CN207817532U

CN207817532U - Indoor intelligent robot system

Info

Publication number: CN207817532U
Application number: CN201721141326.1U
Authority: CN
Inventors: 赵颖
Original assignee: Anshun University
Current assignee: Anshun University
Priority date: 2017-09-07
Filing date: 2017-09-07
Publication date: 2018-09-04
Anticipated expiration: 2027-09-07

Abstract

The utility model discloses a kind of indoor intelligent robot system, indoor intelligent robot system includes UAV system, the positioning system for determining unmanned plane position and the control centre that can be communicated with UAV system；The UAV system includes drone body and the vision element in the drone body and avoidance detecting element.Get a bird's eye view visual angle of the indoor intelligent robot system of the utility model based on unmanned plane is scanned the image of indoor and indoor different spaces, and the image of scanning can be used for post analysis, and the realization for material object search provides basis.

Description

Indoor intelligent robot system

Technical field

The utility model is related to robot fields, more particularly to a kind of indoor intelligent robot system.

Background technology

Not long ago, Google proposed the concept of search in kind, depended on vision element, in order to reach search in kind, needed Scan for the vision element covering in region so that each panel region of region of search will be in the visual range of vision element Interior, this is just very high to cost requirement, it is therefore desirable to which a kind of visual scanning platform, the image for movably obtaining region of search reach The purpose of all standing.

Utility model content

Purpose of utility model：In order to overcome the deficiencies in the prior art, the utility model, which provides one kind, can carry out room The indoor intelligent robot system that interior image obtains provides hardware foundation for material object search.

Technical solution：To achieve the above object, the indoor intelligent robot system of the utility model include UAV system, Positioning system for determining unmanned plane position and the control centre that can be communicated with UAV system；The UAV system packet Include drone body and the vision element in the drone body and avoidance detecting element.

Further, be provided between indoor different separate space for unmanned plane by unmanned plane channel, and it is each solely It is both provided with a set of individual positioning system in vertical space.

Further, the positioning system includes disperseing fixed multiple retaining elements, and the UAV system includes can With the independent interactive follower element of each fixed cell.

Further, the unmanned plane channel be can automatic open close automatically-controlled door, and be provided with certification on unmanned plane channel Module is provided with request module in the UAV system, between the request module and the authentication module can between or Connect letter.

Further, one of them is signal sending element between the retaining element and the follower element, another For signal receiving element.

Further, further include base station, the UAV system can be stopped in the base station.

Further, further include the execution unit of executable task in the UAV system.

Advantageous effect：The indoor intelligent robot system of the utility model based on unmanned plane get a bird's eye view visual angle to indoor and The image of indoor different spaces is scanned, and the image of scanning can be used for post analysis, and the realization for material object search provides basis.

Description of the drawings

Attached drawing 1 is the monolithically fabricated figure of indoor intelligent UAV system；

Attached drawing 2 is the structure chart of UAV system；

Attached drawing 3 is the structure chart of negative pressure generating element；

Attached drawing 4 is the structure chart for the first embodiment for docking unit；

Attached drawing 5 is the sectional view for the first embodiment for docking unit；

Attached drawing 6 is the partial enlarged view for the first embodiment for docking unit；

Attached drawing 7 is the sectional view for second of embodiment for docking unit.

Specific implementation mode

The utility model is further described below in conjunction with the accompanying drawings.

Indoor intelligent robot system as shown in Fig. 1, including UAV system 1, for determining unmanned plane position Positioning system 5 and the control centre 3 that can be communicated with UAV system 1；The UAV system 1 include drone body 12 with And the vision element 13 in the drone body 12 and avoidance detecting element.Avoidance detecting element can be sharp herein It is a kind of, a variety of or whole in optical radar, sonac, infrared sensor.

In order to make the motion range of unmanned plane expand to bigger region, it is provided with for nobody between indoor difference separate space Machine by unmanned plane channel 6, and be both provided with a set of individual positioning system 5 in each separate space.

The positioning system 5 includes disperseing fixed multiple retaining elements 51, the UAV system 1 include can with it is each The independent interactive follower element 52 of the fixed cell.One of them is between the retaining element 51 and the follower element 52 Signal sending element, another is signal receiving element.Specifically localization method is：It is (red that follower element 52 can send out light/acoustical signal Outside line, ultrasonic wave etc.), the time difference of light/acoustical signal is received according to each retaining element 51, can calculate UAV system 1 away from From the distance between each retaining element 51, to can determine its position, it is preferable that follower element 52 is infrared transmitter, Gu It is infrared light receiver to determine element 51.

