A multifunctional mobile robot

Abstract

The utility model relates to a kind of multifunctional mobile robots, the robot includes: mechanical arm module, the mechanical arm module is set to the front end of vehicle, including identification component and work assembly, the identification component is cooperated in the work assembly and realizes the processing of the mechanical arm module;Unmanned aerial vehicle module, the unmanned aerial vehicle module is set to the top of vehicle, including cabin and the unmanned aerial vehicle being set in the cabin.The utility model integrates the collaborative control system of mechanical arm module, unmanned aerial vehicle module, solves traditional mobile robot module single, the problem such as limited perception range, low obstacle avoidance efficiency.Mechanical arm module, through the coordination of identification component and work assembly, expand the stereoscopic perception range and positioning accuracy of robot in unknown environment.Unmanned aerial vehicle module realizes ground and air function complementation and collaborative operation through the combination of unmanned aerial vehicle and mechanical arm module, enhances the environmental adaptation and functional diversity of robot in complex scene.

Description

Technical Field

[0001] This utility model relates to the field of robotics technology, and in particular to a multifunctional mobile robot. Background Technology

[0002] Mobile robots, as intelligent devices capable of autonomous or semi-autonomous movement, achieve functions such as environmental perception, path planning, dynamic obstacle avoidance, and task execution through the combined design of multi-sensor fusion, mechanical structure, and distributed control system. They have broad application prospects in areas such as intelligent inspection in agriculture, geological exploration and sampling in complex terrain, and urban waste cleanup.

[0003] While mobile robots offer advantages such as autonomous navigation, reduced labor costs, and improved operational efficiency, they still suffer from limitations including modular design, limited perception range, and low obstacle avoidance efficiency. On one hand, mobile robots often have independent modules and limited functions, restricting their perception range when navigating and positioning in unknown environments. On the other hand, during operation, mobile robots may encounter obstacles of varying sizes, typically requiring the creation of cost maps to expand their safety margins for obstacle avoidance, which impacts path planning and operational efficiency. Furthermore, to ensure robot operation, manual clearing of smaller obstacles may be necessary in certain scenarios.

[0004] In summary, how to effectively improve the robot's perception capabilities in unknown environments, how to enrich the robot's functional modules to enhance its scene adaptability, and how to overcome the problems of traditional robots having limited functions and restricted operation are issues that need to be addressed in engineering applications for complex scenarios. Utility Model Content In view of the shortcomings of the prior art, the purpose of this utility model is to provide a multifunctional mobile robot to solve one or more problems in the prior art.

[0005] To achieve the above objectives, the technical solution of this utility model is as follows: A multi-functional mobile robot, the robot comprising: A robotic arm module, which is located at the front end of the vehicle body, includes a recognition component and a working component. The recognition component works in conjunction with the working component to enable the robotic arm module to perform processing. The drone module is located on the top of the vehicle body and includes a cabin and a drone installed in the cabin.

[0006] Furthermore, the vehicle body includes a base, a frame, a shell, and wheels. The base is connected to the frame and located at the bottom end of the frame. The shell is connected to the frame and located at the top end of the frame. The wheels are fitted to the base and the frame and are evenly distributed.

[0007] Furthermore, the identification component includes a rotating servo rotatably mounted on the vehicle frame, the rotating servo being connected to a lidar; the identification component also includes infrared sensors mounted on the vehicle frame and symmetrically located on both sides of the rotating servo.

[0008] Furthermore, the operating component includes a support, a first motor, and a servo motor. The support is mounted on the vehicle frame, the first motor is mounted on the support, and the servo motor is rotatably coupled to the first motor. A vision sensor is also provided on the servo motor.

[0009] Furthermore, the operating component also includes a first link and a second link, the first link being rotatably coupled to the second link and located on both sides of the servo motor; a second motor is also built into the servo motor; the operating component also includes a first output component, one end of the first output component being fixedly connected to one end of the first link on one side, the other end being coupled to the second motor, and one end of the first link on the other side being rotatably coupled to the servo motor.

[0010] Furthermore, the working component also includes a third motor, which is disposed at one end of the first connecting rod near the second connecting rod; it also includes a second output component, one end of which is fixed to one end of the second connecting rod and the other end of which is engaged with the third motor; a mechanical claw is also disposed at the end of the second connecting rod away from the first connecting rod.

