CN113510679B

CN113510679B - Wheeled robot

Info

Publication number: CN113510679B
Application number: CN202110418935.1A
Authority: CN
Inventors: 万冬; 贾清水; 周建波; 陈强; 李学礼; 孔旭影
Original assignee: BEIJING INFORMATION TECHNOLOGY COLLEGE
Current assignee: BEIJING INFORMATION TECHNOLOGY COLLEGE
Priority date: 2021-04-19
Filing date: 2021-04-19
Publication date: 2022-09-27
Anticipated expiration: 2041-04-19
Also published as: CN113510679A; CN115805577B; CN115805577A

Abstract

The invention discloses a wheel type robot, which comprises a controller, an upper interactor, a middle box body and a lower chassis with wheels, wherein a plurality of water spraying parts are arranged in the box body, and the water spraying parts spray water to act on the interactor under the control of the controller, so that auxiliary acting force is provided for the interactor to change the motion state, and the auxiliary acting force is synchronous with the running speed of the box body. The robot solves the technical contradiction of maintaining the human-computer interaction height and the movement stability, realizes continuous human-computer interaction while maintaining stable movement, and is not easy to overturn.

Description

Wheeled robot

Technical Field

The invention relates to a man-machine interaction device, in particular to a robot moving by wheels.

Background

Wheeled robots are currently in wide use, and the flexibility of moving on flat ground makes them the first choice for indoor cabinets. In some specific cases, wheeled robots are required to reach a certain height, such as: the navigation robot is generally designed to be highly close to a normal person in order to enhance interactivity or obtain a larger field of view. However, for wheeled robots, the center of gravity should not be too high, otherwise overturning is likely to occur.

CN111891255 discloses a wheeled robot for transportation to replace manpower to execute tasks harmful to human body, which includes a base and a pallet arranged above the base and fixed relative to the base, wherein the left side of the base is provided with a left wheel, the right side of the base is provided with a right wheel coaxially arranged with the left wheel, the base is provided with a counterweight unit, and a driving component for driving the counterweight unit to move back and forth is arranged between the pallet and the base. The proposal keeps the robot in a balanced state by changing the position of the counterweight unit, and the pallet can not incline. The main drawbacks of this solution are: the counterweight increases the transport load, and the change of the counterweight position is limited by the chassis, so that the acting force arm is very short, the counterweight required by the increase of the height of the robot is increased by times, and the feasibility in practice is not high.

Due to the inherent properties of an inertial system object, it is usually correlated to the mass of the object. In order to improve the stability of the vehicle in traveling and prevent the vehicle from overturning, the conventional method further includes: enlarging the floor area to lower the centroid, etc. However, in actual products, floor space is often a constraint, and excessive floor space often requires a large floor space, making storage difficult. Especially for the robot with interactive use, the larger occupied area also increases the distance of human-computer interaction, reduces the interactive experience and limits the application range of the robot.

Disclosure of Invention

In order to solve the problems of the prior art, an object of the present invention is to provide a wheeled robot, which can maintain the motion state of an upper interactive device and a lower box and a chassis moving synchronously and in the same direction by controlling water flow impacts in different directions, and improve the stability of the robot during the movement and prevent the robot from overturning while maintaining the height required by human-computer interaction.

Another object of the present invention is to provide a wheeled robot, which improves the experience of human-computer interaction, and particularly, has a guiding function, an ornamental function, and a multi-purpose function.

The utility model provides a wheeled robot, includes the interactive ware on controller, upper portion, and the box at middle part and the chassis that has the wheel of lower part, be equipped with a plurality of water spray parts in the box, when motion state changes, controlled by the controller, water spray part sprays water, acts on the interactive ware, does benefit to the interactive ware and changes motion state rapidly, with the box keeps synchronous syntropy to remove.

The other wheel type robot comprises a controller, an interactive device on the upper portion, a box body on the middle portion and a chassis with wheels on the lower portion, wherein a plurality of water spraying parts are arranged in the box body, and under the control of the controller, the water spraying parts spray water, so that the interactive device is separated from the box body and keeps synchronous and same-direction movement with the box body.

Preferably, the interaction device comprises an interaction part, a connecting part and a water receiving part, wherein the interaction part is positioned above the box body, the water receiving part is positioned in an inner cavity of the box body, a through hole is formed in the top of the box body, the connecting part is assembled with the through hole, the two ends of the connecting part are respectively connected with the interaction part and the water receiving part, and after the water receiving part is stressed, the interaction part is pushed to move upwards, so that the interaction part is separated from the box body. The water spray is used for providing the supporting force of the interactor and reducing the influence of the head on the stability of the system.

