CN220561542U - Gymnasium cleaning and carrying robot based on depth vision - Google Patents

Abstract

The utility model relates to a gymnasium cleaning and carrying robot based on depth vision, which comprises the following components: the device comprises a motor lifting module (3) with pulleys, a multi-degree-of-freedom mechanical arm (1) and an independent suspension module (5), a garbage pickup and collection module (4) and a depth recognition camera module (2); the motor lifting module (3) with the pulley is arranged at the rear of the robot, so that the dumbbell can be lifted and placed more conveniently; the mechanical arm (1) with multiple degrees of freedom and the independent suspension module (5) are arranged at the front and the bottom of the robot, and the mechanical claw (104) at the top end of the mechanical arm is matched with the first camera (103) so that simple instruments and articles can be accurately picked up and placed; according to the utility model, the modular design of each component is realized, and the modules can be quickly disassembled and spliced, so that the flexibility of the robot in use is further improved.

Description

Gymnasium cleaning and carrying robot based on depth vision

Technical Field

The utility model relates to the technical field of automatic mechanical equipment, in particular to a gymnasium sweeping and carrying robot based on depth vision.

Background

With the continuous pursuit of management efficiency and user experience of gymnasiums by people, and the deep learning algorithm has made a major breakthrough in the field of computer vision, so that a machine can process image data like a human. Through a large amount of data training and a deep neural network model, the machine can learn visual tasks such as object recognition, position detection, gesture estimation and the like. In combination with the robot control technology, the depth vision-based robot can sense and understand equipment, personnel and obstacles in the gymnasium environment in real time, so that an optimal path is planned, and autonomous cleaning and carrying are realized. The traditional gymnasium cleaning and carrying work is usually completed manually, and the problems of time consumption, low efficiency, unstable human resources and the like exist. The depth vision-based robotics provides an automated and intelligent solution. The labor pressure can be reduced, the quality and the efficiency of cleaning and carrying tasks are improved, and a more comfortable and safe body-building environment is created for users.

Disclosure of Invention

The utility model aims to provide a gymnasium cleaning and carrying robot based on depth vision. The problems of time consumption, low efficiency and unstable human resources of the traditional gymnasium cleaning and carrying work which are put forward in the background art are solved.

In order to achieve the above purpose, the present utility model provides the following technical solutions: a gymnasium cleaning and carrying robot based on depth vision comprises a motor lifting module (3) with pulleys, a multi-degree-of-freedom mechanical arm (1), an independent suspension module (5), a garbage pickup and collection module (4) and a depth recognition camera module (2), wherein the motor lifting module with the pulleys adopts two high-torque motors (302) as power sources, and force is directly transmitted to a chute type lifting table (306) through the action of a belt device (303) and the pulleys (302), so that lifting and placement of dumbbell and other instruments are realized. The design can provide strong power and stable control, and ensures that the lifting and placing process of the instrument is stable and reliable.

The multi-degree-of-freedom mechanical arm (1) and the independent suspension module (5) are composed of a steering engine (101), a first connecting body (102), a mechanical claw (104), a first camera (103), a second motor (501) and a control system (502), and are positioned at the front part of the robot. The control system (502) is connected with the second motor (501) and the vehicle body framework (7). And a camera is further arranged on the upper part of the mechanical arm grabbing device and used for identifying different objects. The mechanical claw (104) at the top end of the mechanical arm is matched with the first camera (103) so that the mechanical arm can pick up and place simple instruments and articles flexibly and accurately. Under the combined action of the sweeping device (401) and the collecting box (402), the clean and tidy gymnasium is ensured

The garbage collection module (4) consists of a cleaning device (401) and a collection box (402), and is positioned at the bottom of the robot. The sweeping device (401) consists of a rotary brush and an airflow sweeping device, and the collecting box (402) has different capacities and designs so as to adapt to garbage amount and cleaning requirements in different scenes.

The hardware of the depth recognition camera module (2) comprises hardware such as a connecting rod (201), a second camera (202), a depth sensor (203), a first motor (204) and the like. The depth sensor is capable of capturing distance and depth information of objects in a scene, while the camera is used to acquire image data. These hardware, in combination with the rich software packages and tools provided by the ROS framework, and in combination with the deep learning model, can enable recognition and analysis of objects in the scene by analyzing the image data captured by the camera and combining the depth information.