[0011] Furthermore, the cabin is fixed to the vehicle body, and a door is provided on the top of the cabin. A latch and a Bluetooth microcontroller are also provided inside the cabin. The drone is equipped with landing gear, which is engaged with the latch. The door and the latch are electrically engaged with the Bluetooth microcontroller, which is also electrically engaged with the control module. The drone also has an antenna and a camera.

[0012] Furthermore, a power supply module is also provided at the rear of the vehicle body. The power supply module includes a light sensor, a rod, and a battery panel. The light sensor is fixed to the vehicle body, the rod is connected to the light sensor, and the battery panel is fixed to the rod.

[0013] Furthermore, the robot also includes a control module disposed within the vehicle body. The control module includes a serial port, and the robotic arm module and the power supply module are electrically connected to the control module via the serial port.

[0014] Furthermore, the control module is also electrically coupled to the drone module.

[0015] Compared with the prior art, the beneficial technical effects of this utility model are as follows: This invention integrates a robotic arm module and a drone module into a collaborative control system, solving the problems of traditional mobile robot modules being single-module, having limited perception range, and low obstacle avoidance efficiency. In the robotic arm module, a LiDAR and infrared sensor form a combined near-field and far-field perception mechanism, while a visual sensor, rotating with a servo motor, collects visual information from multiple angles, expanding the robot's three-dimensional perception range and improving positioning accuracy in unknown environments. The drone module uses a high-altitude camera to survey the overall terrain and, through a Bluetooth microcontroller, links in real-time with the control module, enabling the robot to dynamically plan its path to avoid large obstacles in the LiDAR blind spot. Combined with a robotic gripper and multiple motors for obstacle clearing, it achieves complementary and collaborative operation between ground and aerial functions. These features enhance the robot's environmental adaptability and functional versatility in complex scenarios. Attached Figure Description Figure 1 A schematic diagram of the structure of a multifunctional mobile robot according to an embodiment of the present invention is shown.

[0016] Figure 2 A schematic diagram of the structure of a multifunctional mobile robot without a vehicle shell according to an embodiment of the present invention is shown.

[0017] Figure 3 A schematic diagram of the cabin structure of a multifunctional mobile robot according to an embodiment of the present invention is shown.

[0018] Figure 4 A schematic diagram of the structure of a drone for a multifunctional mobile robot according to an embodiment of the present invention is shown.

[0019] Figure 5 A schematic diagram of the working components of a multifunctional mobile robot according to an embodiment of the present invention is shown.

[0020] In the attached diagram, the following components are labeled: 1. Robotic arm module; 11. Identification component; 111. Rotation servo motor; 112. LiDAR; 113. Infrared sensor; 12. Working component; 121. Support; 122. First motor; 123. Servo motor; 124. Vision sensor; 125. First link; 126. Second link; 127. First output component; 128. Second motor; 129. Third motor; 1210. Second output component. 1211, Mechanical claw; 2, Vehicle body; 21, Base; 22, Frame; 23, Shell; 24, Wheel; 3, Drone module; 31, Cabin; 311, Door; 312, Buckle; 313, Bluetooth microcontroller; 32, Drone; 321, Landing gear; 322, Antenna; 323, Camera; 4, Power supply module; 41, Light sensor; 42, Pole; 43, Battery panel; 5, Control module; 51, Serial port. Detailed Implementation

[0021] To make the objectives, technical solutions, and advantages of this utility model clearer, the following detailed description of a multifunctional mobile robot proposed by this utility model, in conjunction with the accompanying drawings and specific embodiments, will further illustrate its purpose. The advantages and features of this utility model will become clearer according to the following description. It should be noted that the accompanying drawings are in a very simplified form and use non-precise proportions, used only to facilitate and clearly illustrate the purpose of the embodiments of this utility model. Please refer to the accompanying drawings to make the objectives, features, and advantages of this utility model more apparent and understandable. It should be understood that the structures, proportions, sizes, etc., depicted in the accompanying drawings are only used to complement the content disclosed in the specification, for those skilled in the art to understand and read, and are not intended to limit the implementation conditions of this utility model. Therefore, they have no substantial technical significance. Any modifications to the structure, changes in proportions, or adjustments to the size, without affecting the effects and objectives achieved by this utility model, should still fall within the scope of the technical content disclosed in this utility model.

