CN113146683A - Robot chassis and robot - Google Patents
Robot chassis and robot Download PDFInfo
- Publication number
- CN113146683A CN113146683A CN202110292050.1A CN202110292050A CN113146683A CN 113146683 A CN113146683 A CN 113146683A CN 202110292050 A CN202110292050 A CN 202110292050A CN 113146683 A CN113146683 A CN 113146683A
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- China
- Prior art keywords
- housing
- side wall
- robot chassis
- front side
- robot
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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
-
- 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
- B25J19/022—Optical sensing devices using lasers
-
- 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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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J5/00—Manipulators mounted on wheels or on carriages
- B25J5/007—Manipulators mounted on wheels or on carriages mounted on wheels
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- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Multimedia (AREA)
- Physics & Mathematics (AREA)
- Optics & Photonics (AREA)
- Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
- Manipulator (AREA)
Abstract
The application discloses robot chassis and robot, robot chassis includes: a housing having opposing front and rear sidewalls, opposing left and right sidewalls, the front sidewall of the housing facing in a walking direction of the robot chassis; the laser radar is used for detecting obstacles and navigating; the first optical camera is arranged on the front side wall of the shell and used for collecting image information of the surrounding environment and the distance between the first optical camera and the obstacle; the cliff sensor is arranged on the front side wall of the shell and used for detecting a ground cliff. The laser radar is used for detecting the obstacles and navigating, the main obstacles in front of the robot are detected through the distance between the first optical camera and the obstacles collected by the first optical camera, the ground cliff is detected through the cliff sensor, the obstacles in front of the robot can be accurately detected, and therefore the obstacles are effectively avoided.
Description
Technical Field
The application relates to the technical field of robots, in particular to a robot chassis and a robot.
Background
With the development of robot technology, robots have been applied to the fields of industry, military, medical treatment, education, home service and the like, and when the robots move in a real environment, the robots need to avoid various obstacles to complete related tasks. In recent years, many progress has been made in the research of avoiding obstacles when the robot moves, but the obstacle avoidance when the robot moves cannot be very accurate, so that some obstacles still exist in the practical application, and the practical application of the robot is influenced.
Disclosure of Invention
The application aims to provide a robot chassis and a robot, and the robot using the chassis can effectively avoid obstacles.
The purpose of the application is realized by adopting the following technical scheme:
a robot chassis comprising: the shell is provided with a front side wall and a rear side wall which are opposite, and a left side wall and a right side wall which are opposite, the left side wall is respectively connected with the front side wall and the rear side wall, the right side wall is respectively connected with the front side wall and the rear side wall, and the front side wall of the shell faces the walking direction of the robot chassis; the laser radar is used for detecting obstacles and navigating; the first optical camera is arranged on the front side wall of the shell and used for collecting image information of the surrounding environment and the distance between the first optical camera and the obstacle; the cliff sensor is arranged on the front side wall of the shell and used for detecting a ground cliff. The technical scheme has the advantages that the obstacle is detected and navigated through the laser radar, the main obstacle in front of the robot is detected through the distance between the first optical camera and the obstacle, which is acquired by the first optical camera, the ground cliff is detected through the cliff sensor, and the obstacle in front of the robot can be accurately detected through the combination of the laser radar, the first optical camera and the cliff sensor, so that the obstacle is effectively avoided.
In some optional embodiments, a first recess extending in the circumferential direction is formed in the front side wall of the housing, the lidar is exposed from the inner surface of the first recess of the housing, the lidar scans obliquely downwards, and the scanning direction of the lidar forms an included angle of 20-40 degrees with the walking direction of the robot chassis. The technical scheme has the beneficial effects that the laser radar can irradiate or detect obliquely downwards to perform planar map perception.
In some alternative embodiments, the first recess of the housing extends from the front side wall of the housing to the left and right side walls of the housing, respectively. The technical scheme has the beneficial effect that the irradiation or detection range of the laser radar can be enlarged.
