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CN-121989299-A - Can accomodate service robot and insert system in coordination based on box chassis

CN121989299ACN 121989299 ACN121989299 ACN 121989299ACN-121989299-A

Abstract

The invention discloses a box-type chassis-based storable service robot and a collaborative ground insertion system, which relate to the technical field of intelligent tools and comprise a storage box serving as a chassis, wherein an upper layer is used for storing the robot, a lower layer is used for storing garbage, a cleaning assembly comprises a garbage temporary storage box, an omnidirectional moving wheel set, a cleaning piece and a Hall sensor array, the garbage temporary storage box is used for storing garbage, the omnidirectional moving wheel set is used for enabling the whole garbage to move omnidirectionally, the cleaning piece is used for cleaning ground garbage, the Hall sensor array is used for recognizing ground insertion magnetic stripe codes, an electromagnetic Hall pusher is used for lifting and storing the robot, the robot assembly comprises a body steering piece and a mechanical arm storage piece, the body steering piece is used for steering a trunk, the mechanical arm storage piece is used for enabling the mechanical arm to be stored in the trunk, and the robot upper half is automatically stored and automatically navigated with high precision, so that multi-mode household tasks can be efficiently completed in a limited space of a residence.

Inventors

  • CAI LITAO

Assignees

  • 上海智空语设科技有限公司

Dates

Publication Date
20260508
Application Date
20260326

Claims (10)

