CN112540615A - Universal platform for servicing robot functional components - Google Patents
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- CN112540615A CN112540615A CN202011410997.XA CN202011410997A CN112540615A CN 112540615 A CN112540615 A CN 112540615A CN 202011410997 A CN202011410997 A CN 202011410997A CN 112540615 A CN112540615 A CN 112540615A
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- 238000004891 communication Methods 0.000 claims abstract description 45
- 230000003993 interaction Effects 0.000 claims abstract description 16
- 230000006870 function Effects 0.000 description 6
- 230000005540 biological transmission Effects 0.000 description 5
- 238000011161 development Methods 0.000 description 3
- 230000008054 signal transmission Effects 0.000 description 3
- 230000033001 locomotion Effects 0.000 description 2
- 238000000034 method Methods 0.000 description 2
- 238000012544 monitoring process Methods 0.000 description 2
- 230000004075 alteration Effects 0.000 description 1
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- 238000010411 cooking Methods 0.000 description 1
- 238000013461 design Methods 0.000 description 1
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0231—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means
- G05D1/0246—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means using a video camera in combination with image processing means
- G05D1/0253—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means using a video camera in combination with image processing means extracting relative motion information from a plurality of images taken successively, e.g. visual odometry, optical flow
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0212—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory
- G05D1/0214—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory in accordance with safety or protection criteria, e.g. avoiding hazardous areas
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0212—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory
- G05D1/0221—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory involving a learning process
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0276—Control of position or course in two dimensions specially adapted to land vehicles using signals provided by a source external to the vehicle
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- Aviation & Aerospace Engineering (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- General Physics & Mathematics (AREA)
- Automation & Control Theory (AREA)
- Computer Vision & Pattern Recognition (AREA)
- Multimedia (AREA)
- Electromagnetism (AREA)
- Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
- Manipulator (AREA)
Abstract
The invention discloses a universal platform for serving functional components of a robot, which comprises a supporting shell, a moving module, a plurality of obstacle avoidance modules, a remote communication module, a driving module, a voice and video interaction module and a charging interface arranged on the supporting shell. The invention has universality and interchangeability, can be provided with various service robot functional components, and can provide power support, communication support and control support for different service robot functional components.
Description
Technical Field
The invention relates to the field of robots, in particular to a universal platform for serving functional parts of a robot.
Background
With the continuous development of Chinese economy and the continuous increase of income of Chinese residents, people continuously pursue the improvement of life quality, and for daily matters in life such as caring for the old, cooking food, cleaning rooms and the like, people often suffer from no redundant time and energy to finish or hope to have more distributable time by themselves. The service robot can help people to realize the vision, and the service robot can complete higher-order tasks under the condition of future technology upgrading, further liberate labor force and improve happiness index. The service robot has a huge application prospect.
The existing service robot has single function, the service which can be obtained by a user for purchasing or leasing one service robot is limited, and multiple service robots are often needed to meet the requirement, so that the popularization of the service robot is often limited by high cost. The operation of the robot cannot be monitored in real time, and a user can also worry about the safety of the robot.
Disclosure of Invention
The invention aims to provide a universal platform for serving a robot functional component, which comprises a supporting shell, a moving module, a plurality of obstacle avoidance modules, a remote communication module, a driving module, a voice and video interaction module, a charging interface arranged on the supporting shell, the service robot functional component and a remote control platform.
The support housing is cylindrical.
The support shell is used for carrying service robot functional components.
And the outer surface of the supporting shell is provided with a power interface, a communication interface and a charging interface.
The support shell is used for carrying functional components of the service robot;
the support shell is in spline connection with a mechanical structure of a functional part of the service robot;
the power interface is connected with the service robot functional component through a cable to supply energy to the service robot functional component;
the service robot functional component is a service robot body.
The communication interface receives a working instruction control signal of the functional part of the service robot sent by the remote control platform through a wireless network and controls the functional part of the service robot to start and stop.
