WO2017028275A1 - 带投影仪的飞行机器人 - Google Patents

带投影仪的飞行机器人 Download PDF

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Publication number
WO2017028275A1
WO2017028275A1 PCT/CN2015/087516 CN2015087516W WO2017028275A1 WO 2017028275 A1 WO2017028275 A1 WO 2017028275A1 CN 2015087516 W CN2015087516 W CN 2015087516W WO 2017028275 A1 WO2017028275 A1 WO 2017028275A1
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WO
WIPO (PCT)
Prior art keywords
flying robot
fixed end
projector
robot according
image
Prior art date
Application number
PCT/CN2015/087516
Other languages
English (en)
French (fr)
Inventor
杨帆
Original Assignee
北京艾肯拓科技有限公司
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by 北京艾肯拓科技有限公司 filed Critical 北京艾肯拓科技有限公司
Priority to US15/753,162 priority Critical patent/US10933966B2/en
Priority to PCT/CN2015/087516 priority patent/WO2017028275A1/zh
Priority to CN201620419585.5U priority patent/CN205652330U/zh
Publication of WO2017028275A1 publication Critical patent/WO2017028275A1/zh
Priority to US17/161,349 priority patent/US11753133B2/en
Priority to US17/161,371 priority patent/US11753134B2/en

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Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B64—AIRCRAFT; AVIATION; COSMONAUTICS
    • B64B—LIGHTER-THAN AIR AIRCRAFT
    • B64B1/00—Lighter-than-air aircraft
    • B64B1/06—Rigid airships; Semi-rigid airships
    • G—PHYSICS
    • G09—EDUCATION; CRYPTOGRAPHY; DISPLAY; ADVERTISING; SEALS
    • G09F—DISPLAYING; ADVERTISING; SIGNS; LABELS OR NAME-PLATES; SEALS
    • G09F21/00—Mobile visual advertising
    • G09F21/06—Mobile visual advertising by aeroplanes, airships, balloons, or kites
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B64—AIRCRAFT; AVIATION; COSMONAUTICS
    • B64B—LIGHTER-THAN AIR AIRCRAFT
    • B64B1/00—Lighter-than-air aircraft
    • B64B1/06—Rigid airships; Semi-rigid airships
    • B64B1/24—Arrangement of propulsion plant
    • B64B1/26—Arrangement of propulsion plant housed in ducts
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B64—AIRCRAFT; AVIATION; COSMONAUTICS
    • B64B—LIGHTER-THAN AIR AIRCRAFT
    • B64B1/00—Lighter-than-air aircraft
    • B64B1/06—Rigid airships; Semi-rigid airships
    • B64B1/24—Arrangement of propulsion plant
    • B64B1/30—Arrangement of propellers
    • B64B1/34—Arrangement of propellers of lifting propellers
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B64—AIRCRAFT; AVIATION; COSMONAUTICS
    • B64B—LIGHTER-THAN AIR AIRCRAFT
    • B64B1/00—Lighter-than-air aircraft
    • B64B1/40—Balloons
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B64—AIRCRAFT; AVIATION; COSMONAUTICS
    • B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
    • B64U10/00—Type of UAV
    • B64U10/30—Lighter-than-air aircraft, e.g. aerostatic aircraft
    • G—PHYSICS
    • G03—PHOTOGRAPHY; CINEMATOGRAPHY; ANALOGOUS TECHNIQUES USING WAVES OTHER THAN OPTICAL WAVES; ELECTROGRAPHY; HOLOGRAPHY
    • G03B—APPARATUS OR ARRANGEMENTS FOR TAKING PHOTOGRAPHS OR FOR PROJECTING OR VIEWING THEM; APPARATUS OR ARRANGEMENTS EMPLOYING ANALOGOUS TECHNIQUES USING WAVES OTHER THAN OPTICAL WAVES; ACCESSORIES THEREFOR
    • G03B21/00—Projectors or projection-type viewers; Accessories therefor
    • G03B21/10—Projectors with built-in or built-on screen
    • G—PHYSICS
    • G03—PHOTOGRAPHY; CINEMATOGRAPHY; ANALOGOUS TECHNIQUES USING WAVES OTHER THAN OPTICAL WAVES; ELECTROGRAPHY; HOLOGRAPHY
    • G03B—APPARATUS OR ARRANGEMENTS FOR TAKING PHOTOGRAPHS OR FOR PROJECTING OR VIEWING THEM; APPARATUS OR ARRANGEMENTS EMPLOYING ANALOGOUS TECHNIQUES USING WAVES OTHER THAN OPTICAL WAVES; ACCESSORIES THEREFOR
    • G03B29/00—Combinations of cameras, projectors or photographic printing apparatus with non-photographic non-optical apparatus, e.g. clocks or weapons; Cameras having the shape of other objects
    • G—PHYSICS
    • G03—PHOTOGRAPHY; CINEMATOGRAPHY; ANALOGOUS TECHNIQUES USING WAVES OTHER THAN OPTICAL WAVES; ELECTROGRAPHY; HOLOGRAPHY
    • G03B—APPARATUS OR ARRANGEMENTS FOR TAKING PHOTOGRAPHS OR FOR PROJECTING OR VIEWING THEM; APPARATUS OR ARRANGEMENTS EMPLOYING ANALOGOUS TECHNIQUES USING WAVES OTHER THAN OPTICAL WAVES; ACCESSORIES THEREFOR
    • G03B37/00—Panoramic or wide-screen photography; Photographing extended surfaces, e.g. for surveying; Photographing internal surfaces, e.g. of pipe
    • G03B37/04—Panoramic or wide-screen photography; Photographing extended surfaces, e.g. for surveying; Photographing internal surfaces, e.g. of pipe with cameras or projectors providing touching or overlapping fields of view
    • G—PHYSICS
    • G09—EDUCATION; CRYPTOGRAPHY; DISPLAY; ADVERTISING; SEALS
    • G09F—DISPLAYING; ADVERTISING; SIGNS; LABELS OR NAME-PLATES; SEALS
    • G09F19/00—Advertising or display means not otherwise provided for
    • G09F19/12—Advertising or display means not otherwise provided for using special optical effects
    • G09F19/18—Advertising or display means not otherwise provided for using special optical effects involving the use of optical projection means, e.g. projection of images on clouds
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B64—AIRCRAFT; AVIATION; COSMONAUTICS
    • B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
    • B64U2101/00—UAVs specially adapted for particular uses or applications
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B64—AIRCRAFT; AVIATION; COSMONAUTICS
    • B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
    • B64U2101/00—UAVs specially adapted for particular uses or applications
    • B64U2101/20—UAVs specially adapted for particular uses or applications for use as communications relays, e.g. high-altitude platforms
    • B64U2101/24—UAVs specially adapted for particular uses or applications for use as communications relays, e.g. high-altitude platforms for use as flying displays, e.g. advertising or billboards
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B64—AIRCRAFT; AVIATION; COSMONAUTICS
    • B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
    • B64U2101/00—UAVs specially adapted for particular uses or applications
    • B64U2101/30—UAVs specially adapted for particular uses or applications for imaging, photography or videography

Definitions

  • the present invention relates to a flying robot, and in particular to a flying robot with a projector.
