Disclosure of Invention
In view of the drawbacks of the prior art, an object of the present invention is to provide a mobile robot based on motion compensation.
The invention provides a mobile robot based on motion compensation, comprising:
A mobile chassis;
A connecting seat comprising a first part at least positioned on the movable chassis and a second part which forms detachable connection or fixed connection with the first part;
the mechanical arm comprises a first connecting arm and a second connecting arm, wherein the bottom end of the first connecting arm is detachably connected or fixedly connected with the second part of the connecting seat on the mobile chassis through the first part of the connecting seat, the top end of the first connecting arm is movably connected with the second connecting arm, and the front end of the second connecting arm is provided with the end effector;
and the controller is electrically connected with the movable chassis and the mechanical arm, wherein when the mechanical arm controls the end effector to execute operation actions, the controller controls the movable chassis to execute corresponding matched motions.
Preferably, the controller controls the moving chassis to move simultaneously in a horizontal direction when the end effector moves in a coupled manner in the orthogonal space, so as to decouple the end effector from moving in one direction in the orthogonal space.
Preferably, when the top end of the first connecting arm is connected with the rear end of the second connecting arm through a rotary joint, the controller controls the movable chassis to move simultaneously when the end effector moves in a circular arc track in space, so as to adjust the track of the end effector in space to be a straight line or a curve track corresponding to an operation requirement.
Preferably, when the top end of the first connecting arm is connected with the second connecting arm through a linear joint, the controller controls the movable chassis to move simultaneously when the end effector moves linearly along one direction in space, so as to adjust the track of the end effector in space to be another straight line or a curve track corresponding to an operation requirement.
Preferably, when the mechanical arm controls the end effector to perform an operation in a vertical direction, the controller controls the moving chassis to move in a direction approaching or separating from the target object as the end effector moves upward or downward in the vertical direction, so as to implement a movement track for performing the operation in the vertical direction on the end effector.
Preferably, when the mechanical arm controls the end effector to perform an operation motion in a horizontal direction, the controller controls the moving chassis to move along with the end effector moving in a direction so as to realize that a motion path of the end effector in the horizontal direction is a superposition of a motion path of the end effector relative to the moving chassis and a self motion path of the moving chassis.
Preferably, the power supply module is further included;
the power module and the controller are arranged on the mobile chassis;
when the mechanical arm is connected to the mobile chassis through the connecting seat, the mechanical arm can be electrically connected with the power module and/or the controller.
Preferably, the remote control system further comprises a signal receiving module and a remote controller;
The signal receiving module is electrically connected with the controller on one hand and is wirelessly connected with the remote controller on the other hand;
the remote controller is used for sending out motion control signals and/or operation control signals;
The controller is used for controlling the motion of the mobile chassis according to the motion signal and controlling the mechanical arm to work according to the operation control signal so as to realize the use function.
Preferably, the robot further comprises an information acquisition component, wherein the information acquisition component is arranged on the mechanical arm;
the information acquisition component is used for acquiring information parameters on the article to be operated, wherein the information parameters comprise type information and/or size information of the article;
The controller is used for outputting operation instructions according to the received information parameters, wherein the operation instructions comprise movement instructions for controlling the mechanical arm to be connected with any one of the plurality of end effectors and operation actions according to the type information of the article.
Preferably, the controller is configured to construct the map and perform positioning by using image information or distance information acquired by a sensor located on the mobile floor and/or the functional main body;
The sensor comprises any one or more of an optical camera, a millimeter wave radar, an ultrasonic radar and a laser radar.
Compared with the prior art, the invention has the following beneficial effects:
According to the invention, when the mechanical arm controls the end effector to execute the operation action, the controller controls the movable chassis to perform corresponding movement so as to decouple the space movement track of the end effector, namely, the movement of the movable chassis is controlled to cooperate with the end effector to execute the operation action, so that the requirement on the degree of freedom of the mechanical arm when the operation action is executed can be reduced, and the complexity of the mechanical arm on the movable robot is reduced.
Detailed Description
The present invention will be described in detail with reference to specific examples. The following examples will assist those skilled in the art in further understanding the present invention, but are not intended to limit the invention in any way. It should be noted that variations and modifications could be made by those skilled in the art without departing from the inventive concept. These are all within the scope of the present invention.
It will be understood that when an element is referred to as being "mounted" or "disposed" on another element, it can be directly on the other element or be indirectly on the other element. When an element is referred to as being "connected to" another element, it can be directly connected to the other element or be indirectly connected to the other element. In addition, the connection may be for a fixing function or for a circuit communication function.
