CN107263493A - A kind of intelligence traction robot and its guard method with protection mechanism - Google Patents
A kind of intelligence traction robot and its guard method with protection mechanism Download PDFInfo
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- CN107263493A CN107263493A CN201710435920.XA CN201710435920A CN107263493A CN 107263493 A CN107263493 A CN 107263493A CN 201710435920 A CN201710435920 A CN 201710435920A CN 107263493 A CN107263493 A CN 107263493A
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- telescopic baffle
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- traction robot
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J11/00—Manipulators not otherwise provided for
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
- B25J19/02—Sensing devices
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
- B25J19/02—Sensing devices
- B25J19/021—Optical sensing devices
- B25J19/023—Optical sensing devices including video camera means
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- Mechanical Engineering (AREA)
- Multimedia (AREA)
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Abstract
The invention discloses a kind of intelligence traction robot with protection mechanism, drawing robot includes head, body, first mechanical arm, second mechanical arm and wheel, body includes alarm device, drive device, protection device and guider, drive device driving moment is moved, protection device is connected with drive device, protection device includes the first equal telescopic baffle of elongation, second telescopic baffle, 3rd telescopic baffle, 4th telescopic baffle and protecting bin, first telescopic baffle maximal tensility is more than the length that pull rope adds pet, first telescopic baffle and the second telescopic baffle are located at the protection device left and right sides, 3rd telescopic baffle is located at the top of protection device, 4th telescopic baffle is located at protection device bottom, 3rd telescopic baffle includes the first upset baffle plate of some holes, first upset baffle plate is connected with the 3rd telescopic baffle by attachment means and can be around 270 ° of rotation of attachment means, first mechanical arm is used to draw pet.
Description
Technical field
The present invention relates to robot field, more particularly to a kind of intelligence traction robot and its protection with protection mechanism
Method.
Background technology
Robot is the automatic installations for performing work.It can both receive mankind commander, and advance volume can be run again
The program of row, can also be according to the principle guiding principle action formulated with artificial intelligence technology；In recent years, robot is ours
Extensive utilization has been obtained in life.
Nowadays with the quickening pace of modern life, the increasing of pressure, people are in order to eliminate lonely or be fed for amusement purpose
Keep a pet, because work long-time companion pet or can not go out for a stroll without too many time-bands pet, therefore in the market goes out
Show company robot, when user goes to work, accompany robot pet can be accompanied to be played.
So accompany robot in doors pet can only be accompanied to play, Some Animals are for example liked freely and motion is the day of dog
Property, sufficient motion can make them loosen body and mind, enjoy happy, release lonely and lonely, so not only improve their body and mind
Health, has also cultivated good personality；And when user is busier, no time-bands pet is gone out for a stroll and drained, accompany
Also it can not go out for a stroll and drain with pet with robot.Even if accompany robot can band pet trot out, also can not be
Owner does not protect pet safe in case.
The content of the invention
Goal of the invention：To solve problem present in background technology, the present invention provides a kind of intelligence with protection mechanism
Draw robot and its guard method.
Technical scheme：A kind of intelligence traction robot with protection mechanism, the traction robot includes head, body
Body, first mechanical arm, second mechanical arm and wheel, the head include processor, camera and laser range finder, described
Processor is connected with mobile terminal, and the camera is connected with the processor, for shooting the traction robot location
Surrounding environment and be real-time transmitted to the processor, the laser range finder is connected with the processor, for measuring
The distance between barrier and the traction robot value are simultaneously real-time transmitted to the processor, and the body includes alarm
Device, drive device, protection device and guider, the alarm device are connected with the processor, for sending alarm
Sound, the drive device is connected with the processor, and for driving moment motion, the protection device connects with the drive device
Connect, the protection device is stretched including the first equal telescopic baffle of elongation, the second telescopic baffle, the 3rd telescopic baffle, the 4th
Contracting baffle plate and protecting bin, the first telescopic baffle maximal tensility are more than the length that pull rope adds pet, and described first stretches
Contracting baffle plate and second telescopic baffle are located at the protection device left and right sides, and the 3rd telescopic baffle is located at described protect
At the top of protection unit, the 4th telescopic baffle is located at the protection device bottom, if the 3rd telescopic baffle includes dry hole
The first upset baffle plate in hole, the first upset baffle plate is connected with the 3rd telescopic baffle by attachment means and can be around described
270 ° of rotations of attachment means, the guider is connected with the processor, the road for the traction robot ambulation that navigates
Line, the first mechanical arm is used to draw pet.
