CN111660278A

CN111660278A - Self-tidying robot

Info

Publication number: CN111660278A
Application number: CN202010641002.4A
Authority: CN
Inventors: 苏淼; 魏友; 马孟泽
Original assignee: Individual
Current assignee: Individual
Priority date: 2020-07-06
Filing date: 2020-07-06
Publication date: 2020-09-15

Abstract

The invention discloses a self-arranging robot, belongs to the technical field of intelligent life electrical appliances, and particularly relates to a housework arranging robot, which aims to solve the problem that young people in urban life are unwilling to arrange housework due to working hardiness. The robot is provided with a robot clamping arm, has a working range exceeding 3 degrees of freedom, can independently clamp and place various articles, and is also provided with a placing platform for carrying partial heavier articles.

Description

Self-tidying robot

Technical Field

The invention discloses a self-organizing robot, belongs to the technical field of intelligent life electrical appliances, and particularly relates to a robot for organizing housework.

Background

Along with the continuous improvement of the existing internet technology, the addition of intelligent household equipment in the household environment becomes increasingly conventional, and most of the intelligent household products on the market provide services for partial mechanization links in the household environment, such as: floor sweeping robots, electric curtains, home intelligent awakening and the like.

The application number is CN201920310799.2, which discloses a sweeping robot and a rolling brush upper cover thereof, wherein the sweeping robot comprises a cover body, an installation part inserted in a sweeping robot shell, a lock catch for locking the installation part on the sweeping robot shell, a release button for releasing the locking function of the lock catch and a popup part for popping the cover body out of the sweeping robot shell; the cover body and the mounting part are fixed together, and the cover body and the mounting part can integrally move relative to the sweeping robot shell; the one end of popping out the part supports and leans on the robot casing of sweeping the floor, the other end supports and leans on the installation department, when the hasp is in the locking state, pop out the part and be in the energy storage state. The utility model discloses a robot sweeps floor's round brush upper cover and robot sweeps floor can change the round brush simply, fast.

Application number CN201910265905.4 discloses a children's robot learning toy, including fuselage and aircraft nose, the one end that the fuselage was kept away from to the arm has palm portion through bolt fixed mounting, the positive center department of palm portion inlays and has the pronunciation player, the positive center department of fuselage inlays and has the board, the center department at fuselage top has the pivot through bolt fixed mounting, there is the axle sleeve center department of aircraft nose bottom through bolt fixed mounting, the axle sleeve cup joints at the pivot top, the axle sleeve rotates with the pivot to be connected, the positive center department of aircraft nose inlays and has the display screen, and this children's robot learning toy shows children's learning content through the display screen, and the information that will show the content simultaneously through the form of sound is played out through the pronunciation player, then children write on the board with the pen according to the information of seeing on the display screen like this, can transfer children's hand simultaneously, The ears, eyes and brain strengthen the learning effect of children.

Although the intelligent robot can realize certain specific functions such as sweeping, learning for children, man-machine conversation and the like, at present, young people in urban life are heavy in work and tired when coming home, so that many young people are unwilling to arrange housework, the home environment is disordered, and the robot is not practical enough.

Disclosure of Invention

The invention aims to: provides a self-organizing robot to solve the problem that young people in urban life are unwilling to organize housework due to hard work.

The technical scheme adopted by the invention is as follows:

the utility model provides a from arrangement robot, includes motion base mechanism, motion base mechanism's upper portion is provided with four piece at least pole settings, the upper portion of pole setting is provided with the upper base platform, be provided with slide mechanism on the upper base platform, the last arm lock base that is provided with of slide mechanism, be provided with the arm lock pole of the reverse L type of falling on the arm lock base, it gets the mechanism to be provided with the clamp on the arm lock pole.

The working process is as follows: the robot can move in any horizontal direction by the aid of the movement base mechanism, the sliding mechanism and the clamping arm base enable the clamping mechanism to move back and forth in the horizontal direction, the clamping mechanism can also move up and down, the robot has a working range exceeding 3 degrees of freedom, various articles can be clamped and placed independently, and the housework arranging function is achieved.

Preferably, a carrying steering mechanism is arranged below the clamping mechanism. For carrying partially heavier items.

More preferably, ask year steering mechanism to press from both sides the support platform of getting the mechanism below including being located, be located ask to carry the directive wheel of platform lower part, be located ask to carry two montants on platform upper portion, be located every the guide arm that the level of montant top set up and being located turn to the gear on the base platform down and be located turn to the gear on the base platform down and drive turn to gear pivoted third motor, every the guide arm all with the gear shaft of turn to the gear links to each other. The third motor drives the steering gear to rotate, the steering gear drives the gear shaft, the guide rod, the vertical rod and the supporting platform to rotate, the steering wheel rotates along with the supporting platform, and meanwhile, a steering wheel seat which is hinged with the steering wheel seat and arranged on the outer side of the steering wheel supports the supporting platform.

