WO2022228272A1

WO2022228272A1 - Ai robot-based system and method for automatic replacement of intelligent device

Info

Publication number: WO2022228272A1
Application number: PCT/CN2022/088230
Authority: WO
Inventors: 谈家豪
Original assignee: 广东睿进智能科技有限公司
Priority date: 2021-04-26
Filing date: 2022-04-21
Publication date: 2022-11-03
Also published as: CN113146657B; CN113146657A

Abstract

An AI robot-based system for automatic replacement of an intelligent device, comprising an AI robot (1), an intelligent device (2), a device base station (3), and a system server. The AI robot comprises a load backplate (12), a traveling module (16), a first charging terminal (15), a sensor module, and a first communication module. The intelligent device comprises a first clamping hole (22), a second clamping hole (24), a slider (21), and a second charging terminal (23); the first clamping hole and the second clamping hole are respectively configured to be locked to the AI robot and the device base station. The device base station comprises a device support frame (31), a slide rail (32), a limiting and fixing member (33), a first charging head (36), a second charging head, and a third communication module; the slide rail and the slider work in conjunction with each other to allow the intelligent device to enter and exit the device base station. Also disclosed is an AI robot-based method for automatic replacement of an intelligent device. According to the system, the AI robot can automatically replace different types of intelligent devices according to different task instructions, so that one robot can execute different tasks, and thus the application of different AI life scenes is greatly deepened, and the overall working quality of the AI robot without manual intervention is optimized.

Description

A system and method for automatic replacement of intelligent equipment based on AI robot

technical field

The invention relates to the field of automatic replacement of intelligent equipment, and in particular to a system and method for automatic replacement of intelligent equipment based on AI robots

Background technique

In recent years, AI robots have played an increasingly important role in the industrial field, which not only improves production efficiency, but also reduces labor costs and risks. my country's artificial intelligence has reached the world's leading level in many professional fields. From AI deep learning algorithms, cross-system collaboration to mechanical hardware support, there is a rapid development, and the state's policy support for the field of intelligent manufacturing is greatly improving and deepening supply. It plays an important role in the structural reform of the side.

At present, the commercialization of AI robots (physical intelligent robots) is developing in two directions: one is to improve the capabilities of AI robots to the extreme and anthropomorphic; the other is to commercialize low-end AI robots. However, the common problems of low-end AI robots on the market are single function, limited learning ability and low compatibility. The above two main development directions have common defects. The tasks performed by AI robots are often relatively single, and one type of robot corresponds to one function, such as a robot dedicated to disinfection, a robot dedicated to detection, etc., which cannot be applied according to practical applications. The needs of the environment can meet the changing task requirements by replacing the equipment function modules mounted on the robot.

SUMMARY OF THE INVENTION

The purpose of the present invention is to overcome the shortcomings of the above-mentioned prior art, and to provide a system and method for automatically replacing various types of intelligent devices by AI robot individuals or AI robot groups according to task instructions, which can adapt to changes in tasks in the system, and can be assigned according to system assignments. It can make the robot multi-functional by automatically replacing the corresponding intelligent equipment, and realize the intelligent operation state of unmanned intervention in the use scene.

The present invention is achieved through the following technical solutions:

A system for automatically replacing smart devices based on AI robots, including AI robots, smart devices, device base stations, and system servers. There can be multiple AI robots, multiple smart devices, and multiple device base stations in the system. The device base station can be connected to any type of smart device, and can charge any type of smart device and AI robot; the AI robot can be connected to all smart devices and device base stations at will. The type of smart device can perform corresponding tasks, and it can also transport the smart device to the device base station for charging when the smart device is under power.

The AI robot includes a robot body and a load backplane, a walking module, a first charging terminal, a sensor module and a first communication module arranged on the robot body; the load backplane is used to load the intelligent device, and the load The height of the backplane on the robot body matches the height of the smart device on the device base station, which is convenient for the AI robot to install or remove the smart device on the device base station. The load backplane is provided with an automatic card matching the smart device. The buckle is used to realize the fixing of the intelligent device on the load backplane, so that the AI robot can load the intelligent device to perform corresponding tasks; the walking module is used for the AI robot to walk, including the load intelligent device to perform the corresponding task, and the walking through the robot. Push the smart device fixed on the backplane into the device base station or remove the smart device from the device base station; the sensor module is used for obstacle detection when the AI robot is walking, and positioning when replacing the smart device, The sensor module may include lidar, camera, etc.; the first communication module is used for the AI robot to communicate with the device base station, the smart device and the system server. The processor on the AI robot is used to control the walking, data processing and operation of the AI robot. The AI robot can also be equipped with a touch screen, which is convenient for viewing equipment status, parameter settings and task assignment.

The smart device is used to perform corresponding tasks in combination with the AI robot according to its design function, and it includes a first card hole, a second card hole, a slider, a second charging terminal and a second communication module. The first card hole is connected to the AI The automatic buckles on the robot are matched, and the automatic buckle is locked in the first card hole, and the intelligent device is locked on the AI robot, and the automatic buckle is released, the intelligent device is disengaged from the AI robot; The sliders are symmetrically arranged on the smart device, and when the load backplane on the AI robot loads the smart device, the slider is in a horizontal position, so that the smart device can slide into the device base station horizontally. The second card hole is vertically arranged on the slide bar and is used for locking with the equipment base station; the second communication module is used for communicating with the AI robot, the equipment base station and the system server. By designing the first card hole, the first card hole, the slider and the second charging terminal on the smart device that match the AI robot and the device base station, the smart devices with various functions can be applied to the system of the present invention, which greatly expands the The scope of application of the system of the present invention.

The equipment base station includes an equipment bracket, a sliding rail, a limit fixing piece, a first charging head, a second charging head and a third communication module. The equipment bracket is used for placing the smart device, and the two sliding rails It is horizontally and symmetrically arranged on the equipment bracket, and is adapted to the slider on the smart device. When the smart device enters the device base station, the AI robot walks through the cooperation between the slider and the slide rail, and drives the smart device along the The sliding rail slides into or out of the equipment base station and realizes positioning; the first charging head is a contact charging head, and the first charging terminal is a contact charging terminal. When the smart device slides in the sliding rail of the equipment base station When in place, the first charging head is successfully docked with the first charging terminal on the AI robot and there is current passing through, so as to charge the AI robot when needed, and at the same time pass through the current sensing device disposed at the first charging head The second charging head is connected to the second charging terminal on the smart device to charge the smart device; the limit is fixed The component is arranged at the slide rail, and is used to lock the slide rail or the slide bar with the second card hole after the smart device slides into place in the slide rail of the device base station, preventing the slide bar on the smart device from sliding in the slide rail. The mobile device realizes the fixed positioning of the smart device; the third communication module is used for the device base station to communicate with the AI robot, the smart device and the system server.

The system server is used for task scheduling and information storage. The system server communicates with AI robots and equipment base stations, obtains status information of intelligent equipment, AI robots, and equipment base stations, and performs task scheduling according to the information.

Further preferably, the limiting fixture on the equipment base station includes a locking induction device, a magnetic lock plug and a magnetic lock battery plate, the magnetic lock plug is located above the slide rail, and when the slide bar on the smart device is in the slide rail. After sliding into place, the magnetic lock plug is just above the second card hole on the slider, and the magnetic lock plug can partially fall into the second card hole; The power-on or power-off of the battery board of the lock is used to adsorb or release the magnetic lock plug, so that the magnetic lock plug comes out or partially falls into the second card hole, so that the slider slides or is fixed in the slide rail, and realizes the smart device in the device base station. unlocked or locked on the . The locking induction device is arranged on the bottom of the slide rail and is located just below the magnetic lock plug. When the smart device is slid into place on the device base station, the locking induction device is located just below the second card hole, and the locking induction device can detect the magnetic lock. Whether the plug falls into the second card hole, when the magnetic lock plug falls into the second card hole, the locking induction device detects that the smart device is locked, and the device base station receives the device capture signal, indicating that the smart device is locked on the device base station. The lock sensing device 332 can be a photoelectric switch, such as an infrared photoelectric switch.

