensor is used to detect nearby obstacles. The data from all three are synchronously transmitted to the robot's intelligent control center.

[0009] Preferably, there are two ultrasonic sensors, which are symmetrically installed on the head of the base.

[0010] Preferably, the robot intelligent control center integrates an STM32 development board, a vision and radar collaborative processing module, and a six-way motor drive module. The STM32 development board is responsible for the motor control of the six-axis robotic arm, the vision and radar collaborative processing module supports parallel computation of camera image recognition and radar point cloud modeling, and the six-way motor drive module enables independent speed adjustment of the six moving motors.

[0011] Preferably, an isolation plate is provided below the robot's intelligent control center. The isolation plate is made of insulating material to isolate the robot's intelligent control center from direct contact with the tracked mobile system and the power supply.

[0012] Compared with the prior art, the advantages of this utility model are: 1. Precise environmental perception: The multi-sensor fusion design (camera + radar + ultrasonic) covers the entire range of "near-range early warning - mid-range modeling - long-range navigation", avoiding blind spots of single sensors and improving decision-making accuracy by ≥30% in complex environments.

[0013] 2. Strong terrain mobility: The combination of triangular track wheels and tracked wheel sets, along with different types of reduction motors (planetary + bevel gear), can adapt to unstructured terrains such as gravel, mud, and gentle slopes, with a mobility ≥50% better than traditional wheeled robots.

[0014] 3. Highly efficient collaborative operation: The robot's intelligent control center enables multi-system collaboration of "perception-movement-robotic arm", with a response delay of ≤0.5s for movement and grasping actions. Compared with traditional split-type control robots, the operation efficiency is improved by ≥40%.

[0015] 4. Low maintenance cost: Electrical protection pipelines extend the service life of the circuits, and isolation plates reduce the probability of interference failures in the control module; the tracks and geared motors are made of highly durable materials, with an average mean time between failures (MTBF) of ≥1000 hours, reducing the cost of consumable replacement and maintenance.

[0016] In summary, this utility model possesses high-precision environmental perception capabilities, enabling stable operation in complex terrain and achieving efficient collaborative work between mobile devices and robotic arms. Its multi-sensor fusion and track structure significantly enhance recognition and passage performance, while electrical protection and durable component design reduce failure rates and maintenance costs, resulting in a substantial improvement in overall operational efficiency and reliability. Attached Figure Description

[0017] Figure 1 A schematic diagram of the overall structure of a multi-sensor fusion tracked robotic arm robot provided by this utility model. Figure 1 ; Figure 2 A schematic diagram of the overall structure of a multi-sensor fusion tracked robotic arm robot provided by this utility model. Figure 2 ; Figure 3 This invention provides a schematic diagram of the internal structure of a multi-sensor fusion tracked robotic arm robot.

[0018] In the diagram: 1. Base, 2. Triangular track wheel, 3. Tracked wheel assembly, 4. Camera, 5. Radar, 6. Ultrasonic sensor, 7. Six-axis robotic arm, 8. Electrical protection pipeline, 9. Gripper, 10. Robot intelligent control center, 11. Isolation plate, 12. Planetary gear motor, 13. Bevel gear motor, 14. Power supply. Detailed Implementation

[0019] The technical solutions of the present utility model will be clearly and completely described below with reference to the accompanying drawings of the embodiments of the present utility model. Obviously, the described embodiments are only some embodiments of the present utility model, and not all embodiments.

[0020] Reference Figures 1 to 3 A multi-sensor fusion tracked robotic arm robot includes a base 1. Tracked mobility systems are provided on both sides of the base 1. The tracked mobility system includes triangular track wheels 2 and tracked wheel sets 3. There are two sets of triangular track wheels 2, which are installed on both sides of the head of the base 1. Each set is independently driven by two planetary geared motors 12 installed inside the base 1. There are two sets of tracked wheel sets 3, which are installed on both sides of the tail of the base 1. Each set is independently driven by a bevel geared motor 13. The tracks in the triangular track wheels 2 and tracked wheel sets 3 are made of high wear-resistant rubber material with anti-slip texture on the surface, which can adapt to the ≤25° slope and cross small obstacles (≤15cm high).

[0021] A six-axis robotic arm 7 is fixedly mounted on the rear top of the base 1 via a flange. The end of the six-axis robotic arm 7 is an adaptive two-finger gripper 9 with an opening range of 0-80mm and a maximum gripping weight of ≥2kg. It supports automatic adjustment of gripping force according to the size of the item. An electrical protection conduit 8 is provided on the rear side of the six-axis robotic arm 7. The electrical protection conduit 8 is made of PVC material and contains the robotic arm's power cable and signal cable, which can prevent the lines from being damaged by mechanical friction or external collisions.

[0022] A multi-sensor perception system is installed at the top front of the base 1. This system includes a camera 4, a radar 5, and an ultrasonic sensor 6, all mounted on the front of the base 1 via a mounting bracket. The camera 4 captures environmental images and identifies target objects (such as objects to be grasped or obstacles). The radar 5 scans the surrounding environment to construct a 3D point cloud map. The ultrasonic sensor 6 detects nearby obstacles. Data from all three sensors is transmitted in real-time to the robot's intelligent control center 10. The camera 4 features color recognition, object shape recognition, and infrared imaging capabilities, with a resolution ≥1080P and a frame rate of 30fps. The radar 5 supports gmapping and cartographer mapping algorithms, enabling navigation, obstacle avoidance, and environmental modeling, with an effective ranging range ≥10m. Two ultrasonic sensors 6 are symmetrically mounted on the head of the base 1, with a detection range of 0.1-5m, used for near-distance obstacle warnings. Data from all three sensors is synchronously transmitted to the robot's intelligent control center 10.

