CN106426223B - A kind of robot - Google Patents
A kind of robot Download PDFInfo
- Publication number
- CN106426223B CN106426223B CN201611168829.8A CN201611168829A CN106426223B CN 106426223 B CN106426223 B CN 106426223B CN 201611168829 A CN201611168829 A CN 201611168829A CN 106426223 B CN106426223 B CN 106426223B
- Authority
- CN
- China
- Prior art keywords
- robot
- optical mirror
- mirror slip
- shooting
- load
- Prior art date
- Legal status (The legal status 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 status listed.)
- Active
Links
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
- B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
- B25J19/02—Sensing devices
- B25J19/04—Viewing devices
Landscapes
- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Studio Devices (AREA)
Abstract
The embodiment of the invention discloses a kind of robot, the robot includes: robot body, filming apparatus and optical mirror slip.Wherein, the filming apparatus is arranged on the robot body；The optical mirror slip is arranged in the shooting vision range of the filming apparatus, the optical mirror slip slant setting, will be perpendicular to the light that the shooting visual field central axes direction is injected and is reflected into the shooting vision range.By shooting in vision range in the filming apparatus of the robot, optical mirror slip is set, the optical mirror slip slant setting, the light that can will be perpendicular to shooting visual field central axes direction intake is reflected, light in filming apparatus shooting blind angle amount can be reflected, make entering in shooting visual field for light collimation, even if filming apparatus can take the image in its shooting blind angle amount.Solve the problem of that the filming apparatus of fixed installation in the prior art can not shoot image in its angle region.
Description
Technical field
The present embodiments relate to smart machine field, especially a kind of robot.
Background technique
With the development of mobile communication, computer and Internet technology, intelligent robot is due to its small volume, processing
Ability is strong, is widely used in the fields such as education, scientific research or safety, and the approval by user.
In the prior art, to recognize robot to the instruction behavior of actual environment or user, generally in machine
Filming apparatus is set on device people, the real image of environment or the dos command line DOS of user where robot is obtained in real time by filming apparatus
For.
The inventor of the invention has found under study for action, and the filming apparatus of robot is in a fixed manner in the prior art
It is mounted in robot, therefore its vision range that can be shot also is limited, and can only shoot the picture in front of filming apparatus,
And shoot when due to the shooting visual field of filming apparatus be in from the near to the distant it is horn-like, i.e., using ground as horizontal line, the bat of filming apparatus
Take the photograph between visual field and ground that there are certain angles, for the filming apparatus of fixed placement, which is the bat of robot
Dead angle is taken the photograph, which can not be shot always.But robot is generally required in the use of reality and obtains the angle region
Interior image, such as shooting user write or draw a picture behavior when, due to the requirement of image-capturing resolution, clapped in angle region
Taking the photograph is optimal shooting area.The unmanned plane being fixedly installed in the prior art can not shoot visual field central axes direction to perpendicular to it
Angle region shot.
Summary of the invention
Mainly solving the technical problems that providing a kind of robot, the shooting passed through in the robot fills the embodiment of the present invention
It sets in shooting vision range and optical mirror slip is set, which can will be perpendicular to the shooting visual field central axes
Direction intake light reflected, the light in filming apparatus shooting blind angle amount can reflect, make the light collimation into
Enter into shooting visual field, even if filming apparatus can take the image in its shooting blind angle amount.It solves in the prior art, fixed peace
The filming apparatus of dress can not shoot the problem of image in its angle region.
