CN207717096U - A kind of service robot with navigation feature - Google Patents
A kind of service robot with navigation feature Download PDFInfo
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- CN207717096U CN207717096U CN201820145293.6U CN201820145293U CN207717096U CN 207717096 U CN207717096 U CN 207717096U CN 201820145293 U CN201820145293 U CN 201820145293U CN 207717096 U CN207717096 U CN 207717096U
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- babinet
- navigation feature
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- service robot
- microprocessor
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Abstract
The utility model discloses a kind of service robots with navigation feature, belong to robot application technology field, solve the problems such as existing service robot has a single function, is inconvenient for use.The utility model includes robot body, and robot body includes babinet, motherboard, supporting plate and walking mechanism；Control device is provided in babinet；Control device includes microprocessor, positioning chip, electronic compass, gyro sensor and radio receiving transmitting module；Infrared sensor and ultrasonic sensor are additionally provided on front side of the babinet；Display screen, camera, microphone and loud speaker are provided on motherboard；Motherboard is connect by connecting rod with babinet；It is additionally provided with output end in babinet and connects cogged lifting motor；The lower part of connecting rod is rack；Rack and pinion engages.The utility model has saved the human cost of scenic spot guide, realizes the function of navigation, provides required thoughtful service to the user, application scenarios are various.
Description
Technical field
The utility model belongs to robot application technology field, and in particular to a kind of service-delivery machine with navigation feature
People.
Background technology
In recent years, with the development of information technology, automatic control technology, mechanics of communication etc., robot is made to enter people day
Often life, the life style for changing people are possibly realized, and the sight of people, service-delivery machine are progressed into the research of service robot
People's is of wide application, and can be engaged in the work such as maintaining, repairing, transport, cleaning, security personnel, rescue, monitoring, exist at present
In daily life, corresponding service robot is still within primary research and development and small-scale trial period, and product maturity is inadequate.
And in terms of navigation Service robot, the existing robot with navigation feature is generally used for the transport of cargo,
Function is limited, cannot be that the routine use of people offers convenience；Especially in the large-scale scenic spot that some have fixed circuit, people
Normal view experience is often influenced due to lost, causes big inconvenience to people, there has been no a kind of servers at present
Device people can solve the above problems.
Utility model content
In order to solve the above problem of the existing technology, the utility model aim is to provide a kind of with navigation feature
Service robot.
Technical solution used by the utility model is：
A kind of service robot with navigation feature, including robot body, the robot body include babinet,
Motherboard, supporting plate and walking mechanism；The walking mechanism is located at the lower section of babinet.
It is provided with control device in the babinet；The control device includes microprocessor, further include respectively with it is micro-
Positioning chip, electronic compass, gyro sensor and the radio receiving transmitting module of processor communication connection；The front side of the babinet
It is additionally provided with the infrared sensor and ultrasonic sensor being connect respectively with microprocessor communication.
It is provided with the display screen being connect with microprocessor communication, camera, microphone on the motherboard and raises one's voice
Device；The motherboard is connect by connecting rod with babinet；Be additionally provided in the babinet connect with microprocessor communication and
Output end connects cogged lifting motor；The lower part of the connecting rod is rack；The rack and pinion engagement.
Preferably, the robot body further includes supporting plate；The supporting plate is fixedly connected on the upper surface of babinet；
The supporting plate is built-in with the weighing sensor being connect with microprocessor communication.
Preferably, the upper surface of the supporting plate is provided with anti-skid chequer and foot-operated slot；It is provided on the foot-operated slot
Fixed band.
Preferably, the walking mechanism includes being symmetrically disposed on lower section and identical 2 Athey wheels of structure of babinet；
The Athey wheel includes being closed crawler belt, driving wheel, the first directive wheel and the second directive wheel；On the inner wall of the closure crawler belt
It is provided with internal tooth；The outer wall of the outer wall of the driving wheel, the outer wall of the first directive wheel and the second directive wheel be both provided with it is interior
The external tooth of tooth engagement；The driving wheel is connected with and is set to the driving motor connecting in babinet and with microprocessor communication.
