CN220741148U

CN220741148U - Household robot

Info

Publication number: CN220741148U
Application number: CN202320346350.8U
Authority: CN
Inventors: 孙晓刚; 马德海; 高维卿; 冯梦雨; 高布春; 刘峰林; 李树益; 刘金鹏
Original assignee: Chengdu Yike Technology Co ltd; Chengdu Agaxi Intelligent Technology Co ltd
Current assignee: Chengdu Agaxi Intelligent Technology Co ltd; Chengdu Yike Technology Co ltd
Priority date: 2023-02-28
Filing date: 2023-02-28
Publication date: 2024-04-09
Anticipated expiration: 2033-02-28

Abstract

The embodiment of the application discloses domestic robot relates to intelligent robot technical field, includes: the intelligent terminal equipment is connected with the intelligent home signal; the intelligent terminal equipment is used for receiving the interaction instruction of the user and controlling the intelligent home according to the interaction instruction; the laser radar is arranged at the top of the machine body; the camera is arranged at the front end of the machine body. According to the intelligent terminal equipment, interaction with a user is achieved through the intelligent terminal equipment carried by the machine body, the service function of the household robot is guaranteed, the use place of the intelligent terminal equipment is not limited, the risk of failure shutdown is reduced due to the fact that the laser radar and the camera are arranged on the machine body at the same time, the laser radar sensing and the camera vision are used as bases for robot navigation movement, the intelligent terminal equipment is arranged at the top end and the front end of the machine body respectively, the probability of being shielded at the same time is reduced, even if any one equipment is shielded, the other equipment can continue to serve, and therefore the working effect of the household robot is improved.

Description

Household robot

Technical Field

The application relates to the technical field of intelligent robots, in particular to a household robot.

Background

Intelligent robots can be divided into two main categories, industrial robots and domestic robots, and the operation and use of industrial robots usually require expertise or skills, and a few require special training or qualification. The household robot is simpler, and is a service robot which is used in a household environment or the like to meet the living demands of users.

The indoor moving modes of the household robot are generally two, one is to design a route according to the indoor environment, and the robot can only move according to a fixed route; the other is to sense the surrounding environment to perform free movement of the route through navigation technology. However, as the living standard is improved, the movement of the robot is also improved by the influence of complex indoor environments, the uncertainty is increased due to the diversification of personnel and objects, the probability of shielding and invalidating single sensing equipment of the robot is increased, and the household robot is always in an inoperable state, so that the using effect is seriously influenced.

Disclosure of Invention

The main aim of this application is to provide a domestic robot, aims at solving among the prior art and faces complicated indoor environment, domestic robot's work effect not good problem.

The technical scheme adopted by the application is as follows:

a home robot for smart home comprising:

the intelligent household intelligent terminal comprises a machine body, wherein intelligent terminal equipment is mounted on the machine body and connected with intelligent household signals; the intelligent terminal equipment is used for receiving the interaction instruction of the user and controlling the working state of the intelligent home according to the interaction instruction; the machine body is provided with a moving structure so that the machine body can move;

the laser radar is arranged at the top of the machine body;

the camera is arranged at the front end of the machine body.

Optionally, the robot further comprises a sensor assembly arranged on the body, the sensor assembly being used for detecting the surrounding environment of the robot.

Optionally, the sensor assembly comprises a number of ultrasonic sensors for detecting obstacles of the surrounding environment of the robot.

Optionally, the wall plate of the machine body where the ultrasonic sensor is located is set to be a screen plate, and the screen plate covers the ultrasonic sensor.

Optionally, the sensor assembly includes a plurality of cliff detection sensors, and the plurality of cliff detection sensors are respectively disposed at a front end and a rear end of the machine body, and the cliff detection sensors are used for detecting whether a cliff exists on a travel route of the robot.