In order to solve the above technical problems, the technical solution that the embodiment of the invention uses is: providing a kind of machine
Device people, the robot include:
Robot body；
Filming apparatus, the filming apparatus are arranged on the robot body；
Optical mirror slip, the optical mirror slip are arranged in the shooting vision range of the filming apparatus, the optical mirror slip
Slant setting；
Load-bearing part, the load-bearing part are arranged on the robot body, and one end bending of the load-bearing part is protruded into described
It shoots in vision range, one end that the load-bearing part protrudes into the shooting vision range is equipped with inclined surface, the optical mirror slip
It is arranged on the inclined surface, the other end of the load-bearing part constructs camber, and is attached at the surface of the robot body,
One end of the load-bearing part construction camber is equipped with third permanent magnet, and the robot body, which is equipped with, incudes the third permanent magnetism
The Hall sensor of body magnetic force change, Hall sensor can sense the variation of external magnetic, and the information that magnetic force is converted
It is sent to robot, the robot closes after getting the information or inhibit the unlatching of protective program, wherein the guarantor
Protecting program is the protective program for preventing near operation；
The load-bearing part is arranged in the top of the robot body, and the optical mirror slip is by the shooting visual field central axes
The light that underface is injected is reflected into the shooting vision range；
The top of the robot body is equipped with the first permanent magnet, and the load-bearing part is equipped with matches with first permanent magnet
The connection of the second permanent magnet closed, first permanent magnet and second permanent magnet limits the load-bearing part and is equipped with inclined surface
One end is located in the shooting vision range.
Optionally, the load-bearing part is equipped with the card slot with cooperation at the top of the robot body, and the load-bearing part passes through
The card slot is detachably connected with the robot body.
Optionally, the tilted-putted angle of the optical mirror slip be 0~90 between °.
Optionally, the tilted-putted angle of the optical mirror slip is 45 °.
Optionally, the area of the optical mirror slip is greater than the face of optical mirror slip position shooting vision range
Product limits the light that the light that the filming apparatus obtains is the optical mirror slip reflection.
Optionally, the other end of the load-bearing part constructs camber, and is attached at the surface of the robot body.
Optionally, one end of the load-bearing part construction camber is equipped with third permanent magnet, and the robot body is equipped with
Incude the Hall sensor of the third permanent magnet magnetic force variation.
The beneficial effect of the embodiment of the present invention is: light is arranged by shooting in vision range in the filming apparatus of the robot
Eyeglass, the optical mirror slip slant setting are learned, the light that can will be perpendicular to shooting visual field central axes direction intake is reflected,
Light in filming apparatus shooting blind angle amount can be reflected, make entering in shooting visual field for light collimation, even if shooting
Device can take the image in its shooting blind angle amount.It solves in the prior art, the filming apparatus of fixed installation can not shoot it
In angle region the problem of image.
Detailed description of the invention
To describe the technical solutions in the embodiments of the present invention more clearly, make required in being described below to embodiment
Attached drawing is briefly described, it should be apparent that, drawings in the following description are only some embodiments of the invention, for
For those skilled in the art, without creative efforts, it can also be obtained according to these attached drawings other attached
Figure.
Fig. 1 is robot of embodiment of the present invention overall structure diagram；
Fig. 2 is optical mirror slip of embodiment of the present invention principle of reflection figure；
Fig. 3 is load-bearing part of embodiment of the present invention structural schematic diagram.
Specific embodiment
In order to enable those skilled in the art to better understand the solution of the present invention, below in conjunction in the embodiment of the present invention
Attached drawing, technical scheme in the embodiment of the invention is clearly and completely described.
In some processes of the description in description and claims of this specification and above-mentioned attached drawing, contain according to
Multiple operations that particular order occurs, but it should be clearly understood that these operations can not be what appears in this article suitable according to its
Sequence is executed or is executed parallel, and serial number of operation such as 101,102 etc. is only used for distinguishing each different operation, serial number
It itself does not represent and any executes sequence.In addition, these processes may include more or fewer operations, and these operations can
To execute or execute parallel in order.It should be noted that the description such as " first " herein, " second ", is for distinguishing not
Same message, equipment, module etc., does not represent sequencing, does not also limit " first " and " second " and be different type.
Following will be combined with the drawings in the embodiments of the present invention, and technical solution in the embodiment of the present invention carries out clear, complete
Site preparation description, it is clear that described embodiments are only a part of the embodiments of the present invention, instead of all the embodiments.It is based on
Embodiment in the present invention, those skilled in the art's every other implementation obtained without creative efforts
Example, shall fall within the protection scope of the present invention.
Embodiment 1
Referring to Fig. 1, Fig. 2, Fig. 1 are the present embodiment robot overall structure diagram；Fig. 2 is the present embodiment optical mirror slip
Principle of reflection figure.
