Robot vision analysis and tracking method and apparatus

Abstract

The present invention relates to the technical field of robots. Disclosed are a robot vision analysis and tracking method and apparatus. The present invention comprises a robot body and a carrying assembly, wherein the left side of the robot body is fixedly connected to a vision probe; a recess is formed at the top of the robot body; a pressure sensor is fixedly connected at the bottom of an inner cavity of the recess; limiting grooves are formed on the front and back sides of the recess; an electric telescopic rod is provided in an inner cavity of each limiting groove; the side of the electric telescopic rod close to the inner wall of the limiting groove is fixedly connected to the inner wall of the limiting groove. An objective of the present invention is to provide a robot vision analysis and tracking method and apparatus. By means of coordinated arrangement of the robot body, the vision probe, the recess, the pressure sensor, the limiting grooves, the electric telescopic rods, the carrying assembly, and an insertion rod, the present invention solves the problem in the prior art that existing robot vision analysis and tracking methods and apparatuses do not involve object transfer by robots on bumpy roads.

Description

Robot vision analysis tracking method and device TECHNICAL FIELD

[0001] The present application belongs to the technical field of robots, in particular relates to a robot vision analysis tracking method and device. BACKGROUND

[0002] Robots are intelligent machines that can work semi-autonomously or autonomously. Robots can perform tasks such as work or movement through programming and automatic control.

[0003] Robots use vision analysis devices to provide visual information to the robots, so that the robots can move along the designated route. Robots are very common in today's society, including robots used for express delivery. However, the existing robots directly place the goods on the top for transportation. However, this transportation method can only move on the designated route and flat road, and therefore cannot be used on bumpy roads.

[0004] To this end, we provide a robot vision analysis tracking method and device to solve the above problems.

[0005] SUMMARY

[0006] The purpose of the present application is to provide a robot vision analysis tracking method and device, which solves the problem of the robot vision analysis tracking method and device in the prior art that does not have the function of transporting goods on bumpy roads by cooperating the robot body, the vision probe, the groove, the pressure sensor, the limiting slot, the electric telescopic rod, the bearing assembly and the insertion rod.

[0007] To solve the above technical problems, the present application is realized by the following technical scheme:

[0008] The present application is a robot vision analysis tracking method and device, which comprises a robot body and a bearing assembly. The left side of the robot body is fixedly connected with a vision probe. The top of the robot body is provided with a groove. The bottom of the inner cavity of the groove is fixedly connected with a pressure sensor. The front and rear sides of the two sides of the groove are provided with limiting slots. The inner cavity of the limiting slot is provided with an electric telescopic rod. The side of the electric telescopic rod close to the inner wall of the limiting slot is fixedly connected with the inner wall of the limiting slot. The side of the electric telescopic rod away from the inner wall of the limiting slot is fixedly connected with an insertion rod.

[0009] The bearing assembly comprises a base. The front and rear sides of the two sides of the base are provided with limiting holes. The inner cavity of the limiting hole is connected with the insertion rod. The inner cavity of the base is movably connected with a limiting shell. Four dampers are fixedly connected between the inner cavity of the limiting shell and the base. The top of the limiting shell is fixedly connected with a placing frame.

[0010] The base is movably connected to the inner wall of the groove on the side close to the inner wall of the groove, and the bottom of the base is movably connected to the pressure sensor.

[0011] The bottom of the surface of the damper is sleeved with a limiting ring, and the bottom of the limiting ring is fixedly connected to the inner wall of the base.

[0012] The front side and the rear side of the inner cavity of the base are both provided with a sliding groove, and the inner cavity of the sliding groove is movably connected with a sliding block, and the side close to the limiting shell of the sliding block is fixedly connected to the limiting shell.

[0013] The surface of the side close to the inner wall of the robot body of the electric telescopic rod is fixedly connected with a fixing ring, and the side close to the inner wall of the limiting groove of the fixing ring is fixedly connected to the inner wall of the limiting groove.

[0014] The surface of the plug rod is slidably connected with a sliding sleeve, and the side close to the inner wall of the limiting groove of the sliding sleeve is fixedly connected to the inner wall of the limiting groove.

[0015] The output end of the robot body is electrically connected to the input end of the electric telescopic rod, and the output end of the robot body is electrically connected to the input end of the pressure sensor.

[0016] The opening of the groove is chamfered, and the robot body and the visual probe are bidirectionally electrically connected.

[0017] The top of the two sides of the placing frame is provided with a positioning groove.