Preferably, the water receiving portion includes an arc surface curved toward the water emitting member. In order to effectively guide the falling water flow, the cambered surface edge is close to the inner wall of the box body, so that the box body can move stably.

Preferably, the arc surface comprises a spherical surface, such as: 1/12, 1/8, 1/6, 1/4, and 1/2 spheres. In order to reduce the weight of the head and save materials, a spoon-shaped curved surface can be selected.

Preferably, the bottom of the box body comprises a water storage tank, and the water spraying part is arranged on the water storage tank.

Preferably, a water level sensor is arranged beside each water spraying component in the box body, each water level sensor sends water level information to the controller, and the controller judges and comprehensively analyzes the water level information according to the motion state of the box body, selects the water spraying component and controls the water spraying amount of the water spraying component. If thrust in any direction is needed, the thrust can be divided into two orthogonal directions and then provided by two adjacent water sprayers respectively.

Preferably, the number of the water spraying parts is 3 or 4, and the integral multiple of 3 or the integral multiple of 4, the water spraying parts are uniformly distributed at the bottom of the box body, and the water spraying parts are obliquely arranged relative to the longitudinal direction.

Preferably, the water spraying parts are distributed on the circumference, move and open on the circumference according to the difference of the advancing direction of the box body under the control of the controller, are favorable for interactively and rapidly changing the motion state and synchronously move with the box body in the same direction. Such as: when the number of the water spraying components is 4, the positions of the water spraying components are 1 respectively in the front, the back, the left and the right, or on the circumference which forms an included angle of 45 degrees with the moving direction.

Preferably, the opening of the water storage tank is in a bucket shape to prevent water from overflowing during the movement of the tank body.

Preferably, the box is transparent material, can vwatch the rivers that fall, is fitting for light, is rich in the sight.

The technical scheme of the invention has the following beneficial effects:

the wheel type robot has the whole height of 1.3-1.5 m and the floor area of the chassis of 0.1m ² ～0.3m ² The aim of man-machine interaction can be achieved, stable movement can be kept, and overturning is not easy. When the device is started to advance, started to retreat and turned during advancing, man-machine interaction can be continuously realized all the time, the stability of integral movement is improved, and the movement is convenient.

The wheel type robot of the invention leads the falling water flow by the water receiving part, and the water flow is shaped like a fountain from top to bottom. Along with the movement of the robot, a movable fountain landscape is formed, and the robot has ornamental value during man-machine interaction.

Drawings

FIG. 1 is a side sectional view of a wheeled robot of the present invention;

FIG. 2 is a front sectional view of the wheeled robot of the present invention;

fig. 3 is an exploded view of the wheeled robot of the present invention;

figure 4a is a top view of one embodiment of a water jet assembly of the wheeled robot of the present invention;

FIG. 4b is a top view of another embodiment of a water spraying component of the wheeled robot of the present invention;

FIG. 5 is a schematic view of a water tank of the wheeled robot according to the present invention;

FIG. 6 is a signal connection block diagram of a main control board of the wheeled robot of the present invention;

FIG. 7 is a block diagram of a plurality of water spraying parts respectively connected with a plurality of water level sensors in the wheeled robot of the present invention;

FIG. 8 is a schematic view of an embodiment of a wheeled robot housing profile of the present invention;

FIG. 9 is a schematic view of another embodiment of the wheeled robot box of the present invention;

fig. 10 is a schematic view of another embodiment of the wheeled robot box profile of the present invention.

In fig. 1, an interaction section; 2, a connecting part; 3, a water receiving part; 4, a box body; 5, a water spraying component; 6, a water storage tank; 7, a chassis; 8, a wheel; 9, a suction pipe; 10, a water level sensor; 11, a power supply device; 12, a steady flow water filter screen; 13, water pump

Detailed Description

The embodiments of the present invention are described below with reference to specific embodiments, and other advantages and effects of the present invention will be easily understood by those skilled in the art from the disclosure of the present specification.

As shown in fig. 1, 2, 3 and 5, the wheel robot comprises a controller and an upper interactive device 1, a middle box body 4 and a chassis 7 with wheels 8 at the lower part, wherein a plurality of water spraying parts 5 are arranged in the box body 4, the water spraying parts 5 spray water to act on the interactive device 1 under the control of the controller, and the interactive device 1 is lifted to be separated from the box body 4 and synchronous with the running speed of the box body 4.

The interactive ware is divided into interactive portion 1, connecting portion 2 and receiving water portion 3, and interactive portion 1 installs on the outside top of box, and receiving water portion 3 is installed on the inside top of box 4, and connecting portion 2 connects interactive portion 1 and receiving water portion 3 and passes box upper end opening, and matches with this opening.