Preferably, the cross section of the cross section of the driving wheel, the first directive wheel cross section and the second directive wheel is big
Small all same.
Preferably, the driving wheel is between the first directive wheel and the second directive wheel；First directive wheel
And second directive wheel about driving wheel be symmetrical arranged.
Preferably, being additionally provided with the control button being connect with microprocessor communication on the motherboard；The control
Button processed includes power switch and regulation button.
Preferably, the upper surface of the motherboard is additionally provided with two-dimension code label.
Preferably, the radio receiving transmitting module includes bluetooth module and GPRS module.
Preferably, the control device further includes being connect with microprocessor respectively for electric installation and memory；Institute
It includes accumulator for electric installation to state, and further includes by battery charging and discharging panel and the solar panel of accumulator communication connection, nothing
Micro USB electric coil and external alternating current；The solar panel is set to the outside of babinet.
Compared with prior art, the beneficial effects of the utility model are：
1) the utility model solves existing service robot and cannot be satisfied the demand that scenic spot uses, and passes through babinet, control
Device and motherboard processed are used cooperatively, and have been saved the human cost of scenic spot guide, have been realized the function of navigation, avoid big
Occurs lost situation when type scenic spot is gone sight-seeing, babinet can be used for user and stand or place article, provide required week to the user
To service, the function of electronic guide can also be further realized；
2) being used cooperatively by infrared sensor and ultrasonic sensor, avoids after babinet bumps against barrier and causes
Device failure or user experience reduce so that the utility model practicability higher；
3) setting of supporting plate and weighing sensor so that the using effect of the utility model more preferably, avoids user from being not ready to
Babinet moves in the case of good, further improves the practicability of the utility model；
4) walking manner of Athey wheel is used to replace the driving walking of existing idler wheel, 2 Athey wheels with the use of can be with
Babinet turning, straight trip and the walking states fallen back are realized well so that the utility model steadily can be moved rapidly, interaction effect
More preferably, and 3 kinds are charged such that the utility model can supplement electricity at any time to fruit so that the application scenarios of the utility model are more
Sample is added, suitable for promoting the use of.
Description of the drawings
Fig. 1 is the structural schematic diagram of embodiment.
Fig. 2 is the structure diagram of embodiment.
Fig. 3 is the structural schematic diagram of Athey wheel.
In figure：1- motherboards, 2- supporting plates, 3- babinets, 4- connecting rods, 5- racks, 6- ride slot, and 7- fixes band, 8- crawler belts
Wheel, 9- display screens, 10- loud speakers, 11- two-dimension code labels, 12- regulation buttons, 13- power switches, 14- solar panels,
801- is closed crawler belt, 802- driving wheels, the first directive wheels of 803-, the second directive wheels of 804-, 805- internal tooths, 806- external tooths.
Specific implementation mode
Below in conjunction with the accompanying drawings and specific embodiment is further elaborated the utility model.Wherein, attached drawing is given for example only
Property explanation, expression is only schematic diagram rather than pictorial diagram, should not be understood as the limitation to this patent；In order to which this is better described
The embodiment of utility model, the certain components of attached drawing have omission, zoom in or out, and do not represent the size of actual product；To this
For field technology personnel, the omitting of some known structures and their instructions in the attached drawings are understandable.
The same or similar label correspond to the same or similar components in the attached drawing of the utility model embodiment；In this practicality
In novel description, it is to be understood that if there is the orientation or positional relationship of the instructions such as term "upper", "lower", "front", "rear" to be
It is based on the orientation or positional relationship shown in the drawings, is merely for convenience of describing the present invention and simplifying the description, rather than indicate
Or imply that signified unit or element must have a particular orientation, with specific azimuth configuration and operation, therefore retouched in attached drawing
The term for stating position relationship only for illustration, should not be understood as the limitation to this patent, for the common skill of this field
For art personnel, the concrete meaning of above-mentioned term can be understood as the case may be.
