CN214293092U

CN214293092U - Autonomous navigation mobile transfer robot

Info

Publication number: CN214293092U
Application number: CN202023068638.9U
Authority: CN
Inventors: 张锐; 陈天祥
Original assignee: Qingdao Ironman Technology Co ltd
Current assignee: Qingdao Ironman Technology Co ltd
Priority date: 2020-12-18
Filing date: 2020-12-18
Publication date: 2021-09-28
Anticipated expiration: 2030-12-18

Abstract

The utility model discloses an autonomous navigation removes transfer robot, autonomous navigation removes transfer robot includes: the driving module, keep away barrier module, image acquisition module and snatch the module, driving module establishes on removing the chassis, removes and installs the shell on the chassis, drives the whole chassis that removes and the shell freely removes through driving module, keep away the barrier module and install in removing chassis the place ahead, carry out initiative through laser radar and ultrasonic wave and keep away the barrier, image acquisition module gathers the image of moving direction the place ahead image and needs transport goods through the camera, and supplementary obstacle module of keeping away keeps away the barrier to the accurate goods that snatchs, it includes arm and manipulator to snatch the module, drives the manipulator through the arm and snatchs the target goods. The utility model provides a current transfer robot can not independently navigate and keep away the problem that the barrier removed.

Description

Autonomous navigation mobile transfer robot

Technical Field

The utility model relates to a transfer robot technical field, concretely relates to autonomous navigation removes transfer robot.

Background

With the continuous development of scientific technology, robots become more and more intelligent, and the functions are more and more diversified, and the carrying and distribution service robots seen in the current market are basically simple mobile chassis and can only carry out simple mobile carrying functions in specific areas; generally, a person carries and places an object on a robot body, and then the robot is controlled to move through manual operation of the person, or the robot can only move autonomously in an area where a specific landmark is laid; the autonomous navigation operation under different environmental scenes cannot be realized, and the autonomous grabbing and stacking of objects cannot be automatically recognized.

SUMMERY OF THE UTILITY MODEL

Therefore, the utility model provides an autonomous navigation removes transfer robot to solve current transfer robot and can not independently navigate and keep away the problem that the barrier removed.

In order to achieve the above object, the present invention provides the following technical solutions:

the utility model discloses an autonomous navigation removes transfer robot, autonomous navigation removes transfer robot includes: the driving module, keep away barrier module, image acquisition module and snatch the module, driving module establishes on removing the chassis, removes and installs the shell on the chassis, drives the whole chassis that removes and the shell freely removes through driving module, keep away the barrier module and install in removing chassis the place ahead, carry out initiative through laser radar and ultrasonic wave and keep away the barrier, image acquisition module gathers the image of moving direction the place ahead image and needs transport goods through the camera, and supplementary obstacle module of keeping away keeps away the barrier to the accurate goods that snatchs, it includes arm and manipulator to snatch the module, drives the manipulator through the arm and snatchs the target goods.

Furthermore, the driving module comprises a driving wheel set, the driving wheel set comprises two driving wheels, the two driving wheels are installed on two sides of the moving chassis, supporting wheels are installed at four corners of the moving chassis, and the moving chassis can move freely under the pushing of the driving wheels.

Further, the obstacle avoidance module comprises: the ultrasonic module is installed at the front end of the advancing direction of the moving chassis, the laser radar is installed at the top of the moving chassis, a bearing platform is arranged above the laser radar, and the bearing platform is fixedly connected with the moving chassis through a supporting upright post.

Furthermore, laser radar carries out navigation in the open air or in the highlight environment and keeps away the barrier, ultrasonic module carries out signal compensation when detecting transparent object or extinction object, supplementary obstacle avoidance.

Further, the image acquisition module comprises: the robot comprises a main camera and a tail end camera, wherein the main camera is installed at the top of the bearing platform through a support, and the tail end camera is installed at the tail end of the mechanical arm and is adjacent to the mechanical arm.

Further, the grasping module includes: the mechanical arm is installed at the top of the bearing platform, the mechanical arm can rotate on the bearing platform by 360 degrees, the mechanical arm is installed at the end part of the mechanical arm, the mechanical arm is driven to move through the mechanical arm, and the mechanical arm picks cargoes.

Furthermore, an inertial navigation module is further arranged on the mobile chassis, and inertial navigation is performed through the inertial navigation module.

Further, the front end of the movable chassis is adjacent to the ultrasonic module and is provided with an illuminating lamp, and the illuminating lamp is used for illuminating in an environment with insufficient light.

Further, still be provided with power module and main control unit on the removal chassis, power module is connected with main control unit, and main control unit is connected with drive module, keeps away barrier module, image acquisition module and snatchs the module respectively.

Further, a starting switch and an electric quantity display module are installed at the top of the shell, the starting switch and the electric quantity display module are both connected with the power supply module, the on-off of a power supply is controlled through the starting switch, the residual electric quantity of the power supply module is displayed through the electric quantity display module, and timely charging is reminded.

The utility model has the advantages of as follows:

the utility model discloses an autonomous navigation mobile transfer robot, which carries out mutual matching, map building navigation, identification, obstacle avoidance and autonomous movement through a laser radar, an inertial navigation module, a camera and ultrasonic waves which are carried on a mobile chassis; object identification and label identification are carried out based on the camera, grabbing and carrying are carried out through the multi-degree-of-freedom mechanical arm and the mechanical arm, operation is flexible, grabbing is convenient, working space is large, the application range is wide, the multi-degree-of-freedom mechanical arm and the mechanical arm adapt to a more complex working environment, more functions are achieved, and operation is more stable and reliable.

Drawings

In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly described below. It should be apparent that the drawings in the following description are merely exemplary, and that other embodiments can be derived from the drawings provided by those of ordinary skill in the art without inventive effort.

The structure, ratio, size and the like shown in the present specification are only used for matching with the content disclosed in the specification, so as to be known and read by people familiar with the technology, and are not used for limiting the limit conditions which can be implemented by the present invention, so that the present invention has no technical essential significance, and any structure modification, ratio relationship change or size adjustment should still fall within the scope which can be covered by the technical content disclosed by the present invention without affecting the efficacy and the achievable purpose of the present invention.

Fig. 1 is a schematic view of a three-dimensional structure of an autonomous navigation mobile transfer robot according to an embodiment of the present invention;

fig. 2 is a front view of an autonomous navigation mobile transfer robot according to an embodiment of the present invention;

fig. 3 is a top view of an autonomous navigation mobile transfer robot according to an embodiment of the present invention;

fig. 4 is a schematic structural view of the autonomous navigation mobile transfer robot with the housing removed according to an embodiment of the present invention.

In the figure: 1-moving the chassis; 2-a load-bearing platform; 3, a mechanical arm; 4-a manipulator; 5-a main camera; 6-end camera; 7-laser radar; 8-driving wheels; 9-a support wheel; 10-an inertial navigation module; 11-a power supply module; 12-a master controller; 13-a housing; 14-start switch; 15-electric quantity display module; 16-a lighting lamp; 17-ultrasonic module, 18-supporting upright post and 19-bracket.

Detailed Description

The present invention is described in terms of specific embodiments, and other advantages and benefits of the present invention will become apparent to those skilled in the art from the following disclosure. Based on the embodiments in the present invention, all other embodiments obtained by a person skilled in the art without creative work belong to the protection scope of the present invention.

Examples

The present embodiment discloses an autonomous navigation mobile transfer robot, including: drive module, keep away barrier module, image acquisition module and snatch the module, drive module establishes on removing chassis 1, removes and installs shell 13 on the chassis 1, drives the free removal of moving chassis 1 and shell 13 through drive module, keep away the barrier module and install in removing chassis 1 the place ahead, initiatively keep away the barrier through laser radar 7 and ultrasonic wave, image acquisition module gathers the image of moving direction the place ahead image and needs transport goods through the camera, and supplementary obstacle module of keeping away keeps away the barrier to accurately snatch the goods, it includes arm 3 and manipulator 4 to snatch the module, drives manipulator 4 through arm 3 and snatchs the target goods.

The driving module comprises a driving wheel set, the driving wheel set comprises two driving wheels 8, the two driving wheels 8 are installed on two sides of the movable chassis 1, the driving wheels 8 are connected with a driving motor, and the driving wheels 8 are driven to rotate through the driving motor. Meanwhile, a steering device is arranged on the driving wheel 8, and when the front obstacle is judged to be met, the steering device is used for steering to avoid the obstacle. The driving motor can rotate forwards or backwards, so that the driving wheel 8 can move forwards or backwards, and an optimal walking path can be conveniently planned. Supporting wheels 9 are installed at four corners of the moving chassis 1, and the moving chassis 1 can move freely under the pushing of the driving wheels 8. The supporting wheels 9 mainly play a supporting role, the four supporting wheels 9 can bear more loads, the driving shaft is prevented from radially bearing overlarge loads, the moving steering of the chassis can be more flexible, and the moving chassis 1 can be directly steered in situ.

Keep away barrier module includes: the device comprises an ultrasonic module 17 and a laser radar 7, wherein the ultrasonic module 17 is installed at the front end of the advancing direction of the movable chassis 1, and the laser radar 7 is installed at the top of the movable chassis 1. The image acquisition module includes: a main camera 5 and an end camera 6, wherein the main camera 5 is installed on the top of the bearing platform 2 through a bracket 19, and the end camera 6 is installed at the end of the mechanical arm 3 and is adjacent to the mechanical arm 4. In the moving process, the main camera 5 can be matched with the laser radar 7 to perform path navigation, and identify and avoid obstacles for pedestrians and objects; the robot can move in a flexible way between the scene of different environment, when the environment that outdoor or illumination are stronger removed, navigate by laser radar 7, when the robot moves to the less position of characteristic shielding face around goods shelves etc. laser radar 7 can't detect goods shelves landing leg around, then switch and discern the navigation by the camera, it is adjacent with ultrasonic module 17 to be provided with light 16 to remove 1 front end on chassis, if the surrounding environment lacks the illumination, then can carry out the light filling by the 16 auxiliary camera on light on chassis.

An ultrasonic module 17 is arranged in front of the chassis, so that signal compensation can be effectively avoided when the laser radar 7 detects that a transparent object or a light absorption object fails, and obstacle avoidance is assisted; the mobile chassis 1 is further provided with an inertial navigation module 10, and inertial navigation is performed through the inertial navigation module 10.

The grabbing module comprises: arm 3 and manipulator 4, arm 3 is installed at 2 tops of load-bearing platform, and arm 3 can be 360 rotatory on load-bearing platform 2, manipulator 4 is installed at 3 tip of arm, drives manipulator 4 through arm 3 and removes, and manipulator 4 snatchs the goods. The terminal camera 6 that 4 adjacent settings of manipulator can gather the image of being snatched the goods, can carry out target identification, snatchs the gesture according to the concrete shape adjustment of goods, finds the best target and grabs the point, can drive the adjustment position appearance through arm 3 moreover, and the label code of the different surface positions of discernment scanning object realizes snatching the transport of goods. The end camera 6 and the main camera 5 may be binocular cameras or depth cameras. The bearing platform 2 is arranged above the laser radar 7, the bearing platform 2 is fixedly connected with the movable chassis 1 through the supporting upright posts 18, and the bearing platform 2 serves as a detachable module and can be used for installing the mechanical arm 3 and also can serve as a consignment bearing platform 2 for goods. The manipulator 4 can be placed on the bearing platform 2 after grabbing the goods, and the transfer of the goods is realized.

The mobile chassis 1 is further provided with a power module 11 and a main controller 12, the power module 11 is connected with the main controller 12, the main controller 12 is respectively connected with the driving module, the obstacle avoidance module, the image acquisition module and the grabbing module, the main controller 12 comprehensively judges according to the images acquired in real time, the obstacles are avoided in time, the walking route is adjusted, and the optimal walking scheme is given. Starting switch 14 and electric quantity display module 15 are installed at shell 13 top, starting switch 14 and electric quantity display module 15 all are connected with power module 11, through starting switch 14 control power break-make, show power module 11 residual capacity through electric quantity display module 15, remind in time to charge or change power module 11.

The embodiment of the utility model discloses an autonomous navigation mobile transfer robot, which carries out mutual matching, joint map building navigation, identification obstacle avoidance and autonomous movement through a laser radar 7, an inertial navigation module 10, a camera and ultrasonic waves which are carried on a mobile chassis 1; object identification, label discernment are carried out based on the camera, snatch the transport through multi freedom arm 3 and manipulator 4, and the flexible operation snatchs the convenience, and working space is big, and application range is wide, adapts to more complicated operational environment, has realized more functions, and the operation is also more reliable and more stable.

Although the invention has been described in detail with respect to the general description and the specific embodiments, it will be apparent to those skilled in the art that modifications and improvements can be made based on the invention. Therefore, such modifications and improvements are intended to be within the scope of the invention as claimed.

Claims

1. An autonomous navigation mobile transfer robot, characterized by comprising: the driving module, keep away barrier module, image acquisition module and snatch the module, driving module establishes on removing the chassis, removes and installs the shell on the chassis, drives the whole chassis that removes and the shell freely removes through driving module, keep away the barrier module and install in removing chassis the place ahead, carry out initiative through laser radar and ultrasonic wave and keep away the barrier, image acquisition module gathers the image of moving direction the place ahead image and needs transport goods through the camera, and supplementary obstacle module of keeping away keeps away the barrier to the accurate goods that snatchs, it includes arm and manipulator to snatch the module, drives the manipulator through the arm and snatchs the target goods.

2. The autonomous navigation mobile handling robot of claim 1, wherein the driving module comprises a driving wheel set, the driving wheel set comprises two driving wheels, the two driving wheels are installed on two sides of the mobile chassis, the supporting wheels are installed on four corners of the mobile chassis, and the mobile chassis is driven by the driving wheels to move freely.

3. The autonomous navigational mobile handling robot of claim 1, wherein the obstacle avoidance module comprises: the ultrasonic module is installed at the front end of the advancing direction of the moving chassis, the laser radar is installed at the top of the moving chassis, a bearing platform is arranged above the laser radar, and the bearing platform is fixedly connected with the moving chassis through a supporting upright post.

4. The autonomous navigation mobile transfer robot of claim 3, wherein the lidar is configured to navigate and avoid an obstacle outdoors or in a strong light environment, and the ultrasonic module is configured to perform signal compensation to assist in avoiding an obstacle when detecting a transparent object or a light-absorbing object.

5. The autonomous navigational mobile handling robot of claim 1, wherein the image acquisition module comprises: the robot comprises a main camera and a tail end camera, wherein the main camera is installed at the top of the bearing platform through a support, and the tail end camera is installed at the tail end of the mechanical arm and is adjacent to the mechanical arm.

6. An autonomous navigational mobile handling robot as set forth in claim 1 wherein said grasping module includes: the mechanical arm is installed at the top of the bearing platform, the mechanical arm can rotate on the bearing platform by 360 degrees, the mechanical arm is installed at the end part of the mechanical arm, the mechanical arm is driven to move through the mechanical arm, and the mechanical arm picks cargoes.

7. An autonomous navigation mobile handling robot as recited in claim 1, wherein said mobile chassis is further provided with an inertial navigation module through which inertial navigation is performed.

8. The autonomous navigation mobile carrier robot of claim 1, wherein an illumination lamp is provided at a front end of the mobile chassis adjacent to the ultrasonic module, and the illumination lamp illuminates in an environment where light is insufficient.

9. The autonomous navigation mobile transfer robot of claim 1, wherein the mobile chassis is further provided with a power module and a main controller, the power module is connected with the main controller, and the main controller is respectively connected with the driving module, the obstacle avoidance module, the image acquisition module and the grabbing module.

10. The autonomous navigation mobile transfer robot of claim 1, wherein a start switch and a power display module are installed on the top of the housing, the start switch and the power display module are both connected to the power module, the power on/off is controlled by the start switch, and the remaining power of the power module is displayed by the power display module to prompt charging in time.