CN211166674U - Robot is followed to intelligence - Google Patents

Abstract

The utility model discloses an intelligent following robot, which comprises a main frame provided with a base plate, a display screen and a binocular camera are arranged at the front of the main frame; a laser sensor is arranged on the upper part of the main frame; a movement module is arranged on the base plate, and the movement module comprises A wheel and a motor with a shock-absorbing device, the wheel is provided with an axle, the motor is connected with the axle and drives the wheel to rotate; the shock-absorbing device includes a first fixing piece, a second fixing piece, a spring and an axle connecting piece, the first fixing piece and the second fixing piece. The fixing piece is connected with the bottom plate, the axle connecting piece is hinged with the second fixing piece, one end of the spring is hinged with the first fixing piece, the other end of the spring is hinged with the axle connecting piece, the axle connecting piece is provided with a bearing, and the axle passes through the bearing. By setting a shock absorber in the motion module, the intelligent following robot can easily walk on the rough road and track the target easily.

Description

An intelligent follower robot

technical field

The utility model relates to the field of robots, in particular to an intelligent following robot.

Background technique

The autonomous walking robot recognizes environmental factors by processing the pictures taken by the camera, constructs a two-dimensional map, and realizes automatic walking. However, automatic walking robots generally use ordinary wheels, which are difficult to walk on rough roads, and it is difficult to reach the target speed to follow the target.

Utility model content

The purpose of the present invention is to solve at least one of the technical problems existing in the prior art, and to provide an intelligent following robot.

The technical scheme adopted by the present utility model to solve its problems is:

An intelligent following robot includes a main frame provided with a bottom plate, a display screen and a binocular camera for collecting environmental information and face information are arranged at the front of the main frame; the upper part of the main frame is provided with a distance measurement The bottom plate is provided with a motion module, the motion module includes four wheels with shock absorbers and four motors, the wheels are provided with axles, and the motors are connected with the axles and drive the wheels The shock absorber includes a first fixing piece, a second fixing piece, a spring and an axle connecting piece, the first fixing piece and the second fixing piece are connected with the bottom plate, and the axle connecting piece is connected with the axle connecting piece. The second fixing piece is hinged, one end of the spring is hinged with the first fixing piece, and the other end of the spring is hinged with the axle connecting piece, the axle connecting piece is provided with a bearing, and the axle passes through the axle. bearing.

Further, the bottom plate is provided with a perforation, the first fixing member is located above the perforation, the second fixing member is located below the bottom plate, and the spring passes through the perforation.

Further, there are two springs, and the two springs are hinged on the left and right sides of the first fixing member respectively.

Specifically, the wheel is a Mecanum wheel.

Further, a processor and a memory connected to the processor are arranged inside the main frame, and the display screen, the binocular camera, the laser sensor and the motion module are respectively connected to the processor.

Specifically, the model of the processor is STM32F407.

Further, the main frame is provided with a forward-inclined plate at an angle of 45 degrees to the bottom plate, and the display screen and the binocular camera are arranged on the forward-inclined plate.

Further, the main frame is provided with a accommodating box with an upward opening.

The above-mentioned intelligent following robot has at least the following beneficial effects: collecting environmental information through a binocular camera to establish a two-dimensional map and collecting face information to determine a following target, measuring the distance to obstacles through a laser sensor to avoid obstacles, and realizing human-computer interaction through a display screen ; Since the motion module is provided with a shock absorber, the intelligent following robot can easily walk on the rough road and can easily track the target.

Description of drawings

The utility model will be further described below in conjunction with the accompanying drawings and examples.

1 is a structural diagram of an intelligent following robot according to an embodiment of the present invention;

FIG. 2 is a structural diagram of a shock absorber.

Detailed ways

This part will describe the specific embodiments of the present invention in detail, and the preferred embodiments of the present invention are shown in the accompanying drawings. Understand each technical feature and overall technical solution of the present invention, but it should not be construed as a limitation on the protection scope of the present invention.

In the description of the present utility model, it should be understood that the orientation descriptions related to orientations, such as up, down, front, rear, left, right, etc., are based on the orientation or positional relationship shown in the accompanying drawings, only It is for the convenience of describing the present invention and simplifying the description, rather than indicating or implying that the indicated device or element must have a specific orientation, be constructed and operated in a specific orientation, and therefore should not be construed as a limitation of the present invention.

In the description of the present utility model, if it is described that the first and the second are only for the purpose of distinguishing technical features, it should not be understood as indicating or implying relative importance or implicitly indicating the number of indicated technical features or implicit Indicates the order of the indicated technical features.

In the description of the present invention, unless otherwise clearly defined, words such as setting, installation, connection should be understood in a broad sense, and those skilled in the art can reasonably determine the specific meanings of the above words in the present invention in combination with the specific content of the technical solution .

