CN112960096B - Suspended umbrella-shaped robot and control method - Google Patents

Abstract

The invention discloses a suspended umbrella-shaped robot and a control method thereof. The main mechanical framework comprises an umbrella cover, carbon fiber umbrella ribs, carbon fiber rings and a spring structure, and can complete opening and closing of the umbrella to realize the functions of rain shielding and sun shading. The air bags are hemispherical and are two-layer, helium is filled in the outer layer, air is filled in the inner layer, and the lifting and suspending functions of the robot are realized by matching with an electric air valve. The propulsion device is composed of a bionic swing mechanism and a propeller, and realizes the motion in the horizontal direction. The integrated module box is used for controlling all actions of the whole robot. The invention can realize autonomous obstacle avoidance and has the characteristics of multiple functions, good adaptability and flexible movement.

Description

Suspended umbrella-shaped robot and control method

Technical Field

The invention relates to a robot and an application method, in particular to a suspended umbrella-shaped robot and a control method.

Background

The suspension type robot is an important branch in robotics, and has wide application prospect in a plurality of occasions such as home service, entertainment, scientific investigation and the like.

The existing suspension type robot flight mode is mainly driven by the rotation of a propeller, the suspension lift force and the advancing power of the whole robot are provided, and the propeller needs to rotate at a high speed due to the overlarge lift force required by suspension, so that the power supply equipment quality and cost are increased, the cruising ability is lower, and the dead time is too low. The propeller mode is adopted to carry out ascending and other motions, the noise is often too large, the use experience is influenced, and the limitation is large in common civil occasions. The robot adopting the airship structure has the defects of large volume, poor flexibility, poor controllability and the like. In addition, most of the existing automatic umbrellas are of pure mechanical structures, need to hold the umbrella handle by hand, cannot be automatically started and automatically followed, and are low in intelligentized and automatic level and inconvenient to use.

In conclusion, the novel floating type umbrella-shaped robot capable of automatically following is designed, the robot and the umbrella-shaped design are combined, the reliable functions of suspension flight, automatic following, obstacle avoidance and the like of the umbrella are achieved, the cruising ability is improved, the noise is reduced, and the novel floating type umbrella-shaped robot has important value in improving the use experience and the intelligent level of the traditional umbrella.

Disclosure of Invention

In order to overcome the problems in the background art, the invention aims to provide a suspension umbrella-shaped robot and a control method thereof, which improve the structure and the use performance of the traditional umbrella, improve the endurance and the noise reduction capability of the robot and solve the problems in the background art.

The technical scheme adopted by the invention for solving the technical problems is as follows: a suspended umbrella-shaped robot comprises a spring structure, carbon fiber umbrella ribs, an air bag, a lifting object placing structure, a carbon fiber ring, a propelling device, a bionic swinging mechanism, an integrated module control box and a camera module. Propelling devices are arranged on the circumference of the carbon fiber umbrella rib at intervals, and each propelling device is in differential fit to realize translation motion and direction change in the horizontal direction; the spring structure comprises an umbrella opening spring, an umbrella closing spring, a push plate, a sliding block, a sleeve shaft and a tubular shaft; the umbrella opening spring, the umbrella closing spring and the push plate are all sleeved on the tubular shaft, the umbrella opening spring and the umbrella closing spring are both connected with the push plate, a sliding block is arranged on the inner side of the push plate, and a motor is arranged in the joint of the push plate and the sliding block; one side of the umbrella folding spring on the tubular shaft is provided with a first buckle, and one side of the umbrella opening spring on the tubular shaft is provided with a second buckle; the umbrella folding spring compresses tightly before the umbrella is folded, and motor drive slider and buckle one loosen during the umbrella is folded, and the spring kick-backs of folding the umbrella, promotes the cover axial and slides downwards, drives the umbrella face and packs up, and compress tightly by inertia simultaneously and prop the umbrella spring and continue to remove, and the buckle is gone into when the slider removes buckle two, pins and prop the umbrella spring, provides initial thrust for opening the umbrella next time and makes preparation. When the umbrella is opened, the terminal gives an instruction to control the integrated module control box, the module box controls the motor to enable the sliding block and the second buckle to be loosened, the umbrella opening spring rebounds to push the sleeve to axially slide upwards, the sliding block is buckled at first time when meeting the buckle, the umbrella opening action is realized, and meanwhile, the umbrella closing spring is compressed to prepare for pushing force for closing the umbrella next time. The sleeve shaft is fixedly combined with the outer side of the push plate and moves up and down along the tubular shaft, and the protruding position on the outer side of the sleeve shaft is used for being connected with the carbon fiber umbrella ribs to realize the opening and closing of the umbrella cover;

