CN109895091A - A kind of descending robot interactive system - Google Patents
A kind of descending robot interactive system Download PDFInfo
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- CN109895091A CN109895091A CN201711342314.XA CN201711342314A CN109895091A CN 109895091 A CN109895091 A CN 109895091A CN 201711342314 A CN201711342314 A CN 201711342314A CN 109895091 A CN109895091 A CN 109895091A
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- telescopic rod
- robot
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- gear unit
- drive module
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Abstract
The present invention provides a kind of descending robot interactive system, by processor according to the equilibrium data of level meter, judges whether robot body is in descending state；If so, obtaining the acceleration information of acceleration transducer；It controls drive module according to acceleration information present speed is maintained within the scope of safe speed.To in descending scene, keep the stable of robot, safety in operation is improved.Further, when processor confirms that terminal device is located in front of robot traffic direction by communication module, processor obtains the movement speed of terminal device by communication module, the movement speed of robot is confirmed according to movement speed, safe speed range is adjusted according to movement speed, to adjust safe speed range when carrying out following movement with terminal device, realize that the safety for terminal device follows.
Description
The application is the divisional application of application number 2017113017150
Technical field
The present invention relates to robot technology, and in particular to a kind of descending robot interactive system.
Background technique
With the continuous development of robot technology, for transfer robot, generally require to adapt to different road environments,
In for descending scene, how a kind of control model of operational safety is provided, industry technical problem urgently to be resolved is become.
Summary of the invention
The present invention provides a kind of descending robot interactive system, for improving robot safety in operation.
First aspect of the present invention provides a kind of descending robot interactive system, comprising: robot and terminal device,
In, the robot, comprising: robot body, processor, acceleration transducer, level meter, drive module, communication module and
Balance drive module；
Wherein, the processor, the level meter and the acceleration transducer are set in the robot body, institute
Drive module setting is stated in the robot body bottom, the balance drive module is set to the drive module bottom；Institute
Processor is stated to be electrically connected with the level meter, the acceleration transducer and the drive module respectively；
The drive module, for driving the balance drive module；
The processor judges whether the robot body is in down for the equilibrium data according to the level meter
Ramp shaped state；If so, obtaining the acceleration information of the acceleration transducer；The driving is controlled according to the acceleration information
Present speed is maintained within the scope of safe speed by module；
Before the processor confirms that the terminal device is located at the robot traffic direction by the communication module
Fang Shi, the processor are also used to obtain the movement speed of the terminal device by the communication module, according to the movement
Speed confirms the movement speed of the robot, adjusts the safe speed range according to the movement speed.
Optionally, the processor is specifically used for obtaining the current acceleration according to the acceleration information；If described
Current acceleration exceeds the safe speed range limit, then controls the drive module and be decelerated to the safe speed range
It is interior.
Optionally, the processor is also used to confirm according to the equilibrium data of the level meter gradient of the descending；Root
The safe speed range is obtained according to the gradient.
Optionally, the balance drive module, comprising: the first telescopic rod, the second telescopic rod and third telescopic rod；Described
One end of one telescopic rod and the bottom end of the drive module are hinged；The other end of first telescopic rod is connected with the first round
Group；One end of second telescopic rod and the bottom end of the drive module are hinged；The other end activity of first telescopic rod connects
It is connected to the second wheel group；One end of the third telescopic rod and the bottom end of the drive module are hinged；The third telescopic rod it is another
One end is connected with third round group.
Optionally, the balance drive module, comprising: the first gear unit, the second gear unit and third gear unit；
The processor is driven with first gear unit, second gear unit and the third single respectively
Member electrical connection；
First gear unit, for driving the flexible of first telescopic rod and being provided for the first round group dynamic
Power；
Second gear unit, for driving the flexible of second telescopic rod and being provided for the second wheel group dynamic
Power；
The third gear unit, for driving the flexible of the third telescopic rod and being provided for the third round group dynamic
Power.
