CN204462849U - A kind of dead-weight balanced coaxial two wheels robot for Smart Home - Google Patents
A kind of dead-weight balanced coaxial two wheels robot for Smart Home Download PDFInfo
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- CN204462849U CN204462849U CN201520072195.0U CN201520072195U CN204462849U CN 204462849 U CN204462849 U CN 204462849U CN 201520072195 U CN201520072195 U CN 201520072195U CN 204462849 U CN204462849 U CN 204462849U
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Abstract
The utility model provides a kind of dead-weight balanced coaxial two wheels robot for Smart Home, comprise movement executing mechanism, attitude-adjusting system and video acquiring module, described movement executing mechanism, attitude-adjusting system are connected main control module with video acquiring module, described main control module is connected with communication module and automatic charging module, dead-weight balanced maintenance fuselage attitude stabilization is relied in operational process, by internet Remote, it moves freely and carries out automatic charging simultaneously, intelligence degree is high, can be widely used in long distance monitoring and emotional affection communication.
Description
Technical field
The utility model relates to Smart Home robot field, particularly a kind of dead-weight balanced coaxial two wheels robot for Smart Home.
Background technology
In Smart Home field, long-range company and the monitoring of the remote monitoring of family, old man and children are its important branches, and existing equipment is difficult to meet this demand.The remote monitoring of family is realized by web camera, but existing web camera or fixed or can rotate, can pitching, but the position of video camera itself all can not move.The scope of its application is very limited, because domestic environment room is a lot, and the web camera being arranged on fixed position can only monitor some concrete regions, and installing the risk that multiple video camera obviously has leakage privacy in domestic environment, is also that most people is unacceptable.Be still blank at present for the long-range company of old man and children and monitoring, an existing equipment in fixed position cannot realize may the accompanying and attending to of people of movement everywhere at present.Therefore the utilization of Smart Home robot can effectively address this problem.
And existing robot product is the heavy-duty machines people of equipment industry mostly, the anthropomorphic robot that a small amount of robot product for family mainly utilizes artificial intelligence to complete some very simple question and answer or can dance, walk, do not reach the object of company, monitoring, monitoring, there is no practical use, and owing to having used complicated artificial intelligence and anthropomorphic robot technology, often expensive, cost performance is very poor, the rare purchase of ordinary consumer.Meanwhile, its intelligence degree run of existing robot system is not high, is difficult to the demand meeting intelligent home.
Therefore, the intelligent home robot product that a kind of low cost for long distance monitoring, company is provided is necessary.
Utility model content
For above problem, the utility model patent object is to devise a kind of dead-weight balanced coaxial two wheels robot for Smart Home, rely on dead-weight balanced maintenance fuselage attitude stabilization in operational process and the many attitudes such as advance, retrogressing, turning and pitching can be realized and regulate, by internet Remote, it moves freely and carries out automatic charging simultaneously, and intelligence degree is high.
The utility model is achieved through the following technical solutions:
A kind of dead-weight balanced coaxial two wheels robot for Smart Home, comprise movement executing mechanism, attitude-adjusting system and video acquiring module, described movement executing mechanism, attitude-adjusting system are connected main control module with video acquiring module, and described main control module is connected with communication module and automatic charging module.
Further, movement executing mechanism described in the utility model comprises revolver and rightly to take turns and respectively with described revolver with rightly take turns the left wheel motor and right wheel motor that are connected.
Further, attitude-adjusting system described in the utility model comprises posture adjustment motor, posture adjustment pouring weight, basic pouring weight, three-axis gyroscope and 3-axis acceleration sensor, described posture adjustment motor connects described posture adjustment pouring weight, described basic pouring weight is positioned at bottom described robot, and described three-axis gyroscope is connected described main control module with 3-axis acceleration sensor.
Further, automatic charging module described in the utility model comprises charge controller and the charging electrode that is positioned at bottom described robot and infrared photodiode.
Further, automatic charging module described in the utility model also comprises robot cradle, and described robot cradle is provided with the charging electrode shell fragment corresponding with described charging electrode and infraluminescence diode.
Further, communication module described in the utility model is WiFi communication module, 3G wireless network communication module or 4G wireless network communication module.
Further, robot described in the utility model also comprises microphone, and described microphone is connected described main control module by audio frequency small signal amplifier with A/D converter.
