CN207191210U - A kind of multi-functional General Mobile robot chassis - Google Patents
A kind of multi-functional General Mobile robot chassis Download PDFInfo
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- CN207191210U CN207191210U CN201720933883.0U CN201720933883U CN207191210U CN 207191210 U CN207191210 U CN 207191210U CN 201720933883 U CN201720933883 U CN 201720933883U CN 207191210 U CN207191210 U CN 207191210U
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Abstract
The utility model provides a kind of multi-functional General Mobile robot chassis, including bottom plate and the supporting plate being arranged above bottom plate, panel is provided with above the supporting plate, microphone is fixed with front side of the panel, the middle panel has laser radar, depth camera is provided with front side of the supporting plate, audio amplifier is provided with rear side of supporting plate, a pair roller and the universal wheel being arranged on front side of roller are provided with below the bottom plate, there are a pair of motors for driving each roller to rotate respectively between the pair of roller, gyroscope and power-supply system are fixed with the bottom plate.The utility model is compact-sized, framework is stable, the design of robot and the addition of module can be conveniently carried out as needed, realize secondary development, it is versatile, it is the follow-up mutual transmission for completing data and reception, realizes that the multiple functions such as two-dimensional map foundation, independent navigation, avoidance, recognition of face, interactive voice, Voice command motion lay the foundation.
Description
Technical field
It the utility model is related to a kind of multi-functional General Mobile robot chassis.
Background technology
With the progress of science and technology, the research for robot technology is increasingly valued by people and paid close attention to.Phase
For comparing biped robot, wheeled mobile robot is more in translational speed, operation stability, application, bearing capacity etc.
Individual aspect all has an obvious advantage, and the most key part of wheeled robot is then mobile chassis part.But existing wheel
Formula mobile chassis is mostly without carrying host computer, and it is single function to be present, it is impossible to the problems such as carrying out secondary development.
Utility model content
The utility model is improved above mentioned problem, i.e., the technical problems to be solved in the utility model is existing wheel
Formula mobile chassis is mostly without carrying host computer, and it is single function to be present, it is impossible to the problems such as carrying out secondary development.
Specific embodiment of the present utility model is：A kind of multi-functional General Mobile robot chassis, it is characterised in that
Including bottom plate and the supporting plate being arranged above bottom plate, panel is provided with above the supporting plate, is fixed with front side of the panel
Microphone, the middle panel have laser radar, and depth camera is provided with front side of the supporting plate, is provided with rear side of supporting plate
Audio amplifier, the bottom plate lower section are provided with a pair roller and the universal wheel being arranged on front side of roller, had between the pair of roller
The motors for driving for a pair each roller to rotate respectively, gyroscope, bluetooth module and power-supply system are fixed with the bottom plate.
Further, the motor drive module that control motor opens and closes, the bottom plate sidepiece are provided with the bottom plate
The electric machine support for fixed drive motor is extended downwardly, the roller is fixed through the output shaft of shaft coupling and motor to be connected
Connect.
Further, the power-supply system includes lithium battery, Voltage stabilizing module and voltage regulating module.
Further, there is lower bottom part to be recessed for the cell support frame for placing lithium battery at the middle part of the bottom plate, described
The week side of boss of lithium battery is provided with the Z-type support frame being fixed on bottom plate, is fixed with the top of the Z-type support frame positioned at supporting plate
The fixed mesa of lower section.
Further, there is Jetson TK1 development boards on the fixed mesa, set on the Jetson TK1 development boards
Wireless network card, Bluetooth Receiver are equipped with, the Jetson TK1 development boards connect with laser radar, depth camera, audio amplifier, microphone
Connect, and be equipped with Bluetooth Receiver and wireless network card.
Further, STM32 single-chip microcomputers and the encoder being fixed on rear side of motor, institute are further fixed on the bottom plate
State STM32 single-chip microcomputers to be connected with Jetson TK1 development board serial communications, the STM32 single-chip microcomputers drive with gyroscope, motor
Module connects, the lithium battery through Voltage stabilizing module and voltage regulating module respectively with Jetson TK1 development boards, encoder, direct current
Mechanical, electrical machine drive module connection.
