WO2017157302A1 - 机器人 - Google Patents

机器人 Download PDF

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Publication number
WO2017157302A1
WO2017157302A1 PCT/CN2017/076752 CN2017076752W WO2017157302A1 WO 2017157302 A1 WO2017157302 A1 WO 2017157302A1 CN 2017076752 W CN2017076752 W CN 2017076752W WO 2017157302 A1 WO2017157302 A1 WO 2017157302A1
Authority
WO
WIPO (PCT)
Prior art keywords
support arm
disposed
head
pivot axis
chassis
Prior art date
Application number
PCT/CN2017/076752
Other languages
English (en)
French (fr)
Inventor
聂华闻
曾卓
梁达尧
蔡栋
Original Assignee
北京贝虎机器人技术有限公司
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 北京贝虎机器人技术有限公司 filed Critical 北京贝虎机器人技术有限公司
Publication of WO2017157302A1 publication Critical patent/WO2017157302A1/zh

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Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J11/00—Manipulators not otherwise provided for
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J11/00—Manipulators not otherwise provided for
    • B25J11/0005—Manipulators having means for high-level communication with users, e.g. speech generator, face recognition means
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J11/00—Manipulators not otherwise provided for
    • B25J11/008—Manipulators for service tasks

Definitions

  • the present disclosure relates to the field of mechanical equipment, and in particular to a robot.
  • robots have been widely used in our lives. For example, robots that teach in museums, robots that deliver food in restaurants, indoor cleaning robots (also known as sweepers), and robots that can chat with people.
  • robots in the related art have a single function and cannot meet a variety of user needs.
  • robots with voice interaction are generally high, and the robot takes up a lot of space and is not convenient for storage.
  • the present disclosure is directed to providing a robot.
  • a robot that has a small footprint and a variable shape, thereby being able to meet the needs of different functions for the shape of the robot, especially the need for the robot to highly influence the experience.
  • the robot comprises: a chassis; a support arm, the support arm is arranged on the chassis so as to be swingable up and down about the first pivot axis, the support arm has a recovery position and an outer swing position; and the head is disposed on the support arm.
  • a surface treatment apparatus having a voice interaction function, comprising: a chassis; a surface treatment device disposed at a bottom of the chassis for cleaning dust on the ground; and a support arm surrounding the first pivot
  • the rotation axis is oscillatingly disposed on the top of the chassis; the head is disposed on the support arm; wherein the head may include a display device for displaying visual elements; the microphone is disposed in the chassis and/or the head, In the voice interaction; wherein the support arm has a recovery position for facilitating travel on the ground during surface treatment, the support arm also has at least one outer swing position that swings about the first pivot axis during voice interaction.
  • the surface treatment device not only has a cleaning function but also a voice interaction function.
  • the support arm is disposed on the chassis by swinging up and down about the first pivot axis, and the support arm is recovered during cleaning, so that the surface treatment apparatus can ensure a comprehensive cleaning range through a low space such as a sofa or a bed.
  • the support arm is swinged out during speech interaction, so that the surface treatment device has a certain height, thereby facilitating voice interaction.
  • the relative position of the surface treatment device and the sound source can be adjusted to facilitate sound collection.
  • support arm recovery also facilitates storage of surface treatment equipment. In short, the surface treatment equipment is worn on the ground. The needs of the line can in turn have a height suitable for voice interaction.
  • a surface treatment apparatus which has an image capture function, including: a chassis; a surface treatment device disposed at the bottom of the chassis for cleaning dust on the ground; a support arm and a support arm winding a pivot axis is oscillatingly disposed at the top of the chassis; a head disposed on the support arm; wherein the head includes an optical image sensor for acquiring an image; wherein the support arm has a surface for easy handling on the ground
  • the support arm also has at least one outer swing position that is swung about the first pivot axis during image acquisition to adjust the angle of view of the image acquisition.
  • the surface treatment device has the requirement of walking through the ground and can have a height suitable for capturing images.
  • the surface treatment apparatus not only has a cleaning function but also has an image acquisition function.
  • the support arm is disposed on the chassis by swinging up and down about the first pivot axis, and the support arm is recovered during cleaning, so that the surface treatment apparatus can ensure a comprehensive cleaning range through a low space such as a sofa or a bed.
  • the outer swing support arm can adjust the angle of view of the optical image sensor for image acquisition during image acquisition, thereby avoiding the low viewing angle of the surface treatment device and collecting images suitable for viewing.
  • support arm recovery also facilitates storage of surface treatment equipment.
  • a robot having multiple functions including a cleaning function, a security function, and an interactive function
  • the robot comprising: a chassis; a surface treatment device disposed at the bottom of the chassis for cleaning a dust on the ground; a support arm, the support arm is oscillatingly disposed on the top of the chassis about the first pivot axis, wherein the support arm has a recovery position and at least one outer swing position; the head is disposed on the support arm; wherein the head
  • the part includes: an optical image sensor for acquiring images; a microphone disposed on the chassis and/or the head for voice interaction; wherein the robot is in a cleaning function, the support arm is in a recovery position for traveling on the ground, and the robot is in a security function
  • the support arm swings about the first pivot axis to a predetermined one swing position to adjust the angle of view of the image acquisition.
  • the support arm swings about the first pivot axis and has a plurality of outer swing positions to adjust The
  • the robot has a cleaning function, a security function and an interactive function
  • the support arm is swung around the first pivot axis by the control of the driving signal, so that the support arm is in a state corresponding to the function of the robot, so that the shape of the robot
  • the support arm recovery also facilitates robot storage.
  • a robot including: a chassis on which a traveling mechanism is disposed; and a support arm that is swingably supported on a top of the chassis about a first pivot axis, wherein the support The arm has a recovery position and at least one outer swing position; a head disposed on the support arm; an obstacle detection unit for Detecting an obstacle in a vertical direction in which the support arm and the head are located, and outputting a signal; and calculating a platform coupled to the obstacle detecting unit for controlling the support arm to swing about the first pivot axis in response to a signal of the obstacle detecting unit To adjust the height of the support arm and head to facilitate passage under the detected obstacle.
  • the robot has a support arm that can be swung out and can adjust the support arm according to the obstacle so that the robot can perform more tasks through obstacles of different heights.
  • an intelligent robot which has a voice interaction function
  • the intelligent robot includes: a chassis; a support arm, the support arm is swingably arranged on the top of the chassis about the first pivot axis, wherein The support arm has a recovery position and at least one outer swing position; a head (30) that can swing up and down and/or swing left and right; and a microphone disposed on the chassis and/or the head for collecting sound signals; a computing platform for The support arms and/or head swings are controlled to form mechanical actions in the voice interaction.
  • the intelligent robot can also mechanically move through the swing of the support arm and/or the head while maintaining the overall low position, thereby improving the vividness of the voice interaction.
  • any of the above apparatus further includes: a first drive mechanism disposed within the chassis or disposed within the support arm, the first drive mechanism driving the support arm such that the support arm has a recovery position and an outer swing position.
  • the first drive mechanism includes a first motor and a first transmission mechanism, the output shaft of the first motor extends in a direction perpendicular to the first pivot axis, and the first motor drives the support arm through the first transmission mechanism.
  • the first drive mechanism is disposed in the chassis, the first transmission mechanism includes a worm gear and a worm that mesh with each other, and a first transmission shaft that rotates coaxially with the worm wheel, and the worm is driven by the output shaft of the first motor, The rotation of a drive shaft causes the support arm to swing.
  • the first drive mechanism is disposed in the chassis, the first transmission mechanism includes a first bevel gear and a second bevel gear that mesh with each other, and a first transmission shaft that rotates coaxially with the second bevel gear, first The bevel gear is driven by the output shaft of the first motor, and the rotation of the first transmission shaft drives the support arm to swing.
  • the first drive mechanism is disposed in the support arm, the first transmission mechanism includes a first bevel gear and a second bevel gear that mesh with each other, and a fixed shaft coaxially coupled to the second bevel gear, the first cone The gear is driven by the output shaft of the first motor, and the fixed shaft is fixedly set relative to the chassis.
  • the support arm includes a first support arm and a second support arm, the first end of the first support arm being swingably disposed on the chassis about the first pivot axis and being driven by the first drive mechanism, The first end of the two support arms is swingably disposed on the second end of the first support arm about a second pivot axis, and the head is disposed on the second end of the second support arm.
  • the robot further includes a second drive mechanism disposed within the first support arm or disposed within the second support arm, the second drive mechanism driving the second support arm to swing the second support arm.
  • the second drive mechanism includes a second motor and a second transmission mechanism, the output shaft of the second motor extends in a direction perpendicular to the second pivot axis, and the second motor drives the second support through the second transmission mechanism. arm.
  • the second drive mechanism is disposed within the first support arm, and the second transmission mechanism includes a third bevel gear and a fourth bevel gear that mesh with each other and a second drive shaft that rotates coaxially with the fourth bevel gear
  • the third bevel gear is driven by the output shaft of the second motor, and the rotation of the second transmission shaft drives the second support arm to swing.
  • the second drive mechanism includes a third motor, the third motor is disposed within the second support arm, the axis of the output shaft of the third motor coincides with the second pivot axis, and the output shaft of the third motor The first support arm is connected.
  • the first support arms are two oppositely disposed, the second support arms being one and disposed between the two first support arms.
  • the first support arm and the second support arm each include a skeleton and an outer casing disposed outside the skeleton, and the skeleton of the second support arm is a hollow mesh structure.
  • any of the above devices have a human-computer interaction function, and the head is arranged to generate a shaking or nodding action when the human-computer interaction function is implemented.
  • a display component and a speaker are provided on the head, the display component and the speaker being configured to display a state of use or to communicate with a person.
  • the chassis is provided with a receiving groove for receiving the support arm and the head.
  • the support arm and the head are recovered into the receiving groove and do not protrude from the upper surface of the chassis.
  • the head is pivotally disposed about the third pivot axis on the support arm, the head being swingable about the fourth pivot axis.
  • the head includes a base and a head body, the base being swingably disposed on the support arm about a third pivot axis, the head body being rotatably disposed on the base along a fourth pivot axis on.
  • the base includes a connector and a first servo disposed on the connector, the head body being rotatably disposed on the connector.
  • the head body includes a housing, a display member disposed on the housing, and a second steering gear disposed within the housing, the housing being coupled to the connector by a second steering gear.
  • the chassis is provided with a running mechanism.
  • the chassis is provided with a sweeping mechanism.
  • the head further includes a touch sensitive device for acquiring a touch signal of the touch medium; and the touch sensitive device emits a signal that controls a change in position of the support arm and/or the head when the touch signal is acquired.
  • the robot further includes sound source locating means for acquiring a location letter of the voice interactive object
  • the sound source locating device sends a signal to control the positional change of the support arm and/or the head when the position information is collected.
  • a drive signal for controlling the support arm and/or head to adjust the angle of view of image acquisition is generated based on the position of the object in the acquired image.
  • the surface treatment appliance includes a dust box disposed within the chassis for storing dust, and a brush unit for sweeping dust from the floor into the dust box.
  • any of the above devices includes a wireless communication device for transmitting and/or receiving wireless signals.
  • any of the above devices includes a ranging sensor configured to collect environmental data for establishing a map in a space in which the device is located.
  • any of the above devices includes an obstacle detecting unit for detecting an obstacle in a vertical direction in which the support arm and the head are located, and outputting a detection signal.
  • any of the above devices includes: a display device disposed on the head for displaying visual elements.
  • any of the above devices includes navigation means for adjusting the position of the device in space during image acquisition to adjust the position of the image acquisition.
  • any of the above devices includes: a living body detecting sensor for detecting a vital body signal, and the living body detecting sensor sends a signal for controlling a position change of the supporting arm and/or the head when the living body signal is collected, To adjust the angle of view of the image acquisition and / or the sound signal acquisition direction of the microphone.
  • any of the above devices includes: a navigation device that adjusts the position of the device in the space in the security function to adjust the position of the image acquisition; and/or, the navigation device adjusts during the cleaning function The location of the device in the space in which it is located to clean multiple locations; and/or, the navigation device adjusts the position of the device in the space in which it interacts to adjust the interaction location.
  • the head further includes a touch sensitive device for acquiring a touch signal of the touch medium; and the touch sensitive device emits a signal that controls a change in position of the support arm and/or the head when the touch signal is acquired.
  • the computing platform can control the support arm and/or head swing to output mechanical motion to the touch object.
  • the robot further includes sound source localization means for acquiring position information of the voice interactive object, and the sound source localization device issues a signal for controlling the positional change of the support arm and/or the head when the position information is acquired.
  • the computing platform can control the support arm and/or head swing to output mechanical motion to the sound source object.
  • the intelligent robot includes a living body detecting sensor for detecting a vital body signal, and the living body detecting sensor sends a signal for controlling a position change of the supporting arm and/or the head when the living body signal is collected. Calculation The platform can control the support arm and/or head swing to output mechanical motion to the living body.
  • FIG. 1 shows a schematic perspective view of a first embodiment of a robot according to the present disclosure
  • Figure 2 shows a side view of the robot of Figure 1;
  • FIG. 3 is a schematic view showing a state of cooperation of the support arm, the first drive mechanism and the second drive mechanism of the robot of FIG. 1;
  • Figure 4 is a schematic view showing the structure of the head of the robot of Figure 1;
  • Figure 5 is a schematic view showing the structure of the base of the head of Figure 4.
  • Figure 6 is a schematic view showing the structure of the mounting sleeve between the head and the support arm of Figure 4;
  • FIG. 7 is a schematic view showing a state of cooperation of a support arm, a first drive mechanism, and a second drive mechanism according to Embodiment 2 of the robot according to the present disclosure
  • FIG. 8 shows a partial structural schematic view of a fourth embodiment of a robot according to the present disclosure
  • Embodiment 5 of the robot according to the present disclosure is a partial structural schematic view of Embodiment 5 of the robot according to the present disclosure.
  • Figure 10 is a cross-sectional view showing the state in which the second motor of Figure 9 and the first support arm are engaged;
  • FIG. 11 is a block diagram showing the structure of a head of an embodiment of a surface treatment apparatus according to the present disclosure
  • FIG. 12 is a schematic structural view of a robot according to the present disclosure.
  • Figure 13 shows a flow chart of a method of controlling a surface treatment apparatus in accordance with the present disclosure
  • FIG. 14 shows a flow chart of another method of controlling a surface treatment apparatus in accordance with the present disclosure
  • FIG. 16 shows a flow chart of a method of controlling a robot in accordance with the present disclosure.
  • the robot of the first embodiment includes a chassis 10, a support arm 20, a head 30, and a first drive mechanism 40.
  • the support arm 20 is disposed on the chassis 10 so as to be swingable up and down about the first pivot axis S1.
  • the support arm 20 has a recovery position and an outer swing position.
  • the head 30 is disposed on a support arm 20 on which a display member, a speaker, or the like can be disposed, and the display member can display a visual element such as a state of use of the robot or the like or an element that facilitates communication with a person.
  • the first drive mechanism 40 is disposed within the chassis 10, and the first drive mechanism 40 drives the support arm 20 such that the support arm 20 has a recovery position and an outer swing position.
  • the support arm 20 has a recovery position and an outer swing position under the driving of the first drive mechanism 40.
  • the head 30 disposed on the support arm 20 also moves with the support arm 20.
  • the support arm 20 is driven by the first driving mechanism to be in the swing position, and when the robot is in the partial working state, such as the sweeping state or the non-working state, the first pass.
  • the drive mechanism drives the support arm 20 in the recovery position.
  • the occupied space of the robot is significantly reduced, which is convenient for storage and storage.
  • the first driving mechanism 40 is disposed in the chassis 10, which effectively utilizes the space of the robot itself, so that the overall structure of the robot is more compact and beautiful.
  • the first driving mechanism 40 includes the first motor 41 and the first transmission mechanism, and the output shaft of the first motor 41
  • the extending direction is perpendicular to the first pivot axis S1, and the first motor 41 drives the support arm 20 through the first transmission mechanism.
  • Motors that are commercially available are generally cylindrical or rectangular in shape and have a large axial dimension. In order to meet the requirements of manufacturing cost and miniaturization of the robot, the overall layout of the first drive mechanism 40 needs to be more reasonable.
  • the output shaft of the first motor 41 extends in a direction perpendicular to the first pivot axis S1 of the support arm 20, and the power of the first motor 41 is transmitted to the support arm 20 through the first transmission mechanism.
  • the first drive mechanism 40 described above can be arranged compactly in a space provided in the chassis 10 or in the support arm 20, saving space.
