Intelligent four-legged guide robot based on binocular vision

Abstract

The utility model relates to a kind of intelligent four-foot blind-guiding robots based on binocular vision, belong to the four-foot robot field of autonomous navigation. Including fuselage, the top of fuselage is equipped with blind-guiding handrail, binocular vision module, two sides of fuselage are symmetrically equipped with four groups of mechanical limb adjusting mechanism, and mechanical limb adjusting mechanism output end is connected with mechanical limb;Mechanical limb adjusting mechanism includes servo motor one fixed in the inner wall of fuselage, servo motor one output shaft is equipped with disc motor one, disc motor one output shaft penetrates the lateral wall of fuselage and connects mechanical limb;Servo motor one output shaft is in horizontal position, parallel with the lateral wall of fuselage, and disc motor one output shaft is perpendicular to the lateral wall of fuselage.The utility model can control the attitude of mechanical limb by mechanical limb adjusting mechanism when driving in complex terrain, and the contact angle of wheel and ground is adjusted pertinently, so as to improve the motion stability of blind-guiding robot.

Description

Technical Field

[0001] This utility model relates to an intelligent quadrupedal guide robot based on binocular vision, belonging to the field of autonomous navigation quadrupedal robots. Background Technology

[0002] With the development of artificial intelligence technology, intelligent quadrupedal guide robots are widely used in various scenarios such as urban streets, indoor environments, public places, medical assistance, education and training, outdoor activities, emergencies, social interactions, smart homes, and special environments. Their powerful environmental perception and terrain adaptability make them invaluable assistants to visually impaired individuals, greatly improving their quality of life and independence. Traditional quadrupedal guide robots, however, have limited terrain adaptability and may still struggle on extremely complex terrains (such as steep slopes and muddy surfaces). Furthermore, traditional sensors have limited accuracy and range, resulting in limited environmental perception capabilities. Utility Model Content

[0003] The technical problem to be solved by this utility model is to overcome the shortcomings of the prior art and provide an intelligent quadruped guide robot based on binocular vision. When driving on complex terrain, the robot can control the posture of the mechanical limbs through the mechanical limb adjustment mechanism and adjust the contact angle between the wheels and the ground in a targeted manner, thereby improving the movement stability of the guide robot.

[0004] The present invention relates to an intelligent quadrupedal guide robot based on binocular vision, comprising a body, a guide handrail and a binocular vision module on the top of the body, and four sets of mechanical limb adjustment mechanisms symmetrically arranged on both sides of the body. The output end of each mechanical limb adjustment mechanism is connected to a mechanical limb. Each mechanical limb adjustment mechanism includes a servo motor fixed to the inner wall of the body, and a disc motor on the output shaft of the servo motor. The output shaft of the disc motor passes through the side wall of the body and connects to the mechanical limb. The output shaft of the servo motor is in a horizontal position and parallel to the side wall of the body, while the output shaft of the disc motor is perpendicular to the side wall of the body.

[0005] Preferably, the mechanical limb includes a first link and a second link. One end of the first link is connected to the output shaft of a first disc motor, and the other end is provided with a second disc motor. The output end of the second disc motor is connected to one end of the second link, and the other end of the second link is provided with a third disc motor. The output end of the third disc motor is provided with a wheel.

[0006] Preferably, the binocular vision module includes a stepper motor located on the top of the robot body, and a binocular camera is provided at the output end of the stepper motor, which increases the perception range of the guide robot and helps to better perform guide work.

[0007] Preferably, the machine body is provided with a heat dissipation module, which includes a heat dissipation bracket that runs through the machine body, a heat dissipation motor inside the heat dissipation bracket, and fan blades at the output end of the heat dissipation motor.

[0008] Preferably, the front of the robot body is equipped with an LED light, enabling the guide robot to work around the clock.

[0009] Compared with the prior art, the beneficial effects of this utility model are:

[0010] (1) When driving on complex terrain, this utility model can control the posture of the mechanical limbs through the mechanical limb adjustment mechanism, and specifically adjust the contact angle between the wheels and the ground, thereby improving the motion stability of the guide robot.