As shown in Figure 1, a kind of robot, comprising: robot body 100, filming apparatus 110 and optical mirror slip 210.Its
In, filming apparatus 110 is arranged on the robot body 100；The bat of the filming apparatus 110 is arranged in optical mirror slip 210
It takes the photograph in vision range, 210 slant setting of optical mirror slip, will be perpendicular to the injection of 111 central axes of the shooting visual field, 112 direction
Light be reflected into 111 range of shooting visual field.
Specifically, robot body 100 includes pedestal and the display device 130 that 120 top of pedestal is arranged in, wherein
Pedestal 120 is cylindrical body, and display device 130 is to be arranged above pedestal 120, for carrying out the main window of man-machine communication with user
Mouthful, display device 130 includes shell and the display screen 132 being arranged on shell 131.The rotatable company in 131 one end of shell
It connects on pedestal 120.
Filming apparatus 110 is arranged on shell 131, and specifically the shell of 132 top of display screen is arranged in filming apparatus 110
On 131.The shooting visual field 111 of filming apparatus 110 refers to: with photographic device be shooting origin, filming apparatus 110 towards
Path is injected in the light of horn-like scattering in direction.Why filming apparatus 110 can take the image of things, and principle exists
In, instinct with reflection light of things itself, when the light that sunlight or other light sources issue is radiated in things,
Things reflects the light, since the light of different things reflection is different, therefore can distinguish the color of different things.Filming apparatus
110 when being shot, and also collects the light in shooting 111 range of visual field, and the color that light indicates is recorded,
And form the image of shooting things.When therefore shooting, the reflection light of the things of shooting is only injected into filming apparatus 110
It shoots in 111 range of visual field, the things device 110 that can be taken takes.In present embodiment, filming apparatus 110 has
Body is camera.
As shown in Fig. 2, optical mirror slip 210 is that can will inject into the optical frames that light therein is reflected.By optical frames
Piece 210 is placed in the range of the shooting visual field 111 of filming apparatus 110, and the optical mirror slip 210 tilts down placement, i.e. optics
The central axes 112 of eyeglass 210 and shooting visual field 111 form acute angle.Under the placement form, 110 shooting blind angle amount position of filming apparatus
The light for setting reflection is injected into first in optical mirror slip 210, due to 210 slant setting of optical mirror slip, will can be injected below
Light reflected, enable what the light collimated to enter in shooting world wide, and then enter filming apparatus 110
It is interior, so that filming apparatus 110 is taken the image immediately below it in shooting blind angle amount.
It should be pointed out that regard the space that 110 forward direction of filming apparatus faces as a cylinder, filming apparatus 110
Shooting visual field 111 is the tubaeform path being placed in the cylindrical space, due to the starting point cross-sectional area in tubaeform path
Smaller, the cross-sectional area of tubaeform terminal is larger, i.e., forms inside between tubaeform path and cylindrical space and cut with taper
The cylindrical body in face, which there is the cylindrical body of taper section to be the shooting blind angle amount of filming apparatus 110, it can be seen that clapping
The shooting blind angle amount for taking the photograph device 110 is not limited to the lower section of shooting 111 central axes 112 of visual field, a but three-dimensional shooting blind angle amount
Space, therefore want to shoot the scene in other orientation in the dead-space volume, it needs for 210 inclined direction of optical mirror slip to be adjusted,
Allow it to the image of shooting different direction.
Optical mirror slip 210 is plane mirror in the present embodiment, but optical mirror slip 210 is not limited to plane mirror one
Kind, in some selective embodiments, optical mirror slip 210 can be (being not limited to): concave mirror or convex surface reflective mirror etc.
It can be to the mirror surface that injection light is reflected.