1 and 2, an embodiment of the present invention provides an intelligent following robot, including a main frame 100 provided with a bottom plate 120, and a display screen 400 is provided at the front of the main frame 100 for collecting environmental information and human faces. The information binocular camera 300; the upper part of the main frame 100 is provided with a laser sensor 200 for measuring distance; the bottom plate 120 is provided with a motion module 500, the motion module 500 includes four wheels 510 with shock absorbers 530 and four motors 520, The wheel 510 is provided with an axle, and the motor 520 is connected with the axle and drives the wheel 510 to rotate; the shock absorber 530 includes a first fixing member 531, a second fixing member 532, a spring 534 and an axle connecting member 533, the first fixing member 531 and the second fixing member 531. The fixing member 532 is connected with the bottom plate 120, the axle connecting member 533 is hinged with the second fixing member 532, one end of the spring 534 is hinged with the first fixing member 531, and the other end of the spring 534 is hinged with the axle connecting member 533, and the axle connecting member 533 is provided with a Bearing 540 through which the axle passes.

In this embodiment, the intelligent following robot collects environmental information through the binocular camera 300 to build a two-dimensional map and collects face information to determine the following target, uses the laser sensor 200 to measure the distance to the obstacle to avoid obstacles, and uses the display screen 400 to achieve Human-computer interaction; since the motion module 500 is provided with a shock absorber 530, the intelligent following robot can easily walk on the rough road and can easily track the target.

In addition, the shock absorbing device 530 has a simple structure and is only composed of four components, and has a good shock absorbing effect. The wheel 510 is connected with the axle connecting piece 533; when the intelligent following robot walks on the rough road, the wheel 510 and the axle connecting piece 533 together go up and down around the connection between the axle connecting piece 533 and the second fixing piece 532 through the action of the spring 534. Swing for shock absorption.

Further, the bottom plate 120 is provided with a through hole, the first fixing member 531 is located above the through hole, the second fixing member 532 is located below the bottom plate 120, and the spring 534 passes through the through hole. Compared with the installation method in which the first fixing member 531 and the second fixing member 532 are both arranged below the bottom plate 120 , this installation method can accommodate the spring 534 with a longer length, so that the shock absorption performance of the shock absorber device 530 is better.

Further, there are two springs 534, and the two springs 534 are hinged on the left and right sides of the first fixing member 531 respectively; the balance between the left and right can make the shock absorption effect better.

Specifically, the wheel 510 is a Mecanum wheel.

Further, the main frame 100 is internally provided with a processor and a memory connected to the processor, and the display screen 400 , the binocular camera 300 , the laser sensor 200 and the motion module 500 are respectively connected to the processor. The processor processes the information collected by the binocular camera 300 and the laser sensor 200 , and then controls the movement of the motion module 500 according to the information, or displays the processed information on the display screen 400 . Memory is used to cache information to be processed by the processor.

Specifically, the model of the processor is STM32F407.

Further, the main frame 100 is provided with a forward-tilting plate at an angle of 45 degrees to the bottom plate 120 , and the display screen 400 and the binocular camera 300 are arranged on the forward-tilting plate. Since the height of the intelligent following robot is lower than that of a human, the display screen 400 is arranged on a 45-degree forward inclined plate, which is convenient for the user to observe. The binocular camera 300 is arranged on the forward tilting plate, and can also have a wider field of view. In addition, the direction of the laser sensor 200 is parallel to the plane of the base plate 120 .

Further, the main frame 100 is provided with a accommodating box 130 with an upward opening, and the accommodating box 130 is used to store the personal belongings of the user. When the intelligent following robot follows the target, it is responsible for helping the user to carry the personal belongings, reducing the user's burden.

The above are only preferred embodiments of the present invention, and the present invention is not limited to the above-mentioned embodiments, as long as it achieves the technical effect of the present invention by the same means, it should belong to the protection scope of the present invention.

Claims (8)

1. an intelligent following robot, is characterized in that, comprises the main frame that is provided with bottom plate, and the front part of described main frame is provided with display screen and the binocular camera for collecting environmental information and face information; The upper part is provided with a laser sensor for measuring distance; the bottom plate is provided with a motion module, the motion module includes four wheels with shock absorbers and four motors, the wheels are provided with axles, and the motors are connected with the axles Connect and drive the wheel to rotate; the shock absorber includes a first fixing piece, a second fixing piece, a spring and an axle connecting piece, the first fixing piece and the second fixing piece are connected with the bottom plate, so The axle connecting piece is hinged with the second fixing piece, one end of the spring is hinged with the first fixing piece, the other end of the spring is hinged with the axle connecting piece, and the axle connecting piece is provided with a bearing, The axle passes through the bearing. 2 . The intelligent following robot according to claim 1 , wherein the bottom plate is provided with a perforation, the first fixing member is located above the perforation, and the second fixing member is located on the bottom of the bottom plate. 3 . Below, the spring passes through the perforation. 3 . The intelligent following robot according to claim 2 , wherein there are two springs, and the two springs are hinged on the left and right sides of the first fixing member respectively. 4 . 4 . The intelligent following robot according to claim 3 , wherein the wheel is a Mecanum wheel. 5 . 5. The intelligent following robot according to any one of claims 1-4, wherein a processor and a memory connected to the processor are provided inside the main frame, the display screen, the The binocular camera, the laser sensor and the motion module are respectively connected with the processor. 6 . The intelligent following robot according to claim 5 , wherein the model of the processor is STM32F407. 7 . 7 . The intelligent following robot according to claim 6 , wherein the main frame is provided with a forward tilting plate at an angle of 45 degrees with the bottom plate, and the display screen and the binocular camera are arranged at the on the front tilt plate. 8 . The intelligent following robot according to claim 6 , wherein a receiving box with an upward opening is provided on the main frame. 9 .

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