As a kind of preferred embodiment of the present invention, the artificial amphibious humanoid robot of the traction machine, the hauling machine
Unmanned plane is provided with above device head part, is connected by latching, the unmanned plane is connected with the processor, it is described for driving
Draw robot flight.
As a kind of preferred embodiment of the present invention, the first mechanical arm includes tension measuring appliance and take-up and pay-off device,
The tension measuring appliance is connected with the processor, for measuring pull rope to the value of thrust of the first mechanical arm and will in fact
When send the processor to, the take-up and pay-off device is connected with the drive device, for elongating or shortening pull rope.
As a kind of preferred embodiment of the present invention, the second mechanical arm includes shovel dung device, the shovel dung device and institute
Drive device connection is stated, for collecting pet dung.
As the present invention a kind of preferred embodiment, the traction robot also include automatic feeder, for timing to
Feeding pet.
As the present invention a kind of preferred embodiment, the traction robot also include arrangements for speed regulation, the arrangements for speed regulation with
The processor connection, for adjusting the traction robot speed of travel.
It is used as a kind of preferred embodiment of the present invention, including following job step：
a）The track route of the traction robot is preset in the guider, described lead is preset in the arrangements for speed regulation
Draw the initial speed of travel of robot；
b）The drive device drives the wheel movement, and drives the take-up and pay-off device unwrapping wire, and the traction robot takes
Band pet trots out；
c）The camera shoots the surrounding environment residing for the traction robot and is real-time transmitted to the processor, institute
State the distance between Laser Measuring range measurement barrier and the traction robot value and be real-time transmitted to the processor；
D) processor judges whether someone has malice to pet around the traction robot according to the picture received,
Target is classified as if having, and judges that the target draws the distance between robot value with described, when the distance value is small
Then to the drive device output protection signal when safe distance value；
E) drive device drive first telescopic baffle, second telescopic baffle, the 3rd telescopic baffle and
The 4th telescopic baffle elongation, when the 3rd telescopic baffle elongation is extremely prescribed a time limit, the drive device drives described first
Overturn baffle plate and rotate 270 °, form a closed space, the drive device drives first telescopic baffle, described second to stretch
Contracting baffle plate, the 3rd telescopic baffle and the 4th telescopic baffle are contracted to original state.
As a kind of preferred embodiment of the present invention, step b also includes：
The tension measuring appliance measures pull rope to the value of thrust of the first mechanical arm and is real-time transmitted to the processing
Device, the processor exports speed-regulating signal according to the value of thrust received to the arrangements for speed regulation, if the value of thrust has increase
Trend then exports signal for faster to the arrangements for speed regulation, subtracts if the value of thrust has reduction trend to arrangements for speed regulation output
Fast signal, the drive device drives the speed of travel of the wheel according to the velocity amplitude of arrangements for speed regulation.
As a kind of preferred embodiment of the present invention, step c also includes：
To described if the processor judges that front road conditions are not suitable for the traction robot ambulation according to the picture received
Unmanned plane exports flight signal, and the unmanned plane carries the traction robot and flown away from, the ceiling altitude of the unmanned plane
Less than the length of pull rope.
