CN106364585A - Robot foot and robot - Google Patents
Robot foot and robot Download PDFInfo
- Publication number
- CN106364585A CN106364585A CN201611069042.6A CN201611069042A CN106364585A CN 106364585 A CN106364585 A CN 106364585A CN 201611069042 A CN201611069042 A CN 201611069042A CN 106364585 A CN106364585 A CN 106364585A
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- Prior art keywords
- robot
- foot
- module
- control module
- power plant
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Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D57/00—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track
- B62D57/02—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track with ground-engaging propulsion means, e.g. walking members
- B62D57/028—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track with ground-engaging propulsion means, e.g. walking members having wheels and mechanical legs
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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
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Robotics (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Transportation (AREA)
- Manipulator (AREA)
Abstract
The invention discloses a robot foot and a robot. The robot foot comprises two driving wheels for driving the robot foot, at least one guide wheel, two power modules used for driving the two driving wheels respectively and a control module for controlling the power modules, and the control module controls steering of the robot root by controlling the rotating speed difference of the two power modules. The robot comprises the robot foot, the two driving wheels in the robot can drive the robot foot and even the whole robot to move, the guide wheels can steer freely under driving of the driving wheels, each driving wheel is connected with the power module for providing power for the driving wheel, and the control module controls the rotating speed and direction of the power modules and further controls steering of the robot foot by controlling the rotating speed difference of the two power modules.
Description
Technical field
The present invention relates to field in intelligent robotics, in particular to a kind of foot of robot and a kind of robot.
Background technology
With scientific and technological development, intelligent robot is applied more and more extensively in our daily life, for example, scape of travelling
Point has to be responsible for sight spot being carried out explain robot, and restaurant is provided with the robot of responsible food delivery, also accompanies people's chat and to people
The company robot simply attended.Or but above-mentioned robot is immovable, or the efficiency of movement is too slow, reduce
Consumer's Experience.
Content of the invention
In view of this, it is an object of the invention to provide a kind of foot of robot and robot, be on the one hand conducive to improving
The efficiency of robot movement, further aspect is that the experience improving user.
A kind of foot of robot, it includes two driving wheels in order to drive described robot foot motion, at least one leads
To wheel, two respectively in order to drive power plant module, the control module in order to control described power plant module of driving wheel described in, institute
State control module and control the steering of foot of robot by controlling the speed discrepancy of two described power plant modules.
Further, described control module passes through to control the rotation direction of described power plant module to control foot of described robot
Advance or retrogressing.
Further, also include the lighting module for illumination, described control module controls described lighting module.
Further, also include detecting surrounding objects apart from induction module, described send table apart from induction module
Show the range data extremely described control module with surrounding objects, described control module is used for judging whether described range data is less than
Preset range, when described range data is less than preset range, described control module adjusts the mobile side of foot of described robot
To.
Further, also include the locating module positioning, described locating module sends locative position data
To described control module, described control module adjusts the moving direction of foot of described robot according to described position data.
A kind of robot, it includes the foot of a kind of robot described in claim 1.
Further, before described control module is passed through to control the rotation direction of described power plant module to control foot of robot
Enter or retreat.
Further, foot of described robot is two.
Further, also include the lighting module for illumination, described control module controls described lighting module；
Foot of described robot also include detecting surrounding objects apart from induction module, described send out apart from induction module
Send the range data extremely described control module representing with surrounding objects, described control module is used for whether judging described range data
Less than preset range, when described range data is less than preset range, described control module adjusts the shifting of foot of described robot
Dynamic direction.
Further, foot of described robot also includes the locating module positioning, and described locating module sends and represents
The position data of position adjusts foot of described robot to described control module, described control module according to described position data
Moving direction.