The unmanned plane channel 6 be can automatic open close automatically-controlled door, and be provided with authentication module on unmanned plane channel 6, institute State and be provided with request module in UAV system 1, between the request module and the authentication module can between or indirect communication.

In the first embodiment, request module directly sends solicited message to authentication module, and authentication module, which receives, asks Seek information and be confirmed whether be registered UAV system 1 and this period whether P Passable, if then right UAV system 1 is let pass, if otherwise authentification failure, UAV system 1 can not pass through；Under this situation, authentication module can To be isolated module, fixed determining program is only carried out, authentication module can also be established with control centre 3 and be communicated, control centre 3 Update pass-through rule can be set according to user.

In second of embodiment, authentication module can be established with control centre 3 and be communicated, and request module sends solicited message To control centre 3, control centre 3 judge UAV system 1 by permission and decide whether to let pass, and conclusion is sent to and is recognized Module is demonstrate,proved, authentication module judges whether to activate to open the program of automatically-controlled door according to the conclusion of control centre 3.Modulus is asked by setting Block and authentication module, it is ensured that the safety of system, while each unmanned plane channel 6 can be flexibly set at any time according to demand By permission, the information such as the time section that can be let pass are set, realize the intelligent management to UAV system 1.

Further include base station 2, institute to give UAV system 1 to supplement electricity and 1 Interworking Data of UAV system in time Stating UAV system 1 can stop in the base station 2, and UAV system 1 is docked by docking unit with the base station 2.Preferably, The base station 2 is the hovering base station 2 being fixed on wall or ceiling, and the upper end of UAV system 1 is by docking unit and institute State the docking of base station 2.Setting base station 2 to hovering base station 2 is advantageous in that：Under normal circumstances, UAV system 1 takes off needs really Recognize take off environment whether safety, prevent accidentally injure people, and need occupy ground space, detect whether can be confirmed automatically take off it is hard Part cost and software cost are all very high, base station 2 are located at when UAV system 1 can be made to execute task in the air and are taken off without considering Environment and rolling takeoff.

It further include the execution unit of executable task in order to improve the effect of UAV system 1, in the UAV system 1 11 so that UAV system 1, which can execute, certain takes object task.

Based on the Intelligent target method for searching of above-mentioned indoor intelligent robot system, step is specially：

Step 1：UAV system 1 is taken off, and carries out being moved by planning path indoors, the control centre 3 passes through Positioning system 5 monitors the position of UAV system 1, and the image data that real-time reception vision element 13 acquires at any time, and controls Location information and image data are associated by center 3；

Step 2：Control centre 3 extracts the ORB features of image data by ORB vision algorithms, and according to ORB features pair Article in image data distinguishes and identifies, the title for the article that control centre 3 will identify that and the positional number of the article According to being associated；Meanwhile image data is carried out intelligence by control centre 3 according to the location information of image data and image data Splicing synthesis, forms indoor birds-eye view；

Step 3：Control centre 3 carries out global search comparison according to target data, and the high search result of output similarity is simultaneously The position data that these search results are provided, in order to intuitively show whether result is accurate convenient for user discrimination result, in control The heart 3 marks out the position of search result in the birds-eye view.

Further, item identification method includes shape contour identification and the text of article surface that reads in step 2 Word, graphical information identification, data center networks according to the shape contour and the word of article surface, graphical information of article Search comparison obtains the name information of article and holding is to database, and the ORB features for the article that control centre 3 is extracted, The text graphic information and position data of the article surface read are associated with preservation with Item Title to database.

Further, control methods is searched in step 3 is specially：

Step 3.1：It is text information or image information to distinguish the target data received, is then jumped to if text information Step 3.2,3.3 are then gone to step if image information；

Step 3.2：Target data is text information, then control centre 3 according to text information to Item Title in database And the text information of the article surface read scans for, and obtains search result and gos to step 3.4；

Step 3.3：Target data is image information, and control centre 3 extracts the ORB of image information by ORB vision algorithms Feature, and the ORB features of it and each article in database are compared, the highest several results of similarity are found out as search As a result it exports, gos to step 3.4；

Step 3.4：The location information for the article that control centre 3 exports according to search result.

Above-mentioned docking unit includes that can dock unit 42 with second with respect to the first docking unit 41 of division；Described first pair Order member 41 includes the cricoid companion flange 41-1 being mounted in UAV system 1, and the second docking unit 42 includes peace Pedestal 42-1 on base station 2 and the trap for carrying out center of circle positioning and axially position to companion flange 41-1 Structure, the capture mechanism can be lifted relative to the pedestal 42-1.First docking unit 41 is docked with second can between unit 42 Only to realize mechanical splice, charged by wireless charging system between base station 2 and UAV system 1.