As a kind of preferred embodiment of the present invention, step e also includes：
The camera shoots pet dynamic and is simultaneously transferred to the processor, the processor judge the pet whether position
Immediately ahead of the protection device, if otherwise to the drive device output adjustment signal, the drive device drives the car
Wheel motion is until the pet is located at immediately ahead of the protection device.
The present invention realizes following beneficial effect：The present invention can be in the case where not needing owner to accompany outside automatic companion pet
Go out to take a walk, and can play a part of looking after pet.The interval time of feeding can be set in user, and automatic feeder can enter out of doors
Row automatic feeding；Pet safe can be most importantly protected, criminal is close if having detected, and alarm device will send alarm
Sound is reminded, and protection device can stretch and wrap up pet, it is to avoid pet comes to harm.
Brief description of the drawings
Accompanying drawing herein is merged in specification and constitutes the part of this specification, shows the implementation for meeting the disclosure
Example, and be used in specification to explain the principle of the disclosure together.
A kind of intelligence traction robot structural representation with protection mechanism that Fig. 1 provides for the present invention；
The protection device structural representation that Fig. 2 provides for the present invention；
A kind of intelligence traction robot guard method schematic diagram with protection mechanism that Fig. 3 provides for the present invention.
Embodiment
Below in conjunction with the accompanying drawing in the embodiment of the present invention, the technical scheme in the embodiment of the present invention is carried out clear, complete
Site preparation is described, it is clear that described embodiment is only a part of embodiment of the invention, rather than whole embodiments.
Embodiment one
As shown in figure 1, it is a kind of with protection mechanism intelligence traction robot, the traction robot include head 1, body 2,
First mechanical arm 3, second mechanical arm 4 and wheel 5, the head 1 include processor 6, camera 7 and laser range finder 8,
The processor 6 is connected with mobile terminal, and the camera 7 is connected with the processor 6, for shooting the traction robot
The surrounding environment in location is simultaneously real-time transmitted to the processor 6, and the laser range finder 8 is connected with the processor 6,
For measuring the distance between barrier and the traction robot value and being real-time transmitted to the processor 6, the body
Body 2 includes alarm device 9, drive device 10, protection device 11 and guider 12, the alarm device 9 and the processing
Device 6 is connected, for sounding the alarm, and the drive device 10 is connected with the processor 6, is moved for driving moment 5, described
Protection device 11 is connected with the drive device 10, the protection device 11 include equal the first telescopic baffle 13 of elongation,
Second telescopic baffle 14, the 3rd telescopic baffle 15, the 4th telescopic baffle 16 and protecting bin 17, first telescopic baffle 13 is most
Big elongation is more than the length that pull rope adds pet, and first telescopic baffle 13 and second telescopic baffle 14 are located at institute
The left and right sides of protection device 11 is stated, the 3rd telescopic baffle 15 is located at the top of protection device 11, the described 4th flexible gear
Plate 16 is located at the bottom of protection device 11, and the 3rd telescopic baffle 15 includes the first upset baffle plate 18 of some holes,
The first upset baffle plate 18 is connected with the 3rd telescopic baffle 15 by attachment means 19 and can be around the attachment means
19270 ° of rotations, the guider 12 is connected with the processor 6, for the route for the traction robot ambulation that navigates,
The first mechanical arm 3 is used to draw pet.The artificial amphibious humanoid robot of traction machine, the traction robot head
The top of portion 1 is provided with unmanned plane 20, is connected by latching, and the unmanned plane 20 is connected with the processor 6, described for driving
Draw robot flight.The second mechanical arm 4 includes shovel dung device 23, and the shovel dung device 23 connects with the drive device 10
Connect, for collecting pet dung.The traction robot also includes automatic feeder 24, for timing to feeding pet.
Step c also includes：
To described if the processor 6 judges that front road conditions are not suitable for the traction robot ambulation according to the picture received
Unmanned plane 20 exports flight signal, and the unmanned plane 20 carries the traction robot and flown away from, and the maximum of the unmanned plane 20 flies
Row height is less than the length of pull rope.