And each outer side surface of the support shell is attached with an obstacle avoidance module.
The moving module is installed at the bottom of the support housing.
The moving module includes a pair of drive wheels and a pair of guide wheels.
The moving module drives the supporting shell to move.
A pair of driving wheels is symmetrically arranged on two sides of one end of the bottom of the supporting shell, and a pair of guide wheels is symmetrically arranged on two sides of the other end of the bottom of the supporting shell.
The obstacle avoidance module monitors the distance between the support shell and the obstacle and sends the distance to the driving module.
The obstacle avoidance module is a distance sensor.
And the remote communication module receives a platform control instruction of a remote control platform and/or a working instruction of a functional part of the service robot through a wireless network.
The driving module comprises a battery box, a processor and a servo motor.
And a rechargeable battery is placed in the battery box.
The rechargeable battery supplies power for the processor and the servo motor.
The processor stores a preset distance threshold L.
The processor receives the distance between the support shell and the obstacle, and sends a steering driving signal to the servo motor when the distance between the support shell and the obstacle is smaller than or equal to a preset distance threshold value L.
And the processor receives the control instruction and sends a driving signal to the servo motor according to the type of the control instruction.
The driving signals include a steering driving signal, a forward driving signal, a reverse driving signal, and a pivot rotation driving signal.
The control instructions comprise a steering control instruction, a forward control instruction, a backward control instruction and a pivot rotation control instruction.
The servo motor drives the moving module to move.
The voice and video interaction module is in voice communication and/or video communication with the remote control platform through a wireless network.
The voice and video interaction module comprises a camera, a loudspeaker and a microphone which are arranged on the supporting shell.
The camera shoots surrounding environment videos and sends the videos to the remote control platform.
And the loudspeaker plays the voice information sent by the remote control platform.
The microphone collects voice information of the surrounding environment and sends the voice information to the remote control platform.
The remote control platform is a PC or a mobile terminal.
The charging interface is connected with the charging socket to charge the battery.
The technical effect of the invention is needless to say that the invention has universality and interchangeability, can be provided with various service robot functional components, and can provide power support, communication support and control support for different service robot functional components. The platform is provided with a moving device and an obstacle avoidance system. The platform and the service robot functional component jointly form a complete movable service robot. The platform is provided with the remote communication module, so that the service robot can be remotely and accurately controlled to provide services, and the service robot breaks through the limitation of time and space in use.
The invention can effectively reduce the purchase and use cost of the multifunctional service robot and realize accurate matching according to the requirements and economic capacity of user groups. And the learning cost of a user is reduced by adopting a scalable modular design, and the human-computer interaction experience is improved.
Drawings
FIG. 1 is a front view of the platform.
Fig. 2 is a schematic workflow diagram.
In the figure: the system comprises a supporting shell 1, a mobile module 2, a plurality of obstacle avoidance modules 3, a remote communication module 4, a voice and video interaction module 5, a power interface 101, a communication interface 102 and a battery box 6.
Detailed Description
The present invention is further illustrated by the following examples, but it should not be construed that the scope of the above-described subject matter is limited to the following examples. Various substitutions and alterations can be made without departing from the technical idea of the invention and the scope of the invention is covered by the present invention according to the common technical knowledge and the conventional means in the field.
Example 1:
referring to fig. 1 to 2, the universal platform for serving a robot functional component includes a support housing 1, a mobile module 2, a plurality of obstacle avoidance modules 3, a remote communication module 4, a driving module, a voice and video interaction module 5, a charging interface provided on the support housing 1, a service robot functional component, and a remote control platform.
The whole supporting shell 1 is cylindrical;
the outer surface of the supporting shell 1 is provided with a power interface 101, a communication interface 102 and a charging interface.
The support housing 1 is used for carrying service robot functional components.
