CN209543138U - Robot - Google Patents
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- CN209543138U CN209543138U CN201822158959.4U CN201822158959U CN209543138U CN 209543138 U CN209543138 U CN 209543138U CN 201822158959 U CN201822158959 U CN 201822158959U CN 209543138 U CN209543138 U CN 209543138U
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Abstract
The utility model discloses a kind of robots, it includes laser sensor module and magnetic navigation sensor module, and for being navigated by default using laser sensor module, when detecting road surfacing magnetic stripe, the first navigation module to be navigated using magnetic navigation sensor module, the first navigation module are separately connected laser sensor module and magnetic navigation sensor module.A kind of robot provided by the utility model embodiment, by the way that laser sensor module and magnetic navigation sensor module are arranged simultaneously, it is navigated by default using laser sensor module, when detecting road surfacing magnetic stripe, it is switched to and is navigated using magnetic navigation sensor module, suitable navigation mode progress adaptive navigation is automatically switched according to environmental change to realize, both robot had been improved during the navigation process to the adaptability of complex environment, whole construction caused by magnetic stripe and the Material Cost of being laid with is in turn avoided to be promoted, reduce environmental reconstruction cost.
Description
Technical field
The utility model relates to electronic technology fields, more particularly, to a kind of robot.
Background technique
As labor cost is higher and higher, robot replaces Security Personnel's completion night watching work gradually to popularize.Currently,
The relevant school of lot of domestic and international, scientific research institution and enterprise are all in the airmanship of research night watching robot.
Current airmanship mainly includes laser navigation, magnetic navigation and remote control navigation.Some robots are using sharp
Light guide technology, but laser navigation is difficult to adapt to complex environment, for example can not navigate under glass environment.Some robots use
Magnetic navigation technology, but magnetic navigation need it is whole be laid with magnetic stripe, the construction for being laid with magnetic stripe under many environment is relatively difficult, cost compared with
Height, and will affect the overall beautiful of environment.Some robots use remote control airmanship, but remote control navigation needs
It manually participates in the overall process, human cost is higher.
Therefore, robot how is improved during the navigation process to the adaptability of environment, and reduces environmental reconstruction cost,
The technical issues of being current urgent need to resolve.
Utility model content
The main purpose of the utility model embodiment is to provide a kind of robot, it is intended to improve robot in navigation procedure
In to the adaptability of environment, and reduce environmental reconstruction cost.
To achieve these objectives, the utility model embodiment proposes that a kind of robot, the robot include laser sensor
Module and magnetic navigation sensor module, and for being navigated by default using the laser sensor module, when
When detecting road surfacing magnetic stripe, the first navigation module to be navigated using the magnetic navigation sensor module, described
One navigation module is separately connected the laser sensor module and the magnetic navigation sensor module.
Optionally, the robot further includes remotely monitored sensor module, and for navigating when first navigation module
When failure, the second navigation module of remote control navigation, second navigation module are carried out using the remotely monitored sensor module
It is separately connected the remotely monitored sensor module and first navigation module.
Optionally, the robot further includes photographing module, and second navigation module is led in first navigation module
When boat failure, the photographing module is opened, the figure that the photographing module obtains is sent out by the remotely monitored sensor module
As information.
Optionally, the robot further includes for when first navigation module navigation fails and detects current road segment
When being suitble to magnetic navigation, prompt to be laid with the cue module of magnetic stripe, the cue module and first navigation module in current road segment
Connection.
Optionally, the robot further includes photographing module, and for utilizing the photographing module and the laser
Sensor module detects current environment, and determines according to detection result the detecting module of the navigation mode in each section, the detection mould
Block is separately connected the photographing module and the laser sensor module.
Optionally, the navigation mode includes at least two in laser navigation, magnetic navigation and remote control navigation.
Optionally, the artificial patrol machine device people of the machine.
A kind of robot provided by the utility model embodiment, by the way that laser sensor module and magnetic navigation are arranged simultaneously
Sensor module is navigated using laser sensor module by default, when detecting road surfacing magnetic stripe, is cut
It is changed to and is navigated using magnetic navigation sensor module, suitable navigation mode is automatically switched according to environmental change to realize
Adaptive navigation is carried out, robot had both been improved during the navigation process to the adaptability of complex environment, and had in turn avoided whole paving
If construction caused by magnetic stripe and Material Cost are promoted, environmental reconstruction cost is reduced.
Detailed description of the invention
Fig. 1 is the main view of one embodiment of robot of the utility model；
Fig. 2 is the schematic perspective view of the robot in Fig. 1；
Fig. 3 is the module diagram of the robot in Fig. 1.
The embodiments will be further described with reference to the accompanying drawings for the realization, functional characteristics and advantage of the utility model aim.
In attached drawing:
10- fuselage 20- laser sensor module
30- magnetic navigation sensor module the first navigation module of 40-
50- remotely monitored sensor module the second navigation module of 60-
70- photographing module 80- cue module
90- detecting module
Specific embodiment
It should be appreciated that specific embodiment described herein is only used to explain the utility model, it is not used to limit this
Utility model.The following will be combined with the drawings in the embodiments of the present invention, to the technical scheme in the embodiment of the utility model into
Row clearly and completely describes, it is clear that described embodiment is only a part of the embodiment of the utility model, rather than complete
The embodiment in portion.Based on the embodiments of the present invention, those of ordinary skill in the art are not before making creative work
Every other embodiment obtained is put, is fallen within the protection scope of the utility model.
It is to be appreciated that the directional instruction (such as up, down, left, right, before and after ...) of institute in the utility model embodiment
It is only used for explaining in relative positional relationship, the motion conditions etc. under a certain particular pose (as shown in the picture) between each component, such as
When the fruit particular pose changes, then directionality instruction also correspondingly changes correspondingly.
Those skilled in the art of the present technique are appreciated that unless expressly stated, singular " one " used herein, " one
It is a ", " described " and "the" may also comprise plural form.It is to be further understood that being used in the specification of the utility model
Wording " comprising " refer to that there are the feature, integer, step, operation, element and/or component, but it is not excluded that in the presence of or
Add other one or more features, integer, step, operation, element, component and/or their group.It should be understood that working as us
Element is claimed to be " connected " or when " coupled " to another element, it can be directly connected or coupled to other elements, or can also be with
There are intermediary elements.In addition, " connection " used herein or " coupling " may include being wirelessly connected or wirelessly coupling, object can be
Reason connection or electrical connection.Wording "and/or" used herein includes one or more associated wholes for listing item or appoints
Unit one and all combination.
Those skilled in the art of the present technique are appreciated that unless otherwise defined, all terms used herein (including technology art
Language and scientific term), there is meaning identical with the general understanding of those of ordinary skill in the utility model fields.Also
It should be understood that those terms such as defined in the general dictionary, it should be understood that have and the context of the prior art
In the consistent meaning of meaning otherwise will not use idealization or too formal and unless by specific definitions as here
Meaning is explained.
Referring to figures 1-3, one embodiment of robot of the utility model is proposed, wherein Fig. 1 is the main view of robot, figure
2 be the schematic perspective view of robot, and Fig. 3 is the module diagram of robot.The robot of the utility model embodiment can
To be the various types of robots for needing self-navigation, especially night watching robot, the utility model embodiment is with patrol machine
The artificial example of device is described in detail.
The robot of the utility model embodiment includes moveable fuselage 10, and is installed on the laser sensing of fuselage 10
Device module 20, magnetic navigation sensor module 30 and the first navigation module 40, the first navigation module 40 are separately connected laser sensor
Module 20 and magnetic navigation module, the first navigation module 40 are preferably disposed on inside fuselage 10, laser sensor module 20 and magnetic conductance
Boat sensor module 30 is set to 10 lower part of fuselage, preferably, magnetic navigation sensor module 30 in the utility model embodiment
It is set to the bottom of fuselage 10, to improve magnetic induction sensitivity closer to the magnetic stripe on road surface.
In the utility model embodiment, the variation of the first navigation module 40 depending on the site environment is in laser navigation and magnetic navigation
Automatically switch between two kinds of navigation modes, specific: the first navigation module 40 enables laser navigation mode by default, benefit
It is navigated with laser sensor module 20；During the navigation process, detect whether road surface spreads by magnetic navigation sensor module 30
If magnetic stripe when detecting road surfacing magnetic stripe is then switched to magnetic navigation mode, using magnetic navigation sensor module 30 into
Row navigation.To which robot carries out laser navigation in the environment of being suitble to laser navigation, in unsuitable laser navigation but is suitble to magnetic
Magnetic navigation is carried out in the environment of navigation, is realized and is adaptively led according to the suitable navigation mode of environmental change automatic switchover
Boat had both improved robot during the navigation process to the adaptability of complex environment, and had in turn avoided whole be laid with caused by magnetic stripe
Construction and Material Cost are promoted, and reduce environmental reconstruction cost.
Further, the robot in the utility model embodiment further includes remotely monitored sensor module 50 and the second navigation mould
Block 60, the second navigation module 60 are separately connected remotely monitored sensor module 50 and the first navigation module 40, remotely monitored sensor module 50
It is set to 10 top of fuselage, the second navigation module 60 is preferably disposed on inside fuselage 10.Second navigation module 60 is in the first navigation
When the navigation failure of module 40, remote control navigation is carried out using remotely monitored sensor module 50.
The robot of the utility model embodiment is provided with laser navigation, magnetic navigation and remote control three kinds of navigation moulds of navigation
Formula, can variation depending on the site environment automatically switch between three kinds of navigation modes.It is led when site environment had both been not suitable for laser
Boat is not suitable for magnetic navigation again when, the first navigation module 40, which can then navigate, to fail, and the information of navigation failure is sent to second and is led
Model plane block 60 then enables remote control and leads after second navigation module 60 receives the information of the first navigation module 40 navigation failure
Model plane formula, opening remote control sensor module 50 send notification information, notice to remote control terminal by remotely monitored sensor module 50
Remote control terminal carries out remote control navigation, while the control instruction of remote control terminal is received by remotely monitored sensor module 50,
It is moved according to control instruction.
Further, the robot of the utility model embodiment further includes photographing module 70, the photographing module 70 setting
In the top of fuselage 10.When enabling remote control navigation mode, the second navigation module 60 also opens photographing module 70, and leads to
It crosses remotely monitored sensor and the image information that photographing module 70 obtains is sent to remote control terminal (such as background monitoring center), so that far
The operator at process control end even if not at the scene can also by camera head monitor site environment, realize remote control navigation.
Further, the robot of the utility model embodiment further includes cue module 80, which preferably sets
It is placed in inside fuselage 10, and is connect with the first navigation module 40.Cue module 80 is navigated in the first navigation module 40 to be failed and examines
Measure current road segment be suitble to magnetic navigation when, then prompt current road segment be laid with magnetic stripe, such as by loudspeaker sending prompt tone, display
A kind of or at least two combination is prompted in the modes such as the shinny flashing of display reminding information, indicator light.
In the utility model embodiment, when the first navigation module 40 navigates failure, then sends and navigate to cue module 80
The information of failure after cue module 80 receives the information of the first navigation module 40 navigation failure, learns that current road segment is not suitable for
Laser navigation, while then current road segment is detected, it is existing such as to open the detection of photographing module 70 also without being laid with magnetic stripe on road surface
Field environment judges that site environment if appropriate for magnetic stripe (whether such as road surface is smooth, whether has magnetic disturbance) is laid with, is laid with when suitable
Then illustrate to be suitble to magnetic navigation when magnetic stripe, then prompt is laid with magnetic stripe in current road segment.
Further, the robot of the utility model embodiment further includes detecting module 90, which preferably sets
It is placed in inside fuselage 10, is separately connected photographing module 70 and laser sensor module 20.Detecting module 90 is used to utilize camera shooting mould
Block 70 and laser sensor module 20 detect current environment, and the navigation mode in each section is determined according to detection result, wherein lead
Model plane formula includes at least two in laser navigation, magnetic navigation and remote control navigation.
For night watching robot, it can generally be fixed on a place for a long time and make an inspection tour back and forth.Therefore, when arrival one
After new environment, robot can pass through detecting module 90 while moving and carry out detection study to current environment, detect
In learning process, detecting module 90 opens laser sensor module 20 and photographing module 70, is swept by laser sensor module 20
Site environment map is retouched, by 70 floor environment picture of photographing module, the ground for then scanning laser sensor module 20
The picture for scheming to shoot with photographing module 70 compares and analyzes, to obtain site environment point and point or point and each section of multi-point
Navigation mode, and automatically switch corresponding navigation mode and verified, and can be optimized by repeatedly detecting study, most
Determine the navigation mode in each section, eventually to provide corresponding suggest to user.
User then does corresponding preparation according to the navigation mode that robot determines, such as being not suitable for laser navigation
But it is suitble to the section of magnetic navigation, is then laid with magnetic stripe in the section.During subsequent navigation, robot can also be according to true in advance
The navigation mode in fixed each section carries out the automatic switchover of navigation mode.
The robot of the utility model embodiment, by the way that laser sensor module 20 and magnetic navigation sensor mould are arranged simultaneously
Block 30 is navigated using laser sensor module 20 by default, when detecting road surfacing magnetic stripe, then it is sharp
It is navigated with magnetic navigation sensor module 30, is carried out to realize and automatically switch suitable navigation mode according to environmental change
Adaptive navigation had both improved robot during the navigation process to the adaptability of complex environment, and had in turn avoided whole laying magnetic
Construction caused by item and Material Cost are promoted, and reduce environmental reconstruction cost.
Further, by the way that remotely monitored sensor is arranged, when site environment had not only been not suitable for laser navigation but also be not suitable for magnetic navigation
When, then remote control navigation is carried out using remotely monitored sensor, navigated three kinds to merge laser navigation, magnetic navigation and remote control
Navigation mode can automatically switch to realize adaptive navigation between three kinds of navigation modes according to environmental change, further increase
The adaptive capacity to environment of robot.
Using the robot of the utility model embodiment, compared with existing robot, solves single laser navigation
Robot is not able to satisfy the problem of navigation needs of complex environment, reduces requirement of the robot navigation to environment, improves machine
Adaptability of the device people to environment；The robot for solving single magnetic navigation needs whole laying magnetic stripe, constructional difficulties, expense
Height, reduces construction and Material Cost at the problem of destroying original environmental beauty；Solves the machine of single remote control navigation
People needs manually to participate in the overall process, and the low problem of intelligence degree saves human cost, improves intelligent level.
It should be understood that cannot therefore limit the utility model the above is only the preferred embodiment of the utility model
The scope of the patents, equivalent structure or equivalent flow shift made by using the description of the utility model and the drawings, or it is straight
It connects or is used in other related technical areas indirectly, be also included in the patent protection scope of the utility model.
Claims (7)
1. a kind of robot, which is characterized in that including laser sensor module and magnetic navigation sensor module, and for silent
Recognize under state and navigated using the laser sensor module, when detecting road surfacing magnetic stripe, utilizes the magnetic conductance
The first navigation module that boat sensor module is navigated, first navigation module are separately connected the laser sensor module
With the magnetic navigation sensor module.
2. robot according to claim 1, which is characterized in that the robot further includes remotely monitored sensor module, with
And for carrying out the of remote control navigation using the remotely monitored sensor module when first navigation module navigates failure
Two navigation modules, second navigation module are separately connected the remotely monitored sensor module and first navigation module.
3. robot according to claim 2, which is characterized in that the robot further includes photographing module, and described second
Navigation module opens the photographing module, passes through the remotely monitored sensor module when first navigation module navigates failure
It is sent out the image information that the photographing module obtains.
4. robot according to claim 1-3, which is characterized in that the robot further includes for when described
When the navigation of first navigation module fails and detects that current road segment is suitble to magnetic navigation, prompt to be laid with the prompt of magnetic stripe in current road segment
Module, the cue module are connect with first navigation module.
5. robot according to claim 1 or 2, which is characterized in that the robot further includes photographing module, Yi Jiyong
Current environment is detected in the utilization photographing module and the laser sensor module, and each section is determined according to detection result
The detecting module of navigation mode, the detecting module are separately connected the photographing module and the laser sensor module.
6. robot according to claim 5, which is characterized in that the navigation mode include laser navigation, magnetic navigation and
At least two in remote control navigation.
7. robot according to claim 1-3, which is characterized in that the artificial patrol machine device people of machine.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201822158959.4U CN209543138U (en) | 2018-12-21 | 2018-12-21 | Robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201822158959.4U CN209543138U (en) | 2018-12-21 | 2018-12-21 | Robot |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN209543138U true CN209543138U (en) | 2019-10-25 |
Family
ID=68265192
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201822158959.4U Active CN209543138U (en) | 2018-12-21 | 2018-12-21 | Robot |
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| Country | Link |
|---|---|
| CN (1) | CN209543138U (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109343545A (en) * | 2018-12-21 | 2019-02-15 | 深圳科卫机器人服务有限公司 | Robot |
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2018
- 2018-12-21 CN CN201822158959.4U patent/CN209543138U/en active Active
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109343545A (en) * | 2018-12-21 | 2019-02-15 | 深圳科卫机器人服务有限公司 | Robot |
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| 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: 518000, No. 4068 Qiaoxiang Road, Shahe Street, Nanshan District, Shenzhen City, Guangdong Province Patentee after: Shenzhen Kewei Robot Technology Co., Ltd Address before: 518000, No. 4068 Qiaoxiang Road, Shahe Street, Nanshan District, Shenzhen City, Guangdong Province Patentee before: SHENZHEN KEWEI ROBOT SERVICE Co.,Ltd. |