The content of the invention
The technical problems to be solved by the invention are to provide a kind of small scale robot and its take thing control method, minicomputerDevice people takes thing control system, it is intended to which the wheeled robot for solving prior art offer has that volume is relatively big, and entrance is narrow and smallThe problem of space is inconvenient, somewhat expensive.
What the present invention was achieved in that a kind of small scale robot takes thing control method, and the small scale robot includes taking the photographRecording device, mobile device, clamp device；The control method includes：
In response to the instruction of shooting with video-corder of external control terminal, the camera device is opened in control, with the week to small scale robotCollarette border is shot, and the video of shooting is sent to the external control terminal in real time；
In response to the move of the external control terminal, the mobile device is controlled to be moved to target location；
Gripping in response to the external control terminal instructs, and controls the clamp device gripping target item；
Removal in response to the external control terminal instructs, in the state of the target item is clamped described in controlMobile device removes from the target location.
Further, the camera device is thermal camera.
Further, the small scale robot also includes lighting device；Instruction is being shot with video-corder in response to external control terminal,Before the camera device is opened in control, in addition to：
In response to the lighting instruction of external control terminal, the lighting device is opened in control.
Further, the clamp device have can be with the adjustable gripper jaw in direction.
Further, the control clamp device gripping target item, is specifically included：
The position adjustment sent according to the external control terminal instructs, to the clamp device relative to target itemPosition is adjusted；
The gripping direction sent according to the external control terminal instructs, and controls the clamp device with specified gripping sideTo going to grip the target item.
The embodiment of the present invention additionally provides a kind of small scale robot, including robot body, pacifies on the robot bodyCamera device, mobile device, the clamp device being connected equipped with control device and with the control module；The control device is usedIn：
In response to the instruction of shooting with video-corder of external control terminal, the camera device is opened in control, with the week to small scale robotCollarette border is shot, and the video of shooting is sent to the external control terminal in real time；
In response to the move of the external control terminal, the mobile device is controlled to be moved to target location；
Gripping in response to the external control terminal instructs, and controls the clamp device gripping target item；
Removal in response to the external control terminal instructs, in the state of the target item is clamped described in controlMobile device removes from the target location.
Further, the small scale robot also includes lighting device；
The control device is additionally operable to the lighting instruction in response to external control terminal, and the lighting device is opened in control.
Further, the clamp device have can be with the adjustable gripper jaw in direction；
The control device is additionally operable to：
The position adjustment sent according to the external control terminal instructs, to the clamp device relative to target itemPosition is adjusted；
The gripping direction sent according to the external control terminal instructs, and controls the clamp device with specified gripping sideTo going to grip the target item.
Further, the mobile device includes at least two driving wheels and a driven pulley；And the driving wheel and instituteIt is universal wheel to state at least one in driven pulley；
The driving wheel is installed on the both sides of the robot body.
The embodiment of the present invention additionally provides a kind of small scale robot extraction system, including small scale robot described above andExternal control terminal.
Compared with prior art, beneficial effect is the present invention：Offer small scale robot of the embodiment of the present invention is simple in construction,Small volume, it is convenient to enter small space and the object that drops is gripped, meanwhile, small scale robot provided in an embodiment of the present inventionSituation in small space can be sent to external control terminal in real time, make small scale robot operator know in real time it is narrow and smallSituation in space, facilitate positioning to drop article, and gripping plan is formulated according to the information known.Carry according to embodiments of the present inventionIt is time saving and energy saving that the small scale robot of confession searches the article to drop in small space, while small scale robot small volume, easy to operate,It is simple in construction, it is cheap.
Embodiment
In order to make the purpose , technical scheme and advantage of the present invention be clearer, it is right below in conjunction with drawings and ExamplesThe present invention is further elaborated.It should be appreciated that the specific embodiments described herein are merely illustrative of the present invention, andIt is not used in the restriction present invention.
The purpose of the embodiment of the present invention is to find the article to be dropped in small space, there is provided as shown in Figure 1 oneKind small scale robot, including robot body 100 and wheel electrical machine 101 and 102, folder on robot body 100Power taking machine 103, camera device 104, clamp device 105, battery 106, lighting device 107, universal wheel 108, the and of control device 109Driving wheel 110；
Wheel electrical machine 101 and 102, for controlling the movement of minicomputer people by controlling the wheel of small scale robot, toolBody, wheel electrical machine 101 is used for the operation for controlling universal wheel 108, and wheel electrical machine 102 is used for the operation for controlling driving wheel 110.