Specifically, the processor 6 is connected with mobile terminal, and mobile terminal can be smart mobile phone, intelligent watch, notes
This computer etc., user sets the track route and the speed of travel of the traction robot, the processor 6 by mobile terminal
Track route is marked in the guider 12, the driving moment 5 of drive device 10 is according to the track route
Motion, the driving moment 5 of drive device 10 is moved according to the speed of travel.The camera 7 shoots the traction machine
Surrounding environment residing for people is simultaneously real-time transmitted to the processor 6, and the Laser Measuring range measurement barrier is led with described
Draw the distance between robot value and be real-time transmitted to the processor 6, if processor 6 judges according to the image received
Go out pet defecation, then to the output shovel dung signal of drive device 10, the drive device 10 drives the shovel dung device 23 to be shoveled
Dung is simultaneously preserved, and the processor 6 marks a rubbish nearest from current location in the route in the guider 12
Rubbish bucket, when the traction robot runs to the dustbin position, the drive device 10 drives the shovel dung device 23
Discharging；If the processor 6 judges that front road conditions are not suitable for the traction robot ambulation according to the picture received, such as greatly
The ponding of area or road surface is jolted, then export flight signal to the unmanned plane 20, the unmanned plane 20 is by the hauling machine
Device people is taken away, and falling signal, the unmanned plane are exported to the unmanned plane 20 if the processor 6 judges that above road conditions are good
20 ceiling altitude is less than the length of pull rope, it is ensured that will not be by Belt for pets from the ground.The interval of feeding can be set in user
Time, for example, set one hour, the automatic feeder 24 can deliver a small amount of pet grain every a hour, it is to avoid pet suffers
Starve.
Embodiment two
As shown in Fig. 2 a kind of guard method of the intelligence traction robot with protection mechanism, it is characterised in that including following
Job step：
a）The track route of the traction robot is preset in the guider 12, institute is preset in the arrangements for speed regulation 25
State the initial speed of travel of traction robot；
b）The drive device 10 drives the wheel 5 to move, and drives the unwrapping wire of take-up and pay-off device 22, the traction machine
People carries pet and trotted out；
c）The camera 7 shoots the surrounding environment residing for the traction robot and is real-time transmitted to the processor 6,
The distance between the Laser Measuring range measurement barrier and the traction robot value are simultaneously real-time transmitted to the processing
Device 6；
D) processor 6 judges whether someone has evil to pet around the traction robot according to the picture received
Meaning, is classified as target if having, and judges that the target draws the distance between robot value with described, when the distance value
Then to the output protection signal of drive device 10 during less than safe distance value；
E) drive device 10 drives first telescopic baffle 13, second telescopic baffle 14, the described 3rd flexible gear
Plate 15 and the 4th telescopic baffle 16 extend, and are extremely prescribed a time limit when the 3rd telescopic baffle 15 extends, the drive device
10 drivings the first upset baffle plate 18 rotates 270 °, forms a closed space, the drive device 10 drives described first
Telescopic baffle 13, second telescopic baffle 14, the 3rd telescopic baffle 15 and the 4th telescopic baffle 16 are contracted to
Original state.
The first mechanical arm 3 includes tension measuring appliance 21 and take-up and pay-off device 22, the tension measuring appliance 21 and institute
State processor 6 to connect, for measuring pull rope to the value of thrust of the first mechanical arm 3 and being real-time transmitted to the processing
Device 6, the take-up and pay-off device 22 is connected with the drive device 10, for elongating or shortening pull rope.The traction robot
Also include arrangements for speed regulation 25, the arrangements for speed regulation 25 are connected with the processor 6, for adjusting the traction robot ambulation speed
Degree.