Further preferably, the second charging terminal is a wireless charging terminal, and the wireless charging terminal is located at the bottom of the smart device when the smart device is locked on the device base station; the second charging head is a wireless charging terminal that matches the wireless charging terminal. The charging board is connected with a lifting mechanism. When charging is required, the lifting mechanism drives the wireless charging board to move to docking with the wireless charging terminal for charging. After charging, the lifting mechanism drives the wireless charging board to move down and return to its original position.

Further preferably, the lifting mechanism includes a support plate, a support rod, a rack, a gear and a motor, the wireless charging board is arranged on the support plate, the support rod is vertically arranged and connected with the support plate, the The rack is vertically installed on the support rod, the gear meshes with the rack, the motor is connected with the gear to drive the gear to rotate, and the rotation of the gear drives the rack to move up and down, thereby driving the support rod and the support plate to move up and down.

The first charging head is a contact charging head, and the first charging terminal is a contact charging terminal. After the AI robot load smart device slides into place in the slide rail of the equipment base station, the first charging terminal on the AI robot The terminal is just connected to the first charging head on the device base station, so that the AI robot can be charged when needed. When it needs to be charged, the AI bot stays charging. When no charging is required, the AI bot exits and leaves by itself. If the AI bot needs to be charged when it is in an empty state, it can go to any equipment base station for charging.

Further preferably, the automatic buckle on the load back plate includes a mounting seat and a stepping motor, a turbine and a bayonet arranged on the mounting seat, the stepping motor is connected with the turbine to drive the turbine to rotate, and the One end of the bayonet pin is telescopically mounted on the mounting seat, the other end of the bayonet pin is connected to the load back plate, the middle part of the bayonet pin is provided with a thread that is adapted to the turbine, and the bayonet pin is matched with the turbine wheel through the fit of the thread. Screw connection, the rotation of the turbine drives the bayonet to move to realize the expansion and contraction of the bayonet, so that the bayonet is clamped in the first bayonet hole on the smart device or comes out of the first bayonet hole. When the load backplane is unloaded, the bayonet is in a retracted state. When the smart device is captured by the AI robot, a command is sent to the stepper motor, and the stepper motor rotates to drive the turbine to rotate, thereby driving the bayonet to extend and clamp on the smart device. In the first card hole, when the stepper motor rotates for a certain number of turns, it means that the card pin protrudes in the first card hole for a sufficient clamping length, and the smart device is locked on the AI robot; when the smart device is captured by the device base station When the stepper motor is turned on, a command is sent to the stepping motor, the stepping motor is reversed, and the pin retracts. When the stepping motor rotates for a certain number of turns, the pin exits the first card hole of the smart device, and the smart device and the AI robot are unlocked.

A method for automatically replacing smart devices based on AI robots, using the above-mentioned system for automatically replacing smart devices based on AI robots, including the following steps:

S1. The AI robot removes the smart device and installs it on the device base station

S1-1. The AI robot locks the smart device on the load backplane through the automatic buckle on the load backplane, and the AI robot loads the smart device to the device base station.

S1-2. The AI robot detects the slide rail entrance of the equipment base station through the sensor module on it, and moves the slide bar on the smart device to the slide rail entrance of the equipment base station by moving the walking module.

S1-3. The AI robot moves toward the equipment base station through the walking module, and drives the slider on the smart device to slide in the slide rail on the equipment base station. When the first charging terminal on the AI robot is docked with the first charging head on the equipment base station When successful, the current sensing device senses the passing of current, indicating that the smart device has slipped into place, the current sensing device sends sensing information to the equipment base station, and the magnetic lock on the limit fixture is powered off (the magnetic lock is off when the equipment base station is unloaded). The battery board is always powered on, the magnetic lock plug is out of the second card hole, and the slider can move freely), the magnetic lock plug falls into the second card hole under the action of gravity, the slider on the smart device is fixed, and the smart device It is locked on the device base station, and the locking sensing device detects that the smart device is locked; the device base station charges the smart device.

S1-4. The device base station sends the smart device locking information to the AI robot, the AI robot releases the automatic buckle on the load backplane, and the smart device and the AI robot are unlocked.

S1-5. At this time, the first charging terminal on the AI robot is docked with the first charging head on the equipment base station. The AI robot determines whether it needs to be charged according to its own power. Exit and leave; if not needed, simply exit and leave.

S2. The AI robot removes the smart device from the device base station

S2-1. After the system server retrieves the appropriate AI robot, smart device and the device base station corresponding to the smart device from the system according to the task requirements, it sends the task information instruction to the retrieved appropriate AI robot; the AI robot receives the system server under the The task information sent by the AI robot includes the task command, time, location, specific smart device, and the location of the base station corresponding to the smart device. Generally speaking, the system server selects idle and short-distance AI robots to perform tasks. The applicable smart devices are based on the type matching and fully charged state, and the short-distance is preferred.

S2-2. After the AI robot reaches the equipment base station, the equipment base station ends charging the smart device; after the AI robot aligns the load backplane with the smart device on the equipment base station through the sensor module and walking module on it, the AI robot moves towards the smart device When walking, when the first charging terminal on the AI robot is successfully connected with the first charging head on the equipment base station (as before, it is judged by sensing whether there is current passing through the current sensing device), the load backplane is successfully connected with the smart device, and the AI The robot sends an instruction to the automatic buckle on the load backplane, and the automatic buckle is locked in the first card hole on the smart device, and the smart device is locked on the AI robot.

S2-3. The AI robot sends a locking signal to the equipment base station. The magnetic lock battery plate on the equipment base station is energized to attract the magnetic lock plug. The magnetic lock plug is moved up and out of the second card hole, and the smart device and the equipment base station are unlocked.

S2-4. The AI robot exits in the direction of the slide rail, driving the smart device out of the equipment base station along the slide rail, and the AI robot loads the smart device and leaves the equipment base station.

S3. The AI robot loads the smart device to perform tasks: the AI robot locks the smart device on the load back panel through the automatic buckle on the load back panel, and goes to the task location to perform tasks (such as disinfection, temperature measurement, etc.) according to the task instructions assigned by the system server. Wait).

A further preferred technical solution is that, in step S1-3, the method of charging the smart device by the device base station is a wireless charging method, specifically: the second charging terminal on the smart device is a wireless charging terminal, and the smart device is locked on the device base station. The wireless charging terminal is located at the bottom of the smart device when it is installed; the second charging head on the device base station is a wireless charging board matched with the wireless charging terminal, and the wireless charging board is connected with a lifting mechanism, when charging is required , the lifting mechanism drives the wireless charging board to move to docking with the wireless charging terminal for charging, and after charging is completed, the lifting mechanism drives the wireless charging board to move down and return to its original position.

A further preferred technical solution is that, in step S1-3, if the device base station controls the power of the magnetic lock battery panel and the lock sensing device does not detect that the smart device is locked, the device base station sends back the station defect information to the AI robot, and the AI After the robot exits the equipment base station according to the return defect information, the steps of S1-2 and S1-3 are repeated until the smart device is successfully locked on the equipment base station, or an alarm is issued to request the assistance of the staff.

A further preferred technical solution is that, in step S1-1, after the AI robot loads the intelligent equipment and arrives at the equipment base station, it further includes: the AI robot confirms that its load backplane is fully loaded by communicating with the system server and the equipment base station of the previous task. , and confirm the matching between the loaded smart device and the equipment base station; at the same time, the AI robot also communicates with the current equipment base station to confirm that the current equipment base station is in an unloaded state; when these conditions are met, steps S1-2 can be executed.

After the AI robot reaches the equipment base station in step S2-2, it also includes: the AI robot communicates with the equipment base station to confirm whether the smart device specified in the task is in the equipment base station, whether the power of the smart device meets the task requirements, etc.; at the same time, the AI robot also passes Communicate with the system server and the device base station of the previous task of the AI robot to confirm whether the load backplane is in an unloaded state; only when these conditions are met, the subsequent program steps can be executed.

