Mobile robot

Abstract

A mobile robot, comprising: a mobile base (200), which is configured, on the basis of a received control instruction, to move to any position or pause at any position and determine an orientation; a robotic arm (100), which is arranged on the mobile base (200) and configured to move a target object from a material picking position to a material placing position; and a first camera support mechanism (300), wherein the first camera support mechanism (300) is arranged on a rotating base (102) of the robotic arm (100) to rotate along with the rotating base (102), and the first camera support mechanism (300) is at least provided with a first visual perception module. By means of the mobile robot, the imaging efficiency for a target box can be improved, thereby improving the efficiency of the robotic arm in grasping the target box.

Description

Mobile robot TECHNICAL FIELD

[0001] The present disclosure relates to an intelligent device, in particular to a mobile robot. BACKGROUND

[0002] Robots are intelligent devices with sensors, objectives and electronic optical systems, which can quickly sort and transport goods.

[0003] More and more visual sensors and force sensors will be used on robots, and robots will become more and more intelligent. With the progress of sensing and recognition systems, artificial intelligence and other technologies, robots are developing from being controlled in one direction to storing and applying data themselves, and gradually becoming information-based.

[0004] In order to expand the application scenarios and application range of robots, the prior art installs robots on a mobile base to manufacture a mobile robot, so as to realize the movement of the robot to realize mobile unstacking and mobile picking functions. However, in order to realize the rapid operation of the mobile robot, how to realize the physical visual information collection is a problem to be solved. SUMMARY

[0005] The purpose of the present disclosure is to provide a mobile robot.

[0006] The mobile robot provided by the present disclosure comprises:

[0007] A mobile base is used to move to any position or pause at any position and determine the orientation according to the received control instructions.

[0008] A mechanical arm is arranged on the mobile base and is used to move a target object on a picking position to a placing position.

[0009] A first camera support mechanism is arranged on a rotating seat of the mechanical arm to rotate with the rotating seat, and at least a first visual perception module is arranged on the first camera support mechanism.

[0010] According to one embodiment of the present disclosure, the first camera support mechanism is arranged on the first rotating drive module, and the first rotating drive module is arranged on the rotating seat.

[0011] The first camera support mechanism is arranged on the first rotating drive module, and the first rotating drive module is arranged on the rotating seat.

[0012] The first rotating drive module is used to drive the first camera support mechanism to rotate, thereby driving the first visual perception module to rotate.

[0013] According to one embodiment of the present disclosure, the first camera support mechanism is arranged on the first rotating drive module, and the first rotating drive module is arranged on the rotating seat.

[0014] The gimbal mechanism is arranged at the end of the first camera support mechanism; the first visual perception module is installed on the gimbal mechanism.

[0015] The gimbal mechanism is arranged at the end of the first camera support mechanism; the first visual perception module is installed on the gimbal mechanism.

[0016] According to one embodiment of the present application, the gimbal mechanism is arranged at the end of the first camera support mechanism; the first visual perception module is installed on the gimbal mechanism.

[0017] The gimbal mechanism is arranged at the end of the first camera support mechanism; the first visual perception module is installed on the gimbal mechanism.

[0018] The gimbal mechanism is arranged at the end of the first camera support mechanism; the first visual perception module is installed on the gimbal mechanism.

[0019] According to one embodiment of the present application, the rotating seat is configured to rotate around a first axis.

[0020] The first camera support mechanism is configured to rotate around a second axis parallel to the first axis, wherein the first axis and the second axis are spatially separated.

[0021] According to one embodiment of the present application, the rotating seat and the first camera support mechanism are configured to rotate around the same axis.

[0022] According to one embodiment of the present application, the second camera support mechanism is arranged on the rotating seat.

[0023] The first camera support mechanism and the second camera support mechanism are arranged on the rotating seat of the mechanical arm.

[0024] The second camera support mechanism is arranged on the rotating seat of the mechanical arm.

[0025] According to one embodiment of the present application, the height of the second camera support mechanism is lower than that of the first camera support mechanism.

[0026] According to one embodiment of the present application, the second camera support mechanism is coaxially arranged with the rotating seat.

[0027] According to one embodiment of the present application, the second camera support mechanism is arranged on the rotating seat.

[0028] The second camera support mechanism is arranged on the moving base.