Wherein, the water receiving part is an arc surface facing the water spraying part, and the edge of the arc surface is close to the inner wall of the box body 4 so as to guide the falling water flow and enable the box body 4 to move stably. The cambered surface can be designed into a spherical surface, such as 1/12 spherical surface, 1/8 spherical surface, 1/6 spherical surface, 1/4 spherical surface, 1/2 spherical surface and the like.

The water receiving part 3 can be combined with the box body 4 into a whole, and the connecting part 2 is directly connected with the interaction part 1 and the box body 4.

Wherein, the bottom of the box body 4 is a water storage tank 6, and the opening of the water storage tank 6 is in a bucket shape to prevent water from overflowing during the moving process of the box body. The water spraying component 5 is arranged on the water storage tank 6, the water spraying component 5 is connected with a water pump 13, the water pump 13 is arranged on the back of the water spraying component 5, and a controller connected with the water spraying component 5 and the water pump 13 is arranged in the chassis. The bottom of the water spraying part 5 is connected with a water suction pipe 9, the water suction pipe 9 extends into the bottom of a water storage tank 14, a water level sensor 10 is arranged beside each water spraying part 5 in the tank body, each water level sensor 10 sends water level information to a controller, and the controller judges and comprehensively analyzes according to the motion state of the tank body and the water level information, selects the water spraying part 5 and controls the water spraying amount of the water spraying part.

Prismatic case, easy to process, it is great to occupy space, and its certain direction side is the plane, and rivers jet to the plane after, can splash all around, and this kind of anomalous sputtering will make the thrust size that the interaction ware received produce anomalous fluctuation. The splashed water falls from the air, and the water flow on the wall of the tank vertically falls, so that the time is short.

The box 4 of this embodiment includes at least one cross section, and the area of the cross section is at least smaller than the area of the end face of one end of the box, and preferably, the area of the cross section is smaller than the area of the end face of the two ends of the box. When the cross section is circular, the diameter of the cross section is at least smaller than the area of the end face of one end of the box body, and preferably, the area of the cross section is smaller than the area of the end faces of two ends of the box body.

When the box is tubbiness, include a plurality of cross sections that distribute along its axial continuity at least, the area of these cross sections is unequal, all is less than the terminal surface area of box one end at least, if: truncated cone shape (see fig. 8). Preferably, the cross-sections have an area smaller than the area of the end faces at the two ends of the tank. Of these continuously distributed cross sections, the cross section with the smallest area is located at the median position, such as: gourd-shaped (see fig. 9) and hourglass-shaped (see fig. 10).

The cylindrical box body or the circular truncated cone box body is easy to process and large in occupied space, the lateral surface of the cylindrical box body or the circular truncated cone box body is the arc surface, water can be effectively restrained by the arc surface from sputtering towards the horizontal direction after being sprayed to the arc surface, irregular sputtering can still occur in the vertical direction, and irregular fluctuation can be generated by the thrust applied to the interaction device. The splashed water is little, and can almost fall vertically along the box wall, and the time is short.

The gourd-shaped box, although relatively complex to machine, occupies only the space through which the water jet must pass. The appearance is fine and uniform, and the design is convenient to beautify. The lateral surface of the device is a spherical surface, and after water flow is sprayed to the spherical surface, the thrust force of the water flow on the better constraint interaction device is relatively stable, so that the stability of movement is improved. Splashed water is little and can almost not glug and fall vertically along the wall of the tank, but the falling time is longer.

An hourglass-shaped box, only takes up space through which the water jet must pass. The appearance is fine and uniform, and the design is convenient to beautify. The lateral surface of the water flow control device is a wedge-shaped groove, and after water flow is sprayed to the groove, the thrust force of the water flow on the restraint interaction device is relatively stable, so that the stability of movement is improved. The splashed water is few, almost all the water can vertically fall to the middle part along the tank wall, a waterfall effect is formed, the water falls into the bottom water storage tank, and the falling time is between that of the calabash-shaped tank body and that of the cylindrical tank body.

