CN220882377U - Robot - Google Patents

Abstract

The present application provides a robot including: the device comprises a handle, a charging assembly, a virtual charging sensor, a moving assembly and a control unit; the handle comprises a hand-held part and a sensor; the sensor is arranged on the handheld part to collect handheld signals; the charging assembly comprises a charging end; the virtual charging sensor is electrically connected with the charging end to acquire a charging signal of the charging end; the moving assembly includes a drive wheel; the control unit is respectively connected with the sensor and the virtual charging sensor to obtain a handheld signal and a charging signal for judging the moving state and the charging state of the robot; the control unit is used for controlling the driving wheel to rotate according to the moving state and the charging state of the robot, so that the charging end is driven to be abutted with the charging pile. The robot acquires signals through the sensor and the virtual charging sensor, so that the control unit can sense the charging state of the robot and correspondingly drive the robot to move to return to the charging state again, and the charging effect of the robot is ensured.

Description

Robot

Technical Field

The application relates to the field of equipment intellectualization, in particular to a robot.

Background

Along with the improvement of the technological level, the equipment is intelligent and has gone into the life of people, and various intelligent robots also become the life style that people brought intelligent house. Wherein, the robot generally adopts electric energy drive, and the charging mode of robot is the key factor that influences user experience.

One of the charging modes of the existing robot is set as wall charging type charging. Specifically, the charging position of the robot is set at the side of the body of the robot, and the charging pile for charging the robot is set as a charging stand of wall charging type. When the robot is used by a user, the charging end of the robot is abutted with the charging seat of the charging pile only by pushing the robot to the charging position of the charging pile, so that the charging can be realized.

However, when the existing robot is used for charging, after a user pushes the robot to the charging position of the charging pile, the robot easily deviates from the charging position due to uneven ground or the action force of a spring at the charging position of the charging pile, so that the charging end is separated from a charging state, a virtual charging phenomenon is formed, and the charging effect of the robot is reduced. Therefore, how to ensure the charging effect of the robot becomes a technical problem to be solved.

Disclosure of utility model

The application provides a robot, which solves the problems that the existing robot is easy to generate a virtual charging phenomenon and the charging effect is reduced.

The present application provides a robot including: the device comprises a handle, a charging assembly, a virtual charging sensor, a moving assembly and a control unit;

The handle comprises a hand-held part and a sensor; the sensor is arranged on the handheld part to collect handheld signals; the charging assembly comprises a charging end; the virtual charging sensor is electrically connected with the charging end to acquire a charging signal of the charging end;

the moving assembly includes a drive wheel;

The control unit is respectively connected with the sensor and the virtual charging sensor to obtain a handheld signal and a charging signal for judging the moving state and the charging state of the robot; the control unit is used for controlling the driving wheel to rotate according to the moving state and the charging state of the robot, so that the charging end is driven to be abutted with the charging pile.

In one particular embodiment, the moving assembly includes a motor;

The motor starting switch of the motor is arranged between the motor and the communication circuit of the battery and is controlled by the control unit to enable the motor to be electrified or powered off; the output shaft of the motor is coaxially arranged with the driving wheel, and a band-type brake is arranged on the output shaft; the band-type brake is connected with the motor in parallel in a circuit, the output shaft and the driving wheel are coaxially fixed along with the energization of the motor, and the coaxial fixation of the output shaft and the driving wheel is released along with the de-energization of the motor, so that the driving wheel is in a free state.

In a specific embodiment, a sensor signal transmission interface is arranged on the sensor; the virtual charging sensor is provided with a sensor signal transmitting interface; the control unit is provided with a first signal interface corresponding to the sensor signal transmission interface and a second signal interface corresponding to the sensor signal transmission interface; the sensor signal transmitting interface is connected with the first signal interface through a first communication line; the sensor signal transmitting interface is connected with the second signal interface through a second communication line.

