CN112917485A - Intelligent home service robot positioning device based on vision - Google Patents
Intelligent home service robot positioning device based on vision Download PDFInfo
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- CN112917485A CN112917485A CN202110079679.8A CN202110079679A CN112917485A CN 112917485 A CN112917485 A CN 112917485A CN 202110079679 A CN202110079679 A CN 202110079679A CN 112917485 A CN112917485 A CN 112917485A
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- positioning device
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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
- B25J11/008—Manipulators for service tasks
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- 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
- B25J19/0058—Means for cleaning manipulators, e.g. dust removing means
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- 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
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- Robotics (AREA)
- Mechanical Engineering (AREA)
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Abstract
The invention discloses an intelligent household service robot positioning device based on vision, which comprises a supporting component and a robot component, wherein the robot moves around through universal wheels, when the positioning is needed, a pressing plate is shifted downwards, thereby driving the roll shaft to rotate downwards, at the moment, the end of the connecting rod connected with the roll shaft is displaced, thereby driving the push rod to move downwards, thereby driving the mounting plate to move downwards, the supporting piece is fixedly arranged at the lower end of the mounting plate and is in through connection with the base, the spring is arranged at the lower end of the supporting piece, and is arranged at the lower end of the base, the sucker is fixedly arranged at the lower end of the supporting piece, the supporting piece moves downwards to drive the spring to extend, meanwhile, the sucker is adsorbed on the ground, so that the position of the robot is convenient to fix and position, otherwise, the pressing plate is stirred upwards, the supporting piece can drive the sucker to move upwards, the positioning is convenient to cancel, and the robot can walk conveniently.
Description
Technical Field
The invention relates to the technical field of intelligent home, in particular to an intelligent home service robot positioning device based on vision.
Background
The intelligent home is characterized in that a home is used as a platform, facilities related to home life are integrated by utilizing a comprehensive wiring technology, a network communication technology, a safety precaution technology, an automatic control technology and an audio and video technology, an efficient management system of home facilities and family schedule affairs is constructed, home safety, convenience, comfortableness and artistry are improved, and an environment-friendly and energy-saving living environment is realized.
When the intelligent home is used, a robot is generally used for indoor service, and the existing robot can not be accurately positioned by moving around through universal wheels, so that the robot cannot be fixed at a certain position and is poor in use effect.
To the above problems, the existing device is improved, and the intelligent home service robot positioning device based on vision is provided.
Disclosure of Invention
The invention aims to provide an intelligent home service robot positioning device based on vision, a robot moves around through universal wheels, a push rod is fixedly arranged at the upper end of a mounting plate, one end of a connecting rod is connected with the push rod, the other end of the connecting rod is movably connected with the eccentric center of a roll shaft, two ends of the roll shaft are connected with the inner wall of an outer shell, one end of a pressing plate is fixedly connected with the roll shaft, when positioning is needed, the pressing plate is stirred downwards to drive the roll shaft to rotate downwards, the end, connected with the roll shaft, of the connecting rod is displaced to drive the push rod to move downwards and further drive the mounting plate to move downwards, a supporting piece is fixedly arranged at the lower end of the mounting plate and is in penetrating connection with a base, a spring is arranged at the lower end of the supporting piece and is arranged at the lower end of the base, a sucker is fixedly arranged at the, the position of the robot is convenient to fix and position, otherwise, the pressing plate is stirred upwards, the supporting piece can drive the sucker to move upwards, the positioning is convenient to cancel, the robot can walk conveniently, and the problems in the background art are solved.
In order to achieve the purpose, the invention provides the following technical scheme: a vision-based intelligent home service robot positioning device comprises a supporting component and a robot component, wherein the robot component is arranged at the upper end of the supporting component, the supporting component comprises a base, a groove, universal wheels, a sterilization mechanism, a positioning mechanism and a transmission mechanism, the groove is arranged at the lower end of the base, the universal wheels are arranged at the lower end of the groove, the sterilization mechanism is arranged in the base, the positioning mechanism is arranged in the base, and the transmission mechanism is arranged at the upper end of the positioning mechanism;
the robot assembly comprises an outer shell, a storage bin, a mounting seat, a vertical rod, a door body, a discharge port, a visual mechanism and a driving mechanism, wherein the outer shell is fixedly mounted at the upper end of a base, the storage bin is arranged in the outer shell, the mounting seat is fixedly mounted at the upper end of the outer shell, the vertical rod is fixedly mounted at the upper end of the outer shell, one end of the door body is connected with the outer shell, the discharge port is arranged on one side of the door body, the visual mechanism is arranged at the upper end of the vertical rod, and the driving mechanism is arranged in.
