robot

Abstract

The present invention provides a robot. The robot provided by the present invention includes a robot body and an anti-collision component, the robot body includes a chassis and a walking mechanism, the anti-collision component includes a controller and a plurality of anti-collision units, the walking mechanism is arranged on the chassis, and the plurality of anti-collision units are arranged along the circumference of the robot body; the anti-collision unit includes a mounting member, a guide wheel and a detection device, the mounting member is connected to the robot body; the guide wheel is rotatably connected to the mounting member through a rotating shaft, the guide wheel is horizontally arranged, and part of the outer edge of the guide wheel is located outside the robot body, and the guide wheel can rotate when it touches an obstacle on the side of the robot body; the detection device is arranged on the mounting member, and is used to detect the rotation state of the guide wheel; the walking mechanism and the detection device are both electrically connected to the controller, and the controller is used to control the traveling state of the walking mechanism according to the rotation state of the guide wheel. The robot of the present invention can effectively avoid obstacles.

Description

Technical Field

[0001] The present invention relates to the technical field of mechanical equipment, and in particular to a robot. Background Art

[0002] A robot is an intelligent machine that can work semi-autonomously or fully autonomously. In recent years, the intelligence level of robots has been continuously improved, and it has rapidly changed people's lifestyles. In the process of constantly exploring, transforming, and understanding nature, it has always been the goal of mankind to create machines that can replace human work. In order to make the robot move more smoothly during the process, an anti-collision device is generally set on the machine body.

[0003] Most existing robots include a robot body and a plurality of first guide wheels arranged on the periphery of the robot body. When the robot encounters an obstacle during its movement, the first guide wheels will directly contact the obstacle to guide the robot body to avoid the obstacle or turn a curve to avoid the obstacle.

[0004] Therefore, when the robot moves to a position close to a wall or a corner, the first guide wheel is very likely to get stuck with the wall, affecting the normal movement of the robot. Summary of the invention

[0005] An embodiment of the present invention provides a robot capable of effectively avoiding obstacles.

[0006] The present invention provides a robot, comprising a robot body and an anti-collision component, wherein the robot body comprises a chassis and a walking mechanism, the anti-collision component comprises a controller and a plurality of anti-collision units, the walking mechanism is arranged on the chassis, and the plurality of anti-collision units are arranged along the circumference of the robot body;

[0007] The anti-collision unit includes a mounting part, a guide wheel and a detection device, wherein the mounting part is connected to the robot body; the guide wheel is rotatably connected to the mounting part through a rotating shaft, the guide wheel is horizontally arranged, and part of the outer edge of the guide wheel is located outside the robot body, and the guide wheel can rotate when it touches an obstacle on the side of the robot body; the detection device is arranged on the mounting part, and is used to detect the rotation state of the guide wheel;

[0008] The traveling mechanism and the detection device are both electrically connected to the controller, and the controller is used to control the traveling state of the traveling mechanism according to the rotation state of the guide wheel.

[0009] As an optional manner, the anti-collision unit includes a first anti-collision unit and / or a second anti-collision unit, the first anti-collision unit is connected to the circumferential side of the chassis, and the second anti-collision unit is connected to the walking mechanism.

[0010] As an optional manner, the first anti-collision unit further includes a connecting member, a first end of the connecting member is fixedly connected to the chassis, a second end of the connecting member extends to a side away from the chassis, and the mounting member is arranged at the second end of the connecting member.

[0011] As an optional manner, a plurality of first anti-collision units are respectively arranged on the sides of the chassis along the traveling direction and / or on the rear side of the chassis along the traveling direction.

[0012] As an optional manner, the walking mechanism includes at least two pairs of walking wheels arranged at the bottom of the chassis, and the second anti-collision unit is arranged on the walking wheels.

[0013] As an optional manner, the mounting piece in the second anti-collision unit is located at the axial center of the running wheel, and the mounting piece and the chassis are relatively stationary, and at least part of the guide wheel protrudes outside the wheel surface of the running wheel.

[0014] As an optional manner, the mounting member in the second anti-collision unit includes a first fixing portion and a second fixing portion, a gap is provided between the first fixing portion and the second fixing portion, and at least a portion of the structure of the guide wheel is embedded in the gap.

