CN213703458U - Collection robot - Google Patents
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- CN213703458U CN213703458U CN202022841946.4U CN202022841946U CN213703458U CN 213703458 U CN213703458 U CN 213703458U CN 202022841946 U CN202022841946 U CN 202022841946U CN 213703458 U CN213703458 U CN 213703458U
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Abstract
The utility model relates to the technical field of data acquisition equipment, in particular to an acquisition robot, which comprises a walking mechanism, wherein the walking mechanism comprises walking wheels, a driving motor and a steering motor; the acquisition mechanism comprises a holder, and a camera is arranged on the holder; the main control module, main control module includes controller, wireless communication module, the controller is connected with wireless communication module, camera, driving motor and turns to the equal electricity of motor, the controller is used for gathering image data through the camera, the camera is used for sending the data of gathering to the host computer through wireless communication module, the controller still is used for receiving control command and controlling camera, driving motor and turn to the motor through wireless communication module and open and close. The utility model provides a collection robot can adjust the position and the direction of gathering through the mode of remote control, convenient to use, and the flexibility ratio is high, is convenient for expand and maintains.
Description
Technical Field
The utility model relates to a data acquisition equipment technical field specifically is an acquisition robot.
Background
The human body state can reflect the health condition of the human body, and the analysis on the human body state can judge the health condition or rehabilitation condition of muscles, joints and the like of each part of the human body, thereby providing a basis for rehabilitation diagnosis and treatment, exercise and fitness, effect evaluation, assistive device selection and the like.
Gait analysis is the most common analysis mode in human body posture analysis, dynamic quantitative analysis is carried out on the motion and stress conditions of all parts of the human body, particularly the lower limbs, when the human body walks through the modern measurement technology, the gait analysis can be used for analyzing the motion of the walking state period of a normal person, and more common effective means for carrying out systematic evaluation on the walking function in clinic are important components of rehabilitation evaluation (such as guidance of rehabilitation treatment and rehabilitation evaluation after stroke).
In the traditional gait analysis, medical staff observe the walking process of a patient through a visual inspection method, and then obtain a preliminary analysis conclusion according to the obtained impression or the result of item-by-item evaluation according to a certain observation project and by virtue of abundant clinical experience. However, this method is only qualitative and not quantitative. With the development of science and technology, more and more gait analysis is recorded and analyzed by means of auxiliary equipment at present, and some existing ways are to enable a user to walk on a treadmill by arranging the treadmill and a camera, and the camera is used for collecting posture data. The existing mode needs to fixedly install the camera at a preset position, the position is not easy to adjust after deployment, and the problems of inconvenience in use, poor expansion flexibility, inconvenience in expansion and maintenance and the like exist.
SUMMERY OF THE UTILITY MODEL
The utility model discloses the intention is providing an acquisition robot, can carry out the image acquisition of walking gait to the user, can adjust the position and the direction of gathering through the mode of remote control, convenient to use, the flexibility ratio is high, is convenient for extend the maintenance.
The application provides the following technical scheme:
an acquisition robot, comprising:
the travelling mechanism comprises travelling wheels, a driving motor and a steering motor, the driving motor is in power connection with the travelling wheels, the driving motor is used for driving the travelling wheels to rotate, the steering motor is in power connection with the travelling wheels, and the steering motor is used for driving the travelling wheels to steer;
the acquisition mechanism comprises a holder, and a camera is arranged on the holder;
the main control module, main control module includes controller, wireless communication module, the controller is connected with wireless communication module, camera, driving motor and turns to the equal electricity of motor, the controller is used for gathering image data through the camera, the camera is used for sending the data of gathering to the host computer through wireless communication module, the controller still is used for receiving control command and controlling camera, driving motor and turn to the motor through wireless communication module and open and close.
Further, the camera is a 3D structure optical camera.
Further, the cloud platform includes first slewing mechanism, first slewing mechanism includes first rotation motor and first revolving stage, be equipped with second slewing mechanism on the first revolving stage, second slewing mechanism includes that the second rotates motor and second and rotates the platform, the camera sets up on the second rotates the platform.
Further, the acquisition mechanism comprises a lifting mechanism, the lifting mechanism comprises a lifting motor, the holder is arranged on the lifting mechanism, the lifting motor is electrically connected with the controller, and the controller is also used for controlling the lifting motor to open and close.
