CN109079737A - robot - Google Patents
robot Download PDFInfo
- Publication number
- CN109079737A CN109079737A CN201810823037.2A CN201810823037A CN109079737A CN 109079737 A CN109079737 A CN 109079737A CN 201810823037 A CN201810823037 A CN 201810823037A CN 109079737 A CN109079737 A CN 109079737A
- Authority
- CN
- China
- Prior art keywords
- wheel
- main body
- body frame
- laptop
- robot
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Withdrawn
Links
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J5/00—Manipulators mounted on wheels or on carriages
- B25J5/007—Manipulators mounted on wheels or on carriages mounted on wheels
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
- B25J19/02—Sensing devices
- B25J19/021—Optical sensing devices
- B25J19/023—Optical sensing devices including video camera means
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/0009—Constructional details, e.g. manipulator supports, bases
Landscapes
- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Multimedia (AREA)
- Manipulator (AREA)
Abstract
The invention discloses a kind of robot, data collection layer includes Kinect and IP Camera group, and middle layer includes router and laptop.Kinect and IP Camera group are detachably mounted on the driving turntable on main body frame top, rotate synchronously adjustment direction.The position of middle layer is set as manual lifting rod or telescopic cylinder, to adjust level height.Filled with inflatable cushion in the cavity formed between main body frame and the differential platform of four-wheel, inflatable cushion is connected with gas filling bottle, and the electronics air valve on gas filling bottle and laptop are electrically connected to control whether supplemental inflation.The bottom face part of the differential platform of four-wheel, which is recessed inwardly, is formed with accommodating groove, and automatically controlled expansion bracket is equipped in accommodating groove, and the end of automatically controlled expansion bracket is equipped with sucker, to control sucker from stretching out or shunk back in accommodating groove in accommodating groove.The robot architecture is compact, easy to assembly, and movement is quick slim and graceful, has high stability even if smooth earth operation, is not easy skew and topples over.
Description
Technical field
The present invention relates to robot fields, and in particular, to a kind of robot.
Background technique
With the development of industrial automation, machine intelligence is received more and more attention, and wherein intelligent robot is even more quilt
It is known as following mainstream development direction.
And robot will once move, just inevitably involve understanding to environment, path planning, autonomous positioning,
Avoidance and anticollision etc., and the understanding and robot autonomous localization to environment be other function basis and primary research
Direction.
Existing researcher and application device realize robot autonomous localization using GPS, known using being manually entered
Environmental map and fabric structure figure replace robot autonomous study and building map, but it has following defect: firstly,
GPS positioning is only applicable to outdoor environment, is not suitable for indoor scene；Secondly, civilian GPS location precision is inadequate, machine is not achieved
The operating accuracy requirement of device people；Then, the mode that map is manually entered is not suitable for the scene that environment can change, such as: road envelope
Stifled, someone or article account for, original road is disconnected etc. by digging；Then, the mode that map is manually entered limits the work model of robot
It encloses, robot can only work in portion in the range that map determines, often changing a working environment, to require an accurate map defeated
Enter；Finally, the mode that map is manually entered causes robot that can not work in the environment and scene of no electronics shelves map.
Between above-mentioned various problem, the robot autonomous localization and environmental map of view-based access control model are constructed so that intelligent machine
The one important problem to be solved in device human hair exhibition road.
Summary of the invention
The object of the present invention is to provide a kind of robots, and the robot architecture is compact, easy to assembly, and movement is quick slim and graceful,
There is high stability even if smooth earth operation, be not easy skew and topple over.