[0015] As an optional method, the detection device includes a trigger member and a sensor. The trigger member is arranged on one of the guide wheel and the rotating shaft, and can rotate synchronously with the guide wheel. The sensor is arranged on the mounting member. The sensor has a sensing end. The sensor is used to emit a sensing signal when the trigger member rotates to the sensing area of ​​the sensing end, so that the detection device can detect the rotation state of the guide wheel.

[0016] As an optional manner, the triggering member is a metal member or a magnetic member; and the sensor is a Hall sensor.

[0017] As an optional method, the anti-collision component also includes an obstacle information collection component, which is used to obtain obstacle information located on the front side of the robot body, so that the controller controls the travel state of the walking mechanism according to the obstacle information and the rotation state of the guide wheel; wherein, the obstacle information collection component includes at least one of an image acquisition unit and a laser radar.

[0018] The robot provided by the present invention comprises a robot body and an anti-collision component, the robot body comprises a chassis and a walking mechanism, the anti-collision component comprises a controller and a plurality of anti-collision units, the walking mechanism is arranged on the chassis, and the plurality of anti-collision units are arranged along the circumference of the robot body; the anti-collision unit comprises a mounting member, a guide wheel and a detection device, the mounting member is connected to the robot body; the guide wheel is rotatably connected to the mounting member through a rotating shaft, the guide wheel is arranged horizontally, and part of the outer edge of the guide wheel is located outside the robot body, and the guide wheel can rotate when touching an obstacle on the side of the robot body; the detection device is arranged on the mounting member, and is used to detect the rotation state of the guide wheel; the walking mechanism and the detection device are both electrically connected to the controller, and the controller is used to control the traveling state of the walking mechanism according to the rotation state of the guide wheel. The robot provided by the present invention comprises a detection device and a controller, the detection device can detect the rotation state of the guide wheel, so that it can be obtained whether the guide wheel is in contact with an obstacle, so that the controller can control the traveling state of the walking mechanism according to the rotation state of the guide wheel, so that the robot provided by the present invention can effectively avoid obstacles.

[0019] The construction of the present invention and other objects and advantageous effects thereof will become more apparent through the description of the preferred embodiments in conjunction with the accompanying drawings. BRIEF DESCRIPTION OF THE DRAWINGS

[0020] In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the following briefly introduces the drawings required for use in the embodiments or the description of the prior art. Obviously, the drawings described below are some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative labor.

[0021] Figure 1 A schematic diagram of the three-dimensional structure of a robot provided by an embodiment of the present invention;

[0022] Figure 2 A partially enlarged schematic diagram of a robot provided by an embodiment of the present invention;

[0023] Figure 3 A schematic diagram of a partial structure of a robot provided by an embodiment of the present invention;

[0024] Figure 4 A schematic diagram of a traveling state of a robot provided by an embodiment of the present invention;

[0025] Figure 5 A schematic diagram of another traveling state of the robot provided by an embodiment of the present invention;

[0026] Figure 6 A schematic diagram of a flow chart of obstacle avoidance detection performed by a robot provided in an embodiment of the present invention.

[0027] Description of reference numerals:

[0028] 1-Robot body;

[0029] 11- Chassis;

[0030] 12- Walking mechanism;

[0031] 121-travel wheel;

[0032] 2- Anti-collision components;

[0033] 21- controller;

[0034] 22-anti-collision unit;

[0035] 22a- first anti-collision unit;

[0036] 22b-second anti-collision unit;

[0037] 221, 221a, 221b-installation parts;

[0038] 2211b-first fixing portion;

[0039] 2212b- second fixing portion;

[0040] 2213b- annular plate;

[0041] 222, 222a, 222b-guide wheels;

[0042] 223-Detection device;

[0043] 2231-Trigger;

[0044] 2232-sensor;

[0045] 224, 224a, 224b-rotating shaft;

[0046] 225a-connecting piece;

[0047] 23-Obstacle information collection component. DETAILED DESCRIPTION

[0048] In order to make the purpose, technical solutions and advantages of the embodiments of the present invention clearer, the technical solutions in the embodiments of the present invention will be clearly and completely described below in conjunction with the drawings in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments.