the air bags are clamped in the carbon fiber ring and are divided into two layers, helium is filled in the outer air bag, air is filled in the inner air bag, and the air bags are matched with an electric air valve arranged in the middle of the bottom of each air bag and used for realizing lifting and suspending functions. Air is discharged outwards through the inner-layer air bag, helium expands, the overall density is reduced, and floating is achieved. On the contrary, the inner layer air bag is inflated, the air bag is expanded, the helium is compressed, and sinking is realized; when the robot moves to a preset position, air is sucked or exhausted, so that the lifting force and the gravity are balanced, and fixed-point suspension is realized. The airbag structure ensures that the robot does not need additional power when realizing suspension, reduces energy consumption and improves cruising ability;

the bionic swing mechanism is used for being matched with the propelling device to realize the motion in the horizontal direction; the front portion of the front swing joint transverse connecting plate is clamped on a second connecting frame of the carbon fiber rib through a buckle, the front swing joint longitudinal connecting plate is connected with the rear swing joint transverse connecting plate, an internal motor of the front swing joint is used for driving the whole steering motion of the front swing joint longitudinal connecting plate and the rear swing joint, the rear swing joint longitudinal connecting plate is connected with the swing tail, and the internal motor of the rear swing joint is used for driving the whole steering motion of the rear swing joint longitudinal connecting plate and the driving swing tail, so that swing propulsion is realized.

Furthermore, the propulsion device comprises a propeller, and the propeller consists of a propeller motor, a connecting shaft, blades, an omnibearing rotor wing protection ring and a propulsion device frame. The omnibearing rotor wing protective ring is concentrically sleeved with the blade center ring through the middle cylinder, and is clamped with the round hole in the propulsion device frame through the connecting pipe at the lower part, so that connection is realized. The propeller motor starts to drive the connecting shaft, so that the blades rotate, and the translation motion and the direction change in the horizontal direction are realized through the differential matching of the four propellers.

Further, the liftable of umbrella robot is put the thing structure and is realized putting the lift of thing frame through cutting fork mechanism, cuts fork mechanism upper portion connecting plate to through three direct cards of buckle on the connecting plate on the first link of carbon fiber rib, put thing frame and connecting plate and all have and put thing frame spout structure and connecting plate spout structure, cut fork mechanism location and translation deformation in the spout, realize putting the lift of thing frame.

Furthermore, the integrated control circuit is arranged in the integrated module control box to realize all motion control, the high-sensitivity acceleration sensor rapidly senses when the robot is damaged by the air bag and falls down, and the propelling device is started to provide lift force to prevent hurting people.

Furthermore, the camera module of the umbrella-shaped robot is connected to a propulsion device frame of a propulsion device through a pull rod, infrared information of an object is captured through an infrared sensor to obtain depth image data, a supposed three-dimensional body joint coordinate is generated through a skeleton tracking algorithm, a rotation angle and a displacement are calculated according to position change of a coordinate point, a propeller motor is driven, the propeller is in differential fit, and real-time tracking is achieved. An ultrasonic beam is emitted by the ultrasonic sensor, strikes the surface of the object and is reflected back to the ultrasonic sensor. And obtaining the obstacle distance information according to the time difference. The color camera obtains information on the surrounding environment and the size and shape of the obstacle. The rotation angle and the displacement required for avoiding the obstacle are obtained through calculation, and a propeller motor is controlled to enable the propeller to be in differential fit, so that the obstacle avoidance is realized.