Optionally, the moving structure includes a driving wheel, a driven wheel, and a motor, wherein:

the two driving wheels are respectively arranged at two sides of the machine body and close to the front end of the machine body;

the driven wheel is arranged at the bottom of the machine body and is close to the rear end of the machine body;

the motor is arranged in the machine body, and a driving shaft of the motor is in transmission connection with the driving wheel.

Optionally, the rear end of organism sets up charging contact and returns and fills the sensor, and charging contact is used for being connected with the charging seat electricity, returns and fills the sensor and be used for detecting the contact state of charging contact and charging seat.

Optionally, the robot further comprises a microphone, wherein the microphone is embedded at the front end of the machine body, and the microphone is in signal connection with the intelligent terminal equipment, so that the intelligent terminal equipment can interact with a user through voice.

Optionally, the intelligent terminal device includes a touch screen, the touch screen is close to the front end of the machine body, and the touch screen is used for interacting with a user.

Optionally, a storage groove is arranged on the machine body, and the storage groove is close to the rear end of the machine body.

Compared with the prior art, the beneficial effects of this application are:

according to the household robot, interaction with a user is achieved through the intelligent terminal device carried by the machine body, the service function of the household robot is guaranteed, the moving structure arranged on the machine body is used for achieving movement of the robot, the use place is not limited greatly, the laser radar and the camera are arranged on the machine body at the same time, the risk of failure shutdown is reduced, the laser radar sensing and the camera vision are used as bases for robot navigation movement, the laser radar sensing and the camera vision are respectively arranged at the top end and the front end of the machine body, the probability of being shielded at the same time is reduced, and even if any one device is shielded, the other device can continue to provide service for navigation obstacle avoidance, so that the working effect of the household robot is improved.

Drawings

Fig. 1 is a schematic front view of a home robot according to an embodiment of the present application;

fig. 2 is a schematic side view of a home robot according to an embodiment of the present disclosure;

fig. 3 is a schematic top view of a household robot according to an embodiment of the present disclosure;

fig. 4 is a schematic view of a three-dimensional model of a home robot in a front view according to an embodiment of the present application;

fig. 5 is a schematic view of a three-dimensional model of a home robot in a rear view state according to an embodiment of the present application.

Reference numerals: the intelligent mobile phone comprises a 1-machine body, a 2-camera, a 3-screen, a 4-sensor assembly, a 5-moving structure, a 51-driving wheel, a 52-driven wheel, a 6-intelligent terminal device, a 61-touch screen, a 62-screen sensor panel, a 7-laser radar, an 8-charging contact, a 9-recharging sensor, a 10-horn mouth, an 11-storage groove, a 12-external interface panel and 13-keys.

Detailed Description

The following description of the embodiments of the present application will be made clearly and fully with reference to the accompanying drawings, in which it is evident that the embodiments described are only some, but not all, of the embodiments of the present application. All other embodiments, which can be made by one of ordinary skill in the art based on the embodiments herein without making any inventive effort, are intended to be within the scope of the present application.

It should be noted that all directional indicators (such as up, down, left, right, front, and rear … …) in the embodiments of the present application are merely used to explain the relative positional relationship, movement, etc. between the components in a specific posture (as shown in the drawings), and if the specific posture is changed, the directional indicator is correspondingly changed.

In the present application, unless explicitly specified and limited otherwise, the terms "coupled," "secured," and the like are to be construed broadly, and for example, "secured" may be either permanently attached or removably attached, or integrally formed; can be mechanically or electrically connected; either directly or indirectly, through intermediaries, or both, may be in communication with each other or in interaction with each other, unless expressly defined otherwise. The specific meaning of the terms in this application will be understood by those of ordinary skill in the art as the case may be.

In addition, if there is a description of "first", "second", etc. in the embodiments of the present application, the description of "first", "second", etc. is for descriptive purposes only and is not to be construed as indicating or implying a relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defining "a first" or "a second" may explicitly or implicitly include at least one such feature. In addition, the meaning of "and/or" as it appears throughout includes three parallel schemes, for example "A and/or B", including the A scheme, or the B scheme, or the scheme where A and B are satisfied simultaneously. In addition, the technical solutions of the embodiments may be combined with each other, but it is necessary to base that the technical solutions can be realized by those skilled in the art, and when the technical solutions are contradictory or cannot be realized, the combination of the technical solutions should be regarded as not exist and not within the protection scope of the present application.

