Robot and control method thereof

Abstract

The present invention relates to a robot and a control method thereof, comprising a body, a flipping member and a driving member, wherein the flipping member is rotatably arranged on the body, a first functional member is arranged on the first surface of the flipping member, and a second functional member is arranged on the second surface of the flipping member, and the driving member is arranged on the body and is in transmission connection with the flipping member, and drives the flipping member to flip to show the first functional member or the second functional member; the flipping member shows that the first functional member is in a first use state, and the flipping member shows that the second functional member is in a second use state. The driving member drives the flipping member to rotate relative to the body, and the flexible switching enables multiple functions to be realized on the same part, meeting the multi-functional use requirements, and there is no need to increase the volume of the robot due to the increase in functions.

Description

Technical Field

[0001] The present invention relates to robot technology, in particular to a robot and a control method thereof. Background Art

[0002] As robot technology continues to mature, more and more robots are being used in production and life. However, traditional robots generally have the problem of being large in size to achieve multiple functions. For example, the robots are equipped with position lights and lighting lamps to achieve different functions. The position lights have low power and mainly display the outline of the product, while the lighting lamps have high power and can provide illumination while displaying the outline of the product. However, the two can be used at different times. When there is no lighting demand, the position lights can be used, and when lighting is needed, the lighting lamps are turned on. Traditional robots generally use position lights and lighting lamps that are set side by side or superimposed, which increases the size of the robot. Summary of the invention

[0003] Based on this, it is necessary to provide a robot and a control method thereof, which can not only meet different functional requirements but also will not cause the size of the robot to increase.

[0004] The technical solution is as follows:

[0005] A robot comprises a main body, a flip member and a driving member, wherein the flip member is rotatably arranged on the main body, a first functional member is arranged on the first surface of the flip member, and a second functional member is arranged on the second surface of the flip member, the driving member is arranged on the main body and is transmission-connected with the flip member, and drives the flip member to flip and display the first functional member or the second functional member; the flip member displays that the first functional member is in a first usage state, and the flip member displays that the second functional member is in a second usage state.

[0006] When the above-mentioned robot is in use, the driving member can be used to drive the flip member to rotate relative to the main body according to the actual use scenario requirements. When the flip member is in a first use state, the first functional member on the flip member is displayed to perform the function of the first functional member. When the flip member is in a second use state, the second functional member on the flip member is displayed to perform the function of the second functional member. Through flexible switching, multiple functions can be realized on the same part to meet the multi-functional use requirements, and there is no need to increase the volume of the robot due to the increase in functions.

[0007] In one embodiment, the robot further includes a first positioning member and a second positioning member that match each other, wherein the first positioning member is disposed on the flip member, and the second positioning member is disposed on the body.

[0008] In one embodiment, the first positioning member is a magnet, and the second positioning member is a Hall switch;

[0009] Alternatively, the first positioning member and the second positioning member are contact switches, proximity switches or boat switches.

[0010] In one embodiment, the body has a first limiting portion and a second limiting portion. In a first use state, the second limiting portion is in limiting cooperation with the second surface; in a second use state, the first limiting portion is in limiting cooperation with the first surface.

[0011] In one embodiment, a mounting groove is provided on the main body, a rotating shaft is provided on the flip member and is rotatably connected to the side wall of the mounting groove, the rotating shaft is transmission-connected to the driving member, the first positioning member is arranged on the third surface of the flip member, and the second positioning member is arranged on the bottom wall of the mounting groove.

[0012] In one of the embodiments, a protrusion is provided on the second surface of the flip member, and the rotating shaft is arranged on the protrusion. The rotating shaft is rotatably connected to a position in the installation groove close to the second limiting portion. In the first use state, the second functional member is fitted with the second limiting portion, and the step position formed between the protrusion and the second surface is stuck in the high and low position formed between the second limiting portion and the inner wall of the installation groove.