[0049] Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention. In the absence of conflict, the following embodiments and features in the embodiments can be combined with each other.

[0050] In the description of the present invention, it should be understood that the terms "center", "longitudinal", "lateral", "length", "width", "thickness", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inside", "outside", "clockwise", "counterclockwise", "axial", "radial", "circumferential" and the like indicate orientations or positional relationships based on the orientations or positional relationships shown in the accompanying drawings, and are only for the convenience of describing the present invention and simplifying the description, and do not indicate or imply that the referred device or element must have a specific orientation, be constructed and operated in a specific orientation, and therefore should not be understood as limiting the present invention.

[0051] In the present invention, unless otherwise clearly specified and limited, the terms "installed", "connected", "connected", "fixed" and the like should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral connection; it can be directly connected or indirectly connected through an intermediate medium, it can be the internal connection of two elements or the interaction relationship between two elements. For ordinary technicians in this field, the specific meanings of the above terms in the present invention can be understood according to specific circumstances.

[0052] It should be noted that in the description of the present invention, the terms "first" and "second" are only used to facilitate the description of different components, and cannot be understood as indicating or implying a sequential relationship, relative importance, or implicitly indicating the number of the indicated technical features. Therefore, the features defined as "first" and "second" may explicitly or implicitly include at least one of the features.

[0053] A robot is an intelligent machine that can work semi-autonomously or fully autonomously. In recent years, the intelligence level of robots has been continuously improved, and it has rapidly changed people's lifestyles. In the process of constantly exploring, transforming, and understanding nature, it has always been the goal of mankind to create machines that can replace human work. In order to make the robot move more smoothly during the process, an anti-collision device is generally set on the machine body.

[0054] Most existing robots include a robot body and a plurality of first guide wheels arranged on the periphery of the robot body. When the robot encounters an obstacle during its movement, the first guide wheels will directly contact the obstacle to guide the robot body to avoid the obstacle or turn a curve to avoid the obstacle.

[0055] Therefore, when the robot moves to a position close to a wall or a corner, the first guide wheel is very likely to get stuck with the wall, affecting the normal movement of the robot.

[0056] Therefore, an embodiment of the present invention provides a robot that can solve the above-mentioned problem, so that the robot can effectively avoid obstacles.

[0057] The present invention is described in detail below with reference to the accompanying drawings and specific embodiments.

[0058] Figure 1 A schematic diagram of the three-dimensional structure of a robot provided in an embodiment of the present invention. Figure 2 A partially enlarged schematic diagram of a robot provided in an embodiment of the present invention. Figure 3 A schematic diagram of the local structure of a robot provided in an embodiment of the present invention. Figure 4 A schematic diagram of a moving state of a robot provided in an embodiment of the present invention. Figure 5 A schematic diagram of another traveling state of the robot provided in an embodiment of the present invention. Figure 6 A schematic diagram of a flow chart of obstacle avoidance detection performed by a robot provided in an embodiment of the present invention.

[0059] like Figure 1 and Figure 2 As shown, an embodiment of the present invention provides a robot, including a robot body 1 and an anti-collision component 2, the robot body 1 includes a chassis 11 and a walking mechanism 12, the anti-collision component 2 includes a controller 21 and a plurality of anti-collision units 22, the controller 21 and the walking mechanism 12 are both arranged on the chassis 11, and the controller 21 and the walking mechanism 12 are arranged relative to each other, and the plurality of anti-collision units 22 are arranged along the circumference of the robot body 1; the anti-collision unit 22 includes a mounting member 221, a guide wheel 222 and a detection device 223, the mounting member 221 is connected to the robot body 11, and the anti-collision component 2 includes a controller 21 and a plurality of anti-collision units 22, and the controller 21 and the walking mechanism 12 are arranged relative to each other, and the plurality of anti-collision units 22 are arranged along the circumference of the robot body 1; the anti-collision unit 22 includes a mounting member 221, a guide wheel 222 and a detection device 223, and the mounting member 221 is connected to the robot body 11. The robot body 1 is on the guide wheel 222; the guide wheel 222 is rotatably connected to the mounting member 221 through the rotating shaft 224, the guide wheel 222 is horizontally arranged, and part of the outer edge of the guide wheel 222 is located on the outside of the robot body 1, and the guide wheel 222 can rotate when it touches an obstacle on the side of the robot body 1; the detection device 223 is arranged on the mounting member 221, and is used to detect the rotation state of the guide wheel 222; the walking mechanism 12 and the detection device 223 are both electrically connected to the controller 21, and the controller 21 is used to control the traveling state of the walking mechanism 12 according to the rotation state of the guide wheel 222.

