CN209091192U - Artificial intelligence robot that keeps a public place clean - Google Patents
Artificial intelligence robot that keeps a public place clean Download PDFInfo
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- CN209091192U CN209091192U CN201820899654.6U CN201820899654U CN209091192U CN 209091192 U CN209091192 U CN 209091192U CN 201820899654 U CN201820899654 U CN 201820899654U CN 209091192 U CN209091192 U CN 209091192U
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- 238000004140 cleaning Methods 0.000 claims abstract description 163
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- 210000001364 upper extremity Anatomy 0.000 claims abstract description 26
- 210000001503 joint Anatomy 0.000 claims description 77
- 210000000323 shoulder joint Anatomy 0.000 claims description 49
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- 241001417527 Pempheridae Species 0.000 claims description 9
- 239000007921 spray Substances 0.000 claims description 8
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- 230000000007 visual effect Effects 0.000 abstract 1
- 238000010586 diagram Methods 0.000 description 13
- 238000000034 method Methods 0.000 description 6
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- 239000000956 alloy Substances 0.000 description 1
- 230000003321 amplification Effects 0.000 description 1
- 238000013528 artificial neural network Methods 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
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- 230000010355 oscillation Effects 0.000 description 1
- 230000000644 propagated effect Effects 0.000 description 1
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Abstract
The utility model discloses an artificial intelligence robot that keeps a public place clean, its technical scheme main points are including: a body; the binocular vision device is used for acquiring image information in a visual field range in the advancing direction; the laser ranging device comprises a first laser ranging sensor and a second laser ranging sensor, wherein the first laser ranging sensor is used for acquiring a first distance value of the machine body from a current stage ladder, and the second laser ranging sensor is used for acquiring a second distance value of the machine body from a previous stage ladder; the mechanical legs comprise two mechanical front legs and two mechanical rear legs for travelling; the cleaning device comprises a cleaning mechanical arm and a sweeping assembly which are arranged on the machine body; the controller is arranged in the machine body and is electrically connected with the binocular vision device, the laser ranging device, the mechanical legs and the cleaning device respectively. This application is through this belt cleaning device, can clean stair ladder one by one full-automatically, the staff only need follow stair belt cleaning device march can to improve the convenience that stair cleaned work.
Description
Technical field
The utility model relates to cleaning equipment field, in particular to a kind of artificial intelligence cleaning robot.
Background technique
With the development of society, skyscraper is increasing, elevator is increasingly becoming the common tool of people, and common stair are gradually
Gradually unmanned to use, but when occurring to have a power failure or fire earthquake etc. is dangerous, elevator paralyses state, and people rely only on
Common stair move up and down in high building.Therefore although the utilization rate of common stair is low, but still is that most important escape is saved one's life channel,
The work of its daily cleaning is very important.For the high buildings and large mansions of story height, artificial cleaning is huge to the consumption of manpower.
Utility model content
In view of the deficienciess of the prior art, keeping a public place clean machine the purpose of this utility model is to provide a kind of artificial intelligence
People can be improved the convenience for cleaning stair.
The above-mentioned technical purpose of the utility model has the technical scheme that
A kind of artificial intelligence cleaning robot, comprising:
Body；
Binocular vision device is arranged on body for acquiring direction of travel image information within the vision；
Laser ranging system is arranged on body, which includes that horizontally disposed first laser ranging passes
Sensor and second laser distance measuring sensor, the first laser distance measuring sensor are used to obtain body distance when prime ladder
First distance value, the second laser distance measuring sensor is for obtaining second distance value of the body apart from upper level ladder；
Pedipulator is used for the mechanical foreleg and mechanical back leg of traveling including two, before bodies are arranged in two mechanical forelegs
The rear side of body is arranged in side, two mechanical back legs；
Cleaning device including the cleaning machine arm being arranged on body and cleans component, and the cleaning machine arm includes logical
Cross the first shoulder joint, the second shoulder joint, third shoulder joint and the 4th shoulder joint that servo motor drives rotation, the cleaning component
It is arranged on the 4th shoulder joint；
Remote controler, for exporting control instruction；
Controller is arranged in body electric with binocular vision device, laser ranging system, pedipulator and cleaning device respectively
Connection, the controller obtain control instruction with according to first distance value body to be moved to when prime ladder by pedipulator
In pre-determined distance, to work as prime ladder based on image information control cleaning machine arm and the movement of cleaning component to clean, and according to
Second distance value control pedipulator movement is moved to upper level ladder.
