CN205787898U - Robot - Google Patents
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- CN205787898U CN205787898U CN201620694750.8U CN201620694750U CN205787898U CN 205787898 U CN205787898 U CN 205787898U CN 201620694750 U CN201620694750 U CN 201620694750U CN 205787898 U CN205787898 U CN 205787898U
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- robot
- pressing structure
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- wall
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Abstract
This utility model embodiment provides a kind of robot, including: controller, the chassis of distance ground preset height and fault avoidnig device；Fault avoidnig device includes: can pressing structure with can the on-off circuit that is correspondingly arranged of pressing structure, on-off circuit includes switch；The outfan of on-off circuit is connected with controller, and controller and on-off circuit are arranged in the inner volume of robot；Can pressing structure when not being pressed on-off circuit be off；Can pressing structure when being pressed on-off circuit in the conduction state, on-off circuit exports default control signal to controller；Be arranged at intervals with multiple groove on the outer wall on chassis, each groove for accommodate one can pressing structure, the side surface of pressing structure can protrude from the side surface of outer wall on chassis.By arranging above-mentioned fault avoidnig device on the chassis of robot, the barrier that distance ground is relatively low can be detected easily and accurately.
Description
Technical field
This utility model embodiment relates to technologies of intelligent mobile field, particularly relates to a kind of robot.
Background technology
Intelligent mobile robot is that a class can pass through sensor senses environment and oneself state, it is achieved having barrier
Object-oriented independent navigation motion in environment, thus complete the robot system of preplanned mission.Therefore, obstacle avoidance system is intelligence
The key element that mobile robot is indispensable.
In actual application, the barrier affecting robot ambulation track is varied, such as wall, tables and chairs, step etc.,
The height of these barriers is different for the height of robot.A kind of robot in actual applications, in order to
Avoid the comparison short barrier obstruction to robot ambulation, can arrange under the chassis of robot and have larger-diameter wheel
Son, so, when robot runs into shorter barrier in the process of walking, can control robot and cross this barrier.
Above-mentioned employing arranges larger-diameter wheel and may not interfere with, to cross, the shorter obstacle that robot normally walks
During thing, the chassis of robot can be elevated, and the walking stability that can cause robot is poor, because keeping for wheel in chassis
Space can increase, and can affect counterweight and the intensity on chassis.Therefore, the accurate detection to shorter barrier how is realized, to avoid
Walking to robot adversely affects safely, is problem demanding prompt solution in actual application.
Utility model content
This utility model embodiment provides a kind of robot, in order to realize simple and convenient and to detect short obstacle exactly
Thing.
This utility model embodiment provides a kind of robot, including: controller, chassis and fault avoidnig device；Described chassis away from
Overhead preset height；
Described fault avoidnig device includes: can pressing structure, and with described can the on-off circuit that is correspondingly arranged of pressing structure, institute
State on-off circuit and include switch；
The outfan of described on-off circuit is connected with described controller；
Described can pressing structure when not being pressed, described on-off circuit is off；
Described can pressing structure when being pressed, described on-off circuit is in the conduction state, and described on-off circuit is to described control
Device processed output default control signal；
Being arranged at intervals with multiple groove on the outer wall on described chassis, each described groove can press described in accommodating one
Structure, described the side surface of pressing structure can protrude from the side surface of outer wall on described chassis；
Described controller and described on-off circuit are arranged in the inner volume of described robot.
Optionally, described press section and the elastomer being connected with described press section can be included by pressing structure；
When described press section is pressed, described elastomer compresses, and switchs described in the pressing of described press section；
When described press section is not pressed, described elastomer is upspring, and described press section separates with described switch.
Optionally, the outer wall on described chassis includes front side outer wall and rear side outer wall, the groove that described front side outer wall is arranged
Quantity is more than the number of recesses arranged on described rear side outer wall.
Optionally, described robot also includes: the moving component being connected with described controller；
Described controller according to the described default control signal received, determine be pressed can pressing structure, and according to
Described be pressed can pressing structure position on the outer wall on described chassis, by control described moving component with to described machine
Device people carries out travelling control.
Optionally, described robot also includes: at least one the avoidance sensor being connected with described controller；
At least one avoidance sensor described is separately positioned on head or the body position of described robot.
Optionally, described controller is according at least one avoidance sensor testing result to barrier described, by control
The moving component that system is connected with described controller is to carry out travelling control to described robot.
The robot that this utility model embodiment provides, arranges multiple fault avoidnig device, this avoidance at the chassis of robot
Device includes: can pressing structure, and with can pressing structure be correspondingly arranged include switch on-off circuit.Outer wall on chassis
On be arranged at intervals with multiple groove, each groove for accommodate one can pressing structure, and can the side surface of pressing structure convex
For the side surface of the outer wall on described chassis, when running into barrier, barrier protrudes from outer wall side surface, chassis by pressure
Can pressing structure so that the switch in on-off circuit is turned on by pressing, on-off circuit, exports default control signal to controller,
To inform that controller detects barrier.By arranging above-mentioned fault avoidnig device on the chassis of robot, can facilitate, accurately
The relatively low barrier in distance ground detected.
Accompanying drawing explanation
In order to be illustrated more clearly that this utility model embodiment or technical scheme of the prior art, below will be to embodiment
Or the required accompanying drawing used is briefly described in description of the prior art, it should be apparent that, the accompanying drawing in describing below is
Embodiments more of the present utility model, for those of ordinary skill in the art, on the premise of not paying creative work,
Other accompanying drawing can also be obtained according to these accompanying drawings.
Fig. 1 is the structural representation of this utility model robotic embodiment one；
Fig. 2 is the structural representation of fault avoidnig device in embodiment illustrated in fig. 1；
Fig. 3 is the structural representation of this utility model robotic embodiment two.
Detailed description of the invention
For making the purpose of this utility model embodiment, technical scheme and advantage clearer, new below in conjunction with this practicality
Accompanying drawing in type embodiment, is clearly and completely described the technical scheme in this utility model embodiment, it is clear that retouched
The embodiment stated is a part of embodiment of this utility model rather than whole embodiments.Based on the enforcement in this utility model
Example, the every other embodiment that those of ordinary skill in the art are obtained under not making creative work premise, broadly fall into
The scope of this utility model protection.
The term used in this utility model embodiment is only merely for describing the purpose of specific embodiment, and is not intended to
Limit this utility model." a kind of " of singulative used in this utility model embodiment and appended claims,
" described " and " being somebody's turn to do " is also intended to include most form, unless context clearly shows that other implications.
Should be appreciated that term "and/or" used herein is only a kind of incidence relation describing affiliated partner, represent
Three kinds of relations, such as, A and/or B can be there are, can represent: individualism A, there is A and B, individualism B these three simultaneously
Situation.It addition, character "/" herein, typically represent forward-backward correlation to as if the relation of a kind of "or".
Although should be appreciated that and term first, second, third, etc. may being used in this utility model embodiment to describe
XXX, but these XXX should not necessarily be limited by these terms.These terms are only used for XXX is distinguished from each other out.Such as, without departing from this reality
In the case of new embodiment scope, an XXX can also be referred to as the 2nd XXX, and similarly, the 2nd XXX can also be claimed
It is an XXX.
Depend on linguistic context, word as used in this " if ", " if " can be construed to " ... time " or
" when ... " or " in response to determining " or " in response to detection ".Similarly, depend on linguistic context, phrase " if it is determined that " or " as
Fruit detection (condition of statement or event) " " when determining " or " in response to determining " can be construed to or " when detection (statement
Condition or event) time " or " in response to detection (condition of statement or event) ".
Also, it should be noted term " includes ", " comprising " or its any other variant are intended to nonexcludability
Comprise, so that include that the commodity of a series of key element or system not only include those key elements, but also include the most clearly
Other key elements listed, or also include the key element intrinsic for this commodity or system.In the feelings not having more restriction
Under condition, statement " including ... " key element limited, it is not excluded that in the commodity including described key element or system also
There is other identical element.
Fig. 1 is the structural representation of this utility model robotic embodiment one, as it is shown in figure 1, this robot includes: control
Device 1, chassis 2 and fault avoidnig device 3.
In actual application, this robot can be anthropomorphic robot.
As in figure 2 it is shown, this fault avoidnig device 3 includes: can pressing structure 31, and with can opening of being correspondingly arranged of pressing structure 31
Closing circuit 32, on-off circuit 32 includes switching K.Wherein, the outfan of on-off circuit 32 is connected with controller 1.
It is understood that in on-off circuit 32 in addition to including switching K, it is also possible to include other relevant circuit groups
Part, such as power supply, resistance etc., for when switching K Guan Bi, it is possible to export the control of certain voltage value or current value to controller 1
Signal processed.
Chassis 2 is apart from ground preset height, and this preset height can set according to the actual requirements, in general, according to
The obstacle height affecting robot ambulation stability sets this preset height, and enabling to detect affects robot ambulation
Relatively low obstacle, do not detect for not affecting the lower barrier of robot ambulation.
Be arranged at intervals with multiple groove on the outer wall on chassis 2, each groove for accommodate one can pressing structure 31, can press
The side surface of laminated structure 31 protrudes from the side surface of the outer wall on chassis 2, with ensure when running into barrier, barrier can with can
Pressing structure 31 contact and press this can pressing structure 31, can the major part of pressing structure 31 be all located in groove meanwhile, will not
Evagination is obvious, it is ensured that robot has good appearance.
Why on the outer wall on chassis 2 interval arrange multiple groove with correspondence accommodate multiple can pressing structure, be in order to
The barrier at robot different directions can be detected.
In actual design, controller 1 and on-off circuit 32 are arranged in the inner volume of robot, and this inner volume is permissible
The cavity volume being in chassis, it is also possible to be in the inner volume at robot body position, the most specifically limit.
In actual applications, can not be pressed by pressing structure 31, time the most in the raw, on-off circuit 32 is in disconnection
State；When being pressed by pressing structure 31, when i.e. being pressed by barrier, on-off circuit 32 is in the conduction state, now, and switch electricity
Road 32 exports default control signal to controller 1, to inform that controller 1 detects barrier.
It is, moreover, an optional that above-mentioned fault avoidnig device 3 is in addition to can being arranged at the chassis of robot, it is also possible to be arranged on
The body position of robot, i.e. the body position in robot arrange one or more above-mentioned fault avoidnig device 3.
In the present embodiment, based on the setting on robot chassis 2 of the above-mentioned fault avoidnig device 3, distance ground one can be detected
Determine the barrier of lower height, and then carry out robot ambulation control, such as come to a halt, turn to.Thus, the end of robot
Dish distance ground height can be the highest, therefore, counterweight and intensity for chassis without proposing higher design requirement,
And now, robot can use the wheel of relative small diameter, the walking stability ratio for robot is advantageous.
Can use present in prior art that any one can be pressed by pressing structure 31 it is understood that above-mentioned
Under, and the structure can upspring when cancelling pressing.
As in figure 2 it is shown, the present embodiment provides a kind of optional implementation: press section can be included by pressing structure 31
311 and the elastomer 312 that is connected with press section 311.
In actual application, when robot runs into barrier, press section 311 can be pressed by barrier, when press section 311 is pressed
Time lower, elastomer 312 is compressed so that press section 311 pressed switch K, after switch K Guan Bi so that on-off circuit 32 turns on,
Certain control signal is exported to controller 1.Contrary, if robot does not run into barrier, or press section 311 is pressed
After Xia, after robot having been carried out certain travelling control due to controller 1 based on the control signal received, robot is no longer
Touching this barrier, now, elastomer 312 is upspring, and with in the raw, thus press section 311 separates with switch K, opens
Close circuit 32 to disconnect.
It is, moreover, an optional that the outer wall on chassis 2 includes front side outer wall and rear side outer wall, i.e. enclosed by front side outer wall and rear side outer wall
Around to form the outer wall on chassis 2.At this point it is possible to arrange the number of recesses arranged on the outer wall of front side more than setting on rear side outer wall
Number of recesses, i.e. fault avoidnig device 3 are not uniformly arranged on sidewall on robot chassis for one week.This is because, in general, machine
Device people walk the most forward, and the barrier affecting its walking is normally on the route of advance, and its route advanced is usually
Straight forward, turn to the left or to the right, therefore, it can interval on the front side outer wall on its chassis 2 and multiple groove is set, to hold respectively
Receiving can pressing structure 31.Certainly, in order to when robot walks backward under special circumstances, it is possible to detect and be positioned at robot after one's death
Relatively low obstacle, at least one groove can be set on the rear side outer wall on its chassis 2, with accommodate can pressing structure 31, because of
Comparing the most common for this situation about walking backward, in general, walking may mostly be the craspedodrome that falls back backward, therefore can be at rear side
Small number of groove is set on outer wall.
It is understood that robot to realize walking, can include in robot: moving component 4, this moving component 4
It is connected with controller 1.It practice, this moving component 4 can be the wheel including being arranged under chassis, and it is arranged on robot
Other motion control structures in inner volume, the form that implements of this moving component 4 is not the emphasis that the present embodiment is protected,
Do not repeat.
Being primarily intended to explanation in the present embodiment when being provided with multiple fault avoidnig device 3 at robot chassis, controller 1 how
Realize the walking of robot is controlled, specific as follows:
Controller 1 according to the default control signal received, determine be pressed can pressing structure 31, and according to being pressed
Can the pressing structure 31 position on the outer wall on chassis 2, by control moving component 4 so that robot is carried out travelling control.
In actual application, controller 1 can be previously stored with on-off circuit 32 with can pressing structure 31 at chassis outer wall
On position between corresponding relation, when controller 1 receive by certain on-off circuit 32 send come control signal after, base
In above-mentioned corresponding relation, it may be determined that this on-off circuit corresponding can the pressing structure 31 position on the outer wall of chassis, thus control
Device 1 processed can control robot and changes one's profession or stop walking.
The robot that the present embodiment provides, arranges multiple fault avoidnig device at the chassis of robot, and this fault avoidnig device includes:
Can pressing structure, and with can pressing structure be correspondingly arranged include switch on-off circuit.The outer wall on chassis is spaced and sets
Be equipped with multiple groove, each groove for accommodate one can pressing structure, and can the side surface of pressing structure protrude from described
The side surface of the outer wall on chassis, when running into barrier, barrier protrudes from the pressed knot on outer wall side surface, chassis by pressure
Structure so that the switch in on-off circuit is turned on by pressing, on-off circuit, exports default control signal to controller, to inform control
Device processed detects barrier.By arranging above-mentioned fault avoidnig device on the chassis of robot, can detect easily and accurately
The barrier that distance ground is relatively low.
Fig. 3 is the structural representation of this utility model robotic embodiment two, as it is shown on figure 3, at embodiment illustrated in fig. 1 base
On plinth, this robot also includes:
At least one the avoidance sensor 5 being connected with controller 1, wherein, this at least one avoidance sensor 5 is respectively provided with
Head or body position in robot.
Avoidance sensor 5 is such as laser radar sensor, ultrasonic sensor etc., can be detected by these sensors
Higher barrier, such as wall etc..
And then, controller 1 is according at least one the avoidance sensor 5 testing result to barrier, by controlling and controlling
The moving component 4 that device connects is to carry out travelling control to robot.Wherein, the Cleaning Principle of avoidance sensor 5, and to machine
People carries out travelling control, refers to prior art and realizes.
In the present embodiment, avoidance sensor is set at the head of robot, body position to detect higher barrier,
Arrange at the chassis of robot include above-mentioned can the fault avoidnig device 3 of pressing structure 31, to detect relatively low barrier.
Why being arranged such, main cause includes: in general, detects barrier by avoidance sensor, is a kind of
Detection in advance before collision, i.e. before robot also will not hit on barrier, carries out detection early warning in advance, in order to carry
Before robot is carried out travelling control.And this non-detection in advance touched needs to relate to the process of certain detection algorithm.
Although arranging this avoidance sensor at the chassis of robot can also realize the accurate detection to relatively low obstacle, but can need
Perform above-mentioned detection algorithm, for mechanical detection mode this compared to fault avoidnig device 3, take and more process money
Source.And, if not carrying out the differentiation of obstacle height, all using avoidance sensor to detect in advance, machine will be caused
The domain of walk of device people is limited, possibly cannot run to its should service to position.
In the present embodiment, the various location in robot uses different avoidance detection modes, i.e. on robot chassis
Place uses and comprises and the fault avoidnig device 3 of pressing structure can carry out touch type detection, uses avoidance sensor in its body, head region
Carry out non-contact detection, while guaranteeing accurately to detect the barrier affecting robot ambulation, striking machine as far as possible
Effective domain of walk of device people, improves the service efficiency of robot.
Through the above description of the embodiments, those skilled in the art it can be understood that to each embodiment can
The mode adding required general hardware platform by software realizes, naturally it is also possible to pass through hardware.Based on such understanding, on
State the part that prior art contributes by technical scheme the most in other words to embody with the form of software product, should
Computer software product can store in a computer-readable storage medium, such as ROM/RAM, magnetic disc, CD etc., including some fingers
Make with so that a computer installation (can be personal computer, server, or network equipment etc.) performs each and implements
The method described in some part of example or embodiment.
Last it is noted that above example is only in order to illustrate the technical solution of the utility model, it is not intended to limit；
Although this utility model being described in detail with reference to previous embodiment, it will be understood by those within the art that:
Technical scheme described in foregoing embodiments still can be modified by it, or carries out wherein portion of techniques feature
With replacing；And these amendments or replacement, do not make the essence of appropriate technical solution depart from this utility model each embodiment technology
The spirit and scope of scheme.
Claims (6)
1. a robot, it is characterised in that including: controller, chassis and fault avoidnig device；Height is preset on distance ground, described chassis
Degree；
Described fault avoidnig device includes: can pressing structure, and with described can the on-off circuit that is correspondingly arranged of pressing structure, described in open
Close circuit and include switch；
The outfan of described on-off circuit is connected with described controller；
Described can pressing structure when not being pressed, described on-off circuit is off；
Described can pressing structure when being pressed, described on-off circuit is in the conduction state, and described on-off circuit is to described controller
Output default control signal；
Being arranged at intervals with multiple groove on the outer wall on described chassis, each described groove can press knot described in accommodating one
Structure, described the side surface of pressing structure can protrude from the side surface of outer wall on described chassis；
Described controller and described on-off circuit are arranged in the inner volume of described robot.
Robot the most according to claim 1, it is characterised in that described can include press section and with described by pressing structure
The elastomer that press section connects；
When described press section is pressed, described elastomer compresses, and switchs described in the pressing of described press section；
When described press section is not pressed, described elastomer is upspring, and described press section separates with described switch.
Robot the most according to claim 1, it is characterised in that the outer wall on described chassis includes outside front side outer wall and rear side
Wall, the number of recesses that described front side outer wall is arranged is more than the number of recesses arranged on described rear side outer wall.
Robot the most according to any one of claim 1 to 3, it is characterised in that also include:
The moving component being connected with described controller；
Described controller according to the described default control signal received, determine be pressed can pressing structure, and according to described
Be pressed can pressing structure position on the outer wall on described chassis, by control described moving component with to described robot
Carry out travelling control.
Robot the most according to any one of claim 1 to 3, it is characterised in that also include:
At least one the avoidance sensor being connected with described controller；
At least one avoidance sensor described is separately positioned on head or the body position of described robot.
Robot the most according to claim 5, it is characterised in that described controller senses according at least one avoidance described
The device testing result to barrier, by controlling the moving component that is connected with described controller to walk described robot
Control.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201620694750.8U CN205787898U (en) | 2016-07-04 | 2016-07-04 | Robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201620694750.8U CN205787898U (en) | 2016-07-04 | 2016-07-04 | Robot |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN205787898U true CN205787898U (en) | 2016-12-07 |
Family
ID=58126681
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201620694750.8U Active CN205787898U (en) | 2016-07-04 | 2016-07-04 | Robot |
Country Status (1)
| Country | Link |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105912001A (en) * | 2016-07-04 | 2016-08-31 | 上海木爷机器人技术有限公司 | Robot |
-
2016
- 2016-07-04 CN CN201620694750.8U patent/CN205787898U/en active Active
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105912001A (en) * | 2016-07-04 | 2016-08-31 | 上海木爷机器人技术有限公司 | Robot |
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Legal Events
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| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant | ||
| CP01 | Change in the name or title of a patent holder | ||
| CP01 | Change in the name or title of a patent holder |
Address after: 200336 room 5F-478, No. 1955 Hami Road, Changning District, Shanghai Patentee after: SHANGHAI MROBOT TECHNOLOGY Co.,Ltd. Address before: 200336 room 5F-478, No. 1955 Hami Road, Changning District, Shanghai Patentee before: SHANGHAI MUYE ROBOT TECHNOLOGY Co.,Ltd. |
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| CP01 | Change in the name or title of a patent holder | ||
| CP01 | Change in the name or title of a patent holder |
Address after: 200336 room 5F-478, No. 1955 Hami Road, Changning District, Shanghai Patentee after: Shanghai Zhihui Medical Technology Co.,Ltd. Address before: 200336 room 5F-478, No. 1955 Hami Road, Changning District, Shanghai Patentee before: SHANGHAI MROBOT TECHNOLOGY Co.,Ltd. Address after: 200336 room 5F-478, No. 1955 Hami Road, Changning District, Shanghai Patentee after: Shanghai zhihuilin Medical Technology Co.,Ltd. Address before: 200336 room 5F-478, No. 1955 Hami Road, Changning District, Shanghai Patentee before: Shanghai Zhihui Medical Technology Co.,Ltd. |
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| CP03 | Change of name, title or address | ||
| CP03 | Change of name, title or address |
Address after: 202150 room 205, zone W, second floor, building 3, No. 8, Xiushan Road, Chengqiao Town, Chongming District, Shanghai (Shanghai Chongming Industrial Park) Patentee after: Shanghai Noah Wood Robot Technology Co.,Ltd. Address before: 200336 room 5F-478, No. 1955 Hami Road, Changning District, Shanghai Patentee before: Shanghai zhihuilin Medical Technology Co.,Ltd. |