A further preferred technical solution is that the present invention also includes: when the load backplane of the AI robot is unloaded, it can reach any equipment base station for charging, and can allocate a suitable equipment base station through the system server, or communicate with the equipment base station in the system, Search for suitable equipment base stations and send relevant information to the system server. Among them, before the equipment base station is charging an AI robot in an empty state, it should also be confirmed that the equipment base station is in an idle state without other AI robots being connected, and the AI robot starts charging after receiving the idle state information.

The AI robot or robot group of the present invention can automatically replace various intelligent equipment modules with different functions according to task instructions, so that the same robot can have multiple functions, just like a robot can automatically replace different intelligent equipment such as disinfection spray and camera. equipment to perform different tasks, and optimize the overall work quality of AI robots under unmanned intervention; through the specific structural design of AI robots, smart devices and equipment base stations, AI robots can be connected to smart devices with various functions, as long as the smart The equipment has the corresponding structural characteristics, and AI robots can be connected; also because the equipment base station has the structural characteristics that match the intelligent equipment, the equipment base station can also be connected with intelligent equipment of various functions, thus broadening the dimension of application scenarios and greatly deepening The application of various AI life scenarios avoids the inability of AI robots to evolve synchronously due to changes in scenario requirements, resulting in a wasteful and difficult to popularize situation. In the automatic replacement system and method of the present invention, the intelligent equipment can be pushed into or pulled out of the equipment base station only by the walking of the AI robot, without the need for additional special lifting mechanisms, push-pull mechanisms, etc., which greatly simplifies the structure and operation of the robot. Replacement steps; judge whether the docking is in place and successful by whether there is current passing between the charging head and the charging interface between the AI robot and the equipment base station, and realize the locking of the smart device through the magnetic lock, the locking induction device, and the automatic buckle, so that the smart device can be locked. The connection between the device, the AI robot, and the device base station is simple and secure.

Description of drawings

FIG. 1 is a schematic structural diagram of an AI robot in an embodiment of the present invention.

FIG. 2 is a schematic diagram of an installation structure of an automatic buckle on an AI robot according to an embodiment of the present invention.

FIG. 3 is a schematic structural diagram of an automatic buckle on an AI robot according to an embodiment of the present invention.

FIG. 4 is a schematic structural diagram of a smart device in an embodiment of the present invention.

FIG. 5 is another schematic structural diagram of a smart device in an embodiment of the present invention.

FIG. 6 is another schematic structural diagram of a smart device in an embodiment of the present invention.

FIG. 7 is another schematic structural diagram of a smart device in an embodiment of the present invention.

FIG. 8 is a schematic structural diagram of a device base station in an embodiment of the present invention.

FIG. 9 is a schematic structural diagram of a device base station during charging according to an embodiment of the present invention.

FIG. 10 is another schematic structural diagram of a device base station in an embodiment of the present invention.

FIG. 11 is a working flowchart of automatically installing a smart device to a device base station in an embodiment of the present invention.

FIG. 12 is a schematic diagram of a working state of automatically replacing a smart device in an embodiment of the present invention.

FIG. 13 is a schematic diagram of another working state of automatically replacing a smart device in an embodiment of the present invention.

FIG. 14 is a schematic diagram of another working state of automatically replacing a smart device according to an embodiment of the present invention.

FIG. 15 is a schematic diagram of another working state of automatically replacing a smart device according to an embodiment of the present invention.

FIG. 16 is a working flowchart of automatically detaching a smart device from a device base station in an embodiment of the present invention.

FIG. 17 is a schematic diagram of another working state of automatically replacing a smart device according to an embodiment of the present invention.

FIG. 18 is a schematic diagram of another working state of automatically replacing a smart device according to an embodiment of the present invention.

FIG. 19 is a schematic diagram of another working state of automatically replacing a smart device in an embodiment of the present invention.

FIG. 20 is a schematic diagram of another working state of automatically replacing a smart device in an embodiment of the present invention.

Reference signs: 1-AI robot; 2-intelligent equipment; 3-equipment base station; 11-robot body; 12-load backplane; 13-automatic buckle; 131-mounting seat; 132-bayonet; 133-spring; 134-thread; 135-turbo; 14-touch screen; 15-first charging terminal; 16-walking module; 21-slider; 22-first card hole; 23-second charging terminal; 24-second card Hole; 31-equipment bracket; 32-slide rail; 33-limiting fixture; 331-magnetic lock battery board; 332-lock induction device; 333-magnetic lock plug; 34-wireless charging board; 35-lifting mechanism; 351-support plate; 352-support rod; 353-rack; 354-gear; 36-first charging head; 37-current induction device; 38-equipment base station power plug.

Detailed ways

A system for automatically replacing smart devices based on AI robots, including AI robots 1, smart devices 2, device base stations 3 and system servers. There can be multiple AI robots, multiple smart devices, and multiple device base stations in the system. The device base station can be connected to any type of smart device, and can charge any type of smart device and AI robot; the AI robot can be connected to all smart devices and device base stations at will. The type of smart device can perform corresponding tasks, and it can also transport the smart device to the device base station for charging when the smart device is under power.

1. System server

The system server of the present invention is mainly used for task scheduling and information storage. The system server communicates with the AI robot 1, the smart device 2, and the device base station 3, obtains the status information of the smart device 2, the AI robot 1, and the device base station 3, and executes the information according to the information. Task scheduling, such as: when a certain disinfection task needs to be performed, an idle AI robot is allocated to a certain equipment base station to fetch the corresponding smart device with disinfection function; after the AI robot loads the smart device to perform the task, the smart device Transport it to the corresponding equipment base station for charging; when the smart device or AI robot needs to be charged during the execution of the task, designate the AI robot to transport the smart device to the appropriate equipment base station for charging, or designate the AI robot to the appropriate equipment base station for its own charging. Charge. The communication mode between the system server, AI robot 1, smart device 2, and device base station 3 is wireless communication, including but not limited to wireless network, Bluetooth, infrared remote control, radio frequency, etc.

2. AI robot

As shown in FIG. 1 , the AI robot 1 of the present invention includes a robot body 11 , a load backplane 12 disposed on the robot body 11 , a walking module 16 , a first charging terminal 15 , a sensor module and a first communication module. The load backplane 12 is used to load the smart device 2, and the structure and shape of the load backplane 12 are adapted to the smart device, and the structure as shown in FIG. . The height of the load backplane 12 on the robot body 11 is adapted to the height of the smart device 2 on the device base station 3, which is convenient for the AI robot 1 to install or remove the smart device 2 on the device base station 3. The automatic buckle 13 matched with the smart device 2 is used to realize the fixation of the smart device 2 on the load backplane 12. Only when the smart device 2 is fixed on the AI robot 1, the AI robot 1 can load the smart device 2 to execute. Corresponding tasks such as disinfection and temperature measurement, and transporting the smart device 2 to the device base station 3 for charging.

The walking module 16 is used for the walking of the AI robot 1, including the load intelligent device 2 to perform corresponding tasks, and at the same time push the intelligent device 2 fixed on the load backplane 12 into the device base station 3 or from the robot through the walking of the robot. The smart device 2 is removed from the device base station 3; the sensor module is used for obstacle detection when the AI robot is walking, and positioning when replacing the smart device, the sensor module can include lidar, camera, etc.; the first communication module is used for AI The robot 1 communicates with the device base station 3 , the intelligent device 2 and the system server; the processor on the AI robot is used to control the walking, data processing and operation of the AI robot 1 . The AI robot 1 can also be provided with a touch screen 14, which is convenient for viewing equipment status, parameter setting and task assignment.