Through the above technical solutions, adjusting binocular vision before the cleaning device is placed on the ladder of stair by staff
The position for feeling device, first laser distance measuring sensor and second laser distance measuring sensor, after starting the cleaning device, first laser
Distance measuring sensor obtains the first distance value of current ladder, and second laser distance measuring sensor obtains the second distance of upper level ladder
Value, binocular vision device obtain the image information of ladder；
Controller is based on first distance value, second distance value and image information, to control pedipulator according to first distance value
Body is moved in the pre-determined distance of prime ladder, according to image information, identify when the cleaning range of prime ladder with
And the height of each ladder, started according to the cleaning range control cleaning machine arm and cleaning component when prime ladder and is worked as with cleaning
Prime ladder；
After the completion of prime ladder cleans, controller be based on first distance value and second distance value obtain two ladders it
Between spacing, and accordingly control the mobile height and extension distance of pedipulator according to the height of ladder, mechanical foreleg be moved to
After upper level ladder, binocular vision device obtains image information with clear according to cleaning range control cleaning machine arm and cleaning component
Upper level ladder is swept, after completing cleaning works, mechanical foreleg and machine are successively controlled based on the mobile height and extension distance
After tool back leg is moved to upper level ladder, control cleaning machine arm and cleaning component clean upper level ladder, are sequentially completed cleaning
Work, until the completion of ladder cleaning works, staff only needs that stair cleaning device is followed to advance as a result, thus
Improve the convenience of stair cleaning works.
Preferably, each mechanical foreleg include driven by servo motor rotation first before leg joint, the second foreleg close
Leg joint before leg joint and the 4th before section, third；
Each machinery back leg include driven by servo motor rotation first after leg joint, third after leg joint, second
Leg joint after leg joint and the 4th afterwards；
The length of leg joint is greater than the length of leg joint before third after the third.
Through the above technical solutions, the length of leg joint is greater than the length of leg joint before third after third, it is clear at this as a result,
For clean device when ladder cleans, it is poor to make up two-stage ladder height up and down by the length in third joint, to guarantee machinery
Leg can by body on ladder held stationary state.
Preferably, walking sucker is mounted on leg joint after leg joint and the 4th before the 4th.
Through the above technical solutions, sucker is walked when contacting with ladder, before can be improved the 4th after leg joint and the 4th
The stability that leg joint is contacted with ladder, to improve stability of the pedipulator when creeping on ladder.
Preferably, pressure sensor is installed on the end face of the walking sucker, height is installed in the walking sucker
Sensor, the pressure sensor are connected with controller respectively with height sensor.
Through the above technical solutions, the end face of walking sucker is arranged in pressure sensor, in the ladder of walking sucker and ladder
When face contact, pressure sensor feeds back a pressure signal and is given to controller, has been come to a complete stop on stair with surface pedipulator, with
Further increase stability when pedipulator moves ahead.
Preferably, obliquity sensor is provided in the body, the obliquity sensor is connected with controller, the control
Device is by the dip angle signal that obliquity sensor is exported to pass through the posture of pedipulator adjustment body.
Through the above technical solutions, the setting of obliquity sensor can export the dip angle signal of body, controller being capable of root
Body is kept with adjusting the anterior-posterior horizontal state of body according to posture before and after dip angle signal control pedipulator adjustment body
It is horizontal.
Preferably, the binocular vision device includes:
Bracket is fixed on the machine body；
Sliding slot is arranged on bracket；
Binocular vision camera, there are two settings, and optical lens, two binocular visions are all had on each binocular vision camera
The bottom of camera is mounted on sliding block compatible with sliding slot, is provided with positive spiral shell on the sliding block of one of binocular vision camera
Pit is provided with reverse thread hole on the sliding block of another binocular vision camera；
Driving motor is fixed on bracket, and the screw rod extending into sliding slot, institute are connected on the output shaft of the driving motor
Screw rod is stated to be threaded in respectively in forward screw thread hole and reverse thread hole.
Through the above technical solutions, driving motor drives screw rod to rotate, screw rod will drive two binocular vision cameras simultaneously
It moves towards or is moved away from, thus, it is possible to change binocular vision camera institute acquired image information according to the width of stair
Width improves the cleaning range of ladder tread.
Preferably, auxiliary light is provided with outside the optical lens.
Through the above technical solutions, the setting of auxiliary light, can be double in the case that the light is dusky at stair corridor
Mesh vision camera provides floor light, improves the clarity that binocular vision camera collects image information, clear to further increase
Sweep the precision of range.
Preferably, the cleaning component includes:
Cleaning bar, one end of the cleaning bar are rotatably installed in the 4th shoulder joint and by Serve Motor Controls on the 4th shoulder joint
Rotation；
Cleaning head, including clean motor, gear, ring gear, connection gear, brush sweeper and swivel bearing, the cleaning
Motor is fixed on the other end of cleaning bar, and the inner ring of the swivel bearing is fixed on the other end of cleaning bar and the rotary shaft
It contracts to overlay on and clean outside motor output shaft, the gear is mounted on the output shaft for cleaning motor, and the ring gear is fixed on rotation
On the outer ring that shaft is held and ring gear is coated on outside gear, and connection gear is engaged between the gear and ring gear, described clear
Brooming brush is arranged on ring gear.
Through the above technical solutions, cleaning motor driven gear rotation when cleaning electric motor starting, gear passes through tooth connection
Wheel drives ring gear rotation, wherein brush sweeper is arranged on ring gear, and brush sweeper can be carried out with ring gear as a result,
Rotary cleaning movement, achievees the purpose that cleaning, improves the cleaning effect of stair.