[0060] The robot provided in this embodiment includes an anti-collision component 2, which includes a controller 21 and a plurality of anti-collision units 22. The anti-collision component 2 includes a controller 21 and a plurality of anti-collision units 22. The anti-collision unit 22 includes a mounting member 221, a guide wheel 222, and a detection device 223. The guide wheel 222 can rotate when it touches an obstacle on the side of the robot body 1. The detection device 223 is used to detect the rotation state of the guide wheel 222. The controller 21 is used to control the traveling state of the walking mechanism 12 according to the rotation state of the guide wheel 222. Therefore, when the robot provided in this embodiment is located on the side of an obstacle, the guide wheel 222 contacts the obstacle and rotates. At this time, the detection device 223 detects that the guide wheel 222 is in a rotating state and transmits a signal to the controller 21. The controller 21 controls the walking mechanism 12 to avoid or reverse the traveling state.

[0061] In this way, by setting up the detection device 223, the movement state of the guide wheel 222 can be detected in real time, so that the controller 21 controls the walking mechanism 12 to move accurately and prevents the walking mechanism 12 from getting stuck with obstacles.

[0062] In a specific implementation of this embodiment, the anti-collision unit 22 includes a first anti-collision unit 22a and / or a second anti-collision unit 22b. The first anti-collision unit 22a is connected to the circumferential side of the chassis 11, and the second anti-collision unit 22b is connected to the walking mechanism 12.

[0063] In this way, it is possible to avoid collisions between the side parts of the robot body 1 and obstacles, thereby preventing the robot of this embodiment from being damaged and extending the service life of the robot provided by this embodiment.

[0064] In some embodiments, the first anti-collision unit 22a further includes a connecting member 225a, a first end of the connecting member 225a is fixedly connected to the chassis 11, a second end of the connecting member 225a extends toward a side away from the chassis 11, and a mounting member 221a is disposed at the second end of the connecting member 225a.

[0065] In a specific implementation of this embodiment, the connecting member 225a is rod-shaped.

[0066] Specifically, the guide wheel 222a in the first anti-collision unit 22a is rotatably connected to the mounting member 221a via a rotating shaft 224a, and the rotating shaft 224a and the mounting member 221a are connected in a detachable manner.

[0067] It should be noted that the rotating shaft 224a and the mounting member 221a can be connected by threaded connection or other connection methods, such as a snap-fit ​​connection. Here, there is no limitation on the connection method between the rotating shaft 224a and the mounting member 221a.

[0068] In some embodiments, a plurality of first anti-collision units 22 a are respectively disposed at the sides of the chassis 22 along the traveling direction and / or at the rear side of the chassis 22 along the traveling direction.

[0069] In this way, when there is an obstacle on the side or rear of the robot body 1, the guide wheel 222a will contact the obstacle, protecting the robot body 1 from multiple directions to prevent the robot body 1 from colliding with the obstacle.

[0070] In this embodiment, the traveling mechanism 12 includes at least two pairs of traveling wheels 121 disposed at the bottom of the chassis 11 , and the second anti-collision unit 22 b is disposed on the traveling wheels 121 .

[0071] In this way, by arranging the second anti-collision unit 22b on the running wheel 121, it is possible to prevent the running wheel 121 from getting stuck with an obstacle.

[0072] In this embodiment, the mounting member 221b in the second anti-collision unit 22b is located at the axial center of the running wheel 121, and the mounting member 221b and the chassis 11 are relatively stationary, and at least part of the guide wheel 222b protrudes outside the wheel surface of the running wheel 121.