The system further comprises a scene scanning module, wherein the scene scanning module is electrically connected with the controller and is used for detecting surrounding environment obstacles or walls.
Further, the scene scanning module comprises one or more of a ranging sensor, a radar module and a camera.
The controller is electrically connected with the positioning module, and the controller is positioned through the positioning module.
Further, the positioning module comprises an RFID signal transmitter, an RFID signal receiver or an UWB signal transmitter.
Further, the positioning module comprises a photoelectric detection module, and the photoelectric detection module is used for detecting a position mark arranged on the ground.
The controller is electrically connected with the microphone and the voice recognition module, the voice recognition module is used for recognizing voice instructions of a user, and the controller is used for controlling the opening and closing of the camera, the driving motor, the steering motor or the lifting motor according to the voice instructions.
The utility model discloses technical scheme's beneficial effect does:
the utility model discloses among the technical scheme, through adopting the acquisition robot to set up the running gear of acquisition robot, acquisition mechanism etc. can carry out the image acquisition of walking gait to the user, through wireless communication module, can upload the data of gathering in real time, and can receive the control command that the host computer was issued through wireless communication module, and then can adjust the position and the direction of gathering through the mode of remote control, convenient to use, the flexibility ratio is high, is convenient for extend the maintenance.
Drawings
Fig. 1 is a logic block diagram of a first embodiment of the acquisition robot according to the present invention;
fig. 2 is a logic block diagram of the acquisition robot according to the first embodiment of the present invention when the acquisition robot is applied;
fig. 3 is a logic block diagram of a second embodiment of the collecting robot according to the present invention;
fig. 4 is a logic block diagram of a third embodiment of the acquisition robot of the present invention;
fig. 5 is a logic block diagram of a fourth embodiment of the collecting robot of the present invention;
fig. 6 is a logic block diagram of a sixth embodiment of the collection robot of the present invention.
Detailed Description
The following is further detailed by way of specific embodiments:
example one
As shown in fig. 1, the acquisition robot of the present embodiment includes a traveling mechanism, an acquisition mechanism, and a main control module.
The travelling mechanism comprises travelling wheels, a driving motor and a steering motor, the driving motor is in power connection with the travelling wheels, the driving motor is used for driving the travelling wheels to rotate, the steering motor is in power connection with the travelling wheels, and the steering motor is used for driving the travelling wheels to steer; in this embodiment, the running mechanism is an existing common four-wheel running mechanism, such as a remote control racing car. Specifically, the walking wheels are four in number and are divided into two front wheels and two rear wheels, the two rear wheels are connected through a rotating shaft, a transmission gear is arranged on the rotating shaft, and an output shaft of a driving motor is in power connection with the two rear wheels through the transmission gear. The driving motor drives the two rear wheels to rotate, so that walking driving is realized. The steering motor adopts a steering engine, a steering engine output rod is connected with a steering rod, two ends of the steering rod are respectively hinged with the two front wheels, and the steering engine drives the steering rod to rotate so as to drive the front wheels to steer. In other embodiments of this application, also can adopt other walking structures, if adopt the walking structure of robot of sweeping the floor, set up two wheels and drive and turn to, reuse the universal wheel to balance, or directly adopt the running gear of current two-wheeled balance car.
The traveling mechanism is fixedly provided with a mounting frame through bolts, and the acquisition mechanism is arranged on the mounting frame. The acquisition mechanism comprises a holder, and a camera is arranged on the holder. In this embodiment, the cloud platform includes the fixed block, and the fixed block passes through bolt fixed connection with the slider, is equipped with first slewing mechanism on the fixed block, and first slewing mechanism includes first rotation motor and first revolving stage, and first revolving stage center fixedly connected with first axis of rotation, first axis of rotation and fixed block rotate to be connected, pass through gear power connection between first axis of rotation and the first rotation motor. The first rotating platform is provided with a second rotating mechanism, the second rotating mechanism comprises a second rotating motor and a second rotating platform, a second rotating shaft is arranged at the center of the second rotating platform, the second rotating shaft is rotatably connected with the first rotating platform, the second rotating shaft is connected with the second rotating motor through gear power, the first rotating shaft and the second rotating shaft are mutually perpendicular, in the embodiment, the first rotating shaft is vertically arranged, the second rotating shaft is transversely arranged, and the camera is arranged on the second rotating platform. In this embodiment, the camera is a 3D structure optical camera.