[0022] Please see Figures 1 to 5 This embodiment of the multifunctional mobile robot includes a vehicle body 2, which comprises a base 21, a frame 22, a shell 23, and wheels 24. The base 21 is connected to the frame 22 and located at the bottom of the frame 22, while the shell 23 is connected to the frame 22 and located at the top of the frame 22. The wheels 24 are evenly distributed and fitted onto the base 21 and the frame 22. Specifically, the wheels 24 are connected to the base 21 and the frame 22 via conventional suspension components. These suspension components mainly consist of shock absorbers, springs, and steering knuckles. The shock absorbers are rigidly connected to the frame 22 and flexibly connected to the wheels 24 via steering knuckles, allowing the wheels 24 to move freely. The springs are flexibly connected to the frame 22 and the wheels 24, buffering vibrations while ensuring contact between the wheels 24 and the ground. Meanwhile, the frame 22 is equipped with conventional transmission devices such as gearboxes and drive devices such as drive motors, which work together to enable the wheels 24 to complete linear and axial rotation, thereby driving the movement of the vehicle body 2.

[0023] Furthermore, the robot also includes a robotic arm module 1, which is used to perform functions such as obstacle breaking and clearing. The robot also includes a drone module 3, which is located at the top of the vehicle body 2 to facilitate the takeoff and recovery of the drone 32. A power supply module 4 is also located at the rear of the vehicle body 2 to provide stable power support for all modules of the robot. The robot also includes a control module 5 located within the vehicle shell 23. The control module 5 is electrically connected to the drone module 3. The control module 5 includes a serial port 51, and the robotic arm module 1 and the power supply module 4 are electrically connected to the control module 5 via the serial port 51. The control module 5 centrally controls and coordinates the various functional modules, including the robotic arm module 1, the drone module 3, and the power supply module 4.

[0024] Specifically, the robotic arm module 1 is located at the front end of the vehicle body 2 and includes an identification component 11 and a working component 12. The identification component 11 works in conjunction with the working component 12 to realize the processing of the robotic arm module 1. The identification component 11 is used to accurately identify and locate the work target and the surrounding environment, and the working component 12 performs corresponding mechanical operations based on the identification results.

[0025] Furthermore, the identification component 11 includes a rotating servo motor 111 rotatably mounted on the frame 22. The rotating servo motor 111 is also connected to a lidar 112. The identification component 11 also includes infrared sensors 113 mounted on the frame 22 and symmetrically located on both sides of the rotating servo motor 111. The rotating servo motor 111 can drive the lidar 112 to rotate and scan. The lidar 112, by emitting laser beams and receiving reflected signals, can acquire real-time three-dimensional point cloud data of the surrounding environment, thereby constructing an obstacle distribution model of the working area. The infrared sensors 113 on both sides can quickly detect nearby obstacles. Their detection range covers the area in front of the vehicle body 2. When an obstacle is detected within a certain range of the vehicle body 2, a warning signal is immediately sent to the control module 5, forming a dual environmental perception mechanism combining near and far proximity with the lidar 112, improving the robot's adaptability to complex environments.

[0026] Furthermore, the operating component 12 includes a support 121, a first motor 122, and a servo motor 123. The support 121 is mounted on the frame 22, the first motor 122 is mounted on the support 121, and the servo motor 123 is rotatably coupled to the first motor 122. A vision sensor 124 is also provided on the servo motor 123. The vision sensor 124 preferably combines a high-definition industrial camera with a deep learning algorithm, enabling real-time acquisition of image information of the target and feature extraction, such as the target's shape, color, and texture. This achieves accurate identification and classification of the target, providing precise visual guidance for the subsequent operation of the operating component 12. When the first motor 122 drives the servo motor 123 to rotate, the vision sensor 124 can adjust its shooting angle according to the servo motor 123, expanding the visual perception range and ensuring clear capture of target information in different operating scenarios.

[0027] Furthermore, the operating component 12 also includes a first connecting rod 125 and a second connecting rod 126. The first connecting rod 125 is rotatably coupled to the second connecting rod 126 and is located on both sides of the servo motor 123. That is, in this embodiment, there are two sets of rotatably connected first connecting rods 125 and second connecting rods 126. A second motor 128 is also built into the servo motor 123. The operating component 12 also includes a first output component 127. One end of the first output component 127 is fixed to one end of the first connecting rod 125 on one side, and the other end is coupled to the second motor 128. One end of the first connecting rod 125 on the other side is rotatably coupled to the servo motor 123. Optionally, this can be achieved by using a pin or other parts. By controlling the symmetry of the rotation points on both sides, the first connecting rods 125 on both sides can rotate synchronously. Specifically, when the second motor 128 drives the first output component 127 to rotate, it can drive the first connecting rod 125 on one side to rotate. Based on the cooperation between the first connecting rod 125 and the servo motor 123, the pitch angle of the first connecting rods 125 on both sides can be adjusted synchronously.

