CN110861100B - Intelligent mobile office device - Google Patents
Intelligent mobile office device Download PDFInfo
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- CN110861100B CN110861100B CN201911117688.0A CN201911117688A CN110861100B CN 110861100 B CN110861100 B CN 110861100B CN 201911117688 A CN201911117688 A CN 201911117688A CN 110861100 B CN110861100 B CN 110861100B
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J11/00—Manipulators not otherwise provided for
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60F—VEHICLES FOR USE BOTH ON RAIL AND ON ROAD; AMPHIBIOUS OR LIKE VEHICLES; CONVERTIBLE VEHICLES
- B60F5/00—Other convertible vehicles, i.e. vehicles capable of travelling in or on different media
- B60F5/02—Other convertible vehicles, i.e. vehicles capable of travelling in or on different media convertible into aircraft
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- Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
Abstract
The invention relates to office auxiliary equipment for realizing barrier-free passing in various office environments by utilizing an artificial intelligence technology, in particular to an intelligent mobile office device. The action part of the device has two running modes, the action part of the main body is composed of simulated bionic quadruped by steering engine control, the auxiliary action part is a foldable multi-rotor flying component above the device, the flying component can provide flying power for the device, the action office efficiency of the device is effectively improved, and the problem that the device acts slowly on different floors is solved. The multifunctional printing and binding equipment is arranged at the rear of the device, so that printing and binding service can be provided for office staff anytime and anywhere. The device is internally provided with a small-sized first-aid medical kit, thus being necessary for emergency situations in offices. The face recognition password storage box is placed in front of the device, files or office necessities to be transmitted can be placed, and the problem that similar products are single in function is solved.
Description
Technical Field
The invention relates to office auxiliary equipment capable of realizing barrier-free passing under various office environments by utilizing an artificial intelligence technology and carrying various motion sensing sensors and office equipment, in particular to an intelligent mobile office device.
Background
With the development of science and technology and the social requirement, service robot technology has been rapidly developed. The application range of service robots has been related to a number of fields of cleaning, medical treatment, tour guide, education, entertainment, security, daily life, etc. The service robot has the characteristics of being tired without knowing and working according to the wish of people, and can greatly lighten the labor intensity of people and improve the life quality of people.
At present, most service robots in the market adopt a wheel type or crawler type structure, so that the requirement on the walking road surface condition is high, and the working efficiency of products can be greatly influenced in the office environment with more floors.
Disclosure of Invention
In order to solve the problems of single function, slow action and low efficiency of the existing office service robot, the invention provides an intelligent mobile office device which not only can carry various mobile office equipment, but also can rapidly and accurately plan an optimal path according to different position information, change an operation mode and improve the overall working efficiency.
The technical scheme adopted for solving the technical problems is as follows: the utility model provides an intelligent portable office equipment, including bionical quadruped robot, bionical quadruped robot includes main body frame and the bionical quadruped of setting on main body frame, be provided with main control board and steering wheel on the main body frame, be provided with the receiver on the main body frame, zigBee terminal module and be located the auxiliary action part at frame top, auxiliary action part is many rotor flight parts, many rotor flight parts include the center dish, install the main screw on the center dish, be connected with the horn on the center dish, the end-to-end connection auxiliary screw of horn, all be connected with the motor on main screw and the auxiliary screw, be provided with the flight control board in the center dish, the flight control board receives the control command data control each motor that the main control board sent, there is the grid map in the main control board, the station information that the staff corresponds, house number information and obstacle information input the grid map, the grid map is the digitalization to real map in reality, it cuts apart the environment into a series of discrete grids, each grid corresponds to a little region in the reality environment, each grid sets up a value to this and judges the relative grid terminal position of environment area that represents, and receive zigBee command to the main control board.
The office is internally networked through ZigBee technology, demand instructions are sent through ZigBee terminal modules of stations where each employee is located, the device is provided with the ZigBee terminal modules to receive instructions and transmit the instructions to the main control board, and office files to be transferred are filled in the storage box. The demand instructions can be divided into two cases according to different floors, and the specific operation flow is as follows:
(1) When the office demand instruction comes from the same floor, the four-foot part is started, the device positions specific position information of the instruction station, the main control board plans out an optimal path according to the built-in grid map, the steering engine is controlled to execute corresponding action instructions at the position corresponding to the grid map, and the device reaches the designated station in a four-foot crawling mode to provide office file transfer service.
(2) When office demand instructions come from different floors, the auxiliary action part is started, the device firstly moves to a floor appointed lifting platform through the four foot parts, the floor lifting platform of the device positioning instruction station is started simultaneously by the main propeller and the auxiliary propeller, the main propeller provides lift force, the auxiliary propeller controls the direction, and the device is transmitted to the lifting platform of the corresponding floor. After reaching, the optimal path is planned, and the device reaches a designated station through the four-foot part to provide office file transfer service.
Foretell an intelligent mobile office device, receiver are face identification password receiver, face identification password receiver is controlled by the development board, the built-in face identification system of development board, face identification system has all staff's face information, unify face information and station information through the method of accurate matching, still be provided with the camera on the main part frame, main control board sends the instruction for the development board, opens the receiver through the unblock of face identification system.
According to the intelligent mobile office device, the central disc is connected with each horn through the coupler, and the coupler is controlled by the horn steering engine to fold the horn.
The intelligent mobile office device is characterized in that the main body frame is also provided with a multifunctional printing and binding device, the multifunctional printing and binding device is provided with a wired and wireless transmission function, and files needing to be printed and bound can be transmitted and printed through a computer, a mobile phone and a mobile storage device. Compared with the conventional printing and binding equipment, the printing and binding equipment provided by the device has the advantages of huge volume, relatively fixed position, small volume and convenient movement. For the office environment with more floor numbers, the office cost can be effectively reduced, and the manpower and material resources are saved.
The intelligent mobile office device is characterized in that the main body frame is also provided with an emergency medical kit.
The action part of the device has two running modes, the action part of the main body is composed of bionic quadruped which is simulated by steering engine control, the bionic quadruped can adapt to complex and changeable office ground environments, the bionic quadruped moving structure is specifically designed by simulating leg movement mechanisms of mammals, reptiles or insects, and the mechanism has strong terrain adaptability and good stability and can actively maintain a stable static posture. The bionic walking mode can perfectly adapt to the environment of offices and improve the working efficiency. The auxiliary action part is a foldable multi-rotor flight part above the device, if the device needs to reach different floors or even different office buildings, the flight part can provide flight power for the device, so that the action office efficiency of the device is effectively improved, and the problem that the device acts slowly on different floors of the building is solved. The rear of the device is provided with a multifunctional printing and binding device, provides various wired interfaces and wireless file transmission functions, and can provide printing and binding services for office staff anytime and anywhere. The device is internally provided with a small-sized first-aid medical kit, is provided with common first-aid articles and medicines, and is necessary for emergency situations in offices. The face recognition password storage box is placed in front of the device, files or office necessities to be transmitted can be placed, and the problem that similar products are single in function is solved.
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In order to clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the embodiments or the description of the prior art will be briefly described below, and it is obvious that the drawings in the following description are only some embodiments of the present invention, and other drawings may be obtained according to these drawings without inventive effort for a person skilled in the art.
Fig. 1 is a flow chart of the operation of the device.
Fig. 2 is an overall external view of the device.
Fig. 3 is a top view of the flight components of the device.
In the figure: the novel multifunctional printing and bookbinding device comprises a flying component 1, printing and bookbinding equipment 2, a bionic quadruped 3, a high-pixel camera 4, a password storage box and a medical box 5, wherein A is a horn where a secondary propeller is located, B is a central disk, C is the secondary propeller, and D is a main propeller.
Detailed Description
In order to make the objects, technical solutions and advantages of the present invention more apparent, the technical solutions of the present invention will be described in detail below. It will be apparent that the described embodiments are only some, but not all, embodiments of the invention. All other embodiments, based on the examples herein, which are within the scope of the invention as defined by the claims, will be within the scope of the invention as defined by the claims.
An intelligent mobile office device, the body structure is a bionic quadruped robot, which comprises an action part taking bionic quadruped as a main part and a foldable multi-rotor flying part as an auxiliary part, is provided with multifunctional printing binding equipment supporting wired and wireless transmission, is internally provided with a miniaturized first-aid medical kit and a password storage box for face recognition control.
The bionic four feet of the device action part are driven and controlled by a plurality of groups of steering engines, the main control board adopts Arduino Leonardo, the main control chip is an ATmega32U4 low-power-consumption Microchip 8-bit AVR RISC microcontroller, and the device can be externally connected with various sensors by matching with the latest ras-blackberry pi microcomputer (ras-pberry pi3B+). The device is driven by 4 groups of steering gears (3 steering gears in each group and 12 steering gears in total), and the steering gears adopt an LSC-20 steering gear controller, so that the utilization efficiency of interfaces is improved.
The steering engine is a position servo driver and mainly comprises a shell, a circuit board, a coreless motor, a gear and a position detector. The working principle is that a main control board sends a signal to a steering engine, a reference circuit is arranged in a circuit board of the steering engine, a reference signal with the period of 20ms and the width of 1.5ms is generated, and the obtained direct-current bias voltage reference signal is compared with the voltage of a potentiometer to obtain voltage difference output. The IC on the circuit board is used for judging the rotation direction, the coreless motor is driven to start rotating, power is transmitted to the swing arm through the reduction gear, and meanwhile, the position detector is used for sending back a signal to judge whether the positioning is achieved. Different traveling postures are adjusted by changing different angle positioning through the steering engine, and the steering engine comprises three kinds of low postures, medium postures and high postures, and different postures are switched to adapt to different surrounding environments.
The auxiliary action part of the device is a foldable multi-rotor flight part, which is different from most multi-rotor structures on the market, and is symmetrical, the flight part is composed of a main propeller matched with three auxiliary propellers, the main propeller provides power for the device to fly and ascend, and the three auxiliary propellers adjust the flight azimuth of the device.
The main propellers of the flight part are arranged on the central disc, the central disc is connected with each horn through a connector, the three auxiliary propellers are connected to the tail ends of the corresponding horns through connectors, the connectors are controlled by small horn steering engines, and the small horn steering engines receive control signals of the main control board to fold the horns. Each propeller (including a main propeller) is connected with a motor for providing power for the corresponding propeller.
The flight control board is a core part of a flight component and mainly comprises an MCU, a gyroscope, an accelerometer, a magnetometer, a barometer, a wireless receiving module and the like. The flight control board collects data of sensors (gyroscope, accelerometer, magnetometer and barometer), calculates the gesture through gesture calculation, compares control command data sent by the main control board, calculates control quantity through PID, converts the control quantity into PWM signals, and controls each motor respectively.
The multifunctional printing and binding equipment provided by the device is provided with the wired and wireless transmission functions, and files to be printed and bound can be transmitted and printed through a computer, a mobile phone and a mobile storage device. For the office environment with more floor numbers, the office cost can be effectively reduced, and the manpower and material resources are saved.
The face recognition password storage box is provided with the device, files or office necessities to be transmitted can be placed, the password switch of the storage box is connected to the face recognition system of the device through a motor, the face recognition system records face information of all staff, and the face information and the station information are unified through an accurate matching method. When the file or the article is required to be transmitted, the sender only needs to input station information corresponding to the receiver, the device can transmit the file article to a station where the receiver is located, the main control board sends an instruction to the raspberry group development board, and the raspberry group development board is unlocked and opened through the face recognition system. The face recognition function is completed by the raspberry group development board.
The key of the barrier-free passing of the device in the office is to carry out path planning, and the acquisition of the information of the office environment is the premise of path planning. It partitions the environment into a series of discrete grids, each corresponding to a small area in the real world environment. Each grid is provided with a number value so as to judge the relative position of the environment area represented by the grid. The grid map may describe the environmental information in detail and is convenient to build and maintain. The office environment can carry out grid modeling through MATLAB, station information, house number information and barrier information corresponding to staff are input into a grid map, downloaded into a main control board through a computer USB interface, and updated and maintained regularly.
The specific workflow of the device is shown in fig. 1, the action part of the device can select an action mode according to specific office requirements, the office is networked through ZigBee technology, the requirement instructions are sent through ZigBee terminal modules of stations where each employee is located, and the device is provided with the ZigBee terminal modules to receive the instructions and transmit the instructions to a main control board. The demand instructions can be divided into two cases according to different floors, and the specific operation flow is as follows:
(1) When the office demand instruction comes from the same floor, the four foot parts are started, the device positions specific position information of the instruction stations, the main control board plans out an optimal path according to the built-in grid map, the steering engine control board is controlled to execute corresponding action instructions at the positions corresponding to the grid map, and the device reaches the designated stations in a four foot crawling mode to provide office services.
(2) When office demand instruction comes from different floors, flight parts start, and three auxiliary propellers are unfolded by the central disc (default is folded state), the device moves to a floor appointed lifting platform through the four foot parts, the floor lifting platform of the device positioning instruction station is started simultaneously by the main propellers and the auxiliary propellers, the main propellers provide lifting force, the auxiliary propellers control directions, and the device is transmitted to the lifting platform of the corresponding floor. After the device arrives, the auxiliary propeller is folded through joints to plan an optimal path, and the device arrives at a designated station through the four-foot part to provide office services.
The foregoing is merely illustrative of embodiments of the present invention, and the scope of the present invention is not limited thereto, and any person skilled in the art can easily think about variations or substitutions within the scope of the present invention. Therefore, the protection scope of the present invention shall be subject to the protection scope of the claims.
Claims (4)
1. The intelligent mobile office device comprises a bionic quadruped robot, wherein the bionic quadruped robot comprises a main body frame and bionic quadruped arranged on the main body frame, a main control board and a steering engine are arranged on the main body frame, and the intelligent mobile office device is characterized in that a storage box, a ZigBee terminal module, an auxiliary action part positioned at the top of the main body frame and a multi-rotor flight part are arranged on the main body frame, the multi-rotor flight part comprises a central disk, a main propeller is arranged on the central disk, a horn is connected to the central disk, the tail end of the horn is connected with a secondary propeller, motors are connected to the main propeller and the secondary propeller, a flight control board is arranged in the central disk, the flight control board receives control command data sent by the main control board to control each motor, the motors provide power for the corresponding propellers, a grid map is arranged in the main control board, station information, door number information and obstacle information are input into a grid map, the grid map is formed by digitizing a real map, the environment is divided into a series of discrete area corresponding to the real environment, each grid is provided with a small area, each grid number is set to a serial number value, the serial number is set to represent the frame to the human face recognition information, and the human face recognition information is further provided with a password storage box through a password storage box, the main control board is arranged in the main control board, the password storage box is matched with the main control board, and the password storage box is further provided with a password storage box, and the human face information is matched with the human face information; networking is performed in an office through ZigBee technology, a demand instruction is sent through a ZigBee terminal module of a station where each employee is located, the device is provided with the ZigBee terminal module to receive the instruction and transmit the instruction to a main control board, and office files to be transferred are filled in a storage box; the demand instructions are divided into two cases according to different floors, and the specific operation flow is as follows:
(1) When the office demand instruction comes from the same floor, the four foot parts are started, the device positions specific position information of the instruction station, the main control board plans an optimal path according to the built-in grid map, the steering engine is controlled to execute corresponding action instructions at the position corresponding to the grid map, and the device reaches the designated station in a four foot crawling mode to provide office file transfer service;
(2) When office demand instructions come from different floors, the auxiliary action part is started, the device firstly moves to a floor appointed lifting platform through the four-foot part, the floor lifting platform of a device positioning instruction station is started simultaneously by the main screw propeller and the auxiliary screw propeller, the main screw propeller provides lifting force, the auxiliary screw propeller controls the direction, the device is transmitted to the lifting platform of the corresponding floor, after the device arrives, the optimal path is planned, the device arrives at the appointed station through the four-foot part, and office file transfer service is provided.
2. The intelligent mobile office device according to claim 1, wherein the central disk is connected to each arm via a coupler, and the coupler is controlled by the arm steering engine to fold the arms.
3. An intelligent mobile office apparatus according to claim 1 or 2, wherein the main body frame is further provided with a multifunctional printing and binding device, which is provided with a wire and wireless transmission function, and the files to be printed and bound are transmitted and printed by the mobile storage device.
4. An intelligent mobile office appliance according to claim 1 or claim 2 wherein the main body frame is further provided with an emergency medical kit.
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| CN201911117688.0A CN110861100B (en) | 2019-11-15 | 2019-11-15 | Intelligent mobile office device |
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| CN201911117688.0A CN110861100B (en) | 2019-11-15 | 2019-11-15 | Intelligent mobile office device |
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| CN110861100B true CN110861100B (en) | 2023-04-21 |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN111522302B (en) * | 2020-03-25 | 2022-07-12 | 北京柏莱特科技有限公司 | Intelligent office service method and system based on data processing and analysis |
| CN113997294B (en) * | 2021-12-29 | 2022-04-08 | 北京云迹科技有限公司 | Office robot control method and related equipment |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN102520718B (en) * | 2011-12-02 | 2013-06-05 | 上海大学 | Physical modeling-based robot obstacle avoidance path planning method |
| CN105809125B (en) * | 2016-03-06 | 2020-03-13 | 北京工业大学 | Face recognition system based on multi-core ARM platform |
| CN106020226B (en) * | 2016-07-28 | 2019-02-05 | 宁波市浩天电子有限公司 | A kind of Intelligent office robot |
| CN108082497A (en) * | 2016-11-22 | 2018-05-29 | 江西洪都航空工业集团有限责任公司 | A kind of multi-purpose unmanned aerial vehicle of hybrid power |
| CN106739890A (en) * | 2016-12-01 | 2017-05-31 | 天津农学院 | Wheel-leg combined type amphibious robot with ground moving and sporting flying mode |
| CN108170149A (en) * | 2018-01-22 | 2018-06-15 | 北京古点科技有限公司 | A kind of autonomous formula office procedure and system |
| CN109279014A (en) * | 2018-03-15 | 2019-01-29 | 瞿美芬 | A kind of UAV system for printing |
| KR101930211B1 (en) * | 2018-06-20 | 2018-12-17 | 이길순 | Drone type compact air purifier |
| CN110008919A (en) * | 2019-04-09 | 2019-07-12 | 南京工业大学 | The quadrotor drone face identification system of view-based access control model |
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