[0029] The second camera support mechanism is arranged on the moving base.

[0030] According to one embodiment of the present application, the second camera support mechanism is arranged on the moving base.

[0031] The second camera support mechanism is arranged on the rotation driving module; and the second rotation driving module is arranged on the rotating seat.

[0032] The second rotation driving module is configured to drive the second visual perception module to rotate.

[0033] According to an embodiment of the present application, the robot further comprises a second rotation driving module.

[0034] The second camera support mechanism is arranged on the rotation driving module; and the second rotation driving module is arranged on the rotating seat.

[0035] The second rotation driving module is configured to drive the second camera support mechanism to rotate, thereby driving the second visual perception module to rotate.

[0036] According to an embodiment of the present application, the robot further comprises a second rotation driving module.

[0037] The fixed seat is arranged on the moving base, the rotating seat is rotationally connected to the fixed seat, and the lower end of the mechanical arm body is connected to the rotating seat and can rotate along the axial direction of the rotating seat.

[0038] According to an embodiment of the present application, the rotating seat is configured to rotate around a first axis.

[0039] The first camera support mechanism is configured to rotate around a second axis, wherein the first axis and the second axis are spatially separated and non-parallel.

[0040] According to an embodiment of the present application, the robot further comprises a second visual perception module.

[0041] The second visual perception module is arranged on the front side of the moving base.

[0042] According to an embodiment of the present application, the first camera support mechanism adopts a liftable lifting column.

[0043] According to an embodiment of the present application, the first camera support mechanism is provided with a first visual perception module and a second visual perception module; and the second visual perception module is arranged between the first visual perception module and the rotating seat. BRIEF DESCRIPTION OF DRAWINGS

[0044] In order to more clearly illustrate the technical solutions in the embodiments of the present disclosure or the prior art, the following will briefly introduce the drawings needed to be used in the embodiments or prior art description. Obviously, the drawings in the following description are only embodiments of the present disclosure, and for those skilled in the art, other drawings can also be obtained from the provided drawings without creative labor. Other features, objects and advantages of the present disclosure will become more apparent through reading the following detailed description of the non-limiting embodiments with reference to the following drawings:

[0045] Fig. 1 is a structural schematic diagram of a mobile robot in a first embodiment of the present disclosure;

[0046] Fig. 2 is a structural schematic diagram of a mobile robot in a second embodiment of the present disclosure;

[0047] Fig. 3 is a structural schematic diagram of a mobile robot in a third embodiment of the present disclosure;

[0048] Fig. 4 is a structural schematic diagram of a mobile robot in a fourth embodiment of the present disclosure;

[0049] Fig. 5 is a structural schematic diagram of a mobile robot in a fifth embodiment of the present disclosure;

[0050] Fig. 6 is a structural schematic diagram of a camera support mechanism in the second embodiment of the present disclosure;

[0051] Fig. 7 is a structural schematic diagram of a mechanical arm in the fifth embodiment of the present disclosure;

[0052] Fig. 8 is a schematic diagram of the positional relationship between a first camera support mechanism and a second camera support mechanism in the fifth embodiment of the present disclosure;

[0053] Fig. 9 is a structural schematic diagram of a camera support mechanism in the fourth embodiment of the present disclosure;

[0054] Fig. 10 is a schematic diagram of the cooperation relationship between a mechanical arm and a camera support mechanism in a sixth embodiment of the present disclosure; and

[0055] Fig. 11 is a schematic diagram of the cooperation relationship between a mechanical arm and a camera support mechanism in a seventh embodiment of the present disclosure.

[0056] In the figure, 100 is a mechanical arm; 101 is a base; 102 is a rotating seat; 103 is a first joint module; 104 is a second joint module; 105 is a large arm link; 106 is a small arm link; 107 is a wrist; 200 is a mobile base; 300 is a first camera support mechanism; 3011 is a support motor; 3012 is a hollow shaft rotating platform; 3013 is a support column; 3014 is a mounting chassis; 3015 is a 2D camera; 3016 is a first laser radar; 3017 is a second laser radar; 400 is an end effector; 500 is a second camera support mechanism; 501 is a support motor unit; 502 is a hollow shaft rotating mechanism; 503 is a support frame; 5031 is a first support leg; 5032 is a second support leg; 504 is a first laser radar unit; 505 is a 2D camera unit; 506 is a second laser radar unit; 507 is a mounting seat. DETAILED DESCRIPTION

[0057] The present disclosure will be described in detail below with specific reference being made to the drawings. The following examples serve to further illustrate the present disclosure and are not to be construed as limiting the same in any manner. It should be noted that, for those skilled in the art, several modifications and improvements can be made without departing from the spirit of the present disclosure. These are all within the scope of the present disclosure.