Preferably, fountain head and suction head, the fountain head and suction head point are fixed on the other end of the cleaning bar
The gap not formed across gear and ring gear is provided with asepwirator pump and water spray chamber on the body；
Water jet pump is provided in the water spray chamber, the delivery outlet of the water jet pump is connected by pipeline with fountain head；
The asepwirator pump is connected by tracheae with suction head.
Through the above technical solutions, water jet pump can draw the water in water spray chamber during brush sweeper rotary cleaning
And sprayed from fountain head by pipeline, asepwirator pump can be drawn the dust of cleaning by tracheae from suction head, therefore, be led to
The cooperation between fountain head, suction head and brush sweeper is crossed, to further increase the cleaning effect of stair tread.
Preferably, the cleaning bar includes the first bar and the second bar；
One end of first bar is rotatably installed in the 4th shoulder joint and is rotated by Serve Motor Control on the 4th shoulder joint,
The other end of first bar offers sliding groove；
One end of second bar is slidably mounted in the sliding groove of the first bar, and the another of the second bar is arranged in the cleaning head
One end is equipped with the elastic spring to offset with second bar one end in the sliding groove.
Through the above technical solutions, cleaning bar includes the first bar and the second bar, the second bar can be along the cunning on the first bar
Dynamic slot sliding, as a result, during cleaning head cleans, cleaning bar has the shrink space of certain elasticity, in cleaning machine arm
To adapt to the vertical situation in stair corner in rotation process.
In conclusion the utility model having the beneficial effect that in contrast to the prior art
The application by the cleaning device, can automatically to stair, ladder is cleaned one by one, staff only needs
Stair cleaning device is followed to advance, to improve the convenience of stair cleaning works.
Detailed description of the invention
Fig. 1 is the structural schematic diagram of embodiment；
Fig. 2 is the status diagram creeped in embodiment；
Fig. 3 is the structural schematic diagram of cleaning device in embodiment；
Fig. 4 is the structural block diagram of embodiment；
Fig. 5 is the structural schematic diagram of cleaning machine arm in embodiment；
Fig. 6 is the structural schematic diagram of binocular vision device in embodiment；
Fig. 7 is the structural schematic diagram of binocular vision camera in embodiment；
Fig. 8 is the schematic diagram of binocular vision camera in embodiment；
Fig. 9 is the structural schematic diagram of cleaning head in embodiment；
Figure 10 is the structural schematic diagram of internal gear in embodiment；
Figure 11 is the first climbing schematic diagram of cleaning device in embodiment；
Figure 12 is the second climbing schematic diagram of cleaning device in embodiment；
Figure 13 is the third climbing schematic diagram of cleaning device in embodiment.
Appended drawing reference: 1, body；2, binocular vision device；21, bracket；22, binocular vision camera；23, driving motor；
24, sliding slot；25, optical lens；26, auxiliary light；3, laser ranging system；31, first laser distance measuring sensor；32, second
Laser range sensor；4, pedipulator；41, mechanical foreleg；411, leg joint before first；412, leg joint before second；413,
Leg joint before three；414, leg joint before the 4th；42, mechanical back leg；421, leg joint after first；422, leg joint after second；
423, leg joint after third；424, leg joint after the 4th；5, walking sucker；6, cleaning device；61, cleaning machine arm；611,
One shoulder joint；612, the second shoulder joint；613, third shoulder joint；614, the 4th shoulder joint；62, component is cleaned；621, cleaning bar；
6211, the first bar；6212, the second bar；6213, sliding groove；6214, elastic spring；622, cleaning head；6221, motor is cleaned；
6222, gear；6223, ring gear；6224, brush sweeper；6225, swivel bearing；6226, connection gear；623, fountain head；
624, suction head；625, asepwirator pump；626, water spray chamber；63, transverse shifting slide unit；631, slide unit motor；632, sliding stand.
Specific embodiment
The utility model is described in further detail below in conjunction with attached drawing.
Referring to figs. 1 and 2, a kind of artificial intelligence cleaning robot, including body 1, binocular vision device 2, laser
Range unit 3, pedipulator 4, cleaning device 6, controller and remote controler.Controller is according to the control instruction that remote controler issues to control
Pedipulator 4 and cleaning device 6 movement processed, completes the cleaning process of stair.
Body 1 uses Founder shell made of aluminum alloy material, is in hollow setting inside body 1.
The front side of 1 direction of travel of body is arranged in binocular vision device 2, and the binocular vision device 2 is for acquiring traveling side
To image information within the vision.Binocular vision device 2 is electrically connected with the controller, and controller can be according to binocular vision device
With recognition and verification cleaning range and corresponding control 6 automatic cleaning of cleaning device of the image informations of 2 acquisitions.
