CN105729485B

CN105729485B - A kind of service robot

Info

Publication number: CN105729485B
Application number: CN201610263413.8A
Authority: CN
Inventors: 秦建忠
Original assignee: Individual
Current assignee: Individual
Priority date: 2016-04-26
Filing date: 2016-04-26
Publication date: 2019-06-04
Anticipated expiration: 2036-04-26
Also published as: CN105729485A

Abstract

The invention discloses a kind of service robots, including pedestal (1), charging platform (2) and mechanical arm (3), the positioning system and feature tracking, identifying system (4) that are located on the mechanical arm (3)；Communication, power supply interface (10) on the pedestal (1) and/or mechanical arm (3)；Guide-rail connection device (6) on the pedestal (1) and/or mechanical arm (3), and the functional module being connected by the guide-rail connection device (6) with pedestal (1) and/or mechanical arm (3).The service robot is in addition to basic functions such as automatic charging, movements, also there is positioning, face recognition, following function, and, user can expand various functional modules on its mechanical arm and/or pedestal as needed, construct the robot for meeting itself preference and use habit, to meet the requirement of different users, make robot in design and using being significantly improved in function.

Description

A kind of service robot

Technical field

The present invention relates to robotic technology fields, especially service robot.

Background technique

With the continuous development of robot technology, robot is being applied to the various aspects of production and life, extensively Various cumbersome, repetitions, dull labor operation are engaged in instead of people, robot collects new material, machinery, microelectronics, sensor, calculating Machine, intelligent control etc. are multidisciplinary in one, are commonly divided into two class of industrial robot and service robot.

Currently, service robot will appear following both sides defect and deficiency after research and development and launch:

The first, research and development of products scarce capacity, product design lack originality, and are difficult to meet people to service robot's It is expected that and requirement.

The second, product price is high, and appearance is difficult to receive with not enough personalization, market is had a single function, and is widely used in one A little more professional fields (such as medical treatment).

Therefore, how to overcome defect existing for existing service robot and deficiency, be that those skilled in the art need to solve The technical issues of.

Summary of the invention

The object of the present invention is to provide a kind of service robots.The service robot, which removes, has automatic charging, movement Except equal basic functions, also there is positioning, face recognition, following function, moreover, user can as needed in its mechanical arm and Various functional modules are added on pedestal, construct the robot for meeting itself preference and use habit, to meet different uses The requirement of person, makes robot in design and using being significantly improved in function, and can be effectively reduced manufacture and use Cost.

To achieve the above object, the present invention provides a kind of service robot, including what can be remotely controlled and/or automatically move Pedestal further includes the machinery that on the pedestal and can be folded and/or stretch for the charging platform of pedestal charging Arm, positioning system and feature tracking, identifying system on the mechanical arm；On the pedestal and/or mechanical arm Communication, power supply interface；Guide-rail connection device on the pedestal and/or mechanical arm, and pass through guide rail connection dress Set the functional module being connected with pedestal and/or mechanical arm.

Preferably, further includes:

Positioning device and sensing device, for detecting the sports safety information of the pedestal；

Activity control device is connect with the positioning device and sensing device, for collecting the positioning device and induction The information of device acquisition is simultaneously handled, and it is mobile to control the pedestal；

Driving device is connect with the activity control device, including motor, the driving wheel being connect with the motor drive, And driven wheel.

Preferably, further include wifi module device, connect with the activity control device, for receive come self terminal or The manipulation instruction of remote controler, and it is assigned to the activity control device and the driving device driving pedestal movement or adjustment machinery Arm posture.

Preferably, the auto-folder and/or telescopic mechanical arm are equipped with motor, transmission mechanism and control module, the electricity Machine is connected with transmission mechanism, and the transmission mechanism is connected with mechanical arm, and the control module is logical for controlling the motor Crossing transmission mechanism drives mechanical arm to rise automatically, be stretched flat, open or decline, fold, withdraw.