[0028] Furthermore, the working component 12 also includes a third motor 129, which is disposed at one end of the first connecting rod 125 near the second connecting rod 126. The working component 12 also includes a second output component 1210, one end of which is fixed to one end of the second connecting rod 126 on one side, and the other end is connected to the third motor 129. The second connecting rod 126 and the first connecting rod 125 on the other side are also optional, and can rotate relative to each other via pins or other components. A mechanical gripper 1211 is also provided at the end of the second connecting rod 126 away from the first connecting rod 125. Preferably, the mechanical gripper 1211 uses a known dual-rocker gripping mechanism to achieve the opening and closing action between the grippers. Driven by its built-in motor, when the built-in motor receives the command from the control module 5, it changes the output angle to achieve precise gripping and release of the mechanical gripper 1211, adapting to working targets of different sizes and shapes. The third motor 129 drives the rotation of the second output component 1210, which in turn drives the second connecting rod 126 to rotate around the connection point with the first connecting rod 125, thereby adjusting the spatial position of the mechanical claw 1211. During actual operation, when the recognition component 11 detects an obstacle that needs to be cleared, the control module 5, based on the obstacle position information provided by the lidar 112 and the vision sensor 124, controls the first motor 122, the second motor 128, and the third motor 129 to work together, driving the first connecting rod 125 and the second connecting rod 126 to adjust to a suitable posture, allowing the mechanical claw 1211 to accurately reach the obstacle's location. Subsequently, the mechanical claw 1211 closes to grasp the obstacle, completing the obstacle clearing operation.

[0029] The drone module 3 includes a cabin 31 and a drone 32 disposed within the cabin 31. The cabin 31 is fixed to the vehicle body 23. A door 311 is provided on the top of the cabin 31. A latch 312 and a Bluetooth microcontroller 313 are disposed within the cabin 31. The drone 32 is provided with landing gear 321, which engages with the latch 312. Both the door 311 and the latch 312 are electrically engaged with the Bluetooth microcontroller 313, which is also electrically engaged with the control module 5. In the drone module 3, the door 311 is configured to automatically open and close relative to the cabin 31 to facilitate the takeoff and recovery of the drone 32. The latch 312 is used to secure the landing gear 321 when the drone 32 is parked, preventing the drone 32 from shaking or falling off during the movement of the vehicle body 2. The specific process is as follows: When the drone 32 needs to take off, the control module 5 sends an unlock command to the Bluetooth microcontroller 313. The Bluetooth microcontroller 313 then controls the latch 312 to release its fixation on the landing gear 321, and simultaneously controls the hatch 311 to automatically open, providing a passage for the drone 32 to take off. When the drone 32 returns after completing its mission, the Bluetooth microcontroller 313 obtains its position information through wireless communication with the drone 32 and feeds this information back to the control module 5. The control module 5 controls the vehicle body 2 to adjust its attitude according to the real-time position of the drone 32, ensuring that the drone 32 can accurately land in the cabin 31. After the landing gear 321 has completely fallen into the locking area of ​​the latch 312, the Bluetooth microcontroller 313 controls the latch 312 to lock the landing gear 321 again and closes the hatch 311, completing the recovery and fixation of the drone 32. The drone 32 also has an antenna 322 and a camera 323. During flight, the UAV 32 collects high-altitude environmental images and video data in real time through the camera 323 and sends them to the control module 5 for analysis and processing. Based on the global terrain information transmitted back by the UAV 32, the control module 5 can dynamically adjust the navigation path of the vehicle 2 to avoid large obstacles outside the detection range of the lidar 112. At the same time, combined with the data obtained by the recognition component 11 of the robotic arm module 1, it plans the obstacle clearing or sampling action sequence of the operation component 12.

[0030] The power supply module 4 includes a light sensor 41, a rod 42, and a battery panel 43. The light sensor 41 is fixed to the vehicle body 23 and can monitor the ambient light intensity and light source direction in real time, transmitting the detection data to the control module 5. The rod 42 is connected to the light sensor 41, and the battery panel 43 is also fixed to the rod 42. Preferably, the rod 42 is rotatably coupled to the light sensor 41. The control module 5 receives the light information data fed back by the light sensor 41 and controls the rod 42 to rotate and adjust, ensuring that the battery panel 43 always faces the direction with the most abundant light. Preferably, the rod 42 can be configured as a telescopic structure. When the light conditions are weak, it can be automatically extended by the control module 5 to increase the light-receiving area of ​​the battery panel 43. When the light is too strong or an obstacle is encountered, the rod 42 is shortened to protect the battery panel 43.