[0011] (2) This utility model enables the guide robot to work around the clock by combining LED lights with a binocular vision module. The binocular vision module can rotate, which increases the perception range of the guide robot and helps to better carry out guide work.

[0012] (3) The mechanical limbs can adjust the posture of the body, making it easier for users to grip the guide handrail more comfortably and guide the user to walk. Attached Figure Description

[0013] Figure 1 This is a schematic diagram of the overall structure of this utility model.

[0014] Figure 2 for Figure 1 Top sectional view,

[0015] Figure 3 for Figure 1 Schematic diagram of the adjustment mechanism of the mechanical limb;

[0016] Figure 4 for Figure 1 Schematic diagram of the structure of the mechanical limb;

[0017] Figure 5 for Figure 1 A schematic diagram of the heat dissipation module.

[0018] Figure 6 for Figure 1 A schematic diagram of the structure of the binocular vision module.

[0019] In the image: 1. Guide handrail; 2. Body; 3. Mechanical limb adjustment mechanism; 4. Mechanical limb; 5. Heat dissipation module; 6. Binocular vision module; 7. LED light;

[0020] 3-1 Servo Motor 1; 3-2 Mounting Plate 1; 3-3 Rotary Connecting Block 1; 3-4 Mounting Plate 2; 3-5 Disc Motor 1; 3-6 Rotary Connecting Block 2;

[0021] 4-1. Connecting rod one; 4-2. Disc motor two; 4-3. Rotating connecting block three; 4-4. Connecting rod two; 4-5. Disc motor three; 4-6. Rotating connecting block four; 4-7. Wheel;

[0022] 5-1. Heat dissipation bracket; 5-2. Heat dissipation motor; 5-3. Fan blades;

[0023] 6-1. Mounting plate three; 6-2. Stepper motor; 6-3. Rotary connecting block five; 6-4. Binocular camera. Detailed Implementation

[0024] Example 1

[0025] like Figures 1-2 As shown, the intelligent quadrupedal guide robot based on binocular vision described in this utility model includes a body 2. The top of the body 2 is equipped with a guide handrail 1 and a binocular vision module 6. The front of the body 2 is equipped with an LED light 7. Two sets of heat dissipation modules 5 and four sets of mechanical limb adjustment mechanisms 3 are symmetrically arranged on both sides of the body 2. The output end of the mechanical limb adjustment mechanism 3 is connected to a mechanical limb 4.

[0026] like Figure 3 As shown, the mechanical limb adjustment mechanism 3 includes a servo motor 3-1, a mounting plate 3-2, a rotating connecting block 3-3, a mounting plate 3-4, a disc motor 3-5, and a rotating connecting block 3-6. The mounting plate 3-2 is fixed to the inner wall of the body 2. The servo motor 3-1 is fixedly mounted on the mounting plate 3-2. The output shaft of the servo motor 3-1 is connected to the mounting plate 3-4 via the rotating connecting block 3-3. The mounting plate 3-4 is connected to the disc motor 3-5. The output shaft of the disc motor 3-5 passes through the side wall of the body 2 and is connected to the mechanical limb 4 via the rotating connecting block 3-6. The output shaft of the servo motor 3-1 is in a horizontal position, parallel to the side wall of the body 2, while the output shaft of the disc motor 3-5 is perpendicular to the side wall of the body 2.

[0027] like Figure 4 As shown, the mechanical limb 4 includes a connecting rod 4-1, a disc motor 4-2, a rotating connecting block 4-3, a connecting rod 4-4, a disc motor 4-5, a rotating connecting block 4-6, and a wheel 4-7. The rotating connecting block 4...

[0028] Link 3-6 connects to one end of link 4-1. The other end of link 4-1 is equipped with a disc motor 4-2. The output of disc motor 4-2 is connected to one end of link 4-4 via a rotating connecting block 4-3. The other end of link 4-4 is equipped with a disc motor 4-5. The output of disc motor 4-5 is connected to wheel 47 via a rotating connecting block 4-6. Wheel 4-7 can be replaced with a Mecanum wheel to enable steering for the guide robot.