Angle between optical mirror slip 210 and shooting 111 central axes 112 of visual field is between 0~90 °, in optical mirror slip 210
Exist between the ability of reflective one side reflection light and the position of reflection light and its inclined angle and is associated with.Specifically, when
When angle between optical mirror slip 210 and shooting 111 central axes 112 of visual field is intended to 0 °, optical mirror slip 210 and shooting visual field
111 central axes 112 are more intended in parallel, and optical mirror slip 210 can receive more freely to shoot 111 central axes of visual field at this time
112 underface things reflection light, but due to optical mirror slip 210 with shoot 111 central axes 112 of visual field be intended to it is parallel,
Only a small number of light processes are reflected into the range of shooting visual field 111 reflected light of receiving, and filming apparatus 110 can take
The things image shot immediately below 111 central axes of visual field 112 is less.When optical mirror slip 210 and shooting 111 central axes 112 of visual field
Between angle when being intended to 90 °, optical mirror slip 210 is more intended to vertical, this time with the central axes 112 of shooting visual field 111
Learn eyeglass 210 can receive it is less come freely shoot 111 central axes of visual field, 112 underface things reflection light, receiving it is anti-
In the range of penetrating light only a small number of light being by being reflected into shooting visual field 111, and the light for entering shooting visual field 111 be whether there is or not
The light reflected close to the things of robot body 100 is limited, filming apparatus 110 can take shooting 111 central axes 112 of visual field
The things image of underface is less, and infinite approach and robot body 100.Preferably, in present embodiment, optical mirror slip
Angle between 210 and shooting 111 central axes 112 of visual field is 45 °, and in the angle, optical mirror slip 210 can obtain more bat
Take the photograph the light of 111 central axes of visual field, 112 lower section alimentary reflex, and can by the reflection of the reflection light received almost,
Make what it collimated to enter in shooting visual field 111, so that filming apparatus 110 is taken, field-of-view angle is wide and clearly picture
45°.It is only a preferred embodiment of angle between optical mirror slip 210 and shooting 111 central axes 112 of visual field in the present embodiment,
According to the difference of concrete application scene, robot use environment light source placement location is different, or the optical mirror slip 210 selected
Reflectivity is different, and optical mirror slip 210 and the best angle shot between visual field 111 can all be made to change, should be according to specific
Application scenarios choose suitable angle between optical mirror slip 210 and shooting visual field 111.
The cross-sectional area of the shooting visual field 111 of filming apparatus 110 is gradually increased, to guarantee that filming apparatus 110 is shot
The image of clarity and filming apparatus 110 shooting of image should not include except 210 reflection light of optical mirror slip is showed
Image.To meet above-mentioned condition, in the present embodiment, the area of optical mirror slip 210 is clapped greater than 210 position of optical mirror slip
The area of 111 range of visual field is taken the photograph, limiting the light that filming apparatus 110 obtains is the light that optical mirror slip 210 reflects.Specifically
In present embodiment, optical mirror slip 210 is rectangle, since shooting visual field 111 is located at the transversal of 210 position of optical mirror slip
Area is circle, and the width of optical mirror slip 210 is greater than the cross section that shooting visual field 111 is located at 210 position of optical mirror slip
Diameter.But the concrete shape of optical mirror slip 210 is not limited to rectangle, according to the difference of concrete application scene, optical mirror slip
210 shape is not limited to: square, regular hexagon, octagon, circle, ellipse etc., for the optical frames for making above-mentioned shape
Piece 210 meets requirement, and the size of optical mirror slip 210 will guarantee the cross section of 210 position of optical mirror slip without departing from light
Learn eyeglass 210.
Optical mirror slip is arranged by shooting in 111 range of visual field in the filming apparatus 110 of the robot in above embodiment
210,210 slant setting of optical mirror slip, can will be perpendicular to 111 central axes of shooting visual field, 112 direction intake light into
Row reflection, can reflect the light in 110 shooting blind angle amount of filming apparatus, and make light collimation enters shooting visual field
In 111, even if filming apparatus 110 can take the image in its shooting blind angle amount.Solve the bat of fixed installation in the prior art
Take the photograph the problem of device 110 can not shoot image in its angle region.
Referring to Fig. 3, Fig. 3 is the present embodiment load-bearing part structural schematic diagram.