The invention provides a control method of a suspended umbrella-shaped robot, which realizes electric umbrella opening through a motor in a spring structure in an initial folding state. The electric air valve is used for controlling the air of the inner layer air bag in the double-layer air bag, and in the process, helium in the outer layer air bag is expanded or compressed, and the density is changed, so that the umbrella-shaped robot can ascend or descend. When the umbrella-shaped robot rises to be close to the set position, the electric air valve is closed, and the umbrella-shaped robot rises to the set position through the calculated residual speed, so that static suspension is realized. The infrared camera obtains the infrared information of the preset using object, the propeller motor of the propeller is controlled to rotate, and the relative rotating speed of the propeller is adjusted, so that the using object is always kept at the middle position in the signal receiving range, the object is locked, and automatic following is realized. And the propeller motor is controlled to rotate through the obstacle information received by the ultrasonic sensor and the color camera, the rotating speed of the propeller is adjusted, and obstacle avoidance is realized.

The invention has the beneficial effects that:

1. the air bags are used for providing main lift force, the propellers are matched for auxiliary control, and the robot obtains the lift force to adjust the position in the vertical direction through the change of the gas volume in the air bags, so that fixed-point suspension is realized. When only suspension is required, the propeller does not need to work, the energy consumption is less, the energy-saving effect is good, the endurance time is long, the suspension is stable, and the influence on the environment is small.

2. The robot provided by the invention is provided with the bionic swinging mechanism, mechanical bones are matched with flexible materials to simulate the shape of the tail of the tuna when the tuna swims, and the tuna swings in a left-right constant amplitude manner according to a fluctuation theory, so that airflow forms a row of sine waves in the air to generate thrust, the propeller is matched to provide the thrust, the position and the direction of the horizontal direction are changed, the energy is saved, and the propelling efficiency is improved.

3. The robot disclosed by the invention realizes automatic opening and closing of the umbrella-shaped robot through the cooperation of the spring mechanism, the buckle and the motor module, and is compact in structure and convenient to use. The infrared sensor is adopted to realize real-time human body detection and automatic following, the color camera is utilized to acquire images of the external environment, and the ultrasonic sensor is combined to realize autonomous obstacle avoidance, so that the device has the characteristics of multiple functions, good adaptability and flexible movement.

Drawings

FIG. 1 is a schematic view of the overall structure of the robot of the present invention;

FIG. 2 is an isometric view of a biomimetic swinging mechanism of the robot of the present invention;

FIG. 3 is a front view of a biomimetic swinging mechanism of the robot of the present invention;

FIG. 4 is a front view of the spring structure of the robot of the present invention;

FIG. 5 is an isometric view of the spring structure of the robot of the present invention;

FIG. 6 is an isometric view of the tube shaft of the spring structure of the robot of the present invention;

FIG. 7 is an isometric view of a camera module of the robot of the present invention;

FIG. 8 is a top view of the propulsion unit mounting location of the robot of the present invention;

FIG. 9 is a top view of a single propulsion device of the robot of the present invention;

figure 10 is an isometric view of a single propulsion device of the robot of the present invention;

FIG. 11 is a half-sectional view of a single propulsion device of the robot of the present invention;

FIG. 12 is a front view of the air bag of the robot of the present invention;

FIG. 13 is an isometric view of a liftable storage structure of the robot of the present invention;

FIG. 14 is a flow chart of the infrared sensor tracking of the robot passing by of the present invention;