[0013] In one embodiment, the longitudinal cross-section of the mounting groove is fan-shaped with the rotation axis position as the center, and the flip member switches from the first usage state to the second usage state, and the flip member rotates around the rotation axis until the first positioning member is fitted with the second positioning member and the first surface is against the first limiting portion.

[0014] In one embodiment, the robot further includes a sensor, wherein the sensor is disposed on the body, and the sensor is electrically connected to the driving component, the first functional component, and the second functional component.

[0015] In one embodiment, the first functional component and the second functional component are any one of a spray module, a cleaning module, a navigation module, a display module, a disinfection module, and a grabbing module.

[0016] In one embodiment, the robot further includes a power assembly, wherein the power assembly is connected to the body and is used to drive the body to move.

[0017] A method for controlling a robot as described above comprises the following steps:

[0018] Get the actual scene in the current state;

[0019] Determining whether the actual scene matches the first preset scene or the second preset scene;

[0020] If the first preset scene is met, the first functional component is displayed and started, and if the second preset scene is met, the second functional component is displayed and started.

[0021] The above-mentioned robot control method automatically determines whether the actual scene is consistent with the robot preset scene, and drives the flip part to rotate relative to the main body through the driving part. When the flip part is in the first use state, the first functional part on the flip part is displayed to perform the function of the first functional part. When the flip part is in the second use state, the second functional part on the flip part is displayed to perform the function of the second functional part. Through flexible switching, multiple functions can be realized on the same part to meet the multi-functional use requirements, and there is no need to increase the volume of the robot due to the increase in functions.

[0022] In one embodiment, the control method of the robot, wherein "if the first preset scene is met, the first function component is displayed and started, and if the second preset scene is met, the second function component is displayed and started", specifically comprises the following steps:

[0023] If the first preset scenario is met, determining whether the flip element is currently in the first use state, and if so, starting the first functional element; otherwise, driving the flip element to rotate to the first use state;

[0024] If the second preset scenario is met, it is determined whether the flip element is currently in the second use state. If so, the second functional element is activated; otherwise, the flip element is driven to rotate to the second use state.

[0025] In one embodiment, the robot control method further includes the following steps:

[0026] Determine whether there is an operation instruction;

[0027] If so, drive the flip part according to the operating instruction; if the operating instruction instructs to execute the first functional part, determine whether the flip part is currently in the first usage state, and if so, start the first functional part; otherwise, drive the flip part to rotate to the first usage state; if the operating instruction instructs to execute the second functional part, determine whether the flip part is currently in the second usage state, and if so, start the second functional part; otherwise, drive the flip part to rotate to the second usage state. BRIEF DESCRIPTION OF THE DRAWINGS

[0028] The drawings constituting a part of this application are used to provide a further understanding of the present invention. The illustrative embodiments of the present invention and their descriptions are used to explain the present invention and do not constitute improper limitations on the present invention.

[0029] In order to more clearly illustrate the technical solutions in the embodiments of the present invention, the following briefly introduces the drawings required for use in the description of the embodiments. Obviously, the drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without creative work.

[0030] In addition, the drawings are not drawn to a 1:1 scale, and the relative sizes of the various elements are drawn only as examples in the drawings and are not necessarily drawn according to the true scale.

[0031] Figure 1 A schematic diagram of a robot according to an embodiment switching from a first use state to a second use state;

[0032] Figure 2 for Figure 1 A cross-sectional schematic diagram of the middle flip member rotating from a first use state to a second use state;

[0033] Figure 3 for Figure 2 A partial enlarged schematic diagram of

[0034] Figure 4 A schematic diagram of the disassembly of a robot according to an embodiment;

[0035] Figure 5 The figure is a flow chart of a robot control method according to an embodiment.