A kind of foot of robot of the present invention and robot, foot of one of which robot includes two in order to driven machine
The driving wheel of people's foot motion, at least one directive wheel, two respectively in order to drive the power plant module of driving wheel described in, in order to control
The control module of brake force module, described control module controls robot by controlling the speed discrepancy of two described power plant modules
The steering of foot.In the present invention, robot includes foot of robot, and two in robot driving wheel can be with driven machine people
So that driving whole robot to move, directive wheel arbitrarily can turn under the drive of driving wheel, each driving wheel is even for foot
Connect one in order to it is provided with the power plant module of power, control module controls rotating speed and the rotation direction of power plant module, control module
To control the steering of foot of robot also by the speed discrepancy controlling two power plant modules.
Brief description
In order to be illustrated more clearly that the technical scheme of the embodiment of the present invention, below will be attached to use required in embodiment
Figure is briefly described it will be appreciated that the following drawings illustrate only certain embodiments of the present invention, and it is right to be therefore not construed as
The restriction of scope, for those of ordinary skill in the art, on the premise of not paying creative work, can also be according to this
A little accompanying drawings obtain other related accompanying drawings.
Fig. 1 is a kind of structural representation of the foot of robot that present pre-ferred embodiments provide；
Fig. 2 is a kind of connection diagram of the foot of robot that present pre-ferred embodiments provide；
Fig. 3 is a kind of structural representation of robot that present pre-ferred embodiments provide.
Main element symbol description:
Foot of 10- robot；11- driving wheel；12- directive wheel；20- power plant module；30- control module；40- illuminates mould
Block；50- is apart from induction module；60- locating module；100- robot.
Specific embodiment
Hereinafter, the various embodiments of the disclosure will be described more fully.The disclosure can have various embodiments, and
Can adjust wherein and change.It should be understood, however, that: do not exist and the various embodiments of the disclosure are limited to spy disclosed herein
Determine the intention of embodiment, but in the spirit and scope that the disclosure should be interpreted as cover the various embodiments falling into the disclosure
All adjustment, equivalent and/or alternative.
Hereinafter, term " inclusion " used in the various embodiments of the disclosure or " may include " instruction are disclosed
Function, operation or element presence, and do not limit the increase of one or more functions, operation or element.Additionally, such as existing
Used in the various embodiments of the disclosure, term " inclusion ", " having " and its cognate are meant only to represent special characteristic, number
Word, step, operation, the combination of element, assembly or aforementioned item, and be understood not to exclude one or more other first
Feature, numeral, step, operation, the presence of the combination of element, assembly or aforementioned item or increase one or more features, numeral,
Step, operation, the probability of the combination of element, assembly or aforementioned item.
In the various embodiments of the disclosure, statement "or" or " at least one of a or/and b " include listing file names with
Any combinations of word or all combinations.For example, statement " a or b " or " at least one of a or/and b " may include a, may include
B or may include both a and b.
Used in the various embodiments of the disclosure, statement (" first ", " second " etc.) can be modified in various enforcements
Various element in example, but corresponding element can not be limited.For example, presented above it is not intended to limit the suitable of described element
Sequence and/or importance.The purpose being only used for differentiating an element with other elements presented above.For example, first user dress
Put and indicate different user device with second user device, although the two is all user's set.For example, each without departing from the disclosure
In the case of planting the scope of embodiment, the first element is referred to alternatively as the second element, and similarly, the second element is also referred to as first
Element.
If it should also be noted that an element be ' attach ' to another element by description, can be by the first composition unit
Part is directly connected to the second element, and " can connect " the 3rd composition between the first element and the second element
Element.On the contrary, it will be appreciated that being in the first element when by an element " being directly connected to " to another element
With second do not have the 3rd element between element.
Term " user " used in the various embodiments of the disclosure may indicate that using the people of electronic installation or using electricity
The device (for example, artificial intelligence's electronic installation) of sub-device.
Term used in the various embodiments of the disclosure is only used for describing the purpose of specific embodiment and not anticipating
In the various embodiments limiting the disclosure.As used herein, singulative is intended to also include plural form, unless context is clear
Chu ground is indicated otherwise.Unless otherwise defined, all terms (the including technical term and scientific terminology) tool being otherwise used herein
There is the implication identical implication that the various embodiment one skilled in the art with the disclosure are generally understood that.Described term
(term limiting such as in the dictionary generally using) is to be interpreted as to be had and the situational meaning in correlative technology field
Identical implication and there is Utopian implication or excessively formal implication by being not construed as, unless various in the disclosure
It is clearly defined in embodiment.
In one embodiment, refer to: Fig. 1, Fig. 2, Fig. 3.
Foot of a kind of robot 10, it include two in order to driven machine people foot 10 motion driving wheels 11, at least one
Directive wheel 12, two is respectively in order to drive power plant module 20, the control mould in order to control power plant module 20 of driving wheel described in
Block 30, described control module 30 controls turning of foot of robot 10 by controlling the speed discrepancy of two described power plant modules 20
To.
Above-mentioned, foot of a kind of robot 10, it includes two driving wheels 11 in order to driven machine people foot 10 motion, can
To be understood by, between the center of circle of two driving wheels 11, there are certain intervals along the horizontal plane, here can be as an example, two driving wheels
11 are arranged side by side, and that is to say, are just being shown in robot foot portion 10, such as Fig. 1, are arranged side by side along the horizontal plane between two driving wheels 11.
And directive wheel 12, can arbitrarily turn under the drive of driving wheel 11, directive wheel 12 and driving wheel 11 coordinate, also may be used
So that foot of robot 10 more securely stands, with specific embodiment, directive wheel 12 can for universal wheel it is possible to understand that
, the topological shape of this universal wheel and two driving wheel 11 formation trianglees side by side.
Two, respectively in order to drive the power plant module 20 of a driving wheel 11, that is to say, a driving wheel 11 corresponds to connection one
Individual power plant module 20, power plant module 20 provides power to driving wheel 11, and in a specific embodiment, this power plant module 20 is permissible
Buncher for prior art.
In order to control the control module 30 of power plant module 20, refer to that this control module 30 can control this power plant module 20
Power output, specifically, this control module 30 can be adjusted to methods such as the voltage of motor, electric current, frequencies by changing to export
The rotating speed of section power plant module 20, thus reach the purpose controlling power plant module 20 to export power.
It is understood that control module 30 can control the power output of two power plant modules 20 respectively, especially, when
When needing foot of robot 10 to be turned to, control module 30 is passed through to control the power output of two power plant modules 20 respectively, makes
Form speed discrepancy between two driving wheels 11, and realize the steering of foot of robot 10.In a specific embodiment, control mould
Block 30 can be the single-chip microcomputer of prior art.
Control module 30 pass through the advance controlling the rotation direction of described power plant module 20 to control robot foot 10 or after
Move back.
In the above-mentioned content of the present embodiment, control module 30 can control power plant module 20, specifically, in the present embodiment
In, control module 30 can also control the rotation direction of power plant module 20, thus controlling advance or the retrogressing of foot of robot 10.
In a specific embodiment, for example: the single-chip microcomputer as control module 30 is exported to as power plant module 20 by controlling
The sense of current of motor adjusting the rotation direction of motor, thus, single-chip microcomputer can control the rotation direction of driving wheel 11, namely
It is that single-chip microcomputer can be with the advance of foot of robot 10 or retrogressing.
In the present embodiment, foot of a kind of robot 10, also includes the lighting module 40 for illumination, described control module
The 30 described lighting modules 40 of control.
Above-mentioned, refer to that foot of robot 10 also includes being controlled in the lighting module 40 of control module 30, specifically illuminate
Module 40 can be LED lamp, color lamp etc., and lighting module 40 can make robot foot portion 10 be easier to be sent out in dark environment
Existing, illumination can also be provided the user, and control module 30 can control the specific environment of lighting module 40 work, for example: when
Surrounding brightness reaches predetermined value, and control module 30 controls lighting module 40 to close.