The function of the automatic buckle 13 on the load backplane 12 is to insert or withdraw the buckle into the first card hole 22 on the smart device 2 through automatic control, so as to realize the locking or unlocking of the smart device 2, and the existing Any structure or form that can achieve this function, such as a magnetic pop-up bayonet, etc. In this embodiment, the automatic telescopic structure shown in FIG. 2 and FIG. 3 is adopted, and two automatic buckles 13 are oppositely arranged on the load back plate 12 . A stepper motor, a turbine 135 and a bayonet 132, the stepper motor is connected with the turbine 135 to drive the turbine to rotate (not shown in the figure), and one end of the bayonet 132 is telescopically mounted on the mounting seat 131 , when extending into the first buckle 22 on the smart device 2 to lock the smart device 2 on the AI robot 1, the other end of the bayonet 132 is connected to the load backplane 12 through the spring 133, the bayonet The middle part of 132 is provided with a thread 134 that is adapted to the turbine 135. The locking pin 132 is screwed with the turbine 135 through the cooperation of the thread 134. The rotation of the turbine 135 drives the locking pin 132 to move to realize the expansion and contraction of the locking pin 132, thereby The card pin 132 is fastened in the first card hole 22 on the smart device 2 or released from the first card hole 22 . When the load backplane 12 is unloaded, the bayonet 132 is in a retracted state. When the smart device 2 is captured by the AI robot 1, a command is sent to the stepper motor, and the rotation of the stepper motor drives the turbine 135 to rotate, thereby driving the bayonet 132 to extend. The output card is locked in the first card hole 22 of the smart device 2. When the stepping motor rotates for a certain number of turns, it means that the card pin 132 protrudes from the first card hole 22 for a sufficient locking length, and the smart device 2 is locked in the first card hole 22. On the AI robot 1; when the smart device 2 is captured by the device base station 3, a command is sent to the stepper motor, the stepper motor is reversed, and the bayonet 132 retracts. When the stepper motor rotates a certain number of times, the bayonet 132 exits the smart In the first card hole 22 of the device 2, the smart device 2 and the AI robot 1 are unlocked. The AI robot 1 judges the state of the bayonet 132 through the rotation direction and the number of turns of the stepping motor, so as to obtain locking and unlocking signals.

3. Smart Devices

As shown in FIG. 4 to FIG. 7 , the smart device of the present invention includes a first card hole 22 , a second card hole 24 , a slide bar 21 , a second charging terminal 23 and a second communication module. The first card hole 22 is connected to the second communication module. The automatic buckle 13 on the AI robot 1 is matched. If the automatic buckle 13 is locked in the first hole 22, the smart device 2 is locked on the AI robot 1. When the automatic buckle 13 is released, the smart device 2 and the AI robot 1 are released. Disengaged; the two sliding bars 21 are symmetrically arranged on the intelligent device 2, and the sliding bars 21 are in a horizontal position when the load backplane 12 on the AI robot 1 loads the intelligent device 2, so as to facilitate intelligent The device 2 slides into the device base station 3 horizontally. The second card hole 24 is vertically arranged on the slide bar 21 , and the second card hole 24 is matched with the limit fixing member 33 on the equipment base station 3 to realize the locking of the smart device 2 on the equipment base station 3 Or unlocking, the second locking hole 24 is preferably arranged at the end position of the slide bar 21, and the specific structure, position and method are described later. The second communication module is used to communicate with the AI robot 1, the equipment base station 3 and the system server to facilitate automatic synchronization of information.

Figures 4 and 6 show the temperature detection equipment, and Figures 5 and 7 show the disinfection equipment. By designing the first card hole 22 matching the AI robot 1 and the equipment base station 3 on different smart devices 2 , the second card hole 24, the slider 21 and the second charging terminal 23, so that the intelligent devices 2 with various functions can be connected with the AI robot 1 and the device base station 3 of the present invention, so that the AI robot can meet the actual task requirements. The corresponding type of intelligent equipment is automatically replaced to perform various tasks, which greatly expands the application scope of the system of the present invention. The intelligent equipment of the present invention includes but is not limited to the following intelligent equipment developed by customization, such as: elevating disinfection sprayer, elevating temperature detector, power supply room 7-in-1 detector, rear projector and so on.

4. Equipment base station

As shown in FIG. 8 to FIG. 10 , the equipment base station 3 of the present invention includes an equipment support 31 , a slide rail 32 , a limit fixing member 33 , a first charging head 36 , a second charging head and a third communication module. The equipment support 31 is used to place the smart device 2. The two sliding rails 32 are horizontally and symmetrically arranged on the device bracket 31, and are adapted to the sliding bars 21 on the smart device 2. The smart device 2 When entering the equipment base station 3, the AI robot 1 walks through the cooperation of the slide bar 21 and the slide rail 32, and drives the smart device 2 to slide in or out of the equipment base station 3 along the slide rail 32 to achieve positioning.

When the smart device 2 is slid into place in the slide rail 32 of the device base station 3, the first charging head 36 is docked with the first charging terminal 15 on the AI robot 1, so that the AI robot 1 can be connected to the AI robot 1 when needed. At the same time, when the first charging head 36 is successfully connected with the first charging terminal 15 on the AI robot 1, there is current passing between the first charging head 36 and the first charging terminal 15, indicating that the AI robot 1, the intelligent device 2 and the The equipment base station 3 is successfully connected, and whether the current passes or not can be sensed by the current sensing device 37 disposed at the first charging head 36 , so as to determine whether the smart equipment 2 slides into place on the equipment base station 3 . The current sensing device 37 can be an existing current sensing switch, which senses whether there is current passing between the first charging head 36 and the first charging terminal 15 through the current sensing switch. 38 (can be a general power plug), the first charging head 36 is generally connected to the equipment base station power plug 38 through a wire, as shown in Figures 8 and 9, the current sensing device 37 can be installed with the equipment base station power plug 38 and the first. between the charging heads 36 . When the current sensing device 37 detects that there is a current passing through, it sends a sensing signal. The equipment base station 3 judges that the smart device 2 has slipped into place, and sends a signal to the limit fixture 33 , and the limit fixture 33 starts the locking action on the smart device 2 .

The second charging head is connected to the second charging terminal 23 on the smart device 2 to charge the smart device 2; the third communication module is used for the device base station 3 and the AI robot 1, the smart device 2 and the system server communication. The equipment base station 3 is also equipped with a processor for the control operation of the equipment base station 3 .

The limit fixing member 33 is arranged at the sliding rail 32. When the smart device 2 is slid into place in the sliding rail 32 of the equipment base station 3, the limiting fixing member 33 locks the sliding rail 32 or the sliding bar 21 to prevent the smart device 2 from sliding into place. The movement of the slide bar 21 on the device 2 in the slide rail 32 realizes the fixed positioning of the smart device 2 . The function of the limit fixing member 33 is mainly to lock the intelligent device 2 on the device base station 3, and any existing structure or form that can realize this function can be adopted, such as a pin-hole structure, a baffle and the like. As one of the embodiments, as shown in FIGS. 8 and 9 , the limit fixing member 33 on the equipment base station 3 includes a locking induction device 332 , a magnetic lock plug 333 and a magnetic lock battery plate 331 , and the magnetic lock plug 333 is located in the sliding Above the rail 32, the slide rail 32 has a gap that matches the shape of the magnetic lock plug 333 so that the magnetic lock plug 333 can pass, and when the slide bar 21 on the smart device 2 slides into place in the slide rail 32, the magnetic lock plug The 333 is located just above the second locking hole 24 on the slider 21 , and the magnetic lock plug 333 can partially fall into the second locking hole 24 to block the sliding of the slider 21 . The magnetic lock battery plate 331 is arranged above the magnetic lock plug 333, and the magnetic lock plug 333 is adsorbed or released by energizing or de-energizing the magnetic lock battery plate 331, so that the magnetic lock plug 333 comes out or partially falls into the first place. The two card holes 24 allow the slide bar 21 to slide or be fixed in the slide rail 32 to realize the unlocking or locking of the smart device 2 on the device base station 3 . The locking sensing device 332 is arranged on the bottom of the slide rail 32 and is located just below the magnetic lock plug 333. When the smart device 2 is slid into place on the device base 3, the locking sensing device 332 is located just below the second card hole 24, When the magnetic lock plug 333 falls into the second card hole, the locking sensing device 332 can sense the falling of the magnetic locking plug 333, thereby detecting that the smart device is locked, the locking sensing device 332 sends a locking signal, and the device base station 3 receives the device capture signal (lock signal), indicating that the smart device 2 is locked on the device base station 3. Specifically: when the magnetic lock battery plate 331 is energized, the magnetic lock plug 333 is adsorbed, so that the magnetic lock plug 333 is moved up and completely out of the second card hole 24 (as shown in FIG. 8 ). Sliding, the locking sensing device 332 detects that the device is unlocked, and sends the unlocking information to the processor of the device base station 3; when the magnetic lock battery board 331 is powered off, the magnetic lock plug 333 falls into the second card hole 24 under the action of gravity (such as Figure 9), lock the slide bar 21 of the smart device 2, the smart device 2 cannot slide in the slide rail 32, so that the smart device 2 is locked on the device base station 3, and the locking sensing device 332 senses that the magnetic lock plug 333 falls into the first The second card hole 24 sends a locking signal to the processor of the equipment base station 3 . The locking sensing device 332 can be a photoelectric switch, such as an infrared photoelectric switch. When the magnetic lock plug 333 falls into the second card hole 24, the photoelectric switch is turned on, indicating that the smart device is locked. The locking sensing device 332 can also be other existing structures or forms that can realize this function, such as infrared sensors, optical fiber sensors, and the like.