First docking unit 41 docks unit 42 with second can also realize electrical docking so that UAV system 1 and base station 2 Between can transmit data, the first docking unit 41 further includes first interface 41-2, and the second docking unit 42 also wraps Second interface 42-2 is included, in order to be that first interface 41-2 can be accurate right with the progress of the contact alignment of second interface 42-2 It connects, the capture mechanism can be rotated relative to the pedestal 42-1, and Pivot axle is parallel to the liter of its opposite base 42-1 Direction drops.

The positioning system for determining the two relative position is provided between the first interface 41-2 and second interface 42-2 System 5.It is provided with signal transmitter unit in one in both the first interface 41-2 and second interface 42-2, is arranged in another one There is signal receiving unit.Preferably, signal transmitter unit is optical transmitting set herein, and signal receiving unit is optical receiver, works as light When light that transmitter is sent out (can be visible light or black light) is received by optical receiver, then represent first interface 41-2 with Position alignment between second interface 42-2, being in can mated condition.

The capture mechanism includes capturing circumference array on holder 42-3, the capture holder 42-3 to be provided at least three It can be caught including the portion 42-41 that is slidably matched, edge along the claw 42-4, the claw 42-4 for the radial synchronous translational for capturing holder 42-3 It catches the axially extending axially-extending portion 42-42 of holder 42-3 and prolongs along the radial direction to extend radially outwardly for capturing holder 42-3 Extending portion 42-43；The movement of claw 42-4 is driven by driving arm 42-5, specifically, corresponds to each described claw 42-4 institute It states to capture and be respectively provided on holder 42-3 there are one drive link 42-21, the middle parts drive link 42-21 are hinged on the capture On holder 42-3, (one end of drive link 42-21 is stretched into is opened in claw 42- to one end connection claw 42-4 of drive link 42-21 In pit on 4, and can have certain relative motion relative to pit), the other end connects driving arm 42-5 (driving arms Annular groove is provided on the excircle of 42-5, the other end of driving arm 42-5 stretches into annular groove), under original state, institute There is claw 42-4 to gather at the middle part of the capture holder 42-3, when executing capturing motion, the claw 42-4 four-ways dispersion is in Dispersity；The driving arm 42-5 rises under the promotion of the active bracket 42-6 in the axial of capture holder 42-3 Drop, and the 42-7 that has elastic component is set between driving arm 42-5 and active bracket 42-6；Active bracket 42-6 is equipped with and is used for Push down the flanging flange 42-61 of the companion flange 41-1；Active bracket 42-6 is by being arranged on the capture holder 42-3 Driving device drives.

As the first embodiment, as shown in figs. 4 through 6, the driving device includes being mounted on the capture holder Lead screw 42-10, the active bracket 42-6 on 42-3 are equipped with the screw thread being used cooperatively with the lead screw 42-10, the silk Bar 42-10 is by first motor 42-11 driving rotations.Specifically, first gear 42-12 is fixed on the lead screw 42-10, it is described The second gear 42-13 engaged with the first gear 42-12 is provided on the output shaft of first motor 42-11.

As second of embodiment, as shown in Fig. 7, the driving device includes being arranged in the capture holder 42-3 On electromagnet 42-8, the active bracket 42-6 on be provided with armature 42-9.

On lifting support 42-14, the capture holder 42-3 can be relative to the liter for the capture mechanism integral installation The 42-14 rotations of descending branch frame, the lifting support 42-14 can be lifted relative to the pedestal 42-1.

It is fixed on the capture holder 42-3 on third gear 42-15, the lifting support 42-14 and the second electricity is installed Machine 42-16 is equipped with the 4th gear 42- engaged with the third gear 42-15 on the output shaft of the second motor 42-16 17。

The second lead screw 218 and the third motor 42- for driving the second lead screw 218 are provided on the pedestal 42-1 It is provided with the feed screw nut 42-20 being used cooperatively with the second lead screw 218 on 19, the lifting support 42-14.