To achieve the goals above, the present invention provides a kind of robots, main body frame and installation including wooden structures
Four-wheel differential platform in main body frame bottom end is followed successively by data collection layer, middle layer and electricity inside main body frame from top to bottom
Active layer；
Data collection layer includes Kinect and IP Camera group, acquires environmental data for robot；
Middle layer includes router and laptop, and laptop is adopted by router and L-type connecting line with data
Collect layer to be connected, be connected by Serial Port Line with the differential platform of four-wheel；Laptop is able to carry out environment understanding and cognitive algorithm, with
Control the differential platform movement of four-wheel；
Bus plane includes battery, for robot operation power supply；
Kinect and IP Camera group are detachably mounted on the driving turntable on main body frame top, drive turntable
It is connect with laptop to control Kinect and IP Camera group and rotate synchronously adjustment direction；
Position on main body frame positioned at middle layer is set as manual lifting rod or telescopic cylinder, to adjust data collection layer
Level height；
Filled with inflatable cushion in the cavity formed between main body frame and the differential platform of four-wheel, inflatable cushion is connected with gas filling bottle
It is logical, also, the electronics air valve on gas filling bottle and laptop are electrically connected to control whether supplemental inflation；Wherein,
The bottom face part of the differential platform of four-wheel, which is recessed inwardly, is formed with accommodating groove, and automatically controlled expansion bracket is equipped in accommodating groove,
The end of automatically controlled expansion bracket is equipped with sucker, to control sucker from stretching out or shunk back in accommodating groove in accommodating groove.
Preferably, the differential platform of four-wheel be four motorized wheels platform, also, driving wheel be surface be laid with it is anti-skidding convex
Play the rubber wheel of item.
Preferably, bus plane further includes the converter for converting direct current into alternate current, terminal plate, power supply line, network connection
Route and multiple wiring units；Wherein,
Battery is the lithium battery that can provide 12V80AH electric energy, and lithium battery output end is connected by converter with terminal plate
It connects；
Multiple wiring units are removably attached on main body frame, with comb the power supply line that is connected on terminal plate of arrangement with
And the neighbouring network connection route that is scattered.
Preferably, the position on main body frame positioned at bus plane is formed with the bracket for placing battery and before bracket is
Wide structure after narrow.
Preferably, it is formed with straight down on bracket and extends leg and extend the side wall that leg clamping sticks on the differential platform of four-wheel
On.
Preferably, the distance between data collection layer bottom end and middle layer bottom end are greater than the height after laptop expansion
Degree.
Preferably, IP Camera group is arranged above Kinect, is made of two IP Cameras arranged side by side, phase
Pose between mutually is constant, and binocular vision sensing equipment is constituted after calibration.
Preferably, the data of Kinect turn the USB3.0 interface that USB adapter is directly connected on laptop by L,
For directly acquiring color video, deep video and infrared video.
Preferably, IP Camera is by twisted pair couple in router, and laptop is from router access network
Camera carries out video acquisition.
According to the above technical scheme, main part of the present invention is wooden structure, and there is no selections to be welded using metal material
Or printed using 3D printer, the reason is as follows that: although 3D printing technique molding is quickly, the material of 3D printer printing compares
Fragility, and since printer prints in layer, it is especially fragile to result in interlayer, such unbearable electric power storage of structure
Pond, laptop and visual sensor weight；And the structure of metal material is enough to bear required load, but metal frame
The weight of frame itself is larger, along with equipment, the total weights such as laptop, visual sensor, battery have been more than that four-wheel is poor
The load of moving platform.So selecting wooden structure to realize that overall weight mitigates, quick slim and graceful effect is moved.
In the design process of main structure, according to factors such as the quantity of equipment, type, demand, sizes by main structure
It is divided into three layers, i.e. bus plane, middle layer and data collection layer, the laptop of middle layer is the core of hardware platform, i.e. machine
The brain of device people, it by router and L-type route management connection the data acquisition module on upper layer, execute environment understanding and recognize
Know algorithm, and passes through the movement of the differential platform of lower layer's four-wheel of serial ports line traffic control.It can be seen that the robot architecture is compact, group
Dress is convenient, and stability is higher in motion process.