  • cleaning robots can automatically clean the ground, windows, etc.
  • entertainment robots can interact with people through voice, sound and light, motion and touch reactions.
  • Ground robots mainly rely on wheeled or crawler motion platforms for movement, such as vacuuming robots, wireless remote control vehicles, automatic balancing vehicles, etc.; and flying robots are mostly aircraft with rotor construction, such as multi-axis aircraft.
  • ground robots are susceptible to the ground environment such as terrain and ground obstacles, and the range of motion is greatly limited, such as the inability or inconvenience of going up and down stairs, overturning obstacles such as furniture.
  • ground robots are usually small in size and moving close to the ground, so even if a display or interactive device is installed, the size is very limited, and since the angle of view is low, it is not easy to be observed and not Convenient to interact directly with the user.
  • the range of motion of flying robots is no longer limited by terrain and ground obstacles, so the range of motion has been greatly improved.
  • the flying robot is generally powered by a propeller. In order to generate sufficient power, the propeller needs to rotate at a high speed, which is very dangerous for people or objects close to the flying robot, and once the touch occurs, it will cause great damage to each other.
  • the flight time of the flying robot is inversely proportional to the weight and volume of the aircraft.
  • the theoretical life time of the civil unmanned aerial vehicle is no more than 20 minutes, no more than 10 minutes during maneuvering, and it can only carry a very limited load. Charges, such as cameras and communication equipment.
  • the weight of the aircraft will exceed several kilograms, and the power consumption of the power system will exceed several hundred watts, resulting in further shortened flight time and loud noise, which is not conducive to human-computer interaction experience. .
  • the present invention is directed to the problems existing in the above existing intelligent robots, and provides an indoor and outdoor flying robot with long battery life and convenient human-computer interaction.
  • a flying robot with a projector hereinafter referred to as a flying robot.
  • the flying robot includes a moving end including a top, a body and a bottom, wherein the top includes a lift system, the bottom includes a motion end control/function component and one or more projectors, and the fixed end includes a fixed end control/function component.
  • the mobile end and the fixed end can communicate wirelessly through the motion end control/function component and the fixed end control/function component, and the projector can project an externally visible image to the subject.
  • the flying robot of the invention comprises a moving end and a fixed end capable of communicating by means of wireless communication, and the moving end and the fixed end adopt a distributed working mode, that is, the moving end realizes functions of flight movement, data acquisition and transmission, human-computer interaction, etc., and is fixed.
  • the terminal implements data collection, data processing and analysis, flight, interactive control, and charging. This distributed design greatly reduces the weight of the moving end, thereby reducing the power consumption of the power system and thus reducing the noise during flight, enabling long-term flight and human-computer interaction during flight.
  • a flying robot wherein the moving end is substantially spherical (as shown in FIGS. 2 and 3), which includes being connected and fixed in a known manner (for example, by wires and data lines, etc.) Together with the top, body and bottom.
  • the moving end can be made into other suitable shapes.
  • the body of the moving end constitutes a substantial majority of the generally spherical shape made of a flexible film material that can be used as a rear projection screen.
  • the inside of the body is filled with a gas having a density lower than that of air, and the internal gas maintains a certain pressure to make the surface of the body flat.
  • the body when the body is filled with the gas, the body will have a certain buoyancy in the air, and since the film material is light, The larger the volume of the body, the greater the buoyancy. This makes it possible to further reduce the weight of the moving end and the power required by the lift system.
  • the top of the moving end comprises a lift system for providing the lift required for the sport side to fly and one or more proximity sensors, in other embodiments of the invention, the one or more The proximity sensor can also be located at the bottom of the moving end.
  • the lift system includes a top casing that forms part of the sphere and A fan housed within the top housing, wherein the fan may be a centrifugal fan, an axial fan or other fan as will occur to those of skill in the art.
  • the top housing has a top central opening and a plurality of side openings spaced along the circumference of the lower side of the top housing.
  • air is drawn in from the top central opening, and is ejected from the plurality of side openings at a high speed by the action of the fan.
  • the "Boundary Layer Adsorption Effect (or Coanda Effect)” if a fluid flowing smoothly passes through a convex surface having a certain curvature, there is a tendency to adsorb toward the convex surface, so the air ejected from the fan at a high speed flows at a high speed.
  • the upper surface of the spherical body and according to the "boundary layer surface effect (or Bernoulli effect)", when the fluid velocity is increased, the pressure at the interface where the object contacts the fluid is reduced, so the high-speed air flow causes the upper surface of the sphere.
  • the air pressure is lowered to create a pressure difference between the upper and lower side surfaces of the body, generating an active lift.
  • the one or more proximity sensors are used to sense the distance of the flying robot from surrounding people or objects to avoid collisions that are too close.
  • the bottom of the moving end may comprise a motion end control/function component and one or more rear projection projectors, which may include, for example, a wireless communication module, a microcontroller, The battery, direction and steering control device, camera device, sound collection and reproduction device and sensor, etc., the sensor may be a height sensor and other sensors.
  • the fixed end may include a fixed end control/function component, which may include, for example, a wireless communication module, a control device, a charging interface, and other data interfaces.
  • a fixed end control/function component which may include, for example, a wireless communication module, a control device, a charging interface, and other data interfaces.
