CN211333217U - An intelligent service robot - Google Patents

Abstract

An intelligent service robot disclosed by the utility model comprises a robot casing, wherein a chassis control platform, an upper-layer data acquisition and data processing platform are arranged in the robot casing; the chassis control platform comprises a power source, and the power source is electrically connected with a power converter, Chassis drive module and drive wheel, power supply and drive wheel are arranged at the bottom of the robot casing; the upper data acquisition and data processing platform includes a micro industrial computer set in the robot casing, and the signal of the micro industrial computer is connected with lidar, camera, router, screen , controller and microphone. The front section of the robot shell is embedded with a screen, a microphone and a camera; it can realize the functions of moving the service robot, avoiding obstacles and providing targeted services according to the actual situation.

Description

An intelligent service robot

technical field

The utility model belongs to the technical field of intelligent equipment, in particular to an intelligent service robot.

Background technique

With the continuous progress and development of society, the development of service-oriented intelligent robots has attracted more and more people's attention. At present, service robots mainly use external sensors, such as lidar, visual cameras, etc., to collect environmental information, and then use the data information to calculate the current position of the robot and build a working map. However, due to the influence of sensor errors, calculation accuracy errors, and fixed control methods, there are problems such as inflexibility and unresponsiveness of service robots.

Utility model content

The purpose of the present utility model is to provide an intelligent service robot, which can realize the functions of moving, avoiding obstacles and providing targeted services according to the actual situation of the service robot.

The technical scheme adopted by the utility model is: an intelligent service robot, comprising a robot casing, and a chassis control platform, an upper-layer data acquisition and data processing platform are arranged in the robot casing;

The chassis control platform includes a power source, and the power source is electrically connected with a power converter, a chassis drive module and a drive wheel in sequence, and the power source and the drive wheel are arranged at the bottom of the robot casing;

The upper-layer data acquisition and data processing platform includes a micro industrial computer set in the robot casing. The micro industrial computer signal is connected with a lidar, a camera, a router, a screen, a controller and a microphone. The front part of the robot casing is embedded with a screen, a microphone and a microphone. camera.

The utility model is also characterized in that,

The power converter includes a 24V to 12V5A power converter, a 24V to 9V1A power converter, and a 24V to 12V0.5A power converter. The 24V to 9V1A power converter is connected to the router 9, and the 24V to 12V5A power converter The power converter is connected to the micro industrial computer 10 , and the 4V to 12V 0.5A power converter is connected to the motor drive module 3 .

The chassis drive module includes a motor drive module, the motor drive module is electrically connected with a controller, and the controller is electrically connected with two planetary deceleration motors respectively, each planetary deceleration motor is connected with a driving wheel through a chain, and the front of the two driving wheels is located in the A universal wheel is arranged at the bottom of the robot casing.

The camera adopts XBOX360 Kinect.

The controller adopts Arduino Mega 2560 development board.

The model of the micro industrial computer is HLY-X31G, the motor drive module adopts a dual-channel motor driver board, and the dual-channel motor driver board adopts the L298N motor driver chip.

The model of the lidar is UST-20LX.

Planetary gear motor with photoelectric encoder.

The micro industrial computer is signal-connected with the control terminal for receiving the control instructions sent by the control terminal.

The positive and negative poles of the planetary geared motor connected to the left drive wheel are respectively connected to the B+ and B- phase line interfaces of the dual-circuit motor drive board, and the positive and negative poles of the planetary geared motor connected to the right drive wheel are respectively connected to the dual-circuit motor. The A+, A- phase line interfaces of the driver board are connected, and the PA, A1, A2, and G interfaces of the dual-channel motor driver board are respectively connected to the 11, 44, 42, and VIN interfaces of the Arduino Mega 2560 development board. The dual-channel motor driver board The PB, B1, B2 and G interfaces of the Arduino Mega 2560 are respectively connected to the 10, 46, 48 and GND interfaces of the Arduino Mega 2560 development board, and the communication white line, data red line, data green line and data of the planetary gear motor connected to the left drive wheel The black wires are connected to the 18, 22, 28, and 50 ports of the Arduino Mega 2560 development board, respectively, and the communication white wire, data red wire, data green wire, and data black wire of the planetary gear motor connected to the right drive wheel are connected to 19, 23 , 26, 51 interface connection.

