CN210850236U - Robot - Google Patents
Robot Download PDFInfo
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- CN210850236U CN210850236U CN201921927193.XU CN201921927193U CN210850236U CN 210850236 U CN210850236 U CN 210850236U CN 201921927193 U CN201921927193 U CN 201921927193U CN 210850236 U CN210850236 U CN 210850236U
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- robot
- door
- cabin door
- prompter
- limit sensor
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Abstract
The application proposes a robot, comprising: a robot body; a storage compartment disposed in the robot body; the cabin door is arranged at the outlet of the storage cabin; the limit sensor outputs a first signal when the cabin door is in an open state and outputs a second signal when the cabin door is in a closed state; and the controller is connected with the limit sensor and determines the opening and closing state of the cabin door according to the signal output by the limit sensor. Therefore, the controller determines the opening and closing state of the cabin door according to the signals output by the limit sensor, and the function of automatically determining the opening and closing state of the cabin door is realized.
Description
Technical Field
The application relates to the technical field of artificial intelligence, in particular to a robot.
Background
With the rapid development of new technologies such as mobile internet, artificial intelligence, internet of things, big data and the like, more and more work is greatly changed, and the changes influence our lives and promote social progress.
At present, the delivery robot releases human from heavy labor, but when the delivery robot transports goods, the cabin door is not closed in place, so that the cabin door of the storage cabin is opened in the transportation process.
SUMMERY OF THE UTILITY MODEL
The present application is directed to solving, at least to some extent, one of the technical problems in the related art.
Therefore, the robot determines the opening and closing state of the cabin door through the controller according to the signal output by the limit sensor, the function of automatically determining the opening and closing state of the cabin door is achieved, and the user experience is improved.
The embodiment of the application provides a robot, includes:
a robot body;
a storage compartment disposed within the robot body;
the cabin door is arranged at the outlet of the storage cabin;
the limit sensor outputs a first signal when the cabin door is in an open state, and outputs a second signal when the cabin door is in a closed state; and
and the controller is connected with the limit sensor and determines the opening and closing state of the cabin door according to the signal output by the limit sensor.
As a possible case, the robot further includes:
the prompter is connected with the controller;
the controller controls the prompter to prompt the opening and closing state of the cabin door according to the opening and closing state of the cabin door.
As another possible scenario, the prompter is a voice prompter and/or a visual prompter.
As another possible case, the robot further includes:
a robot head disposed above the robot body.
The voice prompter is a loudspeaker arranged at the head of the robot;
the picture prompter is a screen arranged at the head of the robot.
As another possible case, the robot further includes:
the robot chassis is arranged below the robot body, and is connected with the controller;
the controller controls the robot chassis to move according to the opening and closing state of the cabin door.
As another possible situation, the limit sensor is a limit switch, the limit switch is arranged on the robot body, and a spring bolt is arranged on the limit switch;
and the controller determines the opening and closing state of the cabin door according to the signal output by the limit switch when the spring bolt contracts or extends.
As another possible case, the limit switches are at least one.
As another possible case, the limit sensor is a high-precision hall sensor.
As another possible case, the robot further includes:
a shim disposed between the hatch door and the robot body.
As another possibility, the hatch door is an automatic revolving door or a manual door.
The robot that this application embodiment provided includes: a robot body; a storage compartment disposed in the robot body; the cabin door is arranged at the outlet of the storage cabin; the limit sensor outputs a first signal when the cabin door is in an open state and outputs a second signal when the cabin door is in a closed state; and the controller is connected with the limit sensor and determines the opening and closing state of the cabin door according to the signal output by the limit sensor. Therefore, the controller determines the opening and closing state of the cabin door according to the signal output by the limit sensor, and the function of automatically determining the opening and closing state of the cabin door is realized.
Additional aspects and advantages of the present application will be set forth in part in the description which follows and, in part, will be obvious from the description, or may be learned by practice of the present application.
Drawings
The foregoing and/or additional aspects and advantages of the present application will become apparent and readily appreciated from the following description of the embodiments, taken in conjunction with the accompanying drawings of which:
fig. 1 is a schematic structural diagram of a first robot provided in an exemplary embodiment of the present application;
fig. 2 is a schematic structural diagram of a second robot provided in an exemplary embodiment of the present application;
fig. 3 is a schematic structural diagram of a third robot provided in an exemplary embodiment of the present application;
fig. 4 is a schematic structural diagram of a fourth robot provided in an exemplary embodiment of the present application.
Detailed Description
Reference will now be made in detail to embodiments of the present application, examples of which are illustrated in the accompanying drawings, wherein like or similar reference numerals refer to the same or similar elements or elements having the same or similar function throughout. The embodiments described below with reference to the drawings are exemplary and intended to be used for explaining the present application and should not be construed as limiting the present application.