Gripping motor 103, for controlling clamp device 105 to grip article；
Lighting device 107, for providing illumination when small scale robot enters shady place；
Control device 109, for wirelessly carrying out information exchange with external control terminal.
Specifically, as shown in Fig. 2 the grip device 105 of small scale robot has the gripper jaw that can be adjusted with direction, the folderHolding pawl can open and adjust crawl position, and clamp device 105 realizes control by gripping motor 103.Specifically, gripping electricityMachine 103 is linear electric motors, and when running into article, linear electric motors control clamp device 105 clamps article.
Fig. 3 shows a kind of control device of small scale robot provided in an embodiment of the present invention, including：
Control device 301, and camera device 302, mobile device 303, the clamp device being connected with control module 301304th, lighting device 305；
Control device 301 is used for：
In response to the instruction of shooting with video-corder of external control terminal, camera device 302 is opened in control, around to small scale robotEnvironment is shot, and the video of shooting is sent to the external control terminal in real time；
In response to the move of the external control terminal, control mobile device 303 is moved to target location；
Gripping in response to the external control terminal instructs, and control clamp device 304 grips target item；
Removal in response to the external control terminal is instructed, and movement is controlled in the state of the target item is clampedDevice 303 removes from the target location；
In response to the lighting instruction of external control terminal, lighting device 305 is opened in control；
Specifically, when receive shoot with video-corder instruction when, control module 301 open small scale robot camera device 302, pass throughCamera device 302 shoots the surrounding environment video of small scale robot, and the video of shooting is sent into external control terminal；Work as receptionTo external control terminal send lighting instruction when, open the lighting device 305 on the small scale robot.In practical applicationIn, after control module 301 is connected with external control terminal by WiFi, GPRS or other radio connections, receive outsideWhat control terminal was sent shoots with video-corder instruction or lighting instruction, and small scale robot is shot according to instruction unpack camera device 302 is shot with video-corderSurrounding environment video, and the surrounding environment video is sent to the external control terminal being attached thereto, external control terminal is realWhen show the video that camera device 302 photographs.When receiving the lighting instruction of external control terminal transmission, will open small-sizedLighting device 305 in robot, it is because narrow space is typically than dark to open lighting device 305, it is therefore desirable to is illuminatedJust camera device 302 can be made clearly to be shot to the environment in coverage.Specifically, camera device 302 can be toolThe equipment of standby infrared photography function, such as infrared video camera, be able to need not be shone by the infrared video camera in small spaceThe illumination of bright device 305, can also shoot the situation in the small space, and the infrared video of shooting is sent into outside control eventuallyEnd is shown.
Control device 301 is additionally operable to when receiving the move of external control terminal transmission, by controlling mobile dressPut and the small scale robot be moved to target location, and control the clamp device 304 of the small scale robot to grip target item,When be additionally operable to when receive remove instruction when, control gripping target item the small scale robot from target location remove.SpecificallyGround, control device 301 by WiFi, GPRS or other radio connections with external control terminal after connection is established, behaviourAuthor can send related control instruction to control device 301 by external control terminal, and control device 301 is according to receivingControl instruction perform corresponding operation, such as when receiving move, driving moment motor, so that the small scale robot is pressedMoved according to the mobile route included in the move, and when receiving gripping or opening instruction, driving gripping electricityMachine, to control clamp device 304 to be opened or gripped operation.Clamp device 304 has the adjustable gripper jaw in direction, the folderGripping direction, gripping angle or the adjustment for gripping dynamics can be carried out according to gripping instruction by holding pawl.Mobile device 303 is included activelyWheel is installed on the both sides of robot body with driven pulley, wherein driving wheel, and at least one in driving wheel and driven pulley is universalWheel, in the present embodiment, two driving wheels are as driving wheel, and two universal wheels are as driven pulley.
In actual applications, external control terminal includes possessing being wirelessly transferred and the terminal of control function, as smart mobile phone,Tablet personal computer etc..
What Fig. 4 showed a kind of small scale robot provided in an embodiment of the present invention takes thing control method, including：
S401, in response to the instruction of shooting with video-corder of external control terminal, the camera device is opened in control, with to small scale robotSurrounding environment shot, and the video of shooting is sent to the external control terminal in real time；
S402, in response to the move of the external control terminal, the mobile device is controlled to be moved to target location；
S403, the gripping in response to the external control terminal instruct, and control the clamp device gripping target item；
S404, the removal in response to the external control terminal are instructed, controlled in the state of the target item is clampedThe mobile device is made to remove from the target location.