Preferably, compared with a lever type lifting device and a hydraulic lifting device which are common in the market, the motor lifting module (3) with the pulleys has a more stable operation mechanism, and the maintenance and use cost is greatly reduced. The motor lifting module has a relatively simple structure, is free of a hydraulic system, and is low in maintenance cost. In addition, the motor typically has a longer service life, reducing the frequency of maintenance and replacement. Compared with a hydraulic lifting device, the motor lifting module does not need extra hydraulic oil and the cost of maintaining a hydraulic system, and the use cost is further reduced. The module utilizes two symmetrical high torque motors (302) as power sources and transmits force through pulleys (303), the lifting mechanism is enabled to operate more stably, more reliable motion control can be provided, force can be directly applied to a sliding chute type lifting table (306), equipment such as a dumbbell can be lifted and placed, so that the robot can rapidly and conveniently lift articles such as the dumbbell and place the articles at corresponding positions, and labor cost and unnecessary waste are reduced.

Preferably, the depth recognition camera module (2) is positioned at the center of the robot and is lifted up under the support of the connecting rod (201), global observation of the second camera (202) is guaranteed under the rotation of the first motor (204), and the depth sensor (203) matched with the second camera can capture the distance and depth information of objects in a scene under the support of software, so that the robot has strong perception capability due to the combination of the distance and the depth information, the obstacle position and other information can be provided in the gymnasium according to the information, and the robot is helped to plan a safe path.

Preferably, the body skeleton (7) of the robot is provided with a plurality of zones, each zone being dedicated to the placement of different instruments and articles. Through the recognition function of the depth recognition camera module (2), the mechanical arm of the robot can accurately grasp and detect different instruments. Once the mechanical arm grabs the instrument, the depth recognition camera module can recognize the instrument and determine which category the instrument belongs to by comparing the depth recognition camera module with a classification target preset by the system. Then, the mechanical arm of the robot classifies different objects into corresponding areas in the body framework (7) according to the arrangement of the system. This design facilitates later management and organization, as different instruments are placed in different areas, which can be easily stored and located.

Preferably, each functional module of the robot is independently arranged on a car body framework (7), and communication is realized only through a connecting wire, and no direct physical connection exists between the functional modules. This modular design makes maintenance of the robot very convenient. Each module has independent hardware and functionality. When the hardware of one module is problematic or needs to be maintained, the module is only required to be removed from the vehicle body, and the operation of other modules is not influenced. This design improves the reliability of the robot as a whole. If one module fails, the other modules can still normally operate, so that the overall functionality of the robot is ensured. In addition, the modular design reduces maintenance costs and time because extensive repair or replacement of parts of the entire robot is not required.

Compared with the prior art, the utility model has the beneficial effects that:

the utility model provides a transport robot's modularization is cleaned to gymnasium based on degree of depth vision, but split is motor lifting module (3) that have the pulley, multi freedom arm (1) and independent module (5) that hang, garbage collection module (4) and degree of depth discernment camera module (2) etc. module, and each module is independently installed on automobile body skeleton to carry out data transmission and communication through wired connection.

The robot replaces a lever type lifting device and a hydraulic lifting device which are common in the market by using the motor lifting module (3) with the pulley, and the design ensures that the lifting mechanism operates more stably, and simultaneously, the maintenance and use cost is greatly reduced.

Drawings

For a clearer description of embodiments of the present application or of the solutions of the prior art, the drawings that are needed in the embodiments will be briefly described, it being obvious that the drawings in the following description are only examples of the present utility model, and that other drawings can be obtained according to these drawings for a person skilled in the art.

Fig. 1 is a schematic perspective view of the present utility model.

Fig. 2 is a schematic left-view structure of the present utility model.

Fig. 3 is a schematic diagram of the front view structure of the present utility model.

Fig. 4 is a schematic view of the bottom structure of the present utility model.

Fig. 5 is a schematic top view of the present utility model.

FIG. 6 is a schematic view of the multi-degree of freedom mechanical arm and independent suspension module structure of the utility model.

Fig. 7 is a schematic diagram of a lifting module structure of a motor with a pulley according to the present utility model.

Fig. 8 is a schematic diagram of the garbage collection module according to the present utility model.