[0018] The use method of the robot visual analysis tracking method is as follows:

[0019] The visual probe feeds back target information according to the detected target, determines target coordinates through image analysis and GPS positioning, adjusts the posture of the robot, determines the turning angle of the robot, issues a command to the robot, and the robot advances.

[0020] The present application has the following advantages:

[0021] 1. The application stores the articles by placing the frame, in the initial stage, the plug rod is completely in the inner cavity of the limiting groove, the user places the base into the inner cavity of the groove, when the bottom of the base contacts the pressure sensor, the pressure sensor then feeds back information to the robot body, and then the robot body commands the electric telescopic rod to drive the plug rod into the inner cavity of the limiting hole, thereby fixing the base, so that the robot body can transport the articles inside the placing frame on uneven roads.

[0022] 2. The application sets the limiting ring, which plays a fixing role on the damper, sets the sliding groove and the sliding block in cooperation, which plays a limiting role on the limiting shell, sets the fixing ring, which plays a fixing role on the electric telescopic rod, sets the sliding sleeve, which plays a limiting role on the plug rod, the chamfered groove facilitates the user to place the base into the inner cavity of the groove, the visual probe feeds back target information according to the detected target, determines the target coordinates through image analysis and GPS positioning, adjusts the robot posture, determines the robot turning angle, issues a command to the robot, the robot advances, detects whether there are obstacles at the coordinates of the place that the robot needs to reach, and if there are no obstacles, commands the robot to stop advancing when it reaches the specified position.

[0023] Of course, any product implementing the present application does not necessarily need to achieve all the advantages described above. BRIEF DESCRIPTION OF DRAWINGS

[0024] In order to more clearly illustrate the technical solutions of the embodiments of the present application, the following will briefly introduce the drawings needed to be used in the embodiment description. Obviously, the drawings in the following description are only some embodiments of the present application, and other drawings can also be obtained by those skilled in the art without creative labor.

[0025] Fig. 1 is a structure perspective view of a robot visual analysis tracking method and device;

[0026] Fig. 2 is a robot body sectional view of a robot visual analysis tracking method and device;

[0027] Fig. 3 is an enlarged view of A in Fig. 2 of a robot visual analysis tracking method and device;

[0028] Fig. 4 is a bearing assembly schematic view of a robot visual analysis tracking method and device;

[0029] Fig. 5 is a split sectional view of a partial structure of a robot visual analysis tracking method and device;

[0030] Fig. 6 is a flowchart of a robot visual analysis tracking method and device.

[0031] In the drawings: 1, robot body; 2, visual probe; 3, groove; 4, pressure sensor; 5, limiting groove; 6, electric telescopic rod; 7, bearing assembly; 701, base; 702, limiting hole; 703, damper; 704, limiting shell; 705, placing frame; 706, limiting ring; 707, sliding groove; 708, sliding block; 8, fixed ring; 9, sliding sleeve; 10, insertion rod. DETAILED DESCRIPTION

[0032] The technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the drawings in the embodiments of the present application. Obviously, the described embodiments are only part of the embodiments of the present application, rather than all the embodiments. Based on the embodiments in the present application, all other embodiments obtained by those skilled in the art without creative work fall within the scope of protection of the present application.

[0033] Embodiment one

[0034] Please refer to FIGS. 1-6, the present application is a kind of robot vision analysis tracking method and device, including robot body 1 and bearing assembly 7, the left side of robot body 1 is fixedly connected with visual probe 2, the top of robot body 1 is provided with groove 3, the bottom of the inner cavity of groove 3 is fixedly connected with pressure sensor 4, the front side and the back side of the two sides of groove 3 are provided with limiting groove 5, the inner cavity of limiting groove 5 is provided with electric telescopic rod 6, the side of electric telescopic rod 6 close to the inner wall of limiting groove 5 is fixedly connected with the inner wall of limiting groove 5, the side of electric telescopic rod 6 away from the inner wall of limiting groove 5 is fixedly connected with insertion rod 10, bearing assembly 7 includes base 701, the side of base 701 close to the inner wall of groove 3 is movably connected with the inner wall of groove 3, the bottom of base 701 is movably connected with pressure sensor 4, the front side and the back side of the two sides of base 701 are provided with limiting hole 702, the inner cavity of limiting hole 702 is clamped with insertion rod 10, the inner cavity of base 701 is movably connected with limiting shell 704, four dampers 703 are fixedly connected between the inner cavity of limiting shell 704 and base 701, placing frame 705 is fixedly connected to the top of limiting shell 704, the output end of robot body 1 is electrically connected with the input end of electric telescopic rod 6, the output end of robot body 1 is electrically connected with the input end of pressure sensor 4, robot body 1 is bidirectionally electrically connected with visual probe 2.