Further, robot described in the utility model also comprises loudspeaker, and described loudspeaker is connected described main control module by audio-frequency power amplifier with D/A converter.
Further, robot described in the utility model also comprises the storer be connected with described main control module.
The utility model dead-weight balanced principle and gyroscope, acceleration transducer combine achieve can complete stably advance, retreat, turn left, turn right, the coaxial two wheels robot of the accurately action such as pitching special angle.And by this network shooting machine technology therewith dead-weight balanced Robotics organically blend, dead-weight balanced robot is made to be provided with vision, the sense of hearing, the double-directional speech achieved between remote terminal and robotic end exchanges, and far-end can be moved freely by the dead-weight balanced robot of internet Remote in a space and adjust visual angle freely to obtain on-the-spot real-time video, audio frequency.The utility model also achieves Remote Control Automatic charging by custom-designed cradle and robot cooperation, solves the charging problems in on-the-spot unmanned situation.
The dead-weight balanced coaxial two wheels robot of the Smart Home that the utility model provides utilizes dead-weight balanced principle, only uses two wheels, not only simplifies the structure, also make action interesting more flexibly.User can be free to travel to each indoor room with computer or mobile terminal remote remote-controlled robot and carry out family's monitoring, long-range company old man, child, pet, double-directional speech interchange can be carried out, robotization charging can be realized simultaneously, meet intelligent home demand.
Accompanying drawing explanation
Referring to accompanying drawing, the utility model embodiment is described further, wherein:
Fig. 1 is the front cut-away view of the utility model for the dead-weight balanced coaxial two wheels robot of Smart Home;
Fig. 2 is the lateral inner structural drawing of the utility model for the dead-weight balanced coaxial two wheels robot of Smart Home;
Fig. 3 is the system architecture figure of the utility model for the dead-weight balanced coaxial two wheels robot of Smart Home;
Fig. 4 is the automatic charging schematic diagram of the utility model for the dead-weight balanced coaxial two wheels robot of Smart Home.
In figure, each component names is as follows:
1. shell; 2. video acquiring module; 3. main control module; 4. revolver; 5. rightly to take turns;
6. left wheel motor; 7. right wheel motor; 8. posture adjustment motor; 9. posture adjustment pouring weight;
10. basic pouring weight; 11. charging electrodes; 12. infrared photodiodes; 13. robot cradles;
14. charging electrode shell fragments; 15. infraluminescence diodes.
Embodiment
Below in conjunction with the drawings and specific embodiments, the utility model is described in further detail.
The utility model proposes a kind of dead-weight balanced coaxial two wheels robot for Smart Home, referring to Fig. 1 is the front cut-away view of the utility model for the dead-weight balanced coaxial two wheels robot of Smart Home, comprise movement executing mechanism, attitude-adjusting system and video acquiring module 2, described movement executing mechanism, attitude-adjusting system are connected main control module 3 with video acquiring module 2, and described main control module 3 is connected with communication module and automatic charging module.
Fig. 2 is the lateral inner structural drawing of the utility model for the dead-weight balanced coaxial two wheels robot of Smart Home.Described movement executing mechanism comprises revolver 4, rightly takes turns 5, left wheel motor 6 and right wheel motor 7; Described attitude-adjusting system comprises posture adjustment motor 8, posture adjustment pouring weight 9, basic pouring weight 10, three-axis gyroscope and 3-axis acceleration sensor, described posture adjustment motor 8 connects described posture adjustment pouring weight 9, described basic pouring weight 10 is positioned at bottom described robot, and described three-axis gyroscope is connected described main control module 3 with 3-axis acceleration sensor.
By movement executing mechanism realize robot advance, retrogressing, left-hand rotation, turn right, lean forward, the action such as layback, be fixed on the axle of posture adjustment motor 8 below fuselage with posture adjustment pouring weight 9, dead-weight balanced principle is utilized to stablize fuselage in conjunction with the application of acceleration transducer, enormously simplify the structure of robot, two wheels instead of common three or four wheels are only used, just can realize stable the moving freely of robot, and achieve the adjustment of robot pitch attitude.Fuselage is installed a three-axis gyroscope and 3-axis acceleration sensor, under quiescent conditions, by the acceleration of 3-axis acceleration sensor in x, y, z three directions, can know that its direction offsets.Detect the accekeration of x, y both direction, the pitch attitude of fuselage can be known, accurate control luffing angle can be rotated by driving posture adjustment motor 8, thus achieve the adjustment of robot pitch attitude.And in case of a dynamic basis, by three-axis gyroscope at x, y, z three axis angular rate, can know that its direction offsets.Detect the magnitude of angular velocity of x, y both direction, the pitch attitude of fuselage can be known, accurate control luffing angle can be rotated by driving posture adjustment motor 8, thus achieve the adjustment of robot pitch attitude.
