CN214728674U - Service robot - Google Patents
Service robot Download PDFInfo
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- CN214728674U CN214728674U CN202120271061.7U CN202120271061U CN214728674U CN 214728674 U CN214728674 U CN 214728674U CN 202120271061 U CN202120271061 U CN 202120271061U CN 214728674 U CN214728674 U CN 214728674U
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- control device
- service robot
- main body
- detection sensor
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Abstract
The utility model discloses be suitable for the robotechnology field, provide a service robot, include: the robot comprises a robot main body, a control device and a control device, wherein the robot main body comprises a machine body, a cushion arranged on the machine body, a pedal and the control device; the detection sensor is electrically connected with the control device and is arranged on the seat cushion and/or the pedal plate for detecting whether a person sits on the robot main body; and an alarm device connected to the control device for giving an alarm prompt when the detection sensor detects that a person is seated on the robot main body while the service robot is operating in the automatic driving mode. The utility model provides a service robot is with autopilot mode during operation, when detecting sensor detects someone and takes in the robot main part, utilizes alarm device to send out the alarm suggestion, avoids taking the normal traveling that personnel influence the robot, and has reduced personnel's safety risk.
Description
Technical Field
The utility model relates to a robotechnology field, concretely relates to service robot.
Background
With the improvement of living standard of people, more and more service robots are applied to the life of people. Such as a floor washing robot, an automatic dispensing robot. In order to widen the application range of the service robot, a general service robot has two modes of manual driving and automatic driving, and a user can switch the working mode of the service robot according to needs.
In the prior art, a service robot usually does not need to carry personnel in an automatic driving mode, if the robot carries the personnel, the robot can be influenced to the running of the robot, the perception and decision of the robot are influenced, certain potential safety hazards exist for the personnel carrying the robot when the robot carries the robot in the automatic driving mode, and the existing service robot cannot detect whether the personnel carrying the robot exists or not in the automatic driving mode and cannot play a safety prompting role for the personnel carrying the robot.
SUMMERY OF THE UTILITY MODEL
The utility model provides a service robot aims at solving the service robot among the prior art and can't detect under the autopilot mode whether take advantage of carrying personnel, can not play the problem of safe suggestion effect to taking advantage of carrying personnel.
The utility model discloses a realize like this, provide a service robot, include:
the robot comprises a robot main body and a control device, wherein the robot main body comprises a machine body, a cushion arranged on the machine body, a pedal arranged on the machine body and positioned in front of and below the cushion, and the control device;
a detection sensor electrically connected to the control device, the detection sensor being provided to the seat cushion and/or the foot pedal for detecting whether or not a person is seated on the robot main body; and
and the alarm device is arranged on the robot body and connected with the control device and used for sending an alarm prompt when the service robot works in an automatic driving mode and the detection sensor detects that a person sits on the robot body.
Preferably, the detection sensor includes:
and the pressure sensor is arranged below the cushion and is connected with the control device.
Preferably, the detection sensor includes:
and the laser radar sensor is arranged on one side of the pedal plate and is connected with the control device.
Preferably, the robot main body is provided with two of the foot boards, one of the lidar sensors is arranged between the two foot boards, and the two foot boards are located within a scanning range of the lidar sensors.
Preferably, the alarm device is an acousto-optic alarm.
Preferably, the robot main body further includes:
and the switching key is arranged on the robot main body and connected with the control device and is used for inputting a control instruction to the control device so as to realize switching between an automatic driving mode and a manual driving mode of the service robot.
Preferably, the robot main body further includes:
the driving wheel and the steering wheel are arranged at the bottom of the machine body;
the steering driving mechanism is connected with the steering wheel and used for driving the steering wheel to steer, and the steering driving mechanism is connected with the control device; and
and the control device is connected with the driving motor and used for controlling the driving motor to reduce the rotating speed and the acceleration when the service robot works in an automatic driving mode and the detection sensor detects that a person sits on the robot main body.