Optionally, when the processor confirms that the robot body is in descending according to the equilibrium data of the level meter
When state, the processor is also used to drive first telescopic rod to extend by first gear unit；And pass through institute
Stating third gear unit drives the third telescopic rod flexible；
The processor confirms whether the robot body balances according to the equilibrium data, if so, by described
First gear unit stops first telescopic rod and extends, and stops the third telescopic rod by the third gear unit
It is flexible.
Robot interactive system provided in an embodiment of the present invention, by processor according to the equilibrium data of level meter, judgement
Whether robot body is in descending state；If so, obtaining the acceleration information of acceleration transducer；According to acceleration information
Present speed is maintained within the scope of safe speed by control drive module.To keep the operation of robot in descending scene
Stablize, improves safety in operation.Further, when processor confirms that terminal device is located at operation side, robot by communication module
When forwards, processor obtains the movement speed of terminal device by communication module, and the shifting of robot is confirmed according to movement speed
Dynamic speed adjusts safe speed range according to movement speed, to adjust safety speed when carrying out following movement with terminal device
Range is spent, realizes that the safety for terminal device follows.
Detailed description of the invention
Fig. 1 is a kind of structural schematic diagram of descending robot interactive system provided in an embodiment of the present invention；
Fig. 2 is a kind of functional schematic of descending robot interactive system provided in an embodiment of the present invention.
Specific embodiment
Fig. 1 is a kind of structural schematic diagram of descending robot interactive system provided in an embodiment of the present invention, should referring to Fig. 1
Robot interactive system include robot and terminal device, wherein robot, comprising: robot body 100, processor 101,
Acceleration transducer 102, level meter 103, drive module 104, balance drive module 105 and terminal device 106；
Wherein, processor 101, level meter 103 and acceleration transducer 102 are set in robot body 100, drive mould
Block 104 is set to 100 bottom of robot body, and balance drive module 105 is set to 104 bottom of drive module；Processor 101 divides
It is not electrically connected with level meter 103, acceleration transducer 102 and drive module 104；
Drive module 104, for driving balance drive module 105；
Whether processor 101 judges robot body 100 in descending state for the equilibrium data according to level meter；
If so, obtaining the acceleration information of acceleration transducer 102；Controlling drive module 104 according to acceleration information will current speed
Degree is maintained within the scope of safe speed.
When processor 101 confirms that terminal device 20 is located in front of robot traffic direction by communication module 106, processing
Device 101, is also used to obtain the movement speed of terminal device 20 by communication module 106, confirms robot according to movement speed
Movement speed adjusts safe speed range according to movement speed.
Robot interactive system provided in an embodiment of the present invention, by processor according to the equilibrium data of level meter, judgement
Whether robot body is in descending state；If so, obtaining the acceleration information of acceleration transducer；According to acceleration information
Present speed is maintained within the scope of safe speed by control drive module.To keep the operation of robot in descending scene
Stablize, improves safety in operation.Further, when processor confirms that terminal device is located at operation side, robot by communication module
When forwards, processor obtains the movement speed of terminal device by communication module, and the shifting of robot is confirmed according to movement speed
Dynamic speed adjusts safe speed range according to movement speed, to adjust safety speed when carrying out following movement with terminal device
Range is spent, realizes that the safety for terminal device follows.
Optionally, processor 101 are specifically used for obtaining the current acceleration according to acceleration information；If working as preacceleration
Degree exceeds safe speed range limit, then controls drive module 104 and be decelerated within the scope of safe speed.
Optionally, processor 101 are also used to confirm according to the equilibrium data of level meter 103 gradient of the descending；According to
The gradient obtains the safe speed range.
Optionally, with continued reference to Fig. 1, the balance drive module 105, comprising: the first telescopic rod 105-1, second stretch
Bar 105-2 and third telescopic rod 105-3；One end of first telescopic rod 105-1 and the bottom end of drive module 104 are hinged；First stretches
The other end of contracting bar 105-1 is connected with first round group 105a；One end of second telescopic rod 105-2 and drive module 104
Bottom end is hinged；The other end of first telescopic rod 105-1 is connected with the second wheel group 105b；One end of third telescopic rod 105-3
It is hinged with the bottom end of drive module 104；The other end of third telescopic rod 105-3 is connected with third round group 105c.
