CN204631616U - Robot - Google Patents
Robot Download PDFInfo
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- CN204631616U CN204631616U CN201520309444.3U CN201520309444U CN204631616U CN 204631616 U CN204631616 U CN 204631616U CN 201520309444 U CN201520309444 U CN 201520309444U CN 204631616 U CN204631616 U CN 204631616U
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Abstract
The utility model discloses a kind of robot, comprising: robot body, described robot body is provided with keeps away barrier sensor; Homeward receiving trap, described homeward receiving trap is arranged on described robot body; Homeward emitter, described homeward emitter is for launching homeward signal; And controller, described controller respectively with described robot body, described in keep away and hinder sensor and described homeward receiving trap is connected and can controls when described robot body is homeward to remain in preset distance between described robot body and body of wall.Low according to the cost of robot of the present utility model, and the reliability of the autonomous operation of robot body is high.
Description
Technical field
The utility model relates to an electro-technical field, particularly a kind of robot.
Background technology
For a long time, in order to realize the autonomous of robot, researchist have employed multiple method, a kind of method of comparatively widespread use is the establishment adopting scanning laser sensor to carry out indoor map, and according to the map built in real time, adopt path planning algorithm, make robot in room from a position autonomous to another one position.The shortcoming of this technology is: the price of scanning laser sensor costly on the one hand, and contexture by self algorithm often occurs insecure phenomenon by the impact of environmental map modeling error on the other hand.
Utility model content
The utility model is intended to solve one of technical matters in correlation technique at least to a certain extent.For this reason, the purpose of this utility model is to propose a kind of robot, and the cost of this robot is lower and reliability that the is autonomous operation of robot body is high.
According to robot of the present utility model, comprising: robot body, described robot body is provided with keeps away barrier sensor; Homeward receiving trap, described homeward receiving trap is arranged on described robot body; Homeward emitter, described homeward emitter is for launching homeward signal; And controller, described controller respectively with described robot body, described in keep away and hinder sensor and described homeward receiving trap is connected and can controls when described robot body is homeward to remain in preset distance between described robot body and body of wall.
According to robot of the present utility model, controller can control when robot body moves to homeward emitter to remain in preset distance between robot body and body of wall, make robot body can move to homeward emitter along body of wall, and then avoid the navigation algorithm using high scanning laser sensor and complexity, reduce the cost of robot and improve the reliability of robot body autonomous operation, and reducing the time that robot body arrives homeward emitter at least to a certain extent.
In addition, following additional technical characteristic can also be had according to robot of the present utility model:
According to an embodiment of the present utility model, described preset distance is between 0-50cm.
According to an embodiment of the present utility model, described preset distance is between 20cm-40cm.
According to an embodiment of the present utility model, described in keep away barrier sensor and comprise preposition obstacle sensor and sidepiece body of wall obstacle sensor, on the left side that described sidepiece body of wall obstacle sensor is located at described robot body and/or right side.
According to an embodiment of the present utility model, described robot also comprises: cradle, described cradle is provided with described homeward emitter.
According to an embodiment of the present utility model, described robot body is also provided with load machine, and described load machine comprises: one or more in air purifier, air humidifier, oxygen generator and sterilizing unit.
According to an embodiment of the present utility model, the relatively described robot body of described load machine is separable.
According to an embodiment of the present utility model, described load machine is electrically connected with described robot body.
According to an embodiment of the present utility model, described robot body is provided with the location structure for positioning with described load machine.
According to an embodiment of the present utility model, described robot body is also provided with and shelves groove for what shelve object.
Additional aspect of the present utility model and advantage will part provide in the following description, and part will become obvious from the following description, or be recognized by practice of the present utility model.
Accompanying drawing explanation
Above-mentioned and/or additional aspect of the present utility model and advantage will become obvious and easy understand from accompanying drawing below combining to the description of embodiment, wherein:
Fig. 1 is the schematic diagram in a direction of robot body according to the utility model embodiment;
Fig. 2 is the schematic diagram in another direction of robot body according to the utility model embodiment;
Fig. 3 is the schematic diagram run along body of wall according to the robot body of the utility model embodiment;
Fig. 4 is the schematic diagram run along body of wall according to the robot body of the utility model embodiment;
Fig. 5 is the schematic diagram arriving cradle according to the robot body of the utility model embodiment;
Fig. 6 is the schematic diagram robot body according to the utility model embodiment being provided with load machine.