The utility model provides a service robot is used for detecting whether someone takes the detection sensor in the robot main part through setting up on the cushion of robot main part and/or running-board, when service robot with autopilot mode during operation, when detection sensor detects someone and takes in the robot main part, utilize alarm device to send out alarm prompt, with the warning take personnel not allow to take under current autopilot mode, can play the safety prompt effect, avoid personnel's mistake to take and influence the normal automation of robot and travel on service robot, and avoided taking the safety risk that exists on service robot because of personnel's mistake.
Drawings
Fig. 1 is a schematic structural diagram of a service robot provided by an embodiment of the present invention;
fig. 2 is a schematic structural diagram of another view angle of the service robot according to the embodiment of the present invention;
fig. 3 is a block diagram of a partial structure of a service robot according to an embodiment of the present invention.
Detailed Description
In order to make the objects, technical solutions and advantages of the present invention more clearly understood, the present invention is further described in detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative of the invention and are not intended to limit the invention.
The embodiment of the utility model provides a service robot is used for detecting whether someone takes the detection sensor in the robot main part through setting up on the cushion and/or the running-board of robot main part, when service robot with autopilot mode during operation, when detection sensor detects someone and takes in the robot main part, utilize alarm device to send out alarm prompt, with the warning personnel of taking do not allow to take under current autopilot mode, can play the safety prompt effect, avoid personnel's mistake to take on service robot and influence the normal automatic traveling of robot, and reduced personnel's mistake and taken on service robot and the safe risk that exists.
Referring to fig. 1 to 3, an embodiment of the present invention provides a service robot, including:
the robot comprises a robot body 1, wherein the robot body 1 comprises a body 10, a cushion 12 arranged on the body 10, a pedal 13 arranged on the body 10 and positioned in front of and below the cushion 12, and a control device 14;
a detection sensor electrically connected to the control device 14, the detection sensor being provided to the seat cushion 12 and/or the foot board 13 to detect whether or not a person is seated on the robot main body 1; and
and a warning device 4 provided on the main body 10 and connected to the control device 14, for giving a warning when the detection sensor detects that a person is seated on the robot main body 1 when the service robot operates in the autopilot mode.
The embodiment of the utility model provides an in, the concrete type of service robot is not limited, and service robot can be floor cleaning robot, automatic delivery robot etc.. Wherein the service robot shown in fig. 1 is a floor washing robot for washing a floor for convenience of explanation.
The embodiment of the utility model provides an in, cushion 12 is used for supplying the driver and crew to take when service robot works with manual driving mode, and running-board 13 then is used for placing driver and crew's both feet, and this service robot only allows driver and crew to take when manual driving mode work.
The embodiment of the utility model provides an in, detection sensor can only set up cushion 12 below, also can only set up in running-board 13 position, can also set up simultaneously in cushion 12 and running-board 13's position, can detect whether have the passenger to take when taking through arbitrary detection sensor on cushion 12 and running-board 13 like this to improve the accuracy that detects.
In the embodiment of the utility model, controlling means 14 specifically is the singlechip, and the specific model of singlechip is not limited.
As an embodiment of the present invention, the detection sensor includes:
a pressure sensor 21 provided below the seat cushion 12, and the pressure sensor 21 is connected to the control device 14.
In this embodiment, the pressure sensor 21 detects whether or not a person is seated by detecting the pressure applied to the seat cushion 12 in real time. When the pressure sensor 21 detects that the pressure applied to the seat cushion 12 is larger than the preset value, it is determined that a person sits on the seat cushion. Specifically, when a person sits on the seat cushion 12, the pressure sensor 21 detects that the pressure value is greater than a preset value, so that it can be determined that the person sits. The pressure sensor 21 is provided below the seat cushion 12 to detect whether a person is seated in real time, and the seat cushion is simple in structure and low in cost.
As an embodiment of the present invention, the detection sensor includes:
and a laser radar sensor 22 provided on one side of the foot board 13, the laser radar sensor 22 being connected to the control device 14.