The beneficial effects of the present utility model are: the intelligent service robot of the present utility model uses the information collected by the laser radar and the camera to position the robot body, realize the movement of the service robot and avoid obstacles, and through the PWM speed regulation control, for specific The area can adjust the moving speed, accept voice commands by setting the microphone, and display service information by setting the screen to achieve targeted service functions.

Description of drawings

Fig. 1 is the structural representation of the intelligent service robot chassis control platform of the present utility model;

Fig. 2 is the circuit connection diagram of the main components of the intelligent service robot of the present invention;

3 is a schematic structural diagram of an upper-layer data collection and data processing platform of the intelligent service robot of the present invention.

In the figure, 1. Power supply, 2. Voltage converter, 3. Motor drive module, 4. Controller, 5. Drive wheel, 6. Planetary gear motor, 7. Lidar, 8. Camera, 9. Router, 10. Micro IPC, 11. Screen, 12. Microphone.

Detailed ways

The present utility model will be described in detail below with reference to the accompanying drawings and specific embodiments.

An intelligent service robot provided by the present utility model, as shown in FIG. 1 and FIG. 3 , includes a robot casing, and a chassis control platform, an upper-layer data acquisition and data processing platform are arranged in the robot casing; wherein, the chassis control platform includes a power supply 1. The power source 1 is electrically connected with a power converter 2, a chassis drive module and a drive wheel 5 in turn. The power source 1 and the drive wheel 5 are arranged at the bottom of the robot shell; the upper data acquisition and data processing platform includes a micro industrial control device arranged in the robot shell The machine 10, the micro-industrial computer 10 is signal-connected with a lidar 7, a camera 8, a router 9, a screen 11, a controller 4 and a microphone 12, and a screen 11, a microphone 12 and a camera 8 are embedded in the front section of the robot shell;

The micro industrial computer 10 is signal-connected with the control terminal for receiving control instructions sent by the control terminal. The micro industrial computer carries the ROS indigo system, and the micro industrial computer is provided with a USB interface.

The chassis drive module includes a motor drive module 3 that is electrically connected to the power converter 2. The motor drive module 3 is electrically connected to a controller 4, and the controller 4 is electrically connected to two planetary deceleration motors 6, each of which passes through a chain. A driving wheel 5 is connected, and a universal wheel is arranged in front of the two driving wheels 5 and located at the bottom of the robot shell. The universal wheel and the two driving wheels form an isosceles triangle; among them, the controller 4 is developed with Arduino Mega 2560 plate, planetary geared motor 6 with photoelectric encoder.

As shown in Figure 2, the positive and negative poles of the planetary geared motor connected to the left drive wheel are respectively connected to the B+ and B- phase line interfaces of the dual motor drive board, and the positive and negative poles of the planetary geared motor connected to the right drive wheel are connected respectively. The negative poles are respectively connected to the A+ and A- phase line interfaces of the dual-channel motor driver board, and the PA, A1, A2, and G interfaces of the dual-channel motor driver board are respectively connected to the 11, 44, 42, and VIN interfaces of the Arduino Mega 2560 development board. , the PB, B1, B2 and G interfaces of the dual motor drive board are respectively connected to the 10, 46, 48, and GND interfaces of the Arduino Mega2560 development board, and the communication white line, data red line, data line of the planetary gear motor connected to the left drive wheel The green line and the data black line are respectively connected to the 18, 22, 28, 50 ports of the Arduino Mega 2560 development board, and the communication white line, data red line, data green line and data black line of the planetary gear motor connected to the right drive wheel are respectively Connect with 19, 23, 26, 51 interfaces; to realize the driving of the robot.