Preferably, the balance drive module 105, comprising: the first gear unit, the second gear unit and third transmission are single
First (not shown in figure 1)；
Processor 101 is electrically connected with the first gear unit, the second gear unit and the third gear unit respectively；
First gear unit, for driving the flexible of the first telescopic rod 105-1 and providing power for first round group 105a；
Second gear unit, for driving the flexible of the second telescopic rod 105-2 and providing power for the second wheel group 105b；
Third gear unit, for driving the flexible of third telescopic rod 105-3 and providing power for third round group 105c.
On the basis of Fig. 1, Fig. 2 is a kind of function signal of descending robot interactive system provided in an embodiment of the present invention
Figure, referring to Fig. 2, when processor 101 confirms that robot body 100 is in descending state according to the equilibrium data of level meter 103,
Processor 101 is also used to drive the first telescopic rod 105-1 to extend by the first gear unit；And pass through third gear unit
Drive third telescopic rod 105-3 flexible；
Processor 101 confirms whether robot body 100 balances according to equilibrium data, if so, single by the first transmission
Member stops the first telescopic rod 105-1 and extends, and flexible by third gear unit stopping third telescopic rod 105-3.
Optionally, if desired, processor 101 is also used to drive the first telescopic rod 105-2 to prolong by the second gear unit
It stretches；The second telescopic rod 105-2 can also be driven to extend by the second gear unit.
Finally, it should be noted that the above embodiments are only used to illustrate the technical solution of the present invention., rather than its limitations；To the greatest extent
Pipe present invention has been described in detail with reference to the aforementioned embodiments, those skilled in the art should understand that: its according to
So be possible to modify the technical solutions described in the foregoing embodiments, or to some or all of the technical features into
Row equivalent replacement；And these are modified or replaceed, various embodiments of the present invention technology that it does not separate the essence of the corresponding technical solution
The range of scheme.
Claims (6)
1. a kind of descending robot interactive system, which is characterized in that robot and terminal device, wherein the robot, packet
It includes: robot body, processor, acceleration transducer, level meter, drive module, communication module and balance transmission module；
Wherein, the processor, the level meter and the acceleration transducer are set in the robot body, the drive
Dynamic model block is set to the robot body bottom, and the balance drive module is set to the drive module bottom；The place
Reason device is electrically connected with the level meter, the acceleration transducer and the drive module respectively；
The drive module, for driving the balance drive module；
The processor judges whether the robot body is in lower ramp shaped for the equilibrium data according to the level meter
State；If so, obtaining the acceleration information of the acceleration transducer；The drive module is controlled according to the acceleration information
Present speed is maintained within the scope of safe speed；
When the processor confirms that the terminal device is located in front of the robot traffic direction by the communication module,
The processor is also used to obtain the movement speed of the terminal device by the communication module, according to the movement speed
The movement speed for confirming the robot adjusts the safe speed range according to the movement speed.
2. robot interactive system according to claim 1, which is characterized in that the processor is specifically used for according to institute
It states acceleration information and obtains the current acceleration；If the current acceleration exceeds the safe speed range limit, control
The drive module is made to be decelerated within the scope of the safe speed.
3. robot interactive system according to claim 1, which is characterized in that the processor is also used to according to
The equilibrium data of level meter confirms the gradient of the descending；The safe speed range is obtained according to the gradient.
4. robot interactive system according to claim 1, which is characterized in that the balance drive module, comprising: first
Telescopic rod, the second telescopic rod and third telescopic rod；One end of first telescopic rod and the bottom end of the drive module are hinged；Institute
The other end for stating the first telescopic rod is connected with first round group；One end of second telescopic rod and the bottom of the drive module
End is hinged；The other end of first telescopic rod is connected with the second wheel group；One end of the third telescopic rod and the drive
The bottom end of dynamic model block is hinged；The other end of the third telescopic rod is connected with third round group.