Reference numeral:
Robot body 100, homeward receiving trap 110, preposition obstacle sensor 121, sidepiece body of wall obstacle sensor 122, power supply interface 130, communication interface 140, mechanical interface 150,
Cradle 200, homeward emitter 210, on a large scale guiding sensor 211, narrow angular guiding sensor 212,
Load machine 300.
Embodiment
Be described below in detail embodiment of the present utility model, the example of described embodiment is shown in the drawings, and wherein same or similar label represents same or similar element or has element that is identical or similar functions from start to finish.Be exemplary below by the embodiment be described with reference to the drawings, be intended to for explaining the utility model, and can not be interpreted as restriction of the present utility model.
In description of the present utility model, it will be appreciated that, term " " center ", " longitudinal direction ", " transverse direction ", " length ", " width ", " thickness ", " on ", D score, " front ", " afterwards ", " left side ", " right side ", " vertically ", " level ", " top ", " end " " interior ", " outward ", " clockwise ", " counterclockwise ", " axis ", " radial direction ", orientation or the position relationship of the instruction such as " circumference " are based on orientation shown in the drawings or position relationship, only the utility model and simplified characterization for convenience of description, instead of indicate or imply that the device of indication or element must have specific orientation, with specific azimuth configuration and operation, therefore can not be interpreted as restriction of the present utility model.
In addition, term " first ", " second " only for describing object, and can not be interpreted as instruction or hint relative importance or imply the quantity indicating indicated technical characteristic.Thus, be limited with " first ", the feature of " second " can express or impliedly comprise at least one this feature.In description of the present utility model, the implication of " multiple " is at least two, such as two, three etc., unless otherwise expressly limited specifically.
In the utility model, unless otherwise clearly defined and limited, the term such as term " installation ", " being connected ", " connection ", " fixing " should be interpreted broadly, and such as, can be fixedly connected with, also can be removably connect, or integral; Can be mechanical connection, also can be electrical connection; Can be directly be connected, also indirectly can be connected by intermediary, can be the connection of two element internals or the interaction relationship of two elements, unless otherwise clear and definite restriction.For the ordinary skill in the art, the concrete meaning of above-mentioned term in the utility model can be understood as the case may be.
In the utility model, unless otherwise clearly defined and limited, fisrt feature second feature " on " or D score can be that the first and second features directly contact, or the first and second features are by intermediary indirect contact.And, fisrt feature second feature " on ", " top " and " above " but fisrt feature directly over second feature or oblique upper, or only represent that fisrt feature level height is higher than second feature.Fisrt feature second feature " under ", " below " and " below " can be fisrt feature immediately below second feature or tiltedly below, or only represent that fisrt feature level height is less than second feature.
Be described in detail according to the robot of the utility model embodiment below in conjunction with Fig. 1 to Fig. 6.
Robot body 100, homeward receiving trap 110, homeward emitter 210 and controller can be comprised according to the robot of the utility model embodiment.
Wherein, robot body 100 is provided with keeps away barrier sensor, keeps away barrier sensor and can determine that this distance signal also can be sent to controller by the distance between barrier and robot body 100.
Homeward emitter 210 is for launching homeward signal, robot body 100 is provided with the homeward receiving trap 110 with homeward emitter 210 adaptation, homeward receiving trap 110 can receive the homeward signal that homeward emitter 210 sends, and roughly determines the position of homeward emitter 210 according to the homeward signal received.
Controller respectively with robot body 100, keep away and hinder sensor and be connected with homeward receiving trap 110, controller can be built in robot body 100, and controller can control when robot body 100 is homeward to remain in preset distance between robot body 100 and body of wall.