Meanwhile Kinect and IP Camera group are detachably mounted on the driving turntable on main body frame top, are driven
Turn disk is connect to control Kinect and IP Camera group and rotate synchronously adjustment direction with laptop.In this way, in machine
After people moves to operating space, without continually moving integrally, Kinect can be adjusted by the rotation of driving turntable in situ
With the capture direction of IP Camera group so that acquisition the wider model of picture signal, more comprehensively, it is poor four-wheel can also to be reduced
Moving platform drives complete machine not stop electric energy consumed by mobile handoff angle, so that the cruising ability of the robot is stronger.
The top of the robot is data sampling sensor layer, because this platform is passed using visible light and infrared light
Sensor cannot be blocked and interfere, thus be placed on top layer.And it encounters during robot advances compared with high obstacle object nothing
When method is got around, by the limitation that height can not adjust, cause capture unfavorable.In order to solve entire technical problem, main body
Position on frame positioned at middle layer is set as manual lifting rod or telescopic cylinder, to adjust the level height of data collection layer.
In this way, manually or automatically adjusting the video acquisition height of data collection layer when encountering the obstacle that can not go beyond, realizing operation
It smoothly completes.It further, can also be by network in order to enable Kinect does not block the network shooting unit for constituting binocular vision
Camera shooting unit additionally increases 10 centimetres.
It is moved together since main body frame is erected on the differential platform of four-wheel and follows, when the differential platform traveling of four-wheel is recessed
When convex uneven or bumpy road, main body frame can frequently be shaken up and down, once jitter amplitude is excessive or frequency is excessively high to make
The wooden structures for obtaining script loosen, and even collapse, seriously affect continuing to use for robot.For this purpose, in main body frame and four
It takes turns and fills inflatable cushion in the cavity formed between differential platform, inflatable cushion is connected with gas filling bottle, also, the electronics on gas filling bottle
Air valve and laptop are electrically connected to control whether supplemental inflation.In this way, controlling air valve dynamic supplement gas by laptop
Body, so that inflatable cushion remains full in robot operational process, upper and lower ends are tightly abutted against main body frame and four-wheel
On differential platform, extruding force between the two is buffered using soft inflatable cushion, reduces main body frame most possibly
Shake and abrasion, ensure that structural intergrity, prolong the service life.
Also, the bottom face part of the differential platform of four-wheel, which is recessed inwardly, is formed with accommodating groove, and automatically controlled stretch is equipped in accommodating groove
The end of contracting frame, automatically controlled expansion bracket is equipped with sucker, to control sucker from stretching out or shunk back in accommodating groove in accommodating groove.This
Sample is withdrawn sucker by automatically controlled expansion bracket in the differential platform driving process of four-wheel, guarantees that the bottom end of the differential platform of four-wheel is suitable
Unimpeded mistake；And when the robot is needed when certain smooth earth carries out prolonged fixed point capture, then by sucker stretch out with
Ground is sucked, and general external force is prevented to cause it to be subjected to displacement intentionally or when being not intended to be applied in robot and change capture angle
Degree, influences final mapped results, and such stability is higher, and safety is also more preferably.
Other features and advantages of the present invention will the following detailed description will be given in the detailed implementation section.
Detailed description of the invention
The drawings are intended to provide a further understanding of the invention, and constitutes part of specification, with following tool
Body embodiment is used to explain the present invention together, but is not construed as limiting the invention.In the accompanying drawings:
Fig. 1 is the structural schematic diagram of the robot in a kind of embodiment provided according to the present invention；
Fig. 2 is the differential platform structure schematic diagram of four-wheel of robot in a kind of embodiment provided according to the present invention.
Description of symbols
The differential platform of 1- main body frame 2- four-wheel
3-Kinect 4- router
5- laptop 6- battery
7- terminal plate 8- bracket
9- extends leg 10- IP Camera
11- drives turntable 12- inflatable cushion
13- sucker
Specific embodiment
Below in conjunction with attached drawing, detailed description of the preferred embodiments.It should be understood that this place is retouched
The specific embodiment stated is merely to illustrate and explain the present invention, and is not intended to restrict the invention.