[0073] In this way, the mounting member 221b and the chassis 11 are relatively stationary, preventing the guide wheel 222b from rotating with the rotation of the walking wheel 121, thereby ensuring that the guide wheel 222b rotates only when it contacts an obstacle, so that the controller 21 can accurately control the traveling state of the walking mechanism 12 according to the rotation state of the guide wheel 222b detected by the detection device 223.

[0074] Specifically, the guide wheel 222b is rotatably connected to the mounting member 221b via a rotating shaft 224b.

[0075] In order to connect the guide wheel 222b with the mounting member 221b, in the present embodiment, the mounting member 221b in the second anti-collision unit 22b includes a first fixing portion 2211b and a second fixing portion 2212b, and there is a gap between the first fixing portion 2211b and the second fixing portion 2212b, and at least part of the structure of the guide wheel 222b is embedded in the gap.

[0076] Specifically, the first fixing portion 2211b and the second fixing portion 2212b are two hemispherical structures arranged opposite to each other.

[0077] In an optional embodiment, one end of the rotating shaft 224b is detachably connected to the end surface of the first fixing portion 2211b, and the other end of the rotating shaft 224b is detachably connected to the end surface of the second fixing portion 2212b. At this time, the rotating shaft 224b is stationary relative to the first fixing portion 2211b and the second fixing portion 2212b, and the guide wheel 222b can rotate relative to the rotating shaft 224b.

[0078] It should be noted that the end of the rotating shaft 224b and the first fixed part 2211b and the second fixed part 2212b can be connected by a threaded connection, or by other connection methods, such as a snap-on connection. Here, there is no restriction on the connection method between the end of the rotating shaft 224b and the first fixed part 2211b and the second fixed part 2212b.

[0079] In another optional embodiment, the ends of the rotating shaft 224b are rotatably matched with the end faces of the first fixing portion 2211b and the end faces of the second fixing portion 2212b, respectively. In this case, the rotating shaft 224b and the guide wheel 222b can rotate simultaneously.

[0080] In order to strengthen the structure of the mounting member 221b, in the present embodiment, the mounting member 221b also includes an annular plate 2213b connected to the outer periphery of the first fixed portion 2211b and the second fixed portion 2212b, the end face of the annular plate 2213b is connected to the end face of the walking wheel 121, and the outer peripheral surface of the first fixed portion 2211b and the second fixed portion 2212b is connected to the inner wall surface of the annular plate 2213b.

[0081] In this way, the structure of the mounting member 221b is made more stable, so that when the guide wheel 222b contacts an obstacle, the obstacle is prevented from damaging the mounting member 221b.

[0082] like Figure 3 and Figure 4 As shown, the detection device 223 includes a trigger member 2231 and a sensor 2232. The trigger member 2231 is arranged on one of the guide wheel 222b and the rotating shaft 224b, and can rotate synchronously with the guide wheel 224b. The sensor 2232 is arranged on one of the first fixed part 2211b and the second fixed part 2212b. The sensor 2232 has a sensing end. The sensor 2232 is used to send a sensing signal when the trigger member 2231 rotates to the sensing area of ​​the sensing end, so that the detection device 223 detects the rotation state of the guide wheel 224b.

[0083] Specifically, when the guide wheel 222b contacts an obstacle, it will rotate. At this time, when the trigger member 2231 rotates to the sensing area of ​​the sensing end, the detection device 223 detects that the guide wheel 222b is in a rotating state. At this time, the controller 21 controls the walking mechanism 12 to avoid or reverse.

[0084] In some embodiments, the triggering member 2231 is a metal member or a magnetic member; the sensor 2232 is a Hall sensor. In a specific implementation of this embodiment, the triggering member 2231 is a sheet structure.

[0085] In an optional embodiment, the trigger member 2231 is disposed on the rotating shaft 224b, and in this case, the rotating shaft 224b and the guide wheel 222b can rotate simultaneously.