The laser radar 7 and the camera 8 fully collect the surrounding environment information, and transmit the information to the micro industrial computer 10 to process the data and calculate the positioning and navigation of the robot, and control the controller 4, the motor drive module 3, and the planetary gear motor 6 , the controller 4 outputs a control signal to the motor drive module 3 , and the motor drive module 3 uses a two-way motor drive development board to drive the planetary deceleration motor 6 through PWM modulation, thereby driving the movement of the drive wheel 5 . In this embodiment, the power converter 2 includes three power converters 2 located as shown in FIG. 1 , which are: a 24V to 12V5A power converter 2, a 24V to 9V1A power converter 2, and a 24V to 12V0.5A power converter To complete the voltage conversion, the power supply 1 is electrically connected to the three power converters 2, the 24V to 9V1A power converter 2 is connected to the router 9, and the 24V to 12V5A power converter 2 is connected to the micro industrial computer. 10 is connected, the 4V to 12V0.5A power converter 2 is connected to the motor drive module 3.

Exemplarily, in this embodiment, the camera 8 adopts an XBOX360 Kinect, the model of the lidar 7 is UST-20LX, the model of the micro industrial computer 10 is HLY-X31G, and the motor drive module 3 adopts a dual-channel motor driver board, which is driven by a dual-channel motor. The board adopts L298N motor driver chip.

The functions and functions of each key component of an intelligent service robot of the utility model:

The motor drive module adopts a two-way motor drive board (using L298N motor drive chip), which is used to receive the voltage value and PWM transmitted by the controller, and then control the planetary gear motor;

The controller adopts the Arduino Mega 2560 development board, which is used to receive the linear velocity and angular velocity commands issued by the micro industrial computer, and then convert them into high and low levels and PWM values;

The planetary gear motor is equipped with a photoelectric encoder, which is used to receive the voltage value transmitted by the motor drive module, and then drive the drive wheel and the universal wheel, and at the same time encode the number of wheel turns and send it back to the micro industrial computer for positioning;

The lidar adopts UST-20LX, which is used to measure the distance between the surrounding objects and the lidar;

The camera is used to collect environmental information and build a point cloud map;

The router is used to provide local area network and WiFi for data interconnection;

The micro industrial computer adopts HLY-X31G, which is used to receive the signal collected by the lidar, convert the data, and determine the next movement direction and speed of the robot;

The screen is used to display service information content.

The microphone is used to receive verbal commands from the field controller.

The working process of the chassis control platform is as follows: the micro industrial computer 10 receives the linear speed and angular velocity control information sent by the control terminal through the WiFi signal of the router, and the micro industrial computer 10 transmits the speed data information to the controller 4 (developed by Arduino Mega 2560) through the USB interface board), after being processed by the controller 4, the speed value is decomposed into the control data of the two planetary gear motors 6, and it is transmitted to the input interfaces of the two motors of the dual motor drive board in the form of high and low levels and PWM values. (A+, A- and B+, B-), the two-way motor drive board converts the received data into the corresponding voltage value and sends it to the two planetary gear motors 6, the two planetary gear motors 6 start to drive the chain to drive the drive wheel 5 Move.

The micro industrial computer 10 receives the information collected by the lidar 7 through the Hector-slam node to locate the robot, establishes a two-dimensional grid map, and receives the speed information sent by the control terminal through the arduino node to control the drive wheel 5 to move; After the pose and the data obtained by the lidar 7 are calculated, the path planning, dynamic obstacle avoidance and navigation tasks are performed; the RGB-D information collected by the camera 8 is received through the RTAB-MAP node, processed and sent to the control terminal, and the microphone 12 is received through the recognizer node. The data and information processed by the micro-industrial computer 10 can be displayed and fed back through the screen by the voice command of the transmitted on-site controller.

The working process of the intelligent service robot of the present invention is as follows: turn on the power supply 2, make the micro industrial computer 10 initialize the network port of the laser radar 7 and the network port of the router 9, start the chassis driving module, the laser radar and the camera, and make the laser The radar 7 and the camera 8 fully collect the surrounding environment information and locate the robot. After specifying the target point for the robot, the ROS network receives the distance data measured by the lidar 7, and then combines the mileage calculation data to determine that the robot is in The specific pose of the environment, and then transmit the pose of the robot and the distance data obtained by the lidar 7 to the control terminal to realize path planning and dynamic obstacle avoidance. According to the position of the robot and the position of the target point, the control terminal Send information to the micro industrial computer 10 through the local area network established by the router, and the micro industrial computer 10 transmits the data information to the controller 4. After the controller 4 processes, the speed value is decomposed into the control data of the two planetary gear motors 6, and the It is transmitted to the dual motor drive board in the form of high and low levels and PWM values respectively. The dual motor drive board converts the received data into corresponding voltage values and sends them to the two planetary gear motors 6. The two planetary gear motors 6 Start to drive the chain to drive the drive wheel 5 to move, so as to realize the self-protection walking and obstacle avoidance of the robot.