[0023] The robot intelligent control center 10 is installed at the top inside the base 1, and at the bottom inside are a bevel gear reducer motor 13, a planetary gear reducer motor 12, and a power supply 14. The robot intelligent control center 10 integrates an STM32 development board, a vision and radar co-processing module, and a six-way motor drive module. The STM32 development board is responsible for the motor control of the six-axis robotic arm 7 (joint angle adjustment, gripper force control), with a positioning accuracy of ≤±2mm. The vision and radar co-processing module is equipped with a quad-core ARM Cortex-A53 processor, which supports parallel computing of image recognition from camera 4 and point cloud modeling from radar 5, with a decision response time of ≤1s. The six-way motor drive module enables independent speed adjustment of the six moving motors and has overcurrent, overvoltage, and overheat protection functions.

[0024] Below the robot intelligent control center 10 is an isolation plate 11. The isolation plate 11 is made of insulating material to isolate the robot intelligent control center 10 from direct contact with the motor and power supply 14, thus playing a role in preventing interference and providing safety protection. The power supply 14 is a rechargeable lithium battery with a voltage of 12V, a capacity of 20Ah, a continuous working time of ≥2.5 hours, and supports fast charging (fully charged in 3-4 hours).

[0025] In use, this invention first performs environmental perception: camera 4 captures environmental images and identifies target objects (such as items to be grasped or obstacles); radar 5 scans the surrounding environment to construct a 3D point cloud map; and ultrasonic sensor 6 detects nearby obstacles. All three data points are transmitted in real-time to the robot's intelligent control center 10. Next, path planning is performed: the robot's intelligent control center 10 plans the optimal movement path based on the radar map and ultrasonic warning data. The six-motor drive module controls the triangular track wheels 2 and tracked wheel sets 3 to move autonomously (forward, backward, and turning in place). Then, the item grasping operation is performed: the robot's intelligent control center 10 sends instructions to the STM32 development board based on the target object's position identified by camera 4, driving the six-axis robotic arm 7 to adjust its posture and complete the target grasping through the end effector gripper 9. Finally, after the grasping action is completed, the robot's intelligent control center 10 controls the robot to move to the target position according to preset instructions, releases the item, and completes one work cycle.

[0026] The above description is only a preferred embodiment of the present utility model, but the protection scope of the present utility model is not limited thereto. Any equivalent substitutions or changes made by those skilled in the art within the technical scope disclosed in the present utility model, based on the technical solution and the inventive concept of the present utility model, should be included within the protection scope of the present utility model.

Claims

1. A multi-sensor fusion tracked robotic arm robot, comprising a base (1), characterized in that, The base (1) is equipped with a tracked mobile system on both sides. A six-axis robotic arm (7) is installed on the rear top of the base (1). An adaptive two-finger gripper (9) is installed at the end of the six-axis robotic arm (7). An electrical protection pipeline (8) is provided on the rear side of the six-axis robotic arm (7). A multi-sensor sensing system is provided on the front top of the base (1). The base (1) is equipped with a robot intelligent control center (10) and a power supply (14).

2. The multi-sensor fusion tracked robotic arm robot according to claim 1, characterized in that, The tracked mobile system includes two sets of triangular track wheels (2) and two sets of tracked wheel sets (3). The two sets of triangular track wheels (2) are respectively installed on both sides of the head of the base (1). Each set of triangular track wheels (2) is driven independently by two planetary geared motors (12) installed inside the base (1). The two sets of tracked wheel sets (3) are respectively installed on both sides of the tail of the base (1). Each set of tracked wheel sets is driven independently by a single bevel gear reducer motor (13).

3. The multi-sensor fusion tracked robotic arm robot according to claim 2, characterized in that, The tracks in the triangular track wheel (2) and the tracked wheel set (3) are both made of high wear-resistant rubber material with anti-slip texture on the surface.

4. The multi-sensor fusion tracked robotic arm robot according to claim 1, characterized in that, The electrical protection conduit (8) is made of PVC and contains the power cable and signal cable for the robotic arm.

5. The multi-sensor fusion tracked robotic arm robot according to claim 1, characterized in that, The multi-sensor perception system includes a camera (4), a radar (5), and an ultrasonic sensor (6) mounted on the front end of the base (1) via a mounting bracket. The camera (4) is used to collect environmental images and identify target objects. The radar (5) is used to scan the surrounding environment and construct a three-dimensional point cloud map. The ultrasonic sensor (6) is used to detect nearby obstacles. The data from the three sensors are synchronously transmitted to the robot intelligent control center (10).

6. The multi-sensor fusion tracked robotic arm robot according to claim 5, characterized in that, Two ultrasonic sensors (6) are provided and are symmetrically installed on the head of the base (1).

7. The multi-sensor fusion tracked robotic arm robot according to claim 5, characterized in that, The robot intelligent control center (10) integrates an STM32 development board, a vision and radar collaborative processing module, and a six-way motor drive module. The STM32 development board is responsible for the motor control of the six-axis robotic arm (7). The vision and radar collaborative processing module supports parallel computation of image recognition from the camera (4) and point cloud modeling from the radar (5). The six-way motor drive module enables independent speed adjustment of the six moving motors.

8. The multi-sensor fusion tracked robotic arm robot according to claim 1, characterized in that, Below the robot intelligent control center (10) is an isolation plate (11). The isolation plate (11) is made of insulating material to isolate the robot intelligent control center (10) from direct contact with the tracked mobile system and the power supply (14).

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