[0035] Specifically, the placing frame 705 stores the articles, in the initial stage, the plug rod 10 is completely in the inner cavity of the limiting groove 5, the user places the base 701 into the inner cavity of the recess 3, when the bottom of the base 701 contacts the pressure sensor 4, the pressure sensor 4 then feeds back information to the robot body 1, and then the robot body 1 commands the electric telescopic rod 6 to drive the plug rod 10 into the inner cavity of the limiting hole 702, thereby fixing the base 701, if the robot body 1 encounters uneven road, the placing frame 705 will apply a downward force on the limiting shell 704, and then the limiting shell 704 will extrude the damper 703 downward, at this time the damper 703 can dampen the articles inside the placing frame 705, so that the robot body 1 can transport the articles inside the placing frame 705 on uneven roads.

[0036] Specific embodiment two

[0037] Please refer to FIG. 1-6, on the basis of the first embodiment, the bottom of the surface of the damper 703 is sleeved with a limiting ring 706, the bottom of the limiting ring 706 is fixedly connected with the inner wall of the base 701, the front side and the rear side of the inner cavity of the base 701 are both provided with a sliding groove 707, the inner cavity of the sliding groove 707 is movably connected with a sliding block 708, the side of the sliding block 708 close to the limiting shell 704 is fixedly connected with the limiting shell 704, the surface of the electric telescopic rod 6 close to the inner wall of the robot body 1 is fixedly connected with a fixing ring 8, the side of the fixing ring 8 close to the inner wall of the limiting groove 5 is fixedly connected with the inner wall of the limiting groove 5, the surface of the plug rod 10 is slidably connected with a sliding sleeve 9, the side of the sliding sleeve 9 close to the inner wall of the limiting groove 5 is fixedly connected with the inner wall of the limiting groove 5, and the opening of the recess 3 is chamfered.

[0038] Specifically, the limiting ring 706 is fixed on the bottom surface of the damper 703, and the limiting ring 706 plays a reinforcing role on the damper 703 during the connection with the inner wall of the base 701, so as to prevent the damper 703 from being disengaged during use, thereby effectively ensuring the stability of the damper 703 during use. Through the cooperation of the sliding groove 707 and the sliding block 708, the sliding groove 707 is arranged on the inner wall of the base 701, and the sliding block 708 is fixed on the surface of the limiting shell 704. When the limiting shell 704 is offset up and down, the sliding block 708 will move with the limiting shell 704, and the sliding groove 707 will limit the sliding block 708. The sliding block 708 limits the limiting shell 704, so as to prevent the limiting shell 704 from being offset left and right during damping. The fixing ring 8 is fixedly connected with the surface of the electric telescopic rod 6, and one side of the fixing ring 8 is fixedly connected with the limiting groove 5, thereby reinforcing the electric telescopic rod 6. The sliding sleeve 9 is arranged in a sliding manner in the inner cavity of the plug rod 10. This connection mode ensures that the plug rod 10 remains relatively horizontal during movement, so that the plug rod 10 will not be offset when entering the limiting hole 702, thereby ensuring the normal use of the mechanical structure. The chamfer is arranged at the upper opening of the groove 3, and the chamfered groove 3 is more convenient for the user to place the base 701 into the inner cavity of the groove 3.

[0039] A robot vision analysis tracking method uses the principle: the vision probe 2 feeds back target information according to the detected target, determines the target coordinates through image analysis and GPS positioning, adjusts the robot posture, determines the robot turning angle, gives the robot a command, and the robot advances. Detect whether there are obstacles in the coordinates of the place where the robot needs to reach. If there are no obstacles, command the robot to stop advancing when it reaches the specified position.

[0040] The working principle of the present application is that the placing frame 705 stores the articles, in the initial stage, the plug rod 10 is completely in the inner cavity of the limiting groove 5, the user places the base 701 into the inner cavity of the groove 3, when the bottom of the base 701 contacts the pressure sensor 4, then the pressure sensor 4 feeds back information to the robot body 1, the existing robot has a complete system structure, then the robot body 1 commands the electric telescopic rod 6 to drive the plug rod 10 into the inner cavity of the limiting hole 702, thereby fixing the base 701, if the robot body 1 encounters uneven road, the placing frame 705 will apply force downward on the limiting shell 704, then the limiting shell 704 will extrude the damper 703 downward, at this time the damper 703 can dampen the articles inside the placing frame 705, thereby enabling the robot body 1 to transfer the articles inside the placing frame 705 on uneven road, when the user needs to take down the base 701, the base 701 is pulled upward, the pressure sensor 4 will be inducted, at this time the electric telescopic rod 6 will take out the plug rod 10 inside the limiting hole 702, at this time the user can take it down.