The utility model of the present invention is an intelligent service robot, which uses laser radar to collect data, feeds back to a micro industrial computer for data processing, performs positioning and navigation, avoids obstacles, improves the application effect of the robot, and uses a router to connect the micro industrial computer and the control terminal. Set under the same local area network, the control terminal receives the data sent by the micro industrial computer, and after processing the data, it controls the robot as input information to realize remote data interconnection.

Claims (10)

1. An intelligent service robot is characterized by comprising a robot shell, wherein a chassis control platform and an upper data acquisition and data processing platform are arranged in the robot shell;

the chassis control platform comprises a power supply (1), the power supply (1) is sequentially and electrically connected with a power converter (2), a chassis driving module and a driving wheel (5), and the power supply (1) and the driving wheel (5) are arranged at the bottom of the robot shell;

the upper data acquisition and data processing platform comprises a miniature industrial personal computer (10) arranged in a robot shell, wherein the miniature industrial personal computer (10) is connected with a laser radar (7), a camera (8), a router (9), a screen (11), a controller (4) and a microphone (12) through signals, and the screen (11), the microphone (12) and the camera (8) are embedded on the front section of the robot shell.

2. The intelligent service robot as claimed in claim 1, wherein the power converter (2) comprises a 24V to 12V5A power converter, a 24V to 9V1A power converter, and a 24V to 12V0.5A power converter, the 24V to 9V1A power converter is connected to the router (9), the 24V to 12V5A power converter is connected to the mini-industrial personal computer (10), and the 4V to 12V 12V0.5A power converter is connected to the motor driving module (3).

3. An intelligent service robot as claimed in claim 2, wherein the chassis driving module comprises a motor driving module (3), the motor driving module (3) is electrically connected with a controller (4), the controller (4) is electrically connected with two planetary gear motors (6) respectively, each planetary gear motor (6) is connected with a driving wheel (5) through a chain, and a universal wheel is arranged in front of the two driving wheels (5) and at the bottom of the robot housing.

4. A smart service robot as claimed in claim 1, characterised in that said camera (8) employs XBOX360 Kinect.

5. A smart service robot as claimed in claim 1, characterised in that said controller (4) is implemented using Arduino Mega2560 development board.

6. An intelligent service robot as claimed in claim 2, wherein the mini industrial personal computer (10) is of the type HLY-X31G, and the motor driving module (3) adopts a two-way motor driving board which adopts an L298N motor driving chip.

7. An intelligent service robot as claimed in claim 1, characterised in that the lidar (7) is of the type UST-20 LX.

8. A smart service robot as claimed in claim 3, characterised in that said planetary gear reduction motor (6) is provided with a photoelectric encoder.

9. The intelligent service robot as claimed in claim 1, wherein the mini industrial personal computer (10) is in signal connection with the control terminal and is used for receiving the control command sent by the control terminal.

10. The intelligent service robot as claimed in claim 9, wherein the positive and negative poles of the planetary gear motor connected to the left driving wheel are connected to the B + and B-phase line interfaces of the two-way motor driving board, respectively, the positive and negative poles of the planetary gear motor connected to the right driving wheel are connected to the a + and a-phase line interfaces of the two-way motor driving board, respectively, the PA, a1, a2, and G interfaces of the two-way motor driving board are connected to the 11, 44, 42, VIN interfaces of the Arduino Mega2560 development board, respectively, the PB, B1, B2, and G interfaces of the two-way motor driving board are connected to the 10, 46, 48, GND interfaces of the Arduino Mega2560 development board, the communication white line, the data red line, the data green line, and the data black line of the planetary gear motor connected to the left driving wheel are connected to the 18, 22, 28, 50 interfaces of the Arduino Mega2560 development board, respectively, the communication white line, the data red line, the data green line and the data black line of the planetary gear motor connected with the right driving wheel are respectively connected with interfaces 19, 23, 26 and 51.

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