CN210323885U - Robot - Google Patents
Robot Download PDFInfo
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- CN210323885U CN210323885U CN201921002314.XU CN201921002314U CN210323885U CN 210323885 U CN210323885 U CN 210323885U CN 201921002314 U CN201921002314 U CN 201921002314U CN 210323885 U CN210323885 U CN 210323885U
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- walking
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Abstract
The utility model discloses a robot, include: the robot comprises a robot main body, a detection device and a controller. The robot main part includes running gear and unmanned aerial vehicle, unmanned aerial vehicle with running gear separable connection, running gear are used for following the working face walking. The detection device is installed on the robot main body and used for detecting environmental parameters around the robot main body. The controller is connected with robot main part and detection device, and the controller is used for receiving detection device's environmental parameter to control running gear along the working face walking and/or control unmanned aerial vehicle and running gear separation and control unmanned aerial vehicle flight to setting for the position according to environmental parameter. Because the environmental parameter around the detection device detection robot main part makes the controller can control running gear walking and/or unmanned aerial vehicle and running gear separation back unmanned flight according to environmental parameter to can prevent that the robot from meetting the unable operation of barrier, improve the reliability of robot operation.
Description
Technical Field
The utility model relates to the technical field of mechanical equipment, especially, relate to a robot.
Background
With the rapid development of modern science and technology, the robot is gradually applied to the aspects of work and life, brings great convenience to the life of people, and saves human and material resources.
When the existing robot works, the existing robot sometimes touches an obstacle, so that the robot cannot continuously move forwards to a set position to work, and the working effect is influenced.
SUMMERY OF THE UTILITY MODEL
The utility model provides a robot to improve the reliability of robot operation in-process.
The utility model provides a robot, include:
the robot main body comprises a walking device and an unmanned aerial vehicle, the unmanned aerial vehicle and the walking device are detachably connected, and the walking device is used for walking along the working surface;
the detection device is arranged on the robot main body and used for detecting environmental parameters around the robot main body;
the controller, with the robot main part with detection device connects, is used for receiving detection device's environmental parameter, and according to environmental parameter control running gear is followed the working face walking and/or control unmanned aerial vehicle with running gear separation and control unmanned aerial vehicle flies to setting for the position.
2. The robot as claimed in claim 1, wherein the walking device is provided with a stopping platform and a connecting device;
the shutdown platform parks the unmanned aerial vehicle; the connecting device is detachably connected with the unmanned aerial vehicle so as to enable the unmanned aerial vehicle and the walking device to be relatively positioned;
the controller is used for controlling the walking device to walk along the working face and/or controlling the unmanned aerial vehicle to be separated from the connecting device and controlling the unmanned aerial vehicle to fly to a set position according to the environmental parameters.
The robot, preferably, it is equipped with the module of charging on the platform to shut down, is used for right unmanned aerial vehicle charges.
Preferably, the robot is provided with a laser radar as the detection device, and the environment parameters are map data established by the laser radar detecting the surrounding environment of the robot main body; the controller is used for controlling the walking device to walk along the working face and/or controlling the unmanned aerial vehicle to be separated from the walking device and controlling the walking device to fly to a set position according to the image data.
The robot, preferably, detection device sets up running gear or unmanned aerial vehicle's front end.
The robot, preferably, running gear with all be equipped with on the unmanned aerial vehicle detection device.
The robot, preferably, the controller sets up on the unmanned aerial vehicle.
The robot, preferably, unmanned aerial vehicle is four rotor unmanned aerial vehicle.
Based on the above, the utility model provides a robot, when using, is connected running gear and unmanned aerial vehicle, and detection device installs in the robot main part, and detection device detects the environmental parameter around the robot main part, and the controller is according to detection device's environmental parameter control running gear along the working face walking and/or control unmanned aerial vehicle and running gear separation and control unmanned aerial vehicle flight to setting for the position. Because the environmental parameter around the detection device detection robot main part makes the controller can control running gear walking and/or unmanned aerial vehicle and running gear separation back unmanned flight according to environmental parameter to can prevent that the robot from meetting the unable operation of barrier, improve the reliability of robot operation.