[0058] It should be noted that when an element is referred to as being "fixed" or "disposed" on another element, it can be directly on the other element or indirectly on the other element with intervening elements present. When an element is referred to as being "connected" or "coupled" to another element, it can be directly connected or coupled to the other element or indirectly connected or coupled to the other element with intervening elements present. In addition, the connection can be for fixing or for electrical circuit communication.

[0059] It should be understood that the terms "length", "width", "upper", "lower", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", and the like, indicate relative or positional relationships based on the orientation or position shown in the drawings, and are merely used to facilitate the description of the embodiments of the present disclosure and simplify the description, and therefore cannot be understood as indicating or implying that the devices or elements referred to must have a particular orientation, be constructed and operated in a particular orientation, and therefore cannot be understood as limiting the present disclosure.

[0060] In addition, the terms "first", "second", etc. are used only for descriptive purposes and cannot be understood as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Therefore, the features defined with "first", "second" can explicitly or implicitly include one or more of the features. In the description of the embodiments of the present disclosure, the meaning of "a plurality of" is two or more, unless otherwise specifically limited.

[0061] Fig. 1 is a structural schematic diagram of a mobile robot in a first embodiment of the present disclosure. As shown in Fig. 1, the mobile robot provided by the present disclosure comprises:

[0062] a mobile base 200 configured to move to an arbitrary position or pause at an arbitrary position and determine an orientation angle according to a received control instruction;

[0063] a mechanical arm 100 disposed on the mobile base 200 and configured to move a target object on a picking position to a placing position;

[0064] a first camera support mechanism 300 disposed on a rotating seat 102 of the mechanical arm 100 and configured to rotate with the rotating seat 102, wherein the first camera support mechanism 300 is provided with at least a first visual perception module.

[0065] In an embodiment of the present disclosure, the first camera support mechanism comprises a liftable lifting column.

[0066] In an embodiment of the present disclosure, the rotating seat 102 is configured to rotate around a first axis.

[0067] The first camera support mechanism 300 is configured to rotate around a second axis parallel to the first axis, wherein the first axis and the second axis are spatially separated.

[0068] In an embodiment of the present disclosure, the mobile robot further comprises a second visual perception module.

[0069] The second visual perception module is disposed on a front side of the mobile base.

[0070] The first visual perception module and the second visual perception module are configured to cooperate to expand the imaging range in the vertical direction and realize clear imaging in the field of view. The first visual perception module and the second visual perception module can adopt any one or any two of a structured light camera, a TOF camera or a binocular camera.

[0071] In an embodiment of the present disclosure, the mobile robot provided by the present disclosure further comprises a first rotation driving module.

[0072] The first camera support mechanism 300 is disposed on the first rotation driving module; and the first rotation driving module is disposed on the rotating seat 102.

[0073] The first rotation driving module is configured to drive the first camera support mechanism 300 to rotate, thereby driving the first visual perception module to rotate.

[0074] In an embodiment of the present disclosure, the first visual perception module is configured to acquire image information of the target box and a box stack formed by the target box.

[0075] The first visual perception module comprises a 2D camera 3015 configured to acquire an RGB image of the target box and a stack of boxes formed by the target box, and a laser radar configured to acquire point cloud image information of the target box and the stack of boxes formed by the target box.

[0076] The processor unit is configured to acquire the RGB image and the point cloud image information, detect a region of each target box on the RGB image by using a pre-set deep learning model, project the RGB image in which the position of each target box is detected into the point cloud image, determine a pose of each target box according to corresponding point clouds of the target box, and send the pose of each target box to the robot arm 100, so that the robot arm 100 performs a grabbing action on the target box.

[0077] In an embodiment of the present disclosure, in order to expand the imaging range, the laser radar can comprise a first laser radar 3016 and a second laser radar 3017.