The charging of the smart device 2 can be in any existing form or structure, such as the cooperation of contact charging connectors or interfaces, in order to enhance the convenience and versatility of charging the device, the wireless charging method is adopted in this embodiment as one of the The specific structure is as follows: the second charging terminal 23 is a wireless charging terminal, and the wireless charging terminal is located at the bottom of the smart device 2 when the smart device 2 is locked on the device base station 3; The wireless charging board 34 matched with the wireless charging terminal, the wireless charging board 34 is connected with a lifting mechanism 35. When charging is required, the lifting mechanism 35 drives the wireless charging board 34 to move upward to connect with the wireless charging terminal for charging (as shown in Figure 9). , after the charging is completed, the lifting mechanism 35 drives the wireless charging board 34 to move down and return to its original position (as shown in FIG. 8 ).

The lifting mechanism 35 can adopt the existing technology, such as a hydraulic cylinder or a cylinder driven lifting structure, a screw nut structure, etc. As one of the embodiments, the lifting mechanism 35 in this embodiment includes a support plate 351, a support rod 352, A rack 353, a gear 354 and a motor (as shown in FIG. 8 and FIG. 9), the wireless charging plate 34 is arranged on the support plate 351, the support rod 352 is vertically arranged and connected with the support plate 351, the tooth The rod 353 is vertically installed on the support rod 352 , the gear 354 is engaged with the rack 353 , the motor is connected with the gear 354 to drive the gear 354 to rotate, and the rotation of the gear 354 drives the rack 353 to move up and down, thereby driving the support rod 352 , the support plate 351 moves up and down.

The AI robot 1 , the smart device 2 and the device base station 3 work in cooperation with each other. In this embodiment, the load backplane 12 is arranged in the middle of the AI robot 1 , and the equipment bracket 31 is arranged on the upper part of the equipment base station 3 . The heights are adapted; the sliding bars 21 are horizontally arranged on both sides of the smart device 2 , and the sliding grooves are horizontally arranged on the opposite sides of the device bracket 31 , which are adapted to the shape and size of the sliding bars 21 . The first charging terminal 15 is arranged at the lower part of the AI robot 1 , and the first charging terminal 15 is arranged at the bottom of the equipment base station 3 , and is adapted to the model and location of the first charging terminal 15 . AI robot 1, smart device 2, device base station 3 and system server update status information synchronously in real time; AI robot 1 and device base station 3 detect the connection with smart device 2 through the automatic buckle status and lock sensing device on them respectively Happening.

A method for automatically replacing smart devices based on AI robots, using the above-mentioned system for automatically replacing smart devices based on AI robots, mainly to automatically replace the corresponding smart devices according to task instructions, so as to facilitate the AI robots to perform different tasks. At the same time as the smart device, the removed smart device is installed on the device base station for charging and storage. The AI robot can also be charged according to its own situation, which mainly includes the following steps:

S1. The AI robot 1 removes the smart device 2 and installs it on the device base station 3

S1-1. The AI robot 1 locks the smart device 2 on the load backplane 12 through the automatic buckle 13 on the load backplane 12 , and the AI robot 1 carries the smart device 2 to the device base station 3 .

As one of the preferred technical solutions, after the AI robot 1 loads the smart device 2 and arrives at the device base station 3, it also confirms that the load backplane 12 is fully loaded by communicating with the system server and the device base station of the previous task, and confirms that the load is fully loaded. The matching between the smart device 2 and the device base station 3; at the same time, the AI robot 1 also communicates with the current device base station 3 to confirm that the current device base station 3 is in an unloaded state; when these conditions are met; when these conditions are met, S1 can be executed -2 steps. If the load backplane 12 is empty, it indicates that the previous task (removing the smart device 2 from the device base station of the previous task) was unsuccessful, and it is necessary to communicate with the device base station of the previous task. If the removal is unsuccessful, return to the device of the previous task. The base station performs the disassembly and installation tasks again. The specific steps of confirmation may include: the AI robot 1 confirms the completion status of the previous task with the system server, and the previous task is to complete the disassembly of the smart device 2 from the device base station of the previous task. If completed, it indicates that the corresponding smart device 2 is successfully disassembled; Confirm the handover with the device base station of the previous task and the AI robot 1. If the handover is completed, it indicates that it matches the type of intelligent device 2 of the previous device base station; if both the system server and the previous device base station 3 reply "Complete", It means that the AI robot 1 is fully loaded, and the loaded smart device 2 matches the device base station 3 of the task.

S1-2. The AI robot 1 detects the entrance of the slide rail 32 of the equipment base station 3 through the sensor module on it, and moves the slide bar 21 on the smart device 2 to the entrance of the slide rail 32 of the equipment base station 3 by moving the walking module 16, such as The lidar is used to detect the entrance of the slide rail 32, and the position of the robot is continuously corrected to align the position through the detection data.

S1-3. The AI robot 1 moves toward the equipment base station 3 through the walking module 16, and drives the slide bar 21 on the smart device 2 to slide in the slide rail 32 on the equipment base station 3. When the first charging terminal 15 on the AI robot 1 is connected to After the first charging head 36 on the equipment base station 3 is successfully connected, the current sensing device 37 senses the passage of current, indicating that the smart device 2 slides into place on the sliding rail 32 of the equipment base station 3, and the current sensing device 37 sends the sensing information to the equipment base station. 3. The equipment base station 3 controls the limit fixture 33 to work, and the magnetic lock battery board 331 on the limit fixture 33 is powered off (when the equipment base station 3 is unloaded, the magnetic lock battery board 331 is always energized, and the magnetic lock plug 333 is located above the slide rail, the slide rail 32 is unobstructed, and the slide bar 21 can move freely), the magnetic lock plug 333 falls into the second card hole 24 on the slide bar 21 under the action of gravity, and the slide bar 21 on the smart device 2 is fixed Hold, the smart device 2 is locked on the device base station 3, and the device base station 3 charges the smart device 2.

The device base station 3 should also obtain information on whether the smart device has captured it. Only when the device base station 3 completely captures (locks) the smart device 2 can the AI robot 1 unlock the connection between it and the smart device 2 to complete the safe handover. Whether the smart device 2 and the device base station 3 are locked is judged by whether the magnetic lock plug 333 on the device base station 3 has successfully fallen into the second card hole 24. The sensing device 332 is locked to sense whether the magnetic lock plug 333 falls into the second locking hole 24 . If the magnetic lock plug 333 fails to fall into the second card hole 24, the locking sensing device 332 cannot sense the locking signal, and the device base station 3 cannot receive the device capture signal, indicating that the magnetic lock plug 333 did not fall into the second card hole successfully. 24. The smart device 2 is not pushed in place, and the magnetic lock plug 333 is stuck. It may also be a problem with the magnetic lock plug 333 or the magnetic lock battery board 331 itself. At this time, the device base station 3 needs to send back the station defect information to the AI robot. 1. The AI robot 1 exits the equipment base station 3 according to the return defect information and repeats the steps of S1-2 and S1-3 until the smart device 2 is successfully locked on the equipment base station 3, or an alarm is issued to request the assistance of the staff. The return defect information generally includes: whether the lock plug is in a normal state, such as whether the lock plug fails to be locked on the left or the right side, etc. Returning the defect information can help the robot to determine whether to adjust the entry status, or to raise an alarm to ask for human assistance.