In the present invention, in the absence of explanation to the contrary, the noun of locality that " upper and lower, forward and backward " etc. is included in the term
Only represent orientation of the term under normal service condition, or be those skilled in the art understand that be commonly called as, and be not construed as pair
The limitation of the term.
Referring to Fig. 1, the present invention provides a kind of robot, the main body frame 1 including wooden structures and is mounted on main body frame 1
The differential platform 2 (as shown in Figure 2) of the four-wheel of bottom end, be followed successively by inside main body frame 1 from top to bottom data collection layer, middle layer and
Bus plane；
Data collection layer includes Kinect3 and IP Camera group, acquires environmental data for robot；
Middle layer includes router 4 and laptop 5, and laptop 5 passes through router 4 and L-type connecting line and number
It is connected according to acquisition layer, is connected by Serial Port Line with the differential platform 2 of four-wheel；Laptop 5 is able to carry out environment understanding and cognition
Algorithm is moved with controlling the differential platform 2 of four-wheel；
Bus plane includes battery 6, for robot operation power supply；
Kinect3 and IP Camera group are detachably mounted on the driving turntable 11 on 1 top of main body frame, driving
Turntable 11 is connect to control Kinect3 and IP Camera group and rotate synchronously adjustment direction with laptop 5；
Position on main body frame 1 positioned at middle layer is set as manual lifting rod or telescopic cylinder, to adjust data acquisition
The level height of layer；
Filled with inflatable cushion 12, inflatable cushion 12 and inflation in the cavity formed between main body frame 1 and the differential platform 2 of four-wheel
Bottle is connected, also, the electronics air valve on gas filling bottle and laptop 5 are electrically connected to control whether supplemental inflation；Wherein,
The bottom face part of the differential platform 2 of four-wheel, which is recessed inwardly, is formed with accommodating groove, and automatically controlled expansion bracket is equipped in accommodating groove,
The end of automatically controlled expansion bracket is equipped with sucker 13, to control sucker 13 from stretching out or shunk back in accommodating groove in accommodating groove.
Through the above technical solutions, the main body frame 1 of the robot is wooden structure, there is no selections to use metal material
Welding is printed using 3D printer, the reason is as follows that: although 3D printing technique molding is quickly, the material of 3D printer printing
Compare fragile, and since printer prints in layer, results in that interlayer is especially fragile, and such structure is unbearable
The weight of battery 6, laptop 5 and visual sensor；And the structure of metal material is enough to bear required load, but
The weight of metal framework itself is larger, along with equipment, the total weights such as laptop 5, visual sensor, battery 6 are more than
The load of the differential platform 2 of four-wheel.So selecting wooden structure to realize that overall weight mitigates, quick slim and graceful effect is moved.
In the design process of main structure, according to factors such as the quantity of equipment, type, demand, sizes by main structure
It is divided into three layers, i.e. bus plane, middle layer and data collection layer, the laptop 5 of middle layer is the core of hardware platform, i.e. machine
The brain of device people, it by router 4 and L-type route management connection the data acquisition module on upper layer, execute environment understanding with
Cognitive algorithm, and pass through the movement of the differential platform 2 of lower layer's four-wheel of serial ports line traffic control.It can be seen that the robot architecture it is compact,
Easy to assembly, stability is higher in motion process.
Meanwhile Kinect3 and IP Camera group are detachably mounted on the driving turntable 11 on 1 top of main body frame
On, driving turntable 11 is connect to control Kinect3 and IP Camera group and rotate synchronously adjustment direction with laptop 5.This
Sample, after robot motion to operating space, without continually moving integrally, can in situ by driving turntable 11 rotation come
Adjust Kinect3 and IP Camera group capture direction so that acquisition the wider model of picture signal, more comprehensively, may be used also
It drives complete machine not stop electric energy consumed by mobile handoff angle to reduce the differential platform 2 of four-wheel, enables the continuation of the journey of the robot
Power is stronger.