Fig. 3 is the system architecture figure of the utility model for the dead-weight balanced coaxial two wheels robot of Smart Home, be connected on described main control module 3 by movement executing mechanism, attitude-adjusting system, video acquiring module 2, automatic charging module, communication module, microphone, loudspeaker, storer etc., described movement executing mechanism comprise revolver 4, rightly take turns 5, left wheel motor 6 and right wheel motor 7; Described attitude-adjusting system comprises posture adjustment motor 8, posture adjustment pouring weight 9, basic pouring weight 10, three-axis gyroscope and 3-axis acceleration sensor.
Robotic vision obtains on-the-spot image by video acquiring module 2, process through main control module 3, then make corresponding actions, such as send specific sound, luminescence, take pictures, long-range transmission information, the action such as movement.Meanwhile, the view data through coding can be sent on terminal device that internet is connected with the machine by main control module 3, so just can see the image at scene by far-end.
The sense of hearing of robot is the sound at the scene obtained by microphone and small signal amplifier by main control module 3, then through main control module 3 process and make response, such as speech recognition, identify that some are specifically ordered, perform corresponding action.Described robot also comprises a loudspeaker, can oneself sound to make response to the perception of auditory visual sense of touch, also the sound of the terminal that internet is connected with the machine can be played back simultaneously, realizes the double-directional speech interchange at two ends.
Robot interior is equipped with automatic charging module, needs charging when battery electric quantity drops to a certain degree, devises the robot cradle of specialty.Can cradle be gone to charge by Remote robot, not need on-the-spot people to operate.So just can solve the charging problems in the unmanned situation of family.
Referring to Fig. 4 is the automatic charging schematic diagram of the utility model for the dead-weight balanced coaxial two wheels robot of Smart Home, and automatic charging module comprises charge controller and the charging electrode 11 that is positioned at bottom described robot and infrared photodiode 12; Cradle 13 is by the device being a L-type, and in vertical upper central authorities, all have markings for aiming in the front end of horizontal component, horizontal component has two charging electrode shell fragments 14 and infraluminescence diode 15.Remote terminal remote-controlled robot enters charge mode, robot just automatically forward, until the infrared light that robot is sent by the infraluminescence diode 15 that the infrared photodiode 12 of bottom detects on cradle, robot halts automatically, then robot brain body leans forward, and the charging electrode 11 bottom robot is fully contacted with the charging electrode shell fragment 14 on cradle, and now robot is learnt by measuring voltage and starts charging, stop action, enter automatic charging process.
The above embodiment of the present utility model, does not form the restriction to the utility model protection domain.Any various other made according to technical conceive of the present utility model change and distortion accordingly, all should be included in the protection domain of the utility model claim.
Claims (9)
1. the dead-weight balanced coaxial two wheels robot for Smart Home, it is characterized in that, comprise movement executing mechanism, attitude-adjusting system and video acquiring module, described movement executing mechanism, attitude-adjusting system are connected main control module with video acquiring module, and described main control module is connected with communication module and automatic charging module.
2. the dead-weight balanced coaxial two wheels robot for Smart Home according to claim 1, is characterized in that, described movement executing mechanism comprises revolver and rightly to take turns and respectively with described revolver with rightly take turns the left wheel motor and right wheel motor that are connected.
3. the dead-weight balanced coaxial two wheels robot for Smart Home according to claim 1, it is characterized in that, described attitude-adjusting system comprises posture adjustment motor, posture adjustment pouring weight, basic pouring weight, three-axis gyroscope and 3-axis acceleration sensor, described posture adjustment motor connects described posture adjustment pouring weight, described basic pouring weight is positioned at bottom described robot, and described three-axis gyroscope is connected described main control module with 3-axis acceleration sensor.
4. the dead-weight balanced coaxial two wheels robot for Smart Home according to claim 1, is characterized in that, described automatic charging module comprises charge controller and the charging electrode that is positioned at bottom described robot and infrared photodiode.