Further, the mechanism of disinfecting includes first pipeline, connecting pipe and atomizer, and the one end of first pipeline is connected with storing the storehouse, and the other end is connected with the connecting pipe, and the connecting pipe setting is in the inside of base, and the atomizer setting is at the lower extreme of connecting pipe, and with base through connection.
Further, the shell body is including dodging groove, annular lamp and display screen, dodges the groove processing in one side of shell body, and annular lamp fixed mounting is at the lower extreme of shell body, and the display screen setting is at the surface of shell body.
Furthermore, the base comprises a dust collector and a dust collection port, the dust collector is arranged in the base, and the dust collection port is processed at the lower end of the base.
Further, positioning mechanism includes mounting panel, support piece, spring and sucking disc, and the mounting panel setting is in the inside of base, and support piece fixed mounting is at the lower extreme of mounting panel, and with base through connection, the spring setting is at support piece's lower extreme, and sets up the lower extreme at the base, sucking disc fixed mounting is at support piece's lower extreme.
Further, drive mechanism includes push rod, connecting rod, roller and clamp plate, and push rod fixed mounting is in the upper end of mounting panel, and the one end and the push rod of connecting rod are connected, the other end and the eccentric centre of a circle swing joint of roller, the both ends of roller and the interior wall connection of shell body, the one end and the roller fixed connection of clamp plate.
Further, the pole setting includes base, first magnetic path, second magnetic path, places board and second pipeline, and base fixed mounting is in the inside of pole setting, and first magnetic path fixed mounting is in the upper end of base, and the second magnetic path setting is in the upper end of first magnetic path, places board fixed mounting in the upper end of second magnetic path, and the second pipeline runs through and places board and base and store the storehouse and be connected.
Further, visual mechanism includes mounting bracket, motor, pivot and camera, and mounting bracket fixed mounting is in the inside of pole setting, and the motor setting is connected with the output of motor in the upper end of mounting bracket, pivot, and the camera setting is at the surface of pivot.
Furthermore, the driving mechanism comprises a middle shaft, a mounting rod, a gear, a rotary table and a handle, wherein two ends of the middle shaft are movably connected with the mounting rod, the mounting rod is fixedly mounted at the lower end of the mounting frame, the gear is arranged on the outer surface of the middle shaft, the rotary table is connected with the middle shaft, and the handle is fixedly mounted on one side of the rotary table.
Compared with the prior art, the invention has the beneficial effects that:
1. the invention provides an intelligent household service robot positioning device based on vision, a robot moves around through universal wheels, a push rod is fixedly arranged at the upper end of a mounting plate, one end of a connecting rod is connected with the push rod, the other end of the connecting rod is movably connected with the eccentric center of a roll shaft, two ends of the roll shaft are connected with the inner wall of an outer shell, one end of a press plate is fixedly connected with the roll shaft, when positioning is needed, the press plate is stirred downwards to drive the roll shaft to rotate downwards, at the moment, the end, connected with the roll shaft, of the connecting rod is displaced to drive the push rod to move downwards and further drive the mounting plate to move downwards, the supporting piece is fixedly arranged at the lower end of the mounting plate and is in penetrating connection with a base, a spring is arranged at the lower end of the supporting piece, a sucker is fixedly arranged at the lower end of the supporting piece, the position of the robot is convenient to fix and position, otherwise, the pressing plate is stirred upwards, the supporting piece can drive the sucker to move upwards, the positioning is convenient to cancel, and the robot can walk conveniently.