[0031] The technical features of the above embodiments can be combined in any way. For the sake of brevity, not all possible combinations of the technical features in the above embodiments are described. However, as long as there is no contradiction in the combination of these technical features, they should be considered to be within the scope of this specification.

[0032] The embodiments described above are merely illustrative of several implementations of this utility model, and while the descriptions are relatively specific and detailed, they should not be construed as limiting the scope of the utility model patent. It should be noted that those skilled in the art can make various modifications and improvements without departing from the concept of this utility model, and these all fall within the protection scope of this utility model. Therefore, the protection scope of this utility model patent should be determined by the appended claims.

Claims

1. A multifunctional mobile robot, characterized in that: The robot includes: The robotic arm module (1) is located at the front end of the vehicle body (2) and includes an identification component (11) and a working component (12). The identification component (11) works in conjunction with the working component (12) to realize the processing of the robotic arm module (1). The drone module (3) is located on the top of the vehicle body (2) and includes a cabin (31) and a drone (32) located in the cabin (31).

2. The multifunctional mobile robot as described in claim 1, characterized in that: The vehicle body (2) includes a base (21), a frame (22), a shell (23), and wheels (24). The base (21) is connected to the frame (22) and located at the bottom of the frame (22). The shell (23) is connected to the frame (22) and located at the top of the frame (22). The wheels (24) are fitted to the base (21) and the frame (22) and are evenly distributed.

3. The multifunctional mobile robot as described in claim 2, characterized in that: The identification component (11) includes a rotating servo (111) rotatably mounted on the frame (22), and the rotating servo (111) is also connected to a lidar (112); the identification component (11) also includes infrared sensors (113) mounted on the frame (22) and symmetrically located on both sides of the rotating servo (111).

4. A multifunctional mobile robot as described in claim 3, characterized in that: The working component (12) includes a support (121), a first motor (122) and a servo motor (123). The support (121) is mounted on the frame (22), the first motor (122) is mounted on the support (121), and the servo motor (123) is rotatably coupled to the first motor (122). A vision sensor (124) is also mounted on the servo motor (123).

5. A multifunctional mobile robot as described in claim 4, characterized in that: The operating component (12) further includes a first link (125) and a second link (126). The first link (125) is rotatably coupled to the second link (126) and is located on both sides of the servo motor (123). A second motor (128) is also built into the servo motor (123). The operating component (12) further includes a first output component (127). One end of the first output component (127) is fixed to one end of the first link (125) on one side, and the other end is coupled to the second motor (128). One end of the first link (125) on the other side is rotatably coupled to the servo motor (123).

6. A multifunctional mobile robot as described in claim 5, characterized in that: The working component (12) also includes a third motor (129), which is located at one end of the first link (125) near the second link (126); it also includes a second output component (1210), one end of which is fixed to one end of the second link (126) and the other end of which is engaged with the third motor (129); a mechanical claw (1211) is also provided at the end of the second link (126) away from the first link (125).

7. A multifunctional mobile robot as described in claim 6, characterized in that: The cabin (31) is fixed to the vehicle body (23). A door (311) is provided on the top of the cabin (31). A buckle (312) and a Bluetooth microcontroller (313) are also provided inside the cabin (31). The drone (32) is provided with landing gear (321). The landing gear (321) is engaged with the buckle (312). The door (311) and the buckle (312) are both electrically engaged with the Bluetooth microcontroller (313). The Bluetooth microcontroller (313) is also electrically engaged with the control module (5). The drone (32) also has an antenna (322) and a camera (323).

8. A multifunctional mobile robot as described in claim 7, characterized in that: A power supply module (4) is also provided at the rear end of the vehicle body (2). The power supply module (4) includes a light sensor (41), a rod (42) and a battery panel (43). The light sensor (41) is fixed to the vehicle body (23), the rod (42) is connected to the light sensor (41), and the battery panel (43) is fixed to the rod (42).

9. A multifunctional mobile robot as described in claim 8, characterized in that: The robot also includes a control module (5) disposed in the vehicle body (23). The control module (5) includes a serial port (51). The robotic arm module (1) and the power supply module (4) are electrically connected to the control module (5) via the serial port (51).

10. A multifunctional mobile robot as described in claim 9, characterized in that: The control module (5) is also electrically coupled to the unmanned aerial vehicle module (3).

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