In some optional embodiments, the front side wall of the housing is provided with a second recess extending circumferentially, the second recess having an upper surface and a lower surface, the upper surface and the lower surface of the second recess both being sloped, the first optical camera is exposed from the lower surface of the second recess, the cliff sensor is a laser sensor, and a light-transmissive sheet of the laser sensor is disposed on the upper surface of the second recess. The technical scheme has the advantages that the first optical camera is exposed from the lower surface of the second concave portion, the first optical camera can collect the distance between the first optical camera and the obstacle in the oblique upward direction, the first optical camera has a better collection angle, the light-transmitting sheet of the laser sensor is arranged on the upper surface of the second concave portion, the laser sensor can detect the ground cliff in the oblique downward direction, and the cliff sensor can effectively compensate the visual blind area of the first optical camera by the aid of the structure, so that the robot can walk normally.
In some alternative embodiments, the robot chassis includes two cliff sensors disposed on either side of the first optical camera. The technical scheme has the beneficial effects that the cliff sensors on the left side and the right side can respectively compensate visual blind areas on the left side and the right side of the first optical camera, so that the obstacle avoidance capability of the robot is further improved.
In some optional embodiments, the robot chassis further includes two obstacle avoidance sensors disposed on the front side wall of the housing, the two obstacle avoidance sensors being adjacent to an upper edge of the front side wall of the housing and adjacent to the left side wall and the right side wall of the housing, respectively. The technical scheme has the beneficial effects that through the arrangement of the two obstacle avoidance sensors, the obstacles in the front of the robot chassis and on the ground can be effectively detected, the distance between the obstacles and the obstacle avoidance sensors can be acquired, and the obstacle avoidance capability of the robot is improved.
In some optional embodiments, the robot chassis includes two obstacle avoidance sensors disposed on a front side wall of the housing, and the two obstacle avoidance sensors are disposed on opposite sides of the first optical camera, respectively. This technical scheme's beneficial effect lies in, there is the vision blind area in first optical camera, keeps away barrier sensor through setting up two, can compensate the vision blind area of first optical camera left side wall and right side wall to the accurate detection is located the barrier of robot chassis front side top obtains the distance that robot chassis is apart from barrier ground, and the barrier is for example desk or tea table.
In some optional embodiments, the front side wall of the housing is provided with a protruding portion, an upper surface of the protruding portion is provided with a slope connecting a portion of an upper edge of the protruding portion and the front side wall of the housing, the first optical camera is disposed on the front side wall of the housing and exposed from the slope of the protruding portion, the obstacle avoidance sensor is a laser sensor, and a light-transmitting sheet of the laser sensor is disposed on the upper surface of the protruding portion. The technical scheme has the advantages that the first optical camera can acquire images of obstacles in a larger range and the distance between the first optical camera and the first optical camera, and the obstacle avoidance sensor can detect the obstacles in the larger range in front of and above the robot chassis, so that a better obstacle avoidance effect is obtained.
In some alternative embodiments, the raised portion of the front housing sidewall is a raised strip parallel to the lower edge of the front housing sidewall, and the raised portion is adjacent to the lower edge of the front housing sidewall. The technical scheme has the beneficial effects that the blind area in the depth direction is ensured to be as small as possible, the upward detection range is large enough, and the blind area in the vertical direction is smaller, so that a better obstacle avoidance effect is obtained.
In some alternative embodiments, the robot chassis includes two cliff sensors adjacent an upper edge of the front side wall of the housing and adjacent the left and right side walls of the housing, respectively. Compared with the method that only one cliff sensor is arranged on the front side, the method has the advantages that the detection areas formed by the two cliff sensors on the left front side and the right front side can detect whether a cliff exists on the ground in a wider range, and the detection condition of the cliff is fed back to the control system to perform obstacle avoidance.
In some alternative embodiments, the housing sides are provided with microswitches protruding from the housing surface, the microswitches being provided at the lower edge of the housing. The technical scheme has the beneficial effect that the robot can be prevented from generating serious collision.
In some alternative embodiments, the micro-switch is disposed at a lower edge of the housing along a periphery of the housing. The technical scheme has the beneficial effects that when each position around the robot chassis touches an obstacle, the micro switch can be triggered, and corresponding feedback is made.
In some optional embodiments, the robot chassis further comprises a second optical camera disposed at a rear sidewall of the housing. The technical scheme has the beneficial effects that the robot can collect the distance between the second optical camera and the barrier, so that the robot can actively drive the barrier coming from the rear.
In some optional embodiments, the first optical camera and/or the second optical camera is a depth camera.
