[0027] Embodiment one:
[0028] like Figure 1-Figure 5 As shown, the embodiment of the present invention provides a multi-joint bionic robot control system, including a remote controller, a power module, a head joint module, a middle joint module, and a tail joint module. module, the middle joint module and the tail joint module, the remote controller is used to remotely control the head joint module, the middle joint module and the tail joint module and can receive the data information uploaded by them, and the power module is One end of the head joint module is connected to one end of the middle joint module, and the other end of the middle joint module is connected to one end of the tail joint module. The head joint module can Adjust its own motion posture and collect environmental information and its own motion data information, and upload them to the remote controller at the same time. The middle joint module can adjust its own motion posture and collect its own motion data information, and upload them to the remote controller at the same time. The tail joint module can adjust Its own motion posture and assists in collecting environmental information and its own motion data information, and uploads them to the remote controller at the same time.
[0029] The head joint module, the middle joint module and the tail joint module can be remotely controlled by the remote controller and can receive the uploaded motion data information and environmental data information, and can timely adjust the motion posture of the multi-joint bionic robot according to different environments. Adjustment, collecting environmental information through the head joint module, and adjusting it according to the environmental information and motion state, can keep the multi-joint bionic robot always adapting to the environment, and facilitate environmental detection in complex environments. The tail joint module continuously compares and corrects environmental data to improve the accuracy of environmental detection.
[0030] In some embodiments, in order to maintain good stability between the head joint module, the middle joint module and the tail joint module, one end of the head joint module and one end of the middle joint module are fixedly connected by a flange, and the middle The other end of the joint module is fixedly connected with one end of the tail joint module through a flange.
[0031] In some embodiments, in order to maintain good flexibility among the head joint module, the middle joint module and the tail joint module, one end of the head joint module and one end of the middle joint module are connected by hinge rotation, and the middle joint module The other end of the module and one end of the tail joint module are connected through hinge rotation.
[0032] In some embodiments, the head joint module includes a head joint device, a first environment detection module, a head movement information collection module, a third connector and a head control module, and the head control module is connected to a remote controller through communication, The head control module is electrically connected to the head joint device, the first environment detection module and the head movement information collection module, and the third connector is used to connect the middle joint module. The environment data can be detected through the first environment detection module. The detection module includes one or more of an infrared detector, a photoelectric detector, and a miniature camera.
[0033] In some embodiments, the middle joint module includes a middle joint device, a middle control module, a middle motion information collection module and a second connector, the middle control module is connected to a remote controller through communication, and the middle control module is electrically connected to the middle joint device and the middle Motion information collection module, two second connectors are fixedly connected to the two ends of the middle joint module, used to connect the head joint module and the tail joint module, and the head joint module is easily connected through the two second connectors And the tail joint module, the middle joint device can adjust the motion state of the multi-joint bionic robot in the middle.
[0034]In some embodiments, the tail joint module includes a tail joint device, a second environment detection module, a tail movement information collection module, a first connector, and a tail control module. The tail control module is connected to a remote controller through communication, and the tail control module is electrically Connect the tail joint device, the second environment detection module and the tail movement information collection module, and the first connector is used to connect the middle joint module.
[0035] In some embodiments, the head joint module, the middle joint module and the tail joint module all include a joint module, and the joint module includes a first motor, a second motor, an upper joint arm, a middle joint arm, and a lower joint arm and connecting piece, the first motor is fixed at one end of the upper articulated arm, the output end of the first motor can drive the middle articulated arm to rotate, the second motor is fixed at one end of the middle articulated arm, and the output end of the second motor can drive the lower articulated arm to rotate , the two connecting pieces are respectively fixedly connected to the remote ends of the upper articulated arm and the lower articulated arm. The connecting piece is used for the connection between multiple joint modules. The middle articulated arm can be driven to rotate through the first motor, and the second motor can The lower articulated arm can be driven to rotate, so that the multi-joint bionic robot can continuously adjust its direction.
[0036] In some embodiments, the plane where the motion track of the middle articulated arm is perpendicular to the plane where the motion track of the lower articulated arm is located, and the running directions of the middle articulated arm and the lower articulated arm are different, so that the motion posture of the multi-joint bionic robot can be flexibly adjusted.
[0037] In some embodiments, the head motion information collection module, the middle motion information collection module and the tail motion information collection module all include one or more of a rotation vector sensor, a gravity sensor, a vibration sensor and an acceleration sensor, which can continuously detect multiple The motion data of different positions of the joint bionic robot is convenient for motion adjustment according to the motion data. Both the first environment detection module and the second environment detection module include one or more of infrared detectors, photoelectric detectors, and miniature cameras, which are easy to carry out data collection.
