Hand and foot combined stair climbing robot and operation control method

Abstract

The invention discloses a stair climbing robot and an operation and control method. The four or more mechanical legs are connected with the machine body, extend downwards and are used for standing or climbing stairs; the one or more manipulators extend out of the upper surface or the side surface or the front surface of the machine body and are used for grabbing handrails or handrails; the bearing mechanism is arranged on the machine body; the detection mechanism is arranged on the machine body or the mechanical legs or the manipulators; the computer control device and the man-machine interaction device are arranged in the system; the sensor and the storage battery are arranged in the system; the mechanical legs and the manipulator are driven and controlled by the computer control device, the machine body or the hip joint or the mechanical legs or the shoulder joint or the mechanical arm or a motor in the shell, a transmission mechanism and a sensor; the control system enables the step stepping action of the mechanical legs to be matched with the approaching or grasping or releasing action of the manipulator to the handrail or the handrail, so that the robot can safely and stably carry people to go up and down stairs.

Description

Technical Field

[0001] This technology belongs to the field of robotics. Background Art

[0002] In recent years, robot or "robotic dog" technology has made great progress. Among them, the more advanced industrial quadruped robots already have excellent terrain adaptability and stability, can move forward stably on slippery or extreme terrains, and can even carry dozens of kilograms of heavy objects to climb mountain roads. However, if it is used to carry people to climb mountains or stairs, higher safety, stability and comfort are required. The purpose of this technology is to propose a new transport robot technology that can climb stairs, with better safety, reliability, stability and comfort, making it possible for the elderly living in buildings without elevators to go up and down stairs by robot. Summary of the Invention

[0003] The purpose of this technology is to provide a new transport robot technology that can safely climb stairs, with better safety, reliability, stability and comfort.

[0004] This technology is first a stair-climbing robot, which consists of a fuselage, four or more mechanical legs connected to the fuselage and extending downward for standing or climbing stairs, one or more mechanical hands extending from the top, side or front of the fuselage for grasping handrails or railings, a carrying mechanism on the fuselage, a detection mechanism on the fuselage, mechanical legs or mechanical hands, an internal computer control device and a human-machine interaction device, internal sensors, and a storage battery.

[0005] Among them:

[0006] The "internal" includes the inside of the fuselage, mechanical legs or mechanical hands.

[0007] The fuselage can be composed of two or three parts connected or hinged to each other when needed, and can include a fuselage head;

[0008] The carrying mechanism can be a seat, a reclining chair, a stool, a loading platform, a loading compartment, etc. when needed.

[0009] The detection mechanism can be a lidar, a camera mechanism, a vision mechanism, or an ultrasonic radar when needed.

[0010] The human-machine interaction device can be a keyboard or a button, or a touch or voice input device, or a device that can wirelessly receive a remote control or a mobile phone.

[0011] Each mechanical leg consists of a thigh hinged to the fuselage or the hip joint of the fuselage and a calf hinged to the thigh, and the movement of the thigh or calf is driven and controlled by the computer control device, motors inside the fuselage, hip joint or mechanical leg housing, a transmission mechanism and sensors.

[0012] The manipulator consists of a large arm with one end hinged to the fuselage or the shoulder joint of the fuselage, a small arm with one end hinged to the other end of the large arm, and a hand hinged to the other end of the small arm or hinged to the other end of the small arm through a wrist. The hand consists of two or more mechanically articulated fingers that can open or close. The manipulator is driven and controlled by the computer control device, the motor and the transmission mechanism inside the fuselage or the shoulder joint of the fuselage or the outer shell of the robotic arm to move the large arm, the small arm or the mechanical fingers.

[0013] The sensor can be a stress sensor, a position, angle, length, distance sensor or an attitude sensor, or a force sensor or an action degree sensor for each part, and its signal can communicate with the computer control device.

[0014] The hinge can be realized through a joint or a multi-degree-of-freedom joint. For example, the hinge is realized through a leg joint, a multi-degree-of-freedom leg joint or a multi-degree-of-freedom hip joint, or through an arm joint, a multi-degree-of-freedom arm joint, a multi-degree-of-freedom wrist joint or a multi-degree-of-freedom shoulder joint.

[0015] When needed, the large arm or the small arm can be composed of two mutually articulated parts.

[0016] When needed, each mechanical finger can be composed of two or more mutually articulated parts.

[0017] The hand or the mechanical finger can be provided with an anti-slip and shock-absorbing layer or component.

[0018] When needed, the robotic leg can have a foot connected or hinged to the lower leg end, and the foot end or the sole of the foot can be provided with an anti-slip and shock-absorbing layer or component.

[0019] The movement of each robotic leg and the manipulator is regulated by the computer control device to make them cooperate with each other to be able to walk or climb stairs to meet the requirements of the user.

[0020] When needed, the detection mechanism of the stair-climbing robot can collect signals of the ground, room, stairs, railing, handrail or environment around the robot at any time and provide them to the computer control device. The computer control device decides and controls the running actions of each part of the robot with reference to the instructions of the human-machine interaction device and the signals of each sensor, including the stepping or pedaling of the robotic leg on the ground or steps, and the approaching, grasping or releasing of the railing or handrail by the manipulator, so that the actions of the robotic leg and the manipulator cooperate with each other when climbing stairs.

[0021] The seat, backrest, cushion or pedal on the fuselage can maintain a necessary angle under the automatic regulation of the computer control device when necessary.