[0041] In the description of the present specification, the description referring to the terms "one embodiment", "an example", "a specific example" and the like means that the specific features, structures, materials or characteristics described in connection with the embodiment or example are included in at least one embodiment or example of the present application. In the present specification, the illustrative expressions of the above terms do not necessarily refer to the same embodiment or example. Moreover, the specific features, structures, materials or characteristics described can be combined in any one or more embodiments or examples in a suitable manner.

[0042] The above disclosed preferred embodiments of the present application are only used to help explain the present application. The preferred embodiments do not describe all the details, nor limit the present application to the specific embodiments described. Obviously, according to the content of the present specification, many modifications and changes can be made. The present specification selects and specifically describes these embodiments in order to better explain the principles and practical applications of the present application, so that those skilled in the art can well understand and utilize the present application. The present application is limited only by the claims and their entire scope and equivalents.

Claims

1. A robot vision analysis tracking method and apparatus, comprising a robot body (1) and a carrier assembly (7), characterized by: The left side of the robot body (1) is fixedly connected with a visual probe (2), the top of the robot body (1) is provided with a groove (3), the bottom of the inner cavity of the groove (3) is fixedly connected with a pressure sensor (4), the front side and the rear side of the two sides of the groove (3) are provided with limiting grooves (5), the inner cavity of the limiting groove (5) is provided with an electric telescopic rod (6), one side of the electric telescopic rod (6) close to the inner wall of the limiting groove (5) is fixedly connected with the inner wall of the limiting groove (5), and the other side of the electric telescopic rod (6) away from the inner wall of the limiting groove (5) is fixedly connected with a plug rod (10). The bearing assembly (7) comprises a base (701), the front side and the rear side of the two sides of the base (701) are provided with limiting holes (702), the inner cavity of the limiting hole (702) is connected with the plug rod (10), the inner cavity of the base (701) is movably connected with a limiting shell (704), four dampers (703) are fixedly connected between the inner cavities of the limiting shell (704) and the base (701), and the top of the limiting shell (704) is fixedly connected with a placing frame (705).

2. The method and apparatus for robotic visual analysis tracking according to claim 1, wherein, One side of the base (701) close to the inner wall of the groove (3) is movably connected with the inner wall of the groove (3), and the bottom of the base (701) is movably connected with the pressure sensor (4).

3. The method and apparatus for robotic visual analysis tracking of claim 1, wherein, A limiting ring (706) is arranged on the bottom of the surface of the damper (703), and the bottom of the limiting ring (706) is fixedly connected with the inner wall of the base (701).

4. The method and apparatus for robotic visual analysis tracking of claim 1, wherein, The front side and the rear side of the two sides of the inner cavity of the base (701) are provided with sliding grooves (707), the inner cavity of the sliding groove (707) is movably connected with a sliding block (708), and one side of the sliding block (708) close to the limiting shell (704) is fixedly connected with the limiting shell (704).

5. The method and apparatus for robotic visual analysis tracking of claim 1, wherein, The surface of one side of the electric telescopic rod (6) close to the inner wall of the robot body (1) is fixedly connected with a fixing ring (8), and one side of the fixing ring (8) close to the inner wall of the limiting groove (5) is fixedly connected with the inner wall of the limiting groove (5).

6. The method and apparatus for robotic visual analysis tracking of claim 1, wherein, The surface of the plug rod (10) is slidably connected with a sliding sleeve (9), and one side of the sliding sleeve (9) close to the inner wall of the limiting groove (5) is fixedly connected with the inner wall of the limiting groove (5).

7. The method and apparatus for robotic visual analysis tracking of claim 1, wherein, The output end of the robot body (1) is electrically connected with the input end of the electric telescopic rod (6), and the output end of the robot body (1) is electrically connected with the input end of the pressure sensor (4). 8.The method and apparatus of claim 1, wherein, The opening of the groove (3) is chamfered, and the robot body (1) is bidirectionally electrically connected with the visual probe (2).

9. The method and apparatus for robotic visual analysis tracking of claim 1, wherein, The top of the two sides of the placing frame (705) is provided with a positioning groove.

10. The method of claim 1-9, wherein: The use method is as follows: The visual probe (2) feeds back target information according to the detected target, determines target coordinates through image analysis and GPS positioning, adjusts the posture of the robot, determines the turning angle of the robot, gives the robot a command, the robot advances, detects whether the coordinates of the place where the robot needs to reach have obstacles, and if not, commands the robot to stop advancing when reaching the specified position. ​

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