CN105947200A - Folding hidden type quadrotor humanoid flying robot - Google Patents
Folding hidden type quadrotor humanoid flying robot Download PDFInfo
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- CN105947200A CN105947200A CN201610332452.9A CN201610332452A CN105947200A CN 105947200 A CN105947200 A CN 105947200A CN 201610332452 A CN201610332452 A CN 201610332452A CN 105947200 A CN105947200 A CN 105947200A
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- 230000006870 function Effects 0.000 claims abstract description 19
- 210000001364 upper extremity Anatomy 0.000 claims abstract description 17
- 210000003141 lower extremity Anatomy 0.000 claims abstract description 16
- 230000003993 interaction Effects 0.000 claims abstract description 7
- 238000004891 communication Methods 0.000 claims description 6
- 238000001514 detection method Methods 0.000 claims description 6
- 230000002452 interceptive effect Effects 0.000 claims description 6
- 230000009471 action Effects 0.000 claims description 3
- 238000004458 analytical method Methods 0.000 claims description 3
- 230000004888 barrier function Effects 0.000 claims description 3
- 238000012544 monitoring process Methods 0.000 claims description 3
- 230000002093 peripheral effect Effects 0.000 claims description 3
- 238000010205 computational analysis Methods 0.000 claims description 2
- 230000008901 benefit Effects 0.000 abstract description 2
- 210000003414 extremity Anatomy 0.000 description 7
- 238000005516 engineering process Methods 0.000 description 2
- 230000009286 beneficial effect Effects 0.000 description 1
- 238000004364 calculation method Methods 0.000 description 1
- 210000003793 centrosome Anatomy 0.000 description 1
- 230000007812 deficiency Effects 0.000 description 1
- 238000006073 displacement reaction Methods 0.000 description 1
- 235000013399 edible fruits Nutrition 0.000 description 1
- 230000005611 electricity Effects 0.000 description 1
- 238000000034 method Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
Classifications
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- 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
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- 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
- B25J11/003—Manipulators for entertainment
-
- 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
- B25J11/003—Manipulators for entertainment
- B25J11/0035—Dancing, executing a choreography
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J13/00—Controls for manipulators
- B25J13/006—Controls for manipulators by means of a wireless system for controlling one or several manipulators
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64C—AEROPLANES; HELICOPTERS
- B64C1/00—Fuselages; Constructional features common to fuselages, wings, stabilising surfaces or the like
- B64C1/30—Parts of fuselage relatively movable to reduce overall dimensions of aircraft
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64C—AEROPLANES; HELICOPTERS
- B64C39/00—Aircraft not otherwise provided for
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/0011—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots associated with a remote control arrangement
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/0011—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots associated with a remote control arrangement
- G05D1/0016—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots associated with a remote control arrangement characterised by the operator's input device
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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Robotics (AREA)
- Aviation & Aerospace Engineering (AREA)
- Physics & Mathematics (AREA)
- Automation & Control Theory (AREA)
- General Physics & Mathematics (AREA)
- Remote Sensing (AREA)
- Radar, Positioning & Navigation (AREA)
- Human Computer Interaction (AREA)
- Computing Systems (AREA)
- Mathematical Physics (AREA)
- Theoretical Computer Science (AREA)
- Computer Networks & Wireless Communication (AREA)
- Health & Medical Sciences (AREA)
- General Health & Medical Sciences (AREA)
- Audiology, Speech & Language Pathology (AREA)
- Toys (AREA)
Abstract
The invention discloses a folding hidden type quadrotor humanoid flying robot. The folding hidden type quadrotor humanoid flying robot comprises a humanoid robot body, two upper limbs and two lower limbs. The two upper limbs and the two lower limbs are each provided with a folding two-hinge type propeller which is connected with a driving motor. The driving motor of the robot drives the four folding two-hinge type propellers to rotate, so that the robot is driven to fly. When the flying function is not required, the folding two-hinge type propellers are in a folded state, the folding two-hinge type propellers are folded in the extension direction of the corresponding upper limbs or the corresponding lower limbs, the structure is reasonable, operation is easy, and other functions of the robot are not affected when the flying function is not required. The folding hidden type quadrotor humanoid flying robot is high in humanoid degree, can walk by swinging the arms like a man, and can also avoid obstacles freely. Meanwhile, man-computer voice interaction can be achieved, and the robot can speak, sing and dance and can also achieve corresponding functions automatically under voice control. The folding hidden type quadrotor humanoid flying robot has the advantages of being novel in structure, high in degree of intelligentization and multifunctional.