If the slide bar 21 on the smart device 2 does not slide in the slide rail 32 on the device base station 3, that is, it is not aligned, the slide bar 21 deviates and does not enter the slide rail 32, or the first charging terminal 15 is not connected to the first charging head. 36 When the docking is successful, the equipment base station 3 sends back the defect information to the AI robot 1, and the AI robot 1 exits the equipment base station 3 and repeats the steps of S1-2 and S1-3 until the slider 21 on the smart device 2 enters the equipment base station 3 In the sliding rail 32 of the first charging terminal 15 and the first charging head 36 are successfully connected.

As one of the preferred technical solutions, the method of charging the smart device 2 by the device base station 3 in step S1-3 is a wireless charging method, specifically: the second charging terminal 23 on the smart device 2 is a wireless charging terminal, When the smart device 2 is locked on the device base station 3, the wireless charging terminal is located at the bottom of the smart device 2; the second charging head on the device base station 3 is a wireless charging board 34 matching the wireless charging terminal, and the wireless charging The charging board 34 is connected with a lifting mechanism 35. When charging is required, the lifting mechanism 35 drives the wireless charging board 34 to move up to dock with the wireless charging terminal for charging. After charging, the lifting mechanism 35 drives the wireless charging board 34 to move down and return.

S1-4, the device base station 3 sends the smart device 2 locking information to the AI robot 1, the AI robot 1 releases the automatic buckle 13 on the load backplane 12, and the smart device 2 and the AI robot 1 are unlocked. If the automatic buckle 13 has the structure shown in FIG. 3 , the AI robot 1 sends an instruction to the stepper motor, and the stepper motor drives the turbine 135 and the bayonet 132 to rotate, the bayonet 132 retracts, and exits the smart device 2 . In the first card hole 22, the AI robot 1 judges the state of the card pin 132 through the rotation direction and the number of turns of the stepping motor, so as to confirm the unlocking and tightening state of the automatic card buckle.

S1-5. At this time, the first charging terminal 15 on the AI robot 1 is connected to the first charging head 36 on the equipment base station 3, and the AI robot 1 determines whether it needs to be charged according to its own power, and if necessary, stays in the same place Charge it, then exit and leave when fully charged; if it is not needed, exit and leave directly.

S2. AI robot 1 removes smart device 2 from device base station 3

S2-1. After retrieving the appropriate AI robot, the smart device 2 and the device base station 3 corresponding to the smart device from the system according to the task requirements, the system server sends the task information instruction to the retrieved appropriate AI robot 1; the AI robot 1 Receive the task information sent by the system server. The task information includes the task instruction, time, location, which smart device, and the location of the base station corresponding to smart device 2. The AI robot will go to the location of the smart device according to the corresponding instructions in the task information. equipment base station. Generally speaking, the system server selects idle and short-distance AI robots to perform tasks. The applicable smart devices are based on the type matching and fully charged state, and the short-distance is preferred.

S2-2. After the AI robot 1 arrives at the equipment base station 3, it should also communicate with the equipment base station 3 to confirm whether the smart device 2 specified in the task is in the equipment base station 3, and whether the power of the smart device 2 meets the task requirements and other information. ;At the same time, it also communicates with the system server and the equipment base station of the previous task of the AI robot to confirm whether the load backplane is in an empty state to ensure the safety of loading and unloading. Only when the state of the equipment base station 3 is fully loaded and the state of the robot 1 is empty Only when it is loaded can the safety of disassembly and assembly be ensured; after confirming that these can meet the task conditions, the equipment base station 3 ends charging the smart device 2; the AI robot 1 aligns the load backplane 12 on the equipment base station 3 through the sensor module and the walking module 16 on it. After the smart device 2 is installed, the AI robot 1 walks toward the smart device 2. When the first charging terminal 15 on the AI robot 1 is successfully docked with the first charging head 36 on the device base 3 (as before, through the current sensing device 37 The current sensing device 37 is successfully connected to the load backplane 12 and the smart device 2. The AI robot 1 sends an instruction to the automatic buckle 13 on the load backplane 12, and the automatic buckle 13 is clamped to the smart device. In the first card hole 22 on 2 , the smart device 2 is locked on the AI robot 1 . The same as above, if the automatic buckle 13 is the structure shown in FIG. 3 , the AI robot 1 sends an instruction to the stepper motor, and the rotation of the stepper motor drives the turbine 135 and the bayonet 132 to rotate, and the bayonet 132 extends into the first position on the smart device 2 . In the card hole 22, the AI robot 1 judges the state of the card pin 132 through the rotation direction and the number of turns of the stepping motor, so as to confirm the locking state of the automatic buckle.

S2-3. The AI robot 1 sends a locking signal to the equipment base station 3. The magnetic lock battery board 331 on the equipment base station 3 is energized to attract the magnetic lock plug 333. The magnetic lock plug 333 is moved up and out of the second card hole 24. Unlock with device base 3.

S2-4, the AI robot 1 exits in the direction of the slide rail 32, and drives the smart device 2 out of the device base station 3 along the slide rail 32, and the AI robot 1 loads the smart device 2 and leaves the device base station 3.

S3. The AI robot 1 loads the smart device 2 to perform the task: the AI robot 1 locks the smart device 2 on the load back panel 12 through the automatic buckle 13 on the load back panel 21, and goes to the task location for execution according to the task instruction assigned by the system server tasks (such as disinfection, temperature measurement, etc.).

The above steps can be used for situations including but not limited to the following automatic equipment replacement: when the AI robot is not loaded, it receives tasks such as disinfection, temperature measurement, etc., first execute the program in the above step S2, and then execute the program in S3; AI robot load intelligence During the process of the device performing the task, when the smart device runs out of power and needs to be charged, the procedure in the above step S1 is performed; after the AI robot loads the smart device to complete the task, when the smart device needs to be transported to the device base station for charging, the above step S1 is performed. Program; when the AI robot receives an instruction to continuously perform different tasks, it first executes the program in the above step S2 to load the corresponding smart device and then executes the task, and then executes the program in the above step S1 after the task is completed to remove the smart device and transfer it Charge to the device base station, and then execute the program in the above step S2 to load another smart device to perform another task; and so on. In this way, the same AI robot can perform different tasks by automatically replacing different smart devices.

S4. Automatic charging when the AI robot 1 is no-load: when the load backplane 12 of the AI robot 1 is no-load, it can reach any equipment base station 3 for charging. The system server can allocate a suitable equipment base station 3, or connect with the equipment in the system. The base station 3 communicates, searches for a suitable device base station 3, and sends the relevant information to the system server. Among them, before the equipment base station 3 charges the AI robot 1 in the no-load state, it should also communicate with the equipment base station, system server, etc. to confirm that the equipment base station 3 is in an idle state without other AI robots 1 docking. When the AI robot 1 receives After the idle state information, the charging operation is started. When charging the AI robot 1 and the equipment base station 3, the sensor module (such as lidar) and the walking module on the AI robot are used to continuously adjust the position, so as to realize the docking between the first charging terminal on the AI robot and the first charging head on the equipment base station. .