It is as follows that it docks principle：The 42-19 driving lifting support 42-14 movements of third motor make the claw 42-4 of capture mechanism It stretches into companion flange 41-1, capturing the claw 42-4 of mechanism, to resist docking convex for dispersion outward under the driving of driving arm 42-5 The inner ring of edge 41-1 can play the role of center of circle positioning in this way, after the center of circle positioning for completing companion flange 41-1, driving arm 42-5 can't continue to exercise, main since the 42-7 that has elastic component being arranged between active bracket 42-6 and driving arm 42-5 Dynamic holder 42-6 is unrestricted to be continued to move to close to the direction for capturing holder 42-3, until the flanging of active bracket 42-6 is convex Edge 42-61 resists companion flange 41-1 and it is pushed to be axially moved the radial extension for making companion flange 41-1 resist claw 42-4 Until 42-43 can not be moved, the radial extension 42-43 on flanging flange 42-61 and claw 42-4 is pushed down pair respectively at this time The both sides for meeting flange 41-1 complete the axially position of companion flange 41-1.After completing positioning, the second motor 42-16 drives are caught It catches mechanism and rotates integrally the contact alignment for making first interface 41-2 and second interface 42-2, then, the 42-19 drivings of third motor rise The 42-14 movements of descending branch frame, make first interface 41-2 be docked with second interface 42-2, complete electrical docking.

The execution unit 11 includes Suction cup assembly；The Suction cup assembly includes that sucker 111, one end and sucker 111 connect Tracheae 112 and negative pressure generating element 113 for generating negative pressure, the other end direct or indirect connection negative pressure of tracheae 112 Generating element 113；The drone body 1212 includes multiple wing arms 121, includes motor 122 on each wing arm 121, electricity One end of the output shaft of machine 122 connects rotor, the other end connection negative pressure generating element 113 of the output shaft of motor 122.

Negative pressure generating element 113 as shown in Fig. 3 includes element housings 1131, and bullet is equipped in the element housings 1131 Property film 1132, a chamber for carrying air intake and gas outlet is surrounded between 1131 inner cavity of the elastic membrane 1132 and element housings Room is equipped with air inlet valve 1133 at the air intake, is equipped with air outlet valve 1134 at the gas outlet, the motor 122 passes through transmission Structure makes 1132 periodic reverse of elastic membrane vibrate.In the first embodiment, each negative pressure generating element 113 passes through tracheae 112 independent connection suckers 111；The drive mechanism includes drive rod 1135 and inclined on the output shaft of motor 122 Heart wheel 1136 is hinged relationship between one end of the drive rod 1135 and the eccentric wheel 1136, the drive rod 1135 The other end connects the elastic membrane 1132.

In second of embodiment, negative pressure generating element 113 connects negative pressure cavity, and all suckers 111 connect with negative pressure cavity It connects.For the drone body 1212 of extra more rotors, it can be equipped with negative pressure generating element 113 on each wing arm 121, also may be used It is equipped with negative pressure generating element 113, such as eight rotor wing unmanned aerial vehicles 1 with interval one or more wing arm 121, it can be in its symmetric position Four wing arms 121 on setting negative pressure generating element 113, be not provided with negative pressure generating element 113 on other wing arms 121.

Further include the solenoid valve 114 for controlling 111 air source break-make of sucker for the ease of controlling the break-make of sucker 111.With Only it is preferred embodiments of the present invention described in upper, it should be pointed out that：For those skilled in the art, Without departing from the principle of this utility model, several improvements and modifications can also be made, these improvements and modifications should also regard For the scope of protection of the utility model.

Claims

1. indoor intelligent robot system, it is characterised in that：Positioning system including UAV system, for determining unmanned plane position System and the control centre that can be communicated with UAV system；The UAV system includes drone body and is mounted on described Vision element in drone body and avoidance detecting element.

2. indoor intelligent robot system according to claim 1, it is characterised in that：It is set between indoor difference separate space Be equipped with for unmanned plane by unmanned plane channel, and be both provided with a set of individual positioning system in each separate space.

3. indoor intelligent robot system according to claim 1 or 2, it is characterised in that：The positioning system includes point Fixed multiple retaining elements are dissipated, the UAV system includes can be with the independent interactive servo-actuated member of each fixed cell Part.

4. indoor intelligent robot system according to claim 2, it is characterised in that：The unmanned plane channel is can be automatic The automatically-controlled door of keying, and authentication module is provided on unmanned plane channel, request module is provided in the UAV system, it is described Between request module and the authentication module can between or indirect communication.

5. indoor intelligent robot system according to claim 3, it is characterised in that：The retaining element is servo-actuated with described One of them is signal sending element between element, another is signal receiving element.

6. indoor intelligent robot system according to claim 1, it is characterised in that：Further include base station, the unmanned plane System can be stopped in the base station.

7. indoor intelligent robot system according to claim 1, it is characterised in that：Further include in the UAV system The execution unit of executable task.