Referring to fig. 1-5, an embodiment of the present application provides a home robot for smart home, including: organism 1, laser radar 7 and camera 2, wherein: the intelligent terminal equipment 6 is mounted on the machine body 1, the intelligent terminal equipment 6 is in signal connection with the intelligent home, the intelligent terminal equipment 6 is used for receiving interaction instructions of users and controlling the working state of the intelligent home according to the interaction instructions, and the mobile structure 5 is arranged on the machine body 1 so that the machine body 1 can move; the laser radar 7 is arranged at the top of the machine body 1; the camera 2 is arranged at the front end of the machine body.

The intelligent terminal device 6 is a device capable of interacting with a user and controlling the corresponding device to work according to the operation instruction of the user, such as a terminal of an existing intelligent home system, on which a series of intelligent home devices such as a lamp, an air conditioner, a television, an automatic curtain, a refrigerator and the like connected into the system can be controlled. However, the terminal position is relatively fixed, but in the present application, the body 1 is used to carry the intelligent terminal device 6, and then the movement mechanism 5 such as a moving disc, a roller and the like is used to realize movement, so that the robot can be used at any indoor position. The robot moves indoors by means of navigation control technology, and the navigation technology relies on other detection equipment to acquire related information, such as a laser radar 7 and a camera 2 adopted in the application.

The laser radar 7 is a radar system for detecting the position, speed and other characteristic quantities of a target by emitting a laser beam, and the working principle is that a detection signal (laser beam) is emitted to the target, then a received signal (target echo) reflected from the target is compared with the emission signal, and after proper processing, the related information of the target, such as parameters of the target such as the distance, the azimuth, the height, the speed, the gesture, the even shape and the like, can be obtained; the camera 2 acquires surrounding environment information through shooting, for example, under special requirements, such as monitoring the conditions of family members, whether strangers break in or not, and can also adopt a binocular camera to carry out face recognition, wherein the binocular camera is a face recognition solution based on the binocular camera, the scheme adopts the binocular camera, namely, one camera acquires visible light photos, one camera acquires near-external light photos, the captured face is identified, and accurate identification and positioning are carried out aiming at some key feature points such as eyes, ears and nose; the related information acquired by the two devices can be transmitted to a complete machine control system of the robot and processed and used as required. For example, the principle of the navigation control implemented by the environmental information collected by the above-mentioned device can refer to the existing home robot technology, and will not be described herein.

In this embodiment, realize the interaction with the user through the intelligent terminal device that the organism carried, not only ensure domestic robot's service function, the mobile structure that sets up on the organism realizes the removal of robot, its place of use also does not receive great restriction, owing to still set up a plurality of detection class equipment on the organism, laser radar and camera simultaneous working, reduced the risk that the robot was stopped in failure, and can regard laser radar response and camera vision two aspects as the basis that the robot navigated and removed, both set up respectively on the top and the front end of organism, reduce the probability that is sheltered from simultaneously when agreeing with self mode of operation, arbitrary one equipment is sheltered from, another equipment also can continue to keep away the barrier for the navigation and provide the service, thereby domestic robot's work effect has been promoted.

In one embodiment, as shown in fig. 4 and 5, in order to improve the obstacle avoidance capability of the robot, a sensor assembly 4 is provided for the robot, the sensor assembly 4 is arranged on the machine body 1 and is used for detecting the surrounding environment of the robot, and the detected information is used for feeding back to a navigation control system of the robot to provide obstacle avoidance guidance for path planning. Obstacle avoidance can be divided into two major categories, one being an obstacle and one being a cliff, i.e. a landing part with a drop, in particular:

the sensor assembly 4 includes a plurality of cliff detection sensors respectively provided at the front and rear ends of the machine body, the cliff detection sensors being for detecting whether or not there is a cliff on the ground of the surrounding environment on the travel route of the robot. The existing cliff sensor is adopted to detect whether the ground on the path has a drop, namely, the cliffs are arranged at the front end and the rear end of the machine body 1 respectively for sensing and detecting because the cliffs at the two sides of the path direction do not influence the running of the robot.