The supporting shell 1 and the mechanical structure of the functional part of the service robot are connected by a spline;
the power interface 101 is connected with the service robot functional component through a cable to supply energy to the service robot functional component;
unified power interfaces are adopted between different service robot service components and platforms, and the platforms provide power support for the service robot service components. Different service robot service components are connected with the platform through a unified communication interface, and the platform provides mobile support, communication support and control support for the service robot. A user only needs to buy one platform, and can buy or lease the corresponding service robot service part according to the needs of the user.
The service robot functional component is a service robot body.
An operator transmits a control signal to the remote control platform in a remote mode, and the platform sends a service robot functional component working instruction control signal of the processor to the service robot functional component.
The communication interface 102 receives a working instruction control signal of a functional part of the service robot through a wireless network and controls the functional part of the service robot to start and stop;
and unified connecting interfaces are arranged between different service robot functional components and the platform, so that the service robot functional components and the platform are conveniently connected. The platform can replace different functional parts of the service robot, can be upgraded into automatic installation equipment, and can realize automatic replacement between the functional parts of different service robots and the platform.
At least 1 obstacle avoidance module 3 is attached to each outer side surface of the supporting shell 1.
The moving module 2 is installed at the bottom of the support case 1.
The moving module 2 includes a pair of driving wheels and a pair of guide wheels.
The moving module 2 drives the supporting shell 1 to move.
A pair of driving wheels are symmetrically arranged on two sides of one end of the bottom of the supporting shell 1, and a pair of guide wheels are symmetrically arranged on two sides of the other end of the bottom of the supporting shell 1.
And the obstacle avoidance module 3 monitors the distance between the support shell 1 and the obstacle and sends the distance to the driving module.
The obstacle avoidance module 3 is a distance sensor.
The remote communication module 4 receives a platform control instruction and/or a service robot functional component working instruction of a remote control platform through a wireless network.
The service robot and the remote operation platform are communicated through a WIFI or 5G communication module, and therefore lower communication time delay of the service robot and the remote control platform is achieved. And along with the technical development in the later stage, a more advanced communication module can be upgraded for a universal platform, so that the service robot has enough data transmission and processing capacity to meet the continuously upgraded service requirement.
The driving module comprises a battery box 6, a processor and a servo motor.
A rechargeable battery is placed in the battery box 6.
The rechargeable battery supplies power for the processor and the servo motor.
The processor stores a preset distance threshold L.
The processor receives the distance between the support shell 1 and the obstacle, and sends a steering driving signal to the servo motor when the distance between the support shell 1 and the obstacle is smaller than or equal to a preset distance threshold value L.
And the processor receives the control instruction and sends a driving signal to the servo motor according to the type of the control instruction.
The processor arranged in the platform can control the movement of the platform and avoid obstacles and also can provide calculation support for the functional components of the service robot. For complex application scenarios, the method can be upgraded to a higher-performance processor to realize local data calculation. Or the data calculation is remotely realized by utilizing the operational capability of the cloud server through a remote communication module on the platform.
The driving signals include a steering driving signal, a forward driving signal, a reverse driving signal, and a pivot rotation driving signal.
The control instructions comprise a steering control instruction, a forward control instruction, a backward control instruction and a pivot rotation control instruction.
The servo motor drives the moving module 2 to move.
The voice and video interaction module 5 is in voice communication and/or video communication with a remote control platform through a wireless network.
The voice and video interaction module 5 comprises a camera, a loudspeaker and a microphone which are arranged on the support shell 1.
The camera shoots surrounding environment videos and sends the videos to the remote control platform.
And the loudspeaker plays the voice information sent by the remote control platform.
The microphone collects voice information of the surrounding environment and sends the voice information to the remote control platform.
The remote control platform is a PC or a mobile terminal.
The charging interface is connected with the charging socket to charge the battery.
All services provided by a service robot consisting of a generic platform for servicing robot functional units and service robot functional units are subject to security monitoring.
The service robot formed by the service robot functional parts and the platform can communicate through WIFI or 5G and is operated by a remote operator.