In the present embodiment, the laser radar sensor 22 scans the position of the foot board 13 to determine whether an obstacle is present, and if an obstacle is detected, it is determined that a passenger is present. Specifically, when a passenger sits on the seat cushion 12 and places both feet on the positions of the foot plates 13, the laser radar sensors 22 scan both feet of the passenger on the positions of the foot plates 13, so that it is possible to detect that the passenger is riding on the service robot. By arranging the laser radar sensor 22 at the position of the pedal 13, whether a person is seated or not is detected in real time, the detection mode is accurate, and the detection speed is high.
As an embodiment of the present invention, the robot body 1 is provided with two pedals 13, a laser radar sensor 22 is provided between the two pedals 13, and the two pedals 13 are located within the scanning range of the laser radar sensor 22.
In this embodiment, one laser radar sensor 22 may be used to scan the left and right pedals 13 at the same time, so as to realize the detection of the pedals 13, and the detection is accurate and reliable.
As an embodiment of the present invention, the alarm device 4 is an audible and visual alarm. When the service robot works in the automatic driving mode, when the detection sensor detects that a person sits on the robot main body, the alarm device 4 sends out voice prompt and sends out flashing light signals to remind the person that the person is not allowed to sit on the robot main body 1 when the service robot works in the automatic driving mode, so that the safety prompt effect can be achieved, and the person is prevented from mistakenly sitting on the service robot. For example, the siren device 4 can issue a voice prompt to "do not ride" while the siren device 4 issues a flashing light signal at a frequency to alert the occupant to possibly alert the occupant that the ride is not allowed in the current autopilot mode. In addition, the alarm device 4 may also be a speaker with a single voice prompt, and the speaker may directly broadcast a voice to remind a passenger that the passenger is not allowed to take the vehicle when the vehicle operates in the automatic driving mode. In addition, the control device 14 can also be connected with a mobile terminal of a user through a communication module in a communication way. When the service robot works in an automatic driving mode, when the detection sensor detects that a person rides on the robot main body, the detection sensor sends prompt information to a mobile terminal of a user through the communication module, so that the user can know that the person rides on the service robot in time.
As an embodiment of the present invention, the robot main body 1 further includes:
and a switch key 15 arranged on the body 11 and connected with the control device 14, for inputting a control command to the control device 14 to switch between an automatic driving mode and a manual driving mode of the service robot.
In this embodiment, when the driving mode of the service robot needs to be switched, a control instruction is input to the control device 14 by operating the switch key 15, so that the automatic driving mode and the manual driving mode of the service robot are switched. In the initial state, the service robot can be in an automatic driving mode or a manual driving mode, the automatic driving mode and the manual driving mode are switched back and forth by operating the switching key 15, the operation is simple and convenient, and the user experience is good.
As an embodiment of the present invention, the robot main body 1 further includes:
a driving wheel 16 and a steering wheel 17 arranged at the bottom of the body 11;
a steering driving mechanism 18 connected with the steering wheel 17 and used for driving the steering wheel 17 to steer, wherein the steering driving mechanism 18 is connected with the control device 14; and
and the control device 14 is connected with the driving motor 1 and is used for controlling the driving motor 19 to reduce the rotating speed and acceleration when the detection sensor detects that a person sits on the robot main body 1 when the service robot works in an automatic driving mode.
In this embodiment, when the service robot operates in the automatic driving mode, the control device 14 controls the service robot to move according to a set path, or the service robot senses the current environment continuously through its own sensor and generates a corresponding path, and the control device 14 controls the service robot to move according to the generated path, thereby implementing the operation of the service robot. Specifically, when the service robot works in the automatic driving mode, the control device 14 controls the driving speed of the service robot by controlling the rotation speed of the driving motor 19 to adjust the rotation speed of the driving wheel 16, and controls the steering driving mechanism 18 to drive the steering wheel 17 to steer so as to realize lane changing and turning actions of the service robot.