Taking FIG. 11-FIG. 15 as an example, the specific process of installing the smart device 2 on the device base station 3 by the AI robot 1 is as follows (assuming that the smart device 2 is a temperature detection device):

(1) AI robot 1 enters equipment base station 3 with a full load (Fig. 12): After AI robot 1 receives a new task instruction (temperature measurement) assigned by the system server, AI robot 1 loads smart device 2, and keeps 13 cards automatically locked Tighten smart device 2, AI robot 1 loads the smart device 2 to the task location designated by the system to perform the temperature measurement task. During the temperature measurement process or after the temperature measurement task is completed, the smart device 2 needs to be charged, and the AI robot 1 loads the smart device 2 to The equipment base station 3 assigned by the system server. AI robot 1 and the device base station of its previous task (here refers to the device base station where AI robot 1 disassembles the smart device 2, because AI robot 1 removes the smart device 2 from the device base station and installs it on itself) . The system server confirms that its load backplane 12 is in a fully loaded state, and the loaded smart device 2 matches the current device base station 3; AI robot 1 also communicates with the current device base station 3 to confirm that the current device base station 3 is in an unloaded state; when these conditions are all If it is satisfied, perform the next step. If it does not match, it needs to be handled according to the situation. For example, when the load backplane 12 is no-load, it indicates that the disassembly from the equipment base station of the previous task was unsuccessful, and it is necessary to return to the equipment base station of the previous task to reload the intelligent device 2.

(2) Positioning and alignment: AI robot 1 detects the entrance of slide rail 32 on equipment base station 3 through sensing equipment such as radar on it, and continuously adjusts the position so that the slide bars 21 on smart device 2 loaded by AI robot 1 are aligned with each other. The entrance of the quasi slide rail 32; the magnetic lock battery board 331 on the equipment base station 3 is always in a power supply state, the magnetic lock plug 333 is out of the second card hole 24, and the slide rail 32 is in a smooth and passable state.

(3) The smart device 2 enters the slide rail 32 of the device base station 3 (as shown in Figure 13): the AI robot 1 moves towards the device base station 3, driving the smart device 2 to move, and the slide bar 21 slides in the slide rail 32; the magnetic lock plug 333 keeps coming out The state of the second card hole 24 .

(4) The equipment base station 3 locks the smart device 2 (as shown in Figure 14): when the first charging terminal 15 on the AI robot 1 is successfully connected with the first charging head 36 on the equipment base station 3 (current sensing device 37 detects the current When passing the standard), the smart device 2 completely enters the slide rail 32 of the device base station 3, the magnetic lock battery plate 331 is powered off, the magnetic lock plug 333 falls into the second card hole 24 under the action of gravity, and the device base station 3 receives the The smart device 2 captures the information, and the smart device 2 is locked on the device base station 3 .

(5) The device base station 3 charges the smart device 2, and the AI robot 1 leaves the device base station 3 (as shown in Figure 15): the device base station 3 sends the device capture information to the AI robot 1, and the AI robot 1 releases the automatic card on the load backplane 12 Press 13, the wireless charging board 34 on the equipment base station 3 is lifted up and docked with the wireless charging terminal on the smart device 2 for charging; the AI robot 1 judges that its power is sufficient to complete the new task according to the system command, the equipment base station 3 does not charge it, and the AI robot 1 leaves the device base station 3, with no load.

Taking FIGS. 16 to 20 as an example, the specific process of removing the smart device 2 from the device base station 3 by the AI robot 1 is as follows (assuming that the smart device 2 is a temperature detection device):

(1) AI robot 1 enters equipment base station 3 without load (as shown in Figure 17): after AI robot 1 receives the temperature measurement task, it arrives at equipment base station 3 where the task is performed; 3 (The last task is to remove the smart device and install it on the device base station. If the installation is successful, it means that the removal is successful, and the AI robot load backplane is empty) Communication, confirm that the load backplane 12 is in an empty state; At the same time, by communicating with the current equipment base station 3 to confirm whether the intelligent equipment 2 specified in the task is in the equipment base station 3, whether the power of the intelligent equipment 2 meets the task requirements and other information; When the device 2 is charged, the wireless charging board 34 moves down and returns to its original position.

(2) The load backplane 12 of the AI robot 1 is docked with the smart device 2 on the device base station 3 (as shown in Figure 18): the AI robot 1 continuously adjusts the position through the sensor module and the walking module 16 on it, so that the load backplane 12 is aligned After the smart device 2 on the device base station 3, the AI robot 1 walks towards the smart device 2. When the first charging terminal 15 on the AI robot 1 and the first charging head 36 on the device base station 3 are successfully docked (the judgment method is the same as before) , it indicates that the load backplane 12 is successfully connected with the smart device 2; during this process, the smart device 2 and the device base station 3 remain locked.

(3) Unlocking the smart device 2 and the device base station 3 (as shown in Figure 19): After the load backplane 12 is fully connected to the smart device 2, the device base station 3 sends information to the AI robot 1, and the AI robot 1 controls the automatic The buckle 13 is locked in the first card hole 22 on the smart device 2, and the smart device 2 is locked on the AI robot 1; the AI robot 1 sends the capture information of the smart device 2 to the device base station 3, and the magnetic lock on the device base station 3 The battery plate 331 is energized to attract the magnetic lock plug 333, the magnetic lock plug 333 is moved up and out of the second card hole 24, the smart device 2 and the device base station 3 are unlocked; the AI robot 1 loads the smart device 2 and exits the device base station 3.

(4) AI robot 1 leaves equipment base station 3 (as shown in Figure 20): AI robot 1 loads intelligent equipment 2 and leaves equipment base station 3 to perform temperature measurement tasks.

When the AI robot 1 has not obtained a new task from the system server and its regular tasks have been completed, the AI robot 1 will search for the nearest equipment base station 3 according to its own location or go to the equipment base station 3 according to the system server's instructions, and dock and charge it. It can be charged together with the smart device 2, and can also be charged on the idle device base station 3.

The above detailed description is a specific description of a feasible embodiment of the present invention, and the embodiment is not intended to limit the patent scope of the present invention. Any equivalent implementation or modification without departing from the present invention should be included in the patent scope of this case middle.

Claims

A system for automatically replacing smart devices based on AI robots, characterized in that it includes AI robots, smart devices, device base stations and system servers;

The AI robot includes a robot body and a load backplane, a walking module, a first charging terminal, a sensor module and a first communication module arranged on the robot body; the load backplane is used to load the intelligent device, and the load The backplane is provided with an automatic buckle matching the intelligent device, which is used to realize the fixing of the intelligent device on the load backplane, so that the AI robot can load the intelligent device to perform corresponding tasks; the walking module is used for the AI robot's Walking includes loading smart devices to perform corresponding tasks, and pushing the smart devices fixed on the backplane into the device base station or unloading the smart devices from the device base station through the walking of the robot; the sensor module is used for AI robots Obstacle detection during walking, and positioning when replacing intelligent equipment; the first communication module is used for the AI robot to communicate with the equipment base station, intelligent equipment and system server;

The smart device is used to perform corresponding tasks in combination with the AI robot according to its design function, and it includes a first card hole, a second card hole, a slider, a second charging terminal and a second communication module. The first card hole is connected to the AI The automatic buckles on the robot cooperate to realize the locking between the intelligent device and the AI robot; the two sliding bars are symmetrically arranged on the intelligent device, and the load backplane on the AI robot is loaded with intelligent When the device is installed, the slider is in a horizontal position, so that the smart device can slide into the device base station horizontally; the second card hole is vertically arranged on the slider and is used for locking with the device base station. ; The second communication module is used to communicate with the AI robot, equipment base station and system server;

The equipment base station includes an equipment bracket, a sliding rail, a limit fixing piece, a first charging head, a second charging head and a third communication module. The equipment bracket is used for placing the smart device, and the two sliding rails It is horizontally and symmetrically arranged on the equipment bracket, and is adapted to the slide bar on the smart device. When the smart device enters the device base station, the AI robot walks and drives the smart device to slide in or out of the device base station along the slide rail. ; The first charging head is a contact charging head, and the first charging terminal is a contact charging terminal. When the smart device slides into place in the slide rail of the device base station, the first charging head is connected to the AI robot. The first charging terminal is successfully docked and has current passing through, so as to charge the AI robot when needed, and at the same time, the current sensing device disposed at the first charging head is used to sense whether the current passes or not, so as to determine whether the smart device is in the device. The base station is slid into place; the second charging head is connected to the second charging terminal on the smart device to charge the smart device; the limit fixing part is set at the slide rail, when the smart device is in the device After the slide rail of the base station slides into place, the limit fixing piece cooperates with the second card hole on the smart device to lock the smart device on the device base station; the third communication module is used for the device base station to communicate with AI robots, smart devices and System server communication;