That is, receive homeward signal at robot body 100 and need homeward rear (such as battery electric quantity is lower), robot body 100 can move along body of wall to homeward emitter 210, and keep preset distance with body of wall, and then achieve the autonomous of robot body 100.
Such as, the distance of a robot body 100 and body of wall can be pre-determined, robot body 100 is receiving homeward signal and in the process of homeward emitter 210 movement, keeping away barrier sensor can distance between continuous measuring robots body 100 and body of wall, when keeping away distance that barrier sensor detects between robot body 100 and body of wall and being greater than default distance, controller control machine human body 100 is near body of wall; When keeping away distance that barrier sensor detects between robot body 100 and body of wall and being less than default distance, controller control machine human body 100 is away from body of wall.
Thus, robot body 100 is after receiving homeward signal, homeward emitter 210 can be moved to along body of wall, in multiple rooms of indoor, homeward emitter 210 is installed respectively, just can achieve robot body 100 autonomous between multiple room, avoid the navigation algorithm using high scanning laser sensor and complexity, and then reduce the cost of robot and improve the reliability of robot body 100 autonomous operation.
In addition, due to the contiguous body of wall setting mostly of homeward emitter 210, therefore robot body 100 reaches homeward emitter 210 along body of wall, can reduce the time that robot body 100 arrives homeward emitter 210 at least to a certain extent.
According to the robot of the utility model embodiment, controller can control when robot body 100 moves to homeward emitter 210 to remain in preset distance between robot body 100 and body of wall, make robot body 100 can move to homeward emitter 210 along body of wall, and then avoid the navigation algorithm using high scanning laser sensor and complexity, reduce the cost of robot and improve the reliability of robot body 100 autonomous operation, and reduce the time that robot body 100 arrives homeward emitter 210 at least to a certain extent.
In embodiments more of the present utility model, preset distance can between 0-50cm.That is, robot body 100 can move in the scope between distance body of wall 0-50cm in homeward process.
Preferably, preset distance can between 20cm-40cm.That is, robot body 100 can move in the scope between distance body of wall 20cm-40cm.And then reduce the risk that robot body 100 encounters body of wall, improve the stability that robot body 100 works.
More preferably, in order to be suitable for domestic environment, preset distance can be 30cm.Certainly, be understandable that, consumer can set predeterminable range as the case may be.
In embodiments more of the present utility model, keep away barrier sensor and can comprise preposition obstacle sensor 121 and sidepiece body of wall obstacle sensor 122.Preposition obstacle sensor 121 for the barrier on front side of measuring robots body 100, sidepiece body of wall obstacle sensor 122 for the barrier of measuring robots body 100 sidepiece, such as body of wall.
The distance of a robot body 100 and body of wall can be pre-determined, robot body 100 is receiving homeward signal and in the process of homeward emitter 210 movement, distance between the sidepiece body of wall obstacle sensor 122 continuous measuring robots body 100 of meeting and body of wall, when the distance that sidepiece body of wall obstacle sensor 122 detects between robot body 100 and body of wall is greater than default distance, controller control machine human body 100 is near body of wall; When the distance that sidepiece body of wall obstacle sensor 122 detects between robot body 100 and body of wall is less than default distance, controller control machine human body 100 is away from body of wall.
Wherein, as shown in Figure 1, preposition obstacle sensor 121 can for multiple and be arranged on the front portion of robot body 100, on the left side that sidepiece body of wall obstacle sensor 122 is located at robot body 100 and/or right side.
That is, sidepiece body of wall obstacle sensor 122 can be arranged on the left side of robot body 100 and the wherein side on right side, and the left side of certain robot body 100 and right side also all can be provided with sidepiece body of wall obstacle sensor 122.
When one of them of the left side of robot body 100 and right side is provided with sidepiece body of wall obstacle sensor 122, only have the side that sidepiece body of wall obstacle sensor 122 is set of robot body 100 can move along body of wall; When the left side of robot body 100 and right side are provided with sidepiece body of wall obstacle sensor 122, the left side of robot body 100 and right side all can be moved along body of wall.