A robot comprises a top-loading module and a robot chassis as described above, wherein the top-loading module is detachably mounted on the robot chassis. The technical scheme has the advantages that the upper-mounted module can be replaced according to a given task type, and the application range is wide.
In some alternative embodiments, the onboarding module is an onboarding module for performing distribution, disinfection, routing inspection, security, guidance, cleaning, or companion tasks. The technical scheme has the beneficial effect that the robot can execute various tasks.
Drawings
The present application is further described below with reference to the drawings and examples.
FIG. 1 is a schematic view of a robot according to an embodiment of the present application;
FIG. 2 is a schematic view of a partial structure of a robot chassis according to an embodiment of the present application;
FIG. 3 is a schematic view of a partial structure of a robot chassis according to another embodiment of the present application;
fig. 4 is a partially exploded schematic view of a robot chassis according to another embodiment of the present application.
In the figure: 10. a robot chassis; 11. a housing; 111. a first recess; 112. a second recess; 113. a boss portion; 12. a laser radar; 13. a first optical camera; 14. a cliff sensor; 15. an obstacle avoidance sensor; 16. a microswitch; 17. a caster wheel; 20. and (5) installing a module.
Detailed Description
The present application is further described with reference to the accompanying drawings and the detailed description, and it should be noted that, in the present application, the embodiments or technical features described below may be arbitrarily combined to form a new embodiment without conflict.
Referring to fig. 1 to 4, the present embodiment provides a robot including a top module 20 and a robot chassis 10, wherein the top module 20 is detachably mounted on the robot chassis 10.
The upper module 20 is, for example, the upper module 20 for performing distribution, disinfection, inspection, security, guidance, cleaning, or accompanying tasks, and as an example, when the upper module 20 performs the distribution task, the upper module 20 may be a distribution box, and when the upper module 20 performs the inspection task, the upper module 20 may be provided with a camera. The upper module 20 may be installed on the robot chassis 10 in a screw connection manner, a clamping connection manner, a magnetic attraction manner, or an adhering manner.
The robot chassis 10 includes a housing 11, a laser radar 12, a first optical camera 13, a cliff sensor 14, and may further include an obstacle avoidance sensor 15, a micro switch 16, a second optical camera (not shown), a battery (not shown), a motor (not shown), a caster 17, a stand (not shown), and the like.
The lidar 12 is used for detecting obstacles and navigation. The horizontal plane scanning range of the laser radar 12 can be about 0-240 degrees, and the maximum horizontal plane scanning range can be 270 degrees, so that the planar map perception is performed.
The first optical camera 13 is arranged on the front side wall of the shell 11 and used for collecting image information of a surrounding environment and a distance between the first optical camera 13 and an obstacle, when the first optical camera 13 detects that the distance between a front obstacle and the first optical camera 13 is not larger than a preset distance, the controller of the robot chassis 10 can control the robot chassis 10 to change a walking direction and avoid the obstacle, and the distance between the first optical camera 13 and the obstacle collected by the first optical camera 13 is used for avoiding the obstacle. The first optical camera 13 is preferably a depth camera, and the depth camera can acquire the distance between the first optical camera 13 and the obstacle to obtain a depth image.
The cliff sensor 14 is arranged on the front side wall of the shell 11 and used for detecting a ground cliff, and when the robot encounters a ground such as a step or a pothole in the walking process, the cliff sensor 14 can detect the ground condition and feed back the ground condition to the control system to perform obstacle avoidance action.
The obstacle is detected and navigated through the laser radar 12, the main obstacle in front of the robot is detected through the distance between the first optical camera 13 and the obstacle, which is acquired by the first optical camera 13, the ground cliff is detected through the cliff sensor 14, and the obstacle in front of the robot can be accurately detected through the combination of the laser radar 12, the first optical camera 13 and the cliff sensor 14, so that the obstacle can be effectively avoided.
Referring to fig. 2 and 3, a first recess 111 extending in the circumferential direction is formed in the front side wall of the housing 11, the lidar 12 is exposed from the inner surface of the first recess 111 of the housing 11, the lidar 12 is preferably disposed at the middle position of the first recess 111 of the housing 11, the lidar 12 scans obliquely downward, the scanning direction of the lidar 12 and the traveling direction of the robot chassis 10 form an angle of 20-40 degrees, preferably 30 degrees, so that the lidar 12 irradiates or detects obliquely downward to perform planar map sensing, and the angle setting can obtain a better scanning result. In one embodiment, the first recess 111 of the housing 11 extends from the front side wall of the housing 11 to the left and right side walls of the housing 11, respectively, so as to enlarge the irradiation or detection range of the laser radar 12.
Referring to fig. 3, the front side wall of the housing 11 is provided with a second recess 112 extending in the circumferential direction, the second recess 112 has an upper surface and a lower surface, both the upper surface and the lower surface of the second recess 112 are inclined surfaces, the first optical camera 13 is exposed from the lower surface of the second recess 112, the cliff sensor 14 is a laser sensor, and a light-transmitting sheet of the laser sensor is provided on the upper surface of the second recess 112. The first optical camera 13 is exposed from the lower surface of the second recess 112, so that the first optical camera 13 can acquire the distance between the first optical camera 13 and the obstacle in an oblique upward direction, the first optical camera 13 has a better acquisition angle, the light-transmitting sheet of the laser sensor is arranged on the upper surface of the second recess 112, the laser sensor can detect the ground cliff in an oblique downward direction, and the cliff sensor 14 can effectively compensate the visual blind area of the first optical camera 13 by the structural arrangement, thereby being beneficial to the normal walking of the robot.
In a specific embodiment, the robot chassis 10 includes two cliff sensors 14, the two cliff sensors 14 are respectively disposed on two sides of the first optical camera 13, the two cliff sensors 14 are preferably symmetrically disposed on two sides of the first optical camera 13, and the cliff sensors 14 on the left and right sides can respectively compensate vision blind areas on the left and right sides of the first optical camera 13, so as to further improve the obstacle avoidance capability of the robot.
In a specific embodiment, referring to fig. 3 and 4, the robot chassis 10 further includes two obstacle avoidance sensors 15 disposed on the front side wall of the housing 11, the obstacle avoidance sensors 15 are preferably laser sensors, and the two obstacle avoidance sensors 15 are adjacent to the upper edge of the front side wall of the housing 11 and adjacent to the left side wall and the right side wall of the housing 11, respectively. By arranging the two obstacle avoidance sensors 15, the obstacles in front of the robot chassis 10 and on the ground can be effectively detected, the distance between the obstacle and the obstacle avoidance sensors 15 can be acquired, and the obstacle avoidance capability of the robot is further improved.
Referring to fig. 2, in some embodiments of the present application, the robot chassis 10 includes two obstacle avoidance sensors 15, the two obstacle avoidance sensors 15 are respectively disposed on two opposite sides of the first optical camera 13, and the two obstacle avoidance sensors 15 are preferably symmetrically disposed on two opposite sides of the first optical camera 13. The first optical camera 13 may be located at a position lower than the middle of the front sidewall of the housing 11, the two obstacle avoidance sensors 15 are respectively located at two sides of the first optical camera 13, and the two obstacle avoidance sensors 15 and the first optical camera 13 may be approximately located on the same horizontal line. First optical camera 13 has the vision blind area, keeps away barrier sensor 15 through setting up two, can compensate the vision blind area of first optical camera 13 left side wall and right side wall to the accurate detection is located the barrier of robot chassis 10 front side top obtains the distance of robot chassis distance barrier ground, and the barrier is for example desk or tea table.
In a specific embodiment, the front side wall of the housing 11 is provided with a protruding portion 113, an upper surface of the protruding portion 113 is provided with a slope connecting a portion of an upper edge of the protruding portion 113 and the front side wall of the housing 11, the first optical camera 13 is disposed on the front side wall of the housing 11 and exposed from the slope of the protruding portion 113, the obstacle avoidance sensor 15 is a laser sensor, and a light-transmitting sheet of the laser sensor is disposed on the upper surface of the protruding portion 113. By arranging the first optical camera 13 on the front side wall of the housing 11 and exposing the first optical camera 13 from the inclined plane of the protruding portion 113, the first optical camera 13 can acquire an image of an obstacle in a wider range and a distance from the first optical camera 13, and by arranging the light-transmitting sheet of the laser sensor on the upper surface of the protruding portion 113, the obstacle avoidance sensor 15 can detect the obstacle in the wider range in front of and above the robot chassis 10, so that a better obstacle avoidance effect is obtained.
The protruding portion 113 of the front side wall of the housing 11 is a strip-shaped protrusion parallel to the lower edge of the front side wall of the housing 11, the protruding portion 113 is adjacent to the lower edge of the front side wall of the housing 11, so that the first optical camera 13 and the two obstacle avoidance sensors 15 are close to the lower edge of the front side wall of the housing 11, a blind area as small as possible in the depth direction is ensured, the upward detection range is large enough, and therefore the blind area in the vertical direction is small, and a better obstacle avoidance effect is obtained.
Referring to fig. 2, the robot chassis 10 includes two cliff sensors 14, the two cliff sensors 14 being adjacent to the upper edge of the front side wall of the housing 11 and adjacent to the left and right side walls of the housing 11, respectively. The two cliff sensors 14 can detect the ground cliffs on the left side and the right side of the walking direction of the robot respectively, and compared with the situation that only one cliff sensor is arranged on the front side, the detection areas formed by the two cliff sensors on the left front side and the right front side can detect whether the cliffs exist on the ground in a wider range or not, and the detection condition of the cliffs is fed back to the control system to perform obstacle avoidance.
Referring to fig. 2, a micro switch 16 protruding out of the surface of the housing 11 is arranged on the side surface of the housing 11, the micro switch 16 is arranged at the lower edge of the housing 11, when the robot touches an obstacle during walking, the obstacle first touches the micro switch 16 protruding out of the surface of the housing 11, and after the micro switch 16 is triggered, the control system can control the robot to stop walking. By arranging the micro switch 16 with the structure, the robot can be prevented from generating serious collision. The micro switch 16 is arranged at the lower edge of the shell 11, so that when a short obstacle touches the robot chassis 10, the micro switch 16 can be triggered.
The micro switch 16 is preferably arranged at the lower edge of the shell 11 along the periphery of the shell 11, so that when each position around the robot chassis 10 touches an obstacle, the micro switch 16 can be triggered and corresponding feedback can be given.
In a specific embodiment, the robot chassis 10 further includes a second optical camera, preferably a depth camera, disposed on a rear side wall of the housing 11, and the second optical camera can be used for collecting a distance between the second optical camera and an obstacle and can also be used for collecting an image. Through setting up the second optical camera, make the robot can gather distance between second optical camera and the barrier to make the robot can initiatively be for example the barrier that the rear comes, in addition, when carrying out automatic change battery, automatic charging, automatic change facial make-up module 20, can also gather corresponding interface image through the second optical camera, thereby realize the automatic butt joint of robot chassis 10 and corresponding interface.
While the present application is described in terms of various aspects, including exemplary embodiments, the principles of the invention should not be limited to the disclosed embodiments, but are also intended to cover various modifications, equivalents, and alternatives falling within the spirit and scope of the invention as defined by the appended claims.
Claims (16)
1. A robot chassis, comprising:
the shell is provided with a front side wall and a rear side wall which are opposite, and a left side wall and a right side wall which are opposite, the left side wall is respectively connected with the front side wall and the rear side wall, the right side wall is respectively connected with the front side wall and the rear side wall, and the front side wall of the shell faces the walking direction of the robot chassis;
the laser radar is used for detecting obstacles and navigating;
the first optical camera is arranged on the front side wall of the shell and used for collecting image information of the surrounding environment and the distance between the first optical camera and the obstacle;
the cliff sensor is arranged on the front side wall of the shell and used for detecting a ground cliff.
2. The robot chassis of claim 1, wherein the front side wall of the housing is provided with a first recess extending circumferentially, the lidar is exposed from an inner surface of the first recess of the housing, the lidar scans obliquely downward, and a scanning direction of the lidar forms an angle of 20-40 degrees with a walking direction of the robot chassis.
3. The robot chassis of claim 2, wherein the first recess of the housing extends from a front sidewall of the housing to a left sidewall and a right sidewall of the housing, respectively.
4. The robot chassis of claim 1, wherein the front side wall of the housing is provided with a circumferentially extending second recess having an upper surface and a lower surface, the upper surface and the lower surface of the second recess being both beveled, the first optical camera being exposed from the lower surface of the second recess, the cliff sensor being a laser sensor, the light transmissive sheet of the laser sensor being disposed on the upper surface of the second recess.
5. The robot chassis of claim 4, comprising two cliff sensors disposed on either side of the first optical camera.
6. The robot chassis of claim 4, further comprising two obstacle avoidance sensors disposed on the housing front side wall, the two obstacle avoidance sensors being adjacent an upper edge of the housing front side wall and adjacent the left and right side walls of the housing, respectively.
7. The robot chassis of claim 1, comprising two obstacle avoidance sensors disposed on a front side wall of the housing, the two obstacle avoidance sensors being disposed on opposite sides of the first optical camera, respectively.
8. The robot chassis of claim 7, wherein the front wall of the housing is provided with a protrusion, the upper surface of the protrusion is provided with a slope connecting the upper edge of the protrusion and the front wall of the housing, the first optical camera is disposed on the front wall of the housing and exposed from the slope of the protrusion, the obstacle avoidance sensor is a laser sensor, and the light-transmitting sheet of the laser sensor is disposed on the upper surface of the protrusion.
9. The robot chassis of claim 8, wherein the raised portion of the housing front side wall is a raised strip parallel to a lower edge of the housing front side wall, the raised portion being adjacent the housing front side wall lower edge.
10. The robot chassis of claim 8, comprising two cliff sensors adjacent an upper edge of the housing front side wall and adjacent the housing left and right side walls, respectively.
11. A robot chassis according to claim 1, characterised in that the housing sides are provided with micro switches protruding out of the housing surface, which micro switches are provided at the lower edge of the housing.
12. A robot chassis according to claim 11, wherein the micro-switches are arranged at a lower edge of the housing along a circumference of the housing.
13. The robot chassis of claim 1, further comprising a second optical camera disposed at a rear sidewall of the housing.
14. A robot chassis according to claim 13, wherein the first and/or second optical camera is a depth camera.
15. A robot, characterized in that the robot comprises a robot chassis according to any of claims 1-14 and a top-up module, which is detachably mounted on the robot chassis.
16. A robot as claimed in claim 15, wherein the onboarding module is an onboarding module for performing distribution, disinfection, inspection, security, guidance, cleaning or companion tasks.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202110292050.1A CN113146683A (en) | 2021-03-18 | 2021-03-18 | Robot chassis and robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202110292050.1A CN113146683A (en) | 2021-03-18 | 2021-03-18 | Robot chassis and robot |
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| Publication Number | Publication Date |
|---|---|
| CN113146683A true CN113146683A (en) | 2021-07-23 |
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202110292050.1A Pending CN113146683A (en) | 2021-03-18 | 2021-03-18 | Robot chassis and robot |
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Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113712473A (en) * | 2021-07-28 | 2021-11-30 | 深圳甲壳虫智能有限公司 | Height calibration method and device and robot |
| CN113858168A (en) * | 2021-08-02 | 2021-12-31 | 深兰科技（上海）有限公司 | Control method for automatically replacing upper module and related device |
| CN114415659A (en) * | 2021-12-13 | 2022-04-29 | 烟台杰瑞石油服务集团股份有限公司 | Robot safety obstacle avoidance method and device, robot and storage medium |
| WO2023088373A1 (en) * | 2021-11-17 | 2023-05-25 | 深圳市普渡科技有限公司 | Sweeping machine |
| CN114415659B (en) * | 2021-12-13 | 2024-05-28 | 烟台杰瑞石油服务集团股份有限公司 | Robot safety obstacle avoidance method and device, robot and storage medium |
-
2021
- 2021-03-18 CN CN202110292050.1A patent/CN113146683A/en active Pending
Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113712473A (en) * | 2021-07-28 | 2021-11-30 | 深圳甲壳虫智能有限公司 | Height calibration method and device and robot |
| CN113858168A (en) * | 2021-08-02 | 2021-12-31 | 深兰科技（上海）有限公司 | Control method for automatically replacing upper module and related device |
| WO2023088373A1 (en) * | 2021-11-17 | 2023-05-25 | 深圳市普渡科技有限公司 | Sweeping machine |
| CN114415659A (en) * | 2021-12-13 | 2022-04-29 | 烟台杰瑞石油服务集团股份有限公司 | Robot safety obstacle avoidance method and device, robot and storage medium |
| CN114415659B (en) * | 2021-12-13 | 2024-05-28 | 烟台杰瑞石油服务集团股份有限公司 | Robot safety obstacle avoidance method and device, robot and storage medium |
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