Preferably, there is the mechanical arm more piece to fold arm and/or telescopic arm, folding arm and/or telescopic arm described in every section On be mounted on alignment sensor.

It preferably, further comprise the terminal charge cable and interface being connect with pedestal battery, the terminal charge cable It hides and is built in the folding and/or telescopic mechanical arm；The interface be located at it is described folding and/or telescopic mechanical arm and/or On guide-rail connection device.

It preferably, further include VR/AR glasses or helmet component on the mechanical arm.

It preferably, further include the amplification mirror assembly on the mechanical arm.

Preferably, the power supply interface is equipped with the magnetic connection mechanism for connecting terminal device.

Preferably, it including is carried out positioning mobile searching user according to terminal or remote controler or detection, memory, reaches purpose Pedestal described in adjust automatically and/or mechanical arm posture behind ground, and carry out the control device of face recognition, tracking, positioning.

Preferably, the guide-rail connection device includes pick up spit of fland Buddhist nun's guide rail.

Preferably, the feature tracking, identifying system are equipped at least one camera.

Service robot provided by the present invention not only can automatic or remote-controlled movement, carry out automatic charging, Er Qie When use can Automatic-searching and tracking user, and the mechanical arm posture described in adjust automatically after arriving at the destination, and carry out Face recognition, tracking, positioning carry out positive active with user and interact, and provide more convenient and fast service for user, to the greatest extent may be used The reduction unnecessary operations of energy can expand connection by guide-rail connection device moreover, which is provided with various communications and power supply interface Various functional modules, can be realized different function, can meet various requirements, to be obviously improved robot performance and make The experience sense that user is serviced, the existing service robot of effective solution.

Detailed description of the invention

Fig. 1 for a kind of specific embodiment of the mentioned service robot of the present invention structural schematic diagram；

Fig. 2 is the schematic diagram of setting communication on the fixture of mechanical arm, power supply interface；

Fig. 3 for another specific embodiment of the mentioned service robot of the present invention structural schematic diagram；

Fig. 4 for another specific embodiment of the mentioned service robot of the present invention structural schematic diagram.

In figure:

1. 2. charging platform of pedestal, 3. mechanical arm, 4. feature tracking, 5. speaker of identifying system, 6. guide-rail connection device 7. the communication of 9. fan 10. of input equipment 8.PAD (tablet computer), 11. mobile phone 12.VR/AR glasses of power supply interface or the helmet Component 13. amplifies mirror assembly

Specific embodiment

In order to enable those skilled in the art to better understand the solution of the present invention, with reference to the accompanying drawings and detailed description The present invention is described in further detail.

Referring to FIG. 1, structural schematic diagram of the Fig. 1 for a kind of specific embodiment of the mentioned service robot of the present invention.

In a specific embodiment, service robot provided by the invention is mainly by pedestal 1, charging platform 2, machinery The part such as arm 3 is constituted.

Wherein, pedestal 1 can be remotely controlled and/or automatically move, and charging platform 2 is used to charge for pedestal 1, and pedestal 1 can be certainly Dynamic charging platform 2 of finding charges, and mechanical arm 3 is located on pedestal 1, can fold and/or stretch, positioning system and it is facial with Track, identifying system 4 are located on mechanical arm 3, and partial function module (being as shown in the figure speaker 5) passes through guide-rail connection device 6 and machine Tool arm is connected, and other function module is connected by fixture with mechanical arm, is as shown in the figure input equipment 7, PAD (plate electricity Brain) 8, fan 9.

Pedestal 1 and mechanical arm 3 are the main parts of robot, installation foundation are provided for other function device, in order to right The movement of pedestal is controlled, further includes:

Positioning device and sensing device, for detecting the sports safety information of pedestal 1, exploring block can use infrared Sensor, ultrasonic sensor, optical sensor and similar sensing device etc..

Activity control device, connect with positioning device and sensing device, obtains for collecting positioning device and sensing device Information and handled, control pedestal 1 is mobile；

Driving device is connect with activity control device, including motor, the driving wheel being connect with the motor drive and Driven wheel.

Further include wifi module device, connect with activity control device, to carry out self terminal (such as mobile phone 11, flat for receiving Plate computer etc.) or remote controler manipulation instruction, and be assigned to activity control device and driving device driving pedestal 1 is mobile or adjustment Mechanical arm posture.

Auto-folder and/or telescopic mechanical arm 3 are equipped with motor, transmission mechanism and control module, motor and transmission mechanism phase Connection, transmission mechanism are connected with mechanical arm 3, and control module drives mechanical arm 3 automatic for controlling motor by transmission mechanism Rise, be stretched flat, open or decline, fold, withdraw.

There is mechanical arm 3 more piece to fold arm and/or telescopic arm, and every section folds and is mounted on positioning on arm and/or telescopic arm Sensor.

Certainly, in addition to motor-driven mechanical arm, the mechanical arm in mobile base can also be common hand foldable, Stretching structure.

Referring to FIG. 2, Fig. 2 is the schematic diagram of setting communication on the fixture of mechanical arm, power supply interface.

As shown, the fixture that mechanical arm is used to install PAD (tablet computer) is equipped with communication, power supply interface 10, to mention The reliability of height connection, communication, power supply interface 10 can be equipped with the magnetic connection mechanism for connecting terminal device.

Terminal charge cable and interface are connect with pedestal battery, and terminal charge cable, which is hidden, to be built in folding and/or stretch In mechanical arm 3, interface is located on folding and/or telescopic mechanical arm 3 and/or guide-rail connection device 6.

The preferred pick up spit of fland Buddhist nun's guide rail of above-mentioned guide-rail connection device 6, but it is not limited to pick up spit of fland Buddhist nun's guide rail, functional module can be PC host, display screen, input equipment, mobile terminal, speaker, lamps and lanterns or fan etc., input equipment can be keyboard, mouse or touching Screen is touched, keyboard, mouse can be mechanical structure, be also possible to touch-screen form, but be not limited to keyboard, mouse and touch screen.

Feature tracking, identifying system 4 at least install a camera on mechanical arm 3, acquire user by camera Facial information, then carry out face recognition, tracking, positioning, above-mentioned service robot, can be according to terminal or distant in control Control device or detection, memory carry out positioning mobile searching user, the posture of rear adjust automatically machinery arm 3 are arrived at the destination, to machine Distance etc. of the height, functional module of tool arm 3 apart from user is made adjustment, and to adapt to the requirement of user, and is carried out Face recognition, tracking, positioning, before robot is mobile, to improve mobile stability, avoid in moving process with traveling road Object interference on diameter, can prior auto-folder contract arm 3.

Fig. 3, Fig. 4 are please referred to, Fig. 3 shows for the structure of another specific embodiment of the mentioned service robot of the present invention It is intended to；Fig. 4 for another specific embodiment of the mentioned service robot of the present invention structural schematic diagram.

As shown, on the basis of the above embodiments, VR/AR glasses or helmet component can also be arranged on the robotic arm 12.This VR/AR glasses or helmet component 12 can be realized by positioning device and sensing device keeps appropriate with head part or eyes Distance and angular pose.

Further, it is also possible to which mirror assembly 13 is amplified in setting on the robotic arm, will pass through magnifying glass observation, using positioned at thereafter The electronic product or other function module of side, to be the small screen mobile phone, miniaturized electronics user and the elderly or poor or weak eyesight Personage provides more quality service.This amplification mirror assembly 13 can also be realized by positioning device and sensing device with head part or Eyes keep appropriately distance and angular pose.

Above-mentioned VR/AR glasses or helmet component 12, amplification mirror assembly 13 can also pass through guide-rail connection device 6 and mechanical arm 3 connections.