Be equipped with the master control box on the mounting bracket, master control module sets up in the master control box, master control module includes controller and wireless communication module, the camera, driving motor, turn to the equal electricity of motor and connect, the controller is used for gathering image data through the camera, the camera is used for sending the data of gathering to the host computer through wireless communication module, the controller still is used for receiving control command and controlling the camera through wireless communication module, driving motor and turn to the motor and open and close. The controller is a single chip microcomputer or a PLC, in the embodiment, the controller is a single chip microcomputer, preferably an STM32 series single chip microcomputer, and the wireless communication module is one or more of a WiFi module, a Bluetooth module, a Zigbee module, a 4G module and a 5G module. In this embodiment, the wireless communication module is preferably a WiFi module.
In specific implementation, as shown in fig. 2, one upper computer is wirelessly connected with a plurality of acquisition robots, the upper computer issues a control instruction to the acquisition robots, the acquisition robots receive the control instruction to perform position movement, angle adjustment, image data acquisition and the like, and send acquisition results to the upper computer.
Example two
As shown in fig. 3, the difference between this embodiment and the first embodiment is that, in this embodiment, the acquisition mechanism includes a lifting mechanism, the lifting mechanism includes a lifting motor, the holder is disposed on the lifting mechanism, the lifting motor is electrically connected to the controller, and the controller is further configured to control the lifting motor to open and close.
In this embodiment, elevating system includes the lead screw pair, the slider fixed connection of cloud platform and lead screw pair, the lead screw and the elevator motor of lead screw pair pass through gear power and are connected, and elevator motor rotates the lift of adjusting the slider through driving the lead screw, and then the lift of control cloud platform.
EXAMPLE III
As shown in fig. 4, the difference between the present embodiment and the second embodiment is that in the present embodiment, the main control module further includes a scene scanning module, the controller is electrically connected to the scene scanning module, and the scene scanning module is used for detecting surrounding obstacles or walls.
The scene scanning module comprises one or more of a ranging sensor, a radar module and a camera. In this embodiment, the scene scanning module includes infrared laser range finding sensor and ultrasonic radar module, and infrared laser range finding sensor passes through the UART serial ports and is connected with the singlechip, realizes detecting data's transmission. The controller detects the obstacles and the wall body through the ultrasonic radar module, and then provides obstacle data for obstacle avoidance operation in the moving process.
Example four
As shown in fig. 5, the difference between this embodiment and the third embodiment is that in this embodiment, a positioning module is further included, the controller is electrically connected to the positioning module, and the controller is positioned by the positioning module. The positioning module comprises an RFID signal transmitter, an RFID signal receiver or an UWB signal transmitter, in the embodiment, the positioning module adopts the RFID signal transmitter, namely an active RFID label, corresponding RFID signal receiving equipment is arranged in the scene, and indoor accurate positioning is realized based on signal intensity and a three-point positioning method.
EXAMPLE five
The difference between this embodiment and the fourth embodiment is that, in this embodiment, the positioning module includes a photoelectric detection module, the photoelectric detection module is configured to detect a position mark set on the ground, various position marks, such as a barcode mark, are preset on the ground in the scene, and information of the position mark can be read by the photoelectric detection module, so as to achieve positioning.
EXAMPLE six
As shown in fig. 6, the difference between the present embodiment and the fifth embodiment is that the present embodiment further includes a microphone and a voice recognition module, the controller is electrically connected to both the microphone and the voice recognition module, the voice recognition module is used for recognizing a voice instruction of a user, and the controller is used for controlling the opening and closing of the camera, the driving motor, the steering motor or the lifting motor according to the voice instruction. In this embodiment, the voice recognition module adopts an existing voice recognition chip, specifically, an LD3320 voice recognition chip, which is connected to the controller through a serial port, and is configured to convert voice into a command signal and send the command signal to the controller, and the controller controls the on/off or running state of the camera, the driving motor, the steering motor, the lifting motor, or the like according to the command signal.