In one specific embodiment, a first Bluetooth is provided on the sensor; the virtual charging sensor is provided with a second Bluetooth; the control unit is provided with a signal receiver for receiving the handheld signal sent by the first Bluetooth and the charging signal sent by the second Bluetooth.

In a specific embodiment, the charging end is provided with a baffle; when the charging end is not abutted with the charging pile, the baffle shields the charging terminal; when the charging end is abutted with the charging pile, the baffle plate is offset under the action of the abutting force, so that the charging terminal is exposed.

In one specific embodiment, the shutter shielding the charging terminal includes: the baffle shields the charging terminal under the action of the elasticity of the spring;

The shutter being biased by the abutting force to expose the charging terminal includes: the baffle overcomes the elasticity of the spring under the action of the abutting force, and generates deflection so as to expose the charging terminal.

In a specific embodiment, a timer is provided in the control unit to record the charging time of the charging terminal.

In one particular embodiment, the sensor includes at least one of a pressure sensor and a laser sensor.

In one particular embodiment, the mobile assembly includes a brake device; the brake device is connected with the control unit to brake the driving wheel after the charging end is abutted with the charging pile.

In a specific embodiment, the charging assembly further comprises an elastic force sensor, and the charging seat of the charging pile is arranged as a spring type charging seat; the position of the elastic force sensor corresponds to the position of the spring structure and is used for sensing the elastic force generated by the spring type charging seat on the charging end;

The elastic force sensor is connected with the control unit, so that the control unit receives the elastic force value acquired by the elastic force sensor and controls the driving wheel to stop rotating when the elastic force value reaches a preset threshold value.

Compared with the prior art, the application has the following advantages:

The present application provides a robot including: the device comprises a handle, a charging assembly, a virtual charging sensor, a moving assembly and a control unit; the handle comprises a hand-held part and a sensor; the sensor is arranged on the handheld part to collect handheld signals; the charging assembly comprises a charging end; the virtual charging sensor is electrically connected with the charging end to acquire a charging signal of the charging end; the moving assembly includes a drive wheel; the control unit is respectively connected with the sensor and the virtual charging sensor to obtain a handheld signal and a charging signal for judging the moving state and the charging state of the robot; the control unit is used for controlling the driving wheel to rotate according to the moving state and the charging state of the robot, so that the charging end is driven to be abutted with the charging pile. This kind of robot sets up the sensor on the handheld portion of handle to set up the virtual inductor that fills that carries out the electricity with the end of charging, and then with sensor, virtual inductor that fills be connected with the pivoted control unit of control drive wheel respectively, make the control unit can receive the handheld signal that the sensor gathered and the charging signal of the end that charges, make the control unit sense the emergence of the phenomenon that fills virtually, and control the drive wheel rotation correspondingly and make the end that charges of robot and fill electric pile butt again, thereby guaranteed the reliability that charges.

Drawings

Fig. 1 is a schematic structural diagram of a robot according to an embodiment of the present application;

fig. 2 is a schematic structural diagram of a robot provided in an embodiment of the present application when the robot is not in contact with a charging pile;

Fig. 3 is a schematic diagram of communication connection relations between elements in a robot according to an embodiment of the present application.

Reference numerals:

A robot 01;

A handle 10; a hand-held part 11;

A sensor 12; a sensor signal transmission interface 121; a first bluetooth 122;

A charging assembly 20; a charging terminal 21; a charging terminal 211;

A dummy charge sensor 30; an inductor signal transmission interface 31; a second Bluetooth 32;

a moving assembly 40; a driving wheel 41; a motor 42; a brake device 43;

A control unit 50; a first signal interface 51; a second signal interface 52; a signal receiver 53; an information processing unit 54;

Charging pile 02; a charging stand 03.

Detailed Description

In the following description, numerous specific details are set forth in order to provide a thorough understanding of the present application. The present application may be embodied in many other forms than those herein described, and those skilled in the art will readily appreciate that the present application may be similarly embodied without departing from the spirit or essential characteristics thereof, and therefore the present application is not limited to the specific embodiments disclosed below.