  • the first transmission mechanism includes a first bevel gear 42 and a second bevel gear 43 that mesh with each other, and a first transmission shaft 44 that rotates coaxially with the second bevel gear 43.
  • the bevel gear 42 is driven by the output shaft of the first motor 41, and the rotation of the first transmission shaft 44 causes the support arm 20 to swing.
  • the output shaft of the first motor 41 transmits power to the first transmission shaft 44 and through the first transmission shaft through the first bevel gear 42 and the second bevel gear 43 that mesh with each other. 44 drives the support arm 20 to swing.
  • the first drive shaft 44 and the support arm 20 may be coupled together by fasteners, such as screws.
  • first transmission shaft 44 may not be directly connected to the support arm 20, but may be connected to the support arm 20 through an intermediate member, and only needs to satisfy the fact that the first transmission shaft 44 can drive the support arm 20 to swing, and the specific connection relationship is required. It is not limited to the above-listed methods.
  • the support arm 20 includes a first support arm 21 and a second support arm 22, and the first end of the first support arm 21 is swingably disposed on the chassis about the first pivot axis S1. 10 is driven by the first driving mechanism 40, the first end of the second supporting arm 22 is swingably disposed on the second end of the first supporting arm 21 about the second pivot axis S2, and the head 30 is disposed in the second Support arm 22 is on the second end.
  • the support arm 20 of the first embodiment has the advantages of stable operation and large range of motion.
  • a cavity is formed in the second support arm 22 for arranging the circuit board, and the second support arm 22 is provided with a wire hole.
  • the robot further includes a second driving mechanism 50.
  • the second drive mechanism 50 is disposed within the first support arm 21, and the second drive mechanism 50 drives the second support arm 22 to swing the second support arm 22.
  • the second support arm 22 is driven to swing by the second drive mechanism 50, so that the first support arm 21 and the second support arm 22 can be separately controlled, which makes the control of the support arm 20 more flexible.
  • the second support arm 22 can also be driven by the first drive mechanism 40, in which case an appropriate addition between the second support arm 22 and the first drive shaft 44 is required.
  • the transmission mechanism is OK.
  • the second driving mechanism 50 includes the second motor 51 and the second transmission mechanism, and the output shaft of the second motor 51 extends.
  • the direction is perpendicular to the second pivot axis S4, and the second motor 51 drives the second support arm 22 by the second transmission mechanism.
  • the second driving mechanism 50 of the first embodiment has the advantage that the overall layout is more reasonable, so that the requirements for miniaturization of the robot can be met.
  • the second transmission mechanism includes a third bevel gear 52 and a fourth bevel gear 53 that mesh with each other, and a second transmission shaft 54 that rotates coaxially with the fourth bevel gear 53, and a third
  • the bevel gear 52 is driven by the output shaft of the second motor 51, and the rotation of the second transmission shaft 54 causes the second support arm 22 to swing.
  • the output shaft of the second motor 51 transmits power to the second propeller shaft 54 through the intermeshing third bevel gear 52 and the fourth bevel gear 53, and drives the second support arm 22 to swing by the second propeller shaft 54.
  • the second transmission shaft 54 and the second support arm 22 may be coupled together by a fastener, such as a screw.
  • the second transmission shaft 54 may not be directly connected to the second support arm 22, but may be connected to the second support arm 22 through an intermediate member, and only needs to satisfy the second transmission shaft 54.
  • the second support arm 22 can be swung, and the specific connection relationship is not limited to the above-listed manner.
  • the first support arm 21 is two oppositely disposed, and the second support arm 22 is one and is disposed on the two first support arms. Between 21 .
  • the first drive mechanism 40 drives one of the first support arms 21, and the other first support arm 21 is engaged with the chassis 10 via the rotating shaft.
  • the number of the first support arm 21 and the second support arm 22 is not limited thereto, and the first support arm 21 and the second support arm 22 may also be one, or the first support arm 21 One is the second and the second support arm 22 is two oppositely disposed.
  • the number and arrangement of the first support arm 21 and the second support arm 22 can be flexibly set according to actual needs.
  • the first motor 41 and the second motor 51 are both self-locking motors.
  • the first potentiometer 61 may be provided, and the first potentiometer 61 determines the angle of rotation of the first support arm 21. Further, the first motor 41 is controlled based on the signal of the first potentiometer 61.
  • the first potentiometer 61 is disposed on the rotating shaft of the first support arm 21 that is not engaged with the first drive mechanism 40. For the sake of safety, a spare potentiometer 62 can be provided on the first drive shaft 44.
  • the second potentiometer 63 can also be provided, and the second potentiometer 63 can determine the angle of rotation of the second support arm 22.
  • the second potentiometer 63 is disposed on the second transmission shaft 54.
  • the first motor 41 and the second motor 51 may also adopt other driving structures such as a steering gear.
  • the positions of the first drive mechanism 40 and the second drive mechanism 50 need to be adaptively adjusted.
  • the chassis 10 is provided with a receiving groove 11 for receiving the support arm 20 and the head 30.
  • the support arm 20 and the head 30 are recovered into the receiving groove 11. It does not protrude from the upper surface of the chassis 10.
  • the above structure makes the structure beautiful.
  • the support arm 20 and the head 30 are in the same plane as the upper surface of the chassis 10, which makes the appearance of the robot beautiful and improves the user experience.
  • the head portion 30 is swingably supported on the support arm 20 about the third pivot axis S3, and the head portion 30 is swingable about the fourth pivot axis S4.
  • the above structure allows the head 30 to swing up and down while also swinging left and right. In this way, when the robot implements the human-computer interaction function, the action of nodding or shaking the head can be realized, thereby effectively improving the user experience.
  • the first pivot axis S1, the second pivot axis S2, and the third pivot axis S3 are mutually parallel.
  • the above structure can also improve the stability of the overall structure.
  • the head 30 includes a base 31 and a head body 32.
  • the base 31 is swingably disposed on the support arm 20 about a third pivot axis S3.
  • the fourth pivot axis S4 is rotatably disposed on the base 31.
  • the base 31 includes a connecting base 311 and a first steering gear 312 disposed on the connecting base 311.
  • the head main body 32 is rotatably disposed on the connecting base 311.
  • the connecting seat 311 can support the first steering gear 312, and the connecting seat 311 is provided with a connecting shaft corresponding to the position of the output shaft of the first steering gear 312.
  • the connecting seat 311 and the first steering gear 312 can be swingably disposed on the support arm 20 about the third pivot axis S3, thereby enabling the upper and lower swings of the head 30.
  • Providing the connector 311 makes the structure of the head 30 more stable.
  • the base may only include a steering gear, and at this time, the head body is rotatably disposed on the steering gear. This also requires a slight modification to the steering gear.
  • the head body 32 includes a casing, a display member disposed on the casing, and a second steering gear disposed in the casing, and the casing is coupled to the connector 311 via the second steering gear.
  • the arrangement of the second steering gear can realize the left and right swing of the head 30, and the structure is simple and easy to implement.
  • first steering gear 312 and the second steering gear can be installed in the prior art.
  • the installation method of the first steering gear 312 is taken as an example.
  • the connection of the second support arm 22 and the first steering gear 312 is provided with a mounting sleeve 70, which is fixedly disposed with the second support arm 22.
  • the inner wall of the mounting sleeve 70 is provided with a non-stop cutting surface, and the bottom of the mounting sleeve 70 has a through hole.
  • the end of the output shaft of the first steering gear 312 is provided with a screw hole.
  • the output shaft end of the first steering gear 312 is inserted into the mounting sleeve 70 and has a restricted cutting surface that cooperates with the non-rotation section.
  • the engagement between the non-rotating section and the restricted section causes no relative rotation between the output shaft of the first steering gear 312 and the mounting sleeve 70.
  • a first steering gear 312 is fixed in the mounting sleeve 70 by inserting a screw into the through hole of the mounting sleeve 70 and the screw hole of the output shaft of the first steering gear 312.
  • the second steering gear is mounted in a manner similar to that of the first steering gear.
  • the mounting sleeve is fixed to the connecting seat 311, and the output shaft of the second steering gear is mounted in the mounting sleeve.
  • the positions of the first steering gear 312 and the second steering gear are not limited to the above description, and the first steering gear 312 can also be disposed in the second support arm 22, and the second steering gear can also be set. Inside the base 31. Further, the manner of realizing the vertical swing of the head 30 and the right and left swing is not limited to the use of a steering gear, and it is also possible to drive by the motor, and it is only necessary to adaptively adjust the position of the motor.
  • the chassis 10 of the robot of the present embodiment is provided with a running mechanism that is arranged to be able to push the robot to move according to a predetermined requirement.
  • the robot may not be set.
  • the walking mechanism at this time, the robot cannot walk and is fixed at a predetermined position for use.
  • the chassis 10 is provided with a sweeping mechanism.
  • the robot of this embodiment can take care of cleaning, safety protection services, and communication with people, such as language communication. Meanwhile, the robot of the embodiment can be applied to the commercial field and the home field.
  • the second embodiment of the robot according to the present application differs from the above embodiment only in the setting position and driving manner of the first driving mechanism.
  • the first drive mechanism 40 is disposed in one of the support arms 20.
  • the first transmission mechanism includes a first bevel gear 42 and a second bevel gear 43 that mesh with each other and a fixed shaft 45 that is coaxially coupled to the second bevel gear 43.
  • the first bevel gear 42 is driven by the output shaft of the first motor 41, and the fixed shaft 45 is fixedly disposed with respect to the chassis 10. When the output shaft of the first motor 41 rotates, the first bevel gear 42 is rotated.
  • the first bevel gear 42 drives the support arm 20 to rotate.
  • the second drive mechanism 50 is disposed within the other support arm 20.
  • the rest of the robot of the second embodiment is substantially the same as the first embodiment, and details are not described herein again.
  • the third embodiment (not shown) of the robot according to the present application differs from the above embodiment in the arrangement position and driving manner of the second driving mechanism.
  • the second driving mechanism is disposed in the second supporting arm, and the specific structure of the second driving mechanism is similar to the design principle of the first driving mechanism of the second embodiment, through the motor, the two meshing bevel gears and the fixed shaft Achieve the drive.
  • the working principle of the third embodiment is basically the same as that of the foregoing embodiment, and details are not described herein again.
  • the fourth embodiment of the robot according to the present application differs from the above embodiment in the structure of the first drive mechanism.
  • the first drive mechanism 40 is disposed in the chassis 10.
  • the first transmission mechanism includes a worm gear and a worm that mesh with each other and a first transmission shaft 44 that rotates coaxially with the worm wheel.
  • the worm is driven by the output shaft of the first motor 41, and the rotation of the first transmission shaft 44 causes the support arm 20 to swing.
  • the above worm gear and worm structure constitute a worm gear reducer, which can realize self-locking, and the reduction ratio is preferably set to 1:23, the position parameter is obtained by the potentiometer, and the angular velocity value is calculated.
  • the second driving mechanism of the fourth embodiment is basically the same as that of the first embodiment, and a bevel gear of a 1:1 transmission ratio, which is also called a spiral bevel gear.
  • the positional parameter is obtained by a potentiometer mounted on the shaft end, and the angular velocity value is calculated.
  • the first support arm 21 and/or the second support arm 22 may include a skeleton and an outer casing disposed outside the skeleton. Lightweight, reduce the starting weight and carry the transmission structure.
  • the frame can be made of aluminum alloy and the case can be made of ABS.
  • the skeleton was subjected to finite element analysis using the CAE tool, and the dimensions were optimized to reduce weight. As shown in FIG. 8, the skeleton 221 of the second support arm 22 adopts a hollow mesh structure, mainly for reducing the weight of the base body while ensuring strength.
  • the second driving mechanism 50 includes a third motor 55, and the third motor 55 is disposed in the second supporting arm 22, and the output shaft of the third motor 55 The axis coincides with the second pivot axis S2, and the output shaft of the third motor 55 is coupled to the first support arm.
  • the third bevel gear and the fourth bevel gear are removed, and the motor is directly driven.
  • the third motor 55 is preferably a planetary gear motor.
  • the output shaft of the planetary geared motor is fixed to the skeleton of a first support arm 21 by a steel bushing, and the other end of the planetary geared motor is connected to the other first support arm 21 via a hollow connecting shaft.
  • a torsion spring for tensioning is provided at the rear end of the planetary geared motor (at the end away from the output shaft), and the torque provided by the spring provides the same torque as the heavy moment. .
  • the torque generated by the spring changes linearly.
  • the gear gap of the gear reduction box of the planetary gear motor is always pressed to one side.
  • the inertial force due to the acceleration is not sufficient to open the one-sided pressing engagement. Thereby, the shaking of the second support arm 22 during operation is eliminated.
  • one side of the hollow connecting shaft has a magnetic encoder that functions to measure the angle of rotation of the second support arm 22 with a resolution of preferably 1/4096. Position and speed information is obtained by this encoder for operational control of the second support arm 22.
  • the first support arm 21 is directly driven by a worm gear motor.
  • a torsion spring is also disposed between the first motor and the first support arm 21 to eliminate the sway caused by the backlash.
  • a magnetic encoder is also mounted for detecting a change in position of the first support arm 21.
  • there is a travel switch that detects the 0 degree, 90 degree limit position, avoiding the first support arm 21 from rotating beyond a defined angular range, and providing a mechanical stop.
  • the robot is a surface treatment device having a voice interaction function
  • the surface treatment device includes a chassis 10, a surface treatment appliance, a support arm 20, a head 30, and a microphone.
  • the surface treatment tool is disposed at the bottom of the chassis 10 for cleaning dust on the ground;
  • the support arm 20 is disposed on the top of the chassis 10 so as to be swingable up and down about the first pivot axis S1;
  • the head 30 is disposed on the support arm 20, wherein the head
  • the portion 30 includes display means for displaying visual elements;
  • the microphones are disposed within the chassis 10 and/or the head 30 for voice interaction; wherein the support arms 20 have a recovery position for facilitating travel through the ground during surface treatment, supporting
  • the arm 20 also has at least one outer swing position that swings about the first pivot axis S1 during a voice interaction.
  • the above surface treatment device not only has a cleaning function but also has a voice interaction function. And, by means of a support arm which is arranged on the chassis so as to be swingable up and down about the first pivot axis, the support arm is recovered during cleaning so that the surface treatment is provided
  • the utility model can ensure the comprehensiveness of the cleaning range through a low space such as a sofa or a bed; the support arm is swinged outside during the voice interaction, so that the surface treatment device has a certain height, thereby facilitating voice interaction, at least for conveniently viewing the head display.
  • the visual element displayed by the device When the microphone is placed on the head, the relative position of the surface treatment device to the sound source can also be adjusted to facilitate sound collection.
  • the support arm recovery also facilitates robot storage.
  • the microphone is an array of microphones to make sound acquisition more accurate.
  • the support arm 20 includes a first support arm 21 and a second support arm 22, the first end of the first support arm 21 being swingably disposed on the chassis 10 about the first pivot axis S1, and the first end of the second support arm 22
  • the second pivot axis S2 is swingably disposed on the second end of the first support arm 21, and the head 30 is disposed on the second end of the second support arm 22.
  • the support arm 20 has the advantages of stable operation and large range of motion.
  • a cavity is formed in the second support arm 22 for arranging the circuit board, and the second support arm 22 is provided with a wire hole.
  • the first support arms 21 are two oppositely disposed, and the second support arms 22 are one and disposed between the two first support arms 21.
  • the head 30 is swingably arranged up and down about the third pivot axis S3 on the support arm 20, and the head 30 is swingable about the fourth pivot axis S4; wherein the up and down swing of the head 30 and/or the left and right swing are used for Adjust the relative position between the object interacting with the voice during the voice interaction.
  • the surface treatment apparatus includes: a dust box disposed inside the chassis 10 for storing dust; and a brush unit for cleaning dust on the ground into the dust box.
  • the chassis 10 is provided with a receiving groove 11 for accommodating the support arm 20 and the head 30.
  • the support arm 20 and the head 30 are recovered into the receiving groove 11 and do not protrude from the upper surface of the chassis 10.
  • the above structure makes the structure beautiful, and at the same time, the height of the surface treatment tool can be lowered, and it is convenient to travel in a low space.
  • the support arm 20 and/or the head 30 are swung by the control of the drive signal to form an interactive action.
  • the head 30 can also include a touch sensitive device for acquiring a touch signal of the touch medium; the touch sensitive device issues a signal that controls the positional change of the support arm 20 and/or the head 30 when the touch signal is acquired.
  • the touch sensitive device is capable of acquiring a touch signal when the user's hand or a portion of the body is in contact with the touch sensitive device, such that the surface treatment device can be controlled by contact.