As shown in figure 3, robot in the present embodiment further include: load-bearing part 200.Optical mirror slip 210 in the present embodiment is
The appurtenances of the robot, the i.e. optical mirror slip 210 can be not attached on robot body 100, due to optical mirror slip 210
The position of placement is located in the shooting path domain of filming apparatus 110, therefore optical mirror slip 210 can pass through outside
Bracket or other outside plants are carried, and in this implementation column, optical mirror slip 210 is mounted on load-bearing part 200, load-bearing part
200 are arranged on robot body 100, and one end bending of load-bearing part 200 extend into the shooting visual field 111 of filming apparatus 110
Interior, load-bearing part 200 is bent the end for extending into one end in the shooting visual field 111 of filming apparatus 110 equipped with inclined surface 220, optical frames
Piece 210 is pasted and fixed on the inclined surface 220, due to the inclined angle of inclined surface 220 and the central axes of shooting visual field 111
112 form acute angle, and the optical mirror slip 210 being pasted on the inclined surface 220 is similarly formed with shooting visual angle central axes 112
Acute angle.On the load-bearing part 200 that optical mirror slip 210 is placed, load-bearing part 200 is arranged on robot body 100, using this
Kind connection type can make optical mirror slip 210 and robot body 100 form relatively-stationary connection type and position, be not necessarily to
The optical mirror slip 210 is reapposed when use, facilitates the use of robot.
The effect of robot filming apparatus 110 is not limited to obtain the light reflected by optical mirror slip 210, and effect is two
Need to obtain its things for shooting 111 range of visual field in normal use with property, such as robot filming apparatus 110, without
The scene being reflected into its shooting 111 range of visual field by optical mirror slip 210 is shot, at this time if load-bearing part 200 is fixed
It is arranged when on robot body 100, the scene that robot filming apparatus 110 is shot can not be converted at any time, it has not been convenient to
The use of robot.In some selective embodiments, in the middle position of load-bearing part 200 or other positions of its trunk
It sets and offers card slot 230, matched at the top of the card slot 230 and shell 131, can be installed on 131 top of shell.Specifically
Ground is rectangle at the top of shell 131, and the card slot 230 opened up on load-bearing part 200 is rectangular, and the area of the cross section of card slot 230 is bigger
Cross-sectional area in the top of shell 131 is that card slot 230 can be clamped and be mounted on 131 top of robot shell, and load-bearing part 200 is logical
The flexible connection of card slot 230 and the connection type at the top of robot are crossed, under capable of at any time dismantling load-bearing part 200 from robot
Come, scape of the scene for enabling filming apparatus 110 to take by normal photographing visual angle and shooting after the reflection of optical mirror slip 210
It is arbitrarily converted as between, robot is facilitated to be converted between different function.
The interposition of 131 display screen of robot shell, 132 top is arranged in robot filming apparatus 110 in the present embodiment
It sets, in other selective embodiments, the position different from that filming apparatus 110 is arranged, but identical is robot shooting dress
The position of 110 settings is set once it is determined that the position of the filming apparatus 110 no longer converts, that is to say, that filming apparatus 110
Shooting visual field 111 be also fixed.In the state that shooting visual field 111 is fixed, the specific location of the placement of optical mirror slip 210
It is fixed.In some selective embodiments, for convenience of load-bearing part 200 to be quick installed on robot shell 131, and pacify
After dress optical mirror slip 210 can be located in shooting 111 range of visual field.First permanent magnet, card slot are set at the top of shell 131
It is internal in 230 to be equipped with the second permanent magnet cooperated with the first permanent magnet, the first permanent magnet be set to filming apparatus 110 just on
Side, and filming apparatus 110 is located at the middle of the first permanent magnet, the second permanent magnet is arranged in 200 card slot 230 of load-bearing part
The polarity of portion, the first permanent magnet and the second permanent magnet is just on the contrary, have the instinct that attracts each other, therefore in present embodiment
In, when load-bearing part 200 is mounted on 131 top of shell, the first permanent magnet attracts each other with the second permanent magnet, can make load-bearing part
200 are quick installed at the top of robot shell 131, and due to the position of the first permanent magnet installation be filming apparatus 110 just on
Just, therefore, load-bearing part 200 can be made to be located at the middle position of shooting visual field 111 after the first permanent magnet is in conjunction with the second permanent magnet,
Optical mirror slip 210 can be made to be located in the range of shooting visual field 111.First permanent magnet and the second magnet are natural magnetite
Or artificial magnet is constituted.