On the other hand, an ultrasonic sensor may be used for detecting obstacles of the surrounding environment of the robot. The ultrasonic sensor converts an ultrasonic signal into another energy signal (usually an electric signal), and the ultrasonic wave is a mechanical wave with a vibration frequency higher than 20kHz, and has characteristics of high frequency, short wavelength, small diffraction phenomenon, particularly good directivity, capability of being directed to propagate as a ray, and the like. The ultrasonic waves are reflected obviously when hitting the impurity or the interface to form a reflection echo, and the Doppler effect can be generated when the ultrasonic waves hit the living body, so that the surrounding obstacle condition can be detected.

In order to make the difference of the detection effect of the ultrasonic wave on the periphery of the robot smaller, the ultrasonic wave is arranged on the periphery of the machine body 1, and is arranged at the front end of the machine body 1 as shown in fig. 1, is arranged at the side edge as shown in fig. 2, and is arranged at the rear end of the machine body 1 as shown in fig. 4. In order to protect the use of the sensor, the wall plate of the machine body 1 where the ultrasonic sensor is arranged is set to be a screen plate 3, and the screen plate 3 covers the ultrasonic sensor, so that a certain protection effect is achieved.

In one example, as shown in fig. 1 and 2, an embodiment of a moving structure 5 is provided, specifically, the moving structure 5 includes a driving wheel 51, a driven wheel 52, and a motor, wherein: the two driving wheels 51 are arranged, and the two driving wheels 51 are respectively arranged at two sides of the machine body 1 and are close to the front end of the machine body 1; the driven wheel 52 is arranged at the bottom of the machine body 1 and near the rear end of the machine body 1, the motor is arranged in the machine body 1, and the driving shaft of the motor is in transmission connection with the driving wheel 51. The mounting mode of the motor and the connection mode with the driving wheel 51 are implemented by means commonly used in the field, and the driving motor can be a disc type hub motor, so that the movement of the driving robot can be more stable and smoother; the driven wheel 52 has no power and plays a role of steering, so that a universal wheel can be adopted, or the driven wheel 52 is mounted at the bottom through a turntable, so that the robot is more flexible, and the moving direction of the robot can be realized by controlling the rotation of the driven wheel 52.

In one embodiment, as shown in fig. 2 and 5, although a driving source of the home robot is not shown in the embodiment of the present application, it is known that the driving source is generally implemented by a battery powered manner according to a conventional arrangement in the art, the battery is disposed in the machine body 1 by a conventional means, and in order to cooperate with the home robot to perform automatic charging, a charging contact 8 and a recharging sensor 9 are disposed at the rear end of the machine body 1.

The charging position of the household robot is generally fixed through a special charging seat, the charging contact 8 is electrically connected with the charging seat to realize charging, the recharging sensor 9 is used for detecting the contact state of the charging contact 8 and the charging seat, when the electric quantity is too low, the controller can send signals to the infrared transmitter, the infrared transmitter emits infrared rays to the periphery, and when the charging seat senses the signals sent by the robot, the transmission of feedback signals can be carried out. After the robot receives the signal of the charging base, the controller can find the charging base through the direction of infrared emission, so that the robot is automatically charged, and the receiving effect of the infrared signal can reflect the contact state of the charging contact 8 and the charging base. In order to display various states of the robot, such as low power, charge, and sufficient power, a breathing lamp may be provided on the body 1, and different states may be indicated by a color of the breathing lamp, a blinking interval, and the like.

