CN112828853A - Indoor autonomous mobile robot - Google Patents

Indoor autonomous mobile robot Download PDF

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Publication number
CN112828853A
CN112828853A CN202110212992.4A CN202110212992A CN112828853A CN 112828853 A CN112828853 A CN 112828853A CN 202110212992 A CN202110212992 A CN 202110212992A CN 112828853 A CN112828853 A CN 112828853A
Authority
CN
China
Prior art keywords
microcomputer
layer
mobile robot
autonomous mobile
power supply
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Pending
Application number
CN202110212992.4A
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Chinese (zh)
Inventor
朱建阳
张旭阳
蒋林
李峻
刘奇
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Wuhan University of Science and Engineering WUSE
Wuhan University of Science and Technology WHUST
Original Assignee
Wuhan University of Science and Engineering WUSE
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
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Publication date
Application filed by Wuhan University of Science and Engineering WUSE filed Critical Wuhan University of Science and Engineering WUSE
Priority to CN202110212992.4A priority Critical patent/CN112828853A/en
Publication of CN112828853A publication Critical patent/CN112828853A/en
Pending legal-status Critical Current

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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J5/00—Manipulators mounted on wheels or on carriages
    • B25J5/007—Manipulators mounted on wheels or on carriages mounted on wheels
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
    • B25J19/0091—Shock absorbers
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
    • B25J19/02—Sensing devices
    • B25J19/021—Optical sensing devices
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
    • B25J19/02—Sensing devices
    • B25J19/021—Optical sensing devices
    • B25J19/022—Optical sensing devices using lasers
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
    • B62D—MOTOR VEHICLES; TRAILERS
    • B62D57/00—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track
    • B62D57/02—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track with ground-engaging propulsion means, e.g. walking members

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  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Robotics (AREA)
  • Chemical & Material Sciences (AREA)
  • Combustion & Propulsion (AREA)
  • Transportation (AREA)
  • Physics & Mathematics (AREA)
  • Optics & Photonics (AREA)
  • Manipulator (AREA)
  • Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)

Abstract

The invention discloses an indoor autonomous mobile robot, which comprises a robot body, wherein a laser radar is arranged on the front side of the robot body, the robot body is of a drawer cabinet body structure, the robot body comprises a plurality of compartments, the compartments comprise a bottom plate layer, a battery layer plate, a microcomputer layer and a screen layer, the bottom of the bottom plate layer is provided with a driving wheel and a driving motor, the bottom plate layer is internally provided with a driving device, the battery layer is internally provided with a power supply module, the microcomputer layer is internally provided with a microcomputer, the microcomputer is connected with the driving device, the screen layer is internally provided with a microphone and a display screen, the microphone and the display screen are both connected with the microcomputer, the top of the screen layer is provided with a depth camera mounting plate, the depth camera and an inertia measurement module are mounted on the depth camera mounting plate, positioning and navigation are carried out through the depth camera and the laser radar, and a drawer type structure is adopted, compact structure, rationally distributed, the installation and the dismantlement of being convenient for, each functional module is relatively independent.