In the figure:

the system comprises a 1-multi-degree-of-freedom mechanical arm, a 2-depth recognition camera module, a 3-motor lifting module with pulleys, a 4-garbage pick-up and collection module, a 5-independent suspension module, a 6-power device and a 7-vehicle body framework; 101-steering engine, 102-first connector, 103-first camera, 104-mechanical claw; 201-connecting rod, 202-second camera, 203-depth sensor, 204-first motor; 301-a second connector, 302-a high torque motor, 303-a pulley, 304-a support guide rail, 305-a belt device and 306-a chute type lifting platform; 401-cleaning device, 402 collecting box; 501-a second motor, 502-a control system; 601-right front wheel, 602-right rear wheel, 603-left rear wheel, 604-left front wheel; 701-vehicle body, 702-circular storage area, 703-square storage area.

Description of the embodiments

The following description of the embodiments of the present utility model will be made clearly and completely with reference to the accompanying drawings, in which it is apparent that the embodiments described are only some embodiments of the present utility model, but not all embodiments. All other embodiments, which can be made by those skilled in the art based on the embodiments of the utility model without making any inventive effort, are intended to be within the scope of the utility model.

In the description of the present utility model, it should be noted that the positional or positional relationship indicated by the terms such as "upper", "lower", "inner", "outer", "top/bottom", etc. are based on the positional or positional relationship shown in the drawings, are merely for convenience of describing the present utility model and simplifying the description, and do not indicate or imply that the apparatus or elements referred to must have a specific orientation, be constructed and operated in a specific orientation, and thus should not be construed as limiting the present utility model. Furthermore, the terms "first," "second," and the like, are used for descriptive purposes only and are not to be construed as indicating or implying relative importance.

In the description of the present utility model, it should be noted that, unless explicitly specified and limited otherwise, the terms "mounted," "configured to," "engaged with," "connected to," and the like are to be construed broadly, and may be either fixedly connected, detachably connected, or integrally connected, for example; can be mechanically or electrically connected; can be directly connected or indirectly connected through an intermediate medium, and can be communication between two elements. The specific meaning of the above terms in the present utility model will be understood in specific cases by those of ordinary skill in the art.

Referring to fig. 1-8, the present utility model provides the following technical solutions:

as shown in fig. 1, a gymnasium cleaning and carrying robot based on depth vision includes: a motor lifting module (3) with pulleys, a multi-degree-of-freedom mechanical arm (1) and an independent suspension module (5), a garbage pickup and collection module (4), a depth recognition camera module (2) and the like; the multi-degree-of-freedom mechanical arm (1) and the independent suspension module (5) are positioned at the front part of the vehicle body framework (7), and the independent suspension module (5) is connected with the vehicle body framework (7) and the power device (6); the motor lifting module (3) with the pulley is positioned at the rear of the vehicle body framework (7); the garbage collection module (4) is positioned at the bottom of the vehicle body; the depth recognition camera module (2) is arranged at the middle upper part of the car body framework (7).

As shown in fig. 2-8, the depth recognition camera module (2) is located at the middle upper part of the car body framework (7) and is used for capturing visual information in a scene. Objects in the room are identified, analyzed, and tracked using deep learning algorithms and computer vision techniques to provide data for the position and pose of the robot. The multi-degree-of-freedom mechanical arm (1) and the independent suspension module (5) are positioned at the front part of the vehicle body framework (7) and used for completing various operation tasks. The multi-degree-of-freedom mechanical arm (1) performs control and accurate motion planning through the cooperation of the mechanical claw (104) at the top end and the first camera (103) above the mechanical claw, so that the grabbing, placing and moving of objects can be realized; the independent suspension module (5) provides stable movement support for the robot by connecting the vehicle body framework (7) with the power device (6); the motor lifting module (3) with the pulleys can directly transmit force to the chute type lifting table (306) so as to realize lifting and placement of dumbbell and other instruments. By the cooperation of the belt device (303) and the pulley (302), power is transmitted to the chute type lifting platform (306), and the lifting process can be accurately controlled by the two high-torque motors (302). This design ensures a smooth and reliable lifting process of the instrument and provides a strong power and stable control. The garbage collection module (4) is positioned at the bottom of the vehicle body and is used for collecting and storing garbage. The module can accurately pick up garbage and recycle the garbage into a container under the combined action of the sweeping device (401) and the collecting box (402). The specific working procedure is as follows: after the robot starts, the depth recognition camera module (2) starts to sense and visually analyze the environment, the robot determines a target object to be cleaned and carried according to data provided by the camera module, the multi-degree-of-freedom mechanical arm (1) and the independent suspension module (5) work cooperatively, the mechanical arm positions and grabs the object, the suspension module provides stable support, and lifting and placing of dumbbell and other instruments are realized through the motor lifting module (3) with pulleys. Meanwhile, the garbage collection module (4) cleans and collects garbage in the gymnasium. The motor lifting module (3) with the pulleys is positioned at the rear of the robot and consists of a second connector (301), two high-torque motors (302), pulleys (303), a supporting guide rail (304), a belt device (305) and a chute type lifting table (306); the high torque motor (302) is used for providing power and is positioned on the back of the supporting guide rail (304), the belt device (305) is connected with the high torque motor (302) and the sliding chute type lifting table (306), the pulley (303) is positioned on the upper part of the supporting guide rail (304), and the sliding chute type lifting table (306) can move up and down through the supporting of the supporting guide rail (304) under the cooperation of elements so as to lift and place a dumbbell.

