CN111993435A

CN111993435A - Modular extensible education robot

Info

Publication number: CN111993435A
Application number: CN202010833287.1A
Authority: CN
Inventors: 刘婷; 陈图川; 刘斐; 吴炘翌
Original assignee: Jiaxing Jupiter Robot Technology Co ltd
Current assignee: Jiaxing Jupiter Robot Technology Co ltd
Priority date: 2020-08-18
Filing date: 2020-08-18
Publication date: 2020-11-27
Anticipated expiration: 2040-08-18
Also published as: CN111993435B

Abstract

The invention discloses a modular extensible educational robot, and belongs to the technical field of robots. Including motion chassis, navigation module, voice module, vision module, manipulator module and give above-mentioned each module main control unit who provides the programming, main control unit with the equal electric connection of motion chassis, navigation module, voice module, vision module and manipulator module still includes a plurality of modularization platforms, stand and U-shaped platform, and is a plurality of modularization platform is established respectively between motion chassis and U-shaped platform, connects through many stands between two adjacent modularization platforms. Through set up multilayer modularization platform between motion chassis and U-shaped platform, every layer of modularization platform all can install the robot subassembly of different functional modules, and every modularization platform all can expand and increase new functional module, makes things convenient for the installation and the maintenance of each subassembly of robot.

Description

Modular extensible education robot

Technical Field

The invention relates to a modular extensible educational robot, and belongs to the technical field of robots.

Background

With the continuous development of artificial intelligence technology, the robot market also enters a rapid development stage. According to the statistics of the international association of robots (IFR), the market scale of the global robots reaches $ 232 billion in 2017, and the average growth rate of 2012 and 2017 is close to 17%. Among them, industrial robots $ 147 million and service robots $ 29 million. It is expected that the growth of juveniles will be 15% in 2018 to 2020. The chinese society of electronics shows that the chinese market for robots scales approximately $ 62.8 billion, with a 24% growth on par, where the industrial market scales approximately $ 42.2 billion and the service market for robots scales approximately $ 13.2 billion. As the robot continuously enters the life of people, the learning and practical application of the robot become a great problem to be solved urgently at present.

Robot education is now being paid more and more attention by governments and social circles.

The structural framework of the educational robot can bear different functional module assemblies according to the actual educational requirements, and continuously absorbs and expands new functional modules, so that the diversification and innovation of the existing education can be met.

Disclosure of Invention

The invention aims to overcome the defects in the prior art and provide a modularized extensible educational robot, the robot is provided with a plurality of layers of modularized platforms, each layer of modularized platform can be provided with robot components with different functional modules, and each modularized platform can be expanded and added with new functional modules, so that the installation and maintenance of each component of the robot are convenient.

The technical problem to be solved by the invention is realized by adopting the following technical scheme:

a modularized extensible education robot comprises a motion chassis, a navigation module, a voice module, a vision module, a manipulator module and a main controller, wherein the main controller provides programming for the modules;

the navigation module, the voice module, the visual module, the manipulator module and the main control unit are respectively installed on the U-shaped platform and the modularized platforms.

Preferably, a first modular platform, a second modular platform and a third modular platform are sequentially arranged between the motion chassis and the U-shaped platform from bottom to top.

Preferably, the vision module comprises a display screen and a first 3D stereoscopic vision camera, and the display screen and the first 3D stereoscopic vision camera are both installed on the U-shaped platform.

Preferably, a fixing groove is formed in the motion chassis, and an interface control board used for connecting a plurality of sensors is installed in the fixing groove.

Preferably, the main controller is mounted on the first modular platform.

Preferably, the navigation module comprises a second 3D stereoscopic vision camera, and the second 3D stereoscopic vision camera is mounted on the second modular platform.

Preferably, the voice module comprises a microphone and a sound box, the microphone is mounted on the U-shaped platform, and the sound box is mounted on the second modular platform.

Preferably, a plurality of rows of mounting holes are formed in the third modular platform, the manipulator module comprises a mechanical arm with five degrees of freedom, and the mechanical arm is fixed on the third modular platform plate through an upright post and the mounting holes in a threaded connection mode.

The invention has the beneficial effects that:

(1) by arranging a plurality of layers of modular platforms between the motion chassis and the U-shaped platform, each layer of modular platform can be provided with robot components with different functional modules, and each modular platform can be expanded and added with new functional modules, so that the robot components can be conveniently installed and maintained;

(2) the display screen and the 3D stereoscopic vision camera are both arranged on the U-shaped platform at the top layer, so that the display screen of the vision module can conveniently display information for users, and man-machine interaction is facilitated;

(3) the third modularization platform is provided with a plurality of rows of mounting holes, and the mechanical arm is fixed on the third modularization platform plate through the stand column and the mounting holes in a threaded manner, so that the mechanical arm can be conveniently replaced in mounting positions or a new mechanical arm is added.