It is to be understood that the terms "length," "width," "upper," "lower," "front," "rear," "left," "right," "vertical," "horizontal," "top," "bottom," "inner," "outer," and the like are merely for convenience in describing embodiments of the invention and to simplify the description by referring to the figures, rather than to indicate or imply that the devices or elements referred to must have a particular orientation, be constructed and operated in a particular orientation, and thus are not to be construed as limiting the invention.
Furthermore, the terms "first," "second," and the like, are used for descriptive purposes only and are not to be construed as indicating or implying a relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defining "a first" or "a second" may explicitly or implicitly include one or more such feature. In the description of the embodiments of the present invention, the meaning of "plurality" is two or more, unless explicitly defined otherwise.
The invention provides a mobile robot based on motion compensation, comprising:
A mobile chassis;
A connecting seat comprising a first part at least positioned on the movable chassis and a second part which forms detachable connection or fixed connection with the first part;
The mechanical arm comprises a first connecting arm and a second connecting arm, wherein the bottom end of the first connecting arm is detachably connected or fixedly connected with the second part of the connecting seat on the mobile chassis through the first part of the connecting seat, the top end of the first connecting arm is rotatably connected with the rear end of the second connecting arm, and the front end of the second connecting arm is provided with the end effector;
and the controller is electrically connected with the movable chassis and the mechanical arm, wherein when the mechanical arm controls the end effector to execute operation actions, the controller controls the movable chassis to execute corresponding matched motions.
In the embodiment of the invention, when the mechanical arm controls the end effector to execute the operation action, the controller controls the movable chassis to execute the corresponding coordination movement, namely, the movement of the movable chassis is controlled to coordinate the end effector to execute the operation action, so that the requirement on the degree of freedom of the mechanical arm when the operation action is executed can be reduced, and the complexity of the mechanical arm on the movable robot is reduced.
The foregoing is a core idea of the present invention, and in order that the above-mentioned objects, features and advantages of the present invention can be more clearly understood, a technical solution in the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only some embodiments of the present invention, not all embodiments. All other embodiments, which can be made by those skilled in the art based on the embodiments of the invention without making any inventive effort, are intended to be within the scope of the invention.
Fig. 1 is a schematic structural diagram of a mobile robot based on motion compensation according to a first embodiment of the present invention, and as shown in fig. 1, the mobile robot based on motion compensation provided by the present invention includes a controller, a mobile chassis 1, a mechanical arm 3, and an end effector 4;
A first part of a connecting seat 2 is arranged on the top side surface of the mobile chassis 1;
The mechanical arm 3 comprises a first connecting arm 301 and a second connecting arm 302, wherein the bottom end of the first connecting arm 301 is detachably connected or fixedly connected with the first part of the connecting seat 2 of the mobile chassis 1 through the second part of the connecting seat 2, the top end of the first connecting arm 301 is movably connected with the rear end of the second connecting arm 302, and the second connecting arm 302 is provided with the end effector 4;
The controller is electrically connected with the mobile chassis 1 and the mechanical arm 3, and when the mechanical arm 3 controls the end effector 4 to execute operation actions, the controller controls the mobile chassis 1 to execute corresponding coordination movements.
As shown in fig. 1, when the mobile chassis 1 does not perform corresponding motion to match the motion of the mechanical arm 3, since the mechanical arm 3 only includes the first connecting arm 301 and the second connecting arm 302, that is, only can implement motion in one direction, when the mobile robot is controlled to perform wiping operation on a wall, the mobile robot cannot be attached to the wall along with upward motion of the end effector 4, so that the complexity of the mechanical arm 3 is reduced, and corresponding compensation motion is required.
Fig. 2 is a schematic control logic diagram of a mobile robot based on motion compensation according to a first embodiment of the present invention, where the mobile robot based on motion compensation provided by the present invention further includes a voice input module, a power module, a signal receiving module, and a remote controller;
The signal receiving module is electrically connected with the controller on one hand and is wirelessly connected with the remote controller on the other hand;
the remote controller is used for sending out motion control signals and/or operation control signals;
the controller is used for controlling the motion of the mobile chassis 1 according to the motion signal and controlling the mechanical arm 3 to work according to the operation control signal so as to realize the use function.
The power module and the controller are arranged on the mobile chassis 1;
after the mechanical arm 3 is connected to the mobile chassis 1 through the connection base 2, the mechanical arm 3 can be electrically connected to the power module and the controller.