Step b also includes：
The tension measuring appliance 21 measures pull rope to the value of thrust of the first mechanical arm 3 and is real-time transmitted to the place
Device 6 is managed, the processor 6 exports speed-regulating signal according to the value of thrust received to the arrangements for speed regulation 25, if the value of thrust
There is increase tendency then to export signal for faster to the arrangements for speed regulation 25, filled if the value of thrust has reduction trend to the speed governing
25 output reduce-speed signs are put, the drive device 10 drives the speed of travel of the wheel 5 according to the velocity amplitude of arrangements for speed regulation 25.
Specifically, in order to ensure the default traction robot speed of travel of the safety present invention is slower, but active is animal
Nature, if the traction robot limits the action of pet, pull rope may be damaged to pet, in order to avoid
This phenomenon occurs, and the present invention is additionally arranged arrangements for speed regulation 25, the speed of travel for adjusting the traction robot.The pulling force
Measuring instrument 21 measures pull rope to the value of thrust of the first mechanical arm 3 and is real-time transmitted to the processor 6, the place
The data received are depicted as F-t graphs of a relation by reason device 6, and F is value of thrust, and t is the time, and the processor 6 is according to the relation
Figure exports speed-regulating signal to the arrangements for speed regulation 25, to the arrangements for speed regulation 25 if the value of thrust has increase tendency with the time
Signal for faster is exported, reduce-speed sign is exported to the arrangements for speed regulation 25 if the value of thrust has reduction trend, until value of thrust
Tend towards stability, the drive device 10 drives the speed of travel of the wheel 5 according to the velocity amplitude of arrangements for speed regulation 25.
Embodiment three
As shown in figure 3, the protection device 11 is connected with the drive device 10, it is equal that the protection device 11 includes elongation
The first telescopic baffle 13, the second telescopic baffle 14, the 3rd telescopic baffle 15, the 4th telescopic baffle 16 and protecting bin 17, institute
State length of the maximal tensility of the first telescopic baffle 13 more than pull rope plus pet, first telescopic baffle 13 and described the
Two telescopic baffles 14 are located at the left and right sides of protection device 11, and the 3rd telescopic baffle 15 is pushed up positioned at the protection device 11
Portion, the 4th telescopic baffle 16 is located at the bottom of protection device 11, and the 3rd telescopic baffle 15 includes some holes
The first upset baffle plate 18, the first upset baffle plate 18 is connected and can by attachment means 19 with the 3rd telescopic baffle 15
Around described 19270 ° of rotations of attachment means.
Step e also includes：
The camera 7 shoots pet dynamic and is transferred to the processor 6, and the processor 6 judges that the pet is
It is no to be located at the front of protection device 11, if otherwise to the output adjustment signal of drive device 10, the drive device 10
The motion of wheel 5 is driven until the pet is located at the front of protection device 11.
Specifically, the processor 6 judges whether someone is to doting on around the traction robot according to the picture received
There is malice in thing, target is classified as if having, and judge that the target draws the distance between robot value with described, work as institute
Alarm signal then is exported to the alarm device 9 when stating distance value less than safe distance value, the alarm device 9 is sent to surrounding
Alarm song, while to the output protection signal of drive device 10, the safe distance value should be not less than twice of pull rope length,
The drive device 10 drive first telescopic baffle 13, second telescopic baffle 14, the 3rd telescopic baffle 15 with
And the 4th telescopic baffle 16 extends, extremely prescribed a time limit when the 3rd telescopic baffle 15 extends, the drive device 10 drives
The first upset baffle plate 18 rotates 270 °, and above-mentioned five pieces of baffle plates and traction machine are humanoid into a closed space.Close
Bi Hou, the drive device 10 drives first telescopic baffle 13, second telescopic baffle 14, the 3rd telescopic baffle
15 and the 4th telescopic baffle 16 be contracted to original state, now pet is positioned in the safety warehouse, described first
Overturn baffle plate 18 and be provided with some holes, it is ensured that the safety warehouse inner air flow.During the safety device is operated, if doting on
Thing is tampered, and can not be played a protective role, therefore during the safety device is operated, the processor 6 is according to the figure received
As to the output adjustment signal of drive device 10, the drive device 10 drives the motion of wheel 5 until pet position
In the front of protection device 11.