[0078] The first laser radar 3016 and the second laser radar 3017 are symmetrically arranged back to back on the camera support mechanism, and can form a field of view angle of 330° along the circumferential direction of the camera support mechanism.

[0079] The 2D camera is provided with a first wide-angle lens, which is a fisheye lens, so the 2D camera is also called a first fisheye camera 304. The first fisheye camera 304 is arranged between the first laser radar 3016 and the second laser radar 3017.

[0080] The imaging field of view of the first fisheye camera 304 is associated with the imaging field of view of the first laser radar 3016 and the second laser radar 3017 by calibration.

[0081] In an embodiment of the present disclosure, the robot arm 100 can be a multi-axis robot arm such as a six-axis robot arm, a four-axis robot arm, an eight-axis robot arm, or can also be a Scara robot arm having three rotary joints and capable of being applied to assembly work, or a Delta robot capable of achieving high-precision picking, and the like. It should be noted that in actual application scenarios, any automated device capable of achieving grabbing and transporting functions can be applied to the technical solution of the present disclosure.

[0082] FIG. 2 is a structural schematic diagram of a mobile robot in a second embodiment of the present disclosure. As shown in FIG. 2, the robot arm 100 can be not only an industrial robot arm but also a collaborative robot arm.

[0083] The end of the mechanical arm 100 is provided with an end effector 400; the end effector 400 can adopt a suction tool or a clamp.

[0084] Figure 3 is a structural schematic diagram of a mobile robot in a third embodiment of the present disclosure. As shown in Figure 3, in an embodiment of the present disclosure, the rotating seat 102 of the mechanical arm 100 is provided with a first camera support mechanism 300 and a second camera support mechanism 500; and the first camera support mechanism 300 and the second camera support mechanism 500 are respectively located on both sides of the mechanical arm 100.

[0085] The first camera support mechanism 300 is provided with a first visual perception module, and the second camera support mechanism 500 is provided with another first visual perception module.

[0086] Through the cooperation of the two visual perception modules on the first camera support mechanism 300 and the second camera support mechanism 500, the imaging of the entire box stack on the front side of the mobile base 200 or the imaging of the entire box stack on the front side and the box stack on the roller line connected by the two mobile robots is realized.

[0087] Meanwhile, the setting of the double-camera support column can provide a 360° field of view for the mobile robot in the present disclosure, avoid the interference of the mechanical arm 100 on the vision, and meet the visual needs of the feeding and discharging of multiple trays at the same time.

[0088] Figure 4 is a structural schematic diagram of a mobile robot in a fourth embodiment of the present disclosure. As shown in Figure 4, the rotating seat 102 and the first camera support mechanism 300 are configured to rotate around the same axis.

[0089] Figure 5 is a structural schematic diagram of a mobile robot in a fifth embodiment of the present disclosure. As shown in Figure 5, in an embodiment of the present disclosure, the rotating seat 102 of the mechanical arm 100 is provided with a first camera support mechanism 300 and a second camera support mechanism 500; and the first camera support mechanism 300 and the second camera support mechanism 500 are simultaneously located on one side of the mechanical arm body; the second camera support mechanism 500 is located between the first camera support mechanism 300 and the mechanical arm body.

[0090] The first camera support mechanism 300 is provided with a first visual perception module, and the second camera support mechanism 500 is provided with a second visual perception module.

[0091] When picking up the stack, the first visual perception module is opposite to the second visual perception module, when the mechanical arm 100 rotates the picked box to the front side to place the picked target box on the conveying belt or the moving base, at this time, the second visual perception module can take a picture of the stack and recognize the box pose;

[0092] In some embodiments, for the box on the upper position of the stack, the first rotating drive module drives the first camera support mechanism 300 to rotate to keep the first visual perception module facing the front side, at this time, the first visual perception module can still take a picture of the stack and recognize the box pose.

[0093] In actual use, a height threshold can be set, for the box higher than the height threshold, the first visual perception module is used to collect image information, and for the box lower than the height threshold, the second visual perception module is used to collect image information.

[0094] In some embodiments of the present disclosure, the second camera support mechanism 500 is coaxially arranged with the rotating seat 102.