The voice input module is used for acquiring voice instructions, so that the controller can control the movement of the mobile chassis and the operation of the mechanical arm 3 according to the voice instructions.
The voice input module can adopt an intelligent sound box, such as a little love sound box. If the user can place the article in the storage box and then speak the instruction of the destination, the controller controls the mobile chassis 1 to move to the destination to transport the article.
In an embodiment of the present invention, the controller is configured to construct the map and perform positioning through image information or distance information acquired by a sensor located on the mobile land;
The sensor comprises any one or more of an optical camera, a millimeter wave radar, an ultrasonic radar and a laser radar.
In an embodiment of the present invention, the mobile chassis 1 is mapped and positioned by SLAM method. In the case of map construction and positioning by SLAM, this can be achieved by providing a lidar on the mobile chassis 1. The method comprises the steps of firstly establishing a two-dimensional grid map through laser radar, setting a starting position of a robot, setting target points at the edges of the two-dimensional grid map, collecting three-dimensional point cloud data of the target points, projecting the three-dimensional point cloud data onto a plane of the two-dimensional grid map, updating the two-dimensional grid map, detecting whether the target point cloud has an object to be modeled, controlling the robot to model the object to be modeled before travelling to the object to be modeled, and sequentially modeling a plurality of objects until the whole two-dimensional grid map is traversed. In addition, a panoramic camera can be arranged on the mobile platform, and map construction and positioning can be performed through panoramic images.
In a modification of the present invention, the mobile chassis 1 is a sweeping robot.
In the embodiment of the present invention, when the end effector 4 moves in a coupling manner in the orthogonal space, the controller controls the chassis to move simultaneously in the horizontal direction, so as to decouple the movement of the end effector in the orthogonal space in one direction.
For example, when the top end of the first connecting arm 301 is connected to the rear end of the second connecting arm 302 through a rotary joint, the controller controls the end effector 4 to move in a circular arc track in space, and controls the mobile chassis 1 to move simultaneously, so as to adjust the track of the end effector 4 in space to be a straight line or a curved track corresponding to an operation requirement.
Fig. 3 is a first state diagram of the mobile robot performing the first motion compensation according to the embodiment of the present invention, fig. 4 is a second state diagram of the mobile robot performing the first motion compensation according to the embodiment of the present invention, as shown in fig. 3 and 4,
When the mechanical arm 3 controls the end effector 4 to perform a wiping action in the vertical direction, the controller controls the movable chassis 1 to move in a direction approaching or separating from the target object as the end effector moves upward or downward in the vertical direction, so as to realize a movement locus for performing the operation action on the end effector 4 in the vertical direction.
For example, when the mechanical arm 3 controls the end effector 4 to move from bottom to top to perform a wiping action on a target object, the controller controls the movable chassis 1 to move in a direction approaching the target object along with the upward movement of the end effector 4, so as to implement the upward movement of the end effector 4 to perform the wiping action.
More specifically, when the mechanical arm 3 controls the wiping board to move from bottom to top to perform wiping action on the wall, the controller can control the movable chassis 1to move along with the upward movement of the wiping board to approach the wall, so as to keep the wiping board close to the wall when the wiping board moves upward.
Fig. 5 is a schematic view showing a first state of the mobile robot performing the second motion compensation according to the embodiment of the present invention, and fig. 6 is a schematic view showing a second state of the mobile robot performing the second motion compensation according to the embodiment of the present invention, as shown in fig. 5 and 6, when the mechanical arm 3 controls the end effector 4 to perform the cleaning operation in the horizontal direction, the controller controls the mobile chassis 1 to simultaneously move along with the movement of the end effector 4 in a direction so as to realize that the movement path of the end effector 4 is a superposition of the movement path of the end effector 4 relative to the mobile chassis 1 and the self movement path of the mobile chassis 1 in the horizontal direction.
For example, when the robot arm 3 controls the end effector 4 to move in one horizontal direction to perform a surface cleaning action on a target object, the controller controls the movable chassis 1 to move in the other horizontal direction along with the forward movement of the end effector 4 to perform the cleaning action by the end effector 4 moving in the horizontal direction.
More specifically, when the mechanical arm 3 controls the wiping head to move along a horizontal line of the sofa to perform wiping action on the surface of the sofa, the controller controls the movable chassis 1 to move along the outer side of the sofa along with the forward movement of the wiping head, so that the wiping head can move along the horizontal direction to perform wiping action.