[0036] Description of reference numerals:

[0037] 10. Main body, 101. Mounting groove, 102. High and low position, 110. First limiting part, 120. Second limiting part, 20. Flipping member, 210. First functional member, 220. Second functional member, 204. Protrusion, 205. Step position, 30. First positioning member, 40. Second positioning member, 50. Rotating shaft, 60. Sensor, 70. Power assembly. DETAILED DESCRIPTION

[0038] In order to make the above-mentioned objects, features and advantages of the present invention more obvious and easy to understand, the specific embodiments of the present invention are described in detail below in conjunction with the accompanying drawings. In the following description, many specific details are set forth to facilitate a full understanding of the present invention. However, the present invention can be implemented in many other ways different from those described herein, and those skilled in the art can make similar improvements without violating the connotation of the present invention, so the present invention is not limited by the specific embodiments disclosed below.

[0039] Reference Figure 1 , 2An embodiment of the present application provides a robot, including a main body 10, a flip member 20 and a driving member (not shown in the figure), wherein the flip member 20 is rotatably arranged on the main body 10, a first functional member 210 is arranged on a first surface of the flip member 20, and a second functional member 220 is arranged on a second surface of the flip member 20, the driving member is arranged on the main body 10 and is transmission-connected to the flip member 20, driving the flip member 20 to flip and display the first functional member 210 or the second functional member 220; the flip member 20 displays that the first functional member 210 is in a first use state, and the flip member 20 displays that the second functional member 220 is in a second use state.

[0040] Optionally, the first functional part 210 and the second functional part 220 are any one of a spray module, a cleaning module, a navigation module, a display module, a disinfection module, and a grabbing module. Alternatively, the first functional part 210 is a lighting lamp and the second functional part 220 is a clearance lamp, so that two functions can be realized at the same position without increasing the volume.

[0041] In one embodiment, the robot is a cleaning robot, the first functional part 210 is a spray module, and the second functional part 220 is a cleaning module. When in use, the spray module can be used to spray first, and then the flip part 20 can be turned to rotate, and then the cleaning operation can be performed, realizing two different functions at the same position. According to needs, the first functional part 210 and the second functional part 220 can also be set as cleaning modules. When one of the cleaning modules fails, it can be quickly operated through the field cleaning module, or one of the cleaning modules can be used for cleaning first, and then the other cleaning module can be used for cleaning to improve the cleaning effect.

[0042] Alternatively, the robot is a navigation robot, the first functional component 210 is a navigation module, and the second functional component 220 is a display module. According to usage requirements, the flip component 20 is flexibly adjusted to be in a usage state required at the current time.

[0043] Or the robot is a disinfection robot, the first functional part 210 is a disinfection module, and the second functional part 220 is also a disinfection module. For example, one disinfection module is spray disinfection, and the other disinfection module is ultraviolet lamp disinfection; or the first functional part 210 is a grabbing module, and the second functional part 220 is a disinfection module. The grabbing module is first used to grab the object to be disinfected to a specified position, and then rotated to the disinfection module to disinfect the object to be disinfected.

[0044] When the robot in the above embodiment is in use, the driving member can drive the flip member 20 to rotate relative to the main body 10 according to the actual use scenario requirements. When the flip member 20 is in a first use state, the first functional member 210 on the flip member 20 is shown to perform the function of the first functional member 210. When the flip member 20 is in a second use state, the second functional member 220 on the flip member 20 is shown to perform the function of the second functional member 220. Flexible switching allows multiple functions to be realized on the same part to meet multi-functional use requirements without increasing the size of the robot due to increased functions.

[0045] Reference Figure 2 In one embodiment, the robot further includes a first positioning member 30 and a second positioning member 40 that match each other, wherein the first positioning member 30 is disposed on the flip member 20, and the second positioning member 40 is disposed on the body 10. By cooperating with the first positioning member 30 on the flip member 20 and the second positioning member 40 on the body 10, the state of the flip member 20 is judged in real time, and the use of the first functional member 210 and the second functional member 220 is better controlled.

[0046] Optionally, in one embodiment, the first positioning member 30 is a magnet, and the second positioning member 40 is a Hall switch, and the state of the flip member 20 is determined by the cooperation between the Hall switch and the magnet. Alternatively, the first positioning member 30 and the second positioning member 40 are contact switches, and the state of the flip member 20 is determined by the contact or separation of the two contacts. Alternatively, the first positioning member 30 and the second positioning member 40 are proximity switches, and the state of the flip member 20 is determined by the approach or separation of the two proximity switches. Alternatively, the first positioning member 30 and the second positioning member 40 are rocker switches, and the state of the flip member 20 is determined by the conduction or separation of the two contacts of the rocker switch.