Description

Indoor autonomous mobile robot
Technical Field
The invention relates to the field of robots, in particular to an indoor autonomous mobile robot.
Background
The mobile robot senses the environment and the physical state of the mobile robot through the sensor, can autonomously move in the indoor environment with obstacles, reasonably plans a moving path, completes a specified task, almost does not need manual control except arranging the task in the whole process, and has higher intelligent level.
According to actual task needs and consideration of cost, the mobile robot is divided into an external control robot, a semi-autonomous control robot and a fully-autonomous control robot from low to high in intelligence degree. The external passive control mobile robot without an intelligent control unit is mainly applied to occasions with simple scenes and low requirements on the functions of the robot; compared with external passive control, the application scene of the semi-autonomous control mobile robot is more complex, the intelligent processing of sensor data and partial prediction of the ability of environment change are required, and the functions of mobile robot trajectory planning, dynamic object judgment and obstacle avoidance and bypassing in the running process are realized. The intelligent degree of the full-autonomous control mobile robot is the highest, and the robot not only needs to know the position of the robot, but also needs to have the capability of being abstractly understood to the external environment like a living being so as to complete tasks running independently in the environment. The capability of the robot requires technical support of data fusion of multiple sensors and data processing under a deep neural network.
There are various moving mechanisms of the mobile robot, and in the case of planar movement, the moving mechanism is of a wheel type, a crawler type, a leg type, or the like. Various moving mechanisms have unique characteristics and can meet the requirements in different environments. However, in general, the wheel type moving mechanism is most widely used, and compared with other moving mechanisms, the wheel type robot has many advantages: the control is convenient, the mechanism is simple, and the device can stably move at high speed. Although the wheel type moving mechanism has high requirements on road conditions, the wheel type moving mechanism is completely suitable for indoor environments.
However, the existing indoor autonomous mobile robot mainly has the following problems:
(1) the ultrasonic or infrared technology is adopted for positioning and navigation, the positioning precision is low, the detection distance is limited, and the influence of the environment is large;
(2) hardware layout is messy, and functional modules are unreasonably distributed, so that later maintenance is inconvenient.
Disclosure of Invention
According to the defects of the prior art, the invention aims to provide an indoor autonomous mobile robot, which is used for positioning and navigation through a depth camera and a laser radar, adopts a drawer type structure, has a compact structure and reasonable layout, is convenient to install and disassemble, and has relatively independent functional modules.
In order to solve the technical problems, the invention adopts the technical scheme that:
an indoor autonomous mobile robot comprises a robot body, wherein a laser radar is arranged on the front side of the robot body, the robot body is of a drawer cabinet structure and comprises a plurality of compartments, the compartments comprise a bottom plate layer, a battery layer plate, a microcomputer layer and a screen layer, the bottom plate layer is provided with a driving wheel and drives the driving wheel to rotate, a driving device for driving the driving motor to move is arranged in the bottom plate layer, a power supply module for supplying power is arranged in the battery layer, the microcomputer is arranged in the microcomputer layer, the microcomputer is connected with the driving device, a microphone and a display screen are arranged in the screen layer, the microphone and the display screen are connected with the microcomputer, and the microphone receives voice instructions and sends the voice instructions to the microcomputer, the display screen is used for displaying relevant information of the microcomputer, the screen layer top is provided with a depth camera mounting plate, a depth camera and an inertia measurement module are installed on the depth camera mounting plate, and the power supply module is used for supplying power to the microcomputer, the display screen, the microphone, the depth camera and the inertia measurement module.
Further, drive arrangement includes development board, motor drive and first power, the development board passes through motor drive control the driving motor motion, the development board with microcomputer links to each other, first power is used for drive arrangement with the driving motor power supply.
Further, the development board is an Arduino development board.
Furthermore, an emergency stop switch is arranged between the first power supply and the development board.
Further, the inertial measurement module includes a gyroscope and an accelerometer.
Furthermore, two opposite driving wheels are arranged at the bottom of the bottom plate layer, and the indoor autonomous mobile robot can move forwards, backwards and turn by means of differential motion of the two driving wheels.
Furthermore, the bottom of the bottom plate layer is also provided with universal wheels.