Embodiment
As shown in Figure 1, 2, a kind of service robot with navigation feature, including robot body, robot body packet
Include babinet, motherboard, supporting plate and walking mechanism.In the present embodiment, the upper surface of motherboard is additionally provided with two-dimension code label.
Control device is provided in babinet；Control device includes microprocessor, further includes connecting respectively with microprocessor communication
Positioning chip, electronic compass, gyro sensor and the radio receiving transmitting module connect；Microprocessor can with but be not limited only to using height
Performance, low-power consumption STM32 series microprocessors, positioning chip be GPS chip and/or Big Dipper chip；Gyro sensor is used
Measure the rotation angle of object, the cooperating of positioning chip, electronic compass and gyro sensor can obtain more precisely
Navigation experience, positioning chip is responsible for positioning, and electronic compass is responsible for taking one's bearings, and gyro sensor can detect tiny
It turns to, finally can be obtained by and compare accurately navigation routine；And the setting of electronic compass and gyro sensor so that GPS
After signal weakens or disappears, electronic compass and gyro sensor can continue to obtain travel route by the movement of babinet.
Radio receiving transmitting module is used for and external electronic equipment (can with but be not limited only to as server and mobile terminal) in the present embodiment
Carry out wireless communication, to realize short range or long-range data interaction, further meet application demand, can be, but not limited to for
Bluetooth module for short-haul connections and the GPRS module for telecommunication.
The infrared sensor and ultrasonic sensor being connect respectively with microprocessor communication are additionally provided on front side of babinet；
Infrared sensor is located at the front of babinet comprising infrared light emitting diode, infrared receiver diode and infrared ray
Arithmetic unit, infrared light emitting diode transmitting infrared signal believe infrared ray when forward direction encounters front obstacle
Number reflect and to be received by the infrared receiver diode, infrared ray arithmetic unit respectively with two pole of infrared emitting and infrared ray
Reception diode communicates to connect, and the spread speed based on time difference and infrared signal that infrared signal transmitting receives calculates
Before the infrared ray of front obstacle to distance and result of calculation is fed back into microprocessor；Ultrasonic sensor is located at babinet
Front comprising ultrasonic transmitter, ultrasonic receiver and ultrasonic wave arithmetic unit, ultrasonic transmitter for emit it is super
Sound wave, ultrasonic receiver pass through the reflected ultrasonic wave of front obstacle for receiving, ultrasonic wave arithmetic unit respectively with it is super
Pinger and ultrasonic receiver communication connection, for based on ultrasonic wave transmitting receiving time difference and ultrasonic propagation speed
Rate calculates air line distance of the front obstacle apart from babinet and result of calculation is fed back to microprocessor；Microprocessor is according to red
The obstacle distance of outside line sensor and ultrasonic sensor feedback, adjusts navigation routine and the speed of travel in time, when receiving
Forward direction distance it is inconsistent with air line distance when, microprocessor control robot body taper off advance and plan road again
Line thus avoids the damage that robot body is caused when encountering the barrier that not may span across.
The display screen and loud speaker being connect with microprocessor communication are provided on motherboard, loud speaker is for exporting early warning
Voice messaging and suggestion voice information；Display screen can with but be not limited only to, for touch display screen, be displayed for other yuan
Detection data, navigation routine and the current location of device, user can by touch display screen input terminal, selection route or into
Other operations of row；Motherboard is connect by connecting rod with babinet；It is additionally provided in babinet and connect and export with microprocessor communication
End connects cogged lifting motor；The lower part of connecting rod is rack；Rack and pinion engages；Connect when microprocessor receives raising
When the instruction of extension bar or reduction connecting rod, control lifting motor operating, lifting motor band moving gear rotates, and then exists with carry-over bar
Movement in vertical direction, so that the utility model is suitable for the user of each height, practicability is high.In the present embodiment, host
The control button being connect with microprocessor communication is additionally provided on plate；Control button includes power switch and regulation button, power supply
Switch start and stop for controlling electronic component in robot body, regulation button be used to control lifting motor working condition and
Adjustable height.