The top of the robot is data sampling sensor layer, because this platform is passed using visible light and infrared light
Sensor cannot be blocked and interfere, thus be placed on top layer.And it encounters during robot advances compared with high obstacle object nothing
When method is got around, by the limitation that height can not adjust, cause capture unfavorable.In order to solve entire technical problem, main body
Position on frame 1 positioned at middle layer is set as manual lifting rod or telescopic cylinder, to adjust the level height of data collection layer.
In this way, manually or automatically adjusting the video acquisition height of data collection layer when encountering the obstacle that can not go beyond, realizing operation
It smoothly completes.It further, can also be by net in order to enable Kinect3 does not block the network shooting unit for constituting binocular vision
Network camera shooting unit additionally increases 10 centimetres.
It is moved together since main body frame 1 is erected on the differential platform 2 of four-wheel and follows, when the differential platform 2 of four-wheel travels
In uneven or bumpy road, main body frame 1 can frequently be shaken up and down, once jitter amplitude is excessive or frequency is excessively high
Meeting is even collapsed, seriously affects continuing to use for robot so that the wooden structures of script loosen.For this purpose, in main body frame 1
Inflatable cushion 12 is filled in the cavity formed between the differential platform 2 of four-wheel, inflatable cushion 12 is connected with gas filling bottle, also, inflates
Electronics air valve and laptop 5 on bottle are electrically connected to control whether supplemental inflation.In this way, controlling gas by laptop 5
Valve actuation state make-up gas, so that inflatable cushion 12 remains full in robot operational process, upper and lower ends are tightly abutted against
On main body frame 1 and the differential platform 2 of four-wheel, extruding force between the two is buffered using soft inflatable cushion 12, maximum can
The shake and abrasion for reducing to energy main body frame 1, ensure that structural intergrity, prolong the service life.
Also, the bottom face part of the differential platform 2 of four-wheel, which is recessed inwardly, is formed with accommodating groove, and automatically controlled stretch is equipped in accommodating groove
Contracting frame, the end of automatically controlled expansion bracket are equipped with sucker 13, and accommodating groove is stretched out or shunk back from accommodating groove to control sucker 13
It is interior.In this way, sucker 13 is withdrawn in differential 2 driving process of platform of four-wheel by automatically controlled expansion bracket, guarantee the differential platform 2 of four-wheel
Bottom end smooth pass through；And when the robot is needed when certain smooth earth carries out prolonged fixed point capture, then will inhale
The stretching of disk 13 is sucked with ground, and general external force is prevented to cause it to be subjected to displacement and change intentionally or when being not intended to be applied in robot
Capture angle is become, has influenced final mapped results, such stability is higher, and safety is also more preferably.
In the present embodiment, the robot skids during the motion in order to prevent, it is preferable that the differential platform 2 of four-wheel
For the platform of four motorized wheels, also, driving wheel is the rubber wheel that surface is laid with antiskid raised strip.
For the energy resource supply of robot at present still using battery 6, it is the maximum portion of weight in robot architecture
Part, it is contemplated that the stationarity of robot mass motion, the lower the equipment the better, in this way can be in the entirety in order to reduce robot
The heart helps to improve the stability of movement, prevents from toppling over；Meanwhile in order to reduce the number of plies to the greatest extent, the arrangements of components that will merge exists
Same layer, it is therefore preferable that bus plane further includes the converter for converting direct current into alternate current, terminal plate 7, power supply line, network company
Link and multiple wiring units；Wherein,
Battery 6 is that can provide the lithium battery of 12V80AH electric energy (battery supports entire robot platform outdoors enough
Continuous work several hours, moreover, its weight is also relatively lighter, within the acceptable loading range of the differential platform 2 of four-wheel), lithium
Battery output is connected by converter with terminal plate 7；
Multiple wiring units are removably attached on main body frame 1, to comb the power supply line that arrangement is connected on terminal plate 7
And the neighbouring network connection route that is scattered.