2. According to the vision-based intelligent home service robot positioning device, when a robot walks, disinfectant water is poured into the storage bin, the dust collector is started to work, dust enters the robot through the dust collection port, one end of the first pipeline is connected with the storage bin, the other end of the first pipeline is connected with the connecting pipe, the connecting pipe is arranged inside the base, the atomizing nozzle is arranged at the lower end of the connecting pipe and is in penetrating connection with the base, the water pump is externally connected to one end of the first pipeline, when the robot moves, the water pump is started to work, the disinfectant water in the storage bin enters the connecting pipe through the first pipeline and is sprayed to the ground through the atomizing nozzle, and therefore the sterilization and disinfection of the ground are facilitated.
3. The invention provides a vision-based intelligent home service robot positioning device, a base is fixedly arranged in a vertical rod, a first magnetic block is fixedly arranged at the upper end of the base, a second magnetic block is arranged at the upper end of the first magnetic block, a placing plate is fixedly arranged at the upper end of the second magnetic block, the first magnetic block and the second magnetic block are in like polarity repulsion, a gap is arranged between the placing plate and the upper end of the base, an operator opens a door body to place a wet tissue at the upper end of the placing plate, the gravity of the wet tissue enables the placing plate to move downwards to close the door body, the upper end of the wet tissue abuts against the lower end of a gear, the lower end of the gear is parallel to a discharge port, a second pipeline penetrates through the placing plate and the base to be connected with a storage bin, one end of the second pipeline is connected with a water pump, the water pump brings disinfection water in the storage bin to the upper end of the base, and the disinfection water can soak, the safety performance is improved.
4. The invention provides an intelligent household service robot positioning device based on vision, two ends of a center shaft are movably connected with mounting rods, the mounting rods are fixedly mounted at the lower end of a mounting rack, gears are arranged on the outer surface of the center shaft, a rotary disc is connected with the center shaft, the handles are fixedly mounted on one side of the rotary disc, an operator rotates the handles to enable the center shaft to rotate, the gears can rotate, in the rotating process of the gears, wet tissues at the lower ends of the gears slide out of one end of a discharge port, the wet tissues are convenient to take out, the gears are rotated reversely, the wet tissues can be recycled into the vertical rods, when the number of the wet tissues is reduced, a placing plate can be driven to move upwards due to the fact that the first magnetic blocks and the second magnetic blocks are in the same polarity, the wet tissues at the lower ends can.
Drawings
FIG. 1 is a schematic diagram of an overall structure of a vision-based positioning device for an intelligent home service robot according to the present invention;
FIG. 2 is a partial exploded view of the vision-based smart home service robot positioning device of the present invention;
FIG. 3 is a schematic view of a base structure of the positioning apparatus of the vision-based smart home service robot according to the present invention;
FIG. 4 is a schematic view of a positioning mechanism of a vision-based positioning device for an intelligent home service robot according to the present invention;
FIG. 5 is an enlarged view of the location device A of the vision-based smart home service robot of the present invention shown in FIG. 4;
FIG. 6 is a schematic view of a vertical rod structure of the positioning device of the smart home service robot based on vision according to the present invention;
fig. 7 is a schematic structural diagram of a driving mechanism of the vision-based positioning device for the smart home service robot of the present invention.