Drawings
Some specific embodiments of the present invention will be described in detail hereinafter, by way of illustration and not by way of limitation, with reference to the accompanying drawings. The same reference numbers in the drawings identify the same or similar elements or components. Those skilled in the art will appreciate that the drawings are not necessarily drawn to scale. In the drawings:
fig. 1 is a schematic structural diagram of a robot provided by an embodiment of the present invention;
fig. 2 is a cross-sectional view of a robot provided by an embodiment of the present invention;
figure 3 is an enlarged view of a portion of the drone of figure 2 in accordance with the present invention;
fig. 4 is an exploded schematic view of a robot according to an embodiment of the present invention.
Fig. 5 is a schematic structural diagram of a control system of a robot according to an embodiment of the present invention.
The reference numbers used in the drawings are as follows:
10. robot main part, 101, unmanned aerial vehicle, 102, running gear, 103, shut down the platform, 104, connecting device, 11, detection device, 12, controller, 13, the module of charging.
Detailed Description
To make the objects, features and advantages of the present invention more obvious and understandable, the embodiments of the present invention are described clearly and completely with reference to the accompanying drawings in the embodiments of the present invention, and obviously, the described embodiments are only some embodiments of the present invention, not all embodiments. Based on the embodiments in the present invention, all other embodiments obtained by the skilled in the art without creative work belong to the protection scope of the present invention.
As shown in fig. 1 and 4, an embodiment of the present invention provides a robot, including: a robot main body 10, a detection device 11, and a controller 12. The robot main body 10 comprises a walking device 102 and an unmanned aerial vehicle 101, the unmanned aerial vehicle 101 and the walking device 102 are detachably connected, and the walking device 102 walks along a working surface. The detection device 11 is mounted on the robot main body 10, and the detection device 11 is used for detecting environmental parameters around the robot main body 10. The controller 12 is connected with the robot main body 10 and the detection device 11, and the controller 12 is used for receiving the environmental parameters of the detection device 11, and controlling the walking device 102 to walk along the working surface and/or controlling the unmanned aerial vehicle 101 to separate from the walking device 102 and controlling the unmanned aerial vehicle 101 to fly to a set position according to the environmental parameters, as shown in fig. 5. Therefore, the environment parameters around the robot body 10 are detected by the detection device 11, so that the controller 12 can control the unmanned aerial vehicle 101 to fly and/or the walking device 102 to walk according to the environment parameters, for example, when the controller 12 judges that the walking device 102 cannot pass through according to the environment parameters, the unmanned aerial vehicle 101 can be controlled to be separated from the walking device 102 and the unmanned aerial vehicle 101 is controlled to fly to a set position, so that the robot can be prevented from working when encountering an obstacle, and the reliability of the robot working is improved.
Specifically, when the robot is in use, the detection device 11 detects environmental parameters around the robot main body 10, and the controller 12 determines whether the robot has an obstacle or a dangerous object along the working surface traveling direction according to the environmental parameters of the detection device 11. When there is no obstacle or danger, the controller 12 controls the traveling device 102 carrying the drone 101 to travel along the work surface. When there is an obstacle or a dangerous object, the controller 12 controls the traveling device 102 to be separated from the drone 101 and controls the drone 101 to fly to a set position. When there is an obstacle or a dangerous object, the controller 12 may further control the traveling device 102 to be separated from the drone 101, and control the drone 101 after separation to fly to a set position and the traveling device 102 after separation to travel along the working surface. Wherein the working surface is the outer wall or the inner wall of the cylinder; when the walking device 102 walks along the ground, the working surface is the ground.
As shown in fig. 2 and 3, in the present embodiment, the traveling device 102 is preferably provided with a stopping platform 103 and a connecting device 104. The drone 101 rests on the parking platform 103, and the connection device 104 is detachably connected to the drone 101 to enable the drone 101 to be positioned relative to the running device 102. The controller 12 is used for controlling the walking device 102 to walk along the working surface and/or controlling the unmanned aerial vehicle 101 to be separated from the connecting device 104 and controlling the unmanned aerial vehicle 101 to fly to a set position according to the environmental parameters. Therefore, the connecting device 104 can be used for separably connecting the unmanned aerial vehicle 101 and the walking device 102 and relatively positioning the unmanned aerial vehicle 101 and the walking device 102, so that the stability of connection between the unmanned aerial vehicle 101 and the walking device 102 is improved, and the reliability of robot operation is further improved.
Specifically, the parking platform 103 is arranged at the top of the traveling device 102, and the connecting device 104 is located on the parking platform 103, so that the unmanned aerial vehicle 101 can be conveniently parked and the parked unmanned aerial vehicle 101 can be connected with the traveling device 102 through the connecting device 104.
The structure of the connection device 104 is not limited in this embodiment, as long as the detachable connection between the drone 101 and the running gear 102 is achieved.
In this embodiment, preferably, the stopping platform 103 is provided with a charging module 13 for charging the unmanned aerial vehicle 101. Therefore, when the walking device 102 works, the unmanned aerial vehicle 101 can be parked on the parking platform 103 to complete the autonomous charging, and the problem that the unmanned aerial vehicle 101 cannot work due to power failure during operation and the reliability of robot operation is further influenced is avoided. Specifically, unmanned aerial vehicle 101 and the module 13 that charges all are connected with controller 12, control unmanned aerial vehicle 101 and park on the platform 103 of stopping up and control the module 13 that charges and charge unmanned aerial vehicle 101 after controller 12 received unmanned aerial vehicle 101's electroless signal.
In this embodiment, preferably, the detecting device 11 is a laser radar, and the environmental parameter is map data created by the laser radar detecting the surrounding environment of the robot main body 10; the controller 12 is used for controlling the walking device 102 to walk along the working surface and/or controlling the unmanned aerial vehicle 101 to be separated from the walking device 102 and controlling the walking device 102 to fly to a set position according to the map data. Therefore, the laser radar can automatically detect the environment around the robot main body 10 and establish map data, and the controller 12 can plan the walking path for the unmanned aerial vehicle 101 and the walking device 102 again according to the map data, so that automatic obstacle avoidance is realized.
In this embodiment, it is preferable that the detection device 11 is disposed at the front end of the running gear 102 or the drone 101. Thereby, the detection range of the detection device 11 is expanded, and reliable environmental parameters are provided for the controller 12.
In this embodiment, preferably, the walking device 102 and the drone 101 are both provided with the detection device 11. From this, running gear 102 and unmanned aerial vehicle 101 can follow different angles and position and detect ambient environment parameter to do benefit to the accuracy that improves environmental parameter and detect.
Specifically, when the unmanned aerial vehicle 101 flies to a set position after the unmanned aerial vehicle 101 and the traveling device 102 are separated, the unmanned aerial vehicle 101 can detect its surrounding environment by using the detection device 11 mounted thereon; or the walking device 102 can detect the environmental parameters around it by the detection device 11 mounted on it while walking along the working surface. The controller 12 receives the environmental parameters of the detection devices 11 on the unmanned aerial vehicle 101 and the walking device 102, respectively, and controls the walking device 102 to walk along the working surface and/or controls the unmanned aerial vehicle 101 and the walking device 102 to separate and control the unmanned aerial vehicle 101 to fly to a set position according to the environmental parameters.
In this embodiment, preferably, the controller 12 is disposed on the drone 101; from this, when the unmanned aerial vehicle 101 breaks away from the running gear 102 and carries out the operation far away, can provide the environmental parameter that detection device 11 detected on it for the controller 12 that is located on the unmanned aerial vehicle 101 fast, shortened the signal transmission distance between detection device 11 and the controller 12 from this, improved the stability and the accuracy of transmission data to improve data transmission's speed, and then improved the reliability of robot operation.
The above description is only for the specific embodiments of the present invention, but the protection scope of the present invention is not limited thereto, and any person skilled in the art can easily think of the changes or substitutions within the technical scope of the present invention, and all should be covered within the protection scope of the present invention. Therefore, the protection scope of the present invention shall be subject to the protection scope of the claims.
Claims (8)
1. A robot, comprising:
the robot comprises a robot main body and a control system, wherein the robot main body comprises a walking device and an unmanned aerial vehicle, the unmanned aerial vehicle and the walking device are detachably connected, and the walking device is used for walking along a working surface;
the detection device is arranged on the robot main body and used for detecting environmental parameters around the robot main body;
the controller, with the robot main part with detection device connects, is used for receiving detection device's environmental parameter, and according to environmental parameter control running gear is followed the working face walking and/or control unmanned aerial vehicle with running gear separation and control unmanned aerial vehicle flies to setting for the position.
2. The robot as claimed in claim 1, wherein the walking device is provided with a stopping platform and a connecting device;
the shutdown platform parks the unmanned aerial vehicle; the connecting device is detachably connected with the unmanned aerial vehicle so as to enable the unmanned aerial vehicle and the walking device to be relatively positioned;
the controller is used for controlling the walking device to walk along the working face and/or controlling the unmanned aerial vehicle to be separated from the connecting device and controlling the unmanned aerial vehicle to fly to a set position according to the environmental parameters.
3. The robot of claim 2, wherein the parking platform is provided with a charging module for charging the unmanned aerial vehicle.
4. The robot according to claim 1, wherein the detecting means is a laser radar, and the environmental parameter is map data created by the laser radar detecting an environment around the robot body;
the controller is used for controlling the walking device to walk along the working face and/or controlling the unmanned aerial vehicle to be separated from the walking device and controlling the walking device to fly to a set position according to the map data.
5. A robot as claimed in claim 1, wherein the detection means is provided at the front end of the walking means or the drone.
6. The robot of claim 1, wherein the detection device is disposed on both the walking device and the drone.
7. A robot as claimed in claim 6, wherein the controller is provided on the drone.
8. A robot as claimed in claim 1, wherein the drone is a quad-rotor drone.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201921002314.XU CN210323885U (en) | 2019-06-28 | 2019-06-28 | Robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201921002314.XU CN210323885U (en) | 2019-06-28 | 2019-06-28 | Robot |
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| Publication Number | Publication Date |
|---|---|
| CN210323885U true CN210323885U (en) | 2020-04-14 |
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| CN201921002314.XU Active CN210323885U (en) | 2019-06-28 | 2019-06-28 | Robot |
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Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110209176A (en) * | 2019-06-28 | 2019-09-06 | 北京史河科技有限公司 | A kind of robot |
| CN111573461A (en) * | 2020-05-20 | 2020-08-25 | 迅达（中国）电梯有限公司 | Elevator maintenance system |
| CN112034847A (en) * | 2020-08-13 | 2020-12-04 | 广州仿真机器人有限公司 | Obstacle avoidance method and device of split type simulation robot with double walking modes |
-
2019
- 2019-06-28 CN CN201921002314.XU patent/CN210323885U/en active Active
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110209176A (en) * | 2019-06-28 | 2019-09-06 | 北京史河科技有限公司 | A kind of robot |
| CN111573461A (en) * | 2020-05-20 | 2020-08-25 | 迅达（中国）电梯有限公司 | Elevator maintenance system |
| CN112034847A (en) * | 2020-08-13 | 2020-12-04 | 广州仿真机器人有限公司 | Obstacle avoidance method and device of split type simulation robot with double walking modes |
| CN112034847B (en) * | 2020-08-13 | 2021-04-13 | 广州仿真机器人有限公司 | Obstacle avoidance method and device of split type simulation robot with double walking modes |
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