[0047] Reference Figure 1 , 2 3. In one embodiment, the body 10 has a first limiting portion 110 and a second limiting portion 120. In the first use state, the second limiting portion 120 is limited and matched with the second surface; in the second use state, the first limiting portion 110 is limited and matched with the first surface. In the first use state, the first functional part 210 shows that the second surface of the flip member 20 is limited and matched with the second limiting portion 120 on the body 10, so that the flip member 20 can stably maintain the current use state without affecting the use of the first functional part 210; in the second use state, the second functional part 220 shows that the first surface of the flip member 20 is limited and matched with the first limiting portion 110 on the body 10, so that the flip member 20 can stably maintain the current use state without affecting the use of the second functional part 220.

[0048] Further, refer to Figure 2 ,3 In one embodiment, the body 10 is provided with a mounting groove 101, the flip member 20 is provided with a rotating shaft 50 rotatably connected to the side wall of the mounting groove 101, the rotating shaft 50 is in driving connection with the driving member, the first positioning member 30 is arranged on the third surface of the flip member 20, and the second positioning member 40 is arranged on the bottom wall of the mounting groove 101. One end of the flip member 20 close to the rotating shaft 50 is rotatably arranged in the mounting groove 101 by the rotating shaft 50, and the driving member drives the rotating shaft 50 to rotate, so that one end of the flip member 20 rotates in the mounting groove 101. During the rotation process, the distance between the first positioning member 30 on the third surface of the flip member 20 and the second positioning member 40 on the bottom wall of the mounting groove 101 changes accordingly to correspond to different use states of the flip member 20. At the same time, the first positioning member 30 and the second positioning member 40 are hidden in the mounting groove 101 to protect the safety of the first positioning member and the second positioning member 40 without affecting the appearance of the robot.

[0049] Further, refer to Figure 2 , 3 In one embodiment, a protrusion 204 is provided on the second surface of the flip member 20, and the rotating shaft 50 is arranged on the protrusion 204. The rotating shaft 50 is rotatably connected to a position in the installation groove 101 close to the second limiting portion 120. In the first use state, the second functional member 220 is fitted with the second limiting portion 120, and the step position 205 formed between the protrusion 204 and the second surface is stuck on the high and low position 102 formed between the second limiting portion 120 and the inner wall of the installation groove 101. The protrusion 204 and the rotating shaft 50 are arranged in the installation groove 101, and a step position 205 is formed between the protrusion 204 and the second surface. In the first use state, the step position 205 is stuck on the high and low position 102 formed between the second limiting portion 120 and the inner wall of the installation groove 101, so that the second surface of the flip member 20 is attached to the second limiting portion 120 of the body 10, and the flip member 20 is limited in the current position. At this time, the second functional part 220 is hidden, and the first functional part 210 is shown. The overall structure is stable, which prevents the flip member 20 from rotating too much or the first functional part 210 from not being shown. In this embodiment, the second limiting portion 120 is a plane of the body 10 close to the installation groove 101.

[0050] Optionally, refer to Figure 2 , 3In one embodiment, the longitudinal section of the mounting groove 101 is in the shape of a sector with the position of the rotating shaft 50 as the center. When the flip member 20 switches from the first use state to the second use state, the flip member 20 rotates around the rotating shaft 50 until the first positioning member 30 and the second positioning member 40 are in contact with each other and the first surface abuts against the first limiting portion 110. The radius of the sector is greater than or equal to the length of the third surface, so that the flip member 20 can smoothly rotate around the rotating shaft 50 and the third surface approaches the bottom wall of the mounting groove 101. The length of the connecting line between the two ends of the circular arc of the sector is less than the length of the first surface, so that the first surface can abut against the first limiting portion 110. At this time, the first positioning member 30 on the third surface abuts against the second positioning member 40 on the bottom wall of the mounting groove 101, and the current position of the flip member 20 can be accurately judged. Specifically, in the current state, the first functional member 210 is hidden in the mounting groove 101, and the overall structure is stable, which prevents the flip member 20 from rotating abroad or the second functional member 220 from being displayed. In this embodiment, the first limiting portion 110 is the end of the arc close to the opening of the installation slot 101 .