The back designs of robot shell 131 are arc, and the other end of load-bearing part 200 is attached at 131 surface of shell, that is, holds
The other end of holder 200 constructs camber.In the range of making optical mirror slip 210 be located at shooting visual field 111, load-bearing part 200 is set
There is one end of inclined surface 220 to be in vacant state, load-bearing part 200 is clamped connection by realizing at the top of card slot 230 and shell 131,
If load-bearing part 200 is easy in external force after one end that load-bearing part 200 is equipped with inclined surface 220 receives external force upwardly or downwardly
The shell 131 is detached under effect.In present embodiment, the other end of load-bearing part 200 is designed into camber, and it is made to be attached at shell
The back of body 131 can make the connection between load-bearing part 200 and shell 131 more stable.As load-bearing part 200 receive it is upward
After external force, load-bearing part 200 designs one end of camber and card slot 230 forms the stress for fighting the upward external force, makes to carry
Part 200 prevents from coming off shell 131.After if load-bearing part 200 is by downward external force, since load-bearing part 200 designs camber
One end center of gravity below photographic device, increase the stability of load-bearing part 200, make load-bearing part 200 by it is lesser downwards
When the external force of effect, it is not easy to generate shaking and obscission.
In the present embodiment, robot shell 131 is equipped with display screen 132, which is to carry out man-machine friendship with user
Mutual primary window impacts the eyesight of user, robot is preset with to prevent user closely operation shooting robot
Prevented the protective program of near operation, concrete operations prevent for, when user's normal operating apart from when, filming apparatus 110 claps
The picture that user gets too close to is taken the photograph, robot closes display screen 132, to play the role of family of guaranteeing.In the present embodiment
Due to having installed optical mirror slip 210 additional for robot, for the clarity for guaranteeing shooting, the position that optical mirror slip 210 is placed is away from shooting
The distance between device 110 is less than the normal distance of user's operation, therefore according to the protective program of setting, by optical mirror slip 210
When being placed in shooting and in range, robot will start protective program, be in close state display screen 132.Install additional
The display screen 132 of the robot of optical mirror slip 210 can not normal use.
To solve above-mentioned technical problem, in present embodiment, load-bearing part 200 constructs to be set on the inside of one end of camber
There is a third permanent magnet, and the hall sensing with third permanent magnetism mates can be equipped on internal corresponding position in robot
Device.Hall sensor can sense the variation of external magnetic, and the information that magnetic force converts is sent to robot, and robot exists
Get the unlatching that the information closes later or inhibits to prevent the protective program of near operation.Specifically, load-bearing part 200 is being installed
When on to robot, the magnetic force change of Hall sensor position is the magnetic field of stability, which is not enough to trigger Hall
Sensor.When load-bearing part 200 is installed on shell 131, third permanent magnet is located at the top of Hall sensor, at this point, Hall
The magnetic field of sensor sensing to third permanent magnet is triggered, and then closes closing or inhibit to prevent the protective program of near operation
Unlatching.Third magnet is that natural magnetite or artificial magnet are constituted.
Embodiment 2
The present embodiment is different from embodiment 1, and load-bearing part 200 does not set card slot 230 in the present embodiment, load-bearing part 200 with
Connection between shell 131 is carried out by magnet, specifically, the first permanent magnet, load-bearing part 200 is arranged at the top of shell 131
Inside is equipped with the second permanent magnet cooperated with the first permanent magnet, and the first permanent magnet is set to the surface of filming apparatus 110, and claps
Take the photograph the middle that device 110 is located at the first permanent magnet, the second permanent magnet is arranged in the inside of load-bearing part 200, the first permanent magnet with
In the present embodiment, load-bearing part 200 is pacified just on the contrary, have the instinct that attracts each other for the polarity of second permanent magnet
When mounted in 131 top of shell, the first permanent magnet attracts each other with the second permanent magnet, and load-bearing part 200 can be made to be quick installed at machine
131 top of device people shell, and since the position of the first permanent magnet installation is the surface of filming apparatus 110, the first permanent magnetism
Body in conjunction with the second permanent magnet after can make load-bearing part 200 be located at shooting visual field 111 middle position, optical mirror slip can be made
210 are located in the range of shooting visual field 111.First permanent magnet and the second magnet are that natural magnetite or artificial magnet are constituted.