Walking mechanism is located at the lower section of babinet.In the present embodiment, walking mechanism include be symmetrically disposed on babinet lower section and
Identical 2 Athey wheels of structure；As shown in figure 3, Athey wheel includes being closed crawler belt, driving wheel, the first directive wheel and the second guiding
Wheel is closed crawler belt and is in tight state；It is closed on the inner wall of crawler belt and is provided with internal tooth；The outer wall of driving wheel, first directive wheel
The outer wall of outer wall and the second directive wheel is both provided with the external tooth with interior tooth engagement, and external tooth can carry out relative motion with internal tooth, by
This make be closed the not direct outer wall with the outer wall of driving wheel, the outer wall of the first directive wheel and the second directive wheel of crawler belt contact and by
Power is uniform, does not easily cause rollover；Driving wheel is connected with and is set to the driving motor connecting in babinet and with microprocessor communication；
When babinet needs turning, microprocessor controls one of driving motor and drives its corresponding Athey wheel rotation, remaining another
One driving motor and its corresponding Athey wheel are static, and the turning of babinet thus can be realized.The cross section of driving wheel, first are led
To wheel cross section and the cross section size all same of the second directive wheel；Driving wheel be located at the first directive wheel and the second directive wheel it
Between；First directive wheel and the second directive wheel are symmetrical arranged about driving wheel, so that the stability of Athey wheel is more preferably, Bu Huifa
The case where raw rollover.
In the present embodiment, robot body further includes supporting plate, and supporting plate stands or place article for user；Supporting plate, which is fixed, to be connected
It is connected to the upper surface of babinet；Supporting plate is built-in with the weighing sensor being connect with microprocessor communication, microprocessor sensing to be weighed
After device detects stable weight amount, other components is driven to bring into operation, weighing sensor can also avoid overweight state
Operation causes the parts damages in babinet, and when more than preset weight, microprocessor is believed by the weight that weighing sensor is fed back
Number so that driving motor is out of service, and sends out warning information by display screen and loud speaker；The upper surface of supporting plate is provided with anti-
Sliding line and foot-operated slot, riding slot, center of gravity when on supporting plate is more stablized convenient for user's standing；The setting of anti-skid chequer avoids placement
Article slid easily from supporting plate；Be provided with fixed band on foot-operated slot so that security performance higher, fixed band can with but
It is not limited only to as velcro or bandage.
In the present embodiment, control device further includes being connect with microprocessor communication for electric installation and memory, memory
For storing such as software program and virtual parameter digital information, can be, but not limited to using model W25Q64's
FLASH memory；Include accumulator for electric installation, further includes the solar-electricity by battery charging and discharging panel and accumulator communication connection
Pond plate, Wireless charging coil and external alternating current；It is possible thereby to be by solar panel, Wireless charging coil and external alternating current
Accumulator charges, battery charging and discharging panel can be disconnected after accumulator charging complete its with solar panel, Wireless charging coil and
Electrical connection between external alternating current which thereby enhances the service life of accumulator；Solar panel is set to the outside of babinet.
When using the utility model, user carries out register by display screen or is started by scanning the two-dimensional code label
It uses；When carrying out register by display screen, after logining successfully, user inputs destination, then selects route, then will
Article is placed on supporting plate or stands on supporting plate, then starts walking by display screen selection；In by mobile terminal
After built-in APP scans the two-dimensional code label, mobile terminal is connect with server communication, and microprocessor is received by GPRS module to swash
Signal living, is then connect by bluetooth module with communication of mobile terminal, and user inputs destination by mobile terminal or display screen,
Then route is selected by mobile terminal or display screen, then article is placed on supporting plate or is stood on supporting plate, is then passed through
Display screen selection starts walking.
The utility model is not limited to above-mentioned optional embodiment, anyone can obtain under the enlightenment of the utility model
Other various forms of products, however, making any variation in its shape or structure, every the utility model right that falls into is wanted
The technical solution in confining spectrum is sought, is all fallen within the scope of protection of the utility model.