A robot according to an embodiment of the present application is described below with reference to the drawings.
The robot of the embodiment of the application can be a delivery robot with a function of transporting articles.
As an example, fig. 1 is a schematic structural diagram of a first robot provided in an exemplary embodiment of the present application.
As shown in fig. 1, the robot 10 includes: the robot includes a robot body 110, a storage compartment 120 disposed in the robot body 110, a compartment door 130 disposed at an exit of the storage compartment, a limit sensor 140, and a controller (not shown in fig. 1) connected to the limit sensor 140.
It should be noted that the outlet of the storage compartment 120 disposed in the robot body 110 may be disposed on the robot body 110 or on any side surface, and in the embodiment of the present application, the position of the outlet of the storage compartment 120 is not limited; one or more outlets of the storage compartment 120 disposed in the robot body 110 may be provided, and in the embodiment of the present invention, the number of outlets of the storage compartment 120 is not limited.
In addition, the cabin door 130 disposed at the outlet of the storage cabin 120 may be an automatic cabin door, a manual cabin door, two side hung cabin doors, or one side hung cabin door, and the specific form of the cabin door 130 is not limited in the embodiment of the present application.
In the embodiment of the present application, the limit sensor 140 outputs a first signal when the door 130 is in the open state, and outputs a second signal when the door 130 is in the closed state. Specifically, when the hatch 130 is opened, the limit sensor 140 outputs a first signal when detecting that the hatch 130 is in an open state; when the door 130 is closed, the limit sensor 140 detects that the door 130 is in a closed state, and outputs a second signal. Wherein the first signal and the second signal are different signals.
In the embodiment of the present application, the controller determines the opening and closing states of the door 130 according to the signal output from the limit sensor 140.
It is understood that the limit sensor 140 outputs a first signal when the door 130 is opened, and the controller determines that the door 130 is in the opened state according to the first signal output by the limit sensor 140. Alternatively, when the door 130 is closed, the limit sensor 140 outputs a second signal, and the controller determines that the door 130 is in the closed state according to the second signal output by the limit sensor 140.
According to the robot provided by the embodiment of the application, the controller determines the opening and closing state of the cabin door according to the signal output by the limit sensor 140, and the function of automatically determining the opening and closing state of the cabin door is realized.
On the basis of the above embodiment, the robot 10 may further include: and a prompter.
The prompter is connected with the controller, and the controller controls the prompter to prompt the opening and closing state of the cabin door 130 according to the opening and closing state of the cabin door 130.
For example, the reminder may remind the user that the door 130 has been closed, or remind the user that the door 130 has been opened.
In the embodiment of the application, the prompter can be a voice prompter and/or a picture prompter.
As a possible case, when the prompter is a voice prompter, the limit sensor 140 outputs a first signal when the door 130 is opened, the controller determines that the door 130 is opened according to the first signal output by the limit sensor 140, and controls the prompter to send a voice prompt message to remind the user that the door 130 is opened. For example, the voice prompt message may be "hatch open", "door open", etc.
The limit sensor 140 outputs a second signal when the hatch door 130 is completely closed, the controller determines that the hatch door 130 has been closed according to the second signal output by the limit sensor 140, and controls the prompter to send a voice prompt message to remind the user that the hatch door 130 has been closed. For example, the voice prompt message may be "hatch closed", "door closed", etc.
As another possible case, when the reminder is an image reminder, the limit sensor 140 outputs a first signal when the door 130 is opened, the controller determines that the door 130 is opened according to the first signal output by the limit sensor 140, and controls the reminder to perform an image reminder to remind the user that the door 130 is opened. For example, the screen prompt may be provided by displaying text such as "hatch door opened", "door opened", and the like.
The limit sensor 140 outputs a second signal when the hatch door 130 is completely closed, the controller determines that the hatch door 130 is closed according to the second signal output by the limit sensor 140, and controls the prompter to perform picture prompt to remind a user that the hatch door 130 is closed. For example, the visual indication may be provided by displaying text such as "hatch closed", "door closed", etc.
As another possible case, the prompter may include both a voice prompter and a picture prompter, i.e., the opening and closing state of the door 130 may be simultaneously prompted to the user by making a voice and displaying a picture.
On the basis of the above embodiment, referring to fig. 2, the robot 10 further includes: a robot head 210, wherein the robot head 210 is disposed above the robot body 110.
In one possible case, when the prompter is a voice prompter, the voice prompter may be a speaker disposed at the robot head 210; when the prompter is a visual prompter, the visual prompter may be a screen provided at the robot head 210.
On the basis of the above embodiment, the robot 10 may further include: a robot chassis enabling the robot 10 to move.
Wherein, the robot chassis is disposed under the robot body 110 and connected to the controller, and the controller controls the movement of the robot chassis according to the opening and closing state of the hatch 130. Specifically, when the hatch 130 is in an open state, the controller controls the robot chassis to be in an immovable state; when the hatch 130 is in the closed state, the controller controls the robot chassis to be in a movable state.
Taking the robot 10 as an example to transport an item, the user closes the hatch 130 after placing the item in the storage compartment 120. After the hatch door 130 is completely closed, the limit sensor 140 detects that the hatch door 130 is completely closed, a second signal is output, and after the controller determines that the hatch door 130 is in a closed state according to the second signal output by the limit sensor 140, the controller controls the robot chassis to be in a movable state, that is, the robot 10 can move according to a movement instruction at the moment, so that articles placed in the storage cabin 120 can be transported.
In the article transportation process, if the cabin door 130 is opened, the limit sensor 140 detects that the cabin door 130 is opened and outputs a first signal, and after the controller determines that the cabin door 130 is in an opened state according to the first signal output by the limit sensor 140, the controller controls the chassis of the robot to be in an immovable state, namely, the robot 10 stops moving at the moment. If the hatch door 130 is closed again, the limit sensor 140 detects that the hatch door 130 is completely closed, a second signal is output, and after the controller determines that the hatch door 130 is in the closed state according to the second signal output by the limit sensor 140, the controller controls the chassis of the robot to be in the movable state, that is, the robot 10 can continue to move at the moment.
The robot 10 stops moving after transporting the article to the destination, when the user opens the hatch 130 to take out the article, the limit sensor detects that the hatch 130 is opened, a first signal is output, and the controller controls the robot chassis to be in an immovable state after determining that the hatch 130 is in an opened state according to the first signal output by the limit sensor 140.
It can be seen that, by adopting the scheme of the embodiment, the robot can not have the situation that the cabin door is not closed but is in a moving state, so that the safety of article transportation can be ensured, and the user experience is improved.
As a possible case, the limit sensor may be a limit switch, and may also be a high-precision hall sensor.
The limit switch is arranged on the robot body 110, a spring bolt is arranged on the limit switch, and the controller can determine the opening and closing state of the cabin door 130 according to a signal output by the limit switch when the spring bolt contracts or extends.
It should be noted that the robot 10 of the present application includes at least one limit switch, and the number of the limit switches varies according to the structure and the number of the hatches 130 included in the robot 10. For example, when the door 130 disposed at the outlet of the storage compartment is a two-leaf side hung type door, two limit switches may be provided, one limit switch is used to detect the on-off state of one door, and the controller determines the on-off state of each door according to the signal output by each limit switch. When any one of the two limit switches outputs a first signal, the controller determines that the whole cabin door is in an open state; and when the two limit switches all output the second signals, the controller determines that the whole cabin door is in a closed state.
In this embodiment, when the door 130 is opened, the door 130 does not contact the limit switch, the spring bolt of the limit switch is in an extended state, the limit switch outputs a first signal due to the extension of the spring bolt, and the controller determines that the door 130 is opened after receiving the first signal output by the limit switch.
In this embodiment, when the door 130 is completely closed, the door 130 contacts the limit switch, the spring bolt of the limit switch is pressed to the retracted state by the bottom of the door 130, the limit switch outputs a second signal due to the retraction of the spring bolt, and the controller determines that the door 130 is closed after receiving the second signal output by the limit switch.
In the embodiment of the present application, the hatch 130 disposed at the outlet of the storage compartment 120 may be an automatic hatch, and at this time, the robot 10 may receive a control instruction for the hatch 130, and the controller controls the hatch 130 to open and close by controlling related components according to the control instruction.
On the basis of the above embodiment, referring to fig. 3, the robot 10 may further include: a door lock 190.
Wherein the door lock 190 is used for locking the hatch 130, and the door lock 190 is connected with the controller.
In one possible scenario, the door lock 190 may be an electromagnetic lock.
In another possible scenario, the door lock 190 may also be an electrical plug.
Taking the robot 10 as an example for transporting the article, after the user places the article in the storage compartment 120, the user sends a control command for closing the door 130, and the controller controls the relevant components to close the door 130 according to the control command for closing the door 130. After the door 130 is completely closed, the limit sensor 140 outputs a second signal, and the controller controls the door lock 190 to close, i.e., lock, to lock the door 130 after determining that the door 130 is in the closed state according to the second signal output by the limit sensor 140. Meanwhile, the controller can control the prompter to perform corresponding prompt and control the robot chassis to be in a movable state. Thereby, it is avoided that the hatch 130 is opened due to jolts and the like during the movement of the robot 10.
The robot 10 stops moving after transporting the goods to the destination, the user sends a control instruction for opening the hatch 130, the controller firstly controls the door lock 190 to open, namely unlock, according to the control instruction for opening the hatch 130, and then the hatch 130 is opened by controlling related components. After the hatch door 130 is opened, the limit sensor 140 outputs a first signal, and the controller determines that the hatch door 130 is in an open state according to the first signal output by the limit sensor 140, and then controls the prompter to correspondingly prompt and controls the robot chassis to be in an immovable state, and at the moment, a user can take out articles placed in the storage compartment 120.
Therefore, by adopting the scheme of the embodiment, the safety of article transportation is further ensured, and the user experience is improved.
On the basis of the above embodiment, referring to fig. 4, the robot 10 may further include: a shim 200.
Wherein, the gasket 200 is disposed between the hatch 130 and the robot body 110.
In the embodiment of the present application, a gasket 200 is disposed between the door 130 and the robot body 110 to reduce friction between the door 130 and the robot body 110 when the door 130 rotates.
For example, when the door 130 is a side hung door, when the door 130 rotates in the opening and closing process, the door 130 rotates around the shaft connected to the storage compartment 120, and at this time, a gasket 200 may be disposed between the door 130 and the robot body 110, for example, the gasket 200 is a polyoxymethylene (hereinafter, referred to as POM) gasket, which has a high wear resistance, and the POM gasket is disposed between the door 130 and the robot body 110, so as to reduce the friction between the door 130 and the robot body 110 in the opening and closing process.
In the description herein, reference to the description of the term "one embodiment," "some embodiments," "an example," "a specific example," or "some examples," etc., means that a particular feature, structure, material, or characteristic described in connection with the embodiment or example is included in at least one embodiment or example of the application. In this specification, the schematic representations of the terms used above are not necessarily intended to refer to the same embodiment or example. Furthermore, the particular features, structures, materials, or characteristics described may be combined in any suitable manner in any one or more embodiments or examples. Furthermore, various embodiments or examples and features of different embodiments or examples described in this specification can be combined and combined by one skilled in the art without contradiction.
Furthermore, the terms "first", "second" and "first" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include at least one such feature. In the description of the present application, "plurality" means at least two, e.g., two, three, etc., unless specifically limited otherwise.
In addition, functional units in the embodiments of the present application may be integrated into one processing module, or each unit may exist alone physically, or two or more units are integrated into one module. The integrated module can be realized in a hardware mode, and can also be realized in a software functional module mode. The integrated module, if implemented in the form of a software functional module and sold or used as a separate product, may also be stored in a computer readable storage medium.
Claims (10)
1. A robot, comprising:
a robot body;
a storage compartment disposed within the robot body;
the cabin door is arranged at the outlet of the storage cabin;
the limit sensor outputs a first signal when the cabin door is in an open state, and outputs a second signal when the cabin door is in a closed state; and
and the controller is connected with the limit sensor and determines the opening and closing state of the cabin door according to the signal output by the limit sensor.
2. The robot of claim 1, further comprising:
the prompter is connected with the controller;
the controller controls the prompter to prompt the opening and closing state of the cabin door according to the opening and closing state of the cabin door.
3. A robot as claimed in claim 2, characterized in that the prompter is a voice prompter and/or a visual prompter.
4. The robot of claim 3, further comprising:
a robot head disposed above the robot body;
the voice prompter is a loudspeaker arranged at the head of the robot;
the picture prompter is a screen arranged at the head of the robot.
5. The robot of claim 1, further comprising:
the robot chassis is arranged below the robot body, and is connected with the controller;
the controller controls the movement of the robot chassis according to the opening and closing state of the cabin door.
6. The robot as claimed in claim 1, wherein the limit sensor is a limit switch, the limit switch is arranged on the robot body, and a spring bolt is arranged on the limit switch;
and the controller determines the opening and closing state of the cabin door according to the signal output by the limit switch when the spring bolt contracts or extends.
7. A robot as claimed in claim 6, wherein the limit switch is at least one.
8. The robot of claim 1, wherein the limit sensor is a high precision hall sensor.
9. The robot of claim 1, further comprising:
a shim disposed between the hatch door and the robot body.
10. Robot according to any of claims 1-9, characterized in that the hatch is an automatic hatch or a manual hatch.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201921927193.XU CN210850236U (en) | 2019-11-08 | 2019-11-08 | Robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201921927193.XU CN210850236U (en) | 2019-11-08 | 2019-11-08 | Robot |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN210850236U true CN210850236U (en) | 2020-06-26 |
Family
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201921927193.XU Active CN210850236U (en) | 2019-11-08 | 2019-11-08 | Robot |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN210850236U (en) |
-
2019
- 2019-11-08 CN CN201921927193.XU patent/CN210850236U/en active Active
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