[0095] FIG. 6 is a structural schematic diagram of the camera support mechanism in the second embodiment of the present disclosure, as shown in FIG. 6, the first camera support mechanism 300 includes a mounting base and a support column 3013;

[0096] The mounting base is connected to the rotating seat 102 through a mounting bottom plate;

[0097] The support column 3013 is arranged on the mounting base, and the mounting base is used to drive the support column 3013 to rotate;

[0098] The visual perception module is arranged at the top end of the support column 3013 to rotate with the support column 3013.

[0099] In an embodiment of the present disclosure, the visual perception module includes a 2D camera 3015 and a laser radar;

[0100] The 2D camera 3015 and the laser radar are used to cooperate to realize image information collection of the target box or the box stack formed by the target box;

[0101] The laser radar includes a first laser radar 3016 and a second laser radar 3017;

[0102] The first laser radar 3016 and the second laser radar 3017 are symmetrically arranged back to back on the support column 3013;

[0103] The 2D camera 3015 is arranged between the first laser radar 3016 and the second laser radar 3017.

[0104] The visual perception module is arranged at the top end of the support column 3013 through the mounting chassis 30144.

[0105] The mounting base comprises a hollow shaft rotating platform 3012 and a support motor 3011.

[0106] The power output end of the support motor 3011 is connected to the motor connection port of the hollow shaft rotating platform 3012.

[0107] The support column 3013 is arranged on the rotating platform of the hollow shaft rotating platform 3012.

[0108] The support motor 3011 is configured to drive the support column 3013 to rotate through the hollow shaft rotating platform 3012.

[0109] Figure 7 is a structural schematic diagram of a mechanical arm in the fifth embodiment of the present disclosure. As shown in Figure 7, the cross section of the support column 3013 is rectangular. A binocular camera is arranged at the top end of the support column 3013 as the visual perception module. In a variant, other types of depth cameras can also be used as the visual perception module. The visual perception module composed of a 2D camera 3015 and two laser radars as described above can also be used.

[0110] Figure 8 is a schematic diagram of the positional relationship between the first camera support mechanism 300 and the second camera support mechanism in the fifth embodiment of the present disclosure. As shown in Figure 8, the first camera support mechanism 300 is arranged on a mounting base plate, and the second camera support mechanism comprises a first support leg 5031 and a second support leg 5032. One end of the first support leg 5031 and the second support leg 5032 is connected to each other, and the other end is connected to the mounting base plate.

[0111] The second visual perception module is arranged on the first support leg 5031 or the second support leg 5032.

[0112] Figure 9 is a structural schematic diagram of a camera support mechanism in the fourth embodiment of the present disclosure. As shown in Figure 9, the second camera support mechanism comprises a support frame 503, a base, and a mounting seat 507.

[0113] The support frame 503 is connected to the rotating seat 102 of the mechanical arm 100.

[0114] The base is arranged on the top side of the support frame 503.

[0115] The mounting seat 507 is arranged on the base. The base is configured to drive the mounting seat 507 to rotate.

[0116] The visual perception module is arranged on the mounting seat 507 to rotate with the mounting seat 507.

[0117] The base comprises a hollow shaft rotating mechanism 502 and a bracket motor unit 501.

[0118] The power output end of the bracket motor unit 501 is connected to the motor connection port of the hollow shaft rotating mechanism 502.

[0119] The mounting seat 507 is arranged on the rotating platform of the hollow shaft rotating mechanism 502.

[0120] The bracket motor unit 501 is configured to drive the mounting seat 507 to rotate through the hollow shaft rotating mechanism 502.

[0121] In the embodiments of the present disclosure, the bracket motor unit 501 is configured to drive the mounting seat 507 to rotate in a direction opposite to the rotating direction of the rotating seat 102, so as to maintain the image information collection of the target box or the box stack formed by the target box at the front side of the mobile base 200.

[0122] In an embodiment of the present disclosure, the mobile robot provided by the present disclosure further comprises a gimbal mechanism.

[0123] The gimbal mechanism is arranged at the end of the first camera support mechanism 300, and the first visual perception module is mounted on the gimbal mechanism.

[0124] The gimbal mechanism is configured to drive the first visual perception module to perform pitching or rotating motion.

[0125] The mechanical arm 100 comprises a mechanical arm body, a fixed seat, and a rotating seat 102.

[0126] The fixed seat is arranged on the mobile base 200, the rotating seat 102 is rotationally connected to the fixed seat, and the lower end of the mechanical arm body is connected to the rotating seat 102, so that the mechanical arm body can rotate along the axial direction of the rotating seat 102.