Fig. 7 is a schematic diagram of a first state of the mobile robot performing the second motion compensation in the embodiment of the present invention, and fig. 8 is a schematic diagram of a second state of the mobile robot performing the second motion compensation in the embodiment of the present invention, as shown in fig. 7 and 8, when the top end of the first connecting arm 301 is connected to the second connecting arm 302 through a linear joint, the controller controls the mobile chassis 1 to perform simultaneous movement when the end effector 4 performs linear movement along a direction in space to complete the painting operation, so as to realize adjustment of the track of the end effector in space to conform to the curve track of the operation requirement.
As the robot arm 3 controls the end effector 4 to perform a painting operation along the curved surface in fig. 7, the controller controls the movable chassis 1 to move backward along with the upward movement of the end effector 4 to perform the painting operation along the curved surface direction.
In an embodiment of the present invention, the detachable connection at least includes any one or more of a magnetic connection, a threaded connection, a pin connection, an elastically deformable connection, a snap connection, and a plug connection.
The above detachable connection is an exemplary description of the present invention, and the type of detachable connection is not critical, and any type of detachable connection may be applied to the mobile chassis 1 of the present invention.
Fig. 9 is an exploded schematic view of the mobile robot based on motion compensation in the embodiment of the present invention, as shown in fig. 9, the connection base 2 includes a mounting groove 201 disposed on a top side surface of the mobile chassis and a fixing base 202 disposed at a bottom end of the first connection arm 301, that is, a first portion is the mounting groove 201, and a second portion is the fixing base 202.
The fixing seat 202 and the mounting groove 201 are matched to realize pluggable detachable connection.
Fig. 10 is a schematic structural diagram of a mobile chassis in an embodiment of the present invention, and fig. 10 can clearly show that an installation groove 201 on a top side surface of the mobile chassis, an opening of the installation groove 201 is rectangular, a groove bottom of the installation groove 201 is provided with four groups of first data connection ports 203, and each first data connection port 203 corresponds to a side wall surface of the installation groove 201.
Fig. 11 is a schematic structural diagram of a mechanical arm in the embodiment of the present invention, as shown in fig. 11, the mechanical arm 3 includes a first connecting arm 301 and a second connecting arm 302, a fixed seat 202 is disposed at a bottom end of the first connecting arm 301, a second data connection port 205 is disposed on the fixed seat 202, and the second data connection port 205 is configured to be cooperatively connected with the first data connection port 203, so as to realize power supply and communication for the mechanical arm 3.
The power module and the controller are disposed on the mobile chassis, the power module is electrically connected to the power interface of the first data connection port 203 to provide electric energy, and the controller is electrically connected to the communication interface of the first data connection port 203 to perform communication control.
The fixing base 202 is provided with an avoidance groove 204, and when the second data connection port 205 is in fit connection with the first data connection port 203, the remaining three first data connection ports 203 are accommodated in the avoidance groove 204, so that the end face of the fixing base 202 is tightly attached to the bottom face of the mounting groove 201.
Fig. 12 is a schematic view of a first installation angle of a mechanical arm in a mobile robot according to an embodiment of the present invention, fig. 13 is a schematic view of a second installation angle of a mechanical arm in a mobile robot according to an embodiment of the present invention, as shown in fig. 12 and 13, by providing the fixing base 202 and the installation slot 201 with a detachable connection, when the first connection arm 301 is connected to the installation slot 201 along an axial direction through the fixing base 202, the second data connection port 205 is cooperatively connected to the first data connection port 203, i.e. in the case of fig. 12, and at this time, the operation space of the mechanical arm 3 is within a certain angle range, such as 180 °, opposite to the front side of the mobile chassis;
when the first connecting arm 301 rotates 90 ° in the circumferential direction and then is connected to the mounting groove 201 after being rotated again by the fixing base 202, the second data connection port 205 is connected to the other first data connection port 203 in a matching manner. I.e. in the case of fig. 13, the operating space of the robot arm 3 is at a certain angular extent, such as 180 deg., opposite the left side of the mobile chassis.
In one embodiment of the invention, the end effector 4 is detachably connected to the robot arm 3 for quick-change.
In the embodiment of the invention, the mechanical arm 3 and the end effector 4 can be connected through magnetism, a first permanent magnet is arranged on the end effector 4, a second permanent magnet is arranged at the tail end of the mechanical arm 3, and when the tail end of the mechanical arm 3 is in butt joint with the end effector 4, the magnetic connection between the mechanical arm 3 and the end effector 4 can be realized.