In this embodiment, when the service robot operates in the automatic driving mode, and the detection sensor detects that a person is seated on the robot main body 1, the control device 14 controls the driving motor 19 to reduce the rotation speed and the acceleration, for example, the control device 14 controls the driving motor 19 to reduce the rotation speed and the acceleration to one half of those in the automatic driving mode and when no person is seated, so that the driving speed and the driving acceleration of the service robot can be reduced, and the service robot can drive and accelerate more smoothly, thereby avoiding the risk that the person seated on the service robot falls down due to the driving speed or the acceleration of the service robot.
As an embodiment of the present invention, the robot main body 1 further includes a steering wheel 101 disposed on the body 11 and drivingly connected to the steering wheel 17, and an accelerator pedal 102 disposed in front of the pedal 13. In the manual driving mode, the driver and the crew can step on the accelerator pedal 102 to send a control signal to the control device 14, so as to control the driving motor 19 to drive the driving wheel 16 to work according to the corresponding rotating speed, so as to adjust the traveling speed of the service robot, and the driver and the crew can realize the steering action of the service robot by rotating the steering wheel 101, so as to realize the lane changing and turning actions of the service robot.
The embodiment of the utility model provides a service robot is used for detecting whether someone takes the detection sensor in the robot main part through setting up on the cushion and/or the running-board of robot main part, when service robot with autopilot mode during operation, when detection sensor detects someone and takes in the robot main part, utilize alarm device to send out alarm prompt, with the warning personnel of taking do not allow to take under current autopilot mode, can play the safety prompt effect, avoid personnel's mistake to take on service robot and influence the normal automatic traveling of robot, and reduced personnel's mistake and taken on service robot and the safe risk that exists.
The above description is only exemplary of the present invention and should not be construed as limiting the present invention, and any modifications, equivalents and improvements made within the spirit and principles of the present invention are intended to be included within the scope of the present invention.
Claims (7)
1. A service robot, comprising:
the robot comprises a robot main body and a control device, wherein the robot main body comprises a machine body, a cushion arranged on the machine body, a pedal arranged on the machine body and positioned in front of and below the cushion, and the control device;
a detection sensor electrically connected to the control device, the detection sensor being provided to the seat cushion and/or the foot pedal for detecting whether or not a person is seated on the robot main body; and
and the alarm device is arranged on the robot body and connected with the control device and used for sending an alarm prompt when the service robot works in an automatic driving mode and the detection sensor detects that a person sits on the robot body.
2. The service robot of claim 1, wherein the detection sensor comprises:
and the pressure sensor is arranged below the cushion and is connected with the control device.
3. Service robot according to claim 1 or 2, characterized in that the detection sensor comprises:
and the laser radar sensor is arranged on one side of the pedal plate and is connected with the control device.
4. The service robot as claimed in claim 3, wherein said robot body is provided with two said foot pedals, one said lidar sensor is provided between the two said foot pedals, and the two said foot pedals are located within a scanning range of said lidar sensor.
5. The service robot as recited in claim 1, wherein the alarm device is an audible and visual alarm.
6. The service robot of claim 1, wherein the robot body further comprises:
and the switching key is arranged on the robot main body and connected with the control device and is used for inputting a control instruction to the control device so as to realize switching between an automatic driving mode and a manual driving mode of the service robot.
7. The service robot of claim 1, wherein the robot body further comprises:
the driving wheel and the steering wheel are arranged at the bottom of the machine body;
the steering driving mechanism is connected with the steering wheel and used for driving the steering wheel to steer, and the steering driving mechanism is connected with the control device; and
and the control device is connected with the driving motor and used for controlling the driving motor to reduce the rotating speed and the acceleration when the service robot works in an automatic driving mode and the detection sensor detects that a person sits on the robot main body.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202120271061.7U CN214728674U (en) | 2021-01-29 | 2021-01-29 | Service robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202120271061.7U CN214728674U (en) | 2021-01-29 | 2021-01-29 | Service robot |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN214728674U true CN214728674U (en) | 2021-11-16 |
Family
ID=78642896
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202120271061.7U Active CN214728674U (en) | 2021-01-29 | 2021-01-29 | Service robot |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN214728674U (en) |
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2021
- 2021-01-29 CN CN202120271061.7U patent/CN214728674U/en active Active
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