It should be noted that specification of the invention and its a better embodiment of the invention is given in the attached drawing, still,
The present invention can be realized by many different forms, however it is not limited to this specification described embodiment, these embodiments
Not as the additional limitation to the content of present invention, purpose of providing these embodiments is makes understanding to the disclosure
It is more thorough and comprehensive.Also, above-mentioned each technical characteristic continues to be combined with each other, and forms the various embodiments not being enumerated above,
It is considered as the range of description of the invention record；It further, for those of ordinary skills, can be according to the above description
It is improved or converted, and all these modifications and variations should all belong to the protection domain of appended claims of the present invention.
Claims (5)
1. a kind of robot, which is characterized in that the robot includes:
Robot body；
Filming apparatus, the filming apparatus are arranged on the robot body；
Optical mirror slip, the optical mirror slip are arranged in the shooting vision range of the filming apparatus, the optical mirror slip inclination
It places；
Load-bearing part, the load-bearing part are arranged on the robot body, and the shooting is protruded into one end bending of the load-bearing part
In vision range, one end that the load-bearing part protrudes into the shooting vision range is equipped with inclined surface, the optical mirror slip setting
On the inclined surface, the other end of the load-bearing part constructs camber, and is attached at the surface of the robot body, described
One end that load-bearing part constructs camber is equipped with third permanent magnet, and the robot body, which is equipped with, incudes the third permanent magnet magnetic
The Hall sensor of power variation, Hall sensor can sense the variation of external magnetic, and the information of magnetic force transformation is sent
To robot, the robot closes after getting the information or inhibits the unlatching of protective program, wherein the protection journey
Sequence is the protective program for preventing near operation；
The load-bearing part is arranged in the top of the robot body, the optical mirror slip by the shooting visual field central axes just under
The light just injected is reflected into the shooting vision range；
The top of the robot body is equipped with the first permanent magnet, and the load-bearing part, which is equipped with, to be cooperated with first permanent magnet
The connection of second permanent magnet, first permanent magnet and second permanent magnet limits one end that the load-bearing part is equipped with inclined surface
In the shooting vision range.
2. robot according to claim 1, which is characterized in that the load-bearing part is equipped with and the robot body top
The card slot of portion's cooperation, the load-bearing part are detachably connected by the card slot and the robot body.
3. robot described in any one according to claim 1~2, which is characterized in that the optical mirror slip is tilted-putted
Angle is between 0~90 °.
4. robot according to claim 3, which is characterized in that the tilted-putted angle of optical mirror slip is 45 °.
5. robot described in any one according to claim 1~2, which is characterized in that the area of the optical mirror slip is greater than
The area of the optical mirror slip position shooting vision range, limiting the light that the filming apparatus obtains is the light
Learn the light of lens reflecting.