Claims (10)
1. a kind of service robot with navigation feature, including robot body, it is characterised in that：The robot body
Including babinet, motherboard, supporting plate and walking mechanism；The walking mechanism is located at the lower section of babinet；
It is provided with control device in the babinet；The control device includes microprocessor, further include respectively with microprocessor
Positioning chip, electronic compass, gyro sensor and the radio receiving transmitting module of device communication connection；The front side of the babinet is also set
It is equipped with the infrared sensor and ultrasonic sensor being connect respectively with microprocessor communication；
The display screen being connect with microprocessor communication, camera, microphone and loud speaker are provided on the motherboard；Institute
The motherboard stated is connect by connecting rod with babinet；It is additionally provided with and is connect with microprocessor communication and output end in the babinet
Connect cogged lifting motor；The lower part of the connecting rod is rack；The rack and pinion engagement.
2. the service robot according to claim 1 with navigation feature, it is characterised in that：The robot body
It further include supporting plate；The supporting plate is fixedly connected on the upper surface of babinet；The supporting plate is built-in with to be connected with microprocessor communication
The weighing sensor connect.
3. the service robot according to claim 2 with navigation feature, it is characterised in that：The upper table of the supporting plate
Face is provided with anti-skid chequer and foot-operated slot；It is provided with fixed band on the foot-operated slot.
4. the service robot according to claim 2 with navigation feature, it is characterised in that：The walking mechanism packet
Include the lower section for being set to babinet and identical 2 Athey wheels of structure；The Athey wheel includes being closed crawler belt, driving wheel, first
Directive wheel and the second directive wheel；It is provided with internal tooth on the inner wall of the closure crawler belt；The outer wall of the driving wheel, first are led
The outer wall of outer wall and the second directive wheel to wheel is both provided with the external tooth with interior tooth engagement；The driving wheel, which is connected with, to be set to
The driving motor connecting in babinet and with microprocessor communication.
5. the service robot according to claim 4 with navigation feature, it is characterised in that：The cross of the driving wheel
The cross section size all same in section, the first directive wheel cross section and the second directive wheel.
6. the service robot according to claim 5 with navigation feature, it is characterised in that：The driving wheel is located at
Between first directive wheel and the second directive wheel；First directive wheel and the second directive wheel is symmetrical arranged about driving wheel.
7. the service robot according to claim 1 with navigation feature, it is characterised in that：On the motherboard also
It is provided with the control button being connect with microprocessor communication；The control button includes power switch and regulation button.
8. the service robot according to claim 1 with navigation feature, it is characterised in that：The motherboard it is upper
Surface is additionally provided with two-dimension code label.
9. the service robot according to claim 1 with navigation feature, it is characterised in that：The wireless receiving and dispatching mould
Block includes bluetooth module and GPRS module.
10. the service robot according to any one of claims 1 to 9 with navigation feature, it is characterised in that：The control
Device processed further includes being connect with microprocessor respectively for electric installation and memory；Described includes accumulator for electric installation, also
Including passing through solar panel, Wireless charging coil and the external alternating current of battery charging and discharging panel and accumulator communication connection；It is described
Solar panel be set to the outside of babinet.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201820145293.6U CN207717096U (en) | 2018-01-26 | 2018-01-26 | A kind of service robot with navigation feature |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201820145293.6U CN207717096U (en) | 2018-01-26 | 2018-01-26 | A kind of service robot with navigation feature |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN207717096U true CN207717096U (en) | 2018-08-10 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN201820145293.6U Active CN207717096U (en) | 2018-01-26 | 2018-01-26 | A kind of service robot with navigation feature |
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| CN (1) | CN207717096U (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113344681A (en) * | 2021-07-02 | 2021-09-03 | 深圳市云房网络科技有限公司 | House source recommending device for extracting preference vector based on user behavior log |
-
2018
- 2018-01-26 CN CN201820145293.6U patent/CN207717096U/en active Active
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113344681A (en) * | 2021-07-02 | 2021-09-03 | 深圳市云房网络科技有限公司 | House source recommending device for extracting preference vector based on user behavior log |
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