[0086] In another optional embodiment, the trigger member 2231 is disposed on the guide wheel 222b. In this case, the rotating shaft 224b and the guide wheel 222b can rotate simultaneously, or the rotating shaft 224b can be stationary relative to the mounting member 221b, and the guide wheel 222b can rotate relative to the rotating shaft 224b.

[0087] In order to further prevent the robot from being obstructed during its movement, in the robot provided in this embodiment, the anti-collision component 2 also includes an obstacle information collection component 23, and the obstacle information collection component 23 is used to obtain obstacle information located on the front side of the robot body 1, so that the controller 21 controls the travel state of the walking mechanism 12 according to the obstacle information and the rotation state of the guide wheel 222; wherein, the obstacle information collection component 23 includes at least one of an image acquisition unit and a laser radar.

[0088] like Figure 4 and Figure 5 As shown, by setting the obstacle information collection component 23, the obstacle information collection component 23 can collect obstacle information in front of the robot during the movement of the robot, thereby preventing the front side of the robot body 1 from colliding with the obstacle.

[0089] Specifically, when the robot is moving in a narrow passage, when the guide wheel 222b is in a rotating state, the detection device 223 detects that the guide wheel 222b is in a rotating state, and obtains a signal that the guide wheel 222b is in a rotating state. After the controller 21 receives the signal that the guide wheel 222b is in a rotating state, it controls the walking mechanism 12 to move appropriately, so that the robot can avoid or reverse, etc. At this time, the obstacle information collection component 23 can collect information about obstacles in front of the robot to prevent the robot from colliding with obstacles in front or causing the guide wheel 222b to get stuck with the obstacle during the forward movement, thereby further ensuring the smoothness of the robot during the movement.

[0090] like Figure 1 and Figure 2As shown, the robot provided in this embodiment also includes a power supply module and a program integration module. The power supply module is electrically connected to the controller 21, the detection device 223 and the walking mechanism 12, and is used to supply power to the controller 21, the detection device 223 and the walking mechanism 12. The program integration module is used to store the algorithms of the robot provided in this embodiment in daily work.

[0091] like Figure 5 As shown, in the robot provided by this embodiment, when the guide wheel 222b is in a rotating state, the detection device 223 detects that the guide wheel 222b is in a rotating state, and obtains a signal that the guide wheel 222b is in a rotating state. After receiving the signal that the guide wheel 222b is in a rotating state, the controller 21 controls the walking mechanism 12 to move appropriately, and at the same time enables the obstacle information collection component 23 to collect information about obstacles located in front of the robot, so that the robot can avoid or reverse commands, etc., and then, if the detection device 223 detects that the guide wheel 222b is still in a rotating state, the above process is repeated. Sequence, if the detection device detects that the guide wheel 222b is in a stationary state and obtains a signal that the guide wheel 222b is in a stationary state, the controller 21 controls the walking mechanism 12 to move appropriately after receiving the signal that the guide wheel 222b is in a stationary state, so that the robot moves normally; when the guide wheel 222b is in a stationary state, the detection device detects that the guide wheel 222b is in a stationary state and obtains a signal that the guide wheel 222b is in a stationary state, the controller 21 controls the walking mechanism 12 to move appropriately after receiving the signal that the guide wheel 222b is in a stationary state, so that the robot moves normally.

[0092] The robot provided by the present invention comprises a robot body and an anti-collision component, the robot body comprises a chassis and a walking mechanism, the anti-collision component comprises a controller and a plurality of anti-collision units, the walking mechanism is arranged on the chassis, and the plurality of anti-collision units are arranged along the circumference of the robot body; the anti-collision unit comprises a mounting member, a guide wheel and a detection device, the mounting member is connected to the robot body; the guide wheel is rotatably connected to the mounting member through a rotating shaft, the guide wheel is arranged horizontally, and part of the outer edge of the guide wheel is located outside the robot body, and the guide wheel can rotate when touching an obstacle on the side of the robot body; the detection device is arranged on the mounting member, and is used to detect the rotation state of the guide wheel; the walking mechanism and the detection device are both electrically connected to the controller, and the controller is used to control the traveling state of the walking mechanism according to the rotation state of the guide wheel. The robot provided by the present invention comprises a detection device and a controller, the detection device can detect the rotation state of the guide wheel, so that it can be obtained whether the guide wheel is in contact with an obstacle, so that the controller can control the traveling state of the walking mechanism according to the rotation state of the guide wheel, so that the robot provided by the present invention can effectively avoid obstacles.