In the application, in conjunction with shown in Fig. 3 and Fig. 6, binocular vision device 2 includes bracket 21, binocular vision camera 22 and drives
Dynamic motor 23.Specifically, bracket 21 is fixed on body 1, and bracket 21 is laterally arranged along body 1, i.e. bracket 21 and machine
The direction of travel of body 1 is perpendicular.Sliding slot 24 is provided on bracket 21, sliding slot 24 is arranged in the upper surface of bracket 21 and along bracket
21 length direction distribution.
In the present embodiment, there are two the settings of binocular vision camera 22, all has optical frames on two binocular vision cameras 22
First 25, optical lens 25 is provided with auxiliary light 26(referring to shown in Fig. 7 outside), auxiliary light 26 uses LED light.Wherein, two
The bottom of binocular vision camera 22 is mounted on sliding block, and sliding block is chimeric to be entered in sliding slot 24 to be adapted with sliding slot 24 and can edge
Sliding slot 24 slides, and is provided with forward screw thread hole on the sliding block of one of binocular vision camera 22, another binocular vision camera
Reverse thread hole is provided on 22 sliding block.Driving motor 23 is fixed on the stent 21, leads on the output shaft of the driving motor 23
It crosses shaft coupling and is connected with screw rod, screw rod is extend into sliding slot 24 and the other end of screw rod is rotatablely installed on the stent 21, wherein silk
Bar is threaded in respectively in the forward screw thread hole of one of sliding block and the reverse thread hole of another sliding block.
In the application, as shown in figure 3, laser ranging system 3 is arranged on body 1, specifically, the laser ranging system 3
Including horizontally disposed first laser distance measuring sensor 31 and second laser distance measuring sensor 32, first laser distance measuring sensor 31
The next setting is presented with second laser distance measuring sensor 32.First laser distance measuring sensor 31 is for obtaining the body 1 apart from working as
The first distance value of prime ladder, second laser distance measuring sensor 32 is for obtaining the body 1 apart from the second of upper level ladder
Distance value, wherein the spacing between first laser distance measuring sensor 31 and second laser distance measuring sensor 32 is adjusted and building
The spacing of step ladder is close.
The working principle of specific laser range sensor is as follows: the speed C that light is propagated in air is constant C=3*
105Km/sec detects the turnaround time t, the distance between two o'clock L=1/2Ct, thus to obtain to fly between light wave two o'clock
First distance value L1 and second distance value L2 are stated, stair tread can be obtained according to first distance value L1 and second distance value L2
Interval S=L2-L1.
As shown in figure 3, pedipulator 4 includes the two mechanical forelegs 41 and mechanical back leg 42 for traveling, before two machinery
The front side of body 1 is arranged in leg 41, and the rear side of body 1 is arranged in two mechanical back legs 42.
Each machinery foreleg 41 include driven by servo motor rotation first before leg joint before leg joint 411, second
412, leg joint 414 before leg joint 413 and the 4th before third；Specifically, leg joint 411 before being fixedly installed first on body 1, the
Servo motor is installed, leg joint 411 can carry out swing along body 1 before first, and the first foreleg closes before one in leg joint 411
Leg joint 412 before being equipped with second on section 411.As a result, before second leg joint 412 can before first 411 circuit oscillation of leg joint,
Leg joint 413 before third is equipped with by servo motor on leg joint 412 before second.Leg joint 413 can be along before third as a result,
Leg joint 412 is swung before two, leg joint 414 before leg joint 413 is equipped with the 4th by servo motor before third, and as a result, the 4th
Preceding leg joint 414 leg joint 413 can be swung before third.
Each machinery back leg 42 include driven by servo motor rotation first after leg joint after leg joint 421, second
422, leg joint 424 after leg joint 423 and the 4th after third；Specifically, leg joint 421 after being fixedly installed first on body 1,
Servo motor is installed, leg joint 421 can carry out swing, the first back leg along body 1 after first after first in leg joint 421
Leg joint 422 after being equipped with second on joint 421, as a result, after second leg joint 422 can after first the circumferential pendulum of leg joint 421
It is dynamic, leg joint 423 after third is equipped with by servo motor on leg joint 422 after second, leg joint 423 can after third as a result,
Leg joint 422 is swung after second, leg joint 424 after leg joint 423 is equipped with the 4th by servo motor after third, as a result,
Leg joint 424 leg joint 423 can be swung after third after 4th.
Wherein, the length of leg joint 423 is greater than the length of leg joint 413 before third, 414 He of leg joint before the 4th after third
Walking sucker 5 is mounted on after 4th on leg joint 424.Therefore, controller can be controlled according to the interval S of above-mentioned ladder tread
Make above-mentioned each servo motor rotational angle, thus adjust stretching, extension in 42 horizontal direction of mechanical foreleg 41 and mechanical back leg away from
From.
It is worth noting that being mounted on pressure sensing on the end face of each walking sucker 5 in conjunction with shown in Fig. 3 and Fig. 4
Device, walk sucker 5 in height sensor is installed, pressure sensor is connected with controller respectively with height sensor, pressure biography
Sensor is used to obtain the pressure signal of walking sucker 5, to detect whether walking sucker 5 contradicts with the tread of ladder, height biography
Sensor is used to obtain the altitude signal of each walking sucker 5, to detect the height fall of each walking sucker 5, judges machinery
Whether foreleg 41 or mechanical back leg 42 fall on the tread of upper level ladder.