Description
Technical field
The invention belongs to Intelligent flight robotics, particularly relate to a kind of folded concealed four rotor humanoid
Flying robot.
Background technology
Chinese invention patent application (number of patent application: 200810032404.3) discloses one and " becomes appearance flying machine
People ", it includes the rotor of duct housing, electromotor and driving thereof, during duct housing encirclement top, chamber is fixed above by bracing frame
Heart body, it is built with electromotor, and electromotor drives rotor, and bottom connects lower centrosome by fixed plate is fixing, under fixed plate
Edge hinge guide plate, guide plate is linked by driver.This flying robot can VTOL as helicopter, as fixed-wing
Fly before aircraft equally level.But it being similar to above-mentioned technology, flying robot of the prior art is main actually mostly
The aircraft of flight function to be realized, not anthropomorphic robot, its function singleness, structure and profile are stiff, await further
Improve.
Summary of the invention
The invention aims to the deficiency overcoming prior art to exist, it is provided that a kind of novel structure, intelligence degree
High, the folded concealed four humanoid flying robot of rotor of diverse in function.
The present invention is achieved by the following technical solutions: a kind of folded concealed four humanoid flying robot of rotor, its bag
Include anthropomorphic robot body and two upper limb being arranged on anthropomorphic robot body and two lower limb, under two upper limb and two
It is mounted on limb folding two page propellers, folds two page propellers and be connected with driving motor；Fold two page propellers
Including rotating shaft and the two panels blade that is arranged in rotating shaft, the most a piece of blade is fixing with rotating shaft to be connected, and another sheet blade can rotate
What axle rotated is movably connected in this rotating shaft, the position limiting structure limit when two panels blade is in open mode, between two panels blade
Make and relatively rotating around the shaft occurs between this two panels blade；The humanoid flying robot of folded concealed four rotor includes controlling dress
Put, also include respectively with control device be connected motor drive module, sensor assembly, locating module, power module, man-machine language
Sound interactive module and remote control module.
Controlling device is AVR microprocessor, and AVR microprocessor is based on carrying out according to positional information and obstacle information
Calculation and Analysis, controls the operation of anthropomorphic robot body, and sends control according to positional information to robot according to analysis result
Information, AVR microprocessor receives user instruction by human-computer interaction interface, and controls robot according to phase according to user instruction
Two upper limb answering control model to run and to control and the action executing of two lower limb.
Sensor assembly includes detecting device, and detection device is used for obtaining the positional information of anthropomorphic robot body, and
Obstacle information in anthropomorphic robot body advance route, and positional information and obstacle information are sent to the micro-process of AVR
Device；Detection device includes positioning unit and avoidance unit；Positioning unit includes for determining robot location's by longitude and latitude
GPS receptor and determine the inertial sensor of robot location according to kinestate, inertial sensor includes encoder, inclines
Angle instrument, compass and accelerometer；Avoidance unit includes machine vision camera and laser range finder, machine vision camera and Laser Measuring
Distance meter is worked in coordination, in order to find the barrier in robot advance route and the surrounding of monitoring robot.
Motor drive module includes that power unit, power unit include that four fold two page propellers, each folding two
Page propeller is operated alone by a direct-drive motor.
Robot also includes remote control unit and communication device；Remote control unit is used for by communication device remotely to controlling device
Send user instruction, to control robot according to remote control mode operation；And remote control unit uses panel computer, is additionally operable to pass through
Human-computer interaction interface shows walk speed, flight speed, flying height, the swing arm amplitude of upper limb, the walking of lower limb of robot
Amplitude and the situation of peripheral obstacle, and point out user to input next user instruction.
It is mutual that man machine language's interactive module is capable of man machine language, allows the robot to speak, sing and dance, and
Make robot under Voice command, be automatically performed corresponding function.
The invention has the beneficial effects as follows: the extremity of the robot of the present invention are mounted on folding two page propellers, fold
Two page propellers are connected with driving motor, drive motor to drive four to fold two page propeller rotational, and band mobile robot flies
OK.When not using flight function, fold two page propellers and be in folded state, fold two page propellers along corresponding upper limb
Or the bearing of trend of lower limb draws in, it is not take up space.Present configuration is reasonable, it is easy to operation, can realize several functions, folding
Folded two page propellers are easy to storage, when not using flight function, are not take up space, do not interfere with other functions of robot.
In addition to flight function, the degree that personalizes of the present invention is the highest, it is possible to realize anthropomorphic swing arm walking, and free avoidance.The most originally
Invent simple to operate, man machine language can be realized mutual, it is possible to speak, sing and dance, and under Voice command, be automatically performed phase
Answer function.The present invention has novel structure, intelligence degree height, the advantage of diverse in function.
Accompanying drawing explanation
Fig. 1 is the structural representation of the humanoid flying robot of the present invention；
Fig. 2 is the structural representation of the state of flight of the humanoid flying robot of the present invention；
Fig. 3 is the overall composition structured flowchart of the humanoid flying robot of the present invention；
Tu4Shi robot of the present invention folds the structural representation of the deployed condition of two page propellers；
Tu5Shi robot of the present invention folds the structural representation of half deployed condition of two page propellers.
In the drawings: 1-anthropomorphic robot body；2-upper limb；3-lower limb；4-folds two page propellers.
Detailed description of the invention
Below in conjunction with accompanying drawing, the present invention is described in detail.
As shown in Figure 1 to Figure 3, a kind of folded concealed four humanoid flying robot of rotor, including anthropomorphic robot body 1 and
Two upper limb 2 being arranged on anthropomorphic robot body 1 and two lower limb 3, two upper limb 2 and two lower limb 3 are mounted on
Fold two page propellers 4, fold two page propellers 4 and be connected with driving motor.The extremity of the robot of the present invention are respectively mounted
There are folding two page propellers 4, fold two page propellers 4 and be connected with driving motor, drive motor to drive four to fold page two
Formula propeller 4 rotates, and band mobile robot flies.When not using flight function, fold two page propellers 4 and be in folded state,
Fold two page propellers 4 and draw in along the bearing of trend of corresponding upper limb 2 or lower limb 3, be not take up space, do not interfere with machine
Other functions of device people.
As shown in Figure 4, Figure 5, fold two page propellers 4 and include rotating shaft and the two panels blade being arranged in rotating shaft, wherein,
A piece of blade is fixing with rotating shaft to be connected, and what another sheet blade can rotate around the shaft is movably connected in this rotating shaft, when two panels blade
When being in open mode, the position limiting structure between two panels blade limits and relatively rotating around the shaft occurs between this two panels blade.
Position limiting structure between two panels blade can be disposed on the spacing edge of a piece of blade one lateral edges, opens when two panels blade is in
State, folds two page propellers 4 when rotating, and the spacing edge of this blade limits another sheet blade along folding two page propellers 4
Rotation direction generation relative displacement.The extremity of robot are provided with for receiving the storage folding two page propellers 4 empty
Chamber, extremity are provided with auto-folder cover plate in the outside of corresponding storage cavity.When robot flight is complete, fold two pages
Propeller 4 takes in corresponding storage cavity, and auto-folder cover plate return closes storage cavity；When robot prepares flight, automatically
Folding cover plate is opened, and folds two page propellers 4 protruding, and two panels blade is opened.
The humanoid flying robot of folded concealed four rotor includes controlling device, also includes the electricity being connected respectively with control device
Machine drives module, sensor assembly, locating module, power module, man machine language's interactive module and remote control module.Controlling device is
AVR microprocessor, AVR microprocessor is for carrying out computational analysis according to positional information and obstacle information, according to analyzing knot
Fruit controls the operation of anthropomorphic robot body 1, and sends control information, AVR microprocessor according to positional information to robot
By human-computer interaction interface receive user instruction, and according to user instruction control robot according to corresponding control model run and
Two upper limb 2 controlled and the action executing of two lower limb 3.
Sensor assembly includes detecting device, and detection device is used for obtaining the positional information of anthropomorphic robot body 1, and
Obstacle information in anthropomorphic robot body 1 advance route, and positional information and obstacle information are sent to the micro-place of AVR
Reason device；Detection device includes positioning unit and avoidance unit；Positioning unit includes for determining robot location by longitude and latitude
GPS receptor and determine the inertial sensor of robot location according to kinestate, inertial sensor include encoder,
Inclinator, compass and accelerometer；Avoidance unit includes machine vision camera and laser range finder, machine vision camera and laser
Diastimeter is worked in coordination, in order to find the barrier in robot advance route and the surrounding of monitoring robot.
Motor drive module includes that power unit, power unit include that four fold two page propellers 4, each folding two
Page propeller 4 is operated alone by a direct-drive motor.Robot also includes remote control unit and communication device；Remote control fills
Put for remotely sending user instruction to control device by communication device, to control robot according to remote control mode operation；And
And remote control unit uses panel computer, it is additionally operable to show walk speed, the flight speed of robot by human-computer interaction interface, fly
Line height, the swing arm amplitude of upper limb, the walking amplitude of lower limb and the situation of peripheral obstacle, and point out user to input next use
Family instructs.It is mutual that man machine language's interactive module is capable of man machine language, allows the robot to speak, sing and dance, and makes
Robot, under Voice command, is automatically performed corresponding function.
Last it should be noted that, above content is only in order to illustrate technical scheme, rather than the present invention is protected
The restriction of scope, simple modification that technical scheme is carried out by those of ordinary skill in the art or equivalent,
Spirit and scope all without departing from technical solution of the present invention.
Claims (6)
1. the folded concealed four humanoid flying robot of rotor, it is characterised in that: the described folded concealed four humanoid flight of rotor
Robot includes anthropomorphic robot body and two upper limb being arranged on anthropomorphic robot body and two lower limb, two institutes
State and on upper limb and two described lower limb, be mounted on folding two page propellers, described folding two page propeller and driving motor
Connect；Described folding two page propeller includes rotating shaft and the two panels blade being arranged in rotating shaft, and the most a piece of blade is with described
Rotating shaft is fixing to be connected, and another sheet blade can be movably connected in this rotating shaft around what described rotating shaft rotated, beats when two panels blade is in
During open state, the position limiting structure between two panels blade limits and relatively rotating around the shaft occurs between this two panels blade；Described folding
The folded four humanoid flying robots of rotor of hiding include controlling device, also include that the motor being connected with control device respectively drives mould
Block, sensor assembly, locating module, power module, man machine language's interactive module and remote control module.
The folded concealed four humanoid flying robot of rotor the most according to claim 1, it is characterised in that: described control device
For AVR microprocessor, AVR microprocessor is for carrying out computational analysis, according to analysis according to positional information and obstacle information
The operation of output control anthropomorphic robot body, and send control information according to positional information to robot, described AVR is micro-
Processor by human-computer interaction interface receive user instruction, and according to user instruction control robot transport according to corresponding control model
Two upper limb gone and control and the action executing of two lower limb.
The folded concealed four humanoid flying robot of rotor the most according to claim 1, it is characterised in that: described sensor die
Block includes detecting device, and described detection device is for obtaining the positional information of anthropomorphic robot body, and anthropomorphic robot is originally
Obstacle information in body advance route, and positional information and obstacle information are sent to AVR microprocessor；Described detection
Device includes positioning unit and avoidance unit；Described positioning unit includes the GPS for being determined robot location by longitude and latitude
Receptor and determine the inertial sensor of robot location according to kinestate, described inertial sensor includes encoder, inclines
Angle instrument, compass and accelerometer；Described avoidance unit includes machine vision camera and laser range finder, described machine vision camera
Work in coordination with laser range finder, in order to find the barrier in robot advance route and the surrounding of monitoring robot.
The folded concealed four humanoid flying robot of rotor the most according to claim 1, it is characterised in that: described motor drives
Module includes that power unit, described power unit include four described folding two page propellers, each folding two page spiral
Oar is operated alone by a direct-drive motor.
The folded concealed four humanoid flying robot of rotor the most according to claim 1, it is characterised in that: described robot is also
Including remote control unit and communication device；Described remote control unit is for remotely sending user to described control device by communication device
Instruction, to control robot according to remote control mode operation；And described remote control unit uses panel computer, is additionally operable to by man-machine
Interactive interface shows walk speed, flight speed, flying height, the swing arm amplitude of upper limb, the walking amplitude of lower limb of robot
With the situation of peripheral obstacle, and user is pointed out to input next user instruction.
The folded concealed four humanoid flying robot of rotor the most according to claim 1, it is characterised in that: described man-machine
It is mutual that voice interaction module is capable of man machine language, allows the robot to speak, sing and dance, and makes robot at language
Under sound control system, it is automatically performed corresponding function.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610332452.9A CN105947200A (en) | 2016-05-19 | 2016-05-19 | Folding hidden type quadrotor humanoid flying robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610332452.9A CN105947200A (en) | 2016-05-19 | 2016-05-19 | Folding hidden type quadrotor humanoid flying robot |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN105947200A true CN105947200A (en) | 2016-09-21 |
Family
ID=56912064
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201610332452.9A Pending CN105947200A (en) | 2016-05-19 | 2016-05-19 | Folding hidden type quadrotor humanoid flying robot |
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| Country | Link |
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Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109176559A (en) * | 2018-10-24 | 2019-01-11 | 上海思依暄机器人科技股份有限公司 | A kind of robot and control method, system |
| CN109807908A (en) * | 2019-03-01 | 2019-05-28 | 西京学院 | A kind of magnetic-type walking robot for vacuum pipe maintenance and inspection |
| CN109835463A (en) * | 2019-04-16 | 2019-06-04 | 李则熙 | A kind of culvert type self-balancing stealth unmanned plane |
| CN110077183A (en) * | 2019-04-03 | 2019-08-02 | 深圳先进技术研究院 | One kind three is dwelt robot |
| WO2022036500A1 (en) * | 2020-08-17 | 2022-02-24 | 深圳市大疆创新科技有限公司 | Flight assisting method for unmanned aerial vehicle, device, chip, system, and medium |
-
2016
- 2016-05-19 CN CN201610332452.9A patent/CN105947200A/en active Pending
Cited By (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109176559A (en) * | 2018-10-24 | 2019-01-11 | 上海思依暄机器人科技股份有限公司 | A kind of robot and control method, system |
| CN109807908A (en) * | 2019-03-01 | 2019-05-28 | 西京学院 | A kind of magnetic-type walking robot for vacuum pipe maintenance and inspection |
| CN109807908B (en) * | 2019-03-01 | 2021-09-28 | 西京学院 | Magnetic suction type walking robot for vacuum pipeline inspection and maintenance |
| CN110077183A (en) * | 2019-04-03 | 2019-08-02 | 深圳先进技术研究院 | One kind three is dwelt robot |
| CN110077183B (en) * | 2019-04-03 | 2024-01-26 | 深圳先进技术研究院 | Triphibian robot |
| CN109835463A (en) * | 2019-04-16 | 2019-06-04 | 李则熙 | A kind of culvert type self-balancing stealth unmanned plane |
| WO2022036500A1 (en) * | 2020-08-17 | 2022-02-24 | 深圳市大疆创新科技有限公司 | Flight assisting method for unmanned aerial vehicle, device, chip, system, and medium |
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Application publication date: 20160921 |