In the figure: 1. a support assembly; 11. a base; 111. a vacuum cleaner; 112. a dust suction port; 12. a groove; 13. a universal wheel; 14. a sterilization mechanism; 141. a first conduit; 142. a connecting pipe; 143. an atomizing spray head; 15. a positioning mechanism; 151. mounting a plate; 152. a support member; 153. a spring; 154. a suction cup; 16. a transmission mechanism; 161. a push rod; 162. a connecting rod; 163. a roll shaft; 164. pressing a plate; 2. a robot assembly; 21. an outer housing; 211. an avoidance groove; 212. an annular lamp; 213. a display screen; 22. a storage bin; 23. a mounting seat; 24. erecting a rod; 241. a base; 242. a first magnetic block; 243. a second magnetic block; 244. placing the plate; 245. a second conduit; 25. a door body; 26. a discharge port; 27. a visualization mechanism; 271. a mounting frame; 272. a motor; 273. a rotating shaft; 274. a camera; 28. a drive mechanism; 281. a middle shaft; 282. mounting a rod; 283. a gear; 284. a turntable; 285. a handle.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
Referring to fig. 1 and 2, the vision-based intelligent home service robot positioning device comprises a support assembly 1 and a robot assembly 2, wherein the robot assembly 2 is arranged at the upper end of the support assembly 1, the support assembly 1 comprises a base 11, a groove 12, a universal wheel 13, a sterilization mechanism 14, a positioning mechanism 15 and a transmission mechanism 16, the groove 12 is arranged at the lower end of the base 11, the universal wheel 13 is arranged at the lower end of the groove 12, the sterilization mechanism 14 is arranged inside the base 11, the positioning mechanism 15 is arranged inside the base 11, and the transmission mechanism 16 is arranged at the upper end of the positioning mechanism 15; robot component 2 includes shell body 21, store storehouse 22, mount pad 23, pole setting 24, door body 25, discharge gate 26, visual mechanism 27 and actuating mechanism 28, shell body 21 fixed mounting is in the upper end of base 11, store storehouse 22 and set up the inside at shell body 21, mount pad 23 fixed mounting is in the upper end of shell body 21, pole setting 24 fixed mounting is in the upper end of shell body 21, the one end and the shell body 21 of door body 25 are connected, discharge gate 26 sets up the one side at door body 25, visual mechanism 27 sets up the upper end at pole setting 24, actuating mechanism 28 sets up the inside at pole setting 24.
Referring to fig. 2 and 3, the base 11 includes a dust collector 111 and a dust suction port 112, the dust collector 111 is disposed inside the base 11, the dust suction port 112 is formed at a lower end of the base 11, the dust collector 111 is started to operate, dust enters the robot through the dust suction port 112, the sterilization mechanism 14 includes a first pipe 141, a connecting pipe 142 and an atomizing nozzle 143, one end of the first pipe 141 is connected to the storage bin 22, the other end of the first pipe is connected to the connecting pipe 142, the connecting pipe 142 is disposed inside the base 11, the atomizing nozzle 143 is disposed at a lower end of the connecting pipe 142 and is connected to the base 11 in a penetrating manner, when the sterilization mechanism moves, the water pump is started to operate, and the sterilized water inside the storage bin 22 enters the connecting pipe 142 through the first pipe 141 and is sprayed onto the ground through the atomizing nozzle 143, so as to sterilize and sterilize the.
Referring to fig. 2 and 6, visual mechanism 27 includes mounting bracket 271, motor 272, pivot 273 and camera 274, mounting bracket 271 fixed mounting is in the inside of pole setting 24, motor 272 sets up the upper end at mounting bracket 271, pivot 273 is connected with motor 272's output, camera 274 sets up the surface at pivot 273, it works to open motor 272, can drive pivot 273 rotatory, can make camera 274 rotatory, be convenient for shoot the environment all around, shell body 21 is including dodging groove 211, ring lamp 212 and display screen 213, dodging one side that groove 211 processed at shell body 21, ring lamp 212 fixed mounting is at the lower extreme of shell body 21, display screen 213 sets up the surface at shell body 21, ring lamp 212 can throw light on the environment around the robot, and made things convenient for camera 274 to shoot, the imaging effect is improved.
Referring to fig. 4 and 5, the positioning mechanism 15 includes a mounting plate 151, a support 152, a spring 153 and a suction cup 154, the mounting plate 151 is disposed inside the base 11, the support 152 is fixedly mounted at a lower end of the mounting plate 151 and is connected to the base 11 in a penetrating manner, the spring 153 is disposed at a lower end of the support 152 and is disposed at a lower end of the base 11, the suction cup 154 is fixedly mounted at a lower end of the support 152, the transmission mechanism 16 includes a push rod 161, a connecting rod 162, a roller shaft 163 and a pressing plate 164, the push rod 161 is fixedly mounted at an upper end of the mounting plate 151, one end of the connecting rod 162 is connected to the push rod 161, the other end is movably connected to an eccentric center of the roller shaft 163, two ends of the roller shaft 163 are connected to an inner wall of the outer housing 21, one end of the pressing plate 164 is fixedly connected to the roller shaft 163, when positioning is, thereby drive push rod 161 lapse, and then drive mounting panel 151 lapse, support piece 152 fixed mounting is at the lower extreme of mounting panel 151, and with base 11 through connection, spring 153 sets up the lower extreme at support piece 152, and set up the lower extreme at base 11, sucking disc 154 fixed mounting is at the lower extreme of support piece 152, support piece 152 lapse drives the extension of spring 153, sucking disc 154 adsorbs with ground simultaneously, be convenient for fix the position of robot, be convenient for fix a position, stir clamp plate 164 upwards on the contrary, support piece 152 can drive sucking disc 154 upwards activity, be convenient for cancel the location, make things convenient for the walking of robot.