Wherein, water spray part 5 can design any number as required, for example: 1. 2, 3,5, 6, 7 and 8, but at least 3 or integral multiples of 3 and 4, are uniformly distributed at the bottom of the box body and are obliquely arranged, when the number of the water spraying components 5 is 4, as shown in figure 4, the water spraying components 5 are uniformly arranged at intervals in the box body, the spray heads of the water spraying components 5 face the central axis of the box body, the elevation angle is determined according to the position of the water receiving component 3, and the water flow is ensured to be sprayed to the proper position of the water receiving component 3 or the box body 4. A steady flow water filter 12 is arranged in the middle of the base provided with the water spraying component 5, so that water can uniformly and slowly flow into the water storage tank 6. Specifically, the water spraying part at least comprises an ejector, each ejector is connected with at least one pump, and the pump enables high-pressure high-speed water to flow through the ejector and act on the water receiving part 3. The other water spraying component at least comprises a pump and an ejector, and the ejector is connected with the pump, so that the controllability and the accuracy of acting force applied by each water spraying component on the water receiving part 3 can be improved, and the upper interactor is coordinated with the moving speed and the moving direction of the box body.

In order to enhance the interactivity or obtain a larger visual field, the height of the wheeled robot can be designed to be 1.3-1.9 meters according to needs. In order to increase visual effect and achieve beautifying function, the box body can be designed to be transparent, so that the water curtain sprayed by the spray head component in the box body can be clearly seen.

When the number of the water spraying components is 4, the signal connection block diagram of the main control board is shown in fig. 6, the 4 water spraying components and the 4 water level sensors in the wheeled robot of the present embodiment are connected to the main control board (i.e., the controller in the present embodiment) of the present embodiment through signal lines and communication interfaces, and a dc power supply (i.e., the power supply device 11 in the figure) provides power for the main control board. The 4 water spraying components are respectively connected with the 4 water level sensors, as shown in fig. 7, each water level sensor sends water level information to the water spraying component, and the water spraying component sprays water or gives an alarm according to the water level condition.

Specifically, the water spraying members 5 are opened under the control of the controller according to the moving state of the wheeled robot, for example, when 4 water spraying members 5 are provided and the

water spraying members

51,52,53,54 are provided at four positions, i.e., the upper, lower, left and right positions, of the top view of the wheeled robot, as shown in fig. 4a, the operation mode is as follows:

when the wheeled robot of the present embodiment accelerates from left to right, the water spraying component 54 on the left side sprays water to the right, so as to push the interactive device to accelerate from left to right, and the interactive device travels synchronously with the box body in the same direction. When the interactive device moves in a decelerating way from left to right, the water spraying component 52 on the right side sprays water to the left to push the interactive device to move in a decelerating way from left to right and synchronously move with the box body in the same direction.

If the wheeled robot uses the omnidirectional wheels, the wheeled robot can perform translational motion in any direction, when acceleration and deceleration are performed in the translational motion, the water spraying component 5 in the direction provides deceleration thrust for the interactor, and the water spraying component 5 in the opposite direction provides acceleration thrust for the interactor. For example, when the wheeled robot of the present embodiment translates and accelerates to the upper left in the plan view, the 2

water spraying parts

52 and 53 located at the right and lower sides spray water to the left and upper sides in the plan view at the same time, and the resultant force pushes the interactive device to accelerate to the upper left, and thus the interactive device and the box travel synchronously in the same direction. By selecting the water spraying part and controlling the size of the sprayed water flow, the synthetic thrust in any direction can be obtained, so that the accelerating or decelerating thrust in any direction is provided for the interaction device, and the interaction device and the box body synchronously run in the same direction.

When the wheeled robot of the present embodiment moves from left to right while making a turn, water is sprayed from the

water spraying members

52,54 located on both sides to provide a centripetal force for the turning of the interactor, turning in synchronization with the tank. When turning to the left, the water spraying component 53 on the right side of the advancing direction sprays water to the left to push the interactive device to turn to the left, and the interactive device and the box body synchronously turn to the left. When turning to the right, the water spraying part 53 on the left side of the advancing direction sprays water to the right, so that the interaction device is pushed to turn to the right and is synchronously turned to the right with the box body. Similarly, when turning in other directions, the turning centripetal force is provided for the interaction device by the water spraying component 5 in the opposite direction of the turning.

When the wheeled robot of the embodiment performs non-uniform curvilinear motion, the translational acceleration or deceleration motion and the turning motion can be regarded as superposition, the water spraying component 5 in the translational direction provides deceleration thrust or the water spraying component 5 in the opposite translational direction provides acceleration thrust, and the water spraying component 5 in the opposite turning direction provides turning centripetal force for the interaction device, so that the interaction device and the box body synchronously run in the same direction.

If the number of the water spraying parts 5 is 4 and the

water spraying parts

51,52,53 and 54 are arranged at four positions of the upper right position, the lower left position and the upper left position of the top view of the wheeled robot, as shown in fig. 4b, the operation mode is as follows:

when the wheeled robot of the present embodiment accelerates from left to right, the 2

water spraying components

51 and 54 on the left side spray water simultaneously, and the resultant force pushes the interactive device to accelerate from left to right, and the interactive device and the box run synchronously in the same direction. When the vehicle decelerates from left to right, the 2

water spraying parts

53 and 54 on the right side spray water simultaneously, and the resultant force pushes the interactive device to decelerate from left to right, and the interactive device and the box body synchronously run in the same direction.