[0051] Optionally, refer to Figure 4 In one embodiment, the robot further includes a sensor 60, which is disposed on the body 10 and is electrically connected to the drive member, the first functional member 210, and the second functional member 220. The sensor 60 can identify the actual scene and automatically drive the flip member 20 to rotate, so that the robot can start the corresponding function and use each functional member more intelligently. The sensor 60 is a visual element, such as a camera, a CCD camera, etc., for identifying images, or a radar, etc., for identifying distance, size, distance, range, judging scenes, etc.

[0052] In one embodiment, the robot further includes a power assembly 70, which is connected to the body 10 and is used to drive the body 10 to move. The power assembly 70 includes a battery or a motor, a tire, etc., to provide power for the robot.

[0053] Reference Figure 5 An embodiment of the present application further provides a robot control method as described in any of the above embodiments, comprising the following steps:

[0054] Acquire the actual scene in the current state. The sensor 60 may be used to identify the actual scene, such as a visual element, such as a camera, a CCD camera, etc., for recognizing an image, or a radar, etc., for recognizing distance, size, distance, range, judging a scene, etc. The sensor 60 sends the acquired actual scene to the processor.

[0055] Determine whether the actual scene matches the first preset scene or the second preset scene. The first preset scene and the second preset scene are pre-stored in the memory, and the processor performs matching judgment based on the acquired actual scene and the pre-stored scene in the memory.

[0056] If the first preset scene is met, the first functional component 210 is displayed and activated, and if the second preset scene is met, the second functional component 220 is displayed and activated. According to the judgment structure, the processor controls the driving component to drive the flip component 20 to rotate and activate the corresponding functional component.

[0057] The robot control method of this embodiment automatically determines whether the actual scene is consistent with the robot preset scene, and drives the flip member 20 to rotate relative to the main body 10 through the driving member. When the flip member 20 is in the first use state, the first functional member 210 on the flip member 20 is displayed to perform the function of the first functional member 210. When the flip member 20 is in the second use state, the second functional member 220 on the flip member 20 is displayed to perform the function of the second functional member 220. Through flexible switching, multiple functions can be realized on the same part to meet the multi-functional use requirements, and there is no need to increase the volume of the robot due to the increase in functions.

[0058] Further, in one embodiment, the control method of the robot, wherein "if the first preset scene is met, the first functional component 210 is displayed and started, and if the second preset scene is met, the second functional component 220 is displayed and started", specifically comprises the following steps:

[0059] If the first preset scenario is met, it is determined whether the flip member 20 is currently in the first use state. If so, the first functional member 210 is activated; otherwise, the flip member 20 is driven to rotate to the first use state.

[0060] If the second preset scenario is met, it is determined whether the flip member 20 is currently in the second use state. If so, the second functional part is started; otherwise, the flip member 20 is driven to rotate to the second use state.

[0061] By setting the first positioning member 30 on the flip member 20 and setting the second positioning member 40 on the body 10, the first positioning member 30 cooperates with the second positioning member 40 to judge the use state of the flip member 20 in real time, and better control the use of the first functional member 210 and the second functional member 220. For example, the first positioning member 30 is a magnet, and the second positioning member 40 is a Hall switch, and the state of the flip member 20 is judged by the Hall switch and the magnet. Or the first positioning member 30 and the second positioning member 40 are contact switches, and the state of the flip member 20 is judged by the contact or separation of the two contacts. Or the first positioning member 30 and the second positioning member 40 are proximity switches, and the state of the flip member 20 is judged by the approach or separation of the two proximity switches. Or the first positioning member 30 and the second positioning member 40 are rocker switches, and the state of the flip member 20 is judged by the conduction or separation of the two contacts of the rocker switch.