In the embodiment of the invention, the tail end of the mechanical arm 3 and the tail end actuator 4 can be connected in a plug-in mode, the tail end of the mechanical arm 3 and the tail end actuator 4 are provided with the plug-in units, and when the plug-in units are matched with the plug-in units, the tail end of the mechanical arm 3 and the tail end actuator 4 can be connected, so that connection deviation caused by magnetic connection is avoided.
Fig. 14 is a schematic diagram of motion logic of a mobile robot based on motion compensation according to a fourth embodiment of the present invention, and as shown in fig. 14, the mobile robot based on motion compensation provided by the present invention further includes an information acquisition component;
the information acquisition component is used for acquiring information parameters on the article to be operated, wherein the information parameters comprise type information and/or size information of the article;
The controller is used for outputting operation instructions according to the received information parameters, wherein the operation instructions comprise movement instructions for controlling the mechanical arm 3 to be connected with any one of the plurality of end effectors 4 and operation actions according to the type information of the objects.
The information acquisition component comprises an image acquisition device. The image collector can acquire an image of the position of the current article, the controller can determine the type information of the article from the image information, further determine a picking and placing strategy, namely, determine whether to adopt the picking strategy or the suction strategy, output corresponding instructions to the mechanical arm 3 and the positive and negative pressure control component after determining, and determine the most suitable picking and placing mode of the article to be picked. If the decision is an absorption strategy, the positive and negative pressure control component outputs negative pressure, and the mechanical arm 3 is rapidly switched and connected with the sucker and moves to the most suitable absorption position for taking and placing. If the decision is a grabbing strategy, the positive and negative pressure control assembly outputs positive pressure, the mechanical arm 3 is rapidly switched and connected with the flexible claw, and the cavity of the flexible claw is filled with compressed air, so that the flexible claw deforms to grab an object for picking and placing.
The image collector can acquire an image of the position of each end effector 4, and the controller can determine the type information of the end effectors 4 from the image information and control the mechanical arm 3 to connect the end effectors 4 with corresponding working demands according to the type information.
In the embodiment of the present invention, when the end effector 4 adopts the gripping member 402 or the sucking member 401, the multifunctional robot further includes an air path component and a positive and negative pressure control component;
The air path group comprises a total air path 19 arranged in the mechanical arm 3, an air inflation cavity arranged on the grabbing piece 402 and a suction hole arranged on the suction piece 401, wherein the total air path 19 is communicated with the suction hole when the grabbing piece 402 is connected with the mechanical arm 3, and the total air path 19 is communicated with the air inflation cavity when the suction piece 401 is connected with the mechanical arm 3;
the positive and negative pressure control component is used for outputting positive pressure or negative pressure according to the air pressure regulating instruction sent by the controller.
As shown in fig. 16, the suction member 401 is a suction cup member, so that the article can be sucked by negative pressure, and as shown in fig. 17, the grabbing member 402 is a flexible claw with the inflation cavity, and the flexible claw can be deformed to grab the article in a positive pressure inflation state.
The controller can output a picking instruction adapting to the article to be grabbed according to the information parameter acquired by the information acquisition component, namely, the controller can control the mechanical arm 3 to be connected with one of the grabbing piece 402 and the absorbing piece 401 according to the information parameter of the current article, and control the positive and negative pressure control component to output a corresponding air pressure adjusting instruction, specifically, output negative pressure when the absorbing piece 401 is adopted to absorb and sort the article to be stored in other positions, and output positive pressure when the grabbing piece 402 is adopted to grab the article to be transferred and stored in other positions.
Fig. 15 is a schematic structural diagram of a positive and negative pressure control component in a fourth embodiment of the present invention, as shown in fig. 15, wherein the positive and negative pressure control component comprises a vacuum generator 12, a positive pressure air source 11, a first electromagnetic valve 15 and a second electromagnetic valve 16;
the first electromagnetic valve 15 and the second electromagnetic valve 16 are two-position three-way valves;
one air inlet of the first electromagnetic valve 15 is connected with the positive pressure air source 11 through a first air path, and the air outlet of the first electromagnetic valve 15 is connected with one air inlet of the second electromagnetic valve 16;
The other air inlet of the second electromagnetic valve 16 is connected with the vacuum generator 12, and the air outlet of the second electromagnetic valve 16 is connected with the total air path 19.