If the wheeled robot uses the omnidirectional wheels, the wheeled robot can perform translational motion in any direction, when acceleration and deceleration are performed in the translational motion, the water spraying component 5 in the direction provides deceleration thrust for the interactor, and the water spraying component 5 in the opposite direction provides acceleration thrust for the interactor. By selecting the water spraying part and controlling the size of the sprayed water flow, the synthetic thrust in any direction can be obtained, so that the accelerating or decelerating thrust in any direction is provided for the interaction device, and the interaction device and the box body synchronously run in the same direction.

When the wheeled robot of the embodiment moves from left to right and turns, the water spraying part 5 provides centripetal force for turning of the interactive device, and the interactive device turns synchronously with the box body. When turning to the left, the water is sprayed to the left by the 2

water spraying parts

53 and 54 positioned on the right side of the advancing direction, so that the interaction device is pushed to turn to the left and is synchronously turned to the left with the box body. When turning to the right, the

water spraying parts

51 and 52 on the left side of the advancing direction spray water to the right, so that the interaction device is pushed to turn to the right and is synchronously turned to the right with the box body. Similarly, when the vehicle turns in other directions, the turning centripetal force is provided for the interaction device by the water spraying component in the opposite direction of the turning.

When the wheeled robot of the embodiment performs non-uniform-speed curvilinear motion, the translational acceleration or deceleration motion and the turning motion can be regarded as superposition, the water spraying component in the translational direction provides deceleration thrust or the water spraying component in the translational opposite direction provides acceleration thrust, and the water spraying component in the turning opposite direction provides turning centripetal force for the interaction device, so that the interaction device and the box body synchronously run in the same direction.

The above description is only for the purpose of illustrating the preferred embodiments of the present invention and is not to be construed as limiting the invention, and any modifications, equivalents and improvements made within the spirit and principle of the present invention are intended to be included within the scope of the present invention.

Claims

1. A wheeled robot is characterized by comprising a controller, an interactor at the upper part, a box body at the middle part and a chassis with wheels at the lower part, wherein a plurality of water spraying parts are arranged in the box body;

the interactive device comprises an interactive part, a connecting part and a water receiving part, wherein the interactive part is positioned above the box body, the water receiving part is positioned in an inner cavity of the box body, a through hole is formed in the top of the box body, the connecting part is assembled with the through hole, and two ends of the connecting part are respectively connected with the interactive part and the water receiving part; the water receiving part comprises an arc surface which is bent towards the water spraying part, and after the arc surface is stressed, the motion state of the interaction part is changed, so that the interaction part, the box body and the chassis synchronously move in the same direction.

2. The wheeled robot of claim 1, wherein the radiused edge is adjacent an inner wall of the tank to smooth movement of the tank.

3. The wheeled robot of claim 2, wherein the arc surface comprises a spherical surface.

4. The wheeled robot of claim 2, wherein the curved surface is 1/12 sphere, 1/8 sphere, 1/6 sphere, 1/4 sphere, 1/2 sphere or a spoon-shaped curved surface.

5. The wheeled robot as claimed in claim 1, wherein the bottom of said housing is a water storage tank, said water spraying part is provided on said water storage tank, said water spraying part is connected to a water pump, said water pump is provided on the back of said water spraying part, and a controller connected to said water spraying part and said water pump is provided in said chassis.

6. The wheeled robot of claim 5, wherein a water level sensor is provided beside each water spraying member in the tank, each water level sensor sends water level information to the controller, and the controller determines and comprehensively analyzes the motion state of the tank and the water level information, selects one water spraying member and controls the amount of water sprayed.

7. The wheeled robot of claim 1, wherein the number of said water spraying members is 3, or 4, or an integral multiple of 3, or an integral multiple of 4, and said water spraying members are uniformly distributed at the bottom of said housing, and said water spraying members are disposed obliquely with respect to the longitudinal direction.

8. The wheeled robot of claim 1, wherein the water spray members are distributed on the circumference, and move and open on the circumference according to the advancing direction of the box under the control of the controller, so as to facilitate rapid change of motion state in interaction and keep synchronous and same-direction movement with the box.

9. The wheeled robot of claim 1 wherein the bottom of the housing includes a water storage tank having an opening in the form of a bucket to prevent water spillage during movement of the housing.