Further, adjacent compartments are separated by partition plates, and the partition plates are fixed inside the robot body through L-shaped corner connectors.
Furthermore, an expansion USB interface is connected to the microcomputer.
Furthermore, the power supply module comprises a second power supply and a third power supply, the second power supply supplies power to the microcomputer, and the third power supply supplies power to the depth camera.
Compared with the prior art, the invention has the following advantages and beneficial effects:
1. according to the indoor autonomous mobile robot, autonomous movement is achieved in an indoor environment through the laser radar and the depth camera, the laser radar collects environment information, the detection range is wide, the precision is high, and the indoor autonomous mobile robot has strong environmental adaptability.
2. The indoor autonomous mobile robot adopts the wheel type mobile mechanism, and steers in a differential mode of the two driving wheels, so that the control is convenient and fast, the reaction is rapid, the steering radius is small, and the indoor autonomous mobile robot can adapt to various narrow indoor environments.
3. The indoor autonomous mobile robot provided by the invention is provided with an independent central processing unit, namely a microcomputer, and can rapidly process the acquired information, so that the robot has higher real-time performance in drawing and navigation motions.
4. According to the indoor autonomous mobile robot, the spatial layout adopts a drawer type structure, the floor layer, the battery layer, the microcomputer layer and the screen layer are arranged in a layered mode, the layout is standard, and later-period maintenance is facilitated.
5. According to the indoor autonomous mobile robot, the driving motor is connected with the driving wheel through the coupler, the driving motor is connected with the chassis through the motor mounting frame, direct stress of the driving motor is greatly weakened, shock absorption is buffered to a certain extent, the driving motor can continuously and stably operate, and the service life is long.
Drawings
FIG. 1 is an overall appearance diagram of a body structure of an indoor autonomous mobile robot according to the present invention;
FIG. 2 is a view of the internal structure of the indoor autonomous mobile robot body structure according to the present invention;
FIG. 3 is a view of the driving mechanism of the indoor autonomous mobile robot body structure according to the present invention;
FIG. 4 is a schematic view of the overall framework of the body structure of the indoor autonomous mobile robot according to the present invention;
FIG. 5 is a left side view of the structure of the indoor autonomous mobile robot body according to the present invention;
FIG. 6 is a right side view of the structure of the indoor autonomous mobile robot body according to the present invention;
FIG. 7 is a screen layer plate view of the structure of the indoor autonomous mobile robot body according to the present invention;
FIG. 8 is a bottom plate view of the structure of the indoor autonomous mobile robot body according to the present invention;
FIG. 9 is a front view of the structure of the indoor autonomous mobile robot body according to the present invention;
FIG. 10 is a view of a battery layer plate of the indoor autonomous mobile robot body structure according to the present invention;
fig. 11 is a microcomputer layer board view of the body structure of the indoor autonomous mobile robot according to the present invention.
Wherein: 1-a depth camera; 2-front baffle; 3-an inertial measurement module; 4-a front plate; 5-a voltage reduction module; 6-laser radar; 7-emergency stop switch; 8-a microphone; 9-a depth camera mounting plate; 10-left side plate; 11-screen layer plate; 12-a microcomputer; 13-microcomputer laminate; 14-a second power supply; 15-a battery laminate; 16-a first power supply; 17-bottom layer plate; 18-a third power supply; 19-extended USB interface; 20-a display screen; 21-right side plate; 22-a universal wheel mounting plate; 23-a drive wheel; 24-a coupling; 25-a drive motor; 26-universal wheels; 27-robot body.
Detailed Description
The technical solution in the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present invention.
In the description of the present invention, it is to be understood that the terms "center", "longitudinal", "lateral", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", and the like, indicate orientations or positional relationships based on those shown in the drawings, and are used only for convenience in describing the present invention and for simplicity in description, and do not indicate or imply that the referenced devices or elements must have a particular orientation, be constructed and operated in a particular orientation, and thus, are not to be construed as limiting the present invention. Furthermore, the terms "first", "second", etc. are used for descriptive purposes only and are not to be construed as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defined as "first," "second," etc. may explicitly or implicitly include one or more of that feature. In the description of the present invention, "a plurality" means two or more unless otherwise specified.