Preferably, slide mechanism is including being located two lead screws of fixing on the fixing base of upper base platform top, being located a screw rod of fixing on the bearing housing between two lead screws, being located the second motor of screw rod one end is located the slide bracket of lead screw top is located the slide bracket lower part just with lead screw sliding connection's sliding sleeve and being located slide bracket's lower part just the screw rod engaged with ring cover. The second motor drives the screw to rotate, the screw rotates to drive the ring sleeve and the sliding platform fixed on the ring sleeve to move, then the second motor rotates reversely to drive the sliding platform to move reversely, and the two screw rods and the sliding sleeve play a role in guiding the sliding platform to keep the sliding platform stable all the time.

Preferably, the clamping mechanism comprises a straight tooth jacket positioned at the end part of the clamping arm rod, a toothed motor positioned outside the straight tooth jacket, a movable straight tooth rod positioned in the straight tooth jacket and a manipulator positioned at the lower part of the straight tooth rod, and straight teeth on the straight tooth rod are meshed with the toothed motor. The toothed motor runs to drive the straight teeth to move in the straight tooth clamping sleeve so as to drive the manipulator to move, and the toothed motor runs reversely to drive the straight teeth to move reversely in the straight tooth clamping sleeve so as to drive the manipulator to move in opposite directions, namely, the manipulator is driven to move upwards or downwards to clamp or place articles.

Preferably, the motion base mechanism comprises a lower base platform, four wheels positioned at the lower part of the lower base platform and a driving mechanism for driving the wheels to move. The driving mechanism drives the lower base platform to move in any direction in the horizontal plane.

Preferably, the driving mechanism comprises a first motor located on the lower base platform, a driving gear connected with the first motor, a driven gear located on the connecting shaft between the wheels, and a gear belt located on the driving gear and the driven gear. The first motor drives the driving gear to rotate, the driving gear rotates to drive the gear belt to rotate, and therefore the driven gear and the two rear wheels are driven to rotate and move according to the chain transmission principle.

A control method of a self-organizing robot comprises the following steps:

(1) when the self-organizing robot is started up for the first time in a working environment, firstly carrying out self-checking, then detecting a home environment, and inputting and storing a working route into the self-organizing robot;

(2) identifying and recording articles, namely scanning and shooting the characteristics of the articles through a sensor and a camera, then recording the characteristics into a local article library, and simply and physically distinguishing the similar articles through the size, the color, the common position and the like of the similar articles, wherein the articles such as large scissors, red and black pens, primary lying socks and secondary lying socks have different definitions in the article library;

(3) the regular work of the robot may be set by the user as work hours, one by default at 10 am on weekdays: 00-12:00 in the afternoon, 14:30-16:30 in the afternoon, and 00:01 in the night on weekends, during normal work, cruising detection is carried out indoors according to a local route, articles in an article library are comprehensively scanned and checked, articles with wrong positions are reset, after the reset operation of all articles with wrong positions is finished, the robot returns to the original position to enter a standby state and waits;

(4) the robot can also cooperate with a user when the personnel are at home, the robot can cooperate with the user through voice operation or instruction operation, after the robot receives an operation instruction of the user, the robot searches for an article required by the instruction in an article library, the article is advanced according to a local route, then the article is accessed and operated by the clamping mechanism through the driving of the motor, and then the article is sent to the hand of the user or sent back to a storage place, so that the next operation instruction of the user is waited for, when no new instruction exists for a long time, the original position is returned to enter a standby state, and the next operation is waited for next working time or is manually awakened for next work.

Preferably, the robot starts to work after being started, the camera and the sensor of the robot are used for avoiding obstacles such as indoor walls and houses, information such as advancing distance and steering is recorded in the advancing process, and the two-dimensional working route of the robot is obtained through repeated paths.

Preferably, when the route changes due to the replacement of furniture or the replacement of houses, the updated route is manually guided in.

Preferably, the articles which cannot be easily identified by some machines are listed in the unknown article column, the user is reminded to manually input the articles, specifically, the added new articles can be placed on the object stage, and the robot can input the features of the articles on the object stage into the article library by pressing the adding button.

Preferably, the article that cannot be easily identified refers to an article that cannot be listed in the original article preset list, such as some newly-appeared articles; such as some similar items such as vises and wallets, toolboxes and medicine boxes, notebooks and tablets, and the like or items that are not recognizable by a photo machine alone.

Preferably, the menu bar can be called out by double clicking the ok key, the item library is selected by the direction key, and a user can change the names of the items in the item library according to the use habit so as to better adapt to voice operation.

Preferably, the unknown article column is selected to name the material articles, so that the robot can sort more articles.

Preferably, the storage type storage space in the home environment shot by the robot can be selected by selecting the local route and the home environment bar, numbering or naming processing (such as a drawer No. 1 of a television cabinet, a door No. 2 of a wardrobe, a door No. 3 of a shoe cabinet and the like) can be carried out on the storage type storage space, the opening and closing work of most drawers and cabinet doors can be carried out by the aid of a manipulator of the robot, and the robot can update the working environment after acquiring a new storage space and carry out more sorting work.

Preferably, the position selection is carried out in the local route, the placing position of the clothes to be washed is set, the robot works according to the shooting of the camera and the signal of the sensor, and the washing operation is carried out only on the clothes at the position, so that the robot is prevented from being washed by mistake.

A control device of a self-organizing robot, comprising:

the first signal detection module is used for detecting a working position signal of the robot so as to feed back the working position signal to the control module to determine a travelling position in real time;

the second signal detection module is used for detecting a manipulator position signal of the robot so as to feed back the manipulator position signal to the control module in real time to determine the distance between the manipulator and the article;

the first image detection module is used for acquiring article characteristic signals and manipulator position signals and feeding back the article characteristic signals and the manipulator position signals to the control module in real time to determine the working state of the manipulator;

the second image detection module is used for acquiring a robot traveling environment image signal and feeding back the image signal to the control module in real time to determine the traveling direction of the robot;

the operation control module is used for controlling the posture change of the robot manipulator;

the auxiliary operation control module is used for controlling the space position required by the work of the robot manipulator;

the motion control module is used for controlling the route advancing and the direction change when the robot works;

the human-computer interface is used for inputting signals to complete manual control of the robot;

the control module finishes information input work of the robot according to a preset mode through signals acquired by the first signal detection module, the second signal detection module, the first image detection module and the second image detection module, wherein the control module finishes storage of a route map, an article library and environmental information through the acquired signals;

the motion control module controls the motor of the motion control module to operate so as to drive the robot to move and turn;

the control module controls the operation of a motor of the operation control module through signals acquired by the second signal detection module and the first image detection module so as to change the spatial position and the posture of the robot manipulator;

and the human-computer control interface inputs instructions to the robot through manual operation, and the control module controls the robot to complete tasks.

Preferably, the preset modes include a first preset mode: the input of a working route, namely determining a marching route and a direction of the robot by signals of a first signal detection module and a second image detection module, and finishing the generation of a two-dimensional working route by the robot through repeated times; a second preset mode: inputting article information, acquiring photo information of a shot article and a position signal of a manipulator by signals of a second signal detection module and a first image detection module, combining and storing the signals into a system, and finishing naming of the article and generation of the position signal; a third preset mode: and (3) inputting environmental information, namely acquiring indoor wall position information and storage space position information by signals of the first image detection module and the second image detection module so as to complete the inputting of the working environment information of the robot.

In summary, due to the adoption of the technical scheme, the invention has the beneficial effects that:

1. in the invention, the robot is provided with a robot clamping arm, has a working range of more than 3 degrees of freedom, can independently clamp and place various articles, and is also provided with a placing platform for carrying partial heavy articles;

2. the robot memorizes the daily life placing habits of people by memorizing the positions of taking and placing articles for many times, identifies and memorizes articles at home by means of an image identification technology, photographs the articles which cannot be identified, and memorizes the unidentified articles by the aid of voice of a user;

3. after articles at home are remembered, the main working time of the robot is at night and when a user is working or not at home, when no person is in a room, patrol is carried out according to a local route map, then messy articles at home are placed according to the sequence, clothes are collected and washed, and the clothes are put into washing machines for washing, airing and other tasks, when people exist at home, the robot is awakened according to voice and works according to instructions, and the robot is matched with the user to carry out various matters such as various production lives and the like;

4. an aid which is not disorganized is added to family life.

Drawings

FIG. 1 is a schematic structural diagram of a self-organizing robot according to the present invention;

FIG. 2 is a flow chart of a control method of a self-organizing robot according to the present invention;

fig. 3 is a block diagram of a control apparatus of a self-organizing robot according to the present invention.