Most of the universal or replaceable components of the platform of the service robot, such as a processor, a communication module, a camera, a distance sensor and the like, can continuously upgrade the platform and prolong the service life of the platform. The configuration of the platform can be more flexible, and users can select service components with different configurations according to own needs and economic capability, so that the service robot can be popularized to more crowds and fields.
Example 2:
referring to fig. 1 to 2, the general platform for servicing the robot functional components includes a power interface 101, a remote communication module 4, an obstacle avoidance module 3, a mobile module 2, a communication interface 102 between the platform and the robot functional components, a video and voice interaction module 5, and a battery box 6.
The platform transmits power to the service robot through the unified power interface 101, and a battery in the platform provides energy for the service robot. The platform adopts a built-in battery and is provided with a charging seat, and the platform can automatically return to the charging seat to be charged under the condition of insufficient electric quantity.
The platform is connected with a remote control platform through a remote communication module 4. The remote communication module adopts a WIFI or 5G mobile communication module, and can be upgraded into a more advanced communication module. The motion data of the service robot can be transmitted to the remote operation platform through the remote communication module, calculation is carried out on the remote server, the operation instruction is transmitted back to the platform through the remote communication module, the platform is transmitted to the robot functional component, and by adopting the control mode, the calculation capability of the data is effectively improved, and the operation of the service robot can be effectively monitored.
In order to further avoid the collision of the platform, distance measuring sensors 3 are arranged on the four sides of the platform, and the distance between the platform and surrounding obstacles is calculated in real time. And after the platform moves to reach the limited distance, the platform automatically stops, warns an operator and assists the operator in re-planning the route.
In order to increase the interchangeability between the functional components of the service robot, a unified signal interface 102 is adopted to realize the data transmission between the platform and the service robot.
For monitoring and voice and video interaction, 5 is an integrated camera and voice module, facilitating communication between the service object and the remote operator.
In order to facilitate maintenance and replacement of the batteries, a battery box 6 is provided.
Example 3:
referring to fig. 1 to 2, the universal platform for serving functional components of a robot includes a power interface, a communication interface, a moving module, an obstacle avoidance module, a voice-video interaction module, and a driving module.
The moving module comprises a driving wheel and a guide wheel of the platform.
The signal module comprises signal transmission between the platform and the remote control console and signal transmission between the platform and the service robot.
The power transmission module comprises a general power transmission interface at the top of the platform, and the motor drives the platform to move.
The obstacle avoidance module is a distance sensor arranged around the platform.
The voice and video interaction module comprises a camera, a loudspeaker and a microphone on the side face of the platform.
The platform is provided with a universal power transmission interface and a communication interface, and functional parts of the robot with different services can be quickly replaced and installed. The platform can provide power and communication support for the functional parts of the service robot, the functional parts of the service robot and the platform form a complete service robot, and different functions are realized by replacing different types of functional parts of the service robot.
The remote signal transmission adopts 5G or WIFI connection, and the communication module can be upgraded in real time according to the technical development.
The driving module comprises a power source module and a motor module.
The power source module is driven by a battery, a battery box is arranged in the platform, and a charging interface is arranged at the bottom of the platform.
The motor module is controlled by a servo motor, a motor box is arranged in the platform, and the motor can be controlled by a mainboard in the platform.
The servo motor can drive the platform to move forwards, backwards, turn and rotate in place.
The platform has the function of automatically replacing functional parts of the service robot. The platform is provided with equipment for automatically replacing the parts of the service robot, and the equipment is used for automatically replacing the functional parts of the service robot.
The specific process of the function of the functional part of the platform automatic replacement service robot is as follows: 1. the platform receives an instruction 2 for replacing a functional component of the service robot, the platform judges whether the function of the robot is completed, after the function is completed, the next step of executing an instruction 3 is executed, the automatic replacing device receives the instruction, the corresponding functional component 4 is prepared, the platform moves to an automatic device replacing position 5, the automatic replacing device takes down the original component, replaces a new component 6, and the platform for replacing the completed new component returns to a service position.
The platform and the service robot part jointly form a finished service robot.
The robot on the platform can be remotely controlled, and a remote operator can remotely control the robot in real time through a communication module and a unified communication interface of the platform.
Claims (7)
1. A universal platform for servicing a robot functional component, characterized by: the remote control system comprises a supporting shell (1), a moving module (2), a plurality of obstacle avoidance modules (3), a remote communication module (4), a driving module, a voice and video interaction module (5), a service robot functional component and a remote control platform.
The outer surface of the supporting shell (1) is provided with a power interface (101), a communication interface (102) and a charging interface;
the support shell (1) is used for carrying functional components of the service robot;
the support shell (1) is in spline connection with a mechanical structure of a functional part of the service robot;
the power interface (101) is connected with the service robot functional component through a cable to supply power to the service robot functional component;
the communication interface (102) receives a service robot functional component working instruction control signal sent by the remote control platform through a wireless network and controls the service robot functional component to start and stop;
each outer side surface of the support shell (1) is pasted with an obstacle avoidance module (3);
the mobile module (2) is arranged at the bottom of the support shell (1);
the moving module (2) comprises a pair of driving wheels and a pair of guide wheels;
the moving module (2) drives the supporting shell (1) to move;
the pair of driving wheels are symmetrically arranged on two sides of one end of the bottom of the supporting shell (1), and the pair of guide wheels are symmetrically arranged on two sides of the other end of the bottom of the supporting shell (1);
the obstacle avoidance module (3) monitors the distance between the support shell (1) and an obstacle and sends the distance to the driving module;
the remote communication module (4) receives a platform control instruction and/or a service robot functional component working instruction of a remote control platform through a wireless network;
the driving module comprises a battery box (6), a processor and a servo motor;
a rechargeable battery is placed in the battery box (6);
the rechargeable battery supplies power to the processor and the servo motor;
the processor stores a preset distance threshold value L;
the processor receives the distance between the support shell (1) and the obstacle, and sends a steering driving signal to the servo motor when the distance between the support shell (1) and the obstacle is smaller than or equal to a preset distance threshold value L;
the processor receives the control instruction and sends a driving signal to the servo motor according to the type of the control instruction;
the servo motor drives the moving module (2) to move;
the voice and video interaction module (5) is in voice communication and/or video communication with the remote control platform through a wireless network.
2. The universal platform for servicing robotic functional components of claim 1, wherein: the service robot functional component is a service robot body.
3. The universal platform for servicing robotic functional components of claim 1, wherein: the obstacle avoidance module (3) is a distance sensor.
4. The universal platform for servicing robotic functional components of claim 1, wherein: the voice and video interaction module (5) comprises a display screen, a camera, a loudspeaker and a microphone which are arranged on the supporting shell (1);
the display screen displays a remote operator picture or robot operation prompt information;
the camera shoots surrounding environment videos and sends the videos to the remote control platform;
the loudspeaker plays voice information sent by the remote control platform;
the microphone collects voice information of the surrounding environment and sends the voice information to the remote control platform.
5. The universal platform for servicing robotic functional components of claim 1, wherein: the remote control platform is a PC or a mobile terminal.
6. The universal platform for servicing robotic functional components of claim 1, wherein: the charging device also comprises a charging interface arranged on the supporting shell (1);
the charging interface is connected with the charging socket to charge the battery.
7. The universal platform for servicing robotic functional components of claim 1, wherein: the driving signals comprise a steering driving signal, a forward driving signal, a backward driving signal and a pivot rotation driving signal;
the control instructions comprise a steering control instruction, a forward control instruction, a backward control instruction and a pivot rotation control instruction.
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| CN202011410997.XA CN112540615A (en) | 2020-12-05 | 2020-12-05 | Universal platform for servicing robot functional components |
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| CN103640019A (en) * | 2013-11-20 | 2014-03-19 | 中山市大谷电子科技有限公司 | Multifunctional service robot |
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