  • the wireless communication module of the mobile terminal can be solid
  • the fixed wireless communication module performs wireless communication, and transmits data information collected by the mobile terminal, such as a sound collection device, an imaging device, and a sensor, to the fixed-end wireless communication module, and receives a control instruction of the fixed-end control device from the wireless communication module at the fixed end. And passing it to the microcontroller of the mobile terminal, which may be a Wi-Fi module or a wireless module or the like.
  • the motion-side microcontroller can control the motion end according to the control command and data information sent by the fixed-end control device, thereby controlling the flight state, display content, sound content, and the like of the motion end.
  • the battery is capable of storing electrical energy and supplying power to the kinematic control/function components, which can be charged via a fixed-end charging interface.
  • the rear projection projector can project an image from the inside of the main body to the outside of the main body, and use the main body as a display screen to form an image on the flexible film forming the main body for human-computer interaction.
  • the image projected by the rear projection projector can cover most of the sphere, for example, it can realize 60-360 degree projection, and the display area is large, which is helpful for human-computer interaction at a short distance or a long distance, and can be used for advertisement playing, Consultation display, etc.
  • the direction and steering control device can control the direction of flight of the sporting end and its own steering, which can be one or more fans, such as but not limited to a fan with three or more valves arranged at an angle to each other; Three or more fans arranged angularly; two or more fans that are reversely rotatable at an angle to each other; the direction and steering control device may also be other than those known to those skilled in the art other than fans Device.
  • fans such as but not limited to a fan with three or more valves arranged at an angle to each other; Three or more fans arranged angularly; two or more fans that are reversely rotatable at an angle to each other; the direction and steering control device may also be other than those known to those skilled in the art other than fans Device.
  • the camera device can collect images of the environment in which the sports end is located, including people interacting with the sports end and actions performed by them, to perform human-computer interaction according to the actions.
  • the sound collecting and reproducing device may be a microphone, a speaker, or the like, and can perform human-computer interaction by sound.
  • the height sensor is capable of sensing height data of the moving end from the ground or other objects. Other sensors may include, but are not limited to, temperature sensors, humidity sensors, gyroscopes, magnetometers, and acceleration sensors as needed.
  • the fixed-end wireless communication module is capable of wirelessly communicating with the wireless communication module of the mobile terminal, receiving data information collected by the mobile terminal, such as a sound collection and reproduction device, an imaging device, and a sensor, and transmitting control of the control device to the wireless communication module of the mobile terminal. Commands, such as controlling the flight state of the sport side and the projected content of the projector.
  • the fixed-end control device may be a task computer capable of performing data processing and analysis, logic operations, transmitting control commands, and human-computer interaction tasks, and may send control commands to the mobile terminal automatically or according to an operator's instruction.
  • the fixed end charging interface is capable of charging the mobile end. According to other embodiments of the present invention, the charging interface may also be other known forms such as contacts, sockets, and the like. Other data interfaces on the fixed end can be used to access networks or other computer devices.
  • a flying robot can display an image or play a sound in response to an action or sound.
  • the fixed end may also be a base in the form of a socket, which includes a charging device capable of projecting an image on the main body when the moving end is charged on the fixed end, the image including color changing light or Pure color light, etc., when the flying robot can be used as a decorative light or lighting.
  • the mobile terminal may further include a memory
  • the projector and the sound reproducing device of the mobile terminal may display or play the video and audio stored in advance in the memory by themselves when the fixed end is turned off or cannot be wirelessly communicated therewith, or
  • the mobile terminal's microcontroller can control the motion end based on pre-stored instructions in the memory.
  • rear projection projector it can project on the main body of the robot, which can enlarge the display area without increasing the weight, and facilitate human-computer interaction;
  • the inside of the main body is filled with a gas having a density lower than that of air, so that the main body has a certain buoyancy in the air, which makes it possible to further reduce the weight of the moving end and the power required by the power system;
  • the moving end is a spheroid or a spheroid, the volume is large, the air resistance is also large, the flying speed is not too fast, the main body itself can be made of a flexible material, and the fan The blade is surrounded by the top casing and does not cause injury even if it collides with the surrounding people or objects in the event of loss of control.
  • FIG. 1 is a schematic overall view of a flying robot with a projector according to an embodiment of the present invention
  • Figure 2 is a perspective view of the moving end of the flying robot with the projector of Figure 1 as viewed from the upper side;
  • FIG. 3 is a schematic diagram showing the principle of generating lift of the lift system of the flying robot with the projector of FIG. 1;
  • Figure 4 is a perspective view of the moving end of Figure 2 as viewed from the underside;
  • Figure 5 is a schematic view of the fixed end of the flying robot with the projector of Figure 1;
  • FIG. 6 is a general schematic view of a flying robot with a projector according to another embodiment of the present invention, wherein the fixed end is a socket type base.
  • a flying robot 10 includes a sports terminal 100 and a fixed terminal 200 capable of communicating in a wireless communication manner, and the mobile terminal 100 and the fixed terminal 200 adopt a distributed operation mode, that is,
  • the mobile terminal 100 implements functions such as flight motion, data acquisition and transmission, and human-computer interaction.
  • the fixed terminal 200 implements functions of data collection, data processing and analysis, flight, interactive control, and charging of the mobile terminal.
  • the moving end 100 is substantially spherical (as shown in FIGS. 2 to 4), which includes connecting and fixing by a known means (for example, by wires and data lines, etc.) Top 110, body 120 and bottom 130 together.
  • a known means for example, by wires and data lines, etc.
  • FIG. 2 is a perspective view of the moving end 100 of the flying robot 10 with the projector of FIG. 1 as viewed from the upper side.
  • body 120 constitutes a substantially spherical majority that is made of a flexible film material that can be used as a rear projection screen.
  • the body diameter d can be selected according to the environment of use, and the body diameter d can be, for example, between 30 cm and 80 cm, preferably between 50 cm and 60 cm, in one embodiment, for example, 55 cm; in a shopping mall or stadium, when used in a home interior.
  • the body diameter d may be, for example, between 80 cm and 300 cm, preferably between 130 cm and 250 cm, and may be, for example, 200 cm in one embodiment, such as when used outdoors, such as a square or stadium, when used in public or commercial establishments.