Drawings

FIG. 1 is a schematic perspective view of the present invention;

FIG. 2 is a schematic illustration of a three-dimensional split structure according to the present invention;

FIG. 3 is a side view of the present invention;

fig. 4 is a front view of the present invention.

In the figure: 1. a motion chassis; 11. fixing grooves; 12. an interface control panel; 21. a first modular platform; 22. a second modular platform; 23. a third modular platform; 3. a column; 4. a U-shaped platform; 51. a display screen; 52. a first 3D stereoscopic vision camera; 6. a main controller; 71. a second 3D stereoscopic vision camera; 81. a microphone; 82. a sound box; 91. a mechanical arm; 92. and (7) installing holes.

Detailed Description

In order to make the technical means, the original characteristics, the achieved purpose and the efficacy of the invention easy to understand, the invention is further described with reference to the specific drawings.

As shown in fig. 1-4, a modular and expandable educational robot comprises a motion chassis 1, a navigation module, a voice module, a visual module, a manipulator module, and a main controller 6 providing programming for the above modules, wherein the main controller 6 is electrically connected with the motion chassis 1, the navigation module, the voice module, the visual module, and the manipulator module, and further comprises a plurality of modular platforms, upright posts 3, and U-shaped platforms 4, the plurality of modular platforms are respectively arranged between the motion chassis 1 and the U-shaped platforms 4, and two adjacent modular platforms are connected through the plurality of upright posts 3;

the navigation module, the voice module, the vision module, the manipulator module and the main control unit are respectively arranged on the U-shaped platform 4 and the modularized platforms.

As a preferred example, as shown in fig. 1-4, a first modular platform 21, a second modular platform 22 and a third modular platform 23 are sequentially arranged between the motion chassis 1 and the U-shaped platform 4 from bottom to top; by arranging a plurality of layers of modular platforms between the motion chassis 1 and the U-shaped platform 4, each layer of modular platform can be provided with robot components with different functional modules, and each modular platform can be expanded and added with new functional modules, so that the installation and maintenance of each component of the robot are facilitated;

as a preferred example, as shown in fig. 1-4, the vision module comprises a display screen 51 and a first 3D stereoscopic vision camera 52, and the display screen 51 and the first 3D stereoscopic vision camera 52 are both mounted on the U-shaped platform 4; the image processing of the vision module needs to realize real-time classification and identification of targets, and requires an image sensor to have better dynamic performance and higher image quality. Meanwhile, in order to realize interactive functions such as object grasping and operation in a three-dimensional space in cooperation with the robot arm 91, stereoscopic vision imaging capability is also required. In consideration of two requirements, the vision module of the robot uses a 3D stereoscopic vision camera 52. When an image processing task is performed, the color image acquisition function is used, and tasks such as face recognition, color recognition, target tracking and the like can be completed; when the three-dimensional space of the mechanical arm 91 is observed, the relative position of the mechanical arm 91 under a robot coordinate system can be observed and measured by using depth information, so that the functions of guiding the mechanical arm 91 to grab an object and the like are completed.

As a preferred example, as shown in fig. 2, a fixing groove 11 is provided on the motion chassis 1, and an interface control board 12 for connecting a plurality of sensors is installed in the fixing groove 11; the motion chassis 1 of the robot is provided with a plurality of built-in sensors including an infrared sensor, a collision sensor, a falling sensor, a cliff sensor, a gyroscope and the like in an interface control board 12. The moving chassis 1 is driven by 2 direct current motors with code discs, so that the robot can move flexibly.

As a preferred example, the main controller 6 is mounted on a first modular platform 21, as shown in fig. 1-4.

As a preferred example, as shown in fig. 3-4, the navigation module comprises a second 3D stereoscopic vision camera 71, the second 3D stereoscopic vision camera 71 is mounted on the second modular platform 22, and the robot can also realize following and autonomous guidance tasks in known or even unknown environments by using the second 3D stereoscopic vision camera mounted on the top of the robot. By integrating with the bottom layer motion chassis 1, the invention realizes that the robot follows the real-time map update of an operator in an unknown environment, and the function has very important significance for the safe and effective interaction of the family service robot and people in a household environment.

As a preferred example, as shown in fig. 1-4, the voice module comprises a microphone 81 and a speaker 82, the microphone 81 is mounted on the U-shaped platform 4, and the speaker 82 is mounted on the second modular platform 22; the voice module consists of a voice acquisition part and a voice output part, in order to achieve the effect of approaching natural language interaction, the module selects a special microphone 81 with a single-pointing centripetal type voice acquisition range, and compared with a full-pointing microphone 81, the single-pointing microphone 81 can effectively filter the environmental noise from the side and the back of the robot, and the voice of an operator is acquired more accurately. Meanwhile, the microphone 81 also has the functions of pickup sensitivity adjustment and low-cut filtering, so that human voice can be accurately collected, and the influence of other low-frequency noise on the voice recognition effect is avoided. The sound output adopts a small-sized sound box 82 with small volume and high output power. The sound box 82 has the output power of 7W, the impedance of 4 omega and the signal-to-noise ratio of more than 75db, and can clearly output natural voice synthesis effect sound in a noisy environment.

As a preferred example, as shown in fig. 1-2, the third modular platform 23 is provided with a plurality of rows of mounting holes 92, the robot module comprises a robot 91 with five degrees of freedom, and the robot 91 is screwed and fixed on the third modular platform 23 plate through the upright 3 and the mounting holes 92; the mechanical arm 91 is an important means for realizing interaction with objects existing in space, when the mechanical arm 91 is selected, the robot fully considers multiple factors such as bearing capacity of a motion module, grabbing weight, space operation range and the like, and a set of five-degree-of-freedom mechanical arm 91 driven by a high-precision code disc steering engine is installed. The total weight of the arm 91 is about 450g, the angular accuracy 0.29 °, and the static moment 1.5 Nm. The height of the robot platform is about 45cm from the ground, and the three-dimensional space moving range of the mechanical arm 91 is about 40cm in radius.

Unless otherwise specified, in the present invention, if there is an orientation or positional relationship indicated by terms of "length", "width", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", "clockwise", "counterclockwise", "axial", "radial", "circumferential", etc., based on the orientation or positional relationship shown in the drawings, it is only for convenience of describing the present invention and simplifying the description, rather than to indicate or imply that the device or element so referred to must have a particular orientation, be constructed and operated in a particular orientation, therefore, the terms describing orientation or positional relationship in the present invention are for illustrative purposes only, and should not be construed as limiting the present patent, specific meanings of the above terms can be understood by those of ordinary skill in the art in light of the specific circumstances in conjunction with the accompanying drawings.

Unless expressly stated or limited otherwise, the terms "disposed," "connected," and "connected" are used broadly and encompass, for example, being fixedly connected, detachably connected, or integrally connected; the connection may be direct or indirect via an intermediate medium, and may be a communication between the two elements. The specific meanings of the above terms in the present invention can be understood in specific cases to those skilled in the art.

The foregoing detailed description of the preferred embodiments of the invention has been presented. It should be understood that numerous modifications and variations could be devised by those skilled in the art in light of the present teachings without departing from the inventive concepts. Therefore, the technical solutions available to those skilled in the art through logic analysis, reasoning and limited experiments based on the prior art according to the concept of the present invention should be within the scope of protection defined by the claims.

Claims

1. The utility model provides an educational robot that modularization can be expanded, includes motion chassis (1), navigation module, voice module, vision module, manipulator module and gives above-mentioned each module main control unit (6) that provides the programming, main control unit (6) with motion chassis (1), navigation module, voice module, vision module and the equal electric connection of manipulator module, its characterized in that: the device is characterized by further comprising a plurality of modular platforms, stand columns (3) and U-shaped platforms (4), wherein the modular platforms are respectively arranged between the motion chassis (1) and the U-shaped platforms (4), and every two adjacent modular platforms are connected through the stand columns (3);

the navigation module, the voice module, the visual module, the manipulator module and the main control unit are respectively installed on the U-shaped platform (4) and the modularized platforms.

2. The modular expandable educational robot of claim 1, wherein: a first modular platform (21), a second modular platform (22) and a third modular platform (23) are sequentially arranged between the motion chassis (1) and the U-shaped platform (4) from bottom to top.

3. The modular expandable educational robot of claim 1, wherein: the vision module comprises a display screen (51) and a first 3D stereoscopic vision camera (52), and the display screen (51) and the first 3D stereoscopic vision camera (52) are both installed on the U-shaped platform (4).

4. The modular expandable educational robot of claim 1, wherein: the motion chassis (1) is provided with a fixing groove (11), and an interface control panel (12) used for connecting a plurality of sensors is installed in the fixing groove (11).

5. The modular expandable educational robot of claim 2, wherein: the main controller (6) is mounted on a first modular platform (21).

6. The modular expandable educational robot of claim 2, wherein: the navigation module comprises a second 3D stereoscopic vision camera (71), and the second 3D stereoscopic vision camera (71) is installed on the second modularized platform (22).

7. The modular expandable educational robot of claim 2, wherein: the voice module comprises a microphone (81) and a sound box (82), the microphone (81) is installed on the U-shaped platform (4), and the sound box (82) is installed on the second modularized platform (22).

8. The modular expandable educational robot of claim 2, wherein: the third modular platform (23) is provided with a plurality of rows of mounting holes (92), the manipulator module comprises a mechanical arm (91) with five degrees of freedom, and the mechanical arm (91) is fixed on a plate of the third modular platform (23) through the upright post (3) and the mounting holes (92) in a threaded manner.