In the embodiment of the invention, the positive pressure and the negative pressure are rapidly switched through two-position three-way valves, when the positive pressure is needed in the total air passage 19, one air inlet of the first electromagnetic valve 15 is controlled to be communicated with the air outlet, and one air inlet of the second electromagnetic valve 16 is controlled to be communicated with the air outlet, so that the positive pressure air source 11 is communicated with the total air passage 19 to provide the positive pressure, and when the negative pressure is needed, one air inlet of the first electromagnetic valve 15 is controlled to be disconnected, and the other air inlet of the second electromagnetic valve 16 is controlled to be communicated with the air outlet, so that the vacuum generator 12 is communicated with the total air passage 19 to provide the negative pressure.
In the embodiment of the present invention, the positive and negative pressure control component may further provide normal pressure, the other air inlet of the first electromagnetic valve 15 is connected to the muffler 14, the other air inlet of the first electromagnetic valve 15 is controlled to be communicated with the air outlet, one air inlet of the second electromagnetic valve 16 is communicated with the air outlet, so that the total air path 19 is communicated with the muffler 14, and the total air path 19 is normal pressure. The normal pressure is switched, so that the sucker on the quick-change system can place the object gently, and the surface of the object is not damaged.
More preferably, in the embodiment of the present invention, the first air path is provided with a proportional control valve 13, and the total air path 19 is provided with a flow meter 18 and an air pressure meter 17, so that the positive pressure and the negative pressure can be adjusted. The embodiment of the invention simultaneously provides the timely monitoring of the pressure and the flow of positive and negative pressure, and is matched with the proportional regulating valve 13 and the barometer 17, so that the articles to be taken are prevented from being damaged by excessive pressure or flow, and meanwhile, whether the articles fall off or not is judged by detecting whether the flow or the pressure is changed or not in the moving process, so that the reliability of article transfer is improved.
In the embodiment of the invention, the positive and negative pressure control components are arranged in the elbow joint of the mechanical arm 3, one of the positive and negative pressure control components does not occupy redundant working space, and the other one of the positive and negative pressure control components is convenient for modularized arrangement, so that the positive and negative pressure control components can be suitable for mechanical arms 3 of different types.
In an embodiment of the present invention, the end effector 4 includes one of the following:
-a gripper 402;
-a suction piece 401;
-a vacuum cleaner;
-a scrubbing means;
-a water gun;
-a wiper plate;
-a wiping head.
In the embodiment of the present invention, the end effector 4 may be a cleaning tool such as a watering can, a glass water applicator, a glass wiper, a glass cloth, a mop, a tile cleaner, a toilet brush, a shovel blade, etc.
When the end effector 4 is a dust collector, the multifunctional robot can perform dust collection on the ground or dust collection on a sofa.
When the end effector 4 is a glass water feeder, a glass scraper or a glass cloth, the multifunctional robot can clean the door and window glass, and automatically replace the end effector 4 in the door and window cleaning process, for example, the mechanical arm 3 is connected with the glass water feeder to feed water to the door and window glass, then connected with the glass scraper to scrape and clean, and finally connected with the glass cloth to wipe residual water stains, so that the cleaning of the whole door and window glass is completed.
The remote controller can control the mechanical arm 3 and the movable chassis to move, so that the multifunctional robot is remotely controlled to carry out complex and customized operation tasks. For example, when the end effector 4 is a toilet brush, the remote controller may remotely control the multifunctional robot to perform customized cleaning of the portion of the multifunctional robot that is to be cleaned with emphasis.
In the embodiment of the invention, when the mechanical arm controls the end effector to execute the operation action, the controller controls the movable chassis to perform corresponding movement so as to decouple the space movement track of the end effector, namely, the movement of the movable chassis is controlled to cooperate with the end effector to execute the operation action, so that the requirement on the degree of freedom of the mechanical arm when the operation action is executed can be reduced, and the complexity of the mechanical arm on the movable robot is reduced. .
In the present specification, each embodiment is described in a progressive manner, and each embodiment is mainly described in a different point from other embodiments, and identical and similar parts between the embodiments are all enough to refer to each other. The previous description of the disclosed embodiments is provided to enable any person skilled in the art to make or use the present invention. Various modifications to these embodiments will be readily apparent to those skilled in the art, and the generic principles defined herein may be applied to other embodiments without departing from the spirit or scope of the invention. Thus, the present invention is not intended to be limited to the embodiments shown herein but is to be accorded the widest scope consistent with the principles and novel features disclosed herein.
The foregoing describes specific embodiments of the present invention. It is to be understood that the invention is not limited to the particular embodiments described above, and that various changes and modifications may be made by one skilled in the art within the scope of the claims without affecting the spirit of the invention.