In the description of the present application, it should be understood that the terms "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", etc. indicate orientations or positional relationships based on the orientations or positional relationships shown in the drawings, are merely for convenience in describing the present application and simplifying the description, and do not indicate or imply that the device or element being referred to must have a specific orientation, be configured and operated in a specific orientation, and thus should not be construed as limiting the present application.

Furthermore, the terms "first," "second," and the like, are used for descriptive purposes only and are not to be construed as indicating or implying a relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defining "a first" or "a second" may explicitly or implicitly include at least one such feature. In the description of the present application, the meaning of "plurality" means at least two, for example, two, three, etc., unless specifically defined otherwise.

In the present application, unless explicitly specified and limited otherwise, the terms "mounted," "connected," "secured," "disposed," and the like are to be construed broadly and may be, for example, fixedly connected, detachably connected, or integrally formed; either directly or indirectly, through intermediaries, or both, may be in communication with each other or in interaction with each other, unless expressly defined otherwise. The specific meaning of the above terms in the present application can be understood by those of ordinary skill in the art according to the specific circumstances.

The application provides a robot, and the structure and the working principle of the robot are described below by adopting specific embodiments. It should be noted that the embodiments described below are only some embodiments of the present application, and not all embodiments. All other embodiments, which can be made by those skilled in the art based on the embodiments of the application without making any inventive effort, are intended to be within the scope of the application. The robot according to the present application will be described in detail below.

The robot in the present application may be a home robot such as a floor sweeping robot or a meal delivery robot, or may be an industrial robot or a toy robot. In specific use scene, the robot makes the robot remove through the rotation of control unit control drive wheel, realizes charging through the subassembly that charges with charging stake butt.

The existing charging mode of the robot is set to be wall charging type charging, specifically, the charging position of the robot is arranged on the side face of the robot body, and a charging seat of the wall charging type is correspondingly arranged on a charging pile for charging the robot. When the robot is used by a user, the robot is only required to be pushed to the charging position of the charging pile, so that the robot is abutted with the charging pile, and charging can be realized.

However, due to the fact that the ground surface of the charging pile accessory is uneven, the charging seat of the charging pile is set to be a spring type charging seat and the like, after the robot reaches the charging position for charging under the pushing of a user, the robot deviates from the charging position due to external force (such as being pushed away under the action of the elastic force of the spring type charging seat), so that the robot is accidentally separated from the charging state when the robot is not controlled by the user, a virtual charging phenomenon is formed, and the charging effect of the robot is reduced.

In order to solve the problem that the conventional robot is easy to generate a virtual charging phenomenon and reduce the charging effect, the application correspondingly provides a robot.

In this embodiment, the robot includes: the device comprises a handle, a charging assembly, a virtual charging sensor, a moving assembly and a control unit; the handle comprises a hand-held part and a sensor; the sensor is arranged on the handheld part to collect handheld signals; the charging assembly comprises a charging end; the virtual charging sensor is electrically connected with the charging end to acquire a charging signal of the charging end; the moving assembly includes a drive wheel; the control unit is respectively connected with the sensor and the virtual charging sensor to obtain a handheld signal and a charging signal for judging the moving state and the charging state of the robot; the control unit is used for controlling the driving wheel to rotate according to the moving state and the charging state of the robot, so that the charging end is driven to be abutted with the charging pile.

When the robot is used by a user, the robot is directly pushed to a charging position, the charging end and the charging pile are abutted to realize the charging of the robot, after the user releases the robot, even if the robot breaks away from a charging state due to external force to form a virtual charging phenomenon, the sensor of the robot, the virtual charging sensor and the connection relation between the control unit can enable the control unit to receive a handheld signal and a charging signal, so that the robot is sensed to be in a virtual charging state, and a corresponding control driving wheel can rotate to drive the charging end of the robot to be abutted to the charging pile again to recover the charging state, thereby ensuring the reliability of charging.

In order to facilitate understanding of the above-mentioned robot, please refer to fig. 1 and 2, fig. 1 is a schematic structural diagram of the robot provided in the present embodiment, and fig. 2 is a schematic structural diagram of the robot in fig. 1 when the robot is not in contact with the charging pile.

As shown in fig. 1 and 2, the robot 01 includes: a handle 10, a charging assembly 20, a dummy charge sensor 30, a moving assembly 40, and a control unit 50; the handle 10 comprises a hand grip 11 and a sensor 12; the sensor 12 is mounted on the hand-held part 11 to collect hand-held signals; the charging assembly 20 includes a charging end 21; the dummy charge sensor 30 is electrically connected with the charging end 21 to collect a charging signal of the charging end 21; the moving assembly 40 includes a drive wheel 41; the control unit 50 is connected to the sensor 12 and the dummy charge sensor 30, respectively, to obtain a hand-held signal and a charge signal for determining the movement state and the charge state of the robot 01. The control unit 50 is configured to control the driving wheel 41 to rotate according to the moving state and the charging state of the robot 01, so as to drive the charging end 21 to abut against the charging pile 02.

The handle 10 is a structure providing a hand-held position for a user, enabling the user to move by pushing the robot 01 through the handle 10. The handle 10 specifically includes a hand-held portion 11 for holding a user, and a sensor 12 for sensing information held by the user, wherein the hand-held portion 11 is a part for holding the user.

Wherein the sensors 12 may select different types of sensors 12 as desired. By way of example, the sensor 12 may include at least one of a pressure sensor and a laser sensor, or other types of sensors may be employed without limitation.

The hand-hold portion 11 may be provided in different configurations as required, for example, may be provided in a simple protruding structure for easy holding, or may be provided in a structure such as a grip or a groove that conforms to the shape of holding, and is not limited herein.

The specific structure of the hand-held part 11 corresponds to the type of the sensor 12, so that the sensor 12 can accurately sense the hand-held signal. For example, if the sensor 12 is provided as a pressure sensor, the hand-held portion 11 is provided in a structure having a pressing plate or a pressing sheet.

The sensor 12 includes a sensing element and a signal generating element, and the hand-held signal acquired by the sensor 12 includes a signal that the user holds, a signal that the user cancels holding, or other signals that indicate whether the user holds the hand-held portion 11. The signal acquisition process of the sensor 12 may specifically be: when the user holds the hand-holding portion 11 of the handle 10, the sensing element of the sensor 12 senses and correspondingly generates a hand-held trigger signal through the signal generating element, and the moving state of the robot 01 is the hand-held moving state. When the user does not hold the hand 11, the sensing element of the sensor 12 senses and generates a non-hand signal by the signal generating element, and the moving state of the robot 01 is an automatic moving state.

The dummy charge sensor 30 is a member for sensing the state of charge of the robot 01. The dummy charge sensor 30 is also provided with a sensing element and a signal generating element.

The dummy charge sensor 30 may be specifically configured to collect a charge signal according to the connection of the charge circuit, that is, configured to sense the connection state of the circuit. If the sensing element of the dummy charge sensor 30 is set with an element that is not connected in parallel to the charging circuit for sensing, when the charging circuit of the robot 01 is connected, after the sensing element of the dummy charge sensor 30 senses the connection of the charging circuit, a charging connection signal is generated through the signal generating element, and at this time, the charging state of the robot 01 is the charging connection state. When the charging circuit of the robot 01 is opened, the virtual charging sensor 30 senses the opening of the charging circuit, and then the signal generating element generates a charging opening signal, and the charging state of the robot 01 is the charging stop state. The dummy charge sensor 30 may be provided with a resistor, a capacitor, or the like, and is not limited thereto.