Further, the bottom plate, supporting plate, panel and fixed mesa have multiple mounting holes.
Further, there is one or more supporting plate, the bottom plate and support between the bottom plate and panel
Between plate, between supporting plate and panel set be fixedly connected with support column, every layer of the support column has four or more,
It is connected through a screw thread between the support column and bottom plate, supporting plate or panel or pin-and-hole is connected.
Compared with prior art, the utility model has the advantages that：The utility model is compact-sized, and framework is steady
It is fixed, the design of robot and the addition of module can be conveniently carried out as needed, realize secondary development, it is versatile, it is follow-up complete
Into the mutual transmission and reception of data, two-dimensional map foundation, independent navigation, avoidance, recognition of face, interactive voice, voice are realized
The multiple functions such as control motion lay the foundation.
Brief description of the drawings
Fig. 1 is the structural representation of the example of the utility model；
Fig. 2 is the structural representation of the example of the utility model；
Fig. 3 is the theory structure block diagram of the example of the utility model；
Wherein in figure：10- bottom plates, 20- supporting plates, 30- panels, 110- rollers, 120- universal wheels, 130- electric machine supports,
140- cell support framves, 141-Z type support frames, 150- fixed mesas, 40- Nvidia Jetson T1 development boards, 401- Mikes
Wind, 402- laser radars, 403- depth cameras, 404- audio amplifiers, 50- STM32 single-chip microcomputers, 501- motors, 502- motors drive
Dynamic model block, 503- encoders, 504- gyroscopes, 505- bluetooth modules, 601- lithium batteries, 602- voltage stabilizings and voltage regulating module, 70- branch
Dagger.
Embodiment
The utility model is described in more detail with reference to the accompanying drawings and detailed description.
Referring to figs. 1 to Fig. 2, a kind of multi-functional General Mobile robot chassis, including bottom plate 10 and it is arranged at bottom plate 10
The supporting plate 20 of top, the top of supporting plate 20 are provided with panel 30.
In the present embodiment, there is one or more supporting plate 20, the bottom between the bottom plate 10 and panel 30
Between plate 10 and supporting plate 20, between supporting plate 20 and panel 30 set be fixedly connected with support column 70, the support column 70 is every
Layer has four or more, is connected through a screw thread between the support column and bottom plate, supporting plate or panel or pin-and-hole coordinates
Connection.In the present embodiment, the bottom plate 10, supporting plate 20, panel 30 and fixed mesa have multiple mounting holes, can independently add
Add module, multiple support column connections can increase the number of support column in a manner of freely adjusting height for example by using threaded connection
Amount finally realizes that support platform, bottom plate, panel are built layer by layer so as to improving the height of support column.
A pair roller 110 and the universal wheel 120 being arranged on front side of roller, the pair of roller are provided with below the bottom plate
There are the motors 501 for driving for a pair each roller to rotate respectively, in the present embodiment, described bottom plate 10 is set between 120
There is the motor drive module 502 that control motor 501 opens and closes, the bottom plate sidepiece has been extended downwardly for fixed drive motor
501 electric machine support 130, the roller 110 are fixedly connected through shaft coupling with the output shaft of motor 501.In the present embodiment
Motor be brush direct current motor, universal wheel 120 is determined with the fixed of bottom plate 10, and adjust height highly kept with roller 110
Unanimously, ensure that chassis level is placed.Bottom plate 10 uses stainless steel, has preferable comprehensive mechanical property, and all connections pass through
Bolt fastens.
STM32 single-chip microcomputers 50, gyroscope 504, bluetooth module and power-supply system, encoder 503 have been further fixed on chassis
The afterbody of motor 501 is installed on, the power-supply system includes lithium battery 601, voltage stabilizing and voltage regulating module 602.
In order to realize the compact of structure and ensure the firm of chassis, in the present embodiment, under the middle part of the bottom plate 10 has
Bottom notch is used for the cell support frame 140 for placing lithium battery, and the week side of boss of the lithium battery is provided with the Z-type being fixed on bottom plate
Support frame 141.