5. the dead-weight balanced coaxial two wheels robot for Smart Home according to claim 1, it is characterized in that, described automatic charging module also comprises robot cradle, and described robot cradle is provided with the charging electrode shell fragment corresponding with described charging electrode and infraluminescence diode.
6. the dead-weight balanced coaxial two wheels robot for Smart Home according to claim 1, is characterized in that, described communication module is WiFi communication module, 3G wireless network communication module or 4G wireless network communication module.
7. the dead-weight balanced coaxial two wheels robot for Smart Home according to claim 1, it is characterized in that, described robot also comprises microphone, and described microphone is connected described main control module by audio frequency small signal amplifier with A/D converter.
8. the dead-weight balanced coaxial two wheels robot for Smart Home according to claim 1, it is characterized in that, described robot also comprises loudspeaker, and described loudspeaker is connected described main control module by audio-frequency power amplifier with D/A converter.
9. the dead-weight balanced coaxial two wheels robot for Smart Home according to claim 1, is characterized in that, described robot also comprises the storer be connected with described main control module.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201520072195.0U CN204462849U (en) | 2015-01-30 | 2015-01-30 | A kind of dead-weight balanced coaxial two wheels robot for Smart Home |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201520072195.0U CN204462849U (en) | 2015-01-30 | 2015-01-30 | A kind of dead-weight balanced coaxial two wheels robot for Smart Home |
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| CN204462849U true CN204462849U (en) | 2015-07-08 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN201520072195.0U Expired - Fee Related CN204462849U (en) | 2015-01-30 | 2015-01-30 | A kind of dead-weight balanced coaxial two wheels robot for Smart Home |
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Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104977869A (en) * | 2015-07-15 | 2015-10-14 | 成都陌云科技有限公司 | Special processor in intelligent sound recognition robot |
| CN105945972A (en) * | 2016-05-05 | 2016-09-21 | 北京快乐智慧科技有限责任公司 | Method for adjusting posture of intelligent interaction robot and intelligent interaction robot |
| CN106371434A (en) * | 2015-07-23 | 2017-02-01 | 联想(北京)有限公司 | Method for controlling mobile apparatus to maintain balance, and mobile apparatus |
| CN108470504A (en) * | 2018-03-29 | 2018-08-31 | 重庆博张博乐机器人有限公司 | A kind of modularization self-balancing educational robot |
| CN109911085A (en) * | 2017-12-13 | 2019-06-21 | 河北汇金机电股份有限公司 | The adjustable double-wheel self-balancing base apparatus of center of gravity |
| CN112238822A (en) * | 2020-10-21 | 2021-01-19 | 河南大学 | Two-wheeled robot capable of remotely transmitting video based on 5G communication network |
-
2015
- 2015-01-30 CN CN201520072195.0U patent/CN204462849U/en not_active Expired - Fee Related
Cited By (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104977869A (en) * | 2015-07-15 | 2015-10-14 | 成都陌云科技有限公司 | Special processor in intelligent sound recognition robot |
| CN106371434A (en) * | 2015-07-23 | 2017-02-01 | 联想(北京)有限公司 | Method for controlling mobile apparatus to maintain balance, and mobile apparatus |
| CN106371434B (en) * | 2015-07-23 | 2020-06-23 | 联想(北京)有限公司 | Method for controlling mobile device to keep balance and mobile device |
| CN105945972A (en) * | 2016-05-05 | 2016-09-21 | 北京快乐智慧科技有限责任公司 | Method for adjusting posture of intelligent interaction robot and intelligent interaction robot |
| CN105945972B (en) * | 2016-05-05 | 2018-07-20 | 北京快乐智慧科技有限责任公司 | Adjust the method and intelligent interaction robot of intelligent interaction robot pose |
| CN109911085A (en) * | 2017-12-13 | 2019-06-21 | 河北汇金机电股份有限公司 | The adjustable double-wheel self-balancing base apparatus of center of gravity |
| CN108470504A (en) * | 2018-03-29 | 2018-08-31 | 重庆博张博乐机器人有限公司 | A kind of modularization self-balancing educational robot |
| CN112238822A (en) * | 2020-10-21 | 2021-01-19 | 河南大学 | Two-wheeled robot capable of remotely transmitting video based on 5G communication network |
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20150708 Termination date: 20190130 |
|
| CF01 | Termination of patent right due to non-payment of annual fee |