The above embodiments merely illustrate the technical concept and features of the present invention, and the purpose is to allow be familiar with the skill of the technical field
Art personnel can understand present disclosure and implement according to this, can not be limited the scope of the invention with this.All bases
Equivalent changes or modifications made by spirit of the invention, should all be included within the scope of the present invention.
Claims (10)
1. a kind of intelligence traction robot with protection mechanism, the traction robot includes head（1）, body（2）, first
Mechanical arm（3）, second mechanical arm（4）And wheel（5）, it is characterised in that the head（1）Including processor（6）, camera
（7）And laser range finder（8）, the processor（6）It is connected with mobile terminal, the camera（7）With the processor（6）
Connection, for shooting the surrounding environment in the traction robot location and being real-time transmitted to the processor（6）, it is described
Laser range finder（8）With the processor（6）Connection, for measuring the distance between barrier and the traction robot value simultaneously
It is real-time transmitted to the processor（6）, the body（2）Including alarm device（9）, drive device（10）, protection device
（11）And guider（12）, the alarm device（9）With the processor（6）Connection, it is described to drive for sounding the alarm
Dynamic device（10）With the processor（6）Connection, for driving moment（5）Motion, the protection device（11）With the driving
Device（10）Connection, the protection device（11）Including the first equal telescopic baffle of elongation（13）, the second telescopic baffle
（14）, the 3rd telescopic baffle（15）, the 4th telescopic baffle（16）And protecting bin（17）, first telescopic baffle（13）It is maximum
Elongation is more than the length that pull rope adds pet, first telescopic baffle（13）And second telescopic baffle（14）It is located at
The protection device（11）The left and right sides, the 3rd telescopic baffle（15）Positioned at the protection device（11）Top, described
Four telescopic baffles（16）Positioned at the protection device（11）Bottom, the 3rd telescopic baffle（15）Include the of some holes
One upset baffle plate（18）, the first upset baffle plate（18）Pass through attachment means（19）With the 3rd telescopic baffle（15）Connection
And can be around the attachment means（19）270 ° of rotations, the guider（12）With the processor（6）Connection, for navigating
State the route of traction robot ambulation, the first mechanical arm（3）For drawing pet.
2. a kind of intelligence traction robot with protection mechanism according to claim 1, the artificial water of traction machine
The dual-purpose humanoid robot in land, the traction robot head（1）Top is provided with unmanned plane（20）, connected by latching, the nothing
It is man-machine（20）With the processor（6）Connection, for driving the traction robot to fly.
3. a kind of intelligence traction robot with protection mechanism according to claim 1, the first mechanical arm（3）Bag
Include tension measuring appliance（21）And take-up and pay-off device（22）, the tension measuring appliance（21）With the processor（6）Connection, is used for
Pull rope is measured to the first mechanical arm（3）Value of thrust and be real-time transmitted to the processor（6）, the retractable cable
Device（22）With the drive device（10）Connection, for elongating or shortening pull rope.
4. a kind of intelligence traction robot with protection mechanism according to claim 1, the second mechanical arm（4）Bag
Include shovel dung device（23）, the shovel dung device（23）With the drive device（10）Connection, for collecting pet dung.
5. a kind of intelligence traction robot with protection mechanism according to claim 1, the traction robot is also wrapped
Include automatic feeder（24）, for timing to feeding pet.
6. a kind of intelligence traction robot with protection mechanism according to claim 1, the traction robot is also wrapped
Include arrangements for speed regulation（25）, the arrangements for speed regulation（25）With the processor（6）Connection, for adjusting the traction robot ambulation
Speed.