When structure design, bus plane has extended downwardly out several extension legs 9, utilizes the four of the differential platform 2 of four-wheel
Side carries out anti-skidding processing, prevents main structure from sliding on the differential platform 2 of four-wheel.Meanwhile the bracket 8 for placing battery 6 uses
Beloid mechanism prevents battery 6 from sliding back and forth on bracket 8.So being located at the position of bus plane on design agents frame 1
It sets and is formed with bracket 8 for placing battery 6 and bracket 8 is beloid structure.
Further, it is formed with to extend leg 9 and extend the clamping of leg 9 straight down on bracket 8 and sticks on the differential platform 2 of four-wheel
Side wall on.
It is then placed centrally as robot brain, the laptop 5 for controlling entire robot work, for the ease of beating
It opens laptop 5 debug in operational process, middle section needs enough height, therefore middle layer needs occupy as far as possible
Big space, it is preferable that the distance between data collection layer bottom end and middle layer bottom end are greater than the height after laptop 5 is unfolded
Degree.
The top is data sampling sensor layer, cannot because this platform is using visible light and infrared light transducer[sensor
It is blocked and interferes, thus be placed on top layer.Meanwhile in order to make Kinect3 not block the network shooting of composition binocular vision
Unit, preferred network camera group are arranged above Kinect3, are made of two IP Cameras 10 arranged side by side, mutually
Between pose it is constant, by calibration after constitute binocular vision sensing equipment.
The data of Kinect3 turn the USB3.0 interface that USB adapter is directly connected on laptop 5 by L, for straight
It obtains and takes color video, deep video and infrared video.
IP Camera 10 is taken the photograph by twisted pair couple in router 4, laptop 5 from 4 access network of router
As head 10 carries out video acquisition.
It is described the prefered embodiments of the present invention in detail above in conjunction with attached drawing, still, the present invention is not limited to above-mentioned realities
The detail in mode is applied, within the scope of the technical concept of the present invention, a variety of letters can be carried out to technical solution of the present invention
Monotropic type, these simple variants all belong to the scope of protection of the present invention.
It is further to note that specific technical features described in the above specific embodiments, in not lance
In the case where shield, can be combined in any appropriate way, in order to avoid unnecessary repetition, the present invention to it is various can
No further explanation will be given for the combination of energy.
In addition, various embodiments of the present invention can be combined randomly, as long as it is without prejudice to originally
The thought of invention, it should also be regarded as the disclosure of the present invention.
Claims (9)
1. a kind of robot, which is characterized in that main body frame (1) including wooden structures and be mounted on the main body frame (1)
The differential platform of the four-wheel of bottom end (2), the main body frame (1) is internal to be followed successively by data collection layer, middle layer and electricity from top to bottom
Active layer；
The data collection layer includes Kinect (3) and IP Camera group, acquires environmental data for robot；
The middle layer includes router (4) and laptop (5), and the laptop (5) passes through router (4) and L
Type connecting line is connected with the data collection layer, is connected by Serial Port Line with the differential platform of the four-wheel (2)；The notebook electricity
Brain (5) is able to carry out environment understanding and cognitive algorithm, to control the differential platform of the four-wheel (2) movement；
The bus plane includes battery (6), for robot operation power supply；
The Kinect (3) and the IP Camera group are detachably mounted on the driving on the main body frame (1) top
On turntable (11), the driving turntable (11) is connect to control the Kinect (3) and the net with the laptop (5)
Network camera group rotates synchronously adjustment direction；
Position on the main body frame (1) positioned at the middle layer is set as manual lifting rod or telescopic cylinder, to adjust
State the level height of data collection layer；
It is described filled with inflatable cushion (12) in the cavity formed between the main body frame (1) and the differential platform of the four-wheel (2)
Inflatable cushion (12) is connected with gas filling bottle, also, the electronics air valve on the gas filling bottle and the laptop (5) be electrically connected with
Control whether supplemental inflation；Wherein,
The bottom face part of the differential platform of four-wheel (2), which is recessed inwardly, is formed with accommodating groove, is equipped in the accommodating groove automatically controlled
Expansion bracket, the end of the automatically controlled expansion bracket are equipped with sucker (13), are stretched from the accommodating groove with controlling the sucker (13)
Out or shrink back in the accommodating groove.