  1. 1. Can accomodate service robot based on box chassis, its characterized in that includes: the storage box is used as a chassis and is arranged into an upper layer and a lower layer, the upper layer is used for storing the robot, and the lower layer is used for storing garbage; The cleaning assembly comprises a garbage temporary storage box, an omnidirectional moving wheel set, a cleaning piece and a Hall sensor array; the garbage temporary storage box is arranged at the lower layer of the storage box and used for storing garbage, the omnidirectional moving wheel set is arranged at the outer side of the bottom surface of the storage box and used for enabling the whole to move omnidirectionally, the cleaning piece is arranged at the middle part of the bottom surface of the storage box and used for cleaning ground garbage, and the Hall sensor array is fixedly arranged at the rear side of the bottom surface of the storage box and used for identifying ground magnetic stripe codes; the electromagnetic Hall pusher is fixedly arranged in the middle of the inner cavity of the storage box and is used for driving the whole robot to lift up and down along the shaft so that the whole robot can be stored in the upper layer of the storage box; The robot assembly is fixedly arranged on the electromagnetic Hall pusher and is positioned above the storage box, and comprises a body steering piece and a mechanical arm storage piece, wherein a step-by-step storage mode is adopted, multiple groups of mechanical arms are stored in the body steering piece through the mechanical arm storage piece, multiple groups of mechanical arms are stored in the upper body of the robot step by step through the mechanical arm storage piece, the body steering piece is used for enabling the upper body of the robot to steer in multiple directions, and the mechanical arm storage piece is used for driving the multiple groups of mechanical arms to stack and store step by step.
  2. 2. The accommodating service robot based on the box type chassis is characterized by further comprising a box body, an accommodating cavity is formed in the box body, a partition plate is fixedly arranged in the middle of the accommodating cavity in a transverse mode, the thickness of the partition plate is 10cm, the accommodating box is divided into an upper layer and a lower layer, a chassis battery module is arranged on the bottom face of the upper layer, a garbage temporary storage box is slidably arranged in a lower layer space below the partition plate, a first opening is formed in the middle of the bottom face of the garbage temporary storage box, a bottom plate is arranged at the bottom of the box body, a second opening is formed in the bottom plate, the second opening corresponds to the first opening, an omni-directional moving wheel set is annularly arranged on the bottom face of the bottom plate, the omni-directional moving wheel set comprises a moving driving piece, a universal wheel is arranged at the output end of the moving driving piece, and a ground inserting port is further formed in the lower side of the rear end of the box body.
  3. 3. The housing-based service robot of claim 2, wherein the cleaning member comprises a partition arranged below the second opening, cleaning driving members are arranged on two sides of the partition, a rotating shaft is arranged at the output end of the cleaning driving member, a first bevel gear is fixedly arranged in the middle of the rotating shaft, a brush disc is fixedly arranged at the bottom end of the rotating shaft, the brush disc is arranged below the partition, a brush roller is movably arranged in the middle of the second opening and above the partition, second bevel gears are fixedly arranged at two ends of a center shaft of the brush roller, and the first bevel gears are meshed with the second bevel gears.
  4. 4. The housing-based service robot of claim 2, wherein the body steering member further comprises a base disposed at an upper end of the electromagnetic hall pusher, a first steering driving member is fixedly mounted at an upper end of the base, a rotating shaft is fixedly mounted at an output end of the first steering driving member, a trunk of the robot is wrapped outside the rotating shaft, a second steering driving member is fixedly mounted in a middle portion of an upper end of the trunk, and a head is disposed at an output end of the second steering driving member.
  5. 5. The housing-based service robot of claim 4, wherein the mechanical arm housing part further comprises a housing groove arranged on the rotating shaft, a first housing driving part is arranged in the housing groove, two ends of the first housing driving part are respectively provided with a telescopic rod, the other ends of the telescopic rods are respectively fixedly provided with a second housing driving part, the output end of the second housing driving part is fixedly provided with an upper arm, the middle part of the upper arm is provided with a first housing groove, the lower end of the upper arm is provided with a third housing driving part, the output end of the third housing driving part is fixedly provided with a lower arm, the lower arm can be housed in the first housing groove, and the lower end of the lower arm is further provided with a hand.
  6. 6. The housing-based service robot of claim 5, wherein the two sides of the trunk are provided with second housing grooves, the size of the second housing grooves is adapted to the size of the upper arm, and the trunk is further provided with a housing space, in which an upper body battery module and an intelligent core main board module are built.
  7. 7. The housing chassis-based stowable service robot of claim 6, wherein the second and third stowable drives each adopt a hollow cup structure capable of three-dimensional 360 ° rotation; The chassis battery module and the upper body battery module form a double battery module structure and are all used as independent battery modules to form independent energy separation, so that the whole circuit system is separated up and down while long-acting cruising is ensured.
  8. 8. A co-ordinated insert system for a box chassis based stowable service robot, comprising: The ground plug module is pre-buried in the corner area of the residential floor and is provided with a charging contact and an encoding magnetic stripe, wherein the charging contact is used for being in butt joint with a ground plug interface of the robot and supplying power to the robot, the encoding magnetic stripe is provided with a unique functional area identification code formed by an N/S pole sequence, and the functional area identification code carries space position identification information of the ground plug module and is used for identifying and reading a Hall sensor array of the robot; The sensing and positioning module is used for identifying a functional area identification code of the encoded magnetic stripe through the Hall sensor array, generating a magnetic field identification signal and encoded magnetic stripe position information containing the spatial coordinates of the ground inserting module based on the functional area identification code, and outputting a positioning signal for guiding the robot to move towards the ground inserting module; The infrared auxiliary positioning module is used for receiving the magnetic field identification signal and the encoded magnetic stripe position information transmitted by the sensing positioning module, transmitting an infrared positioning signal based on the encoded magnetic stripe position information, and forming a double positioning signal through cooperative feedback of the infrared positioning signal and the magnetic field identification signal so as to enable the robot and the ground inserting module to perform double alignment; The mobile control module is used for receiving the magnetic field identification signal and the coded magnetic stripe position information output by the sensing and positioning module, converting the coded magnetic stripe position information into a moving path instruction and sending the moving path instruction to the omnidirectional mobile wheel set of the robot, and controlling the omnidirectional mobile wheel set to complete multidirectional movement based on the moving path instruction until the robot and the ground inserting module complete counterpoint movement.
  9. 9. The cooperative insertion system of claim 8, wherein the infrared auxiliary positioning module is disposed on the ground insertion module and is disposed parallel to the encoded magnetic stripe.
  10. 10. The collaborative interpolation system of claim 8, wherein the functional area identification code of the encoded magnetic stripe includes a homing instruction identification code and a sweeping mode instruction identification code, the ground interpolation module triggering a mode switch of operation of the robot based on the functional area identification code, comprising: When the homing instruction identification code is identified, triggering the robot to automatically navigate to the ground socket module, enabling the charging contact to be connected with a ground socket for supplying power after the positioning is completed, triggering a mechanical arm storage piece of the robot, retracting the mechanical arm into a body, triggering an electromagnetic Hall pusher to retract the body into a storage box, and entering a dormant state; When the sweeping mode instruction identification code is identified, triggering the robot to keep the body in the storage state of the body retraction storage box, and triggering the omnidirectional moving wheel set and the cleaning piece of the robot to start running.