Alternatively, sidepiece body of wall obstacle sensor 122 can be infrared PSD sensor.
In embodiments more of the present utility model, robot also comprises cradle 200, cradle 200 is provided with homeward emitter 210.Thus, signal that cradle 200 sends is received and after moving to cradle 200 along body of wall, cradle 200 can charge for robot body 100 at robot body 100.
Further, homeward emitter 210 can transmit steering robot body 100 arrive cradle 200 large distance Infrared and for the protection of robot body 100, the small distance Infrared of avoiding robot body 100 and cradle 200 to collide.
Further, homeward receiving trap 110 can be 360 ° of infrared receiver sensors, arrive after near homeward emitter 210 at homeward emitter 210 guided robot body 100, robot body 100 presses close to cradle 200, and cradle 200 can be charged to robot body 100 by charging pole piece.
In embodiments more of the present utility model, robot body 100 is also provided with load machine 300, load machine 300 comprise in air purifier, air humidifier, oxygen generator and sterilizing unit one or more.
That is, robot body 100 is in the process of movement, load machine 300 on it also can move together, and then load machine 300 in a room (namely, the position at homeward emitter 210 place) after hours, work can be carried out along with robot body 100 moves to Next Room (that is, the position at another homeward emitter 210 place) along body of wall.
Further, robot body 100 and load machine 300 are electrically connected.Robot body 100 is provided with battery, in the process of robot body 100 movement, battery on robot body 100 can provide electric energy for load machine 300, and to ensure robot body 100, in the process of movement, load machine 300 also can maintenance work state.
Particularly, robot body 100 can be connected with load machine 300 by power supply interface 130, communication interface 140 and mechanical interface 150.Power supply interface 130 is the battery on robot body 100 is the passage that load machine 300 is powered; Communication interface 140 can transmission of signal, and then robot body 100 can work by control load machine 300, and signal can be passed to robot body 100 from load machine 300, also can be to be passed to load machine 300 from robot body 100; Robot body 100 is connected with load machine 300 and is fixed together by mechanical interface 150.
When robot body 100 moves to cradle 200, cradle 200 can be powered to robot body 100 and load machine 300 simultaneously, and then can ensure that robot body 100 and load machine 300 stably work.
Certainly, be understandable that, when robot body 100 moves to cradle 200, cradle 200 also can only charge to robot body 100, and then by the battery on robot body 100 for load machine 300 provides electric energy, ensure that load machine 300 normally works.
In multiple room, cradle 200 is set respectively, robot body 100 can receive the homeward signal that the homeward emitter 210 on cradle 200 sends, and move between multiple cradle 200 receiving homeward signal trailing edge body of wall, and then achieve robot body 100 autonomous between multiple room, avoid the navigation algorithm using high scanning laser sensor and complexity, reduce the cost of robot and improve the reliability of robot body 100 autonomous operation.
Because robot body 100 can move along body of wall, and cradle 200 is placed on the root of body of wall mostly, and then while avoiding the scanning laser sensor using cost high, the time that robot body 100 arrives assigned address can also be saved, improve the work efficiency of robot body 100 to a certain extent.
In embodiments more of the present utility model, load machine 300 opposed robots body 100 is separable.Robot body 100 can adaptive multiple load machine 300.Such as, after robot body 100 drives air purifier to complete to purify multiple rooms of indoor, robot body 100 can be disassembled from air purifier, then oxygen generator is arranged on robot body 100, and then multiple rooms that robot body 100 can drive oxygen generator to be indoor provide oxygen.
Further, robot body 100 is provided with the location structure for positioning with load machine 300.Thus, facilitate user to be arranged on load machine 300 by robot body 100, the use sense that improve user is subject to.
Certainly, be understandable that, robot body 100 can not be provided with load machine 300, but be only provided with and shelve groove for what shelve object.Thus, robot body 100 can conveying articles between different locations.
In embodiments more of the present utility model, homeward emitter 210 can be infrared transmitter, user can encode to the infrared light that infrared transmitter sends, thus make different homeward emitters 210 have unique identity sign, and robot body 100 can be arranged to only just can stop when the infrared light with a certain specific coding being detected, like this when robot body 100 runs along body of wall, only receive the infrared transmitter with a certain specific coding just can stop, and ignore the guiding infrared light of other cradles 200.Thus, cradle 200 place (in the room) work that the load machine 300 on robot body 100 can specified, improves the work efficiency of load machine 300.
Such as, when load machine 300 is dehumidifier, robot body 100 can drive dehumidifier needing the stop of the room of dehumidifying and dehumidifying to this room, and can not dehumidify to not needing the room dehumidified.
Also comprise the parts such as chassis, driving wheel, the dropproof sensor in bottom, universal wheel according to the robot body 100 of the utility model embodiment, these parts have been prior art and for well known to those of ordinary skill in the art, have not repeated here.
Be that air purifier is described in detail according to the course of work of the robot of the utility model embodiment for load machine 300 below.
Robot body 100 is provided with and keeps away barrier sensor and homeward receiving trap 110, cradle 200 is provided with homeward emitter 210, cradle 200 can be arranged in multiple room and to arrange near body of wall, homeward emitter 210 on cradle 200 comprises the guiding sensor on a large scale 211 launching pilot signal on a large scale and the narrow angular guiding sensor 212 launching pilot signal among a small circle, first homeward receiving trap 110 on robot body 100 senses pilot signal on a large scale, then under the effect keeping away barrier sensor and controller, keep predetermined distance with body of wall and move to the cradle 200 launching homeward signal along body of wall.
In the process of movement, the battery on robot body 100 can be powered for air purifier, and air purifier also can be worked in the process of movement.
When robot body 100 moves near the cradle 200 launching homeward signal, homeward receiving trap 110 on robot body 100 senses the pilot signal among a small circle that narrow angular guiding sensor 212 sends, then controller control machine human body 100 aims at cradle 200, run and press close to cradle 200, the charging pole piece of robot is aimed at the charging pole piece of cradle 200, and cradle 200 starts as robot body 100 charges; Meanwhile, cradle 200 can also be powered for air purifier, makes air purifier work, the air in purification room, cradle 200 place.
When after air purifier work a period of time or when meeting the demands when the air in room, the cradle 200 in room can send homeward signal in addition, guided robot body 100 and air purifier move to Next Room, purify the air in Next Room.
In the description of this instructions, specific features, structure, material or feature that the description of reference term " embodiment ", " some embodiments ", " example ", " concrete example " or " some examples " etc. means to describe in conjunction with this embodiment or example are contained at least one embodiment of the present utility model or example.In this manual, to the schematic representation of above-mentioned term not must for be identical embodiment or example.And the specific features of description, structure, material or feature can combine in one or more embodiment in office or example in an appropriate manner.In addition, when not conflicting, the feature of the different embodiment described in this instructions or example and different embodiment or example can carry out combining and combining by those skilled in the art.
Although illustrate and described embodiment of the present utility model above, be understandable that, above-described embodiment is exemplary, can not be interpreted as restriction of the present utility model, those of ordinary skill in the art can change above-described embodiment, revises, replace and modification in scope of the present utility model.
Claims (10)
1. a robot, is characterized in that, comprising:
Robot body, described robot body is provided with keeps away barrier sensor;
Homeward receiving trap, described homeward receiving trap is arranged on described robot body;
Homeward emitter, described homeward emitter is for launching homeward signal; And
Controller, described controller respectively with described robot body, described in keep away and hinder sensor and described homeward receiving trap is connected and can controls when described robot body is homeward to remain in preset distance between described robot body and body of wall.
2. robot according to claim 1, is characterized in that, described preset distance is between 0-50cm.
3. robot according to claim 1, is characterized in that, described preset distance is between 20cm-40cm.
4. robot according to claim 1, is characterized in that, described in keep away barrier sensor and comprise preposition obstacle sensor and sidepiece body of wall obstacle sensor, on the left side that described sidepiece body of wall obstacle sensor is located at described robot body and/or right side.
5. robot according to claim 1, is characterized in that, also comprises: cradle, described cradle is provided with described homeward emitter.
6. the robot according to any one of claim 1-5, is characterized in that, described robot body is also provided with load machine, and described load machine comprises: one or more in air purifier, air humidifier, oxygen generator and sterilizing unit.
7. robot according to claim 6, is characterized in that, the relatively described robot body of described load machine is separable.
8. robot according to claim 6, is characterized in that, described load machine is electrically connected with described robot body.
9. robot according to claim 6, is characterized in that, described robot body is provided with the location structure for positioning with described load machine.
10. the robot according to any one of claim 1-5, is characterized in that, described robot body is also provided with and shelves groove for what shelve object.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201520309444.3U CN204631616U (en) | 2015-05-13 | 2015-05-13 | Robot |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201520309444.3U CN204631616U (en) | 2015-05-13 | 2015-05-13 | Robot |
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| CN204631616U true CN204631616U (en) | 2015-09-09 |
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| CN201520309444.3U Active CN204631616U (en) | 2015-05-13 | 2015-05-13 | Robot |
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Cited By (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105717922A (en) * | 2015-05-13 | 2016-06-29 | 美的集团股份有限公司 | Robot |
| WO2017198209A1 (en) * | 2016-05-19 | 2017-11-23 | 科沃斯机器人股份有限公司 | Combined robot and cruising path generation method therefor |
| CN108877046A (en) * | 2018-08-31 | 2018-11-23 | 成都越凡创新科技有限公司 | vending machine automatic charging system |
| CN108898734A (en) * | 2018-08-31 | 2018-11-27 | 成都越凡创新科技有限公司 | Vending machine recharges system automatically |
| CN109326049A (en) * | 2018-08-31 | 2019-02-12 | 成都越凡创新科技有限公司 | Vending machine automatic recharging method |
| CN109326050A (en) * | 2018-08-31 | 2019-02-12 | 成都越凡创新科技有限公司 | The automatic recharging method of vending machine |
| CN109891348A (en) * | 2016-11-09 | 2019-06-14 | 东芝生活电器株式会社 | Autonomous body |
| CN112674655A (en) * | 2021-01-14 | 2021-04-20 | 深圳市云鼠科技开发有限公司 | Wall-following-based refilling method and device, computer equipment and storage |
-
2015
- 2015-05-13 CN CN201520309444.3U patent/CN204631616U/en active Active
Cited By (11)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105717922A (en) * | 2015-05-13 | 2016-06-29 | 美的集团股份有限公司 | Robot |
| WO2017198209A1 (en) * | 2016-05-19 | 2017-11-23 | 科沃斯机器人股份有限公司 | Combined robot and cruising path generation method therefor |
| CN107402567A (en) * | 2016-05-19 | 2017-11-28 | 科沃斯机器人股份有限公司 | Assembly robot and its cruise path generating method |
| US11014236B2 (en) | 2016-05-19 | 2021-05-25 | Ecovacs Robotics Co., Ltd. | Combined robot and cruise path generating method thereof |
| CN109891348A (en) * | 2016-11-09 | 2019-06-14 | 东芝生活电器株式会社 | Autonomous body |
| CN109891348B (en) * | 2016-11-09 | 2022-04-29 | 东芝生活电器株式会社 | Autonomous walking body |
| CN108877046A (en) * | 2018-08-31 | 2018-11-23 | 成都越凡创新科技有限公司 | vending machine automatic charging system |
| CN108898734A (en) * | 2018-08-31 | 2018-11-27 | 成都越凡创新科技有限公司 | Vending machine recharges system automatically |
| CN109326049A (en) * | 2018-08-31 | 2019-02-12 | 成都越凡创新科技有限公司 | Vending machine automatic recharging method |
| CN109326050A (en) * | 2018-08-31 | 2019-02-12 | 成都越凡创新科技有限公司 | The automatic recharging method of vending machine |
| CN112674655A (en) * | 2021-01-14 | 2021-04-20 | 深圳市云鼠科技开发有限公司 | Wall-following-based refilling method and device, computer equipment and storage |
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