Service robot provided by the present invention can carry out positioning movement, memory, auto-folder according to terminal or remote controler And/or flexible, automatic charging, realize intelligent face tracking, identification, intelligent folding and/or flexible is long-range to control, and passes through guide rail Attachment device 6 can expand linkage function module, for the purpose of the services such as terminal power supply.

Above-described embodiment is only preferred embodiment of the invention, is specifically not limited thereto, on this basis can be according to reality It needs to make to have and targetedly adjust, to obtain different embodiments.Such as functional module is passed through into fixture, attachment base Or the attachment devices such as connector are mounted on mechanical arm 3, etc..Since mode in the cards is more, here just no longer one by one It illustrates.

Service robot provided by the present invention is described in detail above.Specific case pair used herein The principle of the present invention and embodiment are expounded, core of the invention that the above embodiments are only used to help understand Thought.It should be pointed out that for those skilled in the art, without departing from the principle of the present invention, also Can be with several improvements and modifications are made to the present invention, these improvement and modification also fall into the protection scope of the claims in the present invention It is interior.

Claims

1. a kind of service robot, including the pedestal (1) that can be remotely controlled and/or automatically move, for filling for pedestal charging Level platform (2), which is characterized in that further include the mechanical arm (3) that on the pedestal (1) and can be folded and/or stretch, position In positioning system and feature tracking, identifying system (4) on the mechanical arm (3)；Positioned at the pedestal (1) and/or mechanical arm (3) communication, power supply interface (10) on；Guide-rail connection device (6) on the pedestal (1) and/or mechanical arm (3), with And the functional module being connected by the guide-rail connection device (6) with pedestal (1) and/or mechanical arm (3)；Positioning device and sense Device is answered, for detecting the sports safety information of the pedestal (1)；Activity control device is filled with the positioning device and induction Connection is set, for collecting the information of the positioning device and sensing device acquisition and being handled, controls the pedestal (1) shifting It is dynamic；Driving device is connect with the activity control device, including motor, the driving wheel connecting with the motor drive, Yi Jicong Driving wheel.

2. service robot according to claim 1, which is characterized in that it further include wifi module device, and it is described The connection of activity control device, for receiving the manipulation instruction for coming self terminal or remote controler, and is assigned to the activity control device And driving device drives the pedestal (1) mobile or adjusts the mechanical arm posture.

3. service robot according to claim 1, which is characterized in that the mechanical arm (3) is equipped with motor, driver Structure and control module, the motor are connected with transmission mechanism, and the transmission mechanism is connected with mechanical arm (3), the control Module drives mechanical arm (3) to rise, be stretched flat, open or decline, fold, receive automatically for controlling the motor by transmission mechanism It returns.

4. service robot according to claim 3, which is characterized in that there is the mechanical arm (3) more piece to fold arm And/or telescopic arm, alignment sensor is mounted on folding arm and/or telescopic arm described in every section.

5. service robot according to claim 1, which is characterized in that further comprise the end being connect with pedestal battery Charge cable and interface are held, the terminal charge cable, which is hidden, to be built in the mechanical arm (3)；The interface is located at the machine On tool arm (3) and/or guide-rail connection device (6).

6. service robot according to claim 1, which is characterized in that further include being located on the mechanical arm (3) VR/AR glasses or helmet component (12).

7. service robot according to claim 1, which is characterized in that further include being located on the mechanical arm (3) Amplify mirror assembly (13).

8. service robot according to any one of claims 1 to 7, which is characterized in that the communication, power supply interface (10) it is equipped with the magnetic connection mechanism for connecting terminal device.

9. service robot according to any one of claims 1 to 7, which is characterized in that including according to terminal or remote control Device or detection, memory carry out positioning mobile searching user, arrive at the destination pedestal described in rear adjust automatically (1) and/or machinery Arm (3) posture, and carry out the control device of face recognition, tracking, positioning.