In an embodiment, the robot further includes a microphone, that is, a mic, embedded in the front end of the body 1, where the microphone is in signal connection with the intelligent terminal device 6 to perform some voice broadcasting, and also can perform positioning through voice, so that the intelligent terminal device 6 can interact with a user through voice, and a speaker is set on the body 1 to improve the voice effect, as shown in fig. 3, the speaker is built in, and a horn mouth 10 is formed on the body 1.

In one embodiment, as shown in fig. 1, 3 and 4, the intelligent terminal device 6 includes a touch screen 61, where the touch screen 61 is near the front end of the machine body 1, and the touch screen 61 is used for interacting with a user, so as to improve operability of interaction and bring good experience to the user. In other embodiments, a key 13 may be provided to control the on/off state, volume, and the like. Further, the storage tank 11 is arranged on the machine body 1, the storage tank 11 is close to the rear end of the machine body 1, the storage tank 11 can be used for placing common objects such as a mobile phone, a charger, a key and the like, an external interface panel 12 can be arranged on the machine body 1 under the condition that the robot is provided with a storage battery, and a common equipment interface such as a network port, a USB (universal serial bus) card and a TYPE-C, TF card is arranged on the panel, so that the robot can be connected with external equipment, a charging function can be realized, and more man-machine interaction can be realized by utilizing the external equipment.

In one embodiment, as shown in fig. 3, a screen sensor panel 62 is disposed near the touch screen 61, on which a photosensitive sensor is disposed for sensing environmental illumination, an infrared sensor is used for emitting infrared signals to control household appliances and night recognition, and an LED lamp is used for night illumination and flashing, and a mic and a screen camera can be disposed as in a tablet computer, so that the use effect of the device is improved.

In one embodiment, in order to improve the early warning and monitoring capability of the robot, sensors such as gas sensing detection, smoke sensing detection, temperature detection and the like can be added to detect whether gas leakage, fire and the like occur indoors, and early warning report is performed under the condition of remote control. It should be noted that all hardware devices in the embodiments of the present application are installed and controlled by means commonly used in the art, and integrated into a controller to perform control, so as to implement normal operation of the home robot.

The foregoing description of the preferred embodiments of the present application is not intended to limit the utility model to the particular embodiments of the present application, but to limit the scope of the utility model to the particular embodiments of the present application.

Claims

1. A domestic robot for smart home comprising:

the intelligent household intelligent terminal comprises a machine body, wherein intelligent terminal equipment is mounted on the machine body and is in signal connection with the intelligent household; the intelligent terminal equipment is used for receiving an interaction instruction of a user and controlling the working state of the intelligent home according to the interaction instruction; the machine body is provided with a moving structure so that the machine body can move;

the laser radar is arranged at the top of the machine body;

the camera is arranged at the front end of the machine body;

the robot further comprises a sensor assembly, the sensor assembly is arranged on the machine body, the sensor assembly comprises a plurality of ultrasonic sensors, the ultrasonic sensors are used for detecting obstacles of the surrounding environment of the robot, the wall plate of the machine body where the ultrasonic sensors are located is arranged as a screen plate, and the screen plate covers the ultrasonic sensors.

2. The home robot according to claim 1, wherein the sensor assembly includes a plurality of cliff detection sensors respectively provided at front and rear ends of the body, the cliff detection sensors being for detecting whether a cliff is present on a travel route of the robot.

3. The home robot of claim 1, wherein the moving structure comprises a driving wheel, a driven wheel, and a motor, wherein:

4. The home robot according to claim 1, wherein a charging contact for electrically connecting with a charging stand and a recharging sensor for detecting a contact state of the charging contact with the charging stand are provided at a rear end of the body.

5. The home robot of claim 1, further comprising a microphone embedded in a front end of the body, the microphone being in signal connection with the smart terminal device such that the smart terminal device can interact with a user through voice.

6. The home robot of claim 1, wherein the smart terminal device comprises a touch screen near a front end of the body, the touch screen for interacting with a user.

7. The home robot of claim 1, wherein the body is provided with a storage groove near a rear end of the body.