7. a kind of guard method of intelligence traction robot with protection mechanism according to claim any one of 1-6,
It is characterised in that it includes following job step：
a）In the guider（12）In preset it is described traction robot track route, in the arrangements for speed regulation（25）In it is pre-
If the initial speed of travel of the traction robot；
b）The drive device（10）Drive the wheel（5）Motion, and drive the take-up and pay-off device（22）Unwrapping wire, it is described to lead
Draw robot carrying pet to trot out；
c）The camera（7）Shoot the surrounding environment residing for the traction robot and be real-time transmitted to the processor
（6）, described in the Laser Measuring range measurement barrier and traction the distance between robot value are simultaneously real-time transmitted to
Processor（6）；
D) processor（6）Picture according to receiving judges whether someone has evil to pet around the traction robot
Meaning, is classified as target if having, and judges that the target draws the distance between robot value with described, when the distance value
Then to the drive device during less than safe distance value（10）Output protection signal；
E) drive device（10）Drive first telescopic baffle（13）, second telescopic baffle（14）, the described 3rd
Telescopic baffle（15）And the 4th telescopic baffle（16）Elongation, when the 3rd telescopic baffle（15）Elongation is extremely prescribed a time limit,
The drive device（10）Drive the first upset baffle plate（18）270 ° of rotation, forms a closed space, the driving dress
Put（10）Drive first telescopic baffle（13）, second telescopic baffle（14）, the 3rd telescopic baffle（15）And
4th telescopic baffle（16）It is contracted to original state.
8. a kind of guard method of intelligence traction robot with protection mechanism according to claim 7, its feature exists
In：Step b also includes：
The tension measuring appliance（21）Pull rope is measured to the first mechanical arm（3）Value of thrust and be real-time transmitted to institute
State processor（6）, the processor（6）According to the value of thrust received to the arrangements for speed regulation（25）Speed-regulating signal is exported, if
The value of thrust has increase tendency then to the arrangements for speed regulation（25）Signal for faster is exported, if the value of thrust has reduction trend
To the arrangements for speed regulation（25）Export reduce-speed sign, the drive device（10）According to arrangements for speed regulation（25）Velocity amplitude driving institute
State wheel（5）The speed of travel.
9. a kind of guard method of intelligence traction robot with protection mechanism according to claim 7, its feature exists
In：Step c also includes：
If the processor（6）Judge that front road conditions are not suitable for the traction robot ambulation then to institute according to the picture received
State unmanned plane（20）Export flight signal, the unmanned plane（20）Carry the traction robot to fly away from, the unmanned plane（20）
Ceiling altitude be less than pull rope length.
10. a kind of guard method of intelligence traction robot with protection mechanism according to claim 7, its feature exists
In：Step e also includes：
The camera（7）Shoot pet dynamic and be transferred to the processor（6）, the processor（6）Judge described
Whether pet is located at the protection device（11）Front, if otherwise to the drive device（10）Output adjustment signal, it is described
Drive device（10）Drive the wheel（5）Motion is until the pet is located at the protection device（11）Front.
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| CN201710435920.XA CN107263493A (en) | 2017-06-12 | 2017-06-12 | A kind of intelligence traction robot and its guard method with protection mechanism |
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| CN201710435920.XA CN107263493A (en) | 2017-06-12 | 2017-06-12 | A kind of intelligence traction robot and its guard method with protection mechanism |
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| CN108505465A (en) * | 2018-04-24 | 2018-09-07 | 汤庆佳 | A kind of assistance formula intelligent transportation equipment and its working method |
| CN108971212A (en) * | 2018-08-13 | 2018-12-11 | 吴秋雨 | A kind of intelligent converting apparatus and its working method for agricultural soil pollution |
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| CN108971212A (en) * | 2018-08-13 | 2018-12-11 | 吴秋雨 | A kind of intelligent converting apparatus and its working method for agricultural soil pollution |
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