Below, thing controlling party is taken using mobile phone as external control terminal come illustrate control device provided in an embodiment of the present inventionMethod, as described in Figure 5, step include：
S501, the switch of small scale robot is opened, so that the small scale robot can be connected by mobile phone；
S502, mobile phone is connected into the small scale robot, specifically Connection Step includes：Operator opens the connection on mobile phoneSoftware, the control device on minicomputer people is connected by WiFi, after mobile phone and control device complete connection, operator can be withPass through the mobile phone control small scale robot.
S503, pass through the lighting device and camera device on mobile phone open small scale robot.In this step, lighting deviceNeed operator to be opened by the software above mobile phone with camera device, the setting of lighting device, be because narrow and small place is generalCan, it is necessary to which surrounding environment can just be seen clearly by illuminating, camera device can be shot to small scale robot surrounding environment than dark, willThe video photographed is sent to mobile phone, and operator can observe situation inside small space by mobile phone.The data of camera deviceIt is transferred to by WiFi on mobile phone.
S504, operator check that the periphery of the small scale robot of camera device transmission regards in real time by the software on mobile phoneFrequently, the position of target item is determined by the real-time video, is moved to by mobile phone control small scale robot beside article.
S505, operator grip target item by mobile phone control small scale robot.In this step, operator can lead toCross viewing camera device send real-time video, according to the real-time video set clamp device gripping position, gripping height orDirection etc. is gripped, after operator sets, gripping operational order driving gripping motor is sent, so that clamp device is according to the folderExtract operation instruction gripping article.
S506, operator control the small scale robot after gripping target item to remove small space by cell phone software., will after operator determines that small scale robot has completed target item gripping by the video of real-time display on mobile phone in this stepControl small scale robot removes the small space.Further, after small scale robot completes step S505, folder will be sent to mobile phoneInformation is taken into, mobile phone will show that information is completed in the gripping, after operator determines that small scale robot successfully grips target item,Send and remove order, include specified location in the order., will after the control device of small scale robot receives removal instructionAmbient condition information is obtained, is formulated according to the ambient condition information and removes route, and is moved according to the removal route, when in movementDuring when there are barrier or other emergency cases, control device will change circuit in time according to emergency case, most at lastThe target item delivers to specified location.
Fig. 6 shows the partial function of external control terminal provided in an embodiment of the present invention, in the present embodiment, outside controlTerminal structure processed and function include：
1st, broadcast window：The video of camera device shooting can be played in real time by the broadcast window；
2nd, the controlling switch of lighting device：By the controlling switch of the lighting device can control the bright of lighting device orGo out；
3rd, moving direction control button：The moving direction of small scale robot can be controlled by the moving direction control buttonAnd translational speed, while shiftable haulage line etc. can also be set；
4th, wireless connection switch：Wireless connection with small scale robot can be completed by the wireless connection switch, wirelesslyConnection includes bluetooth connection, WiFi connections, GPRS connections etc.；
5th, control button is gripped：Can be controlled by the gripping control button clamp device of small scale robot unlatching andClosure, gripping position, the gripping direction and gripping dynamics etc. of clamp device can also be controlled.
Small scale robot provided in an embodiment of the present invention, gripping function, the small scale robot can be realized putting under house arrest spaceIt is controlled by external control terminal, simple and convenient, small scale robot is shot camera device by WiFi, GPRS narrow and smallThe situation in space is sent to external control terminal and shown, the clamp device of small scale robot is when running into target item, folderMotor control clamp device is taken to grip article.In actual applications, the front-wheel of small scale robot is universal wheel, and trailing wheel is drivingWheel, universal wheel and driving wheel are controlled by wheel electrical machine respectively, and the steering of small scale robot can pass through the driving wheel differential at rearRealize.
Small scale robot provided in an embodiment of the present invention is equipped with lighting device, camera device, can pass through such as intelligent handThe external control terminals such as machine carry out remote control, solve the problems, such as to search article difficulty in small space, while in no thingProduct can also be entertained and use as the amusement robot of children when searching for child.It is meanwhile provided in an embodiment of the present invention small-sizedRobot device is small-sized, and assembling is compact.Because robot working environment is the short environment such as a bottom, make every effort to so that robotLow, flattening, horizontal direction xy size may not necessarily be especially small as vertical direction z size.
The foregoing is merely illustrative of the preferred embodiments of the present invention, is not intended to limit the invention, all essences in the present inventionAll any modification, equivalent and improvement made within refreshing and principle etc., should be included in the scope of the protection.