The top of the Z-type support frame 141 is fixed with the fixed mesa 150 below supporting plate, and lithium battery 601 is drawn
Charging inlet and power switch, and voltage stabilizing, voltage regulating module 602 are connected to, powered for whole mobile robot chassis.
The front side of panel 30 is fixed with microphone 401, and the middle panel has laser radar 402, the supporting plate
Front side is provided with depth camera 403, and audio amplifier 404 is provided with rear side of supporting plate.Heretofore described depth camera 403 refers to
Such asKinect, Asus Xtion Pro etc. there is the depth camera of high-resolution.
There is Jetson TK1 development boards 40 on fixed mesa 150, nothing is provided with the Jetson TK1 development boards 40
Gauze card, Bluetooth Receiver, the Jetson TK1 development boards 40 and microphone 401, laser radar 402, depth camera 403,
Audio amplifier 404, wireless network card, Bluetooth Receiver connection.
The theory structure of the example of the utility model as shown in figure 3, the program of STM32 single-chip microcomputers 50 is adopted and shown a C language,
The program of ROS robot operating systems is write using C Plus Plus in Jetson TK1 development boards 40：
In the present embodiment, STM32 single-chip microcomputers 50 give two-way motor drive module 502（Two motors are controlled respectively）Phase
The drive signal and pwm signal answered, the motor 501 of motor drive module 502 operate, and realize that speed governing, advance, retrogressing etc. are transported
It is dynamic.Mobile chassis uses tricycle structure, and the differential of two roller 110 rotates, and universal wheel 120 is used as driven pulley, realizes divertical motion.Drive
Move the gathered data of encoder 503 when motor 501 operates and be sent to STM32 single-chip microcomputers 50.
The acceleration and angle-data that STM32 single-chip microcomputers 50 pass through the axle gyroscope 504 of serial acquisition six.
STM32 single-chip microcomputers 50 are communicated by serial ports with the bluetooth module 505 being arranged on bottom plate, and it is blue to open Android mobile phone
Tooth, the motion parts of mobile chassis can directly be controlled by simple APP, such as advance, retreat, turn to, speed governing.
In the present embodiment, ROS robot operating systems are transplanted in Jetson TK1 development boards 40, are realized by serial communication
Sent mutually with STM32 single-chip microcomputers 60, receive data.
Jetson TK1 development boards 40 are connected with laser radar 402 by USB, gather the data of laser radar 402.ROS
In system, the Cartographer by transplanting Google increases income algorithm, the gyroscope sent using STM32 single-chip microcomputers 50
802 and the data fusion of encoder 503 odometer information come position and estimate chassis with respect to last moment position, Ran Houtong
The ranging data for crossing the collection of laser radar 402 constantly corrects the position of mobile chassis, and establishes map, final to realize two-dimensionally
The foundation of figure.
Jetson TK1 development boards 40 are connected with depth camera 403 by USB, gather image information.Built by programming
Recognition of face driving bag on ROS platforms, calls OpenCV storehouses, multi collect facial image, completes training set, realize easy
Recognition of face.And depth camera 403 can also gather image information, visually dissolve mobile chassis in remote computer in real time
Visual angle.
Microphone 401 and audio amplifier 404 are connected with Jetson TK1 development boards 40.Microphone 401 gathers the voice letter of people
Breath, related audio processing is completed by self-programming is built in ROS operating systems speech recognition, synthesis system, then led to
The semantic information matches for carrying out clouds storehouse of figure spirit are crossed, audio is sent out by audio amplifier 404, finally realizes the function of interactive voice.Together
When, by semantic analysis, the keyword in speech input information is caught, carries out the output of relative keys order, then output is ordered
Send into STM32 single-chip microcomputers 50, STM32 single-chip microcomputers 50 send corresponding control signal to motor drive module 502, motor
501 motions, finally realize that Voice command mobile chassis completes motion.
Based on the priori two-dimensional map built, passage path planning algorithm is calculated up to target in ROS systems
The optimal path of position, and a series of rate control instruction is sent to STM32 single-chip microcomputers 50, STM32 single-chip microcomputers 50 are sent
Corresponding control signal is moved to motor drive module 502, motor 501, realizes independent navigation.In navigation procedure, with reference to depth
The visual information of camera 403 is spent, passes through dynamic window method（DWA）To carry out local path planning, avoidance is realized.