The dummy charge sensor may be configured to sense a physical parameter such as a position sensor. The sensing element of the virtual charging sensor can be set as an element for sensing the relative position so as to sense whether the charging end reaches the position contacting with the electrode of the charging seat of the charging pile, correspondingly generate a charging communication signal when the charging end is sensed to contact with the electrode of the charging seat, and correspondingly generate a charging disconnection signal when the charging end is sensed to be separated from the electrode of the charging seat.

The sensor 12 and the dummy charge sensor 30 each include an information transmitter to transmit the collected signals to the control unit 50, specifically, the signals may be transmitted through a signal transmission interface or a wireless transmission module, which is not limited herein.

The specific structure of the moving assembly 40 can also select the moving assembly 40 with different moving modes according to the requirement. The driving wheel 41 of the moving assembly 40 refers to a component controlled by the control unit 50 to drive the robot 01 to move, and in the structure shown in fig. 1, the driving wheel 41 refers to a rotating wheel directly contacted with the ground to provide the gripping force under the control of a motor. In other forms of the movement assembly 40, the drive wheel 41 may be a component that does not contact the ground, such as a wheel that rotates the track when the movement assembly 40 is a track-type movement.

The control unit 50 is an element for controlling the driving wheel 41, and has a plurality of information transmitters and signal receivers, and further includes a processor, which is not described in detail herein. The control unit 50 is connected to the sensor 12 and the dummy charge sensor 30, respectively, that is, receives signals collected by the sensor 12 and the dummy charge sensor 30 through communication connection.

After receiving the hand-held signal collected by the sensor 12 and the charging signal of the charging terminal 21, the control unit 50 can determine whether the robot 01 is in the virtual charging state. Specifically, when the user pushes the robot to charge by holding the handle, the robot is separated from the charging state under the condition of no holding, and the robot is in the virtual charging state. In this regard, anti-dummy charge logic may be provided in the information processing unit of the control unit 50 to perform judgment analysis on the handheld signal and the charge signal.

For example, after the information processing unit of the control unit 50 receives the handheld signal and the energizing signal, the handheld signal and the energizing signal are analyzed and judged by the anti-virtual charging logic, if the handheld signal is the handheld trigger signal, the charging signal is the charging communication signal, and when the handheld trigger signal is converted into the non-handheld signal, the charging signal is also converted into the charging disconnection signal from the charging communication signal, so that the judging result of the robot 01 in the virtual charging state is obtained, and the driving wheel 41 is further controlled to rotate until recharging.

The control unit 50 may also determine based on information such as duration of the charge communication state in the process of determining that the robot 01 is in the virtual charge state. The corresponding control unit 50 is configured such that a timer is provided in the control unit 50 to record the charging time of the charging terminal 21.

Corresponding to the difference of the structural types of the signal transmitter and the signal receiver between the sensor 12, the dummy charge sensor 30 and the control unit 50, the connection modes of the sensor 12, the dummy charge sensor 30 and the control unit 50 are mainly divided into two types of wired communication connection and wireless communication connection. The specific structure among the sensor 12, the dummy charge sensor 30 and the control unit 50 corresponds to the specific manner of wired communication connection and wireless communication connection, refer specifically to fig. 3, and fig. 3 is a schematic diagram of the communication connection relationship between the elements in the robot according to the present embodiment.

As shown in fig. 3, the structure and connection manner of each element corresponding to the wired communication connection may specifically be: the sensor 12 is provided with a sensor signal transmitting interface 121; the virtual charging sensor 30 is provided with a sensor signal transmitting interface 31; the control unit 50 is provided with a first signal interface 51 corresponding to the sensor signal transmission interface 121 and a second signal interface 52 corresponding to the sensor signal transmission interface 31; the sensor signal transmitting interface 121 and the first signal interface 51 are connected through a first communication line; the sensor signal transmission interface 31 and the second signal interface 52 are connected by a second communication line.

The wireless communication connection may specifically be a bluetooth connection, information transmission, etc. Taking bluetooth connection as an example, the structure and the connection mode of each element corresponding to bluetooth connection are specifically as follows: the sensor 12 is provided with a first bluetooth 122; the virtual charging sensor 30 is provided with a second Bluetooth 32; the control unit 50 is provided with a signal receiver 53 for receiving the handheld signal transmitted by the first bluetooth 122 and the charging signal transmitted by the second bluetooth 32.

It should be clear that the above described wired and wireless communication connections are merely connections between the sensor 12, the dummy charge sensor 30 and the control unit 50 for signal transmission. In this embodiment, the connection manner among the sensor 12, the dummy charge sensor 30 and the control unit 50 provides a basis for the control unit 50 to determine the dummy charge state, and the determination of the dummy charge state by the control unit 50 can be specifically implemented by performing a determination analysis on the handheld signal and the charging signal by the dummy charge prevention logic in the control unit.

In addition, in this embodiment, the dummy charge sensor generally refers to all devices capable of collecting the communication state of the charging circuit, and in a specific embodiment, may refer to a sensing device that is provided independently, or may refer to a combination of a plurality of elements in different components or parts, which is not particularly limited herein.

The above is the basic robot 01 provided in this embodiment, the sensor 12 is disposed on the hand-held portion 11 of the handle 10, and the virtual charging sensor 30 electrically connected to the charging end 21 is disposed, so that the sensor 12 and the virtual charging sensor 30 are respectively connected to the control unit 50 that controls the rotation of the driving wheel 41, so that the control unit 50 can receive the hand-held signal collected by the sensor 12 and the charging signal of the charging end 21, and the control unit 50 can sense the occurrence of the virtual charging phenomenon, so that the driving wheel 41 can be controlled to rotate, and the charging end 21 of the robot 01 is abutted to the charging pile 02 to recover the charging state, thereby ensuring the reliability of charging.

In a specific implementation process, more specific setting can be performed on the basis of the robot 01, or other feasible structures can be added to obtain more functions or performances, so that the requirements of different application scenes are met. The following is a further detailed description based on the structure of the basic robot 01 shown in fig. 1, so as to fully understand the robot 01 provided by the present application.

Wherein, the driving force of the driving wheel 41 is provided by the motor 42, in order to enable the driving wheel of the robot 01 to be in a disabled state when the user pushes the robot 01, the robot 01 can be pushed at will, and the embodiment provides a feasible moving assembly 40.

Specifically, the moving assembly 40 includes a motor 42; the motor start switch of the motor 42 is arranged between the motor 42 and the communication circuit of the battery, and is controlled by the control unit 50 to energize or de-energize the motor 42; an output shaft of the motor 42 is coaxially arranged with the driving wheel 41, and a band brake is arranged on the output shaft; the band-type brake is connected in parallel with the motor 42 in a circuit, the output shaft is coaxially fixed with the driving wheel 41 by energizing the motor 42, and the coaxial fixation of the output shaft with the driving wheel 41 is released by de-energizing the motor 42, so that the driving wheel 41 is in a free state.

Wherein the start switch of the motor 42 is controlled by the control unit 50. Specifically, when the control unit 50 controls the rotation of the driving wheel 41, it directly controls the motor start switch to be closed, and energizes the motor 42. When the motor 42 is electrified, the band-type brake on the output shaft is electrified to start, and the output shaft and the driving wheel 41 are coaxially fixed, so that the output shaft of the motor 42 drives the driving wheel 41 to rotate.

When the control unit 50 controls the driving wheel 41 to stop rotating, the motor start switch is directly controlled to be turned on, so that the motor 42 is powered off. When the motor 42 is powered off, the band-type brake on the output shaft is also powered off to be closed, and the coaxial fixation of the output shaft and the driving wheel 41 is released, so that the rotation of the driving wheel 41 is not influenced by the motor 42.

When the user holds the hand-held portion 11, the control unit 50 receives the hand-held signal to control the motor 42 to be powered off, so that the user can freely push the robot 01.

Of course, the forward rotation and the reverse rotation of the motor 42 are also controlled by the control unit 50, and further, other rotation parameters such as the rotation speed of the motor 42 are also controlled by the control unit 50, which is not shown here.

The charging terminal 21 is configured to charge the cradle 03, and the charging terminal 21 is provided with a charging terminal 211. In order to prevent the charging terminal 211 from being scratched by an object such as a wall when not charging, a structure such as a shutter may be provided to protect the charging terminal 211.

One specific embodiment is as follows: the charging end 21 is provided with a baffle; when the charging end 21 is not in contact with the charging pile 02, the baffle shields the charging terminal 211; when the charging terminal 21 abuts against the charging pile 02, the shutter is biased by the abutting force to expose the charging terminal 211.

The baffle plate can be offset along with the charging action under the action of the structures such as the pressing plate, the spring and the like. Specifically, the structure of one of the baffles may be set as follows: when the charging end 21 is not abutted with the charging pile 02, the baffle shields the charging terminal 211 under the action of the elasticity of the spring; when the charging terminal 21 abuts against the charging pile 02, the shutter is biased against the elastic force of the spring by the abutting force, and the charging terminal 211 is exposed.

Of course, the charging terminal 21 may be configured in other structural forms, such as a structure hidden in the robot 01, a telescopic structure, etc., according to the requirements, which is not limited herein.

In order to enable the robot 01 to be held at the charging position after being charged by contact with the charging pile 02, a corresponding brake may be provided, specifically: the moving assembly 40 includes a brake 43; the braking device 43 is connected to the control unit 50 to brake the driving wheel 41 after the charging end 21 abuts against the charging pile 02.

The braking device 43 may be an electric device, and the braking device 43 is connected to the control unit 50 so as to be controlled by the control unit 50. Of course, the braking device 43 may be a mechanical device, for example, the braking device 43 is a movable braking block, and after the robot 01 abuts against the charging pile 02, the braking block is also abutted against the charging pile 02 to clamp the driving wheel 41 or other moving parts of the robot 01, so that the driving wheel or other moving parts cannot move.

In addition, an elastic force sensor may be disposed in the charging assembly 20 corresponding to the spring type charging stand 03, so that the control unit 50 can also control the rotation and stop of the driving wheel 41 according to the elastic force value collected by the elastic force sensor, or determine whether the robot 01 is in a virtual charging state according to the rotation and stop.

Specifically, the charging assembly 20 further includes an elastic force sensor, and the charging seat 03 of the charging pile 02 is configured as a spring-type charging seat 03; the position of the elastic force sensor corresponds to the position of the spring structure and is used for sensing the elastic force generated by the spring type charging seat 03 on the charging end 21; the elastic force sensor is connected with the control unit 50, so that the control unit 50 receives the elastic force value collected by the elastic force sensor and controls the driving wheel 41 to stop rotating when the elastic force value reaches a preset threshold value.

The robot provided by the application is described in detail above, when a user uses the robot, even if the robot breaks away from a charging state to form virtual charging due to external force, the connection relationship among the sensor, the virtual charging sensor and the control unit of the robot can enable the control unit to receive a handheld signal and a charging signal, so that the robot is sensed to be in the virtual charging state, and the corresponding control driving wheel rotates to drive the charging end of the robot to abut against the charging pile again for charging, so that the reliability of charging is ensured.

Application scenario 1

The hand-held part of the handle of the hand-held robot of the user, and the sensor collects the hand-held signal of the hand-held handle of the user and sends the hand-held signal to the control unit. After a user pushes the robot to the charging end to be in butt joint with the charging pile to realize charging, the virtual charging sensor collects charging signals communicated with a charging loop of the robot and sends the charging signals to the control unit, and the control unit senses that the robot is in a charging state through the handheld signals and the charging signals and does not control the driving wheels to rotate.

Application scenario 2

The sensor collects a handheld signal of the user loosening handheld part and sends the handheld signal to the control unit, the virtual charging sensor collects a charging signal of the robot, the charging loop of which is disconnected, and sends the charging signal to the control unit, and the control unit senses that the robot is in a virtual charging state through the handheld signal and the charging signal, so that the driving wheel is controlled to rotate, and the charging end is abutted with the charging pile to restore charging.

While the application has been described in terms of preferred embodiments, it is not intended to be limiting, but rather, it will be apparent to those skilled in the art that various changes and modifications can be made herein without departing from the spirit and scope of the application as defined by the appended claims.

Claims (10)

1. A robot, the robot comprising: the device comprises a handle, a charging assembly, a virtual charging sensor, a moving assembly and a control unit;

The handle includes a hand-held portion and a sensor; the sensor is arranged on the handheld part to collect handheld signals; the charging assembly comprises a charging end; the virtual charging sensor is electrically connected with the charging end to acquire a charging signal of the charging end;

The moving assembly includes a drive wheel;

The control unit is respectively connected with the sensor and the virtual charging sensor to obtain the handheld signal and the charging signal for judging the moving state and the charging state of the robot; the control unit is used for controlling the driving wheel to rotate according to the moving state and the charging state of the robot, so that the charging end is driven to be abutted with the charging pile.

2. The robot of claim 1, wherein the moving assembly comprises a motor;

The motor starting switch of the motor is arranged between the motor and the communication circuit of the battery and is controlled by the control unit to enable the motor to be electrified or powered off; the output shaft of the motor is coaxially arranged with the driving wheel, and a band-type brake is arranged on the output shaft; the band-type brake is connected with the motor in parallel in a circuit, the output shaft and the driving wheel are coaxially fixed along with the energization of the motor, and the coaxial fixation of the output shaft and the driving wheel is released along with the outage of the motor, so that the driving wheel is in a free state.

3. The robot of claim 1, wherein the sensor is provided with a sensor signal transmission interface; the virtual charging sensor is provided with a sensor signal transmitting interface; the control unit is provided with a first signal interface corresponding to the sensor signal transmission interface and a second signal interface corresponding to the sensor signal transmission interface; the sensor signal transmitting interface is connected with the first signal interface through a first communication line; the sensor signal transmission interface is connected with the second signal interface through a second communication line.

4. The robot of claim 1, wherein the sensor has a first bluetooth disposed thereon; the virtual charging sensor is provided with a second Bluetooth; the control unit is provided with a signal receiver for receiving the handheld signal sent by the first Bluetooth and the charging signal sent by the second Bluetooth.

5. The robot of claim 1, wherein the charging end is provided with a baffle; when the charging end is not abutted with the charging pile, the baffle shields the charging terminal; when the charging end is abutted with the charging pile, the baffle plate is offset under the action of the abutting force so as to expose the charging terminal.

6. The robot of claim 5, wherein the shutter shielding the charging terminal comprises: the baffle shields the charging terminal under the action of the elasticity of the spring;

The shutter being biased by an abutting force to expose the charging terminal includes: the baffle overcomes the elasticity of the spring under the action of the abutting force, and generates deflection so as to expose the charging terminal.

7. The robot of claim 1, wherein a timer is provided in the control unit to record a charging time of the charging terminal.

8. The robot of claim 1, wherein the sensor comprises at least one of a pressure sensor and a laser sensor.

9. The robot of claim 1, wherein the moving assembly comprises a brake; the braking device is connected with the control unit so as to brake the driving wheel after the charging end is abutted with the charging pile.

10. The robot of claim 1, wherein the charging assembly further comprises a spring force sensor, and wherein the charging stand of the charging post is configured as a spring-type charging stand; the position of the elastic force sensor corresponds to the position of the spring structure and is used for sensing the elastic force generated by the spring type charging seat on the charging end;

the elastic force sensor is connected with the control unit, so that the control unit receives the elastic force value acquired by the elastic force sensor, and controls the driving wheel to stop rotating when the elastic force value reaches a preset threshold value.