[0029] like Figure 5As shown, the heat dissipation module 5 includes a heat dissipation bracket 5-1, a heat dissipation motor 5-2, and a fan blade 5-3. The heat dissipation bracket 5-1 passes through the side wall of the body 2 and is fixedly connected to the side wall of the body 2 by screws. The heat dissipation motor 5-2 is installed inside the heat dissipation bracket 5-1, and the fan blade 5-3 is installed at the output end of the heat dissipation motor 5-2. The heat dissipation motor 5-2 drives the fan blade 5-3 to ensure that the inside of the guide robot is kept at a suitable working temperature.

[0030] like Figure 6 As shown, the binocular vision module 6 includes a mounting plate 6-1, a stepper motor 6-2, a rotating connecting block 6-3, and a binocular camera 6-4. The stepper motor 6-2 is fixedly connected to the top of the robot body 2 via the mounting plate 6-1, and its output is connected to the binocular camera 6-4 via the rotating connecting block 6-3. The LED lights 7, working in conjunction with the binocular vision module 6, enable the guide robot to operate around the clock. Furthermore, the rotatable binocular vision module 6 increases the robot's perception range, facilitating better guidance work.

[0031] Working process or working principle:

[0032] Place the guide robot of this invention on the ground. Start the guide robot and wait for the user to select a mode. In voice navigation mode, the robot body 2 remains horizontal, and the guide robot walks close to the user, providing navigation guidance through voice prompts. In hand-held navigation mode, by adjusting the joint angle of the mechanical limb 4, the rear end of the robot body 2 is raised, making it easier for the user to grip the guide handrail 1, thus guiding the user's movement.

[0033] During the movement of the guide robot, the posture of the mechanical limb 4 can be controlled by the mechanical limb adjustment mechanism 3, and the contact angle between the wheels 4-7 and the ground can be adjusted in a targeted manner to adapt to different terrains and improve the movement stability of the guide robot.

[0034] The descriptions of the orientation and relative positional relationships of the structure in this utility model, such as descriptions of front, back, left, right, up, and down, do not constitute a limitation on this utility model, but are merely for the convenience of description.

Claims

1. An intelligent quadrupedal guide robot based on binocular vision, characterized in that, Includes a body (2), the top of which is provided with a guide handrail (1) and a binocular vision module (6), and four sets of mechanical limb adjustment mechanisms (3) are symmetrically provided on both sides of the body (2), and the output end of the mechanical limb adjustment mechanism (3) is connected to a mechanical limb (4); The mechanical limb adjustment mechanism (3) includes a servo motor (3-1) fixed to the inner wall of the body (2). The output shaft of the servo motor (3-1) is provided with a disc motor (3-5). The output shaft of the disc motor (3-5) passes through the side wall of the body (2) and connects to the mechanical limb (4). The output shaft of the servo motor (3-1) is in a horizontal position and parallel to the side wall of the body (2). The output shaft of the disc motor (3-5) is perpendicular to the side wall of the body (2).

2. The intelligent quadrupedal guide robot based on binocular vision according to claim 1, characterized in that, The mechanical limb (4) includes a first link (4-1) and a second link (4-4). One end of the first link (4-1) is connected to the output shaft of a first disc motor (3-5), and the other end is provided with a second disc motor (4-2). The output end of the second disc motor (4-2) is connected to one end of the second link (4-4), and the other end of the second link (4-4) is provided with a third disc motor (4-5). The output end of the third disc motor (4-5) is provided with a wheel (4-7).

3. The intelligent quadrupedal guide robot based on binocular vision according to claim 2, characterized in that, The binocular vision module (6) includes a stepper motor (6-2) located on the top of the body (2), and a binocular camera (6-4) is provided at the output end of the stepper motor (6-2).

4. The intelligent quadrupedal guide robot based on binocular vision according to claim 3, characterized in that, The body (2) is provided with a heat dissipation module (5). The heat dissipation module (5) includes a heat dissipation bracket (5-1) that runs through the body (2). The heat dissipation bracket (5-1) is provided with a heat dissipation motor (5-2) inside. The output end of the heat dissipation motor (5-2) is provided with fan blades (5-3).

5. The intelligent quadrupedal guide robot based on binocular vision according to claim 4, characterized in that, The front end of the fuselage (2) is equipped with an LED light (7).

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