Description

Can accomodate service robot and insert system in coordination based on box chassis Technical Field The invention relates to the technical field of intelligent personal devices, in particular to a housing type chassis-based storable service robot and a collaborative ground insertion system. Background Along with the rapid development of the intelligent home industry, the fusion application of the intelligent technology with the home service robot becomes the core trend of industry development, and the multifunctional home service robot with the functions of human-simulated interaction service and floor cleaning becomes an important development direction of newly built and assembled home matched hardware, and the requirements of the market on space adaptability, function integration, operation reliability and scene fusion are continuously improved. At present, although the service robots facing home scenes at home and abroad realize the single functions of humanoid service, ground cleaning and the like, the service robots can not solve the core problems of limited space, insufficient mobility, low homing charge reliability and the like of residential corner areas, and severely restrict the industrialized landing and popularization application of the home service robots. The existing wheel type humanoid service robot with the humanoid upper body is generally high in overall height, the clear height of typical corner areas such as the lower part of a shoe cabinet of a residential vestibule, the side of a household cabinet of a balcony, dead angles of a washing table and the like is low, the robot cannot park in the areas for a long time, a user needs to additionally reserve a special placement space, and limited living space is occupied without ends. Meanwhile, the garbage treatment function of the existing robot is not integrated with the body, the ground cleaning operation is completely dependent on an external garbage can, the cleaning operation is required to frequently go back and forth between a cleaning area and the garbage can, the operation efficiency is low, the sealing temporary storage of garbage can not be realized, the problems of odor diffusion, garbage scattering and the like are easy to occur, the functional integrity is poor, and the use experience of a user is seriously influenced. Meanwhile, the residential pre-buried ground plug at the present stage only has basic power interface functions, has no expansion functions such as path guidance, identity recognition, mode triggering and the like, has poor cooperativity with a robot, cannot realize deep fusion with a residential pre-buried system, and becomes isolated power supply hardware. The homing positioning mode of the existing robot mainly depends on vision or LDS laser ranging technology, and the technology has high failure rate of positioning and recognition in areas with low ground textures, such as a vestibule, a balcony and the like, with direct bright light, specular reflection and the like, so that accurate homing guidance cannot be realized. Meanwhile, a high-precision alignment butting mechanism is not arranged between the robot and the ground socket, multiple positioning calibration is absent in the homing process, the charging butting deviation is large, and the problems that the charging contact is poor in contact and cannot be charged normally are easy to occur. Disclosure of Invention The invention aims to provide a box-type chassis-based storable service robot and a collaborative ground insertion system, which are used for solving the problems that the height and space of a residential corner area conflict and the traditional insertion function is single, the homing reliability of the robot is low and the robot cannot be fused with a residential pre-buried system in the prior wheel-type humanoid robot. In order to achieve the above object, the present invention provides the following technical solutions: according to a first aspect of the present disclosure, there is provided a stowable service robot based on a box chassis, comprising: the storage box is used as a chassis and is arranged into an upper layer and a lower layer, the upper layer is used for storing the robot, and the lower layer is used for storing garbage; The cleaning assembly comprises a garbage temporary storage box, an omnidirectional moving wheel set, a cleaning piece and a Hall sensor array; the garbage temporary storage box is arranged at the lower layer of the storage box and used for storing garbage, the omnidirectional moving wheel set is arranged at the outer side of the bottom surface of the storage box and used for enabling the whole to move omnidirectionally, the cleaning piece is arranged at the middle part of the bottom surface of the storage box and used for cleaning ground garbage, and the Hall sensor array is fixedly arranged at the rear side of the bottom surface of the storage box and used for identifying ground magnetic stripe codes; the e