  • the robot further includes a sound source locating device for collecting position information of the voice interactive object, and the sound source locating device sends a signal for controlling the position change of the support arm 20 and/or the head 30 when the position information is collected.
  • a sound source locating device for collecting position information of the voice interactive object, and the sound source locating device sends a signal for controlling the position change of the support arm 20 and/or the head 30 when the position information is collected.
  • the microphone is an array of microphones composed of a plurality of microphone units.
  • the microphone is an array of microphones composed of a plurality of microphone units.
  • the support arm 20 also has a wobble around the first pivot axis S1 during voice interaction to adjust the interaction with the voice interaction object The relative position of at least one outer pendulum position.
  • the surface processing apparatus further includes navigation means for adjusting the position of the device in the space during the voice interaction to adjust the position of the voice interaction.
  • the surface treatment apparatus further includes: a living body detecting sensor for detecting a living body signal, and a signal for controlling the positional change of the support arm 20) and/or the head 30 when the living body detecting sensor collects the vital body signal to adjust and life.
  • a living body detecting sensor for detecting a living body signal
  • a signal for controlling the positional change of the support arm 20 for controlling the positional change of the support arm 20
  • the up and down swings and/or left and right swings of the head (30) are used to adjust the relative position between the interacting objects with the voice during speech interaction.
  • the robot is a surface treatment apparatus having an image acquisition function
  • the surface treatment apparatus includes a chassis 10, a surface treatment tool, a support arm 20, and a head 30.
  • the surface treatment device is disposed at the bottom of the chassis 10 for cleaning dust on the ground;
  • the support arm 20 is disposed on the top of the chassis 10 so as to be swingable up and down about the first pivot axis S1;
  • the head 30 is disposed on the support arm 20;
  • the portion 30 includes an optical image sensor 80 for acquiring an image, and the front side of the image sensor 80 may be provided with a transparent cover or a translucent cover; wherein the support arm 20 has a recovery position for facilitating walking through the ground during surface treatment, the support arm 20 There is also at least one outer swing position that swings about the first pivot axis S1 at the time of image acquisition to adjust the angle of view of image acquisition.
  • the surface treatment device not only has a cleaning function but also has an image acquisition function.
  • the support arm is disposed on the chassis by swinging up and down about the first pivot axis, and the support arm is recovered during cleaning, so that the surface treatment apparatus can ensure a comprehensive cleaning range through a low space such as a sofa or a bed.
  • the outer swing support arm can adjust the angle of view of the optical image sensor for image acquisition during image acquisition, thereby avoiding the low viewing angle of the surface treatment device and collecting images suitable for viewing.
  • support arm recovery also facilitates storage of surface treatment equipment.
  • the support arm 20 includes a first support arm 21 and a second support arm 22, the first end of the first support arm 21 being swingably disposed on the chassis 10 about the first pivot axis S1, and the first end of the second support arm 22
  • the second pivot axis S2 is swingably disposed on the second end of the first support arm 21, and the head 30 is disposed on the second end of the second support arm 22.
  • a drive signal for controlling the support arm 20 and/or the head 30 to adjust the angle of view of image acquisition is generated based on the position of the object in the acquired image.
  • the first support arms 21 are two oppositely disposed, and the second support arms 22 are one and disposed between the two first support arms 21.
  • the head 30 is swingably arranged up and down about the third pivot axis S3 on the support arm 20, and the head 30 is swingable about the fourth pivot axis S4; wherein the up and down swing of the head 30 and/or the left and right swing are used for Adjust the angle of view of image acquisition during image acquisition.
  • the surface treatment device includes: a dust box disposed within the chassis 10 for storing dust; And a brush unit for cleaning dust on the ground into the dust box.
  • the surface treatment apparatus further includes navigation means for adjusting the position of the surface treatment apparatus in the space in which the image is acquired to adjust the position of the image acquisition.
  • the surface treatment apparatus further includes a living body detecting sensor for detecting a vital body signal, and the vital body detecting sensor emits a signal for controlling a position change of the support arm 20 and/or the head 30 when the vital body signal is collected, To adjust the angle of view of image acquisition.
  • the head 30 is also provided with display means for displaying an image acquisition state and/or displaying the acquired image.
  • the up and down swings and/or left and right swings of the head 30 are used to adjust the angle of view of image acquisition during image acquisition.
  • the surface treatment device includes a wireless communication device for transmitting a wireless signal carrying the acquired image.
  • a ranging sensor may also be included for collecting environmental data for establishing a map in a space in which the surface processing device is located.
  • the surface treatment apparatus further includes: a microphone for collecting sound during image acquisition.
  • the robot has multiple functions.
  • the functions include a cleaning function, a security function, and an interactive function
  • the robot includes: a chassis 10, a surface treatment tool, a support arm 20, a head 30, and a microphone.
  • the surface treatment device is disposed at the bottom of the chassis 10 for cleaning dust on the ground;
  • the support arm 20 is disposed on the top of the chassis 10 so as to be swingable up and down about the first pivot axis S1, wherein the support arm 20 has a recovery position and at least one outer swing a head 30 disposed on the support arm 20;
  • the head 30 includes: an optical image sensor for acquiring an image; a microphone disposed at the chassis 10 and/or the head 30 for voice interaction; wherein the robot
  • the support arm 20 When in the cleaning function, the support arm 20 is in the recovery position so as to travel through the ground, and when the robot is in the security function, the support arm 20 swings about the first pivot axis S1 to a predetermined outer swing position to adjust the angle of view of the image acquisition,
  • the robot has a cleaning function, a security function and an interactive function, and the support arm is swung around the first pivot axis by the control signal of the driving signal, so that the support arm is in a state corresponding to the function of the robot, so that the shape of the robot can adapt to various functions. , a variety of functions are implemented on the robot. In addition, the support arm recovery also facilitates robot storage.
  • the support arm 20 includes a first support arm 21 and a second support arm 22, the first end of the first support arm 21 being swingably disposed on the chassis 10 about the first pivot axis S1, and the first end of the second support arm 22
  • the second pivot axis S2 is swingably disposed on the second end of the first support arm 21, and the head 30 is disposed on the second end of the second support arm 22.
  • the support arm 20 and/or the head 30 are swung by the control of the drive signal to form an interactive action.
  • the first support arms 21 are two oppositely disposed, and the second support arms 22 are one and disposed between the two first support arms 21.
  • the head 30 is swingably arranged up and down about the third pivot axis S3 on the support arm 20, and the head 30 is swingable about the fourth pivot axis S4; wherein the control head 30 of the drive signal is pivoted about the third
  • the axis S3 swings up and down and/or the fourth pivot axis S4 swings left and right so that the head 30 is in a state corresponding to the function of the robot.
  • the robot includes a dust box disposed in the chassis 10 for storing dust, and a brush unit for cleaning dust on the floor into the dust box.
  • the head 30 when the surface treatment device is in the cleaning function, the head 30 is in a position to facilitate travel through the ground, and the head 30 is pivoted about the third pivot axis S3 and/or fourth when the surface treatment device is in the security function
  • the axis S4 is swung to a predetermined position to adjust the angle of view of the image acquisition.
  • the head 30 When the surface treatment device is in the interactive function, the head 30 is swung about the third pivot axis S3 and/or the fourth pivot axis S4 and has a plurality of positions to adjust The relative position between interacting with the voice.
  • the surface treatment device also has wireless communication means for transmitting and/or receiving wireless signals carrying sound or images.
  • the microphone is also used to collect sound signals during image acquisition.
  • the surface treatment apparatus further has a navigation device that adjusts the position of the surface treatment device in the space in which it is in the security function to adjust the position of the image acquisition; and/or, the navigation device adjusts during the cleaning function The position of the surface treatment device in the space in which it is located to clean a plurality of locations; and/or the navigation device adjusts the position of the surface treatment device in the space in which it interacts to adjust the interaction position.
  • the surface treatment apparatus further has a living body detecting sensor for detecting a vital body signal, and the vital body detecting sensor emits a signal for controlling a position change of the support arm 20 and/or the head 30 when the vital body signal is collected, To adjust the angle of view of the image acquisition and / or the sound signal acquisition direction of the microphone.
  • the surface treatment apparatus further has a ranging sensor configured to collect environmental data for establishing a map in which the surface processing device is located.
  • the surface treatment apparatus may further include an obstacle detecting unit that detects an obstacle in a vertical direction in which the support arm 20 and the head 30 are located, and outputs a detection signal.
  • the robot includes a chassis 10, a support arm 20, a head 30, and an obstacle detection unit.
  • the chassis 10 is provided with a running mechanism;
  • the support arm 20 is disposed on the top of the chassis 10 so as to be swingable up and down about the first pivot axis S1, wherein the support arm 20 has a recovery position and at least one outer swing position;
  • the head 30 is disposed on the support An arm 20;
  • an obstacle detecting unit for detecting an obstacle in a vertical direction where the support arm 20 and the head 30 are located;
  • a computing platform coupled with the obstacle detecting unit for responding to a signal of the obstacle detecting unit, and controlling
  • the support arm 20 swings about the first pivot axis S1 to adjust the height of the support arm 20 and the head 30 to facilitate the undercut from the detected obstacle Over.
  • the robot has a support arm that can be swung out and can adjust the support arm according to obstacles, so that the robot can perform more functions through obstacles of different heights.
  • the obstacle detecting unit is provided with an infrared sensor or an ultrasonic sensor on the chassis, which is disposed on the front side of the support arm in the moving direction.
  • the support arm 20 includes a first support arm 21 and a second support arm 22, the first end of the first support arm 21 being swingably disposed on the chassis 10 about the first pivot axis S1, and the first end of the second support arm 22
  • the second pivot axis S2 is swingably disposed on the second end of the first support arm 21, and the head 30 is disposed on the second end of the second support arm 22.
  • the first support arms 21 are two oppositely disposed, and the second support arms 22 are one and disposed between the two first support arms 21.
  • the head 30 is swingably arranged up and down about the third pivot axis S3 on the support arm 20, and the head 30 is swingable about the fourth pivot axis S4; wherein the control head 30 of the drive signal is swung to support The height of the arms 20 and head 30 facilitates passage under the detected obstacle.
  • the robot is an intelligent robot with voice interaction capabilities.
  • the intelligent robot includes: a chassis 10, a support arm 20, and a head 30.
  • the support arm 20 is disposed on the top of the chassis 10 so as to be swingable up and down about the first pivot axis S1, wherein the support arm 20 has a recovery position and at least one outer swing position;
  • the head 30, the head 30 can be swung up and down and/or left and right; and a microphone disposed on the chassis 10 and/or the head 30 for collecting sound signals; a computing platform for controlling the support arm 20 and/or the head 30 swings to output mechanical actions to the voice interaction object in a voice interaction.
  • the intelligent robot can also generate interactive actions through the swinging of the support arm and/or the head, thereby improving the vividness of the voice interaction.
  • the computing platform may control the support arm 20 and/or the head 30 to swing according to the script to form a mechanical action in the voice interaction, and the script may be a preset program or configuration file, but is not limited thereto, and the mechanical action may be anthropomorphic. action.
  • the support arm 20 includes a first support arm 21 and a second support arm 22, the first end of the first support arm 21 being swingably disposed on the chassis 10 about the first pivot axis S1, and the first end of the second support arm 22
  • the second pivot axis S2 is swingably disposed on the second end of the first support arm 21, and the head 30 is disposed on the second end of the second support arm 22.
  • the first support arms 21 are two oppositely disposed, and the second support arms 22 are one and disposed between the two first support arms 21.
  • the head 30 also includes an optical image sensor for acquiring image signals, and/or a display device for displaying visual elements.
  • the head 30 further includes a touch sensitive device for acquiring a touch signal of the touch medium; and the touch sensitive device emits a signal that controls the positional change of the support arm and/or the head when the touch signal is acquired.
  • Computing platform can control support The arm 20 and/or the head 30 are swung to output a mechanical action to the touch object.
  • the intelligence further includes a sound source locating device for collecting position information of the voice interactive object, and the sound source locating device sends a signal for controlling the position change of the support arm 20 and/or the head 30 when the position information is collected by the sound source locating device.
  • the computing platform can control the support arm 20 and/or the head 30 to oscillate to output mechanical motion to the sound source object.
  • the intelligent robot includes a living body detecting sensor for detecting a vital body signal, and the vital body detecting sensor sends a signal for controlling the positional change of the support arm 20 and/or the head 30 when the vital body signal is acquired.
  • the computing platform can control the support arm 20 and/or the head 30 to oscillate to output mechanical motion to the living body.
  • any of the above devices can include a wireless communication device for transmitting and/or receiving wireless signals.
  • any of the above devices may include a ranging sensor configured to collect environmental data for establishing a map in a space in which the device is located.
  • the ranging sensor may be disposed on the chassis 10 or may be disposed on the head 20, but is not limited thereto.
  • the ranging sensor can be a laser radar, but is not limited thereto.
  • any of the above devices may include an obstacle detecting unit for detecting an obstacle in a vertical direction in which the support arm 20 and the head 30 are located, and outputting a detection signal.
  • any of the above devices can include a display component disposed on the head 30 for displaying visual elements.
  • any of the above devices can include a navigation device for adjusting the position of the device in space during image acquisition to adjust the position of the image acquisition.
  • any of the above devices may include: a living body detecting sensor for detecting a vital body signal, and a signal for controlling a position change of the supporting arm and/or the head when the living body detecting sensor collects the vital body signal, To adjust the angle of view of the image acquisition and / or the sound signal acquisition direction of the microphone.
  • any of the above devices may include: a navigation device that adjusts the position of the device in the space in the security function to adjust the position of the image acquisition; and/or, the navigation device adjusts during the cleaning function The location of the device in the space in which it is located to clean multiple locations; and/or, the navigation device adjusts the position of the device in the space in which it interacts to adjust the interaction location.
  • the robot or surface treatment apparatus includes: a computing platform 1201, a microphone 1202, a display component 1203, a speaker 1204, a wireless communication device 1205, an obstacle detecting unit 1206, and a living body detecting sensor 1207.
  • the computing platform 1201 can be a combination of hardware and/or hardware and software with computing power, such as memory and processor or FPGA.
  • Microphone 1202 can be packaged One or more microphone units, or a matrix of microphones composed of a plurality of arrays of microphones.
  • the speaker 1204 can convert an electrical signal into a sound signal.
  • Wireless communication device 1204 can receive and/or transmit wireless signals.
  • the obstacle detection unit 1206 can be one or more infrared and/or ultrasonic sensors.
  • the living body detecting sensor 1207 may be a pyroelectric sensor, an optical image sensor, or the like.
  • the navigation device 1208 has a navigation function.
  • the sound source localization device 1209 can be a microphone array or the like.
  • the ranging sensor 1211 can be a lidar sensor.
  • One or more drive mechanism controllers 1212 can send drive signals to the drive mechanism.
  • the present application also provides a method of controlling a surface treatment apparatus, the method comprising a step 1302 and a step 1306.
  • Step 1302 when surface processing, generating a first driving signal to drive the support arm 20 to the recovery position to facilitate walking through the ground;
  • Step 1304 generating a second driving signal to drive the surface treatment device to clean the dust on the floor;
  • Step 1306 when the voice is interactive, generating a third drive signal to drive the support arm 20 to swing about the first pivot axis to at least one outer swing position to adjust the relative position of the interactive object with the voice.
  • the relative position of the interactive object with the voice may also be adjusted by swinging up and down and/or swinging left and right by the control head 30 of the drive signal.
  • the third drive signal can be generated based on location information relative to the voice interaction object of the surface treatment device.
  • the present application also provides a method of controlling a surface treatment apparatus, the method comprising steps 1402 to 1406.
  • a first drive signal is generated during surface processing to drive the support arm to the recovery position for passage through the ground.
  • Step 1404 generating a second drive signal to drive the surface treatment device to clean the dust on the floor.
  • Step 1406 at the time of image acquisition, generating a third drive signal to drive the support arm to swing about the first pivot axis to at least one outer swing position to adjust the angle of view of image acquisition.
  • a fourth drive signal can also be generated to drive the head up and down about the third pivot axis and/or the fourth pivot axis to swing left and right to adjust the viewing angle of the image acquisition.
  • the third drive signal can be generated based on the location of the object in the collected image.
  • the present application also provides a method of controlling a robot having multiple functions, the method comprising Step 1502 to step 1506.
  • step 1502 during the cleaning function, a first drive signal is generated to drive the support arm in the recovery position to facilitate travel through the ground.
  • Step 1504 in the security function, generating a second driving signal, driving the support arm 20 to swing about the first pivot axis to a predetermined one swing position to adjust the angle of view of the image acquisition.
  • Step 1506 when interacting with the function, generating a third driving signal, driving the support arm 20 to swing about the first pivot axis and having a plurality of outer swing positions to adjust the relative position between the interactive objects with the voice.
  • a second drive signal is generated based on the function of the robot to drive the head 30 to swing up and down about the third pivot axis and/or to swing the left and right axes about the fourth pivot axis such that the head 30 is in the robot
  • the function corresponds to the state.
  • the present application also provides a method of controlling a robot, the method including 1602 to step 1606.
  • Step 1602 generating a first driving signal to drive the traveling mechanism to push the robot to move on the ground;
  • Step 1604 detecting, in the moving process, the obstacle in the vertical direction where the support arm 20 and the head 30 are located by the obstacle detecting unit;
  • Step 1606 generating a second drive signal based on the detected obstacle to drive the support arm 20 to swing about the first pivot axis S1 to adjust the height of the robot to facilitate passage under the detected obstacle.
  • a third drive signal can be generated to drive the head 30 to swing up and down about the third pivot axis S3 and/or to swing about the fourth pivot axis S4 to adjust the height of the robot to facilitate detection. Pass under the obstacle.
  • the obstacle avoidance process is entered.
  • Embodiments of the present invention also provide a computer readable program, wherein when the program is executed in a robot or a surface processing device, the program causes a computer to perform the control described in the present invention in the robot or surface processing device method.
  • Embodiments of the present invention also provide a storage medium storing a computer readable program, wherein the computer readable program causes a computer to execute the control method of the present invention in a robot or a surface processing device.
  • the above apparatus and method of the present invention may be implemented by hardware or by hardware in combination with software.
  • the present invention relates to a computer readable program that, when executed by a logic component, enables the logic component to implement the apparatus or components described above, or to cause the logic component to implement the various methods described above Or steps.
  • the invention also relates to And a storage medium for storing the above program, such as a hard disk, a magnetic disk, an optical disk, a DVD, a flash memory, or the like.

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  • Engineering & Computer Science (AREA)
  • Robotics (AREA)
  • Mechanical Engineering (AREA)
  • Health & Medical Sciences (AREA)
  • Audiology, Speech & Language Pathology (AREA)
  • General Health & Medical Sciences (AREA)
  • Human Computer Interaction (AREA)
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  • Toys (AREA)

Abstract

公开了一种机器人，包括底盘（10）；支撑臂（20），支撑臂（20）绕第一枢转轴线S1可上下摆动地设置在底盘（10）上，头部（30），设置在支撑臂（20）上，解决了机器人占用空间大的问题。还公开了一种表面处理设备及控制表面处理设备的方法。

Description

机器人 技术领域
本公开涉及机械设备领域，具体而言，涉及一种机器人。
背景技术
近年来，机器人已经在我们的生活中得到了广泛的利用。比如，在博物馆中进行讲解的机器人，在餐馆里负责送餐的机器人，室内清洁机器人(也称为扫地机)，以及可以陪伴人聊天的机器人等等。但相关技术中的机器人功能单一，无法满足多种多样的用户需求。此外，具有语音交互的机器人一般比较高，机器人占用了大量的空间，不便于收纳。
发明内容
本公开旨在提供一种机器人。
在本公开的一个方面，提供了一种机器人，其占用空间小且形态可变，从而能够满足不同功能对机器人形态的需求，尤其是机器人高度影响体验的需求。该机器人，包括：底盘；支撑臂，支撑臂绕第一枢转轴线可上下摆动地设置在底盘上，该支撑臂具有回收位置及外摆位置；头部，设置在支撑臂上。
在本公开的另一个方面，提供了一种表面处理设备，其具有语音交互功能，包括：底盘；表面处理器具，设置在底盘底部，用于清理地上的灰尘；支撑臂，其绕第一枢转轴线可上下摆动地设置在底盘的顶部；头部，设置在支撑臂上；其中，头部可包括用于显示可视元素的显示装置；传声器，设置在底盘和/或头部内，用于语音交互；其中，支撑臂具有在表面处理时便于在地面穿行的回收位置，支撑臂还具有在语音交互时绕第一枢转轴线摆动的至少一个外摆位置。
非限制性地，该表面处理设备不仅具有清洁功能，还具有语音交互功能。并且，通过绕第一枢转轴线可上下摆动地设置在底盘上的支撑臂，在清洁时回收支撑臂，使得该表面处理设备能够通过诸如沙发、床等低矮空间，保证了清洁范围的全面性；在语音交互时外摆支撑臂，使得该表面处理设备具有一定的高度，从而便于语音交互。另外，在传声器设置于头部时，还能调整表面处理设备与声源的相对位置，从而便于声音采集。此外，支撑臂回收还便于表面处理设备的收纳。简言之，该表面处理设备兼具在地面穿 行的需求，又能够具有适于语音交互的高度。
在本发明公开的又一个方面，提供了一种表面处理设备，其具有图像采集功能，包括：底盘；表面处理器具，设置在底盘底部，用于清理地上的灰尘；支撑臂，支撑臂绕第一枢转轴线可上下摆动地设置在底盘的顶部；头部，设置在支撑臂上；其中，头部包括光学图像传感器，用于采集图像；其中，支撑臂具有在表面处理时便于在地面穿行的回收位置，支撑臂还具有在图像采集时绕第一枢转轴线摆动以调整图像采集的视角的至少一个外摆位置。简言之，该表面处理设备兼具在地面穿行的需求，又能够具有适于采集图像的高度。
非限制性地，该表面处理设备不仅具有清洁功能，还具有图像采集功能。并且，通过绕第一枢转轴线可上下摆动地设置在底盘上的支撑臂，在清洁时回收支撑臂，使得该表面处理设备能够通过诸如沙发、床等低矮空间，保证了清洁范围的全面性；在图像采集时外摆支撑臂，能够调整光学图像传感器进行图像采集的视角，从而避免了表面处理设备低矮的视角，能够采集到适于观看的图像。此外，支撑臂回收还便于表面处理设备的收纳。
在本发明公开的又一个方面，提供了一种具有多种功能的机器人，该功能包括清洁功能、安防功能和交互功能，该机器人包括：底盘；表面处理器具，设置在底盘底部，用于清理地上的灰尘；支撑臂，支撑臂绕第一枢转轴线可上下摆动地设置在底盘顶部，其中，支撑臂具有回收位置以及至少一个外摆位置；头部，设置在支撑臂上；其中，头部包括：用于采集图像的光学图像传感器；传声器，设置在底盘和/或头部，用于语音交互；其中机器人处于清洁功能时，支撑臂处于回收位置以便于在地面穿行，机器人处于安防功能时，支撑臂绕第一枢转轴线摆动至预定的一个外摆位置以调整图像采集的视角，机器人处于交互功能时，支撑臂绕第一枢转轴线摆动并具有多个外摆位置以调整与语音交互对象之间的相对位置。
非限制性的，该机器人具有清洁功能、安防功能和交互功能，并且通过驱动信号的控制支撑臂绕第一枢转轴线摆动，以使支撑臂处于与机器人的功能对应的状态，使得机器人的形态能够适应多种功能，在机器人上实现了多种功能。此外，支撑臂回收还便于机器人收纳。
在本发明公开的又一个方面，提供了一种机器人，包括：底盘，底盘上设置有行走机构；支撑臂，支撑臂绕第一枢转轴线可上下摆动地设置在底盘的顶部，其中，支撑臂具有回收位置以及至少一个外摆位置；头部，设置在支撑臂上；障碍物检测单元，用于 检测支撑臂和头部所在的竖直方向上的障碍物，并输出信号；计算平台，与障碍物检测单元耦合，用于响应障碍物检测单元的信号，控制支撑臂绕第一枢转轴线摆动，以调整支撑臂和头部的高度从而便于从检测到的障碍物下穿过。
非限制性的，该机器人具有可外摆的支撑臂，并且能够根据障碍物调整支撑臂，使得机器人能够通过不同高度的障碍物，可以完成更多任务。
在本发明公开的又一个方面，提供了一种智能机器人，具有语音交互功能，智能机器人包括：底盘；支撑臂，支撑臂绕第一枢转轴线可上下摆动地设置在底盘的顶部，其中，支撑臂具有回收位置以及至少一个外摆位置；头部(30)，可上下摆动和/或左右摆动；以及传声器，设置在底盘和/或头部，用于采集声音信号；计算平台，用于控制支撑臂和/或头部摆动，以形成语音交互中的机械动作。
非限制性的，该智能机器人在保持整体低矮的同时，还能够通过支撑臂和/或头部的摆动产生机械动作，提高了语音交互的生动性。
在某些实施例中，上述任一设备还包括：第一驱动机构，设置在底盘内或者设置在支撑臂内，第一驱动机构驱动支撑臂，以使支撑臂具有回收位置及外摆位置。
在某些实施例中，第一驱动机构包括第一电机及第一传动机构，第一电机的输出轴的延伸方向垂直于第一枢转轴线，第一电机通过第一传动机构驱动支撑臂。
在某些实施例中，第一驱动机构设置在底盘内，第一传动机构包括相互啮合的蜗轮和蜗杆以及与蜗轮同轴转动的第一传动轴，蜗杆被第一电机的输出轴驱动，第一传动轴的转动带动支撑臂摆动。
在某些实施例中，第一驱动机构设置在底盘内，第一传动机构包括相互啮合的第一锥齿轮和第二锥齿轮以及与第二锥齿轮同轴转动的第一传动轴，第一锥齿轮被第一电机的输出轴驱动，第一传动轴的转动带动支撑臂摆动。
在某些实施例中，第一驱动机构设置在支撑臂内，第一传动机构包括相互啮合的第一锥齿轮和第二锥齿轮以及与第二锥齿轮同轴连接的定轴，第一锥齿轮被第一电机的输出轴驱动，定轴相对底盘固定设置。
在某些实施例中，支撑臂包括第一支撑臂和第二支撑臂，第一支撑臂的第一端绕第一枢转轴线可摆动地设置在底盘上并被第一驱动机构驱动，第二支撑臂的第一端绕第二枢转轴线可摆动地设置在第一支撑臂的第二端上，头部设置在第二支撑臂的第二端上。
在某些实施例中，机器人还包括：第二驱动机构，设置在第一支撑臂内或者设置在第二支撑臂内，第二驱动机构驱动第二支撑臂，以使第二支撑臂摆动。
在某些实施例中，第二驱动机构包括第二电机及第二传动机构，第二电机的输出轴的延伸方向垂直于第二枢转轴线，第二电机通过第二传动机构驱动第二支撑臂。
在某些实施例中，第二驱动机构设置在第一支撑臂内，第二传动机构包括相互啮合的第三锥齿轮和第四锥齿轮以及与第四锥齿轮同轴转动的第二传动轴，第三锥齿轮被第二电机的输出轴驱动，第二传动轴的转动带动第二支撑臂摆动。
在某些实施例中，第二驱动机构包括第三电机，第三电机设置在第二支撑臂内，第三电机的输出轴的轴线与第二枢转轴线重合，第三电机的输出轴与第一支撑臂连接。
在某些实施例中，第一支撑臂为相对设置的两个，第二支撑臂为一个并设置在两个第一支撑臂之间。
在某些实施例中，第一支撑臂和第二支撑臂均包括骨架及设置在骨架外部的外壳，第二支撑臂的骨架为镂空网格状结构。
在某些实施例中，上述任一设备具有人机交互功能，头部被布置成在实现人机交互功能时产生摇头或者点头动作。
在某些实施例中，头部上设置有显示部件和扬声器，显示部件和扬声器被配置为显示使用状态或者与人交流。
在某些实施例中，底盘上设置有容纳支撑臂和头部的容纳槽，支撑臂处于回收位置时支撑臂和头部回收至容纳槽内并不突出于底盘的上表面。
在某些实施例中，头部绕第三枢转轴线可上下摆动地设置在支撑臂上，头部能够绕第四枢转轴线左右摆动。
在某些实施例中，头部包括基座及头部本体，基座绕第三枢转轴线可摆动地设置在支撑臂上，头部本体沿第四枢转轴线可转动地设置在基座上。
在某些实施例中，基座包括连接座及设置在连接座上的第一舵机，头部本体可转动地设置在连接座上。
在某些实施例中，头部本体包括外壳、设置在外壳上的显示部件及设置在外壳内的第二舵机，外壳通过第二舵机与连接座连接。
在某些实施例中，底盘上设置有行走机构。
在某些实施例中，底盘上设置有扫地机构。
在某些实施例中，头部还包括触敏装置，用于采集触摸介质的触摸信号；触敏装置采集到触摸信号时发出控制支撑臂和/或头部的位置变更的信号。
在某些实施例中，机器人还包括声源定位装置，用于采集语音交互对象的位置信 息，声源定位装置采集到位置信息时发出控制支撑臂和/或头部的位置变更的信号。
在某些实施例中，用于控制支撑臂和/或头部以调整图像采集的视角的驱动信号，基于采集到的图像中的对象的位置产生。
在某些实施例中，表面处理器具包括：灰尘箱，设置在底盘内，用于存储灰尘；以及刷单元，用于将地上的灰尘清扫到灰尘箱中。
在某些实施例中，上述任一设备包括：无线通信装置，用于发射和/或接收无线信号。
在某些实施例中，上述任一设备包括：测距传感器，设置用于采集设备所处空间的用于建立地图的环境数据。
在某些实施例中，上述任一设备包括：障碍物检测单元，用于检测支撑臂和头部所在的竖直方向上的障碍物，并输出检测信号。
在某些实施例中，上述任一设备包括：设置在头部上的用于显示可视元素的显示装置。
在某些实施例中，上述任一设备包括：导航装置，用于在图像采集时调整设备在空间中的位置，以调整图像采集的位置。
在某些实施例中，上述任一设备包括：生命体检测传感器，用于检测生命体信号，生命体检测传感器采集到生命体信号时发出控制支撑臂和/或头部的位置变更的信号，以调整图像采集的视角和/或传声器的声音信号采集方向。
在某些实施例中，上述任一设备包括：导航装置，导航装置在安防功能时调整设备在所处空间中的位置，以调整图像采集的位置；和/或，导航装置在清洁功能时调整设备在所处空间中的位置，以清洁多个位置；和/或，导航装置在交互功能时调整设备在所处空间中的位置，以调整交互位置。
在某些实施例中，头部还包括触敏装置，用于采集触摸介质的触摸信号；触敏装置采集到触摸信号时发出控制支撑臂和/或头部的位置变更的信号。计算平台可控制支撑臂和/或头部摆动，以向触摸对象输出机械动作。
在某些实施例中，机器人还包括声源定位装置，用于采集语音交互对象的位置信息，声源定位装置采集到位置信息时发出控制支撑臂和/或头部的位置变更的信号。计算平台可控制支撑臂和/或头部摆动，以向声源对象输出机械动作。
在某些实施例中，智能机器人包括：生命体检测传感器，用于检测生命体信号，生命体检测传感器采集到生命体信号时发出控制支撑臂和/或头部的位置变更的信号。计算 平台可控制支撑臂和/或头部摆动，以向生命体输出机械动作。
附图说明
构成本申请的一部分的说明书附图用来提供对本公开的进一步理解，本公开的示意性实施例及其说明用于解释本公开，并不构成对本公开的不当限定。在附图中：
图1示出了根据本公开的机器人的实施例一的立体结构示意图；
图2示出了图1的机器人的侧视示意图；
图3示出了图1的机器人的支撑臂、第一驱动机构及第二驱动机构的配合状态示意图；
图4示出了图1的机器人的头部的结构示意图；
图5示出了图4的头部的基座的结构示意图；
图6示出了图4的头部与支撑臂之间的安装套筒的结构示意图；
图7示出了根据本公开的机器人的实施例二的支撑臂、第一驱动机构及第二驱动机构的配合状态示意图；
图8示出了根据本公开的机器人的实施例四的部分结构示意图；
图9示出了根据本公开的机器人的实施例五的部分结构示意图；
图10示出了图9的第二电机和第一支撑臂配合状态的剖视示意图；
图11示出了根据本公开的表面处理设备的实施例的头部的结构示意图；
图12示出了根据本公开的机器人的结构示意图；
图13示出了根据本公开的控制表面处理设备的方法流程图；
图14示出了根据本公开的另一控制表面处理设备的方法的流程图；
图15示出了根据本公开的控制具有多种功能的机器人的方法的流程图；以及
图16示出了根据本公开的控制机器人的方法的流程图。
其中，上述附图包括以下附图标记：
10、底盘；11、容纳槽；20、支撑臂；21、第一支撑臂；22、第二支撑臂；221、骨架；30、头部；31、基座；311、连接座；312、第一舵机；32、头部本体；40、第一驱动机构；41、第一电机；42、第一锥齿轮；43、第二锥齿轮；44、第一传动轴；45、定轴；50、第二驱动机构；51、第二电机；52、第三锥齿轮；53、第四锥齿轮；54、第二传动轴；55、第三电机；61、第一电位器；62、备用电位器；63、第二电位器；70、安装套筒；80、光学图像传感器；S1、第一枢转轴线；S2、第二枢转轴线；S3、第三枢转 轴线；S4、第四枢转轴线。
具体实施方式
需要说明的是，在不冲突的情况下，本申请中的实施例及实施例中的特征可以相互组合。下面将参考附图并结合实施例来详细说明本公开。
如图1和图2所示，实施例一的机器人包括：底盘10、支撑臂20、头部30以及第一驱动机构40。支撑臂20绕第一枢转轴线S1可上下摆动地设置在底盘10上，该支撑臂20具有回收位置及外摆位置。头部30设置在支撑臂20上，该头部30上可以设置显示部件、或扬声器等部件，显示部件可以显示可视元素，例如机器人的使用状态等或者便于与人进行交流的元素。第一驱动机构40设置在底盘10内，第一驱动机构40驱动支撑臂20，以使支撑臂20具有回收位置及外摆位置。
应用实施例一的技术方案，支撑臂20在第一驱动机构40的驱动下具有回收位置及外摆位置。设置在支撑臂20上的头部30也会随着支撑臂20移动。当机器人部分处于工作状态时，比如人机交互或者监控状态时通过第一驱动机构驱动支撑臂20处于外摆位置，当机器人处于部分工作状态时，比如扫地状态时或者不工作状态时通过第一驱动机构驱动支撑臂20处于回收位置。支撑臂20处于回收位置时使得机器人的占用空间明显减小，这样便于收纳及存放。第一驱动机构40设置在底盘10内，这样有效地利用了机器人自身的空间，使得机器人整体结构更加紧凑、美观。
为了更加合理地利用空间，使得机器人结构更加紧凑，如图3所示，在实施例一的机器人中，第一驱动机构40包括第一电机41及第一传动机构，第一电机41的输出轴的延伸方向垂直于第一枢转轴线S1，第一电机41通过第一传动机构驱动支撑臂20。在市场上能够购买到的电机一般成长筒状或者长方形状，其轴向尺寸较大。为了兼顾制造成本及机器人小型化的要求，第一驱动机构40的整体布局需要更加合理。在实施例一中，第一电机41的输出轴的延伸方向垂直于支撑臂20的第一枢转轴线S1，通过第一传动机构传递第一电机41的动力至支撑臂20。上述第一驱动机构40不论设置在底盘10内或者设置在支撑臂20内都能布置紧凑，节约空间。
如图3所示，在实施例一中，第一传动机构包括相互啮合的第一锥齿轮42和第二锥齿轮43以及与第二锥齿轮43同轴转动的第一传动轴44，第一锥齿轮42被第一电机41的输出轴驱动，第一传动轴44的转动带动支撑臂20摆动。第一电机41的输出轴通过相互啮合的第一锥齿轮42和第二锥齿轮43将动力传递给第一传动轴44并通过第一传动轴 44带动支撑臂20摆动。优选地，第一传动轴44与支撑臂20之间可以通过紧固件连接在一起，比如螺钉。当然，第一传动轴44也可以不直接与支撑臂20连接，而是通过一个中间件与支撑臂20连接，只需要满足第一传动轴44能够带动支撑臂20摆动即可，具体的连接关系并不限于上述列举到的方式。
支撑臂20的具体结构可以有多种形式，支撑臂可以仅为一节或者可以包括相互连接的多节。本领域技术人员知道，支撑臂的具体节数可以根据实际需要来选择。如图3所示，在实施例一中，支撑臂20包括第一支撑臂21和第二支撑臂22，第一支撑臂21的第一端绕第一枢转轴线S1可摆动地设置在底盘10上并被第一驱动机构40驱动，第二支撑臂22的第一端绕第二枢转轴线S2可摆动地设置在第一支撑臂21的第二端上，头部30设置在第二支撑臂22的第二端上。实施例一的支撑臂20具有运行稳定，活动范围大等优点。优选地，第二支撑臂22内形成有空腔，该空腔用于布置电路板，第二支撑臂22上设置有过线孔。
如图3所示，在实施例一中，机器人还包括第二驱动机构50。该第二驱动机构50设置在第一支撑臂21内，第二驱动机构50驱动第二支撑臂22，以使第二支撑臂22摆动。在本实施例中，通过第二驱动机构50驱动第二支撑臂22使其摆动，这样可以使第一支撑臂21和第二支撑臂22分别控制，这样使得支撑臂20的控制更加灵活。当然，图中未示出的其他实施方式中，第二支撑臂22也同样可以通过第一驱动机构40进行驱动，此时需要在第二支撑臂22与第一传动轴44之间增加适当的传动机构即可。
为了更加合理地利用空间，使得机器人结构更加紧凑，如图3所示，在实施例一中，第二驱动机构50包括第二电机51及第二传动机构，第二电机51的输出轴的延伸方向垂直于第二枢转轴线S4，第二电机51通过第二传动机构驱动第二支撑臂22。同理于第一驱动机构的设计原理，实施例一的第二驱动机构50具有整体布局更加合理的优点，这样能够满足机器人小型化的要求。
如图3所示，在实施例一中，第二传动机构包括相互啮合的第三锥齿轮52和第四锥齿轮53以及与第四锥齿轮53同轴转动的第二传动轴54，第三锥齿轮52被第二电机51的输出轴驱动，第二传动轴54的转动带动第二支撑臂22摆动。第二电机51的输出轴通过相互啮合的第三锥齿轮52和第四锥齿轮53将动力传递给第二传动轴54并通过第二传动轴54带动第二支撑臂22摆动。优选地，第二传动轴54与第二支撑臂22之间可以通过紧固件连接在一起，比如螺钉。当然，第二传动轴54也可以不直接与第二支撑臂22连接，而是通过一个中间件与第二支撑臂22连接，只需要满足第二传动轴54能够带动 第二支撑臂22摆动即可，具体的连接关系并不限于上述列举到的方式。
为了兼顾结构稳定性及运动稳定性，如图3所示，在实施例一中，第一支撑臂21为相对设置的两个，第二支撑臂22为一个并设置在两个第一支撑臂21之间。在本实施例中，第一驱动机构40驱动其中一个第一支撑臂21，另一个第一支撑臂21通过转轴与底盘10配合。当然，作为本领域技术人员知道，第一支撑臂21和第二支撑臂22的数量并不限于此，第一支撑臂21和第二支撑臂22也可以均为一个，或者第一支撑臂21为一个而第二支撑臂22为相对设置的两个。第一支撑臂21和第二支撑臂22的数量及布置方式可以根据实际需要灵活设置。
在实施例一中，第一电机41和第二电机51均为自锁电机。如图3所示，为了便于对第一电机41进行控制，可以设置第一电位器61，通过第一电位器61判断第一支撑臂21的转动角度。进而根据第一电位器61的信号对第一电机41进行控制。在实施例一中，第一电位器61设置在不与第一驱动机构40配合的第一支撑臂21的转轴上。为了保险起见，可以在第一传动轴44上设置备用电位器62。同样道理，为了便于对第二电机51进行控制，同样可以设置第二电位器63，通过第二电位器63判断第二支撑臂22的转动角度。该第二电位器63设置在第二传动轴54上。当然，本领域技术人员知道，作为可行的实施方式，第一电机41和第二电机51也可以采用舵机等其他驱动结构。当第一电机41和第二电机51为舵机时，第一驱动机构40和第二驱动机构50的位置需要进行适应性地调整。
如图1所示，在实施例一中，底盘10上设置有容纳支撑臂20和头部30的容纳槽11，支撑臂20处于回收位置时支撑臂20和头部30回收至容纳槽11内并不突出于底盘10的上表面。上述结构使得结构美观。优选地，支撑臂20处于回收位置时，支撑臂20和头部30与底盘10的上表面位于同一平面内，这样使得机器人的外观美观，提高了用户体验。
如图1和图2所示，在实施例一中，头部30绕第三枢转轴线S3可上下摆动地设置在支撑臂20上，头部30能够绕第四枢转轴线S4左右摆动。上述结构使得头部30能够上下摆动同时也可以左右摆动。这样，当机器人实现人机交互功能时，可以实现点头或者摇头的动作，进而有效地提高了用户体验。
为了简化结构，同时考虑到减少机器人在不工作时的空间占用，如图1所示，在实施例一中，第一枢转轴线S1、第二枢转轴线S2以及第三枢转轴线S3相互平行。上述结构也能够提高整体结构的稳定性。
如图4所示，在实施例一中，头部30包括基座31及头部本体32，基座31绕第三枢转轴线S3可摆动地设置在支撑臂20上，头部本体32沿第四枢转轴线S4可转动地设置在基座31上。上述结构能够实现头部30的上下摆动及左右摆动，并且结构简单，容易实现。
如图5所示，在实施例一中，基座31包括连接座311及设置在连接座311上的第一舵机312，头部本体32可转动地设置在连接座311上。连接座311能够支撑第一舵机312，并且连接座311对应第一舵机312输出轴的位置设置有连接轴。这样，连接座311与第一舵机312能够一同绕第三枢转轴线S3可摆动地设置在支撑臂20上，进而能够实现头部30的上下摆动。设置连接座311使得头部30结构更加稳定。当然，作为可行的实施方式，基座可以仅包括舵机，此时，头部本体可转动地设置在舵机上。这样也需要对舵机稍加改动即可。
在实施例一中，头部本体32包括外壳、设置在外壳上的显示部件及设置在外壳内的第二舵机，外壳通过第二舵机与连接座311连接。第二舵机的设置能够实现头部30的左右摆动，并且结构简单容易实现。
需要说明的是，上述的第一舵机312和第二舵机的安装方式可参见现有技术。具体来说，以第一舵机312的安装方式为例。如图6所示，第二支撑臂22与第一舵机312的连接处设置有安装套筒70，该安装套筒70与第二支撑臂22固定设置。该安装套筒70的内壁上设置有止转切面，安装套筒70的筒底具有通孔。第一舵机312的输出轴的端部设有螺孔，该第一舵机312的输出轴端部穿设至上述安装套筒70内并具有与止转切面配合的受限切面。止转切面与受限切面之间配合使得第一舵机312的输出轴与安装套筒70之间不会发生相对转动。在安装套筒70的通孔内和第一舵机312的输出轴的螺孔内穿设螺钉使第一舵机312固定在安装套筒70内。这样，当第一舵机312启动时其主体部分会与连接座311一同摆动。第二舵机的安装方式与第一舵机的安装方式相似，将安装套筒固定在连接座311上，并将第二舵机的输出轴安装在上述安装套筒内即可。
作为本领域技术人员知道，第一舵机312和第二舵机的位置并不限于上述描述的内容，第一舵机312还可以设置在第二支撑臂22内，第二舵机还可以设置在基座31内。此外，实现头部30的上下摆动及左右摆动的方式并不局限于采用舵机，通过电机驱动也是可以是现实的，只需要对电机的位置进行适应性地调整即可。
本实施例的机器人的底盘10上设置有行走机构，行走机构被布置成能够推动机器人按照预定要求进行移动。当然，在其他图中未示出的实施方式中，机器人也可以不设置 行走机构，此时机器人不能行走，固定在某个预定的位置处进行使用。
在实施例一中，底盘10上设置有扫地机构。本实施例的机器人能够兼顾了清洁、安全防护服务以及与人进行交流，比如语言交流。同时，本实施例的机器人可以应用在商用领域及家用领域。
根据本申请的机器人的实施例二与上述实施例的区别仅在于：第一驱动机构的设置位置及驱动方式。具体地，如图7所示，在实施例二中，第一驱动机构40设置在其中一个支撑臂20内。第一传动机构包括相互啮合的第一锥齿轮42和第二锥齿轮43以及与第二锥齿轮43同轴连接的定轴45。第一锥齿轮42被第一电机41的输出轴驱动，定轴45相对底盘10固定设置。当第一电机41的输出轴转动时会带动第一锥齿轮42转动，由于第二锥齿轮43和定轴45相对底盘10固定设置，此时第一锥齿轮42会带动支撑臂20转动。第二驱动机构50设置在另一个支撑臂20内。实施例二的机器人的其余部分均与实施例一基本相同，在此不再赘述。
根据本申请的机器人的实施例三(图中未示出)与上述实施例的区别在于：第二驱动机构的设置位置及驱动方式。具体地，第二驱动机构设置在第二支撑臂内，该第二驱动机构的具体结构与实施例二的第一驱动机构的设计原理相似，通过电机、两个相互啮合的锥齿轮及定轴实现传动。实施例三的工作原理与上述实施例的工作原理基本相同，在此不再赘述。
如图8所示，根据本申请的机器人的实施例四与上述实施例的区别在于：第一驱动机构的结构。具体地，如图8所示，在实施例四中，第一驱动机构40设置在底盘10内。第一传动机构包括相互啮合的蜗轮和蜗杆以及与蜗轮同轴转动的第一传动轴44，蜗杆被第一电机41的输出轴驱动，第一传动轴44的转动带动支撑臂20摆动。上述的蜗轮和蜗杆结构构成蜗轮蜗杆减速箱，可实现自锁，减速比优选设置为1:23，由电位器获得位置参数，并算得角速度值。实施例四的第二驱动机构与实施例一基本相同，采用了1:1传动比的锥齿轮，又称弧齿伞齿轮。由安装于轴端的电位器获得位置参数，并算得角速度值。
在实施例四中，第一支撑臂21和/或第二支撑臂22可包括骨架及设置在骨架外部的外壳。轻量化，降低启动重量，承载传动结构。在某些示例中，骨架可采用铝合金材质，外壳可采用ABS材质。运用CAE工具对骨架进行了有限元分析，对外形尺寸进行了优化减轻重量。如图8所示，第二支撑臂22的骨架221采用镂空网格状结构，主要就是为了减轻基体重量，同时保证强度。
如图9和图10所示，根据本申请的机器人的实施例四与上述实施例的主要区别在于：第二驱动机构的结构。具体地，如图9和图10所示，在实施例五中，第二驱动机构50包括第三电机55，第三电机55设置在第二支撑臂22内，第三电机55的输出轴的轴线与第二枢转轴线S2重合，第三电机55的输出轴与第一支撑臂连接。
在实施例五中，去掉了第三锥齿轮和第四锥齿轮，采用电机直接驱动形式。其中，第三电机55优选为行星减速电机。行星减速电机的输出轴通过钢制轴套固定于一个第一支撑臂21的骨架上，行星减速电机的另一端通过空心连接轴与另一个第一支撑臂21连接。
此外，在实施例五中，另一个区别在于，在行星减速电机的尾端(远离输出轴的一端)设置有用于张紧的扭转弹簧，通过弹簧提供的扭矩提供与重力矩相同旋向的扭矩。在第二支撑臂22打开过程，随着重力矩减弱，弹簧产生的扭矩呈线性变化。从而，使行星减速电机的齿轮减速箱的齿轮间隙一直压在一侧。即使在电机启动过程中，由于加速度产生的惯性力也不足以使单侧压紧的啮合打开。从而，消除第二支撑臂22在运行中的晃动。
在第二支撑臂22中，空心连接轴的一侧有磁制编码器，其作用为可测量第二支撑臂22的旋转角度，分辨率优选为1/4096。通过此编码器可获得位置及速度信息，用于第二支撑臂22的运行控制。
第一支撑臂21采用蜗轮蜗杆减速电机直接驱动。在第一电机与第一支撑臂21之间也设置了扭簧以消除齿隙引起的晃动。在电机输出轴一侧，也装有磁制编码器用于检测第一支撑臂21的位置变化。在另一侧的支座上，有检测0度、90度极限位置的行程开关，避免第一支撑臂21旋转超过限定的角度范围，并设有机械挡。
在某些示例中，机器人为表面处理设备，表面处理设备具有语音交互功能，其中，表面处理设备包括：底盘10、表面处理器具、支撑臂20、头部30以及传声器。表面处理器具设置在底盘10底部，用于清理地上的灰尘；支撑臂20绕第一枢转轴线S1可上下摆动地设置在底盘10的顶部；头部30设置在支撑臂20上，其中，头部30包括用于显示可视元素的显示装置；传声器设置在底盘10和/或头部30内，用于语音交互；其中，支撑臂20具有在表面处理时便于在地面穿行的回收位置，支撑臂20还具有在语音交互时绕第一枢转轴线S1摆动的至少一个外摆位置。
上述表面处理设备不仅具有清洁功能，还具有语音交互功能。并且，通过绕第一枢转轴线可上下摆动地设置在底盘上的支撑臂，在清洁时回收支撑臂，使得该表面处理设 备能够通过诸如沙发、床等低矮空间，保证了清洁范围的全面性；在语音交互时外摆支撑臂，使得该表面处理设备具有一定的高度，从而便于语音交互，至少便于查看头部显示装置所显示的可视元素。在传声器设置于头部时，还能调整表面处理设备与声源的相对位置，从而便于声音采集。此外，支撑臂回收还便于机器人收纳。优选地，传声器为传声器阵列，使得声音的获取更加准确。
支撑臂20包括第一支撑臂21和第二支撑臂22，第一支撑臂21的第一端绕第一枢转轴线S1可摆动地设置在底盘10上，第二支撑臂22的第一端绕第二枢转轴线S2可摆动地设置在第一支撑臂21的第二端上，头部30设置在第二支撑臂22的第二端上。上述支撑臂20具有运行稳定，活动范围大等优点。优选地，第二支撑臂22内形成有空腔，该空腔用于布置电路板，第二支撑臂22上设置有过线孔。
第一支撑臂21为相对设置的两个，第二支撑臂22为一个并设置在两个第一支撑臂21之间。头部30绕第三枢转轴线S3可上下摆动地设置在支撑臂20上，头部30能够绕第四枢转轴线S4左右摆动；其中，头部30的上下摆动和/或左右摆动用于在语音交互时调整与语音交互对象之间的相对位置。
作为一个示例，表面处理器具包括：灰尘箱，设置在底盘10内，用于存储灰尘；以及刷单元，用于将地上的灰尘清扫到灰尘箱中。
底盘10上设置有容纳支撑臂20和头部30的容纳槽11，支撑臂20处于回收位置时支撑臂20和头部30回收至容纳槽11内并不突出于底盘10的上表面。上述结构使得结构美观，同时能够降低表面处理器具的高度，便于在低矮空间穿行。在语音交互时，通过驱动信号的控制支撑臂20和/或头部30摆动以形成交互动作。
头部30还可包括触敏装置，用于采集触摸介质的触摸信号；触敏装置采集到触摸信号时发出控制支撑臂20和/或头部30的位置变更的信号。当用户的手或者身体中的一部分与触敏装置接触时触敏装置能够采集到触摸信号，这样可以通过接触方式对表面处理器具进行控制。
机器人还包括声源定位装置，用于采集语音交互对象的位置信息，声源定位装置采集到位置信息时发出控制支撑臂20和/或头部30的位置变更的信号。上述结构有利于更好地调整支撑臂20和/或头部30的位置。
在某些示例中，传声器为由多个传声器单元组成的传声器阵列。
在某些示例中，传声器为由多个传声器单元组成的传声器阵列。
支撑臂20还具有在语音交互时绕第一枢转轴线S1摆动以调整与语音交互对象之间 的相对位置的至少一个外摆位置。
表面处理设备还包括：导航装置，用于在语音交互时调整设备在所处空间中的位置，以调整语音交互的位置。
表面处理设备还包括：生命体检测传感器，用于检测生命体信号，生命体检测传感器采集到生命体信号时发出控制支撑臂20)和/或头部30的位置变更的信号，以调整与生命体的相对位置。
头部(30)的上下摆动和/或左右摆动用于在语音交互时调整与语音交互对象之间的相对位置。
如图11所示，在某些示例中，机器人为表面处理设备，表面处理设备具有图像采集功能，表面处理设备包括：底盘10、表面处理器具、支撑臂20以及头部30。表面处理器具设置在底盘10底部，用于清理地上的灰尘；支撑臂20绕第一枢转轴线S1可上下摆动地设置在底盘10的顶部；头部30设置在支撑臂20上；其中，头部30包括光学图像传感器80，用于采集图像，该图像传感器80前侧可以设置一个透明罩或者半透明罩；其中，支撑臂20具有在表面处理时便于在地面穿行的回收位置，支撑臂20还具有在图像采集时绕第一枢转轴线S1摆动以调整图像采集的视角的至少一个外摆位置。
该表面处理设备不仅具有清洁功能，还具有图像采集功能。并且，通过绕第一枢转轴线可上下摆动地设置在底盘上的支撑臂，在清洁时回收支撑臂，使得该表面处理设备能够通过诸如沙发、床等低矮空间，保证了清洁范围的全面性；在图像采集时外摆支撑臂，能够调整光学图像传感器进行图像采集的视角，从而避免了表面处理设备低矮的视角，能够采集到适于观看的图像。此外，支撑臂回收还便于表面处理设备的收纳。
支撑臂20包括第一支撑臂21和第二支撑臂22，第一支撑臂21的第一端绕第一枢转轴线S1可摆动地设置在底盘10上，第二支撑臂22的第一端绕第二枢转轴线S2可摆动地设置在第一支撑臂21的第二端上，头部30设置在第二支撑臂22的第二端上。用于控制支撑臂20和/或头部30以调整图像采集的视角的驱动信号，基于采集到的图像中的对象的位置产生。
第一支撑臂21为相对设置的两个，第二支撑臂22为一个并设置在两个第一支撑臂21之间。头部30绕第三枢转轴线S3可上下摆动地设置在支撑臂20上，头部30能够绕第四枢转轴线S4左右摆动；其中，头部30的上下摆动和/或左右摆动用于在图像采集时调整图像采集的视角。
在某些示例中，表面处理器具包括：灰尘箱，设置在底盘10内，用于存储灰尘；以 及刷单元，用于将地上的灰尘清扫到灰尘箱中。
在某些示例中，表面处理设备还包括导航装置，用于在图像采集时调整所述表面处理设备在所处空间中的位置，以调整图像采集的位置。
在某些示例中，表面处理设备还包括生命体检测传感器，用于检测生命体信号，生命体检测传感器采集到生命体信号时发出控制支撑臂20和/或头部30的位置变更的信号，以调整图像采集的视角。
在某些示例中，头部30上还设置有用于显示图像采集状态和/或显示所采集的图像的显示装置。
在某些示例中，头部30的上下摆动和/或左右摆动用于在图像采集时调整图像采集的视角。
在某些示例中，表面处理器具包括：无线通信装置，用于发射携带所采集的图像的无线信号。还可包括测距传感器，用于采集表面处理设备所处空间的用于建立地图的环境数据。
在某些示例中，表面处理设备还包括：传声器，用于在图像采集时采集声音。
在某些示例中，机器人具有多种功能。功能包括清洁功能、安防功能和交互功能，其中，机器人包括：底盘10、表面处理器具、支撑臂20、头部30以及传声器。表面处理器具设置在底盘10底部，用于清理地上的灰尘；支撑臂20绕第一枢转轴线S1可上下摆动地设置在底盘10的顶部，其中，支撑臂20具有回收位置以及至少一个外摆位置；头部30，设置在支撑臂20上；其中，头部30包括：用于采集图像的光学图像传感器；传声器，设置在底盘10和/或头部30，用于语音交互；其中，机器人处于清洁功能时，支撑臂20处于回收位置以便于在地面穿行，机器人处于安防功能时，支撑臂20绕第一枢转轴线S1摆动至预定的一个外摆位置以调整图像采集的视角，机器人处于交互功能时，支撑臂20绕第一枢转轴线S1摆动并具有多个外摆位置以调整与语音交互对象之间的相对位置。
该机器人具有清洁功能、安防功能和交互功能，并且通过驱动信号的控制支撑臂绕第一枢转轴线摆动，以使支撑臂处于与机器人的功能对应的状态，使得机器人的形态能够适应多种功能，在机器人上实现了多种功能。此外，支撑臂回收还便于机器人收纳。
支撑臂20包括第一支撑臂21和第二支撑臂22，第一支撑臂21的第一端绕第一枢转轴线S1可摆动地设置在底盘10上，第二支撑臂22的第一端绕第二枢转轴线S2可摆动地设置在第一支撑臂21的第二端上，头部30设置在第二支撑臂22的第二端上。在交 互功能时，通过驱动信号的控制支撑臂20和/或头部30摆动以形成交互动作。
第一支撑臂21为相对设置的两个，第二支撑臂22为一个并设置在两个第一支撑臂21之间。头部30绕第三枢转轴线S3可上下摆动地设置在支撑臂20上，头部30能够绕第四枢转轴线S4左右摆动；其中，通过驱动信号的控制头部30绕第三枢转轴线S3上下摆动和/或第四枢转轴线S4左右摆动，以使头部30处于与机器人的功能对应的状态。
机器人包括：灰尘箱，设置在底盘10内，用于存储灰尘；以及刷单元，用于将地上的灰尘清扫到灰尘箱中。
在某些示例中，表面处理设备处于清洁功能时，头部30处于便于在地面穿行的位置，表面处理设备处于安防功能时，头部30绕第三枢转轴线S3和/或第四枢转轴线S4摆动至预定的一个位置以调整图像采集的视角，表面处理设备处于交互功能时，头部30绕第三枢转轴线S3和/或第四枢转轴线S4摆动并具有多个位置以调整与语音交互对象之间的相对位置。
在某些示例中，表面处理设备还具有无线通信装置，用于发射和/或接收携带有声音或图像的无线信号。传声器，还用于在图像采集时采集声音信号。
在某些示例中，表面处理设备还具有导航装置，导航装置在安防功能时调整表面处理设备在所处空间中的位置，以调整图像采集的位置；和/或，导航装置在清洁功能时调整表面处理设备在所处空间中的位置，以清洁多个位置；和/或，导航装置在交互功能时调整表面处理设备在所处空间中的位置，以调整交互位置。
在某些示例中，表面处理设备还具有生命体检测传感器，用于检测生命体信号，生命体检测传感器采集到生命体信号时发出控制支撑臂20和/或头部30的位置变更的信号，以调整图像采集的视角和/或传声器的声音信号采集方向。
在某些示例中表面处理设备还具有：测距传感器，设置用于采集所述表面处理设备所处空间的用于建立地图的环境数据。表面处理设备还可包括：障碍物检测单元，用于检测支撑臂20和头部30所在的竖直方向上的障碍物，并输出检测信号。
在某些示例中，机器人包括：底盘10、支撑臂20、头部30以及障碍物检测单元。底盘10上设置有行走机构；支撑臂20绕第一枢转轴线S1可上下摆动地设置在底盘10的顶部，其中，支撑臂20具有回收位置以及至少一个外摆位置；头部30设置在支撑臂20上；障碍物检测单元，用于检测支撑臂20和头部30所在的竖直方向上的障碍物；计算平台，与障碍物检测单元耦合，用于响应障碍物检测单元的信号，控制支撑臂20绕第一枢转轴线S1摆动，以调整支撑臂20和头部30的高度从而便于从检测到的障碍物下穿 过。
该机器人具有可外摆的支撑臂，并且能够根据障碍物调整支撑臂，使得机器人能够通过不同高度的障碍物，可以完成更多的功能。作为一个非限制性示例，障碍物检测单元设置在底盘上的红外传感器或者超声波传感器，上述传感器需布置支撑臂的位于运动方向的前侧。
支撑臂20包括第一支撑臂21和第二支撑臂22，第一支撑臂21的第一端绕第一枢转轴线S1可摆动地设置在底盘10上，第二支撑臂22的第一端绕第二枢转轴线S2可摆动地设置在第一支撑臂21的第二端上，头部30设置在第二支撑臂22的第二端上。第一支撑臂21为相对设置的两个，第二支撑臂22为一个并设置在两个第一支撑臂21之间。
头部30绕第三枢转轴线S3可上下摆动地设置在支撑臂20上，头部30能够绕第四枢转轴线S4左右摆动；其中，通过驱动信号的控制头部30摆动，以使支撑臂20和头部30的高度便于从检测到的障碍物下穿过。
在某些示例中，机器人为智能机器人，具有语音交互功能。智能机器人包括：底盘10、支撑臂20以及头部30，支撑臂20绕第一枢转轴线S1可上下摆动地设置在底盘10顶部，其中，支撑臂20具有回收位置以及至少一个外摆位置；头部30，头部30可上下摆动和/或左右摆动；以及传声器，设置在底盘10和/或头部30，用于采集声音信号；计算平台，用于控制支撑臂20和/或头部30摆动，以在语音交互中向语音交互对象输出机械动作。
该智能机器人在保持整体低矮的同时，还能够通过支撑臂和/或头部的摆动产生交互动作，提高了语音交互的生动性。计算平台可根据脚本控制支撑臂20和/或头部30摆动以在语音交互中形成机械动作，脚本可以为预设的一段程序或者配置文件，但不限于此，上述的机械动作可以是拟人的动作。
支撑臂20包括第一支撑臂21和第二支撑臂22，第一支撑臂21的第一端绕第一枢转轴线S1可摆动地设置在底盘10上，第二支撑臂22的第一端绕第二枢转轴线S2可摆动地设置在第一支撑臂21的第二端上，头部30设置在第二支撑臂22的第二端上。第一支撑臂21为相对设置的两个，第二支撑臂22为一个并设置在两个第一支撑臂21之间。
头部30还包括：用于采集图像信号的光学图像传感器、和/或用于显示可视元素的显示装置。
在某些实施例中，头部30还包括触敏装置，用于采集触摸介质的触摸信号；触敏装置采集到触摸信号时发出控制支撑臂和/或头部的位置变更的信号。计算平台可控制支撑 臂20和/或头部30摆动，以向触摸对象输出机械动作。
在某些实施例中，智能还包括声源定位装置，用于采集语音交互对象的位置信息，声源定位装置采集到位置信息时发出控制支撑臂20和/或头部30的位置变更的信号。计算平台可控制支撑臂20和/或头部30摆动，以向声源对象输出机械动作。
在某些实施例中，智能机器人包括：生命体检测传感器，用于检测生命体信号，生命体检测传感器采集到生命体信号时发出控制支撑臂20和/或头部30的位置变更的信号。计算平台可控制支撑臂20和/或头部30摆动，以向生命体输出机械动作。
在某些示例中，上述任一设备可包括：无线通信装置，用于发射和/或接收无线信号。
在某些示例中，上述任一设备可包括：测距传感器，设置用于采集设备所处空间的用于建立地图的环境数据。测距传感器可设置在底盘10上，也可以设置在头部20上，但不限于此。测距传感器可为激光雷达，但不限于此。
在某些示例中，上述任一设备可包括：障碍物检测单元，用于检测支撑臂20和头部30所在的竖直方向上的障碍物，并输出检测信号。
在某些示例中，上述任一设备可包括：设置在头部30上的用于显示可视元素的显示部件。
在某些示例中，上述任一设备可包括：导航装置，用于在图像采集时调整设备在空间中的位置，以调整图像采集的位置。
在某些示例中，上述任一设备可包括：生命体检测传感器，用于检测生命体信号，生命体检测传感器采集到生命体信号时发出控制支撑臂和/或头部的位置变更的信号，以调整图像采集的视角和/或传声器的声音信号采集方向。
在某些示例中，上述任一设备可包括：导航装置，导航装置在安防功能时调整设备在所处空间中的位置，以调整图像采集的位置；和/或，导航装置在清洁功能时调整设备在所处空间中的位置，以清洁多个位置；和/或，导航装置在交互功能时调整设备在所处空间中的位置，以调整交互位置。
如图12所示，作为一个非限制性示例，机器人或表面处理设备包括：计算平台1201、传声器1202、显示部件1203、扬声器1204、无线通信装置1205、障碍物检测单元1206、生命体检测传感器1207、导航装置1208、声源定位装置1209、触敏装置1210、测距传感器1211、一个或多个驱动机构控制器1212。计算平台1201可为存储器和处理器或者FPGA等具有计算能力的硬件和/或硬件与软件的组合。传声器1202可包 括一个或多个传声器单元，或者由多个传声器阵列构成的传声器阵列。扬声器1204可将电信号转换成声音信号。无线通信装置1204可接收和/或发送无线信号。障碍物检测单元1206可为一个或多个红外和/或超声波传感器。生命体检测传感器1207可为热释电传感器、光学图像传感器等。导航装置1208具有导航功能。声源定位装置1209可为传声器阵列等。测距传感器1211可为激光雷达传感器。一个或多个驱动机构控制器1212可向驱动机构发送驱动信号。
如图13所示，本申请还提供了一种控制表面处理设备的方法，该方法包括步骤1302和步骤1306。
步骤1302，在表面处理时，产生第一驱动信号，以驱动支撑臂20到回收位置以便于在地面穿行；
步骤1304，产生第二驱动信号，以驱动表面处理器具清理地板上的灰尘；以及
步骤1306，在语音交互时，产生第三驱信号，以驱动支撑臂20绕第一枢转轴线摆动到至少一个外摆位置从而调整与语音交互对象的相对位置。
在某些示例中，还可通过驱动信号的控制头部30上下摆动和/或左右摆动以调整与语音交互对象的相对位置。
在某些示例中，可基于相对于表面处理设备的语音交互对象的位置信息产生第三驱动信号。
应当理解，上述步骤编号并不是对步骤执行顺序的限定。
如图14所示，本申请还提供了一种控制表面处理设备的方法，该方法包括步骤1402至步骤1406。
步骤1402，在表面处理时，产生第一驱动信号，以驱动支撑臂到回收位置以便于在地面穿行。
步骤1404，产生第二驱动信号，以驱动表面处理器具清理地板上的灰尘。
步骤1406，在图像采集时，产生第三驱信号，以驱动支撑臂绕第一枢转轴线摆动到至少一个外摆位置从而调整图像采集的视角。
在某些示例中，还可产生第四驱动信号，以驱动头部绕第三枢转轴线上下摆动和/或第四枢转轴线左右摆动从而调整图像采集的视角。
在某些示例中，可基于集到的图像中的对象的位置产生第三驱动信号。
应当理解，上述步骤编号并不是对步骤执行顺序的限定。
如图15所示，本申请还提供了一种控制具有多种功能的机器人的方法，该方法包括 步骤1502至步骤1506。
步骤1502，在清洁功能时，产生第一驱动信号，驱动支撑臂处于回收位置以便于在地面穿行。
步骤1504，在安防功能时，产生第二驱动信号，驱动支撑臂20绕第一枢转轴线摆动至预定的一个外摆位置以调整图像采集的视角。
步骤1506，在交互功能时，产生第三驱动信号，驱动支撑臂20绕第一枢转轴线摆动并具有多个外摆位置以调整与语音交互对象之间的相对位置。
在某些示例中，根据机器人的功能产生第二驱动信号，以驱动头部30绕第三枢转轴线上下摆动和/或第四枢转轴线左右摆动，从而使所述头部30处于与机器人的功能对应的状态。
如图16所示，本申请还提供了一种控制机器人的方法，该方法包括1602至步骤1606。
步骤1602，产生第一驱动信号，以驱动行走机构从而推动机器人在地上移动；
步骤1604，在移动过程中，通过障碍物检测单元检测支撑臂20和头部30所在的竖直方向上的障碍物；以及
步骤1606，基于检测到的障碍物产生第二驱动信号，以驱动支撑臂20绕第一枢转轴线S1摆动，以调整机器人的高度从而便于从检测到的障碍物下穿过。
在某些示例中，可产生第三驱动信号，以驱动头部30绕第三枢转轴线S3上下摆动和/或第四枢转轴线S4左右摆动，以调整机器人的高度从而便于从检测到的障碍物下穿过。
在某些示例中，如果调整支撑臂20绕第一枢转轴线S1摆动无法从检测到的障碍物下穿过，进入避障处理过程。
本发明实施例还提供一种计算机可读程序，其中当在机器人或者表面处理设备中执行所述程序时，所述程序使得计算机在所述机器人或者表面处理设备中执行本发明中所述的控制方法。
本发明实施例还提供一种存储有计算机可读程序的存储介质，其中所述计算机可读程序使得计算机在机器人或者表面处理设备中执行本发明所述的控制方法。
本发明以上的装置和方法可以由硬件实现，也可以由硬件结合软件实现。本发明涉及这样的计算机可读程序，当该程序被逻辑部件所执行时，能够使该逻辑部件实现上文所述的装置或构成部件，或使该逻辑部件实现上文所述的各种方法或步骤。本发明还涉 及用于存储以上程序的存储介质，如硬盘、磁盘、光盘、DVD、flash存储器等。
以上所述仅为本公开的优选实施例而已，并不用于限制本公开，对于本领域的技术人员来说，本公开可以有各种更改和变化。凡在本公开的精神和原则之内，所作的任何修改、等同替换、改进等，均应包含在本发明的保护范围之内。

Claims (73)

  1. 一种机器人，其特征在于，包括：
    底盘(10)；
    支撑臂(20)，所述支撑臂(20)绕第一枢转轴线(S1)可上下摆动地设置在所述底盘(10)上，所述支撑臂(20)具有回收位置及外摆位置；以及
    头部(30)，设置在所述支撑臂(20)上。
  2. 根据权利要求1所述的机器人，其特征在于，所述机器人具有人机交互功能，所述头部(30)被布置成在实现人机交互功能时产生摇头或者点头动作。
  3. 根据权利要求1所述的机器人，其特征在于，所述机器人具有人机交互功能，所述头部(30)上设置有显示部件和扬声器，所述显示部件被配置为显示使用状态或者与人交流。
  4. 根据权利要求1所述的机器人，其特征在于，所述底盘(10)上设置有行走机构。
  5. 根据权利要求4所述的机器人，其特征在于，所述底盘(10)上设置有扫地机构。
  6. 根据权利要求1至5中任一项所述的机器人，其特征在于，所述机器人还包括：第一驱动机构(40)，设置在所述底盘(10)内或者设置在所述支撑臂(20)内，所述第一驱动机构(40)驱动所述支撑臂(20)，以使所述支撑臂(20)具有所述回收位置及所述外摆位置。
  7. 根据权利要求6所述的机器人，其特征在于，所述第一驱动机构(40)包括第一电机(41)及第一传动机构，所述第一电机(41)的输出轴的延伸方向垂直于所述第一枢转轴线(S1)，所述第一电机(41)通过所述第一传动机构驱动所述支撑臂(20)。
  8. 根据权利要求7所述的机器人，其特征在于，所述第一驱动机构(40)设置在所述底盘(10)内，所述第一传动机构包括相互啮合的蜗轮和蜗杆以及与所述蜗轮同轴转动的第一传动轴(44)，所述蜗杆被所述第一电机(41)的输出轴驱动，所述第一传动轴(44)的转动带动所述支撑臂(20)摆动。
  9. 根据权利要求7所述的机器人，其特征在于，所述第一驱动机构(40)设置在所述底盘(10)内，所述第一传动机构包括相互啮合的第一锥齿轮(42)和第二锥齿轮(43)以及与所述第二锥齿轮(43)同轴转动的第一传动轴(44)，所述第一锥齿轮 (42)被所述第一电机(41)的输出轴驱动，所述第一传动轴(44)的转动带动所述支撑臂(20)摆动。
  10. 根据权利要求7所述的机器人，其特征在于，所述第一驱动机构(40)设置在所述支撑臂(20)内，所述第一传动机构包括相互啮合的第一锥齿轮(42)和第二锥齿轮(43)以及与所述第二锥齿轮(43)同轴连接的定轴(45)，所述第一锥齿轮(42)被所述第一电机(41)的输出轴驱动，所述定轴(45)相对所述底盘(10)固定设置。
  11. 根据权利要求1至6中任一项所述的机器人，其特征在于，所述支撑臂(20)包括第一支撑臂(21)和第二支撑臂(22)，所述第一支撑臂(21)的第一端绕所述第一枢转轴线(S1)可摆动地设置在所述底盘(10)上，所述第二支撑臂(22)的第一端绕第二枢转轴线(S2)可摆动地设置在所述第一支撑臂(21)的第二端上，所述头部(30)设置在所述第二支撑臂(22)的第二端上。
  12. 根据权利要求11所述的机器人，其特征在于，所述机器人还包括：
    第二驱动机构(50)，设置在所述第一支撑臂(21)内或者设置在所述第二支撑臂(22)内，所述第二驱动机构(50)驱动所述第二支撑臂(22)，以使所述第二支撑臂(22)摆动。
  13. 根据权利要求12所述的机器人，其特征在于，所述第二驱动机构(50)包括第二电机(51)及第二传动机构，所述第二电机(51)的输出轴的延伸方向垂直于所述第二枢转轴线(S2)，所述第二电机(51)通过所述第二传动机构驱动所述第二支撑臂(22)。
  14. 根据权利要求13所述的机器人，其特征在于，所述第二驱动机构(50)设置在所述第一支撑臂(21)内，所述第二传动机构包括相互啮合的第三锥齿轮(52)和第四锥齿轮(53)以及与所述第四锥齿轮(53)同轴转动的第二传动轴(54)，所述第三锥齿轮(52)被所述第二电机(51)的输出轴驱动，所述第二传动轴(54)的转动带动所述第二支撑臂(22)摆动。
  15. 根据权利要求12所述的机器人，其特征在于，所述第二驱动机构(50)包括第三电机(55)，所述第三电机(55)设置在所述第二支撑臂(22)内，所述第三电机(55)的输出轴的轴线与所述第二枢转轴线(S2)重合，所述第三电机(55)的输出轴与所述第一支撑臂(21)连接。
  16. 根据权利要求11所述的机器人，其特征在于，所述第一支撑臂(21)为相对设置的两个，所述第二支撑臂(22)为一个并设置在两个所述第一支撑臂(21)之间。
  17. 根据权利要求11所述的机器人，其特征在于，所述第一支撑臂(21)和第二支撑臂(22)均包括骨架及设置在所述骨架外部的外壳，所述第二支撑臂(22)的骨架(221)为镂空网格状结构。
  18. 根据权利要求1至5中任一项所述的机器人，其特征在于，所述底盘(10)上设置有容纳所述支撑臂(20)和所述头部(30)的容纳槽(11)，所述支撑臂(20)处于所述回收位置时所述支撑臂(20)和所述头部(30)回收至所述容纳槽(11)内并不突出于所述底盘(10)的上表面。
  19. 根据权利要求1至5中任一项所述的机器人，其特征在于，所述头部(30)绕第三枢转轴线(S3)可上下摆动地设置在所述支撑臂(20)上，所述头部(30)能够绕第四枢转轴线(S4)左右摆动。
  20. 根据权利要求19所述的机器人，其特征在于，所述头部(30)包括基座(31)及头部本体(32)，所述基座(31)绕所述第三枢转轴线(S3)可摆动地设置在所述支撑臂(20)上，所述头部本体(32)沿所述第四枢转轴线(S4)可转动地设置在所述基座(31)上。
  21. 根据权利要求20所述的机器人，其特征在于，所述基座(31)包括连接座(311)及设置在所述连接座(311)上的第一舵机(312)，所述头部本体(32)可转动地设置在所述连接座(311)上。
  22. 根据权利要求21所述的机器人，其特征在于，所述头部本体(32)包括外壳、设置在所述外壳上的显示部件及设置在所述外壳内的第二舵机，所述外壳通过所述第二舵机与所述连接座(311)连接。
  23. 一种表面处理设备，其特征在于，具有语音交互功能，其中，所述表面处理设备包括：
    底盘(10)；
    表面处理器具，设置在所述底盘(10)底部，用于清理地上的灰尘；
    支撑臂(20)，所述支撑臂(20)绕第一枢转轴线(S1)可上下摆动地设置在所述底盘(10)的顶部；
    头部(30)，设置在所述支撑臂(20)上；以及
    传声器，设置在所述底盘(10)和/或所述头部(30)内，用于语音交互；
    其中，所述支撑臂(20)具有在表面处理时便于在地面穿行的回收位置，所述支撑臂(20)还具有在语音交互时绕所述第一枢转轴线(S1)摆动的至少一个外摆位置。
  24. 根据权利要求23所述的表面处理设备，其特征在于，所述头部(30)还包括触敏装置，用于采集触摸介质的触摸信号；所述触敏装置采集到所述触摸信号时发出控制所述支撑臂(20)和/或所述头部(30)的位置变更的信号。
  25. 根据权利要求23所述的表面处理设备，其特征在于，所述表面处理设备还包括声源定位装置，用于采集语音交互对象的位置信息，所述声源定位装置采集到所述位置信息时发出控制所述支撑臂(20)和/或所述头部(30)的位置变更的信号。
  26. 根据权利要求23所述的表面处理设备，其特征在于，所述支撑臂(20)还具有在语音交互时绕所述第一枢转轴线(S1)摆动以调整与语音交互对象之间的相对位置的至少一个外摆位置。
  27. 根据权利要求23所述的表面处理设备，其特征在于，所述支撑臂(20)包括第一支撑臂(21)和第二支撑臂(22)，所述第一支撑臂(21)的第一端绕所述第一枢转轴线(S1)可摆动地设置在所述底盘(10)上，所述第二支撑臂(22)的第一端绕第二枢转轴线(S2)可摆动地设置在所述第一支撑臂(21)的第二端上，所述头部(30)设置在所述第二支撑臂(22)的第二端上。
  28. 根据权利要求27所述的表面处理设备，其特征在于，所述第一支撑臂(21)为相对设置的两个，所述第二支撑臂(22)为一个并设置在两个所述第一支撑臂(21)之间。
  29. 根据权利要求23所述的表面处理设备，其特征在于，所述头部(30)绕第三枢转轴线(S3)可上下摆动地设置在所述支撑臂(20)上，所述头部(30)能够绕第四枢转轴线(S4)左右摆动；其中，所述头部(30)的上下摆动和/或左右摆动用于在语音交互时调整与语音交互对象之间的相对位置。
  30. 根据权利要求23所述的表面处理设备，其特征在于，所述表面处理器具包括：灰尘箱，设置在所述底盘(10)内，用于存储灰尘；以及，刷单元，用于将地上的灰尘清扫到所述灰尘箱中。
  31. 根据权利要求23至30中任一项所述的表面处理设备，其特征在于，所述底盘(10)上设置有容纳所述支撑臂(20)和所述头部(30)的容纳槽(11)，所述支撑臂(20)处于所述回收位置时所述支撑臂(20)和所述头部(30)回收至所述容纳槽(11)内并不突出于所述底盘(10)的上表面。
  32. 根据权利要求23所述的表面处理设备，其特征在于，所述表面处理设备还具有以下至少之一：无线通信装置，用于发射和/或接收无线信号；测距传感器，设置用于采 集所述表面处理设备所处空间的用于建立地图的环境数据；障碍物检测单元，用于检测所述支撑臂(20)和所述头部(30)所在的竖直方向上的障碍物，并输出检测信号；设置在所述头部(30)上的用于显示可视元素的显示装置。
  33. 一种表面处理设备，其特征在于，具有图像采集功能，所述表面处理设备包括：
    底盘(10)；
    表面处理器具，设置在所述底盘(10)底部，用于清理地上的灰尘；
    支撑臂(20)，所述支撑臂(20)绕第一枢转轴线(S1)可上下摆动地设置在所述底盘(10)的顶部；
    头部(30)，设置在所述支撑臂(20)上；其中，所述头部(30)上设置有光学图像传感器(80)，用于采集图像；
    其中，所述支撑臂(20)具有在表面处理时便于在地面穿行的回收位置，所述支撑臂(20)还具有在图像采集时绕第一枢转轴线(S1)摆动以调整图像采集的视角的至少一个外摆位置。
  34. 根据权利要求33所述的表面处理设备，其特征在于，所述表面处理设备还包括：导航装置，用于在图像采集时调整所述表面处理设备在所处空间中的位置，以调整图像采集的位置。
  35. 根据权利要求33所述的表面处理设备，其特征在于，所述表面处理设备还包括：生命体检测传感器，用于检测生命体信号，所述生命体检测传感器采集到所述生命体信号时发出控制所述支撑臂(20)和/或所述头部(30)的位置变更的信号，以调整图像采集的视角。
  36. 根据权利要求33所述的表面处理设备，其特征在于，所述支撑臂(20)包括第一支撑臂(21)和第二支撑臂(22)，所述第一支撑臂(21)的第一端绕所述第一枢转轴线(S1)可摆动地设置在所述底盘(10)上，所述第二支撑臂(22)的第一端绕第二枢转轴线(S2)可摆动地设置在所述第一支撑臂(21)的第二端上，所述头部(30)设置在所述第二支撑臂(22)的第二端上。
  37. 根据权利要求36所述的表面处理设备，其特征在于，所述第一支撑臂(21)为相对设置的两个，所述第二支撑臂(22)为一个并设置在两个所述第一支撑臂(21)之间。
  38. 根据权利要求33所述的表面处理设备，其特征在于，所述头部(30)绕第三枢转轴线(S3)可上下摆动地设置在所述支撑臂(20)上，所述头部(30)能够绕第四枢 转轴线(S4)左右摆动；其中，所述头部(30)的上下摆动和/或左右摆动用于在图像采集时调整图像采集的视角。
  39. 根据权利要求33所述的表面处理设备，其特征在于，所述表面处理器具包括：灰尘箱，设置在所述底盘(10)内，用于存储灰尘；以及，刷单元，用于将地上的灰尘清扫到所述灰尘箱中。
  40. 根据权利要求33所述的表面处理设备，其特征在于，所述表面处理设备还具有以下至少之一：无线通信装置，用于发射和/或接收无线信号；测距传感器，设置用于采集所述表面处理设备所处空间的用于建立地图的环境数据。
  41. 根据权利要求33所述的表面处理设备，其特征在于，所述表面处理设备还具有：障碍物检测单元，用于检测所述支撑臂(20)和所述头部(30)所在的竖直方向上的障碍物，并输出检测信号。
  42. 根据权利要求33所述的表面处理设备，其特征在于，所述表面处理设备还包括：传声器，用于在图像采集时采集声音信号。
  43. 一种具有多种功能的机器人，其特征在于，所述功能包括清洁功能、安防功能和交互功能，其中，所述机器人包括：
    底盘(10)；
    表面处理器具，设置在所述底盘(10)底部，用于清理地上的灰尘；
    支撑臂(20)，所述支撑臂(20)绕第一枢转轴线(S1)可上下摆动地设置在所述底盘(10)的顶部，其中，所述支撑臂(20)具有回收位置以及至少一个外摆位置；
    头部(30)，设置在所述支撑臂(20)上；其中，所述头部(30)包括：用于采集图像的光学图像传感器；
    传声器，设置在所述底盘(10)和/或所述头部(30)，用于语音交互；
    其中，所述机器人处于所述清洁功能时，所述支撑臂(20)处于所述回收位置以便于在地面穿行，所述机器人处于所述安防功能时，所述支撑臂(20)绕所述第一枢转轴线(S1)摆动至预定的一个外摆位置以调整图像采集的视角，所述机器人处于所述交互功能时，所述支撑臂(20)绕所述第一枢转轴线(S1)摆动并具有多个外摆位置以调整与语音交互对象之间的相对位置。
  44. 根据权利要求43所述的机器人，其特征在于，所述支撑臂(20)包括第一支撑臂(21)和第二支撑臂(22)，所述第一支撑臂(21)的第一端绕所述第一枢转轴线(S1)可摆动地设置在所述底盘(10)上，所述第二支撑臂(22)的第一端绕第二枢转 轴线(S2)可摆动地设置在所述第一支撑臂(21)的第二端上，所述头部(30)设置在所述第二支撑臂(22)的第二端上。
  45. 根据权利要求44所述的机器人，其特征在于，所述第一支撑臂(21)为相对设置的两个，所述第二支撑臂(22)为一个并设置在两个所述第一支撑臂(21)之间。
  46. 根据权利要求43至45中任一项所述的机器人，其特征在于，所述头部(30)绕第三枢转轴线(S3)可上下摆动地设置在所述支撑臂(20)上，所述头部(30)能够绕第四枢转轴线(S4)左右摆动；
    其中，所述机器人处于所述清洁功能时，所述头部(30)处于所述回收位置以便于在地面穿行，所述机器人处于所述安防功能时，所述头部(30)绕所述第三枢转轴线(S3)和/或所述第四枢转轴线(S4)摆动至预定的一个位置以调整图像采集的视角，所述机器人处于所述交互功能时，所述头部(30)绕所述第三枢转轴线(S3)和/或所述第四枢转轴线(S4)摆动并具有多个位置以调整与语音交互对象之间的相对位置。
  47. 根据权利要求43所述的机器人，其特征在于，所述机器人包括：灰尘箱，设置在所述底盘(10)内，用于存储灰尘；以及，刷单元，用于将地上的灰尘清扫到所述灰尘箱中。
  48. 根据权利要求43所述的机器人，其特征在于，所述表面处理设备还具有以下至少之一：无线通信装置，用于发射和/或接收无线信号；测距传感器，设置用于采集所述表面处理设备所处空间的用于建立地图的环境数据。
  49. 根据权利要求43所述的机器人，其特征在于，所述表面处理设备还具有：障碍物检测单元，用于检测所述支撑臂(20)和所述头部(30)所在的竖直方向上的障碍物，并输出检测信号。
  50. 根据权利要求43所述的机器人，其特征在于，所述传声器，还用于在图像采集时采集声音信号。
  51. 根据权利要求43所述的机器人，其特征在于，所述表面处理设备还包括：导航装置，所述导航装置在安防功能时调整所述表面处理设备在所处空间中的位置，以调整图像采集的位置；和/或，所述导航装置在清洁功能时调整所述表面处理设备在所处空间中的位置，以清洁多个位置；和/或，所述导航装置在交互功能时调整所述表面处理设备在所处空间中的位置，以调整交互位置。
  52. 根据权利要求43所述的机器人，其特征在于，所述表面处理设备还包括：设置在所述头部(30)上的用于显示可视元素的显示装置。
  53. 一种机器人，其特征在于，包括：
    底盘(10)，所述底盘(10)上设置有行走机构，所述行走机构被布置成推动所述机器人在地面移动；
    支撑臂(20)，所述支撑臂(20)绕第一枢转轴线(S1)可上下摆动地设置在所述底盘(10)的顶部，其中，所述支撑臂(20)具有回收位置以及至少一个外摆位置；
    头部(30)，设置在所述支撑臂(20)上；
    障碍物检测单元，用于检测所述支撑臂(20)和所述头部(30)所在的竖直方向上的障碍物，并输出检测信号；以及
    计算平台，与所述障碍物检测单元耦合，用于响应所述检测信号，控制所述支撑臂(20)绕所述第一枢转轴线(S1)摆动，以调整所述机器人的高度从而使所述机器人便于从障碍物下穿过。
  54. 根据权利要求53所述的机器人，其特征在于，所述支撑臂(20)包括第一支撑臂(21)和第二支撑臂(22)，所述第一支撑臂(21)的第一端绕所述第一枢转轴线(S1)可摆动地设置在所述底盘(10)上，所述第二支撑臂(22)的第一端绕第二枢转轴线(S2)可摆动地设置在所述第一支撑臂(21)的第二端上，所述头部(30)设置在所述第二支撑臂(22)的第二端上。
  55. 根据权利要求54所述的机器人，其特征在于，所述第一支撑臂(21)为相对设置的两个，所述第二支撑臂(22)为一个并设置在两个所述第一支撑臂(21)之间。
  56. 根据权利要求53所述的机器人，其特征在于，所述头部(30)绕第三枢转轴线(S3)可上下摆动地设置在所述支撑臂(20)上，所述头部(30)能够绕第四枢转轴线(S4)左右摆动；
    其中，通过驱动信号的控制所述头部(30)摆动，以使所述支撑臂(20)和所述头部(30)的高度便于从检测到的障碍物下穿过。
  57. 根据权利要求53所述的机器人，其特征在于，所述机器人还包括：表面处理器具，设置在所述底盘(10)底部，用于清理地上的灰尘；和/或，所述机器人具有语音交互功能。
  58. 一种智能机器人，其特征在于，具有语音交互功能，所述智能机器人包括：
    底盘(10)；
    支撑臂(20)，所述支撑臂(20)绕第一枢转轴线(S1)可上下摆动地设置在所述底盘(10)顶部，其中，所述支撑臂(20)具有回收位置以及至少一个外摆位置；
    头部(30)，所述头部(30)可上下摆动和/或左右摆动；
    传声器，设置在所述底盘(10)和/或所述头部(30)，用于语音交互；以及
    计算平台，用于控制所述支撑臂(20)和/或所述头部(30)摆动，以在语音交互中向语音交互对象输出机械动作。
  59. 根据权利要求58所述的智能机器人，其特征在于，所述支撑臂(20)包括第一支撑臂(21)和第二支撑臂(22)，所述第一支撑臂(21)的第一端绕所述第一枢转轴线(S1)可摆动地设置在所述底盘(10)上，所述第二支撑臂(22)的第一端绕第二枢转轴线(S2)可摆动地设置在所述第一支撑臂(21)的第二端上，所述头部(30)设置在所述第二支撑臂(22)的第二端上。
  60. 根据权利要求59所述的智能机器人，其特征在于，所述第一支撑臂(21)为相对设置的两个，所述第二支撑臂(22)为一个并设置在两个所述第一支撑臂(21)之间。
  61. 根据权利要求58所述的智能机器人，其特征在于，所述头部(30)还包括：用于采集图像信号的光学图像传感器、和/或用于显示可视元素的显示装置。
  62. 根据权利要求58所述的智能机器人，其特征在于，所述机器人还包括：行走机构，设置在所述底盘(10)底部；以及，表面处理器具，设置在所述底盘(10)底部，用于清理地上的灰尘。
  63. 一种控制表面处理设备的方法，其特征在于，所述表面处理设备包括：底盘(10)；表面处理器具，设置在所述底盘(10)底部，用于清理地板上的灰尘；支撑臂(20)，所述支撑臂(20)绕第一枢转轴线(S1)可上下摆动地设置在所述底盘(10)上；头部(30)，设置在所述支撑臂(20)上；
    其中，所述方法包括：
    在表面处理时，产生第一驱动信号，以驱动所述支撑臂(20)到回收位置以便于在地面穿行；并产生第二驱动信号，以驱动所述表面处理器具清理地板上的灰尘；以及
    在语音交互时，产生第三驱信号，以驱动所述支撑臂(20)绕所述第一枢转轴线(S1)摆动到至少一个外摆位置从而调整与语音交互对象的相对位置。
  64. 根据权利要求63所述的方法，其特征在于，所述方法还包括：通过驱动信号的控制所述头部(30)绕第三枢转轴线(S3)上下摆动和/或第四枢转轴线(S4)左右摆动以调整与语音交互对象的相对位置。
  65. 根据权利要求63所述的方法，其特征在于，产生第三驱信号包括：基于相对于 所述表面处理设备的语音交互对象的位置信息产生所述第三驱动信号。
  66. 一种控制表面处理设备的方法，其特征在于，所述表面处理设备具有图像采集功能，其包括：底盘(10)；表面处理器具，设置在所述底盘(10)底部，用于清理地板上的灰尘；支撑臂(20)，所述支撑臂(20)绕第一枢转轴线(S1)可上下摆动地设置在所述底盘(10)上；头部(30)，设置在所述支撑臂(20)上；光学图像传感器，设置在所述头部(30)上；
    其中，所述方法包括：
    在表面处理时，产生第一驱动信号，以驱动所述支撑臂(20)到回收位置以便于在地面穿行；并产生第二驱动信号，以驱动所述表面处理器具清理地板上的灰尘；以及
    在图像采集时，产生第三驱信号，以驱动所述支撑臂(20)绕所述第一枢转轴线(S1)摆动到至少一个外摆位置从而调整图像采集的视角。
  67. 根据权利要求66所述的方法，其特征在于，所述方法还包括：产生第四驱动信号，以驱动所述头部(30)绕第三枢转轴线(S3)上下摆动和/或第四枢转轴线(S4)左右摆动从而调整图像采集的视角。
  68. 根据权利要求66或67所述的方法，其特征在于，产生第三驱信号包括：基于集到的图像中的对象的位置产生所述第三驱动信号。
  69. 一种控制机器人的方法，其特征在于，所述机器人包括清洁功能、安防功能和交互功能，所述机器人包括：底盘(10)；表面处理器具，设置在所述底盘(10)底部，用于清理地板上的灰尘；支撑臂(20)，所述支撑臂(20)绕第一枢转轴线(S1)可上下摆动地设置在所述底盘(10)顶部；头部(30)，设置在所述支撑臂(20)上；
    其中，所述方法包括：
    在所述清洁功能时，产生第一驱动信号，驱动所述支撑臂(20)处于回收位置以便于在地面穿行；
    在所述安防功能时，产生第二驱动信号，驱动所述支撑臂(20)绕所述第一枢转轴线(S1)摆动至预定的一个外摆位置以调整图像采集的视角；
    在所述交互功能时，产生第三驱动信号，驱动所述支撑臂(20)绕所述第一枢转轴线(S1)摆动并具有多个外摆位置以调整与语音交互对象之间的相对位置。
  70. 根据权利要求69所述的方法，其特征在于，所述方法还包括：根据机器人的功能产生第二驱动信号，以驱动所述头部(30)绕第三枢转轴线(S3)上下摆动和/或第四枢转轴线(S4)左右摆动，从而使所述头部(30)处于与机器人的功能对应的状态。
  71. 一种控制机器人的方法，其特征在于，所述机器人包括：底盘(10)；行走机构，其安装至所述底盘(10)；支撑臂(20)，所述支撑臂(20)绕第一枢转轴线(S1)可上下摆动地设置在所述底盘(10)顶部；头部(30)，设置在所述支撑臂(20)上；障碍物检测单元；
    其中，所述方法包括：
    产生第一驱动信号，以驱动所述行走机构从而推动所述机器人在地上移动；
    在移动过程中，通过所述障碍物检测单元检测所述支撑臂(20)和所述头部(30)所在的竖直方向上的障碍物；以及
    基于检测到的障碍物产生第二驱动信号，以驱动所述支撑臂(20)绕所述第一枢转轴线(S1)摆动，以调整所述机器人的高度从而便于从检测到的障碍物下穿过。
  72. 根据权利要求71所述的方法，其特征在于，所述方法还包括：
    产生第三驱动信号，以驱动所述头部(30)绕第三枢转轴线(S3)上下摆动和/或第四枢转轴线(S4)左右摆动，以调整所述机器人的高度从而便于从检测到的障碍物下穿过。
  73. 根据权利要求71或72所述的方法，其特征在于，如果调整所述支撑臂(20)绕所述第一枢转轴线(S1)摆动无法从检测到的障碍物下穿过，进入避障处理过程。
PCT/CN2017/076752 2016-03-17 2017-03-15 机器人 WO2017157302A1 (zh)

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CN112247999A (zh) * 2020-09-24 2021-01-22 闵好年 一种巡检机器人
CN113942595A (zh) * 2020-07-15 2022-01-18 Oppo广东移动通信有限公司 车体、功能设备及充电设备
CN114161480A (zh) * 2021-12-30 2022-03-11 伯朗特机器人股份有限公司 一种具有辅助支撑装置的机器人
CN114211486A (zh) * 2021-12-13 2022-03-22 中国科学院深圳先进技术研究院 一种机器人的控制方法、机器人及存储介质
GB2600729A (en) * 2020-11-06 2022-05-11 Dyson Technology Ltd Robotic vacuum cleaning system
CN114654481A (zh) * 2022-04-20 2022-06-24 广州市泰昌机械设备有限公司 一种仓储筒仓的清理机器人
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US20200101594A1 (en) * 2018-09-29 2020-04-02 Dogness Group LLC Anti-sticking rotating device and a smart pet robot
US10913149B2 (en) * 2018-09-29 2021-02-09 Dogness Group LLC Anti-sticking rotating device and a smart pet robot
CN109404657B (zh) * 2018-12-20 2023-08-15 南京管科智能科技有限公司 一种锥齿传动管道机器人的驱动机构
CN109404657A (zh) * 2018-12-20 2019-03-01 南京管科智能科技有限公司 一种锥齿传动管道机器人的驱动机构
CN110154799B (zh) * 2019-06-28 2023-12-01 国创移动能源创新中心(江苏)有限公司 一种底板式充电装置
CN110154799A (zh) * 2019-06-28 2019-08-23 国创新能源汽车能源与信息创新中心(江苏)有限公司 一种底板式充电装置
CN113942595A (zh) * 2020-07-15 2022-01-18 Oppo广东移动通信有限公司 车体、功能设备及充电设备
CN112247999A (zh) * 2020-09-24 2021-01-22 闵好年 一种巡检机器人
GB2600729A (en) * 2020-11-06 2022-05-11 Dyson Technology Ltd Robotic vacuum cleaning system
GB2600729B (en) * 2020-11-06 2023-07-12 Dyson Technology Ltd Robotic vacuum cleaning system
WO2023088365A1 (zh) * 2021-11-17 2023-05-25 深圳市普渡科技有限公司 机器人
CN114211486A (zh) * 2021-12-13 2022-03-22 中国科学院深圳先进技术研究院 一种机器人的控制方法、机器人及存储介质
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CN114654481A (zh) * 2022-04-20 2022-06-24 广州市泰昌机械设备有限公司 一种仓储筒仓的清理机器人

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