The above are only embodiments of the present invention, and the present invention is not limited to the field related to this embodiment, and the common general knowledge of the known specific structures and characteristics in the scheme is not described too much, and those skilled in the art know the common technical knowledge in the technical field of the present invention before the application date or the priority date, can know all the prior art in this field, and have the ability to apply the conventional experimental means before this date, and those skilled in the art can combine their own ability to perfect and implement the scheme, and some typical known structures or known methods should not become the obstacles for those skilled in the art to implement the present application. It should be noted that, for those skilled in the art, without departing from the structure of the present invention, several modifications and improvements can be made, which should also be regarded as the protection scope of the present invention, and these will not affect the effect of the implementation of the present invention and the practicability of the patent. The scope of the claims of the present application shall be determined by the contents of the claims, and the description of the embodiments and the like in the specification shall be used to explain the contents of the claims.
Claims (10)
1. An acquisition robot, characterized in that: the method comprises the following steps:
the travelling mechanism comprises travelling wheels, a driving motor and a steering motor, the driving motor is in power connection with the travelling wheels, the driving motor is used for driving the travelling wheels to rotate, the steering motor is in power connection with the travelling wheels, and the steering motor is used for driving the travelling wheels to steer;
the acquisition mechanism comprises a holder, and a camera is arranged on the holder;
the main control module, main control module includes controller, wireless communication module, the controller is connected with wireless communication module, camera, driving motor and turns to the equal electricity of motor, the controller is used for gathering image data through the camera, the camera is used for sending the data of gathering to the host computer through wireless communication module, the controller still is used for receiving control command and controlling camera, driving motor and turn to the motor through wireless communication module and open and close.
2. An acquisition robot according to claim 1, characterized in that: the camera is a 3D structure optical camera.
3. An acquisition robot according to claim 2, characterized in that: the cloud platform includes first slewing mechanism, first slewing mechanism includes first rotation motor and first revolving stage, be equipped with second slewing mechanism on the first revolving stage, second slewing mechanism includes that the second rotates motor and second and rotates the platform, the camera sets up on the second rotates the platform.
4. An acquisition robot according to claim 3, characterized in that: the acquisition mechanism comprises a lifting mechanism, the lifting mechanism comprises a lifting motor, the holder is arranged on the lifting mechanism, the lifting motor is electrically connected with the controller, and the controller is also used for controlling the lifting motor to open and close.
5. An acquisition robot according to claim 4, characterized in that: the system further comprises a scene scanning module, the scene scanning module is electrically connected with the controller, and the scene scanning module is used for detecting surrounding environment obstacles or walls.
6. An acquisition robot according to claim 5, characterized in that: the scene scanning module comprises one or more of a ranging sensor, a radar module and a camera.
7. An acquisition robot according to claim 6, characterized in that: the controller is electrically connected with the positioning module and is positioned through the positioning module.
8. An acquisition robot according to claim 7, characterized in that: the positioning module comprises an RFID signal transmitter, an RFID signal receiver or an UWB signal transmitter.
9. An acquisition robot according to claim 8, characterized in that: the positioning module comprises a photoelectric detection module, and the photoelectric detection module is used for detecting a position mark arranged on the ground.
10. An acquisition robot according to claim 9, characterized in that: the controller is electrically connected with the microphone and the voice recognition module, the voice recognition module is used for recognizing voice instructions of a user, and the controller is used for controlling the opening and closing of the camera, the driving motor, the steering motor or the lifting motor according to the voice instructions.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202022841946.4U CN213703458U (en) | 2020-11-30 | 2020-11-30 | Collection robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202022841946.4U CN213703458U (en) | 2020-11-30 | 2020-11-30 | Collection robot |
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| Publication Number | Publication Date |
|---|---|
| CN213703458U true CN213703458U (en) | 2021-07-16 |
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| CN202022841946.4U Active CN213703458U (en) | 2020-11-30 | 2020-11-30 | Collection robot |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113414778A (en) * | 2021-08-24 | 2021-09-21 | 深圳市卓誉运营科技有限公司 | Robot remote voice recognition control equipment |
| CN114851223A (en) * | 2022-05-24 | 2022-08-05 | 武汉理工大学 | Bionic robot for wall detection, image processing device and working method |
-
2020
- 2020-11-30 CN CN202022841946.4U patent/CN213703458U/en active Active
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113414778A (en) * | 2021-08-24 | 2021-09-21 | 深圳市卓誉运营科技有限公司 | Robot remote voice recognition control equipment |
| CN114851223A (en) * | 2022-05-24 | 2022-08-05 | 武汉理工大学 | Bionic robot for wall detection, image processing device and working method |
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