5. according to robot interactive system described in claim 4, which is characterized in that the balance drive module, comprising: first
Gear unit, the second gear unit and third gear unit；
The processor, it is electric with first gear unit, second gear unit and the third gear unit respectively
Connection；
First gear unit, for driving the flexible of first telescopic rod and providing power for the first round group；
Second gear unit, for driving the flexible of second telescopic rod and providing power for the second wheel group；
The third gear unit, for driving the flexible of the third telescopic rod and providing power for the third round group.
6. robot interactive system according to claim 5, which is characterized in that when the processor is according to the level meter
Equilibrium data when confirming that the robot body is in descending state, the processor is also used to be driven by described first
Unit drives first telescopic rod to extend；And drive the third telescopic rod flexible by the third gear unit；
The processor confirms whether the robot body balances according to the equilibrium data, if so, passing through described first
Gear unit stops first telescopic rod and extends, and stops the third telescopic rod by the third gear unit and stretch
Contracting.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201711342314.XA CN109895091A (en) | 2017-12-10 | 2017-12-10 | A kind of descending robot interactive system |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201711301715.0A CN109895087A (en) | 2017-12-10 | 2017-12-10 | A kind of robot interactive system |
| CN201711342314.XA CN109895091A (en) | 2017-12-10 | 2017-12-10 | A kind of descending robot interactive system |
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| Application Number | Title | Priority Date | Filing Date |
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| CN201711301715.0A Division CN109895087A (en) | 2017-12-10 | 2017-12-10 | A kind of robot interactive system |
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| CN109895091A true CN109895091A (en) | 2019-06-18 |
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| CN201711342314.XA Pending CN109895091A (en) | 2017-12-10 | 2017-12-10 | A kind of descending robot interactive system |
| CN201711301715.0A Pending CN109895087A (en) | 2017-12-10 | 2017-12-10 | A kind of robot interactive system |
| CN201711342313.5A Pending CN109895090A (en) | 2017-12-10 | 2017-12-10 | A kind of descending robot interactive control system |
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| CN201711301715.0A Pending CN109895087A (en) | 2017-12-10 | 2017-12-10 | A kind of robot interactive system |
| CN201711342313.5A Pending CN109895090A (en) | 2017-12-10 | 2017-12-10 | A kind of descending robot interactive control system |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113524191A (en) * | 2021-07-30 | 2021-10-22 | 上海钛米机器人股份有限公司 | Robot motion control method and device, robot and storage medium |
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| US8589045B2 (en) * | 2011-02-18 | 2013-11-19 | Continental Automotive Systems, Inc | System and method for determining a safe maximum speed of a vehicle |
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- 2017-12-10 CN CN201711342314.XA patent/CN109895091A/en active Pending
- 2017-12-10 CN CN201711301715.0A patent/CN109895087A/en active Pending
- 2017-12-10 CN CN201711342313.5A patent/CN109895090A/en active Pending
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| CN103984341A (en) * | 2014-05-20 | 2014-08-13 | 曾建 | Intelligent climbing wireless monitoring rescue instrument |
| DE102015204641A1 (en) * | 2014-06-03 | 2015-12-03 | ArtiMinds Robotics GmbH | Method and system for programming a robot |
| CN106457565A (en) * | 2014-06-03 | 2017-02-22 | 阿蒂迈兹机器人技术有限公司 | Method and system for programming a robot |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN113524191A (en) * | 2021-07-30 | 2021-10-22 | 上海钛米机器人股份有限公司 | Robot motion control method and device, robot and storage medium |
| CN113524191B (en) * | 2021-07-30 | 2022-12-20 | 上海钛米机器人股份有限公司 | Robot motion control method and device, robot and storage medium |
Also Published As
| Publication number | Publication date |
|---|---|
| CN109895087A (en) | 2019-06-18 |
| CN109895090A (en) | 2019-06-18 |
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Application publication date: 20190618 |
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