2. robot according to claim 1, which is characterized in that the differential platform of four-wheel (2) is four motorized wheels
Platform, also, driving wheel is that surface is laid with the rubber wheel of antiskid raised strip.
3. robot according to claim 1, which is characterized in that the bus plane further includes for converting direct current into alternate current
Converter, terminal plate (7), power supply line, network connection route and multiple wiring units；Wherein,
The battery (6) is the lithium battery that can provide 12V80AH electric energy, the lithium battery output end by the converter with
The terminal plate (7) is connected；
Multiple wiring units are removably attached on the main body frame (1), are connected to the terminal plate with combing arrangement
(7) power supply line on and the neighbouring network connection route that is scattered.
4. robot according to claim 3, which is characterized in that positioned at the bus plane on the main body frame (1)
Position is formed with the bracket (8) for placing the battery (6) and the bracket (8) is beloid structure.
5. robot according to claim 4, which is characterized in that be formed with extension leg straight down on the bracket (8)
(9) and extension leg (9) clamping sticks on the side wall of the differential platform of the four-wheel (2).
6. robot according to claim 1, which is characterized in that the data collection layer bottom end and the middle layer bottom end
The distance between be greater than the laptop (5) expansion after height.
7. robot according to claim 1, which is characterized in that the IP Camera group is arranged in the Kinect
(3) top, is made of two IP Cameras (10) arranged side by side, and mutual pose is constant, constitutes after calibration
Binocular vision sensing equipment.
8. robot according to claim 7, which is characterized in that the data of the Kinect (3) turn USB by L and transfer
Head is directly connected to USB3.0 interface on the laptop (5), for directly acquiring color video, deep video and infrared
Video.
9. robot according to claim 7, which is characterized in that the IP Camera (10) accesses institute by twisted pair
It states router (4), the laptop (5) is regarded from IP Camera (10) described in the router (4) access
Frequency acquires.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810823037.2A CN109079737A (en) | 2018-07-25 | 2018-07-25 | robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810823037.2A CN109079737A (en) | 2018-07-25 | 2018-07-25 | robot |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN109079737A true CN109079737A (en) | 2018-12-25 |
Family
ID=64838377
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201810823037.2A Withdrawn CN109079737A (en) | 2018-07-25 | 2018-07-25 | robot |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN109079737A (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111283694A (en) * | 2020-03-09 | 2020-06-16 | 合肥贤坤信息科技有限公司 | Intelligent child accompanying robot |
Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN201156186Y (en) * | 2007-06-11 | 2008-11-26 | 陈宇 | Expandable general-purpose robot development platform |
| CN102681542A (en) * | 2012-03-07 | 2012-09-19 | 陶重犇 | Experimental platform for indoor multipurpose mobile robot |
| CN103888738A (en) * | 2014-04-03 | 2014-06-25 | 华中师范大学 | Multisource multi-area-array GIS data acquisition platform for unmanned vehicle |
| CN106652026A (en) * | 2016-12-23 | 2017-05-10 | 安徽工程大学机电学院 | Three-dimensional space automatic calibration method based on multi-sensor fusion |
| CN106863324A (en) * | 2017-03-07 | 2017-06-20 | 东莞理工学院 | A kind of service robot platform of view-based access control model |