In the present embodiment, foot of a kind of robot 10, also include detecting surrounding objects apart from induction module 50,
The described range data extremely described control module 30 sending expression and surrounding objects apart from induction module 50, described control module 30
For judging whether described range data is less than preset range, when described range data is less than preset range, described control mould
Block 30 adjusts the moving direction of foot of described robot 10.
Above-mentioned, in order to detect surrounding objects apart from induction module 50, can in order to detect the object in preset range with
The distance of foot of robot 10, and constantly send this range data to control module 30, when the jobbie of surrounding is disembarked
When the distance of Qi Ren foot 10 is less than predeterminable range value, control module 30 can control power plant module 20 to make tune to rotation direction
Whole, or control module 30 can control the differential force between two power plant modules 20, thus adjusting the movement of foot of robot 10
Direction, automatically makes to this object and hiding.Specifically, this can be the range sensor of prior art apart from induction module 50.
In the present embodiment, foot of a kind of robot 10, also includes the locating module 60 positioning, described locating module
60 send locative position data to described control module 30, and described control module 30 adjusts institute according to described position data
State the moving direction of foot of robot 10.
Above-mentioned, locating module 60 can would indicate that the position data of foot of robot 10 sends to control module, controls mould
Block can adjust to the position of foot of robot 10 according to this position data, specifically, when the position of foot of robot 10
During more than a preset range, control module 30 is adjusted to rotation direction by controlling power plant module 20, or control module 30
The differential force between two power plant modules 20 being controlled, thus adjusting the moving direction of foot of robot 10, making robot foot
Portion 10 returns in default scope.In a specific embodiment, locating module 60 can be the gps locating module of prior art
60th, Big Dipper locating module 60 etc..
In another embodiment, refer to: Fig. 1, Fig. 2, Fig. 3.
A kind of robot 100, it includes the foot of a kind of robot 10 described in above-described embodiment.
Above-mentioned, foot of a kind of robot 10, it includes two driving wheels 11 in order to driven machine people foot 10 motion, can
To be understood by, between the center of circle of two driving wheels 11, there are certain intervals along the horizontal plane, here can be as an example, two driving wheels
11 are arranged side by side, and that is to say, are just being shown in robot foot portion 10, such as Fig. 1, are arranged side by side along the horizontal plane between two driving wheels 11.
And directive wheel 12, can arbitrarily turn under the drive of driving wheel 11, directive wheel 12 and driving wheel 11 coordinate, also may be used
So that foot of robot 10 more securely stands, with specific embodiment, directive wheel 12 can for universal wheel it is possible to understand that
, the topological shape of this universal wheel and two driving wheel 11 formation trianglees side by side.
Two, respectively in order to drive the power plant module 20 of a driving wheel 11, that is to say, a driving wheel 11 corresponds to connection one
Individual power plant module 20, power plant module 20 provides power to driving wheel 11, and in a specific embodiment, this power plant module 20 is permissible
Buncher for prior art.
In order to control the control module 30 of power plant module 20, refer to that this control module 30 can control this power plant module 20
Power output, specifically, this control module 30 can be adjusted to methods such as the voltage of motor, electric current, frequencies by changing to export
The rotating speed of section power plant module 20, thus reach the purpose controlling power plant module 20 to export power.
It is understood that control module 30 can control the power output of two power plant modules 20 respectively, especially, when
When needing foot of robot 10 to be turned to, control module 30 is passed through to control the power output of two power plant modules 20 respectively, makes
Form speed discrepancy, thus realizing the steering of foot of robot 10, so that realizing turning of robot 100 between two driving wheels 11
To.In a specific embodiment, control module 30 can be the single-chip microcomputer of prior art.
Described control module 30 passes through the advance controlling the rotation direction of described power plant module 20 to control foot of robot 10
Or retreat.