The system server communicates with AI robots, smart devices and device base stations for task scheduling and information storage.
A system for automatically replacing intelligent equipment based on an AI robot according to claim 1, characterized in that, the limit fixing member on the equipment base station comprises a magnetic lock plug, a magnetic lock battery plate and a lock induction device, so The magnetic lock plug is located above the slide rail, and when the slide bar on the smart device is slid into place in the slide rail, the magnetic lock plug is just above the second card hole on the slide bar, and can be part falls into the second card hole; the magnetic lock battery plate is arranged above the magnetic lock plug, and the magnetic lock plug is adsorbed or released by energizing or de-energizing the magnetic lock battery plate, so that the magnetic lock plug comes out or fall into the second card hole, so that the slider can slide or be fixed in the slide rail; the locking induction device is arranged on the bottom of the sliding rail and when the smart device is slid into place on the device base station, the locking induction device is just located in the second card hole Right below the lock sensing device can detect whether the magnetic lock plug falls into the second card hole.
The system for automatically replacing smart devices based on an AI robot according to claim 1, wherein the second charging terminal is a wireless charging terminal, and the wireless charging terminal is located in the smart device when the smart device is locked on the device base station. The bottom of the device; the second charging head is a wireless charging board matched with the wireless charging terminal, and the wireless charging board is connected with a lifting mechanism. When charging is required, the lifting mechanism drives the wireless charging board to move to the wireless charging board. The terminals are docked for charging. After charging, the lifting mechanism drives the wireless charging board to move down and return to its original position.
The system for automatically replacing smart devices based on an AI robot according to claim 3, wherein the lifting mechanism comprises a support plate, a support rod, a rack, a gear and a motor, and the wireless charging board is provided at the On the support plate, the support rod is vertically arranged and connected with the support plate, the rack is vertically installed on the support rod, the gear meshes with the rack, and the motor is connected with the gear to drive the gear to rotate, The rotation of the gear drives the rack to move up and down, thereby driving the support rod and the support plate to move up and down.
The system for automatically replacing smart devices based on an AI robot according to claim 1, wherein the automatic buckle on the load backplane comprises a mounting seat and a stepping motor arranged on the mounting seat, Turbine and bayonet spring, the stepping motor is connected with the worm wheel to drive the worm wheel to rotate, one end of the bayonet pin is telescopically mounted on the mounting seat, the other end of the bayonet pin is connected with the mounting seat, and the middle of the bayonet pin is arranged There are threads adapted to the turbine, and the bayonet is screwed with the turbine through the cooperation of the threads. The rotation of the turbine drives the bayonet to move to realize the expansion and contraction of the bayonet, so that the bayonet is clamped to the first position on the smart device. In the card hole or out of the first card hole.
A method for automatically replacing intelligent equipment based on AI robot, utilizing the system for automatically replacing intelligent equipment based on AI robot as claimed in claim 2, it is characterized in that, comprises the following steps:

S1. The AI robot removes the smart device and installs it on the device base station:

S1-1. The AI robot locks the smart device on the load backplane through the automatic buckle on the load backplane, and the AI robot loads the smart device to the device base station;

S1-2. The AI robot detects the slide rail entrance of the equipment base station through the sensor module on it, and moves the slide bar on the smart device to the slide rail entrance of the equipment base station by moving the walking module;

S1-3. The AI robot moves toward the equipment base station through the walking module, and drives the slider on the smart device to slide in the slide rail on the equipment base station. When the first charging terminal on the AI robot is docked with the first charging head on the equipment base station When successful, the current sensing device senses the passing of current, and the current sensing device sends sensing information to the device base station to indicate that the smart device has slipped into place; the magnetic lock on the limit fixture is powered off, and the magnetic lock plug falls into the first position under the action of gravity. In the second card hole, the smart device is locked on the device base station, and the locking sensing device detects that the smart device is locked; the device base station charges the smart device;

S1-4. The device base station sends the locking information to the AI robot, the AI robot releases the automatic buckle on the load backplane, and the smart device and the AI robot are unlocked;

S1-5. The AI robot judges whether it needs to be charged according to its own power. If necessary, it will stay in the same place for charging, and then exit and leave after it is fully charged; if it is not needed, it will exit and leave directly;

S2. The AI robot removes the smart device from the device base station:

S2-1. The AI robot receives the task information sent by the system server, and goes to the equipment base station where the smart device is located according to the task information;

S2-2. After the AI robot reaches the equipment base station, the equipment base station ends charging the smart device; after the AI robot aligns the load backplane with the smart device on the equipment base station through the sensor module and walking module on it, the AI robot moves towards the smart device Walking; when the first charging terminal on the AI robot is successfully docked with the first charging head on the equipment base station, the load backplane is successfully docked with the smart device, and the AI robot sends an instruction to the automatic buckle on the load backplane, and the automatic buckle It is locked in the first card hole on the smart device, and the smart device is locked on the AI robot;

S2-3. The AI robot sends a locking signal to the equipment base station, the magnetic lock battery plate on the equipment base station is energized to attract the magnetic lock plug, the magnetic lock plug is moved up and out of the second card hole, and the smart device and the equipment base station are unlocked;

S2-4. The AI robot exits in the direction of the slide rail, and drives the smart device out of the equipment base station along the slide rail, and the AI robot loads the smart device and leaves the equipment base station;

S3. The AI robot loads the smart device to perform the task: the AI robot loads the smart device, and goes to the task location to perform the task according to the task instruction assigned by the system server.
The method for automatically replacing smart devices based on an AI robot according to claim 6, wherein in step S1-3, the method of charging the smart device by the device base station is a wireless charging method, and the first method on the smart device is a wireless charging method. The second charging terminal is a wireless charging terminal. When the smart device is locked on the device base station, the wireless charging terminal is located at the bottom of the smart device; the second charging head on the device base station is a wireless charging pad matching the wireless charging terminal. The wireless charging board is connected with a lifting mechanism. When charging is required, the lifting mechanism drives the wireless charging board to move to docking with the wireless charging terminal for charging. After charging, the lifting mechanism drives the wireless charging board to move down and return to its original position.
A method for automatically replacing smart devices based on an AI robot according to claim 6, wherein in step S1-3, if the battery board of the magnetic lock is powered off and the locking induction device does not detect that the smart device is locked, The equipment base station sends backbound defect information to the AI robot. The AI robot exits the equipment base station according to the return defect information and repeats steps S1-2 and S1-3 until the smart device is successfully locked on the equipment base station, or an alarm is issued to request the staff assist.
The method for automatically replacing intelligent equipment based on an AI robot according to claim 6, wherein in step S1-1, after the AI robot loads the intelligent equipment and arrives at the equipment base station, the method further comprises: the AI robot passing through and the system The server and the equipment base station of the previous task communicate with each other to confirm that the load backplane is fully loaded, and confirm the match between the loaded smart equipment and the equipment base station; at the same time, the AI robot also communicates with the current equipment base station to confirm that the current equipment base station is in an unloaded state;

After the AI robot reaches the equipment base station in step S2-2, it also includes: the AI robot communicates with the equipment base station to confirm whether the smart device specified in the task is in the equipment base station and whether the power of the smart device meets the task requirements; The system server communicates with the device base station of the previous task of the AI robot to confirm whether the load backplane is in an empty state.
The method for automatically replacing smart devices based on an AI robot according to claim 6, further comprising: when the load backplane of the AI robot is empty, it can reach a suitable equipment base station for charging; wherein, the equipment base station Before charging an AI robot in an empty state, it should also be confirmed that the base station of the device is in an idle state without other AI robots being connected.