  • the body diameter d may be, for example, 300 cm or more, or even 350 cm or more, and may be, for example, 400 cm in one embodiment.
  • the film material forming the main body 120 may be selected from the group consisting of polyethylene, nylon, polyester, rubber, and the like in consideration of requirements such as durability and light transmittance.
  • the film thickness may be less than 0.7 mm, such as between 0.1 mm and 0.7 mm, preferably between 0.2 mm and 0.6 mm, and in one embodiment may be, for example, about 0.2 mm.
  • the inside of the main body 120 is filled with a gas having a density lower than air, such as helium, hot air or other lighter than air, and the internal gas maintains a certain pressure P to flatten the surface of the main body, and the pressure P is an atmospheric pressure P ATM or slightly larger than one atmospheric pressure.
  • P aTM for example, interposed between 1.05P aTM to 1.20P aTM, in one embodiment, may be, for example, 1.10P aTM, wherein the atmospheric pressure P aTM is the ambient pressure, may vary with the particular location or weather conditions Wait a little bit.
  • the body 120 when the body 120 is filled with the gas such as helium, the body 120 will have a certain buoyancy in the air, and since the film material is light, the larger the diameter d of the body 120, the greater the buoyancy. This makes it possible to further reduce the weight of the sport end 100 and the power required by the lift system 112.
  • the top portion 110 includes a lift system 112 and one or more proximity sensors 114 for providing the lift required for the sport end 100 to fly.
  • the lift system 112 includes a top housing 1120 that forms part of a ball; a fan 1121 (shown in FIG. 3) that is received within the top housing 1120, wherein the fan 1121 can be Centrifugal fan, axial fan or can be thought of by those skilled in the art Other fans.
  • the top housing 1120 has a top central opening 1123 and a plurality of side openings 1122. As shown in FIGS. 2 and 3, a plurality of side openings 1122 are spaced apart along the circumference of the lower side of the top housing 1120.
  • FIG. 3 is a schematic diagram of the principle of the lift generated by the lift system 112 of the flying robot 10 with the projector of FIG. 1, wherein the thin arrows indicate the air flow direction and the thick arrows indicate the air pressure.
  • the fan 1121 rotates, air is drawn in from the top central opening 1123 of the top case 1120, and through the action of the fan 1121, a plurality of sides spaced apart from the lower side of the top case 1120.
  • the opening 1122 is ejected at a high speed.
  • the total lift of the flying robot of the present invention is the sum of its own buoyancy and active lift. In some cases, the active lift is about 5% or even lower of the total lift.
  • the one or more proximity sensors 114 are disposed on the lower peripheral edge of the top housing 1120 to sense the distance of the flying robot 10 from surrounding people or objects to avoid collisions with too close distances.
  • the proximity sensor 114 may also be disposed at other locations of the flying robot 10, such as the bottom 130, or both the top 110 and the bottom 130.
  • Figure 4 is a perspective view of the moving end 100 of Figure 2 as viewed from the underside.
  • the bottom portion 130 includes: a bottom case 1301; a projector 131 housed in the bottom case 1301, a wireless communication module 132, a microcontroller 133, a battery 134, a direction and steering control device 135, The imaging device 136, the sound collecting and reproducing device 137, the height sensor 138, and other sensors (not shown).
  • projector 131 can be a miniature rear projection projector.
  • FIG. 5 is a schematic illustration of the fixed end 200 of the flying robot 10 with the projector of Figure 1.
  • the fixed end 200 includes a wireless communication module 220, a control device 240, and a charging interface 260.
  • the fixed end 200 also includes other data interfaces (not shown).
  • the wireless communication module 132 of the mobile terminal 100 can wirelessly communicate with the wireless communication module 220 of the fixed terminal 200, and transmit the sound collecting and reproducing device 137 of the mobile terminal 100 to the wireless communication module 220 of the fixed terminal 200.
  • the data information collected by the camera 136, the sensor, and the like, and the control command of the control device 240 of the fixed terminal 200 is received from the wireless communication module 220 of the fixed terminal 200 and transmitted to the microcontroller 133 of the mobile terminal 100, and the wireless communication is performed.
  • Modules 132 and 220 can be Wi-Fi modules or wireless modules, and the like.
  • the microcontroller 133 can control the mobile terminal 100 based on control commands and data information issued by the control device 240 of the fixed terminal 200, thereby controlling the flight state, display content, sound content, and the like of the sports terminal 100.
  • Battery 134 is capable of storing electrical energy and powering mobile terminal 100, which can be charged through charging interface 260 of fixed end 200.
  • projector 131 is capable of projecting an image outwardly from within body 120 and using body 120 as a display screen for imaging on a flexible film forming body 120 for human-computer interaction.
  • the image 122 projected by the projector 131 can cover most of the range of the body 120, for example, a 60-360 degree projection can be achieved.
  • the direction and steering control device 135 can control the direction of flight of the sport end 100 and its own steering, which can be one or more fans.
  • the direction and steering control device 135 can be a fan with three or more valves arranged at an angle to each other, wherein the flight direction of the sport end 100 and itself can be controlled by controlling the closing of the valve Turn.
  • the direction and steering control device 135 can be three or more fans arranged at an angle to each other.
  • the direction and steering control device 135 can be two or more fans that are reversely rotatable disposed at an angle to each other.
  • the direction and steering control device may also be other devices than fans.
  • the camera 136 can capture images of the environment in which the mobile terminal 100 is located, including people interacting with the mobile terminal 100 and actions they perform, etc., to perform human-computer interaction according to the actions.
  • the sound collecting and reproducing device 137 may be a microphone, a speaker, or the like, and can perform human-computer interaction by sound.
  • the height sensor 138 is capable of sensing the height of the sport end 100 from the ground or other objects. Other sensors may include, but are not limited to, temperature sensors, humidity sensors, gyroscopes, magnetometers, and acceleration sensors as needed.
  • the wireless communication module 220 of the fixed end 200 can perform wireless communication with the wireless communication module 132 of the mobile terminal 100, and is received by, for example, the sound collecting and reproducing device 137, the imaging device 136, and the sensor of the mobile terminal 100.
  • the collected data information is sent to the wireless communication module 132 of the mobile terminal 100 to transmit control commands of the control device 240, such as controlling the flight state of the sports terminal 100 and the projected content of the projector 131.
  • control device 240 of the fixed terminal 200 may be a task computer capable of performing data processing and analysis, logical operations, sending control commands, and human-computer interaction tasks, and may be automatically or according to an operator's instruction according to a pre-stored program. End 100 sends a control command.
  • Charging interface 260 can charge the mobile terminal. In other embodiments of the invention, charging interface 260 can also be other known forms of contacts, sockets, and the like. Other data interfaces (not shown) may be used to access the network or other computer devices and the like.
  • FIG. 6 is an overall schematic view of a flying robot 10 with a projector in accordance with another embodiment of the present invention.
  • the fixed end 300 is a socket type base.
  • the rear projection projector 131 inside the flying robot 10 can project an image, which includes color changing light or solid color light, etc., and the flying robot 10 can be used as a decorative light or illumination.
  • the lamp is used.
  • the mobile terminal 100 may include a memory (not shown), and the projector 131 and the sound collecting and reproducing device 137 of the mobile terminal 100 may display themselves when the fixed terminal 200 is turned off or cannot be wirelessly communicated therewith.
  • the video or audio stored in advance in the memory may be played, or the microcontroller 133 of the mobile terminal 100 may control the mobile terminal 100 according to an instruction stored in advance in the memory.
  • control device 240 can include any suitable type of general purpose microprocessor, data signal processor, microcontroller, dedicated hardware, and the like.
  • Control device 240 may also include or be connectable to a random access memory (RAM), read only memory (ROM), storage device, network interface, etc.; control device 240 may execute a sequence of computer program instructions to implement various programs.

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Abstract

一种带投影仪的飞行机器人（10），其包括运动端（100）和固定端（200）。运动端（100）和固定端（200）采用分布式工作模式。运动端（100）包括顶部（110）、主体（120）和底部（130）。顶部（110）包括升力系统（112）和一个或多个接近传感器（114）；主体（120）为由可用作背投屏幕的薄膜材料制成的密闭中空球状体或类球状体，内部充满密度小于空气的气体；底部（130）包括一个或多个背投式投影仪（131）、无线通信模块（132）、微控制器（133）、电池（134）、方向及转向控制装置（135）、摄像装置（136）、声音采集及再现装置（137）、高度传感器（138）以及其他传感器等。固定端（200）包括无线通信模块（220）、控制设备（240）、充电接口（260）以及其他数据接口等。本方案的带投影仪的飞行机器人（10）便于进行人机交互，适合在室内和室外环境中使用。

Description

带投影仪的飞行机器人 技术领域
本发明涉及一种飞行机器人，具体地，本发明涉及一种带投影仪的飞行机器人。
背景技术
近年来，智能机器人开始走进人们的生活，在各个方面为人类提供方便、快捷的帮助和服务。例如，清洁机器人可以自动清洁地面、窗户等；娱乐机器人可以通过语音、声光、动作及触碰反应等与人进行互动。
这些智能机器人按运动方式主要分为地面式和飞行式两种。地面机器人主要依靠轮式或履带运动平台进行运动，如吸尘机器人、无线遥控车、自动平衡车等；而飞行机器人多以旋翼构造的飞行器为主，例如多轴飞行器等。
然而，一方面，地面机器人易受地形和地面障碍物等地面环境影响，运动范围受到很大限制，例如不能或不方便上下楼梯、翻越诸如家具等障碍物。另一方面，出于提高灵活性的考虑，地面机器人通常体积较小并且靠近地面运动，所以即使安装显示或交互装置，其尺寸也非常有限，并且由于视角较低，不易于被观察到并且不方便与使用者进行直接交互。
与地面机器人相比，飞行机器人的运动范围不再受地形和地面障碍物的限制，因此运动范围有了很大提高。飞行机器人一般由螺旋桨提供动力，为了产生足够的动力，螺旋桨需高速旋转，这对于靠近飞行机器人的人或物体具有很大的危险性，一旦发生触碰，会对彼此造成很大损害。另外，飞行机器人的飞行时间与飞行器的重量和体积成反比，一般民用无人飞行器的理论续航时间不超过20分钟，在进行机动飞行时不超过10分钟，并且只能搭载非常有限的载 荷，如摄像头和通信设备等。如果需要搭载其他设备例如人机交互显示器等，飞行器的重量会超过几公斤，动力系统消耗的功率会超过几百瓦，由此导致飞行时间进一步缩短并且噪音较大，不利于进行人机交互体验。
发明内容
本发明针对以上现有智能机器人存在的问题，提供一种续航时间长，便于进行人机交互的室内和室外用飞行机器人。
根据本发明的一个方面，提供一种带投影仪的飞行机器人，以下简称为飞行机器人。飞行机器人包括：运动端，其包括顶部、主体和底部，其中顶部包括升力系统，底部包括运动端控制/功能组件以及一个或多个投影仪；固定端，其包括固定端控制/功能组件。其中，运动端与固定端能够通过运动端控制/功能组件和固定端控制/功能组件进行无线通信，投影仪能够向主体投射外部可见的影像。
本发明的飞行机器人包括能够以无线通信方式进行通信的运动端和固定端，运动端和固定端采用分布式工作模式，即运动端实现飞行运动、数据采集与传输、人机交互等功能，固定端实现数据收集、数据处理与分析、对运动端进行飞行、交互控制以及充电等功能。这种分布式设计使得运动端的重量大大降低，从而减小动力系统的功率消耗并因此降低其飞行时的噪音，使长时间的飞行和飞行时的人机交互成为可能。
根据本发明的一种实施方式的飞行机器人，其中，运动端为大致球形(如图2和图3所示)，其包括通过已知的方式(例如通过电线和数据线路等)连接并固定在一起的顶部、主体和底部。当然，本领域技术人员可以想到，可以将运动端制成其他适合的形状。
运动端的主体构成了大致球形的绝大部分，其由可用作背投屏幕的柔性薄膜材料制成。主体内部充满密度小于空气的气体，并且内部气体保持一定压强使主体表面平整。这样，当主体充满所述气体时，主体在空气中会具有一定的浮力，并且由于薄膜材料较轻， 主体体积越大，浮力也会越大。这使得可以进一步降低运动端的重量和升力系统所需要的功率。
根据本发明的一种实施方式，运动端的顶部包括用来提供运动端飞行时所需要的升力的升力系统和一个或多个接近传感器，在本发明的其他实施方式中，所述一个或多个接近传感器也可位于运动端的底部。由于本发明的飞行机器人飞行所需的总升力由主动升力和自身浮力构成，所以浮力越大主动升力就可以越小，根据本发明的一方面，升力系统包括构成球体的一部分的顶部壳体和容纳在顶部壳体内的风扇，其中所述风扇可以是离心式风扇、轴流式风扇或本领域技术人员可以想到的其他风扇。所述顶部壳体具有顶部中央开口和沿着顶部壳体的下侧周缘间隔地设置的多个侧部开口。当风扇旋转时，空气被从顶部中央开口吸入，经过风扇的作用，从所述多个侧部开口高速喷出。根据“边界层吸附效应(或康达效应)”，如果平顺地流动的流体经过具有一定弯度的凸表面的时候，有向凸表面吸附的趋向，所以从风扇高速喷出的空气会高速流过球状主体上表面，同时又根据“边界层表面效应(或伯努利效应)”，当流体速度加快时，物体与流体接触的界面上的压力会减小，所以高速空气流会造成球体上表面空气压力降低，从而在主体的上下侧表面之间形成压力差，产生主动升力。所述一个或多个接近传感器用于感测飞行机器人与周围人或物体的距离，避免距离过近而发生碰撞。
根据本发明的一种实施方式，运动端的底部可包括运动端控制/功能组件和一个或多个背投式投影仪，所述运动端控制/功能组件可以包括例如无线通信模块、微控制器、电池、方向及转向控制装置、摄像装置、声音采集及再现装置和传感器等，所述传感器可以是高度传感器以及其他传感器。
固定端可包括固定端控制/功能组件，所述固定端控制/功能组件可以包括例如无线通信模块、控制设备、充电接口和其他数据接口等。
根据本发明的一种实施方式，运动端的无线通信模块能够与固 定端的无线通信模块进行无线通信，向固定端的无线通信模块传输由运动端的例如声音采集装置、摄像装置以及传感器等所采集的数据信息，并从固定端的无线通信模块接收固定端控制设备的控制指令并将其传递至运动端的微控制器，所述无线通信模块可以是Wi-Fi模块或无线模块等。运动端的微控制器能够根据由固定端的控制设备发出的控制指令和数据信息对运动端进行控制，从而控制运动端的飞行状态、显示内容、声音内容等。电池能够储存电能并向运动端控制/功能组件等供电，其可以通过固定端的充电接口进行充电。
背投式投影仪能够由主体内向主体外投射影像，并将主体用作显示屏在形成主体的柔性薄膜上成像，以用于人机交互。由背投式投影仪投射的影像可覆盖球体的大部分范围，例如可实现60-360度投影，显示面积较大，有助于近距离或较远距离的人机交互，可用于广告播放、咨询显示等。
方向及转向控制装置能够控制运动端的飞行方向及自身转向，其可以是一个或多个风扇，例如但不限于带有彼此成一定角度布置的三个或更多个阀门的一个风扇；彼此成一定角度布置的三个或更多个风扇；彼此成一定角度布置的可反向旋转的两个或更多个风扇；方向及转向控制装置还可以是除了风扇之外本领域技术人员已知的其他装置。
摄像装置能够采集运动端所处环境的影像，包括与运动端进行交互的人以及他们做出的动作等，以根据动作进行人机交互。声音采集及再现装置可以是麦克风和扬声器等，能够通过声音进行人机交互。高度传感器能够感测运动端距地面或其他物体的高度数据。其他传感器可根据需要包括但不限于温度传感器、湿度传感器、陀螺仪、磁力计以及加速度传感器等。
固定端的无线通信模块能够与运动端的无线通信模块进行无线通信，接收由运动端的例如声音采集及再现装置、摄像装置以及传感器等所采集的数据信息，并向运动端的无线通信模块发送控制设备的控制指令，例如控制运动端的飞行状态和投影仪的投射内容。
固定端的控制设备可以是能够进行数据处理及分析、逻辑运算、发送控制指令以及人机交互等任务的任务计算机，其可自动或根据操作人员的指令向运动端发送控制指令。固定端的充电接口能够对运动端充电，根据本发明的其他实施方式，充电接口还可以是触点、插座等其他已知形式。固定端的其他数据接口可用于接入网络或其他计算机设备等。
根据本发明的一种实施方式的飞行机器人能够响应于动作或声音而显示影像或播放声音。
根据本发明的其他实施方式，固定端还可以是灯座形式的底座，其包括充电装置，当运动端在固定端上充电时，投影仪能够在主体上投射影像，所述影像包括变色光或纯色光等，这时飞行机器人可作为装饰灯或照明灯使用。
根据本发明的另一方面，运动端还可包括存储器，在固定端关闭或者无法与其进行无线通信时，运动端的投影仪和声音再现装置可自行显示或播放存储器中预先存储的视频和音频，或者运动端的微控制器可根据存储器中预先存储的指令对运动端进行控制。
根据本发明的飞行机器人具有以下优点：
1)带有背投式投影仪，能够在机器人主体上投影，可在不增加重量的情况下扩大显示面积，便于进行人机交互；
2)采用分布式设计，使得运动端的重量大大降低，从而减小动力系统的功率消耗并提高其在室内环境使用的安全性；
3)主体内部充满密度小于空气的气体，使主体在空气中会具有一定的浮力，这使得可以进一步降低运动端的重量和动力系统所需要的功率；
4)由于降低了运动端的重量和动力系统的功率，使其在飞行时的噪音大大降低，从而使长时间的飞行和飞行时的人机交互成为可能；
5)运动端为球状体或类球状体，体积较大，空气阻力也较大，飞行速度不至于过快，主体本身可使用柔性材料制成，并且风扇的 扇叶被围绕在顶部壳体内，即使在失控的情况下与周围的人或物发生碰撞，也不会造成伤害。
附图说明
图1是根据本发明的一种实施方式的带投影仪的飞行机器人的整体示意图；
图2是图1中带投影仪的飞行机器人的运动端的从上侧观察的立体图；
图3是图1中带投影仪的飞行机器人的升力系统产生升力的原理示意图；
图4是图2中运动端的从下侧观察的立体图；
图5是图1中带投影仪的飞行机器人的固定端的示意图；
图6是根据本发明的另一种实施方式的带投影仪的飞行机器人的整体示意图，其中固定端为灯座型底座。
具体实施方式
下面，参照附图详细描述本发明的带投影仪的飞行机器人。这里所描述的内容仅仅是本发明的优选实施方式，本领域技术人员可以根据本发明的教导想到能够实现本发明的其他方式。本文中出现的方位术语，例如“上”、“下”、“左”、“右”、“顶部”、“底部”、“水平”、“竖直”等是相对于飞行机器人自身而言的。
图1是根据本发明的一种优选实施方式的带投影仪的飞行机器人10的整体示意图。如图1所示，根据本发明的一种优选实施方式的飞行机器人10包括能够以无线通信方式进行通信的运动端100和固定端200，运动端100和固定端200采用分布式工作模式，即运动端100实现飞行运动、数据采集与传输、人机交互等功能，固定端200实现数据收集、数据处理与分析、对运动端进行飞行、交互控制以及充电等功能。其中，运动端100为大致球形(如图2-图4所示)，其包括通过已知的方式(例如通过电线和数据线路等)连接并固定 在一起的顶部110、主体120和底部130。当然，本领域技术人员可以想到，可以将运动端制成其他适合的形状。
图2是图1中带投影仪的飞行机器人10的运动端100的从上侧观察的立体图。如图2所示，主体120构成了大致球形的绝大部分，其由可用作背投屏幕的柔性薄膜材料制成。主体直径d可根据使用环境进行选择，在家庭室内使用时主体直径d可以在例如30cm到80cm之间，优选在50cm到60cm之间，在一种实施方式中可为例如55cm；在商场或体育馆等公共或商业场所内使用时主体直径d可以在例如80cm到300cm之间，优选在130cm到250cm之间，在一种实施方式中可为例如200cm；在开放场所例如室外诸如广场或体育场使用时主体直径d可以在例如300cm以上，甚至350cm以上，在一种实施方式中可为例如400cm。考虑到耐用性及透光性等要求，形成主体120的薄膜材料可以选自聚乙烯、尼龙、涤纶、橡胶等。薄膜厚度可以小于0.7mm，例如在0.1mm到0.7mm之间，优选在0.2mm到0.6mm之间，在一种实施方式中可为例如约0.2mm。主体120内部充满密度小于空气的气体，例如氦气、热空气或其他轻于空气的气体，并且内部气体保持一定压强P使主体表面平整，压强P为一个大气压强PATM或略大于一个大气压强PATM，例如介于1.05PATM到1.20PATM之间，在一种实施方式中可为例如1.10PATM，其中所述大气压强PATM是环境压强，可能随着具体的地理位置或天气情况等略有变化。这样，当主体120充满所述气体例如氦气时，主体120在空气中会具有一定的浮力，并且由于薄膜材料较轻，主体120的直径d越大，浮力也会越大。这使得可以进一步降低运动端100的重量和升力系统112所需要的功率。
顶部110包括用来提供运动端100飞行时所需要的升力的升力系统112以及一个或多个接近传感器114。根据本发明的一种优选实施方式，升力系统112包括：构成球体的一部分的顶部壳体1120；容纳在顶部壳体1120内的风扇1121(如图3所示)，其中所述风扇1121可以是离心式风扇、轴流式风扇或本领域技术人员可以想到的 其他风扇。所述顶部壳体1120具有顶部中央开口1123和多个侧部开口1122。如图2和图3所示，多个侧部开口1122沿着顶部壳体1120的下侧周缘间隔地设置。
图3是图1中带投影仪的飞行机器人10的升力系统112产生升力的原理示意图，其中细箭头表示空气流动方向，粗箭头表示空气压力。如图3所示，当风扇1121旋转时，空气被从顶部壳体1120的顶部中央开口1123吸入，经过风扇1121的作用，从沿着顶部壳体1120的下侧周缘间隔地设置的多个侧部开口1122高速喷出。根据“边界层吸附效应(或康达效应)”，如果平顺地流动的流体经过具有一定弯度的凸表面的时候，有向凸表面吸附的趋向，所以从多个侧部开口1122高速喷出的空气会高速流过主体120的上侧表面，同时又根据“边界层表面效应(或伯努利效应)”，当流体速度加快时，物体与流体接触的界面上的压力会减小，所以高速空气流会造成主体120的上侧表面空气压力P上降低，导致上侧表面空气压力P上小于下侧表面空气压力P下，从而在主体120的上下侧表面之间形成压力差ΔP＝P下-P上，从而产生主动升力。本发明的飞行机器人的总升力为自身浮力与主动升力之和，在一些情况下，主动升力为总升力的约5％，甚至更低。
如图2所示，所述一个或多个接近传感器114设置在顶部壳体1120的下侧周缘上，能够感测飞行机器人10与周围人或物体的距离，避免距离过近而发生碰撞。当然，本领域技术人员可以想到在本发明的其他实施方式中，接近传感器114也可布置在飞行机器人10的其他位置，例如底部130，或者顶部110与底部130均有。
图4是图2中运动端100的从下侧观察的立体图。如图2和图4所示，底部130包括：底部壳体1301；容纳在底部壳体1301内的投影仪131、无线通信模块132、微控制器133、电池134、方向及转向控制装置135、摄像装置136、声音采集及再现装置137、高度传感器138以及其他传感器等(未示出)。在一些实施方式中，投影仪131可以是微型背投式投影仪。
图5是图1中带投影仪的飞行机器人10的固定端200的示意图。如图5所示，固定端200包括无线通信模块220、控制设备240和充电接口260。在一种实施方式中，固定端200还包括其他数据接口(未示出)。
根据本发明的实施方式，运动端100的无线通信模块132能够与固定端200的无线通信模块220进行无线通信，向固定端200的无线通信模块220传输由运动端100的声音采集及再现装置137、摄像装置136以及传感器等所采集的数据信息，并从固定端200的无线通信模块220接收固定端200的控制设备240的控制指令并将其传递至运动端100的微控制器133，无线通信模块132和220可以是Wi-Fi模块或无线模块等。微控制器133能够根据由固定端200的控制设备240发出的控制指令和数据信息对运动端100进行控制，从而控制运动端100的飞行状态、显示内容、声音内容等。电池134能够储存电能并向运动端100供电，其可以通过固定端200的充电接口260进行充电。
根据本发明，投影仪131能够由主体120内向外投射影像，并将主体120用作显示屏在形成主体120的柔性薄膜上成像，以用于人机交互。由投影仪131投射的影像122可覆盖主体120的大部分范围，例如可实现60-360度投影。
此外，根据本发明的实施方式，方向及转向控制装置135能够控制运动端100的飞行方向及自身转向，其可以是一个或多个风扇。在一种实施方式中，方向及转向控制装置135可以是带有彼此成一定角度布置的三个或更多个阀门的一个风扇，其中可通过控制阀门的关闭控制运动端100的飞行方向及自身转向。在另一种实施方式中，方向及转向控制装置135可以是彼此成一定角度布置的三个或更多个风扇。在又一种实施方式中，方向及转向控制装置135可以是彼此成一定角度布置的可反向旋转的两个或更多个风扇。当然，本领域技术人员可以理解，方向及转向控制装置还可以是除了风扇之外的其他装置。
另外，根据本发明的实施方式，摄像装置136能够采集运动端100所处环境的影像，包括与运动端100进行交互的人以及他们做出的动作等，以根据动作进行人机交互。声音采集及再现装置137可以是麦克风和扬声器等，能够通过声音进行人机交互。高度传感器138能够感测运动端100距地面或其他物体的高度。其他传感器可根据需要包括但不限于温度传感器、湿度传感器、陀螺仪、磁力计以及加速度传感器等。
根据本发明的实施方式，固定端200的无线通信模块220能够与运动端100的无线通信模块132进行无线通信，接收由运动端100的例如声音采集及再现装置137、摄像装置136以及传感器等所采集的数据信息，并向运动端100的无线通信模块132发送控制设备240的控制指令，例如控制运动端100的飞行状态和投影仪131的投射内容。
此外，固定端200的控制设备240可以是能够进行数据处理及分析、逻辑运算、发送控制指令以及人机交互等任务的任务计算机，其可根据预先存储的程序自动或根据操作人员的指令向运动端100发送控制指令。充电接口260能够对运动端充电，在本发明的在其他实施方式中，充电接口260还可以是触点、插座等其他已知形式。其他数据接口(未示出)可用于接入网络或其他计算机设备等。
图6是根据本发明的另一种实施方式的带投影仪的飞行机器人10的整体示意图。如图所示，固定端300为灯座型底座。当运动端100在固定端300上充电时，飞行机器人10内部的背投式投影仪131可投射出影像，所述影像包括变色光或纯色光等，这时飞行机器人10可作为装饰灯或照明灯使用。
根据本发明的其他实施方式，运动端100可包括存储器(未示出)，在固定端200关闭或者无法与其进行无线通信时，运动端100的投影仪131和声音采集及再现装置137可自行显示或播放存储器中预先存储的视频或音频，或者运动端100的微控制器133可根据存储器中预先存储的指令对运动端100进行控制。
以上参照附图对本发明的实施例进行了具体的描述。但是，本领域技术人员应该理解，上面的具体描述仅仅是举例性质的，用于说明性的目的，并非是用来限制本发明的保护范围。例如，接近传感器114可放置于球体顶部，或底部，也可上下均有；控制设备240可包括任何适合类型的通用微处理器、数据信号处理器、微控制器、专用硬件等。控制设备240还可包括或可连接到随机存取存储器(RAM)、只读存储器(ROM)、储存设备、网络接口等；控制设备240可执行计算机程序指令序列以实施各种程序。
本发明的保护范围仅由权利要求限定。得益于本发明的教导，本领域技术人员可以根据具体情况对本发明做出各种变型、修改或者替换而不脱离本发明的范围。

Claims (13)

  1. 一种带投影仪的飞行机器人，包括：
    运动端，其包括顶部、主体和底部，其中顶部包括升力系统，底部包括运动端控制/功能组件以及一个或多个投影仪；
    固定端，其包括固定端控制/功能组件；
    其中，运动端与固定端能够通过运动端控制/功能组件和固定端控制/功能组件进行无线通信，投影仪能够向主体投射外部可见的影像。
  2. 根据权利要求1所述的飞行机器人，其特征在于，主体由薄膜材料构成，其内部充满密度小于空气的气体。
  3. 根据权利要求1所述的飞行机器人，其特征在于，升力系统包括顶部壳体和容纳在顶部壳体内的风扇，顶部壳体包括顶部中央开口和多个侧部开口。
  4. 根据权利要求2所述的飞行机器人，其特征在于，升力系统包括顶部壳体和容纳在顶部壳体内的风扇，顶部壳体包括顶部中央开口和多个侧部开口。
  5. 根据权利要求3或4所述的飞行机器人，其特征在于，所述风扇为离心式风扇或轴流式风扇。
  6. 根据权利要求2所述的飞行机器人，其特征在于，升力系统提供的升力为飞行机器人所需总升力的约5％。
  7. 根据权利要求1-4中任一权利要求所述的飞行机器人，其特征在于，所述影像为60-360度影像。
  8. 根据权利要求1-4中任一权利要求所述的飞行机器人，其特征在于，运动端控制/功能组件和/或固定端控制/功能组件包括一个或多个接近传感器。
  9. 根据权利要求1-4中任一权利要求所述的飞行机器人，其特征在于，飞行机器人能够响应于动作或声音而显示影像或播放声音。
  10. 根据权利要求7所述的飞行机器人，其特征在于，固定端为 灯座型底座，其包括充电装置，当运动端在固定端上充电时，投影仪能够在主体上投射影像。
  11. 根据权利要求10所述的飞行机器人，其特征在于，所述影像包括变色光或纯色光。
  12. 根据权利要求1-4中任一权利要求所述的飞行机器人，其特征在于，运动端包括存储器，在运动端无法与固定端进行无线通信时，运动端能够自行显示或播放存储器中预先存储的视频或音频，或者能够执行存储器中预先存储的指令。
  13. 根据权利要求1-4中任一权利要求所述的飞行机器人，其特征在于，运动端的形状大致为球形。
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