[0127] In this variant, the rotating seat 102 can be arranged as the first rotating joint of the mechanical arm 100, and the camera support mechanism is arranged on the rotating seat 102.

[0128] Figure 10 is a schematic diagram of the cooperation relationship between the mechanical arm and the camera support mechanism in the sixth embodiment of the present disclosure, as shown in Figure 10, the first camera support mechanism 300 is provided with a first visual perception module and a second visual perception module; the second visual perception module is arranged between the first visual perception module and the rotating seat 102;

[0129] The rotating seat 102 is configured to rotate around a first axis.

[0130] The first camera support mechanism 300 is configured to rotate around a second axis, wherein the first axis and the second axis are spatially separated and non-parallel.

[0131] In an embodiment of the present disclosure, the included angle between the first camera support mechanism 300 and the first axis is between 0° and 10°, which can be set to 1°, 5°, 9°, etc., and in a variant, a larger angle can also be set.

[0132] Figure 11 is a schematic diagram of the cooperation relationship between the mechanical arm and the camera support mechanism in the seventh embodiment of the present disclosure, as shown in Figure 11, the mechanical arm 100 includes a base 101 and a multi-axis mechanical arm; the base 101 is arranged on the mobile base 200, and a rotating seat 102 is arranged thereon, the rotating seat 102 is connected to the multi-axis mechanical arm; an installation bottom plate is connected to the outer wall of the rotating seat 102, and a camera support mechanism is arranged on the installation bottom plate, and a visual perception module is arranged on the camera support mechanism;

[0133] The multi-axis mechanical arm includes a large arm link 105 and a small arm link 106; the small arm link 106 is connected to the rotating seat 102 through the large arm link 105; the small arm link 106 is located on one side of the large arm link 105, and the camera support mechanism is located on the other side of the large arm link 105. That is, the small arm link and the camera support are arranged on both sides of the large arm link respectively, which avoids visual occlusion of the visual perception module by the small arm link and improves the imaging range and imaging quality of the visual perception module.

[0134] In an embodiment of the present disclosure, the multi-axis mechanical arm includes a first joint module 103, a second joint module 104, a large arm link 105, a small arm link 106, and a multi-degree-of-freedom wrist 107;

[0135] The output end of the first joint module 103 is connected to the connection end of the rotating seat 102, and the connection end of the first joint module 103 is connected to the lower end of the large arm link 105.

[0136] The upper end of the large arm rod 105 is connected to the connecting end of the second joint module 104, and the output end of the second joint module 104 is connected to one end of the small arm rod 106.

[0137] In an embodiment of the present disclosure, the axial directions of the first joint module 103 and the second joint module 104 are parallel to each other and perpendicular to the axial direction of the rotating seat 102. The rotating seat 102 also adopts a joint module.

[0138] In an embodiment of the present disclosure, the wrist 107 includes a third joint module, a fourth joint module, a fifth joint module, and a hollow flange.

[0139] The other end of the small arm rod 106 is connected to the connecting end of the third joint module, and the output end of the third joint module is connected to the connecting end of the fourth joint module.

[0140] The output end of the fourth joint module is connected to the connecting end of the fifth joint module, and the output end of the fifth joint module is connected to the hollow flange.

[0141] In an embodiment of the present disclosure, a mechanical arm is arranged on a moving base, the mechanical arm including a mechanical arm body, a fixed seat, and a rotating seat; the fixed seat is arranged on the moving base, the rotating seat is rotationally connected to the fixed seat, the lower end of the mechanical arm body is connected to the rotating seat and can rotate along the axial direction of the rotating seat, and a camera supporting mechanism is arranged on the rotating seat or the moving base, and a visual perception module is arranged on the camera supporting mechanism, so that the visual perception module can rotate with the mechanical arm and can also rotate through the camera supporting mechanism, thereby improving the imaging efficiency of a target box and the efficiency of the mechanical arm in grabbing the target box.

[0142] The embodiments in the present specification are described in a progressive manner, and each embodiment focuses on the differences from other embodiments. The same or similar parts of each embodiment can be referred to each other. The above description of the disclosed embodiments enables a person skilled in the art to implement or use the present disclosure. Various modifications to the embodiments will be apparent to those skilled in the art, and the general principles defined herein can be implemented in other embodiments without departing from the spirit or scope of the present disclosure. Therefore, the present disclosure will not be limited to the embodiments shown herein, but will conform to the widest scope consistent with the principles and novel features disclosed herein.