Wherein, it is provided with obliquity sensor in body 1, obliquity sensor is connected with controller, and controller is passed by inclination angle
The dip angle signal that sensor is exported is with by the posture of the adjustment body 1 of pedipulator 4, i.e. controller is exported according to obliquity sensor
Obliquity information, judge that body 1 leans forward or hypsokinesis, by controlling the movement of mechanical foreleg 41 and mechanical back leg 42, by machine
Body 1 keeps horizontality.
In conjunction with shown in Fig. 3 and Fig. 5, cleaning device 6 includes the cleaning machine arm 61 being arranged on body 1 and cleaning component
62, cleaning machine arm 61 includes that the first shoulder joint 611, the second shoulder joint 612, third arm of rotation is driven to close by servo motor
Section 613 and the 4th shoulder joint 614, specifically, cleaning device 6 is arranged in 1 upper surface of body or front end, and the present embodiment is with sanitizer cartridge
It sets and is illustrated for the upper surface that 6 are arranged in body 1.
Wherein, the upper surface of body 1 is provided with transverse shifting slide unit 63, horizontal line Mobile Slide includes being fixed on body 1
On slide unit motor 631 and be slidably mounted on the sliding stand 632 of 1 upper surface of body, the output shaft of the slide unit motor 631
On driving screw rod is installed, the driving wire rod thread is connected on sliding stand 632, wherein cleaning machine arm 61 be arranged in cunning
On dynamic platform 632, slide unit motor 631 can drive driving screw rod rotation to drive sliding stand 632 along 1 transverse shifting of body as a result,
To drive cleaning machine arm 61 along 1 transverse shifting of body.
Specifically, the first shoulder joint 611 of cleaning machine arm 61 is fixed on sliding stand 632 by servo motor,
First shoulder joint 611 can be circumferentially rotated around slide unit, wherein be equipped with by servo motor on the first shoulder joint 611
Two shoulder joints 612, the length direction of the second shoulder joint 612 is identical as the length direction of the first shoulder joint 611, as a result, the second arm
Joint 612 can be swung along the first shoulder joint 611.Third shoulder joint is equipped with by servo motor on second shoulder joint 612
613, the length direction of third shoulder joint 613 is identical as the length direction of the second shoulder joint 612, and third shoulder joint 613 can as a result,
It is swung along the second shoulder joint 612, the 4th shoulder joint 614 is equipped with by servo motor on third shoulder joint 613, the 4th arm closes
The length direction of section 614 is identical as the length direction of the second shoulder joint 612, and the 4th shoulder joint 614 can be put along third shoulder joint 613
It is dynamic.
In the application, binocular vision device 2 acquires direction of travel image information within the vision, and wherein binocular vision fills
Setting 2 acquired image information is three-dimensional information, and the principle of specific three-dimensional measurement is as shown in Figure 8:
The wherein distance of the projection centre line of baseline distance B=two binocular vision camera 22, camera focus f.Wherein,
If same feature P(x, y, z of two binocular vision cameras 22 in synchronization viewing space object), respectively at " left eye " and
The image of point P is obtained on " right eye ", their image coordinate is respectively Pleft=(Zleft, Yleft), Pleft=
(Xright, Yright), the image of existing two binocular vision cameras 2222 in the same plane, then the image coordinate Y of characteristic point P
Coordinate is identical, i.e. Yright=Yright=Y, then obtains Xleft=fXc/Zc by triangle geometrical relationship, and Xright=f(Xc-B)/
Zc},Y=fyc/ Zc。
Then parallax are as follows: thus Disparity=Xleft- Xright can calculate three of characteristic point P under camera coordinates
Tie up coordinate are as follows: xc=B*Xleft/ Disparity, yc=B*Y/ Disparity, Zc=B*f/ Disparity, therefore, on a left side
As long as any point on side binocular vision camera 22 can find corresponding match point in right camera image planes, so that it may determine
The three-dimensional coordinate of the point, this mode are complete point-to-point operations, and all the points are simply by the presence of corresponding match point in image planes, just
Above-mentioned operation can be participated in, to obtain its corresponding three-dimensional coordinate.
Therefore, it using above-mentioned three-dimensional measurement principle, by acquired image information, is identified in controller configured with range
Module, three-dimensional system of coordinate conversion module, reverse anti-solution manipulator joint angle unit and driver.
Range identification module is used to carry out the point identification at each edge or corner of ladder, and range identification module can be with according to this
The cleaning range of ladder in stair is obtained, range identification module accordingly obtains ladder upper edge point according to image information to identify
With ladder lower edge point, obtain the height h of ladder according to this, specific cleaning range by ladder each edge or corner three
Coordinate is tieed up to constitute.
In the application, controller can control above-mentioned each servo motor rotational angle according to the height h of above-mentioned ladder,
To adjust the extension distance on 42 vertical direction of mechanical foreleg 41 and mechanical back leg.
Three-dimensional system of coordinate conversion module obtains the three-dimensional coordinate of each point of cleaning range, and the three-dimensional coordinate of each point is converted into
It is only to Incomplete information using neural network by three-dimensional information using reverse anti-solution manipulator joint Corner Block List Representation after three-dimensional information
The nonlinear characteristic of special parameter mapping ability, fast parallel information processing capability and Multiinputoutput, it is established that a kind of special
The solving model of Multi-freedom-degreemanipulator manipulator joint space parameter, the patent of invention " base of specific such as application number 201310223530.8
In the man-machine interactive manipulator control system of binocular vision " it is illustrated.
When the cleaning machine arm 61 in cleaning device 6 is obtained from the three-dimensional coordinate for the cleaning range that controller acquires,
With this come quickly, concurrently obtain certain feasible solution value in each joint of cleaning machine arm 61, allow cleaning machine arm 61 to reach
Position in cleaning range where three-dimensional coordinate, thus the cleaning movement to determine cleaning machine arm 61 according to cleaning range.
I.e. after binocular vision device 2 collects the image information of ladder, controller drives cleaning machine by driver
The movement of each servo motor of arm 61, to clean to the cleaning range set up in image information, specifically, cleaning range is
Rectangular extent, cleaning range are the tread of ladder.The cleaning action of cleaning machine arm 61 is as follows: control cleaning machine arm 61 along
The outer ring of rectangular extent cleans a circle.
Component 62 is cleaned to be arranged on the 4th shoulder joint 614；Specifically, component 62 is cleaned to include cleaning bar 621 and clean
First 622.One end of cleaning bar 621 is rotatably installed in the 4th shoulder joint 614 and is turned by Serve Motor Control on the 4th shoulder joint 614
It is dynamic；Length direction of the length direction of cleaning bar 621 perpendicular to the 4th shoulder joint 614.
In conjunction with shown in Fig. 9 and Figure 10, cleaning head 622 includes cleaning motor 6221, gear 6222, ring gear 6223, connection
Gear 6226, brush sweeper 6224 and swivel bearing 6225 clean motor 6221 and are fixed on the other end of cleaning bar 621, revolve
The inner ring that shaft holds 6225 is fixed on the other end of cleaning bar 621 and the swivel bearing 6225 be coated on clean motor 6221 it is defeated
Outside shaft, gear 6222 is mounted on the output shaft for cleaning motor 6221, and ring gear 6223 is fixed on the outer of swivel bearing 6225
On circle and ring gear 6223 is coated on outside gear 6222, and connection gear 6226 is engaged between gear 6222 and ring gear 6223,
Brush sweeper 6224 is arranged on ring gear 6223.
It is worth noting that fountain head 623 and suction head 624 are fixed on the other end of cleaning bar 621, fountain head 623
And suction head 624 is each passed through the gap formed between gear 6222 and ring gear 6223, and asepwirator pump 625 is provided on body 1
With water spray chamber 626；Water jet pump is provided in water spray chamber 626, the delivery outlet of water jet pump is connected by pipeline with fountain head 623；
Asepwirator pump 625 is connected by tracheae with suction head 624.
In the present embodiment, cleaning bar 621 includes the first bar 6211 and the second bar 6212；One end of first bar 6211 rotates peace
It is rotated mounted in the 4th shoulder joint 614 and by Serve Motor Control on the 4th shoulder joint 614, the other end of the first bar 6211 offers
Sliding groove 6213；One end of second bar 6212 is slidably mounted in the sliding groove 6213 of the first bar 6211, and the setting of cleaning head 622 exists
The other end of second bar 6212 is equipped with the elastic spring 6214 to offset with 6212 one end of the second bar in sliding groove 6213.
Controller be arranged in body 1 respectively with binocular vision device 2, laser ranging system 3, pedipulator 4 and sanitizer cartridge
Set 6 electrical connections, signal receiver be installed on controller, there is signal projector on remote controler, remote controler is capable of emitting include but
The controls such as whole forward, foreleg climbs building, back leg climbs building, cleaning, cleaning range reduces, cleaning range amplifies, turns are not limited to refer to
It enables, after controller receives control instruction, pedipulator 4 can be controlled according to control instruction and cleaning device 6 is moved accordingly
To make, i.e., body 1 is moved in the pre-determined distance of prime ladder according to first distance value with passing through pedipulator 4 by controller, with
Based on image information control cleaning machine arm 61 and the movement of component 62 is cleaned to clean when prime ladder, and according to second distance value
The control movement of pedipulator 4 is moved to upper level ladder.
Specific control process is as follows:
When needing to clean stair, before which is placed on stair by staff, the power supply of the cleaning device is opened
It switchs, in the application, battery is provided in body 1, the component on body 1 is powered by battery, firstly, control
The dip angle signal that device is exported by obliquity sensor controls the movement of mechanical foreleg 41 and mechanical back leg 42, before body 1
After be maintained at horizontality.
As shown in figure 11, staff issues forward control instruction by remote controler, and controller is according to forward control
Instruction, controller are advanced by driver control pedipulator 4, and first laser distance measuring sensor 31 obtains body 1 apart from current rank
Body 1 is rested on the pre-determined distance of current ladder based on the first distance value L1 by the first distance value L1 of ladder, controller
It is interior；
In conjunction with shown in Figure 12 and Figure 13, staff by remote controler issue clean control instruction when, controller according to
The control instruction of cleaning, binocular vision device 2 acquire image information, and controller receives after image information by identifying image
The cleaning range of ladder tread in information, and then acted by driver control cleaning machine arm 61 along cleaning range, and
Corresponding control cleaning head 622 starts, and completes the cleaning works for working as prime ladder tread；
After the completion of working as the tread cleaning works of prime ladder, staff is referred to by the control that remote controler sending foreleg climbs building
It enables, controller climbs the control instruction in building according to foreleg, and controller is first according to the spacing of the height h of the ladder and ladder tread
S, to obtain the extension distance in the extension distance and vertical direction in 41 horizontal direction of mechanical foreleg, controller controls machine first
41 clockwise motion of tool foreleg, during mechanical foreleg 41 is swung, leg joint 414 remains vertical direction before the 4th
On, so that the end face of walking sucker 5 is downward always, the position that specific sucker 5 of walking rests on upper level ladder tread is rank
At the half of tread interval S.
When the pressure sensor output pressure value on 5 end face of sucker of walking, that is, show walk sucker 5 and upper level ladder
Tread contradict, and walk sucker 5 height sensor output height value be greater than other walking suckers 5 height sensor institute
When the height value of output, and within a preset range, i.e., sucker 5 has been walked in surface by height value and the ladder height h between the two
Through being parked on the tread of upper level ladder；
At this point, controller is by driver control, another mechanical foreleg 41 repeats above-mentioned movement to rest on upper level rank
On ladder.
Then, the exportable back leg of staff climbs the control instruction in building, and controller climbs the control instruction in building according to back leg, control
Device processed is first according to the interval S of the height h of the ladder and ladder tread, to obtain the stretching, extension in 42 horizontal direction of mechanical back leg
Extension distance in distance and vertical direction, controller control 42 clockwise motion of mechanical back leg first, put in mechanical back leg 42
In dynamic process, leg joint 424 is remained on vertical direction after the 4th, so that the end face of walking sucker 5 is downward always, tool
The position that body walking sucker 5 rests on upper level ladder tread is at the half of ladder tread interval S.
Correspondingly, staff can export the control instruction of cleaning again, no longer carry out 6 cleaning process of cleaning device herein
Be described in detail.
Wherein, reduced when staff exports cleaning range, the control instruction of cleaning range amplification when, controller is by basis
The spacing between two binocular vision cameras 22 is adjusted by driving motor 23.
The above is only the exemplary embodiment of the utility model, the protection model rather than limited the present invention
It encloses, the protection scope of the utility model is determined by the attached claims.
Claims (10)
1. a kind of artificial intelligence cleaning robot characterized by comprising
Body (1)；
Binocular vision device (2) is arranged on body (1) for acquiring direction of travel image information within the vision；
Laser ranging system (3) is arranged on body (1), which includes that horizontally disposed first laser is surveyed
Away from sensor (31) and second laser distance measuring sensor (32), the first laser distance measuring sensor (31) is for obtaining the body
(1) distance works as the first distance value of prime ladder, and the second laser distance measuring sensor (32) is for obtaining body (1) distance
The second distance value of upper level ladder；
Pedipulator (4), including two for the mechanical foreleg (41) of traveling and mechanical back leg (42), two mechanical forelegs (41) are set
The front side of body (1) is set, the rear side in body (1) is arranged in two mechanical back legs (42)；
Cleaning device (6) including the cleaning machine arm (61) being arranged on body (1) and cleans component (62), the cleaner
Tool arm (61) includes the first shoulder joint (611) that rotation is driven by servo motor, the second shoulder joint (612), third shoulder joint
(613) it is arranged on the 4th shoulder joint (614) with the 4th shoulder joint (614), the cleaning component (62)；
Remote controler, for exporting control instruction；
Controller, setting in the body (1) respectively with binocular vision device (2), laser ranging system (3), pedipulator (4) and clearly
The electrical connection of clean device (6), the controller obtain control instruction with according to first distance value with by pedipulator (4) by body (1)
It is moved in the pre-determined distance of prime ladder, with dynamic based on image information control cleaning machine arm (61) and cleaning component (62)
Make to clean and work as prime ladder, and pedipulator (4) movement is controlled according to second distance value and is moved to upper level ladder.
2. a kind of artificial intelligence cleaning robot according to claim 1, which is characterized in that each machinery foreleg (41) is wrapped
Leg joint (413) before leg joint (412), third before leg joint (411), second before including drive rotation by servo motor first
Leg joint (414) before with the 4th；
Each machinery back leg (42) include driven by servo motor rotation first after leg joint after leg joint (421), second
(422), leg joint (424) after leg joint (423) and the 4th after third；
The length of leg joint (423) is greater than the length of leg joint (413) before third after the third.
3. a kind of artificial intelligence cleaning robot according to claim 2, which is characterized in that leg joint (414) before the 4th
Walking sucker (5) is mounted on after with the 4th on leg joint (424).
4. a kind of artificial intelligence cleaning robot according to claim 3, which is characterized in that walking sucker (5)
Pressure sensor is installed on end face, height sensor, the pressure sensor and height are installed in the walking sucker (5)
Sensor is connected with controller respectively.
5. a kind of artificial intelligence cleaning robot according to claim 1, which is characterized in that setting in the body (1)
There is obliquity sensor, the obliquity sensor is connected with controller, and the controller passes through the inclination angle that obliquity sensor is exported
Signal is to pass through the posture of pedipulator (4) adjustment body (1).
6. a kind of artificial intelligence cleaning robot according to claim 1, which is characterized in that the binocular vision device
(2) include:
Bracket (21) is fixed on body (1)；
Sliding slot (24) is arranged on bracket (21)；
Binocular vision camera (22), there are two settings, all has optical lens (25) on each binocular vision camera (22), two
The bottom of binocular vision camera (22) is mounted on and sliding slot (24) compatible sliding block, one of binocular vision camera (22)
Sliding block on be provided with forward screw thread hole, be provided with reverse thread hole on the sliding block of another binocular vision camera (22)；
Driving motor (23) is fixed on bracket (21), is connected on the output shaft of the driving motor (23) and is extend into sliding slot
(24) screw rod in, the screw rod are threaded in respectively in forward screw thread hole and reverse thread hole.
7. a kind of artificial intelligence cleaning robot according to claim 6, which is characterized in that the optical lens (25) is outside
It is provided with auxiliary light (26).
8. a kind of artificial intelligence cleaning robot according to claim 1, which is characterized in that cleaning component (62) packet
It includes:
Cleaning bar (621), one end of the cleaning bar (621) are rotatably installed in the 4th shoulder joint (614) and by the 4th shoulder joints
(614) Serve Motor Control rotates on；
Cleaning head (622), including clean motor (6221), gear (6222), ring gear (6223), connection gear (6226), clear
Brooming brush (6224) and swivel bearing (6225), the cleaning motor (6221) are fixed on the other end of cleaning bar (621), institute
The inner ring for stating swivel bearing (6225) is fixed on the other end of cleaning bar (621) and the swivel bearing (6225) is coated on cleaning
Outside motor (6221) output shaft, the gear (6222) is mounted on the output shaft for cleaning motor (6221), the ring gear
(6223) it is fixed on the outer ring of swivel bearing (6225) and ring gear (6223) is coated on gear (6222) outside, the gear
(6222) it is engaged between ring gear (6223) connection gear (6226), the brush sweeper (6224) is arranged in ring gear
(6223) on.
9. a kind of artificial intelligence cleaning robot according to claim 8, which is characterized in that the cleaning bar (621)
Fountain head (623) and suction head (624) are fixed on the other end, the fountain head (623) and suction head (624) are each passed through tooth
The gap formed between (6222) and ring gear (6223) is taken turns, is provided with asepwirator pump (625) and water spray chamber on the body (1)
(626)；
Water jet pump is provided in the water spray chamber (626), the delivery outlet of the water jet pump is connected by pipeline with fountain head (623)
It is logical；
The asepwirator pump (625) is connected by tracheae with suction head (624).
10. a kind of artificial intelligence cleaning robot according to claim 8, which is characterized in that cleaning bar (621) packet
Include the first bar (6211) and the second bar (6212)；
One end of first bar (6211) is rotatably installed in the 4th shoulder joint (614) and by servo on the 4th shoulder joint (614)
Motor control rotation, the other end of first bar (6211) offer sliding groove (6213)；
One end of second bar (6212) is slidably mounted in the sliding groove (6213) of the first bar (6211), the cleaning head
(622) other end in the second bar (6212) is set, is equipped with and the second bar (6212) one end phase in the sliding groove (6213)
The elastic spring (6214) supported.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201820899654.6U CN209091192U (en) | 2018-06-11 | 2018-06-11 | Artificial intelligence robot that keeps a public place clean |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201820899654.6U CN209091192U (en) | 2018-06-11 | 2018-06-11 | Artificial intelligence robot that keeps a public place clean |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN209091192U true CN209091192U (en) | 2019-07-12 |
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ID=67149245
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108784534A (en) * | 2018-06-11 | 2018-11-13 | 杭州果意科技有限公司 | Artificial intelligence robot that keeps a public place clean |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108784534A (en) * | 2018-06-11 | 2018-11-13 | 杭州果意科技有限公司 | Artificial intelligence robot that keeps a public place clean |
| CN108784534B (en) * | 2018-06-11 | 2024-02-13 | 杭州果意科技有限公司 | Artificial intelligence robot of keeping a public place clean |
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