Jetson TK1 development boards 40 can be passed through by being connected with wireless network card, Bluetooth Receiver using multiple stage computers
LAN carries out remote control to mobile chassis, realizes that Multi computer cooperation completes corresponding control, with multiple computers telecommunication, multimachine
Cooperation, distributed AC servo system mobile robot chassis.STM32 single-chip microcomputers 50 are connected by jtag interface, install LCDs, real
When show the odometer and velocity information of mobile chassis.
Above-described embodiment can apply to Information Mobile Service robot of family.Jetson TK1 development boards 40 and depth camera
403 are connected by USB, gather image information.Bag is driven by programming the recognition of face on structure ROS platforms, calls OpenCV
Storehouse, multi collect facial image, training set is completed, realizes easy recognition of face.The ROS operations system after Given Face is identified
System output specific instruction, system switching is arranged to by the instruction, realizes that recognition of face unlocks robot.Jetson TK1 development boards
Microphone 401 and audio amplifier 404 are connected with 40.Microphone 401 gather people voice messaging, by ROS operating systems from
Speech recognition that main programming is built, synthesis system complete related audio processing, then pass through and scheme the semantic letter for carrying out clouds storehouse of spirit
Breath matching, the suitable sentence of answering of selection carry out phonetic synthesis, send out audio by audio amplifier 404, finally realize the function of interactive voice,
That is people and robot exchanges and dialogues.In home environment, robot and child, Lao Renjin can be realized by voice interactive function
Row chat is accompanied and attended to.And based on the indoor two-dimensional map having had built up, speech input information can be caught by semantic analysis
In keyword, the output of relative keys orders is carried out in ROS operating systems, then output command calls are performed into independent navigation
Function, passage path planning algorithm calculate the optimal path up to target location, in combination with the vision of depth camera 403
Information, pass through dynamic window method（DWA）To carry out local path planning, Real Time Obstacle Avoiding is realized.In navigation procedure, ROS behaviour
Make system to send the speed command required for independent navigation into STM32 single-chip microcomputers 50, STM32 single-chip microcomputers 50 send corresponding control
Signal processed moves to motor drive module 502, motor 501, and final realize combines independent navigation by Voice command motion
Function, therefore can realize that robot accepts owner's phonetic order and carries out article transport of specified location etc. in home environment.
Corresponding infrared radio frequency module can also be increased, control infrared signal using voice, and then control the family with infrared switch
Electricity, realize smart home.Make man-machine interaction mode more convenient, flexible, intelligent.It can in addition contain applied to food delivery machine
People.Increase corresponding pick-up sensor assembly and pallet, with reference to independent navigation function, you can realize the machine for specifying dining table position
People's food delivery function, after customer's pick-up, pick-up sensor returns to corresponding signal and maked a return voyage to robot, execution.And interactive voice
Function can cause consumer interest, attract traveller.
If utility model is open or relate to the parts or structural member of connection fastened to each other, then, unless otherwise stated
Outside, it is fixedly connected and can be understood as：Can releasably it be fixedly connected (such as using bolt or mode connects for screw), it is understood that
For：Non-removable to be fixedly connected with (such as riveting, welding), certainly, connection fastened to each other can also be integral type structure (example
As manufactured using casting technique is integrally formed) substitute (substantially can not use integrally formed technique except).
Motor described in above example, electric machine support, encoder, roller, motor-driven mechanism and battery bracket, sound
Case, support column be mirror image or it is multiple be set up in parallel, therefore only marked in figure single.
In addition, applied in any technical scheme disclosed in above-mentioned the utility model be used for represent position relationship or shape
Term its implication includes approximate with its, similar or close state or shape unless otherwise stated.
Either component provided by the utility model can be assembled by multiple individually parts, or
The separate part that integrally formed technique manufactures.
Finally it should be noted that:Above example is only illustrating the technical solution of the utility model rather than it is limited
System；Although the utility model is described in detail with reference to preferred embodiment, those of ordinary skill in the art should
Understand：Specific embodiment of the present utility model can still be modified or some technical characteristics are equally replaced
Change；Without departing from the spirit of technical solutions of the utility model, it all should cover in the claimed technical scheme of the utility model
Among scope.
Claims (8)
1. a kind of multi-functional General Mobile robot chassis, it is characterised in that including bottom plate and the branch being arranged above bottom plate
Fagging, the supporting plate top are provided with panel, are fixed with microphone on front side of the panel, the middle panel has laser thunder
Reach, depth camera is provided with front side of the supporting plate, audio amplifier is provided with rear side of supporting plate, a pair of rollings are provided with below the bottom plate
The universal wheel on front side of roller is taken turns and be arranged at, there is a pair of drivings for driving each roller to rotate respectively between the pair of roller
Motor, gyroscope, bluetooth module and power-supply system are fixed with the bottom plate.
2. a kind of multi-functional General Mobile robot chassis according to claim 1, it is characterised in that on the bottom plate
The motor drive module that control motor opens and closes is provided with, the bottom plate sidepiece is extended downwardly for fixed drive motor
Electric machine support, the roller are fixedly connected through shaft coupling with the output shaft of motor.
A kind of 3. multi-functional General Mobile robot chassis according to claim 2, it is characterised in that the power supply system
System includes lithium battery, Voltage stabilizing module and voltage regulating module.
4. a kind of multi-functional General Mobile robot chassis according to claim 3, it is characterised in that the bottom plate
There is lower bottom part to be recessed for the cell support frame for placing lithium battery at middle part, and the week side of boss of the lithium battery, which is provided with, is fixed on bottom plate
On Z-type support frame, the fixed mesa being fixed with the top of the Z-type support frame below supporting plate.
A kind of 5. multi-functional General Mobile robot chassis according to claim 4, it is characterised in that the fixed station
There is Jetson TK1 development boards on face, wireless network card, Bluetooth Receiver are provided with the Jetson TK1 development boards, it is described
Jetson TK1 development boards are connected with laser radar, depth camera, audio amplifier, microphone, and are equipped with Bluetooth Receiver and wireless
Network interface card.
6. a kind of multi-functional General Mobile robot chassis according to claim 5, it is characterised in that on the bottom plate
STM32 single-chip microcomputers and the encoder being fixed on rear side of motor are further fixed on, the STM32 single-chip microcomputers are opened with Jetson TK1
The connection of plate serial communication is sent out, the STM32 single-chip microcomputers are connected with gyroscope, motor drive module, and the lithium battery is through voltage stabilizing mould
Block and voltage regulating module are connected with Jetson TK1 development boards, encoder, direct current generator, motor drive module respectively.
A kind of 7. multi-functional General Mobile robot chassis according to claim 1, it is characterised in that the bottom plate,
Supporting plate, panel and fixed mesa have multiple mounting holes.
A kind of 8. multi-functional General Mobile robot chassis according to claim 1, it is characterised in that the bottom plate with
There is one or more supporting plate between panel, set between the bottom plate and supporting plate, between supporting plate and panel
Support column is fixedly connected with, the support column is with having two or more, the support column and bottom plate, supporting plate or panel
Between be connected through a screw thread or pin-and-hole be connected.
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| CN201720933883.0U CN207191210U (en) | 2017-07-30 | 2017-07-30 | A kind of multi-functional General Mobile robot chassis |
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| CN201720933883.0U CN207191210U (en) | 2017-07-30 | 2017-07-30 | A kind of multi-functional General Mobile robot chassis |
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Cited By (14)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107284544A (en) * | 2017-07-30 | 2017-10-24 | 福州大学 | A kind of multi-functional General Mobile robot chassis and its application process |
| CN108748161A (en) * | 2018-07-04 | 2018-11-06 | 山东农业大学 | A kind of service robot visual remote control system based on ROS networks |
| CN108838997A (en) * | 2018-07-25 | 2018-11-20 | 安徽信息工程学院 | Novel wooden robot |
| CN109367653A (en) * | 2018-11-01 | 2019-02-22 | 华南智能机器人创新研究院 | A kind of 4 wheel driven robot chassis of the floating type avoidance in interior |
| CN110881106A (en) * | 2019-11-18 | 2020-03-13 | 北京工业大学 | Intelligent following shooting vehicle based on machine vision |
| US10906185B2 (en) | 2017-02-06 | 2021-02-02 | Cobalt Robotics Inc. | Mobile robot with arm for access point security checks |
| US10913160B2 (en) | 2017-02-06 | 2021-02-09 | Cobalt Robotics Inc. | Mobile robot with arm for door interactions |
| US11082667B2 (en) | 2018-08-09 | 2021-08-03 | Cobalt Robotics Inc. | Contextual automated surveillance by a mobile robot |
| US11325250B2 (en) | 2017-02-06 | 2022-05-10 | Cobalt Robotics Inc. | Robot with rotatable arm |
| US11445152B2 (en) | 2018-08-09 | 2022-09-13 | Cobalt Robotics Inc. | Security automation in a mobile robot |
| US11460849B2 (en) | 2018-08-09 | 2022-10-04 | Cobalt Robotics Inc. | Automated route selection by a mobile robot |
| US11724399B2 (en) | 2017-02-06 | 2023-08-15 | Cobalt Robotics Inc. | Mobile robot with arm for elevator interactions |
| US11772270B2 (en) | 2016-02-09 | 2023-10-03 | Cobalt Robotics Inc. | Inventory management by mobile robot |
| US11819997B2 (en) | 2016-02-09 | 2023-11-21 | Cobalt Robotics Inc. | Mobile robot map generation |
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| US11772270B2 (en) | 2016-02-09 | 2023-10-03 | Cobalt Robotics Inc. | Inventory management by mobile robot |
| US11819997B2 (en) | 2016-02-09 | 2023-11-21 | Cobalt Robotics Inc. | Mobile robot map generation |
| US11724399B2 (en) | 2017-02-06 | 2023-08-15 | Cobalt Robotics Inc. | Mobile robot with arm for elevator interactions |
| US10913160B2 (en) | 2017-02-06 | 2021-02-09 | Cobalt Robotics Inc. | Mobile robot with arm for door interactions |
| US11325250B2 (en) | 2017-02-06 | 2022-05-10 | Cobalt Robotics Inc. | Robot with rotatable arm |
| US10906185B2 (en) | 2017-02-06 | 2021-02-02 | Cobalt Robotics Inc. | Mobile robot with arm for access point security checks |
| CN107284544A (en) * | 2017-07-30 | 2017-10-24 | 福州大学 | A kind of multi-functional General Mobile robot chassis and its application process |
| CN108748161A (en) * | 2018-07-04 | 2018-11-06 | 山东农业大学 | A kind of service robot visual remote control system based on ROS networks |
| CN108838997A (en) * | 2018-07-25 | 2018-11-20 | 安徽信息工程学院 | Novel wooden robot |
| US11082667B2 (en) | 2018-08-09 | 2021-08-03 | Cobalt Robotics Inc. | Contextual automated surveillance by a mobile robot |
| US11445152B2 (en) | 2018-08-09 | 2022-09-13 | Cobalt Robotics Inc. | Security automation in a mobile robot |
| US11460849B2 (en) | 2018-08-09 | 2022-10-04 | Cobalt Robotics Inc. | Automated route selection by a mobile robot |
| US11720111B2 (en) | 2018-08-09 | 2023-08-08 | Cobalt Robotics, Inc. | Automated route selection by a mobile robot |
| US12015879B2 (en) | 2018-08-09 | 2024-06-18 | Cobalt Robotics Inc. | Contextual automated surveillance by a mobile robot |
| CN109367653A (en) * | 2018-11-01 | 2019-02-22 | 华南智能机器人创新研究院 | A kind of 4 wheel driven robot chassis of the floating type avoidance in interior |
| CN110881106A (en) * | 2019-11-18 | 2020-03-13 | 北京工业大学 | Intelligent following shooting vehicle based on machine vision |
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