[0143] The specific embodiments of the present disclosure are described above. It needs to be understood that the present disclosure is not limited to the above specific embodiments, and various modifications or changes can be made by those skilled in the art within the scope of the claims, which does not affect the essence of the present disclosure.

Claims

1. A mobile robot comprising: a mobile base configured to move to an arbitrary position or pause at an arbitrary position and determine an orientation according to a received control instruction; a robot arm disposed on the mobile base and configured to move a target object at a pick-up position to a drop-off position; a first camera support mechanism disposed on a rotating base of the robot arm and configured to rotate with the rotating base, the first camera support mechanism having at least a first vision perception module disposed thereon.

2. The mobile robot of claim 1, wherein, a first rotation driving module is further included; the first camera support mechanism is disposed on the first rotation driving module; the first rotation driving module is disposed on the rotating base; the first rotation driving module is configured to drive the first camera support mechanism to rotate, thereby driving the first vision perception module to rotate.

3. The mobile robot of claim 1, wherein, a gimbal mechanism is further included; the gimbal mechanism is disposed at a distal end of the first camera support mechanism; the first vision perception module is mounted on the gimbal mechanism; the gimbal mechanism is configured to drive the first vision perception module to perform a pitch motion and a rotation motion.

4. The mobile robot of claim 2, wherein, a gimbal mechanism is further included; the gimbal mechanism is disposed at a distal end of the first camera support mechanism; the first vision perception module is mounted on the gimbal mechanism; the gimbal mechanism is configured to drive the first vision perception module to perform a pitch motion. 5.The mobile robot of claim 1, wherein the rotating base is configured to rotate about a first axis; the first camera support mechanism is configured to rotate about a second axis parallel to the first axis, wherein the first axis and the second axis are spatially separated.

6. The mobile robot of claim 1, wherein, the rotating base and the first camera support mechanism are configured to rotate about the same axis.

7. The mobile robot of claim 1, wherein, a second camera support mechanism is further included; the rotating base of the robot arm has the first camera support mechanism and the second camera support mechanism disposed thereon, respectively; the second camera support mechanism has a second vision perception module disposed thereon.

8. The mobile robot of claim 7, wherein, the second camera support mechanism has a height lower than that of the first camera support mechanism.

9. The mobile robot of claim 7, wherein, the second camera support mechanism is coaxially disposed with the rotating base.

10. The mobile robot of claim 1, wherein, a second camera support mechanism is further included; the second camera support mechanism is disposed on the mobile base; the second camera support mechanism has a second vision perception module disposed thereon.

11. The mobile robot of claim 7, wherein, a second rotation driving module is further included; the second camera support mechanism is disposed on the second rotation driving module; the second rotation driving module is disposed on the rotating base; the second rotation driving module is configured to drive the second vision perception module to rotate.

12. The mobile robot of claim 10, wherein, a second rotation driving module is further included; the second camera support mechanism is disposed on the second rotation driving module; the second rotation driving module is disposed on the mobile base; the second rotation driving module is configured to drive the second camera support mechanism to rotate, thereby driving the second vision perception module to rotate.

13. The mobile robot of claim 8, wherein, the robot arm comprises a robot arm body, a fixed base, and a rotating base; the fixed base is disposed on the mobile base; the rotating base is rotationally connected to the fixed base; a lower end of the robot arm body is connected to the rotating base, and the robot arm body can rotate along an axial direction of the rotating base. 14.The mobile robot of claim 1, wherein The rotating seat is configured to rotate around a first axis; The first camera support mechanism is configured to rotate around a second axis, wherein the first axis and the second axis are spatially separated and non-parallel.

15. The mobile robot of claim 1, wherein, A second visual perception module is further included; The second visual perception module is arranged on the front side of the mobile base.

16. The mobile robot of claim 1, wherein, The first camera support mechanism adopts a liftable lifting column.

17. The mobile robot of claim 14, wherein, The first camera support mechanism is provided with a first visual perception module and a second visual perception module; the second visual perception module is arranged between the first visual perception module and the rotating seat.

Images