An indoor autonomous mobile robot, as shown in fig. 1-4, comprises a robot body 27, a laser radar 6 is arranged on the front side of the robot body 27, the robot body 27 is a drawer cabinet structure, the robot body 27 comprises a plurality of compartments, the plurality of compartments comprise a bottom plate layer, a battery layer, a microcomputer layer and a screen layer which are arranged from bottom to top, a driving wheel 22 and a driving motor 25 for driving the driving wheel 22 to rotate are arranged at the bottom of the bottom plate layer, a driving device for driving the driving motor 25 to move is arranged in the bottom plate layer, a power supply module for supplying power is arranged in the battery layer, a microcomputer 12 is arranged in the microcomputer layer, the microcomputer 12 is connected with the driving device, a microphone 8 and a display screen 20 are arranged in the screen layer, the microphone 8 and the display screen 20 are both connected with the microcomputer 12, and receive a voice command through the microphone 8 and send the voice command to the microcomputer 12, the display screen 20 is used for displaying relevant information of the microcomputer 12, the depth camera mounting plate 9 is arranged at the top of the screen layer, the depth camera 1 and the inertia measurement module 3 are mounted on the depth camera mounting plate 9, and the power supply module supplies power to the microcomputer 12, the display screen 20, the microphone 8, the depth camera 1 and the inertia measurement module 3.
Through setting up lidar 6, can realize that the environment information in the 180 within ranges in place ahead detects, degree of depth camera 1 can discern and mark the barrier with lidar 6 cooperation as visual sensor, constitutes accurate indoor environment map to can independently fix a position navigation in indoor environment and keep away the barrier in real time, satisfy the robot and be establishing the environment map and independently fix a position the high accuracy requirement of navigation process. In the invention, the robot body 27 is set to be a drawer cabinet structure, and the robot body 27 comprises a plurality of compartments, so that the robot body 27 is compact in structure and convenient to mount and dismount, and each functional module of the indoor autonomous mobile robot is relatively independent, so that the indoor autonomous mobile robot can realize different functions through using different compartments, and the universality of the indoor autonomous mobile robot is improved.
In the invention, the laser radar 6 adopts a high-precision laser scanner of LMS111 series of SICK company, the monitoring range is wide at 270 degrees, and the angle can be adjusted according to the requirement, and the laser radar 6 has IP67 protection level and has the functions of collision prevention, measurement and security protection. The LMS111 adopts a mature TOF principle, the laser radar 6 firstly continuously emits a large number of laser pulses, the object reflects part of laser light, the sensor on the laser radar 6 receives the reflected light, and the distance between the objects is calculated according to the running time of the light.
The depth camera 1 employs microsoft's Kinect V2, which contains an infrared camera, an RGB camera and an infrared light source. The infrared camera is used for measuring depth information, and the RGB camera is used for gathering the colour information, and infrared light source is used for launching infrared speckle. The Kinect V2 calculates the depth information of the object by matching the infrared spot image on the object with the results in the calibration library at the time of measurement. By calibrating the position relation of the two cameras in advance, each pixel point in the image obtained by Kinect V2 measurement has color (RGB) and Depth (Depth, D) information at the same time. The rotating range of the machine body is +/-27 degrees, the horizontal visual angle is 57 degrees, the vertical visual angle is 43 degrees, and the sensing depth range is 1.2m-3.5 m. The Kinect V2 can collect abundant image information, process the information, can obtain a plane map of the environment, and can also construct a 3D map of the environment. The depth and color information of 307200 points can be obtained by one-time acquisition of Kinect V2, the theoretical acquisition frequency of the Kinect V2 reaches 30Fps, the indoor autonomous mobile robot can obtain a large amount of environment information through Kinect V2, and the map construction can be more accurate.
The depth camera 1 is connected with the depth camera mounting plate 9 through a rotating shaft, the depth camera mounting plate 9 is horizontally arranged, the levelness of the depth camera 1 is guaranteed, the elevation angle of the depth camera is adjustable, the depth camera is enabled to have a large detection range, the installation requirement of the depth camera 1 is guaranteed through stable structural design, the depth camera 1 is enabled to obtain accurate environmental information, and therefore the functions of accurately building a map and positioning navigation are achieved.
According to the invention, the microphone 8 receives a voice instruction and sends the voice instruction to the microcomputer 12, for example, voice instructions such as forward, backward, left turn and right turn can be set, when the microphone 8 receives the voice instruction, the voice instruction is sent to the microcomputer 12, the microcomputer 12 controls the driving device, and then the driving device controls the movement of the driving wheel 22, so that the indoor autonomous mobile robot realizes forward movement, backward movement or steering movement, and a simple man-machine interaction common function is realized.