In the above-mentioned content of the present embodiment, control module 30 can control power plant module 20, specifically, in the present embodiment
In, control module 30 can also control the rotation direction of power plant module 20, thus controlling advance or the retrogressing of foot of robot 10.
In a specific embodiment, for example: the single-chip microcomputer as control module 30 is exported to as power plant module 20 by controlling
The sense of current of motor adjusting the rotation direction of motor, thus, single-chip microcomputer can control the rotation direction of driving wheel 11, namely
It is that single-chip microcomputer can be with the advance of foot of robot 10 or retrogressing.
Foot of described robot 10 is two.
Above-mentioned, robot 100 can include the foot of robot 10 in two above-mentioned enforcement, in the present embodiment, machine
People foot 10 is two, and foot of Liang Ge robot 10 supports robot to stand jointly, and control module 30 controls located at two machines
The power plant module 20 of people foot 10, that is to say, control module 30 controls four power plant modules 20, when robot 100 needs to turn to
When, control module 30 controls the speed discrepancy between four power plant modules 20, thus realizing the steering of robot.
Foot of described robot 10 also includes the lighting module 40 for illumination, and described control module 30 controls described illumination
Module 40.
Above-mentioned, refer to that foot of robot 10 also includes being controlled in the lighting module 40 of control module 30, specifically illuminate
Module 40 can be LED lamp, color lamp etc., and lighting module 40 can make robot be easier to be found in dark environment, also may be used
To provide the user illumination, and control module 30 can control the specific environment of lighting module 40 work, for example: work as surrounding brightness
Reaching predetermined value is, control module 30 controls lighting module 40 to close.
Foot of described robot 10 also include also including detecting surrounding objects apart from induction module 50, described distance
Induction module 50 sends the range data extremely described control module 30 representing with surrounding objects, and described control module 30 is used for judging
Whether described range data is less than preset range, and when described range data is less than preset range, described control module 30 adjusts
The moving direction of foot of described robot 10.
Above-mentioned, in order to detect surrounding objects apart from induction module 50, can in order to detect the object in preset range with
The distance of robot 100, and constantly send this range data to control module 30, when the jobbie of surrounding is from robot
When 100 distance is less than predeterminable range value, control module 30 can control power plant module 20 that rotation direction is adjusted, or control
Molding block 30 can control the differential force between two power plant modules 20, thus adjusting the moving direction of foot of robot 10, from
Dynamic this object is made is hidden.Specifically, this can be the range sensor of prior art apart from induction module 50.
Foot of described robot 10 also includes the locating module 60 positioning, and described locating module 60 sends and represents position
Position data to described control module 30, described control module 30 adjusts foot of described robot 10 according to described position data
Moving direction.
Above-mentioned, locating module 60 can would indicate that the position data of robot sends to control module, and control module is permissible
According to this position data, the position of robot 100 is adjusted, specifically, when model is preset in the position of robot 100 more than one
When enclosing, control module 30 is adjusted to rotation direction by controlling power plant module 20, or control module 30 can control two
Differential force between power plant module 20, thus adjusting the moving direction of foot of robot 10, makes foot of robot 10 return to default
In the range of.In a specific embodiment, locating module 60 can be the gps locating module 60 of prior art, Big Dipper positioning
Module 60 etc..
A kind of foot of robot 10 of the present invention and robot 100, foot of one of which robot 10 include two in order to
The driving wheel 11 of driven machine people foot 10 motion, at least one directive wheel 12, two are respectively in order to drive driving wheel 11 described in
Power plant module 20, the control module 30 in order to control power plant module 20, described control module 30 pass through to control two described dynamic
The speed discrepancy of power module 20 is controlling the steering of foot of robot 10.In the present invention, robot 100 includes foot of robot
10, two in robot 100 driving wheel 11 can be with driven machine people foot 10 so that drive whole robot to move, guiding
Wheel 12 arbitrarily can turn under the drive of driving wheel 11, and each driving wheel 11 connects one in order to it is provided with the power mould of power
Block 20, control module 30 controls rotating speed and the rotation direction of power plant module 20, and control module 30 is also by two power moulds of control
The speed discrepancy of block 20 is controlling the steering of foot of robot 10.
It will be appreciated by those skilled in the art that module in device in implement scene can according to implement scene describe into
Row is distributed in the device of implement scene it is also possible to carry out one or more dresses that respective change is disposed other than this implement scene
In putting.The module of above-mentioned implement scene can merge into a module it is also possible to be further split into multiple submodule.
The invention described above sequence number is for illustration only, does not represent the quality of implement scene.
Only the several of the present invention disclosed above are embodied as scene, but, the present invention is not limited to this, Ren Heben
What the technical staff in field can think change all should fall into protection scope of the present invention.
Claims (10)
1. a kind of foot of robot is it is characterised in that include two driving wheels in order to drive described robot foot motion, extremely
A few directive wheel, two respectively in order to drive power plant module, the control in order to control described power plant module of driving wheel described in
Module, described control module controls the steering of foot of robot by controlling the speed discrepancy of two described power plant modules.
2. a kind of foot of robot according to claim 1 is it is characterised in that described control module is passed through to control described moving
The rotation direction of power module controls advance or the retrogressing of foot of described robot.
3. a kind of foot of robot according to claim 1 it is characterised in that also include for illumination lighting module,
Described control module controls described lighting module.
4. foot of a kind of robot according to claim 1 it is characterised in that also include detect surrounding objects away from
From induction module, the described range data extremely described control module sending expression and surrounding objects apart from induction module, described control
Molding block is used for judging whether described range data is less than preset range, when described range data is less than preset range, described
Control module adjusts the moving direction of foot of described robot.
5. a kind of foot of robot according to claim 1 is it is characterised in that also include the locating module positioning,
Described locating module sends locative position data to described control module, and described control module is according to described position data
Adjust the moving direction of foot of described robot.
6. a kind of robot is it is characterised in that include the foot of a kind of robot described in claim 1.
7. a kind of robot according to claim 6 is it is characterised in that described control module is passed through to control described power mould
The rotation direction of block controls advance or the retrogressing of foot of robot.
8. a kind of robot according to claim 6 is it is characterised in that foot of described robot is two.
9. a kind of robot according to claim 6 is it is characterised in that also including the lighting module for illumination, described
Control module controls described lighting module；
Foot of described robot also include detecting surrounding objects apart from induction module, described send table apart from induction module
Show the range data extremely described control module with surrounding objects, described control module is used for judging whether described range data is less than
Preset range, when described range data is less than preset range, described control module adjusts the mobile side of foot of described robot
To.
10. a kind of robot according to claim 6 is it is characterised in that foot of described robot also includes positioning
Locating module, described locating module sends locative position data to described control module, described control module according to
Described position data adjusts the moving direction of foot of described robot.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201611069042.6A CN106364585A (en) | 2016-11-28 | 2016-11-28 | Robot foot and robot |
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| Application Number | Priority Date | Filing Date | Title |
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| CN201611069042.6A CN106364585A (en) | 2016-11-28 | 2016-11-28 | Robot foot and robot |
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| CN201611069042.6A Pending CN106364585A (en) | 2016-11-28 | 2016-11-28 | Robot foot and robot |
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| CN115877778A (en) * | 2020-12-23 | 2023-03-31 | 松下知识产权经营株式会社 | Robot control method, robot, and program |
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|---|---|---|---|---|
| CN115877778A (en) * | 2020-12-23 | 2023-03-31 | 松下知识产权经营株式会社 | Robot control method, robot, and program |
| CN115877778B (en) * | 2020-12-23 | 2023-11-24 | 松下知识产权经营株式会社 | Robot control method, robot, and computer program medium |
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