| CN207002165U (en) * | 2017-06-08 | 2018-02-13 | 捷尔杰（天津）设备有限公司 | A kind of both arms Double tabletop is without counter weight type aerial work platform |
| CN207610716U (en) * | 2017-12-20 | 2018-07-13 | 广州志正电气有限公司 | A kind of charging pile production detection device |
-
2018
- 2018-07-25 CN CN201810823037.2A patent/CN109079737A/en not_active Withdrawn
Patent Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN201156186Y (en) * | 2007-06-11 | 2008-11-26 | 陈宇 | Expandable general-purpose robot development platform |
| CN102681542A (en) * | 2012-03-07 | 2012-09-19 | 陶重犇 | Experimental platform for indoor multipurpose mobile robot |
| CN103888738A (en) * | 2014-04-03 | 2014-06-25 | 华中师范大学 | Multisource multi-area-array GIS data acquisition platform for unmanned vehicle |
| CN106652026A (en) * | 2016-12-23 | 2017-05-10 | 安徽工程大学机电学院 | Three-dimensional space automatic calibration method based on multi-sensor fusion |
| CN106863324A (en) * | 2017-03-07 | 2017-06-20 | 东莞理工学院 | A kind of service robot platform of view-based access control model |
| CN207002165U (en) * | 2017-06-08 | 2018-02-13 | 捷尔杰（天津）设备有限公司 | A kind of both arms Double tabletop is without counter weight type aerial work platform |
| CN207610716U (en) * | 2017-12-20 | 2018-07-13 | 广州志正电气有限公司 | A kind of charging pile production detection device |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111283694A (en) * | 2020-03-09 | 2020-06-16 | 合肥贤坤信息科技有限公司 | Intelligent child accompanying robot |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN105090698B (en) | 360 degree of panoramas gather robot device | |
| CN206694765U (en) | A kind of unmanned plane of the load component and carry load component | |
| CN105563514B (en) | Manipulator device | |
| CN215323270U (en) | Aerial endurance system of solar unmanned aerial vehicle | |
| CN104986329B (en) | Portable and collapsible double-rotor aerobat | |
| CN109050697B (en) | Multi-mode full-attitude moving parallel mechanism | |
| CN114313052B (en) | Leg and foot module capable of self-locking and robot | |
| CN109079737A (en) | robot | |
| CN108838997A (en) | Novel wooden robot | |
| CN109015588A (en) | The wooden robot of damping | |
| CN109911052B (en) | Wheel leg type multi-mode inspection search and rescue robot | |
| CN206984419U (en) | For carrying the vehicle of rotor wing unmanned aerial vehicle | |
| CN111531560B (en) | Patrol and examine robot applied to indoor and outdoor environment of transformer substation | |
| CN106986026A (en) | A kind of high-altitude glass-cleaning aircraft | |
| CN206664930U (en) | Collapsible unmanned plane | |
| CN109129391A (en) | The wooden robot of liftable | |
| CN207650650U (en) | Heavily loaded multi-foot robot based on deep vision navigation | |
| CN115991067A (en) | Survey robot using dual rotor mode to implement vector drive and control method | |
| CN105826862A (en) | Engaged-drive walking wheel structure, line patrol robot mechanical structure and obstacle crossing method of same | |
| CN207106868U (en) | Aerial image collection unmanned plane provided with rotary camera device | |
| CN113199915B (en) | Air-ground amphibious unmanned aerial vehicle and flight control method thereof | |
| CN109108932A (en) | Wooden robot | |
| CN208918369U (en) | The adjustable parking device in space and shutdown system | |
| CN220996816U (en) | High wind resistance's hybrid unmanned aerial vehicle of oil electricity | |
| CN113715569A (en) | Amphibious robot and control method thereof |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| WW01 | Invention patent application withdrawn after publication | ||
| WW01 | Invention patent application withdrawn after publication |
Application publication date: 20181225 |