In the floor layer, the driving means includes a development board, a motor driver, and a first power supply 16, the development board controls the driving motor 25 to move through the motor driver, the development board is connected to the microcomputer 12, and the first power supply 16 is used to supply power to the driving means and the driving motor 25.
The development board is an Arduino development board. Specifically, the microcomputer 12 sends a motion command to the Arduino development board through a serial port, and the Arduino development board processes a command signal and controls the rotation speed and direction of the motor through a motor driver. Thereby enabling the drive wheel 22 to perform various actions to ensure that the robot can complete the task.
In the invention, two opposite driving wheels 22 are arranged at the bottom of the floor layer, and forward movement, backward movement and steering movement of the indoor autonomous mobile robot are realized through differential movement of the two driving wheels 22.
Between the driving wheel 22 and the driving motor 25, a reducer is further arranged, the driving motor 25 is a stepping motor with a photoelectric encoder, the driving mode of the indoor autonomous mobile robot adopts differential driving of two wheels, the indoor autonomous mobile robot can freely advance and retreat, the steering is rapid and sensitive, and the indoor autonomous mobile robot can rotate around the mass center of the whole machine with zero radius, so that the indoor autonomous mobile robot can freely move in a narrow environment. The stepping motor is connected with the driving wheel 22 through the coupler 24, and the stepping motor is connected with the chassis through the motor mounting frame, so that the direct stress of the driving motor 25 is weakened, the shock absorption is buffered to a certain extent, the driving motor 25 can be in a normal stable operation state, and the loss of the driving motor 25 is reduced. Because the whole focus of indoor robot is lower, so move comparatively steadily.
The bottom of the bottom plate layer is also provided with a universal wheel 26, and the universal wheel 26 is arranged at the bottom of the bottom plate layer through a universal wheel mounting plate 22, so that the indoor autonomous mobile robot can move in all directions.
In the invention, two universal wheels 26 are arranged, the two universal wheels 26 are oppositely arranged, the two driving wheels 22 are symmetrically distributed relative to the two universal wheels 26, and the four wheels are arranged on the chassis, so that the indoor autonomous mobile robot is in a stable state, the situation that the indoor autonomous mobile robot is overturned in the motion process is prevented, and the indoor autonomous mobile robot can stably run for a long time.
An emergency stop switch 7 is arranged between the first power supply 16 and the development board. When the indoor autonomous mobile robot is out of control, the emergency stop switch 7 is pressed, so that the indoor autonomous mobile robot can be braked emergently.
The first power supply 16 comprises two groups of batteries, each group of batteries comprises 8 3.7V batteries which are connected in series to form a group, the two groups of batteries are used for supplying power for the motor and the laser radar 6, and the output voltage of each group of batteries is higher than the working voltage of the motor and the laser radar 6, so that the output voltage of the two groups of batteries is required to be reduced and stabilized when the motor and the laser radar 6 are supplied with power.
In the battery layer, the power supply module includes a second power supply 14 and a third power supply 18, the second power supply 14 supplies power to the microcomputer 12, and the third power supply 18 supplies power to the depth camera 1.
Specifically, the second power supply 14 and the third power supply 18 are both lithium batteries, and since the operating voltages of the microcomputer 12 and the depth camera 1 are lower than the output voltage of the lithium batteries and the input voltage is required to be stable, the output voltage of the lithium batteries needs to be subjected to voltage reduction and stabilization processing by the voltage reduction module 5.
The inertial measurement module 3 includes a gyroscope and an accelerometer.
The microcomputer 12 is also connected to an extended USB interface 19.
In the robot body 27, as shown in fig. 5 to 11, adjacent compartments are separated by a partition plate, the partition plate is fixed inside the robot body 27 through an L-shaped corner brace, and each part is fixed on the partition plate.
Specifically, the partitions are a bottom plate 17, a battery plate 15, a microcomputer plate 13, a screen plate 11, and a depth camera mounting plate 9. The robot body 27 is composed of a plurality of partition plates, a front plate 4, a left side plate 10 and a right side plate. The laser radar 6 is mounted on the front plate 4 through the front bezel 2.
It will be apparent to those skilled in the art that various changes and modifications may be made in the present invention without departing from the spirit and scope of the invention. Thus, if such modifications and variations of the present invention fall within the scope of the claims of the present invention and their equivalents, the present invention is also intended to include such modifications and variations.
Finally, it should be noted that: although the present invention has been described in detail with reference to the foregoing embodiments, it will be apparent to those skilled in the art that modifications may be made to the embodiments or portions thereof without departing from the spirit and scope of the invention.

Claims (10)

1. An indoor autonomous mobile robot, its characterized in that: the robot comprises a robot body, wherein a laser radar is arranged on the front side of the robot body, the robot body is of a drawer cabinet structure and comprises a plurality of compartments, the compartments comprise a bottom plate layer, a battery layer plate, a microcomputer layer and a screen layer, the bottom plate layer is provided with a driving wheel and a driving motor for driving the driving wheel to rotate, a driving device for driving the driving motor to move is arranged in the bottom plate layer, a power supply module for supplying power is arranged in the battery layer, the microcomputer is arranged in the microcomputer layer and is connected with the driving device, a microphone and a display screen are arranged in the screen layer, the microphone and the display screen are connected with the microcomputer, and the microphone receives a voice instruction and sends the voice instruction to the microcomputer, the display screen is used for displaying relevant information of the microcomputer, the screen layer top is provided with a depth camera mounting plate, a depth camera and an inertia measurement module are installed on the depth camera mounting plate, and the power supply module is used for supplying power to the microcomputer, the display screen, the microphone, the depth camera and the inertia measurement module.
2. The indoor autonomous mobile robot of claim 1, characterized in that: the driving device comprises a development board, a motor driver and a first power supply, wherein the development board controls the driving motor to move through the motor driver, the development board is connected with the microcomputer, and the first power supply is used for supplying power to the driving device and the driving motor.
3. The indoor autonomous mobile robot of claim 2, characterized in that: the development board is Arduino development board.
4. The indoor autonomous mobile robot of claim 1, characterized in that: an emergency stop switch is arranged between the first power supply and the development board.
5. The indoor autonomous mobile robot of claim 1, characterized in that: the inertial measurement module comprises a gyroscope and an accelerometer.
6. The indoor autonomous mobile robot of claim 1, characterized in that: the bottom of the bottom plate layer is provided with two opposite driving wheels, and the forward movement, the backward movement and the steering of the indoor autonomous mobile robot are realized through the differential motion of the two driving wheels.
7. The indoor autonomous mobile robot of claim 5, characterized in that: the bottom of the bottom plate layer is also provided with universal wheels.
8. The indoor autonomous mobile robot of claim 1, characterized in that: the adjacent compartments are separated by partition plates, and the partition plates are fixed inside the robot body through L-shaped corner connectors.
9. The indoor autonomous mobile robot of claim 1, characterized in that: the microcomputer is also connected with an expansion USB interface.
10. The indoor autonomous mobile robot of claim 1, characterized in that: the power supply module comprises a second power supply and a third power supply, the second power supply supplies power to the microcomputer, and the third power supply supplies power to the depth camera.
CN202110212992.4A 2021-02-25 2021-02-25 Indoor autonomous mobile robot Pending CN112828853A (en)

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Cited By (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN113524217A (en) * 2021-07-20 2021-10-22 中北大学 Multi-module detection robot
CN114460939A (en) * 2022-01-22 2022-05-10 贺晓转 Intelligent walking robot autonomous navigation improvement method under complex environment
CN114800554A (en) * 2022-04-24 2022-07-29 佛山智优人科技有限公司 Intelligent control's exhibition sales robot
CN116067555A (en) * 2023-04-06 2023-05-05 西南交通大学 Bolt looseness detection system and method for urban rail transit and storage medium

Cited By (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN113524217A (en) * 2021-07-20 2021-10-22 中北大学 Multi-module detection robot
CN114460939A (en) * 2022-01-22 2022-05-10 贺晓转 Intelligent walking robot autonomous navigation improvement method under complex environment
CN114460939B (en) * 2022-01-22 2024-09-20 贺晓转 Autonomous navigation improvement method for intelligent walking robot in complex environment
CN114800554A (en) * 2022-04-24 2022-07-29 佛山智优人科技有限公司 Intelligent control's exhibition sales robot
CN116067555A (en) * 2023-04-06 2023-05-05 西南交通大学 Bolt looseness detection system and method for urban rail transit and storage medium

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