FIG. 15 is a flow chart of the robot of the present invention for obstacle avoidance by color camera and ultrasonic sensor;

in the figure: 1. spring structure, 2, carbon fiber umbrella frame, 3, air bag, 4, lifting article-placing structure, 5, carbon fiber ring, 6, propulsion device, 7, bionic swing mechanism, 8, integrated module control box, 9, camera module, 1.1, umbrella-supporting spring, 1.2, umbrella-closing spring, 1.3, push plate, 1.4, slide block, 1.6, fastener one, 1.7, fastener two, 1.8, sleeve shaft, 1.9, pipe shaft, 3.1, outer air bag, 3.2, inner air bag, 3.3, electric air valve, 4.1, scissor fork mechanism, 4.2, article-placing frame, 4.3, connecting plate, 4.32, fastener three, 4.21, article-placing frame sliding groove structure, 4.31, connecting plate sliding groove structure, 6.1, propeller, 6.2, propeller motor, 6.3, connecting shaft, 6.4, blade, 6.5, rotor ring, 6.6, protecting frame, 6.7, middle part, 6.8, front section cylinder, 7.7, front section connecting plate, 2, front section connecting plate, 7.3, a motor inside the front swing joint. 7.4, four buckles, 7.5, a rear swing joint transverse connecting plate, 7.6, a rear swing joint longitudinal connecting plate, 7.7, a rear swing joint internal motor, 7.8, a swing tail, 9.1, a pull rod, 9.2, an infrared sensor, 9.3, an ultrasonic sensor and 9.4 color cameras.

Detailed Description

The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the embodiments described below are some, but not all, embodiments of the present invention. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.

As shown in fig. 1 and 2, the robot of the invention mainly comprises a spring structure 1, a carbon fiber umbrella rib 2, an air bag 3, a liftable storage structure 4, a carbon fiber ring 5, a propulsion device 6, a bionic swing mechanism 7, an integrated module control box 8 and a camera module 9.

As shown in fig. 8, 9, 10 and 11, four propellers 6.1 having the same structure in the propulsion device 6 are attached to the circumference of the carbon fiber rib 2 at 90 degrees intervals. Each propeller consists of five parts, namely a propeller motor 6.2, a connecting shaft 6.3, blades 6.4, an omnibearing rotor wing protective ring 6.5 and a propelling device frame 6.6. The omnibearing rotor wing protective ring 6.5 is concentrically sleeved in the central ring of the blade 6.4 through the middle cylinder 6.7, and is clamped in a round hole on the propulsion device frame 6.6 through the connecting pipe 6.8 at the lower part, so that connection is realized. The propeller motor 6.2 is started to drive the connecting shaft 6.3, so that the blades 6.4 rotate, and the horizontal translational motion and the direction change are realized through the differential matching of the four propellers.

As shown in fig. 4, 5 and 6, the spring structure 1 includes an umbrella opening spring 1.1, an umbrella closing spring 1.2, a push plate 1.3, a slider 1.4, a sleeve shaft 1.8 and a pipe shaft 1.9; the umbrella opening spring 1.1, the umbrella closing spring 1.2 and the push plate 1.3 are all sleeved on the tubular shaft 1.9, the umbrella opening spring 1.1 and the umbrella closing spring 1.2 are both connected with the push plate 1.3, the inner side of the push plate 1.3 is provided with a slide block 1.4, and a motor is arranged in the joint of the push plate 1.3 and the slide block 1.4; one side of the umbrella closing spring 1.2 on the tubular shaft 1.9 is provided with a first buckle 1.6, and one side of the umbrella opening spring 1.1 on the tubular shaft 1.9 is provided with a second buckle 1.7; the umbrella folding spring 1.2 compresses tightly before folding the umbrella, the motor drives the sliding block 1.4 to loosen with the buckle 1.6 when folding the umbrella, the umbrella folding spring 1.2 rebounds, the sleeve shaft 1.8 is pushed to slide downwards, the umbrella cover is driven to be folded, meanwhile, the umbrella opening spring 1.1 is compressed by inertia and continues to move, the sliding block 1.4 is buckled when moving to the buckle two 1.7, the umbrella opening spring 1.1 is locked, and the preparation is made for providing initial thrust for the next umbrella opening. When the umbrella is opened, the terminal gives an instruction to control the integrated module control box 8, the module box controls the motor to enable the sliding block 1.4 and the buckle II 1.7 to be loosened, the umbrella opening spring 1.1 rebounds to push the sleeve shaft 1.8 to slide upwards, when the sliding block 1.4 meets the buckle I1.6, the umbrella is buckled, the umbrella opening action is realized, and meanwhile, the umbrella closing spring 1.2 is pressed tightly to prepare for pushing force for closing the umbrella next time. Sleeve shaft 1.8 and push pedal 1.3 outside fixed combination do the up-and-down motion along hollow shaft 1.9 together, and sleeve shaft 1.8 outside protruding position is used for linking to each other with carbon fiber rib 2, realizes opening and shutting of umbrella face.

As shown in fig. 12, the air bag 3 is clamped in the carbon fiber ring 5, and has two layers, the outer air bag 3.1 is filled with helium gas with density much lower than that of air, the inner air bag 3.2 is filled with air, and is matched with an electric air valve 3.3 arranged in the middle of the bottom of the air bag to realize lifting and suspending functions. In order to fully utilize buoyancy generated by the air bag 3 and simultaneously consider that helium is not easy to obtain, the whole volume of the outer air bag 3.1 is hardly changed, air is discharged outwards through the inner air bag 3.2, the helium expands, the integral density is reduced, and floating is realized. On the contrary, the inner layer air bag 3.2 is inflated, the air bag is expanded, the helium is compressed, and sinking is realized; when the robot moves to a preset position, air is sucked or exhausted, so that the lifting force and the gravity are balanced, and fixed-point suspension is realized. The airbag 3 structure enables the robot to realize suspension without additional power, reduces energy consumption and improves cruising ability.

As shown in fig. 13, the liftable storage structure 4 realizes the lifting of the storage frame 4.2 through the scissors mechanism 4.1, the connecting plate 4.3 on the upper portion is directly clamped on the first connecting frame 2.1 of the carbon fiber umbrella rib 2 through three 4.32 buckles, the storage frame 4.2 and the connecting plate 4.3 are both provided with the storage frame sliding groove structure 4.21 and the connecting plate sliding groove structure 4.31, the scissors mechanism 4.1 is positioned in the sliding groove and is in translational deformation, and the lifting of the storage frame 4.2 is realized.

As shown in fig. 2 and 3, the bionic swing mechanism 7 is directly connected through a buckle 7.4 and is used for being matched with the propulsion device 6 to realize the movement in the horizontal direction; the front part of a front swing joint transverse connecting plate 7.1 is clamped on a second connecting frame 2.2 of the carbon fiber umbrella rib 2 through a buckle 7.4, the front swing joint longitudinal connecting plate 7.2 is connected with a rear swing joint transverse connecting plate 7.5, an internal motor 7.3 of the front swing joint is used for driving the front swing joint longitudinal connecting plate 7.2 and the rear swing joint to perform integral steering motion, a rear swing joint longitudinal connecting plate 7.6 is connected with a swing tail 7.8, and the internal motor 7.7 of the rear swing joint is used for driving the rear swing joint longitudinal connecting plate 7.6 and the rear swing tail 7.8 to perform integral steering motion, so that swing propulsion is realized.

As shown in fig. 7, 14 and 15, the camera module 9 is connected to the propulsion device frame 6.6 through a pull rod 9.1, the infrared sensor 9.2 captures infrared information of an object to obtain depth image data, a virtual three-dimensional body joint coordinate is generated through a skeleton tracking algorithm, a rotation angle and a displacement are calculated according to the position change of a coordinate point, and the propeller motor 6.2 is driven to enable the propeller 6.1 to be in differential cooperation, so that automatic following is realized. An ultrasonic beam is emitted by the ultrasonic sensor 9.3, strikes the surface of the object, and is reflected back to the sensor 9.3. And obtaining the obstacle distance information according to the time difference. The color camera 9.4 obtains information about the surroundings and the size and shape of the obstacle. The rotation angle and the displacement required for avoiding the obstacle are obtained through calculation, and the propeller motor 6.2 is controlled to enable the propeller 6.1 to be in differential cooperation, so that the obstacle avoidance is realized.

The invention also provides a control method of the suspended umbrella-shaped robot, and the electric umbrella opening is realized through the motor in the spring structure 1 in the initial folding state. The electric air valve 3.3 is used for controlling the air of the inner air bag 3.2 in the double-layer air bag, and in the process, the helium in the outer air bag 3.1 is expanded or compressed, the density is changed, and the ascending or descending of the umbrella-shaped robot is realized. When the umbrella-shaped robot rises to be close to the set position, the electric air valve 3.3 is closed, and the umbrella-shaped robot rises to the set position through the calculated residual speed, so that static suspension is realized. The infrared information of the preset using object is obtained through the infrared camera 9.2, the propeller motor 6.2 of the propeller 6.1 is controlled to rotate, and the relative rotating speed of the propeller 6.1 is adjusted, so that the using object is always kept at the middle position in a signal receiving range, the object is locked, and automatic following is realized. And the propeller motor 6.2 is controlled to rotate through the obstacle information received by the ultrasonic sensor 9.3 and the color camera 9.4, and the rotating speed of the propeller 6.1 is adjusted to realize obstacle avoidance.

In the automatic following scene, the robot realizes the whole suspension through the air bag 3, and realizes the position movement and the flight angle change in the horizontal direction through the propelling device 6. The camera module 9 captures infrared information of an object through the infrared sensor 9.2, and through the object locking calculation module in the integrated module control box 8, operation processing is carried out on identification information of the infrared camera 9.2 to obtain depth image data, a rotation angle and displacement are calculated according to position change of a coordinate point, the propeller motor 6.2 is driven, the propeller 6.1 is in differential cooperation, and automatic following is achieved. When the obstacle avoidance function is started, ultrasonic beams are transmitted through the ultrasonic sensor 9.3, obstacle distance information is obtained according to time difference, information such as surrounding environment information and obstacle size and shape is obtained through the color camera 9.4, and operation processing is carried out on obstacle information received by the ultrasonic sensor 9.3 and the color camera 9.4 through an obstacle identification and calculation module in the integrated module control box 8. The position angle information and the obstacle information received by the main control board are subjected to operation processing through the flight control module and the path planning module, a corner and a displacement required by avoiding the obstacle are calculated, an instruction is sent to the propeller motor 6.2 to drive the connecting shaft 6.3, the rotation state of the blades 6.4 is controlled, the differential cooperation of the four propellers 6.1 is realized, and the obstacle avoidance is completed.

In a carrying scene, the camera module 9 captures infrared information of an object through the infrared sensor 9.2, the position of the object to be used is determined through an object locking calculation module in the integrated module control box 8, the control motor 6.2 moves and is positioned at the position of the object and hovers, the object placing frame 4.2 descends through the scissor mechanism 4.1, an object to be carried is placed in the object placing frame 4.2, the terminal sends an instruction to the integrated module control box 8, and the control box controls the scissor mechanism 4.1 to ascend the object placing frame 4.2.

The foregoing detailed description is intended to illustrate and not limit the invention, which is intended to be within the spirit and scope of the appended claims, and any changes and modifications that fall within the true spirit and scope of the invention are intended to be covered by the following claims.

Claims (6)

1. A floated umbrella shape robot which characterized in that: the bionic umbrella comprises a spring structure (1), a carbon fiber umbrella rib (2), an air bag (3), a liftable storage structure (4), a carbon fiber ring (5), a propelling device (6), a bionic swinging mechanism (7), an integrated module control box (8) and a camera module (9);

propelling devices (6) are arranged on the circumference of the carbon fiber umbrella rib (2) at intervals of 90 degrees, and each propelling device (6) is in differential fit to realize translation motion and direction change in the horizontal direction; the spring structure (1) comprises an umbrella opening spring (1.1), an umbrella closing spring (1.2), a push plate (1.3), a slide block (1.4), a sleeve shaft (1.8) and a pipe shaft (1.9); the umbrella opening spring (1.1), the umbrella closing spring (1.2) and the push plate (1.3) are all sleeved on the tubular shaft (1.9), the umbrella opening spring (1.1) and the umbrella closing spring (1.2) are both connected with the push plate (1.3), a sliding block (1.4) is arranged on the inner side of the push plate (1.3), and a motor is arranged in the joint of the push plate (1.3) and the sliding block (1.4); a first buckle (1.6) is arranged on one side of the umbrella closing spring (1.2) on the tubular shaft (1.9), and a second buckle (1.7) is arranged on one side of the umbrella opening spring (1.1) on the tubular shaft (1.9); before the umbrella is folded, the umbrella folding spring (1.2) is pressed tightly, the motor drives the sliding block (1.4) to be loosened from the first buckle (1.6) during the umbrella folding, the umbrella folding spring (1.2) rebounds to push the sleeve shaft (1.8) to slide downwards to drive the umbrella cover to be folded, meanwhile, the umbrella opening spring (1.1) is pressed tightly by inertia and moves continuously, when the sliding block (1.4) moves to the second buckle (1.7), the sliding block is buckled in to lock the umbrella opening spring (1.1), and the initial thrust is provided for the next umbrella opening; when the umbrella is opened, the terminal gives an instruction to control the integrated module control box (8), the integrated module control box controls the motor to enable the sliding block (1.4) and the buckle II (1.7) to be loosened, the umbrella opening spring (1.1) rebounds to push the sleeve shaft (1.8) to slide upwards, when the sliding block (1.4) meets the buckle I (1.6), the sliding block is buckled, the umbrella opening action is realized, and meanwhile, the umbrella closing spring (1.2) is pressed tightly to prepare for pushing force for the next umbrella closing; the sleeve shaft (1.8) is fixedly combined with the outer side of the push plate (1.3) and moves up and down along the tubular shaft (1.9), and the protruding position of the outer side of the sleeve shaft (1.8) is used for being connected with the carbon fiber umbrella ribs (2) to realize the opening and closing of the umbrella cover;

the air bags (3) are clamped in the carbon fiber ring (5) and are divided into two layers, helium is filled in the outer air bag (3.1), air is filled in the inner air bag (3.2), and the air bags are matched with an electric air valve (3.3) arranged in the middle of the bottom of each air bag and used for realizing lifting and suspending functions; air is discharged outwards through the inner-layer air bag (3.2), helium expands, the overall density is reduced, and floating is realized; on the contrary, the inner layer air bag (3.2) is inflated, the air bag is expanded, the helium is compressed, and sinking is realized; when the robot moves to a preset position, air is sucked or exhausted, so that the lifting force and the gravity are balanced, and fixed-point suspension is realized; the structure of the air bag (3) ensures that the robot does not need additional power when realizing suspension, reduces energy consumption and improves cruising ability;

the bionic swing mechanism (7) is used for being matched with the propelling device (6) to realize horizontal movement; the front part of a front swing joint transverse connecting plate (7.1) is clamped on a second connecting frame (2.2) of the carbon fiber umbrella rib (2) through four (7.4) buckles, the front swing joint longitudinal connecting plate (7.2) is connected with a rear swing joint transverse connecting plate (7.5), an internal motor (7.3) of the front swing joint is used for driving the whole steering motion of the front swing joint longitudinal connecting plate (7.2) and the rear swing joint, the rear swing joint longitudinal connecting plate (7.6) is connected with a swing tail (7.8), and the internal motor (7.7) of the rear swing joint is used for the whole steering motion of the rear swing joint longitudinal connecting plate (7.6) and the driving swing tail (7.8) to realize swing propulsion.