Referring to fig. 6 and 7, the upright rod 24 includes a base 241, a first magnetic block 242, a second magnetic block 243, a placing plate 244 and a second pipe 245, the base 241 is fixedly installed inside the upright rod 24, the first magnetic block 242 is fixedly installed at the upper end of the base 241, the second magnetic block 243 is arranged at the upper end of the first magnetic block 242, the placing plate 244 is fixedly installed at the upper end of the second magnetic block 243, the first magnetic block 242 and the second magnetic block 243 repel each other in a same polarity, so that a gap is formed between the placing plate 244 and the upper end of the base 241, an operator opens the door 25, places a wet tissue on the upper end of the placing plate 244, the gravity of the wet tissue moves the placing plate 244 downward to close the door 25, the upper end of the wet tissue abuts against the lower end of the gear 283, the lower end of the gear 283 is parallel to the discharge hole 26, the second pipe 245 penetrates through the placing plate 244 and the base 241 and is connected to the storage chamber 22, one end of the second pipe 245 is connected to a water, the sterilizing water can wet the wet tissue, so that the wet tissue can realize the sterilization and disinfection effects, and the safety is improved, the driving mechanism 28 comprises a center shaft 281, an installation rod 282, a gear 283, a rotating disc 284 and a handle 285, two ends of the center shaft 281 are movably connected with the installation rod 282, the installation rod 282 is fixedly installed at the lower end of the installation frame 271, the gear 283 is arranged on the outer surface of the center shaft 281, the rotating disc 284 is connected with the center shaft 281, the handle 285 is fixedly installed at one side of the rotating disc 284, an operator rotates the handle 285 to enable the center shaft 281 to rotate, meanwhile, the gear 283 can rotate, in the rotating process of the gear 283, the wet tissue at the lower end of the gear 283 slides out of one end of the discharge hole 26 to facilitate the taking-out of the wet tissue, the gear 283 is rotated reversely, so that the wet tissue can be recovered into the inside of the upright rod 24, when the number of the wet tissue is reduced, can make the wet tissue of lower extreme set up the upper end at gear 283 all the time, be convenient for get the material.
In summary, the following steps: the invention provides a vision-based intelligent home service robot positioning device, a robot moves around through a universal wheel 13, a push rod 161 is fixedly arranged at the upper end of a mounting plate 151, one end of a connecting rod 162 is connected with the push rod 161, the other end of the connecting rod is movably connected with the eccentric circle center of a roll shaft 163, two ends of the roll shaft 163 are connected with the inner wall of an outer shell 21, one end of a pressing plate 164 is fixedly connected with the roll shaft 163, when positioning is needed, the pressing plate 164 is shifted downwards to drive the roll shaft 163 to rotate downwards, at the moment, one end of the connecting rod 162 connected with the roll shaft 163 is displaced to drive the push rod 161 to move downwards so as to drive the mounting plate 151 to move downwards, a support 152 is fixedly arranged at the lower end of the mounting plate 151 and is connected with a base 11 in a penetrating manner, a spring 153 is arranged at the lower end of the support 152, the support 152 moves downwards to drive the spring 153 to extend, and meanwhile, the sucker 154 adsorbs the ground, so that the position of the robot can be fixed and the robot can be positioned conveniently, otherwise, the pressing plate 164 is shifted upwards, the support 152 can drive the sucker 154 to move upwards, so that the positioning can be cancelled and the robot can conveniently walk, when the robot walks, sterile water is poured into the storage bin 22, the dust collector 111 is started to work, dust enters the interior of the robot through the dust suction port 112, one end of the first pipeline 141 is connected with the storage bin 22, the other end of the first pipeline is connected with the connecting pipe 142, the connecting pipe 142 is arranged inside the base 11, the atomizing nozzle 143 is arranged at the lower end of the connecting pipe 142 and is in through connection with the base 11, one end of the first pipeline 141 is externally connected with the water pump, when the robot moves, the water pump