[0062] Optionally, in one embodiment, the robot control method further includes the following steps:

[0063] Determine whether there is an operation instruction. The operation instruction may be manually controlled, such as issued by a remote control or by manually controlling a control button on the robot.

[0064] If yes, the flip member 20 is driven according to the operation instruction; if the operation instruction instructs to execute the first functional part 210, it is determined whether the flip member 20 is currently in the first use state, and if so, the first functional part 210 is activated; otherwise, the flip member 20 is driven to rotate to the first use state. If the operation instruction instructs to execute the second functional part 220, it is determined whether the flip member 20 is currently in the second use state, and if so, the second functional part 220 is activated; otherwise, the flip member 20 is driven to rotate to the second use state. Before the robot automatically recognizes the actual scene, the processor first determines whether there is an operation instruction input, and first executes according to the operation instruction, combining manual control and machine recognition to achieve intelligent and flexible manual control.

[0065] In one embodiment, a computer device is further provided, including a memory and a processor, wherein a computer program is stored in the memory, and the processor implements the steps in the above method embodiments when executing the computer program.

[0066] Those of ordinary skill in the art can understand that all or part of the processes in the above-mentioned embodiment methods can be completed by instructing the relevant hardware through a computer program, and the computer program can be stored in a non-volatile computer-readable storage medium. When the computer program is executed, it can include the processes of the embodiments of the above-mentioned methods. Among them, any reference to memory, storage, database or other media used in the embodiments provided in this application can include at least one of non-volatile and volatile memory. Non-volatile memory can include read-only memory (ROM), magnetic tape, floppy disk, flash memory or optical memory, etc. Volatile memory can include random access memory (RAM) or external cache memory. As an illustration and not limitation, RAM can be in various forms, such as static random access memory (SRAM) or dynamic random access memory (DRAM).

[0067] The technical features of the above-described embodiments may be arbitrarily combined. To make the description concise, not all possible combinations of the technical features in the above-described embodiments are described. However, as long as there is no contradiction in the combination of these technical features, they should be considered to be within the scope of this specification.

[0068] The above-mentioned embodiments only express several implementation methods of the present invention, and the descriptions thereof are relatively specific and detailed, but they cannot be understood as limiting the scope of the invention patent. It should be pointed out that, for ordinary technicians in this field, several variations and improvements can be made without departing from the concept of the present invention, and these all belong to the protection scope of the present invention. Therefore, the protection scope of the patent of the present invention shall be subject to the attached claims.

[0069] 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.

[0070] In addition, the terms "first" and "second" are used for descriptive purposes only and should not be understood as indicating or implying 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. In the description of the present invention, the meaning of "plurality" is at least two, such as two, three, etc., unless otherwise clearly and specifically defined.

[0071] 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 a mechanical connection or an electrical connection; it can be a direct connection or an indirect connection through an intermediate medium, it can be the internal connection of two elements or the interaction relationship between two elements, unless otherwise clearly defined. For ordinary technicians in this field, the specific meanings of the above terms in the present invention can be understood according to specific circumstances.

[0072] In the present invention, unless otherwise clearly specified and limited, a first feature being "above" or "below" a second feature may mean that the first and second features are in direct contact, or the first and second features are in indirect contact through an intermediate medium. Moreover, a first feature being "above", "above" or "above" a second feature may mean that the first feature is directly above or obliquely above the second feature, or simply means that the first feature is higher in level than the second feature. A first feature being "below", "below" or "below" a second feature may mean that the first feature is directly below or obliquely below the second feature, or simply means that the first feature is lower in level than the second feature.

[0073] It should be noted that when an element is referred to as being "fixed to" or "disposed on" another element, it may be directly on the other element or there may be a central element. When an element is considered to be "connected to" another element, it may be directly connected to the other element or there may be a central element at the same time. The terms "vertical", "horizontal", "upper", "lower", "left", "right" and similar expressions used herein are for illustrative purposes only and are not intended to be the only implementation method.

Claims

1. A robot, characterized in that: The invention comprises a body, a flip member and a driving member, wherein the flip member is rotatably arranged on the body, a first functional member is arranged on a first surface of the flip member, and a second functional member is arranged on a second surface of the flip member, and the driving member is arranged on the body and is in transmission connection with the flip member, and drives the flip member to flip and display the first functional member or the second functional member; the flip member displays that the first functional member is in a first use state, and the flip member displays that the second functional member is in a second use state; The main body is provided with a mounting groove, the flip member is provided with a rotating shaft rotatably connected to the side wall of the mounting groove, the main body has a second limiting portion, the second surface of the flip member is provided with a protrusion, the rotating shaft is arranged on the protrusion, the rotating shaft is rotatably connected to a position close to the second limiting portion in the mounting groove, and in the first use state, the second functional part is fitted with the second limiting portion, and the stepped position formed between the protrusion and the second surface is stuck in the high and low position formed between the second limiting portion and the inner wall of the mounting groove; it also includes a first positioning member and a second positioning member that match each other, the first positioning member is a magnet, and the second positioning member is a Hall switch; or the first positioning member and the second positioning member are contact switches, proximity switches or boat-type switches.

2. The robot according to claim 1, characterized in that: The first positioning member is arranged on the flip member, and the second positioning member is arranged on the body.

3. The robot according to claim 2, characterized in that: The main body has a first limiting portion, and in a first use state, the second limiting portion is in a limiting cooperation with the second surface; in a second use state, the first limiting portion is in a limiting cooperation with the first surface.

4. The robot according to claim 3, characterized in that: The rotating shaft is drivingly connected to the driving member, the first positioning member is arranged on the third surface of the flip member, and the second positioning member is arranged on the bottom wall of the installation groove.

5. The robot according to claim 4, characterized in that: The longitudinal cross-section of the mounting groove is fan-shaped with the rotation axis as the center. The flip member switches from the first use state to the second use state, and the flip member rotates around the rotation axis until the first positioning member is fitted with the second positioning member and the first surface is against the first limiting portion.

6. The robot according to any one of claims 1 to 5, characterized in that: It also includes a sensor, which is arranged on the body and is electrically connected to the driving component, the first functional component and the second functional component.

7. The robot according to any one of claims 1 to 5, characterized in that: The first functional component and the second functional component are any one of a spray module, a cleaning module, a navigation module, a display module, a disinfection module, and a grabbing module.

8. The robot according to any one of claims 1 to 5, characterized in that: It also includes a power assembly, which is connected to the body and is used to drive the body to move.

9. A method for controlling a robot according to any one of claims 1 to 8, characterized in that: The steps include: Get the actual scene; Determining whether the actual scene matches the first preset scene or the second preset scene; If the first preset scene is met, the first functional component is displayed and started, and if the second preset scene is met, the second functional component is displayed and started.

10. The robot control method according to claim 9, characterized in that: Wherein “if the first preset scene is met, the first function component is displayed and started, and if the second preset scene is met, the second function component is displayed and started” specifically includes the following steps: If the first preset scenario is met, determining whether the flip element is currently in the first use state, and if so, starting the first functional element; otherwise, driving the flip element to rotate to the first use state; If the second preset scenario is met, determining whether the flip element is currently in the second use state, and if so, activating the second functional element; Otherwise, the flip member is driven to rotate to the second use state.

11. The robot control method according to claim 9, characterized in that: The following steps are also included: Determine whether there is an operation instruction; If yes, drive the flipping member according to the operation instruction; if the operation instruction indicates to execute the first function member, determine whether the flipping member is currently in the first use state, and if yes, start the first function member; Otherwise, the flip member is driven to rotate to the first use state; if the operation instruction indicates to execute the second function member, it is determined whether the flip member is currently in the second use state, and if so, the second function member is started; Otherwise, the flip member is driven to rotate to the second use state.

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