2. A suspended umbrella robot according to claim 1, wherein: the propeller (6) comprises a propeller (6.1), and the propeller (6.1) consists of a propeller motor (6.2), a connecting shaft (6.3), blades (6.4), an omnibearing rotor wing protective ring (6.5) and a propeller frame (6.6); the omnibearing rotor wing protective ring (6.5) is concentrically sleeved with the central ring of the blade (6.4) through a middle cylinder (6.7), and is clamped with a round hole on the propulsion device frame (6.6) through a connecting pipe (6.8) at the lower part to realize connection; the propeller motor (6.2) is started to drive the connecting shaft (6.3) to enable the blades (6.4) to rotate, and translation motion and direction change in the horizontal direction are achieved through differential matching of the four propellers (6.1).

3. A suspended umbrella robot according to claim 1, wherein: the liftable of umbrella-shaped robot is put thing structure (4) and is realized putting the lift of thing frame (4.2) through cutting fork mechanism (4.1), cut fork mechanism (4.1) upper portion connecting plate (4.3) to directly block on first link (2.1) of carbon fiber rib (2) through three (4.32) of buckle on connecting plate (4.3), put thing frame (4.2) and connecting plate (4.3) and all have and put thing frame spout structure (4.21) and connecting plate spout structure (4.31), cut fork mechanism (4.1) and fix a position and translation deformation in the spout, realize putting the lift of thing frame (4.2).

4. A suspended umbrella robot according to claim 1, wherein: the integrated control circuit is arranged in the integrated module control box (8) to realize all motion control, the high-sensitivity acceleration sensor rapidly senses when the robot is damaged and falls down due to the airbag (3), the propelling device (6) is started to provide lift force, and people injury is prevented.

5. A suspended umbrella robot according to claim 1, wherein: the camera module (9) of the umbrella-shaped robot is connected to a propelling device frame (6.6) of the propelling device (6) through a pull rod (9.1), infrared information of an object is captured through an infrared sensor (9.2), depth image data is obtained, an imaginary three-dimensional body joint coordinate is generated through a skeleton tracking algorithm, a rotating angle and a displacement are calculated according to position change of a coordinate point, a propeller motor (6.2) is driven, the propeller (6.1) is in differential fit, and real-time tracking is achieved; emitting ultrasonic beams through the ultrasonic sensor (9.3), impacting the surface of the object, and reflecting the ultrasonic beams back to the ultrasonic sensor (9.3); obtaining obstacle distance information according to the time difference; the color camera (9.4) obtains the surrounding environment information and the obstacle size and shape information; the rotation angle and the displacement required for avoiding the obstacle are obtained through calculation, and the propeller motor (6.2) is controlled, so that the propellers (6.1) are in differential cooperation, and the obstacle avoidance is realized.

6. A method for controlling a suspension umbrella robot according to any one of claims 1 to 5, comprising: under the initial folding state, the electric umbrella opening is realized through the motor in the spring structure (1); the gas of the inner layer air bag (3.2) in the double-layer air bag is controlled through the electric gas valve (3.3), and in the process, helium in the outer layer air bag (3.1) is expanded or compressed, and the density is changed, so that the umbrella-shaped robot is lifted or lowered; when the umbrella-shaped robot is lifted to be close to a set position, the electric air valve (3.3) is closed, and the umbrella-shaped robot is lifted to be at the set position through the calculated residual speed to realize static suspension; infrared information of a preset using object is obtained through an infrared camera (9.2), a propeller motor (6.2) of a propeller (6.1) is controlled to rotate, and the relative rotating speed of the propeller (6.1) is adjusted, so that the using object is always kept at the middle position in a signal receiving range, the object is locked, and automatic following is realized; and the propeller motor (6.2) is controlled to rotate through the obstacle information received by the ultrasonic sensor (9.3) and the color camera (9.4), and the rotating speed of the propeller (6.1) is adjusted to realize obstacle avoidance.

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