The labels in the figure are: 11-a straight toothed rod, 12-a straight toothed jacket, 13-a toothed motor, 14-a manipulator, 15-a gripper arm rod, 21-a gripper arm base, 22-a sliding platform, 23-a screw, 24-a screw rod, 25-an upper base platform, 26-a second motor, 27-a bearing sleeve, 28-a fixed base, 29-a sliding sleeve, 31-a first motor, 32-a vertical rod, 33-a lower base platform, 34-a gear belt, 35-a wheel, 36-a driven gear, 41-a vertical rod, 42-a guide rod, 43-a steering wheel, 44-a carrying platform, 45-a steering gear and 46-a third motor.

Detailed Description

In order to make the objects, technical solutions and advantages of the present invention more apparent, the present invention is described in further detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative of the invention and are not intended to limit the invention.

Example 1

As shown in fig. 1, a self-organizing robot, includes motion base mechanism, motion base mechanism's upper portion is provided with four piece at least pole settings 32, the upper portion of pole setting 32 is provided with upper base platform 25, be provided with slide mechanism on the upper base platform 25, the last arm lock base 21 that is provided with of slide mechanism, be provided with the arm lock pole 15 of the reverse type of falling L on the arm lock base 21, it gets the mechanism to be provided with the clamp on the arm lock pole 15. In the technical scheme of the application: the self-tidying robot is provided with a machine clamping arm, has a working range with more than 3 degrees of freedom, and can independently clamp and place various articles.

The working process is as follows: the robot can move in any horizontal direction by the aid of the movement base mechanism, the sliding mechanism and the clamping arm base 21 are arranged to enable the clamping mechanism to move back and forth in the horizontal direction, the clamping mechanism can also move up and down, the robot has a working range exceeding 3 degrees of freedom, various articles can be clamped and placed independently, and the housework arranging function is achieved.

Example 2

As shown in fig. 1, in addition to embodiment 1, a carrying steering mechanism is provided below the gripping mechanism. For carrying partially heavier items.

Example 3

As shown in fig. 1, on the basis of embodiment 2, the supporting and steering mechanism includes a supporting platform 44 located below the clamping mechanism, a steering wheel 43 located at the lower portion of the supporting platform 44, two vertical rods 41 located at the upper portion of the supporting platform 44, a guide rod 42 located at the top of each vertical rod 41 and horizontally arranged, a steering gear 45 located on the lower base platform 33, and a third motor 46 located on the lower base platform 33 and driving the steering gear 45 to rotate, wherein each guide rod 42 is connected to a gear shaft of the steering gear 45. The third motor 46 drives the steering gear 45 to rotate, the steering gear 45 drives 34 gear shafts and guide rods 42, the vertical rod 41 and the supporting platform 44 to rotate, the steering wheel 43 rotates along with the supporting platform 44, and meanwhile, the steering wheel 43 seat on the outer side of the steering wheel 43 and hinged with the steering wheel 43 seat support the supporting platform 44.

Example 4

As shown in fig. 1, based on embodiment 1, the sliding mechanism includes two lead screws 24 fixed on a fixing seat 28 and located above the upper base platform 25, a screw 23 fixed on a bearing sleeve 27 and located between the two lead screws 24, a second motor 26 located at one end of the screw 23, a sliding platform 22 located above the lead screw 24, a sliding sleeve 29 located below the sliding platform 22 and slidably connected to the lead screw 24, and a ring sleeve located below the sliding platform 22 and engaged with the screw 23. The second motor 26 drives the screw 23 to rotate, the screw 23 rotates to drive the ring sleeve and the sliding platform 22 fixed on the ring sleeve to move, then the second motor 26 rotates reversely to drive the sliding platform 22 to move reversely, and the two screw rods 24 and the sliding sleeve 29 play a role in guiding the sliding platform 22, so that the sliding platform is kept stable all the time.

Example 5

As shown in fig. 1, based on embodiment 1, the gripping mechanism includes a spur gear jacket 12 located at an end of the gripping arm rod 15, a toothed motor 13 located outside the spur gear jacket 12, a movable spur gear rod 11 located inside the spur gear jacket 12, and a manipulator 14 located below the spur gear rod 11, and the spur gear on the spur gear rod 11 is engaged with the toothed motor 13. The toothed motor 13 runs to drive the straight teeth to move in the straight tooth jacket 12, so as to drive the manipulator 14 to move, the toothed motor 13 runs in the reverse direction to drive the straight teeth to move in the straight tooth jacket 12 in the reverse direction, so as to drive the manipulator 14 to move in the opposite direction, namely, the manipulator 14 is driven to move upwards or downwards to clamp or place articles.

Example 6

As shown in fig. 1, based on embodiment 1, the moving base mechanism includes a lower base platform 33, four wheels 35 located at the lower part of the lower base platform 33, and a driving mechanism for driving the wheels 35 to move. The driving mechanism drives the lower base platform 33 to move in any direction in the horizontal plane.

Example 7

As shown in fig. 1, based on embodiment 6, the driving mechanism includes a first motor 31 located on the lower base platform 33, a driving gear connected to the first motor 31, a driven gear 36 located on the connecting shaft between the wheels 35, and a gear belt 34 located on the driving gear and the driven gear 36. The first motor 31 drives the driving gear to rotate, and the driving gear rotates to drive the gear belt 34 to rotate, so as to drive the driven gear 36 and the two rear wheels 35 to rotate, and the movement is performed by using the chain transmission principle.

Example 8

A control method of a self-organizing robot comprises the following steps:

Example 9

A control device of a self-organizing robot, comprising:

The above description is only for the purpose of illustrating the preferred embodiments of the present invention and is not to be construed as limiting the invention, and any modifications, equivalents and improvements made within the spirit and principle of the present invention are intended to be included within the scope of the present invention.

Claims

1. A self-organizing robot, characterized in that: including motion base mechanism, motion base mechanism's upper portion is provided with four piece at least pole settings (32), the upper portion of pole setting (32) is provided with upper base platform (25), be provided with slide mechanism on upper base platform (25), the last arm lock base (21) that is provided with of slide mechanism, be provided with reverse L type of falling clamp arm pole (15) on arm lock base (21), it gets the mechanism to be provided with the clamp on arm lock pole (15).

2. A self-organizing robot as defined in claim 1, wherein: and a supporting steering mechanism is arranged below the clamping mechanism.

3. A self-organizing robot as defined in claim 2, wherein: the support carries steering mechanism and carries platform (44) including being located the support of getting the mechanism below, is located steering wheel (43) of support year platform (44) lower part is located two montants (41) on support year platform (44) upper portion are located every guide arm (42) that montant (41) top level set up and be located steering gear (45) on base platform (33) and being located down on base platform (33) and drive steering gear (45) pivoted third motor (46), every guide arm (42) all with the gear shaft of steering gear (45) links to each other.

4. A self-organizing robot as defined in claim 1, wherein: slide mechanism is including being located two lead screw (24) of fixing on fixing base (28) of upper base platform (25) top are located one screw rod (23) of fixing on bearing housing (27) between two lead screw (24) are located second motor (26) of screw rod (23) one end are located slide bracket (22) of lead screw (24) top are located slide bracket (22) lower part and with lead screw (24) sliding connection's sliding sleeve (29) and being located slide bracket (22)'s lower part just screw rod (23) engaged with ring cover.

5. A self-organizing robot as defined in claim 1, wherein: the clamping mechanism comprises a straight tooth jacket (12) positioned at the end part of the clamping arm rod (15), a toothed motor (13) positioned outside the straight tooth jacket (12), a movable straight tooth rod (11) positioned in the straight tooth jacket (12) and a manipulator (14) positioned at the lower part of the straight tooth rod (11), wherein straight teeth on the straight tooth rod (11) are meshed with the toothed motor (13).

6. A self-organizing robot as defined in claim 1, wherein: the motion base mechanism comprises a lower base platform (33), four wheels (35) positioned at the lower part of the lower base platform (33) and a driving mechanism for driving the wheels (35) to move.

7. A self-organizing robot as defined in claim 6, wherein: the driving mechanism comprises a first motor (31) positioned on the lower base platform (33), a driving gear connected with the first motor (31), a driven gear (36) positioned on a connecting shaft between the wheels (35) and a gear belt (34) positioned on the driving gear and the driven gear (36).

8. A self-organizing robot control method according to any one of claims 1 to 7, characterized in that: the method comprises the following steps:

(1) recording a working route into the self-organizing robot and storing the working route;

(2) identifying the article and inputting the article into an article library;

(3) setting working time, carrying out indoor cruising detection on the self-organizing robot according to a working route, carrying out comprehensive scanning detection on articles in an article library, resetting the articles with wrong positions, returning to the original positions after completion and entering a standby state;

(4) the self-organizing robot searches for the articles required by the instruction in the article library by voice or instruction operation, moves along a local route, uses the clamping mechanism to carry out access operation on the articles, then sends the articles to the hands of the user or sends the articles back to a storage place, and returns to the original position to enter a standby state when no new instruction exists for a long time.

9. A control apparatus of a self-organizing robot according to any one of claims 1 to 7, comprising: