CN211761560U

CN211761560U - Multifunctional intelligent robot

Info

Publication number: CN211761560U
Application number: CN201921946435.XU
Authority: CN
Inventors: 谢静文; 杨小华; 王黎
Original assignee: Wuhan Shuixiang Electronic Technology Co ltd
Current assignee: Wuhan Shuixiang Electronic Technology Co ltd
Priority date: 2019-11-12
Filing date: 2019-11-12
Publication date: 2020-10-27
Anticipated expiration: 2029-11-12

Abstract

The utility model belongs to the technical field of artificial intelligence, specifically provide a multi-functional intelligent robot, including head and truck, the truck both sides are equipped with the arm respectively, the truck bottom is equipped with a plurality of gyro wheels and is used for the chassis motor of drive roller, be equipped with main control chip in the truck, serial communication is connected between chassis motor and the main control chip, connect through head rotation axis and arm rotation axis respectively between arm and head and the truck, head rotation axis and arm rotation axis are connected with head rotating electrical machines and arm rotating electrical machines respectively, the gyroscope has been installed in the truck, truck the place ahead is equipped with the structured light degree of depth camera, head rotating electrical machines and arm rotating electrical machines, gyroscope and structured light degree of depth camera all with main control chip serial communication. The self posture and peripheral obstacles are sensed through the gyroscope and the structured light depth camera, so that the operation of the head, the arms and the rollers is correspondingly adjusted, and different actions of the robot are realized.

Description

Multifunctional intelligent robot

Technical Field

The utility model belongs to the technical field of artificial intelligence, concretely relates to multi-functional intelligent robot.

Background

The robot is a machine device for automatically executing work, can be controlled by human command, can run a pre-programmed program, and can be remotely controlled through a mobile phone and a background. Its task is to assist or replace human work, such as shop salesmen, shopping guide; fairground guides, and intelligent companions of family members.

Many similar robots in the existing market have single function, poor obstacle avoidance function and obvious defects of artificial intelligence technology. For example, some robots can carry out man-machine conversation but cannot walk; some robots can move in a walking mode but have poor obstacle avoidance functions, namely, only ultrasonic obstacle avoidance or only laser radar obstacle avoidance is performed; some robots can only run fixed programs; the artificial intelligence technology is only emerging at present, the function of the robot in the same type is not found in the market, and the robot in the market has poor self function and poor user experience due to the series of reasons.

Disclosure of Invention

The utility model aims at overcoming the incomplete problem of intelligent robot function among the prior art.

For this, the utility model provides a multi-functional intelligent robot, including head and truck, the truck both sides are equipped with the arm respectively, the truck bottom is equipped with a plurality of gyro wheels and is used for the drive the chassis motor of gyro wheel, be equipped with main control chip in the truck, the chassis motor with serial communication connection between the main control chip, the arm reaches the head with connect through head rotation axis and arm rotation axis respectively between the truck, head rotation axis and arm rotation axis are connected with head rotating electrical machines and arm rotating electrical machines respectively, the gyroscope has been installed in the truck, truck the place ahead is equipped with the structured light degree of depth camera, head rotating electrical machines and arm rotating electrical machines, gyroscope reach the structured light degree of depth camera all with main control chip serial communication connection.

Preferably, the model of the master control chip is STM32F429IGT, the chassis motor is connected with a CAN2_ TXD pin and a CAN2_ RXD pin of the master control chip, and the gyroscope is connected with a PB8 pin and a PB9 pin of the master control chip.

Preferably, the robot further comprises a CAN transceiver, a CAN2_ TXD pin and a CAN2_ RXD pin of the master control chip are respectively connected with a TXD pin and an RXD pin of the CAN transceiver, and a CANH pin and a CANL pin of the CAN transceiver are connected with a driver of the chassis motor.

Preferably, the gyroscope model is a six axis attitude control chip ICM-20689.

Preferably, an ultrasonic sensor is arranged in front of the trunk, and the ultrasonic sensor is connected with a pin PE0 and a pin PE1 of the main control chip.

Preferably, the tail end of the arm is provided with an electronic skin and a breathing lamp, and a communication interface of the electronic skin is connected with a serial port of the main control chip.

Preferably, a microphone is arranged at the top end of the head, loudspeakers are arranged on two sides of the head, and the microphone and the loudspeakers are respectively in communication connection with the transmission coupler of the main control chip.

Preferably, the roller is a self-locking universal wheel.

Preferably, the trunk bottom end is provided with a plurality of anti-falling sensors, and each anti-falling sensor is uniformly distributed on the edge of the trunk bottom end.

Preferably, a chassis is arranged under the trunk, and the rollers are uniformly distributed on the edge of the chassis.

The utility model has the advantages that: the utility model provides a pair of this kind of multi-functional intelligent robot, including head and truck, the truck both sides are equipped with the arm respectively, the truck bottom is equipped with a plurality of gyro wheels and is used for driving the chassis motor of gyro wheel, be equipped with main control chip in the truck, serial communication connection between chassis motor and the main control chip, be connected through head rotation axis and arm rotation axis respectively between arm and head and the truck, head rotation axis and arm rotation axis are connected with head rotating electrical machines and arm rotating electrical machines respectively, the gyroscope has been installed in the truck, truck the place ahead is equipped with the structured light degree of depth camera, head rotating electrical machines and arm rotating electrical machines, gyroscope and structured light degree of depth camera all with main control chip serial communication connection. The self posture and peripheral obstacles are sensed through the gyroscope and the structured light depth camera, so that the operation of the head, the arms and the rollers is correspondingly adjusted, and different actions of the robot are realized. The robot can turn 360 degrees in all directions, can be normally used in various environments, has multiple sensors comprehensively realize the obstacle avoidance function, and is more intelligent by combining the artificial intelligence function.

The present invention will be described in further detail with reference to the accompanying drawings.

Drawings

Fig. 1 is a schematic structural diagram of the multifunctional intelligent robot of the present invention;

fig. 2 is a schematic diagram of a main control chip of the multifunctional intelligent robot of the present invention;

FIG. 3 is a schematic diagram of a chassis motor driving circuit of the multifunctional intelligent robot of the present invention;

fig. 4 is a circuit diagram of the gyroscope of the multifunctional intelligent robot.

Description of reference numerals: the device comprises a microphone array 1, an electronic skin 2, a touch display screen 3, a loudspeaker 4, a head 5, arms 6, a structured light depth camera 7, a trunk 8, an ultrasonic sensor array 9, a chassis 10, a laser radar 11, rollers 12 and a falling-prevention sensor 13.

Detailed Description

The technical solutions in the embodiments of the present invention will be described clearly and completely with reference to the accompanying drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only some embodiments of the present invention, not all embodiments. Based on the embodiments in the present invention, all other embodiments obtained by a person skilled in the art without creative efforts belong to the protection scope of the present invention.

In the description of the present invention, it is to be understood that the terms "center", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", and the like indicate orientations or positional relationships based on those shown in the drawings, and are merely for convenience of description and simplicity of description, and do not indicate or imply that the device or element referred to must have a particular orientation, be constructed and operated in a particular orientation, and therefore, are not to be construed as limiting the present invention.

The terms "first", "second" and "first" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include one or more of that feature; in the description of the present invention, "a plurality" means two or more unless otherwise specified.

The embodiment of the utility model provides a multifunctional intelligent robot, which comprises a head 5 and a trunk 8, arms 6 are respectively arranged at two sides of the trunk 8, a plurality of rollers 12 and a chassis 10 motor for driving the rollers 12 are arranged at the bottom end of the trunk 8, a main control chip is arranged in the trunk 8, the chassis 10 motor is in serial port communication connection with the main control chip, the arms 6 and the head 5 are connected with the trunk 8 through a head 5 rotating shaft and an arm 6 rotating shaft respectively, the head 5 rotating shaft and the arm 6 rotating shaft are respectively connected with a head 5 rotating motor and an arm 6 rotating motor, a gyroscope is arranged in the trunk 8, a structured light depth camera 7 is arranged in front of the trunk 8, the head 5 rotating motor, the arm 6 rotating motor, the gyroscope and the structured light depth camera 7 are all in serial port communication connection with the main control chip.

As shown in fig. 1, the currently popular AI voice function, the touch display screen 3 man-machine interactive entertainment function, the human body detection function, the robot performance function, and the like are used. The robot comprises a microphone array 1 with four microphones at the top end, the microphone array 1 is combined with an internal circuit and a background voice clothes program, and can be used for man-machine conversation, human voice instructions are recognized, a series of complex algorithms are applied, the four microphones are applied to algorithm requirements, background noise can be removed, and useful clean human voice information can be obtained. The robot also comprises a touch display screen 3 which can act on man-machine interaction, an android operating system is arranged in the main control chip, various APK games and programs can be installed, and the robot can perform by itself by starting the corresponding games and programs. The two sides are provided with loudspeakers 4 which can act on human-computer interaction and output voice information.

In the robot, the robot comprises an arm 6 which is connected with a trunk 8 through a rotating shaft, a stepping motor is arranged on the rotating shaft, the arm 6 can move 90 degrees, the arm 6 is provided with a breathing lamp and an electronic skin 2, the interaction contact with a human body can be detected, and the performance actions such as welcome gestures, hand-shaking gestures and the like can be performed.

In the robot of the invention, the robot comprises a head part 5 which is connected with a trunk part 8 through a rotating shaft, and the rotating shaft is provided with two stepping motors which can respectively rotate the head part 5 by 180 degrees from left to right and 30 degrees from top to bottom. Motion gestures such as shaking and nodding can be made.

In the robot of the invention, the bottom of the chassis 10 is provided with a plurality of rollers 12, the rollers 12 are self-locking universal wheels, and the robot can rotate 360 degrees, advance and stop self-locking. In conjunction with the movements of the head 5 and arms 6, a series of movements such as dancing, greeting, or others can be performed. Thus completing the work of initial design shop welcome, guide and shop salesman.

In order to change the current obstacle avoidance function difference, three obstacle avoidance modes including a laser radar 11 are comprehensively used, and the laser radar acts on the current environment map which can be accurately constructed in real time, provides accurate positioning navigation, and can scan surrounding obstacles and avoid the obstacles; including 6 ultrasonic sensor array 9 that constitute to ultrasonic sensor, can be used to survey the closely barrier in the place ahead, ultrasonic sensor sends the ultrasonic wave, when receiving the reflection echo, concludes that the signal reaches certain intensity and just concludes that the place ahead has the barrier. The robot comprises a structured light depth camera 7 which acts on identifiable obstacles, is internally provided with an accurate algorithm, can perform human body detection, living object detection and obstacle and glass detection, and can measure the distance between the two, and the artificial intelligence characteristic of the robot can be further improved by the algorithm. Specifically, the structured light depth camera 7 is arranged on the surface of the middle part of the shell, is combined with an internal circuit and a background vision processing program, acts on identifiable obstacles, and can perform human body detection, living object detection, obstacle and glass detection; the limb movement of the operator can be identified, and the surrounding environment can be identified. Different conversations and greetings are given according to different people; according to the limb movement of the person, corresponding answers and movements are given.

In the robot according to the invention, the robot comprises a fall protection sensor 13, which can be used to detect a sudden front emergence of a concave ground or pit. Further strengthening the obstacle avoidance function. Specifically, in order to prevent the robot from falling when encountering a step, 3 fall-prevention sensors 13 are installed on the back of the robot. The fall protection sensor 13 also measures a distance using ultrasonic waves. When the robot travels to the edge of the step, the falling-prevention sensor 13 measures the distance between the robot and the ground by using ultrasonic waves, and when the distance exceeds a limit value, a signal is sent to the controller, the controller controls the robot to turn, the advancing direction of the robot is changed, and therefore the purpose of preventing falling is achieved. And when the road surface is detected to have a concave ground or a deep pit, starting a backward turning and bypassing program.

The current artificial intelligence voice technology and the artificial vision technology are also used respectively. The robot comprises a microphone array 1 with four microphones at the top end, a series of complex algorithms are combined with an internal circuit and a background voice clothes program and operated, background noise can be removed by using the four microphones to obtain useful human voice information, man-machine conversation can be carried out, the requirements of interlocutors can be understood, corresponding answers can be made, and in addition, a series of limb actions can be made. Such as when the interlocutor wants to go, the interlocutor can take the lead forward. The structured light depth camera 7 is combined with an internal circuit and a background vision processing program, can identify the body actions of people besides people, and gives different conversations and greetings with different people; the limbs of the person act, and corresponding answers and actions are given.

Preferably, as shown in fig. 2 to 4, the model of the master chip is STM32F429IGT, the chassis 10 motor is connected to the CAN2_ TXD pin and the CAN2_ RXD pin of the master chip, and the gyroscope is connected to the PB8 pin and the PB9 pin of the master chip. The gyroscope model is a six-axis attitude control chip ICM-20689. The CAN2_ TXD pin and the CAN2_ RXD pin of the master control chip are respectively connected with the TXD pin and the RXD pin of the CAN transceiver, and the CANH pin and the CANL pin of the CAN transceiver are connected with a driver of the chassis 10 motor. The ultrasonic sensor is connected with a PE0 pin and a PE1 pin of the main control chip, and the communication interfaces of the anti-falling sensor 13, the microphone, the loudspeaker 4 and the electronic skin 2 are connected with other serial ports of the main control chip.

The above examples are merely illustrative of the present invention and do not limit the scope of the present invention, and all designs identical or similar to the present invention are within the scope of the present invention.

Claims

1. The utility model provides a multi-functional intelligent robot, includes head and truck, the truck both sides are equipped with the arm respectively, the truck bottom is equipped with a plurality of gyro wheels and is used for the drive the chassis motor of gyro wheel, be equipped with main control chip in the truck, the chassis motor with serial ports communication connection, its characterized in that between the main control chip: the arm reaches the head with respectively through head rotation axis and arm rotation axis connection between the truck, head rotation axis and arm rotation axis are connected with head rotating electrical machines and arm rotating electrical machines respectively, install the gyroscope in the truck, truck the place ahead is equipped with the structured light degree of depth camera, head rotating electrical machines and arm rotating electrical machines, gyroscope and the structured light degree of depth camera all with master control chip serial ports communication connection.

2. The multi-functional intelligent robot of claim 1, wherein: the type of the main control chip is STM32F429IGT, the chassis motor is connected with a CAN2_ TXD pin and a CAN2_ RXD pin of the main control chip, and the gyroscope is connected with a PB8 pin and a PB9 pin of the main control chip.

3. The multi-functional intelligent robot of claim 2, wherein: the robot further comprises a CAN transceiver, wherein a CAN2_ TXD pin and a CAN2_ RXD pin of the master control chip are respectively connected with a TXD pin and an RXD pin of the CAN transceiver, and a CANH pin and a CANL pin of the CAN transceiver are connected with a driver of the chassis motor.

4. The multi-functional intelligent robot of claim 2, wherein: the gyroscope is of a six-axis attitude control chip ICM-20689 type.

5. The multi-functional intelligent robot of claim 2, wherein: the front of the trunk is provided with an ultrasonic sensor, and the ultrasonic sensor is connected with a PE0 pin and a PE1 pin of the main control chip.

6. The multi-functional intelligent robot of claim 1, wherein: the tail end of the arm is provided with an electronic skin and a breathing lamp, and a communication interface of the electronic skin is connected with a serial port of the main control chip.

7. The multi-functional intelligent robot of claim 1, wherein: the head top is equipped with the microphone, and both sides are equipped with the speaker, microphone and speaker respectively with master control chip's biography idol communication connection.

8. The multi-functional intelligent robot of claim 1, wherein: the rollers are self-locking universal wheels.

9. The multi-functional intelligent robot of claim 1, wherein: the trunk bottom is equipped with a plurality of anti-falling sensors, each anti-falling sensor equipartition with trunk bottom border.

10. The multi-functional intelligent robot of claim 1, wherein: the chassis is arranged under the trunk, and the rollers are uniformly distributed on the edge of the chassis.