is started to work, the sterile water in the storage bin 22 enters the connecting pipe 142 through the first pipeline 141 and, the base 241 is fixedly arranged in the upright rod 24, the first magnetic block 242 is fixedly arranged at the upper end of the base 241, the second magnetic block 243 is arranged at the upper end of the first magnetic block 242, the placing plate 244 is fixedly arranged at the upper end of the second magnetic block 243, the first magnetic block 242 and the second magnetic block 243 are in like polarity repulsion, a gap is formed between the placing plate 244 and the upper end of the base 241, an operator opens the door body 25 to place wet tissues at the upper end of the placing plate 244, the gravity of the wet tissues enables the placing plate 244 to move downwards to close the door body 25, the upper end of the wet tissues props against the lower end of the gear 283, the lower end of the gear 283 is parallel to the discharge port 26, the second pipeline 245 penetrates through the placing plate 244 and the base 241 to be connected with the storage bin 22, one end of the second pipeline 245 is connected with a water pump, the water pump brings the disinfection water in the storage bin 22 to the upper end of the base 241, make wet tissue can realize the effect of disinfecting and sterilizing, the safety performance is improved, the both ends and the installation pole 282 swing joint of axis 281, installation pole 282 fixed mounting is at the lower extreme of mounting bracket 271, gear 283 sets up the surface at axis 281, carousel 284 is connected with axis 281, handle 285 fixed mounting is in one side of carousel 284, operating personnel rotates handle 285, make axis 281 rotatable, gear 283 is rotatable simultaneously, the rotatory in-process of gear 283, with the wet tissue roll-off discharge gate 26's of gear 283 lower extreme one end, make things convenient for taking out of wet tissue, reverse rotation gear 283, can make wet tissue retrieve to the inside of pole setting 24, when wet tissue quantity reduces, because first magnetic path 242 and second magnetic path 243 like polarity repel each other, can drive and place board 244 and move upwards, can make the wet tissue of lower extreme set up the upper end at gear 283 all the time, be convenient for getting the material.
It is noted that, herein, relational terms such as first and second, and the like may be used solely to distinguish one entity or action from another entity or action without necessarily requiring or implying any actual such relationship or order between such entities or actions. Also, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or apparatus.
The above description is only for the preferred embodiment of the present invention, but the scope of the present invention is not limited thereto, and any person skilled in the art should be able to cover the technical solutions and the inventive concepts of the present invention within the technical scope of the present invention.
Claims (9)
1. The utility model provides an intelligence house service robot positioner based on vision, includes supporting component (1) and robot assembly (2), and robot assembly (2) set up the upper end at supporting component (1), its characterized in that: the supporting assembly (1) comprises a base (11), a groove (12), universal wheels (13), a sterilization mechanism (14), a positioning mechanism (15) and a transmission mechanism (16), wherein the groove (12) is formed in the lower end of the base (11), the universal wheels (13) are arranged at the lower end of the groove (12), the sterilization mechanism (14) is arranged inside the base (11), the positioning mechanism (15) is arranged inside the base (11), and the transmission mechanism (16) is arranged at the upper end of the positioning mechanism (15);
robot subassembly (2) includes shell body (21), store storehouse (22), mount pad (23), pole setting (24), the door body (25), discharge gate (26), visual mechanism (27) and actuating mechanism (28), shell body (21) fixed mounting is in the upper end of base (11), store the inside of storehouse (22) setting in shell body (21), mount pad (23) fixed mounting is in the upper end of shell body (21), pole setting (24) fixed mounting is in the upper end of shell body (21), the one end and the shell body (21) of the door body (25) are connected, discharge gate (26) set up the one side in the door body (25), visual mechanism (27) set up the upper end in pole setting (24), actuating mechanism (28) set up the inside in pole setting (24).
2. The vision-based smart home service robot positioning device of claim 1, wherein: the sterilization mechanism (14) comprises a first pipeline (141), a connecting pipe (142) and an atomizing nozzle (143), one end of the first pipeline (141) is connected with the storage bin (22), the other end of the first pipeline is connected with the connecting pipe (142), the connecting pipe (142) is arranged inside the base (11), and the atomizing nozzle (143) is arranged at the lower end of the connecting pipe (142) and is in penetrating connection with the base (11).
3. The vision-based smart home service robot positioning device of claim 1, wherein: the outer shell (21) comprises an avoiding groove (211), an annular lamp (212) and a display screen (213), the avoiding groove (211) is machined in one side of the outer shell (21), the annular lamp (212) is fixedly installed at the lower end of the outer shell (21), and the display screen (213) is arranged on the outer surface of the outer shell (21).
4. The vision-based smart home service robot positioning device of claim 1, wherein: the base (11) comprises a dust collector (111) and a dust collection port (112), the dust collector (111) is arranged inside the base (11), and the dust collection port (112) is processed at the lower end of the base (11).
5. The vision-based smart home service robot positioning device of claim 1, wherein: positioning mechanism (15) include mounting panel (151), support piece (152), spring (153) and sucking disc (154), and mounting panel (151) set up the inside at base (11), and support piece (152) fixed mounting is at the lower extreme of mounting panel (151), and with base (11) through connection, spring (153) set up the lower extreme at support piece (152), and set up the lower extreme at base (11), and sucking disc (154) fixed mounting is at the lower extreme of support piece (152).
6. The vision-based smart home service robot positioning device of claim 5, wherein: drive mechanism (16) include push rod (161), connecting rod (162), roller (163) and clamp plate (164), push rod (161) fixed mounting is in the upper end of mounting panel (151), and the one end and the push rod (161) of connecting rod (162) are connected, the other end and the eccentric centre of a circle swing joint of roller (163), the both ends and the inner wall of shell body (21) of roller (163) are connected, the one end and roller (163) fixed connection of clamp plate (164).
7. The vision-based smart home service robot positioning device of claim 1, wherein: the upright rod (24) comprises a base (241), a first magnetic block (242), a second magnetic block (243), a placing plate (244) and a second pipeline (245), the base (241) is fixedly installed inside the upright rod (24), the first magnetic block (242) is fixedly installed at the upper end of the base (241), the second magnetic block (243) is arranged at the upper end of the first magnetic block (242), the placing plate (244) is fixedly installed at the upper end of the second magnetic block (243), and the second pipeline (245) penetrates through the placing plate (244) and the base (241) to be connected with the storage bin (22).
8. The vision-based smart home service robot positioning device of claim 1, wherein: visual mechanism (27) include mounting bracket (271), motor (272), pivot (273) and camera (274), and mounting bracket (271) fixed mounting is in the inside of pole setting (24), and motor (272) set up the upper end at mounting bracket (271), and pivot (273) are connected with the output of motor (272), and camera (274) set up the surface at pivot (273).
9. The vision-based smart home service robot positioning device of claim 8, wherein: the driving mechanism (28) comprises a middle shaft (281), an installation rod (282), a gear (283), a rotary table (284) and a handle (285), wherein two ends of the middle shaft (281) are movably connected with the installation rod (282), the installation rod (282) is fixedly installed at the lower end of an installation frame (271), the gear (283) is arranged on the outer surface of the middle shaft (281), the rotary table (284) is connected with the middle shaft (281), and the handle (285) is fixedly installed on one side of the rotary table (284).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202110079679.8A CN112917485A (en) | 2021-01-21 | 2021-01-21 | Intelligent home service robot positioning device based on vision |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202110079679.8A CN112917485A (en) | 2021-01-21 | 2021-01-21 | Intelligent home service robot positioning device based on vision |
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| CN112917485A true CN112917485A (en) | 2021-06-08 |
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| CN202110079679.8A Pending CN112917485A (en) | 2021-01-21 | 2021-01-21 | Intelligent home service robot positioning device based on vision |
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