Priority Applications (2)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201611168829.8A CN106426223B (en) | 2016-12-16 | 2016-12-16 | A kind of robot |
| PCT/CN2017/116675 WO2018108177A1 (en) | 2016-12-16 | 2017-12-15 | Method for teaching painting using robot, device and robot therefor |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201611168829.8A CN106426223B (en) | 2016-12-16 | 2016-12-16 | A kind of robot |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN106426223A CN106426223A (en) | 2017-02-22 |
| CN106426223B true CN106426223B (en) | 2019-08-06 |
Family
ID=58216631
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201611168829.8A Active CN106426223B (en) | 2016-12-16 | 2016-12-16 | A kind of robot |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN106426223B (en) |
Families Citing this family (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2018108177A1 (en) * | 2016-12-16 | 2018-06-21 | 北京奇虎科技有限公司 | Method for teaching painting using robot, device and robot therefor |
Citations (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN204116792U (en) * | 2014-10-29 | 2015-01-21 | 温州造梦科技有限公司 | A kind of external hanging type changes the servicing unit at camera visual angle |
| CN204221789U (en) * | 2014-11-06 | 2015-03-25 | 华尓嘉（泉州）机械制造有限公司 | A kind of novel built-in Robot model two-freedom neck syndeton |
| CN106003069A (en) * | 2016-05-30 | 2016-10-12 | 深圳市鼎盛智能科技有限公司 | Robot |
Family Cites Families (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2003266364A (en) * | 2002-03-18 | 2003-09-24 | Sony Corp | Robot device |
| KR20090043088A (en) * | 2007-10-29 | 2009-05-06 | 삼성전자주식회사 | Apparatus and method for the self-diagnosis of robot defect with camera device |
| EP2722640A4 (en) * | 2011-06-20 | 2014-11-19 | Yaskawa Denki Seisakusho Kk | Three-dimensional shape measuring device and robot system |
| CN204868877U (en) * | 2015-08-10 | 2015-12-16 | 弗徕威智能机器人科技（上海）有限公司 | Intelligent movement service robot of interactive screen of head installation |
-
2016
- 2016-12-16 CN CN201611168829.8A patent/CN106426223B/en active Active
Patent Citations (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN204116792U (en) * | 2014-10-29 | 2015-01-21 | 温州造梦科技有限公司 | A kind of external hanging type changes the servicing unit at camera visual angle |
| CN204221789U (en) * | 2014-11-06 | 2015-03-25 | 华尓嘉（泉州）机械制造有限公司 | A kind of novel built-in Robot model two-freedom neck syndeton |
| CN106003069A (en) * | 2016-05-30 | 2016-10-12 | 深圳市鼎盛智能科技有限公司 | Robot |
Also Published As
| Publication number | Publication date |
|---|---|
| CN106426223A (en) | 2017-02-22 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN105393192B (en) | Netted hierarchical menu for near-eye display shows configuration | |
| US20190258318A1 (en) | Terminal for controlling electronic device and processing method thereof | |
| CN107223223A (en) | The control method and system, intelligent glasses of a kind of visual angle of unmanned plane first flight | |
| EP2869573B1 (en) | Video output device, 3d video observation device, video display device, and video output method | |
| WO2014128773A1 (en) | Gesture registration device, gesture registration program, and gesture registration method | |
| JP6342024B1 (en) | Method for providing virtual space, program for causing computer to execute the method, and information processing apparatus for executing the program | |
| CN106426223B (en) | A kind of robot | |
| CN205910418U (en) | Nearly eye formula display of wear -type goggles | |
| CN106354205A (en) | Wearable virtual reality implementing system | |
| CN104570289B (en) | A kind of blind-area-free panoramic camera lens for mobile terminal | |
| CN102478711A (en) | Optical digital display device | |
| CN205566501U (en) | Multifunctional end wears formula individual soldier reconnaissance system | |
| CN108683895B (en) | A kind of interaction instrument and interaction method | |
| US10209521B2 (en) | Head-mounted display | |
| US10416457B2 (en) | Waterproofed wearable displaying device | |
| CN205750132U (en) | Multifunctional visual sense strengthens glasses | |
| CN206546465U (en) | A kind of AR display devices | |
| CN107741653B (en) | The method of payment of mobile-payment system | |
| US10802294B2 (en) | Light transmissive regions to pass light to cameras | |
| CN108962151A (en) | A kind of method, electronic equipment and the storage medium of orientation display | |
| CN106814454A (en) | A kind of intelligent glasses of adjustable contrast | |
| CN103837989A (en) | Head-mounted imaging device and head-mounted intelligent terminal | |
| CN106681488A (en) | Digital eyewear operated by head | |
| CN103714310A (en) | Image recognition device | |
| TWM584455U (en) | Wearable electronic device |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C06 | Publication | ||
| PB01 | Publication | ||
| C10 | Entry into substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant |