CN208294117U - High altitude operation robot - Google Patents
High altitude operation robot Download PDFInfo
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- CN208294117U CN208294117U CN201820696473.3U CN201820696473U CN208294117U CN 208294117 U CN208294117 U CN 208294117U CN 201820696473 U CN201820696473 U CN 201820696473U CN 208294117 U CN208294117 U CN 208294117U
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- high altitude
- altitude operation
- distance measurement
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Abstract
This application discloses a kind of high altitude operation robot, the high altitude operation robot includes robot body, the control unit that obstacle detouring unit is provided on the robot body and is connect with the obstacle detouring element circuit；The robot body is additionally provided with the ultrasonic distance measurement unit being electrically connected with the control unit and laser ranging unit.The barrier structure of the high-rise building exterior wall surface of automatic, high precision identification in real time is capable of in this high altitude operation robot of the application, to ensure robot across various barriers, work blind area when being not in operation, while when it detects barrier, will not influence the office worker in building.
Description
Technical field
This application involves a kind of high altitude operation robots.
Background technique
In the field of operating condition danger, robot substitution is manually an irreversible trend, especially in high altitude operation
Field, the high altitude operation scenes such as the installation of high buildings and large mansions exterior wall, cleaning, finishing maintenance, by it is more and more using robot come into
Row operation, the spider-man with robot substitution high altitude operation is irreversible trend.When high altitude operation robot is built in high building
When building exterior wall motion work, it has to be possible to real-time detection external wall plane, and the structure of intelligent recognition wall face, such ability
The completion high altitude operation of steady ordered works, and especially in high building exterior wall cleaning, robot needs to contact and is close to metope
Washing and cleaning operation is carried out, the automatic detection of robot is particularly important with identification.
Existing part aerial lift device does not have external wall Plane Detecting Technique, only judges and adjusts by worker.
Some high altitude operation robots are detected by ultrasonic sensor, and also some high altitude operation robots then lead to
Laser sensor is crossed to be detected.
There is no the aerial lift device of external wall Plane Detecting Technique, the disadvantage is that: during high altitude operation, encounter
When the various scenes of metope, equipment can not be judged automatically and be adjusted, it is necessary to and artificial judgment metope situation is simultaneously adjusted manually,
It is very inconvenient and very uncontrollable and unreliable, occur judging by accident or the probability of mistake is very big, so as to cause high-altitude work
Industry device efficiency is low, using complexity, high, applicable scene is few, and safety is low.
Using the high altitude operation robot of ultrasonic sensor, the disadvantage is that the ultrasonic wave angle of divergence is big, measurement accuracy is not high,
There are large error values, will lead to high altitude operation robot and occur larger blind area in washing and cleaning operation, obstacle detouring failure, do not wash clean
The problems such as.
Using the high altitude operation robot of laser sensor, the disadvantage is that high altitude operation robot is real to the detection of metope
Shi Jinhang's, laser sensor needs, which are continued for opening, could complete real-time detection, but understand since laser intensity is too big
It penetrating the glass curtain wall of high building and is irradiated to the office worker in building, personnel work normally in strong influence building, this
Scheme practicability is poor.
Summary of the invention
The purpose of the application, is: in view of the above-mentioned problems, the application proposes a kind of high altitude operation robot, it can be automatic in real time
High-precision identifies the barrier structure of high-rise building exterior wall surface, is not in make to ensure robot across various barriers
Work blind area when industry, while when it detects barrier, will not influence the office worker in building.
The technical solution of the application is:
A kind of high altitude operation robot, including robot body are provided on the robot body
Obstacle detouring unit, and
The control unit being connect with the obstacle detouring element circuit；
The robot body is additionally provided with the ultrasonic distance measurement unit being electrically connected with the control unit and Laser Measuring
Away from unit.
This high altitude operation robot of the application further includes following preferred embodiment based on the above technical solution:
The robot body fears barrier component towards being provided at glass.
It is described to fear the operation unit and/or walking unit that barrier component includes the high altitude operation robot.
It is described to fear barrier component and include:
Hairbrush, or/and
Scraping article, or/and
Handhold, or/and
Sucker, or/and
Hairbrush baffle, or/and
Nozzle, or/and
The shell of robot body, or/and
Electric pushrod, or/and
Position-limited wheel.
On the direction of travel of the high altitude operation robot, the ultrasonic distance measurement unit and laser ranging unit arrangement
In the front for fearing barrier component.
On the direction of travel of the high altitude operation robot, the ultrasonic distance measurement unit is arranged in the laser ranging
The front of unit.
The ultrasonic distance measurement unit and the laser ranging unit are respectively arranged at least two, described in one of them
Ultrasonic distance measurement unit and one of them described laser ranging unit are arranged in the front side for fearing barrier component, another described wave
Distance measuring unit and another described laser ranging unit are arranged in the rear side for fearing barrier component.
The ultrasonic distance measurement unit and the laser ranging unit are respectively arranged with two.
The ultrasonic distance measurement unit and the laser ranging unit are respectively arranged with four, the third ultrasonic wave
Distance measuring unit and the third laser ranging unit are arranged in the left side for fearing barrier component, the 4th ultrasonic distance measurement
Unit and the 4th laser ranging unit are arranged in the right side for fearing barrier component.
The application has the advantages that
1, ultrasonic distance measurement unit both ensure that and continue to building exterior wall surface detection in conjunction with laser ranging unit
Property, in turn ensure that the precision to building exterior wall surface detection, precision of laser ranging can accomplish a millimeter rank, so guarantee machine
People can do corresponding actions across various barriers, when so that high altitude operation robot being not in operation according to detection data
Work blind area.
2, it is first detected by ultrasonic distance measurement unit, just enables laser ranging when detecting barrier structure, in this way may be used
It avoids laser ranging from persistently opening and influences the office worker in building, scheme practicability is very high.
3, it is capable of the structure on the real-time detection exterior walls of buildings surface of stability and high efficiency using this scheme, significant increase high-altitude is made
Industry machine task efficiency and operating accuracy realize full-automatic, the intelligent no dead angle operation of high altitude operation robot.
Detailed description of the invention
The application is described further in the following with reference to the drawings and specific embodiments:
Fig. 1 is the structural schematic diagram of the embodiment of the present application high and medium Work robot.
Wherein: 1- robot body, 2- fear barrier component, 3- control unit, 4- ultrasonic distance measurement unit, 5- laser ranging list
Member.
Specific embodiment
Fig. 1 shows a specific embodiment of this high altitude operation robot of the application, which is
The high-altitude cleaning Work robot of washing and cleaning operation is carried out to high-altitude curtain wall, it is also possible to high-altitude spray robot or high-altitude certainly
Detect robot etc..Identical with traditional high altitude operation robot to be, which also includes robot body 1,
It is provided with the obstacle detouring unit for making robot leaping over obstacles on the robot body 1 and is connect with obstacle detouring element circuit
Control unit 3.Control unit is for controlling the movement of obstacle detouring unit, to allow the robot to smoothly clear the jumps.Obviously, originally
Operation unit and walking unit are also configured on robot body 1.Wherein, operation unit directly acts on flooring and makees to flooring
Washing and cleaning operation generally includes the components such as round brush, hydraulic spray nozzle；And walking unit is used for band mobile robot and walks on flooring,
It generally includes the components such as idler wheel, sucker.
The key improvements of the present embodiment, above-mentioned robot body 1 are additionally provided with super with above-mentioned 3 circuit connection of control unit
Sound ranging unit 4 and laser ranging unit 5.Ultrasonic distance measurement unit 4 and laser are configured with i.e. on the robot body 1 simultaneously
Distance measuring unit 5, rather than only configure one of ultrasonic distance measurement unit 4 or laser ranging unit 5.
Configuring ultrasonic distance measurement unit 4 and laser ranging unit 5 simultaneously is advantageous in that: can either guarantee that robot is automatic
Leaping over obstacles, and can avoid it and emit laser in the operation time time and influence staff in building.Specific control method is as follows:
Ultrasonic distance measurement unit 4 is in the open state under original state, and laser ranging unit 5 is in close state, at this
High altitude operation robot on work surface (usually flooring) during walking and carry out operation, if ultrasonic distance measurement unit 4
Detect that there are barrier (such as glass frame, moulding, lamp decoration, billboard, display screen and windowsill), ultrasonic distance measurement in front
The obstacle signal is transferred to control unit 2 by unit 4, control unit 2 control laser ranging unit 5 open and to work surface knot
Structure is made high-precision and is detected, and then accurately obtains the dimension information in forward operation face；Control unit 2 is believed according to the size of above-mentioned acquisition
Breath control obstacle detouring unit does obstacle detouring movement, to make high altitude operation robot across obstacle；When high altitude operation robot across
After barrier, control unit 2 controls laser ranging unit 5 and restores to initial closed state, no longer transmitting laser, avoids to week
Enclose the interference of personnel.
It is known that in most instances, robot why can not across obstacle, be not because robot towards
The spacing of building (glass curtain wall) is not high enough, but because it configured with some at building towards being difficult to clear the jumps
Component, for the convenience of description, this class component is known as fearing barrier component 2 by we.If robot moves towards barrier with conventional posture,
These, which fear barrier component 2, to touch interference with barrier wiping, and can not walk.It is aforementioned to fear barrier component 2 and generally include high altitude operation machine
The operation unit and walking unit of people, it is specific as hairbrush, scraping article, handhold, sucker, hairbrush baffle, nozzle, robot body it is outer
The components such as shell, electric pushrod, position-limited wheel.
When walking in view of robot, it only need to not need to consider its non-walking across the barrier in front of it
The barrier of direction side, and to detect the barrier situation in front of it well, then must assure that ultrasonic distance measurement unit 4
The laser that the ultrasonic wave and laser ranging unit 5 of sending issue can smoothly forward projects go out.So the present embodiment will be ultrasonic
Wave distance measuring unit 4 and laser ranging unit 5 are arranged in above-mentioned before fearing barrier component 2 on the direction of travel of high altitude operation robot
Side shelters from ultrasonic wave or laser to prevent from fearing barrier component 2, influences ultrasonic distance measurement unit 4 and laser ranging unit 5 to obstacle
The detection of object.
Further, on the direction of travel of high altitude operation robot, ultrasonic distance measurement unit 4 is arranged in laser ranging list
Member 5 front, or both flush arrangement.
It refers again to shown in Fig. 1, it is contemplated that most of high altitude operation robot can move ahead again instead in practical application
Direction retreats, so the present embodiment is provided with two ultrasonic distance measurement units 4 and two laser ranging units 5 altogether, wherein one
A ultrasonic distance measurement unit 4 and one of laser ranging unit 5 are arranged in the front side for fearing barrier component 2, another ultrasound
The rear side for fearing barrier component 2 is then arranged in away from unit 4 and another laser ranging unit 5.When robot walks forward, barrier group is feared
The ultrasonic distance measurement unit 4 and laser ranging unit 5 of 2 front side of part detect barrier；When robot, which retreats, walks, barrier component is feared
The ultrasonic distance measurement unit 4 and laser ranging unit 5 of 2 rear sides detect barrier.
Certainly, some high altitude operation robots can not only front and back, retreat, additionally it is possible to lateral walking to the left or to the right, this
When, a ultrasonic distance measurement unit 4 and a Laser Measuring can also be respectively set again in the left and right sides for fearing barrier component 2 in we
Away from unit 5, four ultrasonic distance measurement units 4 and four laser ranging units 5 are configured altogether.
" front, rear, left and right " described in the application are parallel to before paper is upwards using Fig. 1 as reference, be parallel to paper to
Under be after, be parallel to paper to the left and be left, it is right for being parallel to paper to the right.
Certainly, above-described embodiment is only the technical concepts and features for illustrating the application, and its object is to make people much of that
Solution present context is simultaneously implemented accordingly, and the protection scope of the application can not be limited with this.It is all according to the application major technique
The equivalent transformation or modification that the Spirit Essence of scheme is done should all be covered within the scope of protection of this application.
Claims (9)
1. a kind of high altitude operation robot, including robot body (1), it is provided on the robot body (1)
Obstacle detouring unit, and
The control unit (3) being connect with the obstacle detouring element circuit；
It is characterized in that, the robot body (1) is additionally provided with and the ultrasonic distance measurement of described control unit (3) circuit connection
Unit (4) and laser ranging unit (5).
2. high altitude operation robot as described in claim 1, which is characterized in that the robot body (1) towards building
It is provided at object and fears barrier component (2).
3. high altitude operation robot as claimed in claim 2, which is characterized in that described to fear barrier component (2) include the high-altitude
The operation unit and/or walking unit of Work robot.
4. high altitude operation robot as claimed in claim 3, which is characterized in that described to fear barrier component (2) and include:
Hairbrush, or/and
Scraping article, or/and
Handhold, or/and
Sucker, or/and
Hairbrush baffle, or/and
Nozzle, or/and
The shell of robot body, or/and
Electric pushrod, or/and
Position-limited wheel.
5. high altitude operation robot as claimed in claim 2, which is characterized in that in the walking side of the high altitude operation robot
Upwards, the ultrasonic distance measurement unit (4) and laser ranging unit (5) are arranged in the front for fearing barrier component (2).
6. high altitude operation robot as claimed in claim 5, which is characterized in that in the walking side of the high altitude operation robot
Upwards, the ultrasonic distance measurement unit (4) is arranged in the front of the laser ranging unit (5).
7. high altitude operation robot as claimed in claim 5, which is characterized in that the ultrasonic distance measurement unit (4) and described
Laser ranging unit (5) is respectively arranged at least two, one of them ultrasonic distance measurement unit (4) and one of institute
It states laser ranging unit (5) and is arranged in the front side for fearing barrier component (2), another described ultrasonic distance measurement unit (4) and separately
One laser ranging unit (5) is arranged in the rear side for fearing barrier component (2).
8. high altitude operation robot as claimed in claim 7, which is characterized in that the ultrasonic distance measurement unit (4) and described
Laser ranging unit (5) is respectively arranged with two.
9. high altitude operation robot as claimed in claim 7, which is characterized in that the ultrasonic distance measurement unit (4) and described
Laser ranging unit (5) is respectively arranged with four, the third ultrasonic distance measurement unit (4) and a Laser Measuring of third
The left side for fearing barrier component (2) is arranged in away from unit (5), described in the 4th ultrasonic distance measurement unit (4) and the 4th
Laser ranging unit (5) is arranged in the right side for fearing barrier component (2).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201820696473.3U CN208294117U (en) | 2018-05-10 | 2018-05-10 | High altitude operation robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201820696473.3U CN208294117U (en) | 2018-05-10 | 2018-05-10 | High altitude operation robot |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN208294117U true CN208294117U (en) | 2018-12-28 |
Family
ID=64704318
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201820696473.3U Expired - Fee Related CN208294117U (en) | 2018-05-10 | 2018-05-10 | High altitude operation robot |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN208294117U (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108612331A (en) * | 2018-05-10 | 2018-10-02 | 上海霄卓机器人有限公司 | Working at height robot and its control method |
-
2018
- 2018-05-10 CN CN201820696473.3U patent/CN208294117U/en not_active Expired - Fee Related
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108612331A (en) * | 2018-05-10 | 2018-10-02 | 上海霄卓机器人有限公司 | Working at height robot and its control method |
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| GR01 | Patent grant | ||
| GR01 | Patent grant | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20181228 Termination date: 20210510 |
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| CF01 | Termination of patent right due to non-payment of annual fee |