[0093] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention, rather than to limit it. Although the present invention has been described in detail with reference to the aforementioned embodiments, those skilled in the art should understand that they can still modify the technical solutions described in the aforementioned embodiments, or replace some or all of the technical features therein with equivalents. However, these modifications or replacements do not cause the essence of the corresponding technical solutions to deviate from the scope of the technical solutions of the embodiments of the present invention.

Claims

1. A robot, characterized in that: The robot comprises a robot body, an anti-collision component and a power module, wherein the robot body comprises a chassis and a walking mechanism, the anti-collision component comprises a controller and a plurality of anti-collision units, the walking mechanism is arranged on the chassis, and the plurality of anti-collision units are arranged along the circumference of the robot body; The anti-collision unit includes a mounting member, a guide wheel, a detection device and an obstacle information collection component, wherein the mounting member is connected to the robot body; the guide wheel is rotatably connected to the mounting member via a rotating shaft, the guide wheel is horizontally arranged, and a portion of the outer edge of the guide wheel is located outside the robot body, and the guide wheel can rotate when it touches an obstacle on the side of the robot body; the detection device is arranged on the mounting member, and is used to detect the rotation state of the guide wheel; The obstacle information acquisition component is used to obtain obstacle information located in front of the robot body; The walking mechanism and the detection device are both electrically connected to the controller, and the controller is used to control the walking mechanism to move according to the signal of the rotation state of the guide wheel detected by the detection device, and control the walking mechanism to avoid obstacles according to the obstacle information collected by the obstacle information collection component; The controller is also used to control the walking mechanism to move according to the signal detected by the detection device that the guide wheel is in a stationary state; The power module is used to supply power to the controller, the detection device and the walking mechanism.

2. The robot according to claim 1, characterized in that: The anti-collision unit includes a first anti-collision unit and / or a second anti-collision unit, wherein the first anti-collision unit is connected to the circumferential side of the chassis, and the second anti-collision unit is connected to the walking mechanism.

3. The robot according to claim 2, characterized in that: The first anti-collision unit further includes a connecting member, a first end of the connecting member is fixedly connected to the chassis, a second end of the connecting member extends to a side away from the chassis, and the mounting member is arranged at the second end of the connecting member.

4. The robot according to claim 3, characterized in that: The plurality of first anti-collision units are respectively arranged at the sides of the chassis along the traveling direction and / or at the rear side of the chassis along the traveling direction.

5. The robot according to claim 2, characterized in that: The walking mechanism comprises at least two pairs of walking wheels arranged at the bottom of the chassis, and the second anti-collision unit is arranged on the walking wheels.

6. The robot according to claim 5, characterized in that: The mounting member in the second anti-collision unit is located at the axial center of the running wheel, and the mounting member is relatively stationary with respect to the chassis, and at least a portion of the guide wheel protrudes from the outside of the wheel surface of the running wheel.

7. The robot according to claim 6, characterized in that: The mounting member in the second anti-collision unit includes a first fixing portion and a second fixing portion, a gap is provided between the first fixing portion and the second fixing portion, and at least a part of the structure of the guide wheel is embedded in the gap.

8. The robot according to any one of claims 1 to 7, characterized in that: The detection device includes a trigger member and a sensor. The trigger member is arranged on one of the guide wheel and the rotating shaft and can rotate synchronously with the guide wheel. The sensor is arranged on the mounting member. The sensor has a sensing end. The sensor is used to send a sensing signal when the trigger member rotates to the sensing area of ​​the sensing end, so that the detection device can detect the rotation state of the guide wheel.

9. The robot according to claim 8, characterized in that: The triggering member is a metal member or a magnetic member; the sensor is a Hall sensor.

10. The robot according to any one of claims 1 to 7, characterized in that: The obstacle information acquisition component includes at least one of an image acquisition unit and a laser radar.

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