The above description is only of the preferred embodiments of the present utility model, and is not intended to limit the present utility model in any way; those skilled in the art will readily appreciate that the present utility model may be implemented as shown in the drawings and described above; however, those skilled in the art will appreciate that many modifications, adaptations, and variations of the present utility model are possible in light of the above teachings without departing from the scope of the utility model; meanwhile, any equivalent changes, modifications and evolution of the above embodiments according to the essential technology of the present utility model still fall within the scope of the present utility model.

Claims (4)

1. A gymnasium cleaning transfer robot based on depth vision, comprising: the device comprises a motor lifting module (3) with pulleys, a multi-degree-of-freedom mechanical arm (1) and an independent suspension module (5), a garbage pickup and collection module (4) and a depth recognition camera module (2); the method is characterized in that: the motor lifting module (3) with the pulley is arranged at the rear of the robot, so that the dumbbell can be lifted and placed more conveniently; the mechanical arm (1) with multiple degrees of freedom and the independent suspension module (5) are arranged at the front and the bottom of the robot, and the mechanical claw (104) at the top end of the mechanical arm is matched with the first camera (103) so that simple instruments and articles can be accurately picked up and placed; the power device (6) of the robot is matched with the independent suspension module (5) to facilitate the movement of the robot; the garbage collection module (4) is positioned at the bottom of the robot, and ensures the cleanness and the cleanliness of the gymnasium under the combined action of the cleaning device (401) and the collection box (402); the depth recognition camera module (2) is located at the middle upper part of the robot, and the depth sensor (203) and the second camera (202) can better act on the whole world under the support of the connecting rod (201) and the rotation of the first motor (204).

2. The depth vision-based gymnasium cleaning and carrying robot of claim 1, wherein: the motor lifting module (3) with the pulleys is positioned at the rear of the robot and consists of a second connector (301), two high-torque motors (302), pulleys (303), a supporting guide rail (304), a belt device (305) and a chute type lifting table (306); the high torque motor (302) is used for providing power and is positioned on the back of the supporting guide rail (304), the belt device (305) is connected with the high torque motor (302) and the sliding chute type lifting table (306), the pulley (303) is positioned on the upper part of the supporting guide rail (304), and the sliding chute type lifting table (306) can move up and down through the supporting of the supporting guide rail (304) under the cooperation of elements so as to lift and place a dumbbell.

3. The depth vision-based gymnasium cleaning and carrying robot of claim 1, wherein: the mechanical arm with multiple degrees of freedom (1) and the independent suspension module (5) module are composed of a steering engine (101), a first connecting body (102), a mechanical claw (104), a first camera (103), a second motor (501) and a control system (502), wherein the mechanical claw (104) and the first camera (103) are located at the top end of the mechanical arm with multiple degrees of freedom (1), the first connecting body (102) is used for connecting the steering engine (101) to enable the steering engine to form a whole, and the control system (502) is connected with the second motor (501) and a vehicle body framework (7).

4. The depth vision-based gymnasium cleaning and carrying robot of claim 1, wherein: the garbage collection module is composed of a sweeping device (401) and a collection box (402), wherein the sweeping device (401) is positioned at the bottom of the vehicle body and is used for sweeping and collecting garbage; the collecting box (402) is connected with the car body framework (7) and is used for storing garbage.