[0022] When the stair-climbing robot is actually in use, the rider can sit on the back seat of the robot facing backward and issue commands to move, stop, or go up and down the stairs. The computer control device, according to the commands, obtains the surrounding environment signals through the detection mechanism on the body, judges the shape and position of the stairs, railings, or handrails, coordinates the actions of each mechanical leg, and makes the robot approach the steps and enter the climbing state. During climbing, each mechanical leg coordinates to lift the leg according to the commands of the computer control device, either step onto and support another step, or rotate, extend, or stop the supporting leg, etc., so that the robot moves up smoothly. At the same time, the manipulator extends forward or to the side, grasps the railing or handrail and then pulls or sends it backward, then releases the railing or handrail, and extends forward to grasp the railing or handrail in front, keeping in sync with the upward movement of the robot. This action can be carried out alternately by two or more manipulators, so that there is always one manipulator grasping the railing or handrail. In case of signs or abnormal states of the body sliding, tilting, or abnormal movement, the computer control device will command the manipulator to increase the force to maintain the state of grasping the railing or handrail to help the body maintain stability.

[0023] The operation of the stair-climbing robot when going downstairs is similar. Generally, the legs at the rear of the stair-climbing robot are longer than those at the front, so the robot can be selected to go downstairs backward.

[0024] This technology can also include an operation method of the stair-climbing robot, including:

[0025] Mechanical leg action: Each mechanical leg climbs or descends the steps according to the commands of the computer control device;

[0026] Manipulator action: During the process of each mechanical leg going up or down the steps according to the commands of the computer control device, the manipulator performs one or more of the following hand actions:

[0027] Hand action one: Extend forward, to the side, or backward to approach the position to be grasped of the railing or handrail;

[0028] Hand action two: Grasp the railing or handrail and then pull, send backward, or send forward;

[0029] Hand action three: Release the railing or handrail;

[0030] Hand action four: When needed, in the state of grasping the railing or handrail, maintain the state of the manipulator or increase the force of the manipulator to help the body maintain stability.

[0031] It can also include hand action five: When there are two or more manipulators, during the process or most of the process of the robot going up and down the stairs, each manipulator alternately moves forward to grasp the railing or handrail, or at least one manipulator is in the state of grasping the railing or handrail.

[0032] This can better ensure the safety of the robot when climbing stairs.

[0033] The present technology may also include a control method for the control system of the stair-climbing robot (for reference, see Figure 3 ), including: The system consists of a computer control device of the robot, a detection mechanism, motors inside the fuselage, hip joints or mechanical leg housings, a transmission mechanism, and sensors. The system performs the following processes according to the instructions of the computer control device:

[0034] Process 1 31: The system receives movement, stop, or up / down stair instructions from the interaction interface or the computer control device;

[0035] Process 2 32: The computer device determines the relative position and shape of the environment, steps, railings or handrails, or the posture or force condition of the robot or its various parts at any time based on the information provided by the detection mechanism or sensors, in order to perform the subsequent processes;

[0036] Process 3 33: The system controls the robot to approach or leave the steps;

[0037] Process 4 34: The system instructs the robot to enter the climbing or descending state, and simultaneously or successively performs the following operations, including:

[0038] Operation 1 35: Each mechanical leg climbs or descends the steps according to the instructions of the computer control device, including: stepping onto or off or supporting the steps, or rotating, extending, or stopping the supporting leg;

[0039] Operation 2 37: The fuselage moves up or down in coordination with the mechanical legs or mechanical claws;

[0040] Operation 3 36: The manipulator approaches and grasps the railing or handrail according to the instructions of the computer control device and then moves it backward or forward. These actions are performed by one manipulator or alternately or sequentially by two or more manipulators;

[0041] Operation 4: If the robot slides, tilts, has abnormal movements or abnormal states, it maintains the supporting state of the mechanical legs according to the instructions, and the manipulator maintains the grasping state or increases the force of the manipulator according to the instructions to help the fuselage maintain stability;

[0042] Process 5 40, 42: If there is no abnormality, continue with Operation 1, Operation 2, and Operation 3;

[0043] Process 6 44: The system receives a stop instruction from the interaction interface or the computer control device, and the robot stops moving.

[0044] For safety, the system can control: If there are two or more manipulators in Operation 3, during the process of the robot going up and down the stairs or most of the process, at least one manipulator is in the state of grasping the railing or handrail.

[0045] At present, the proportion of buildings without elevators in China is about 70%. It is very difficult for the elderly, the weak, the sick and the disabled living in these buildings to go up and down the stairs, and they often need help from others. Various stair-climbing wheelchairs or devices have been designed, but they still cannot reach the level of safety and practicality. Existing multi-legged load-carrying robots or robot dogs can already go up and down steps. However, if they carry people, accidents will occur in case of tipping over, which is not safe enough. The robot and related methods using this technology can provide people, especially the elderly, the weak, the sick and the disabled living in buildings without elevators, with a labor-saving and safe tool for going up and down stairs, so as to solve the long-standing difficult problem. This technology can use uniquely configured mechanical hands to maintain the grasp or alternating grasp of the handrail or railing during the process of going up and down stairs. It is equivalent to having a movable safety cable and booster, which can prevent the robot from slipping or even falling, ensuring sufficient safety guarantee and comfort for the rider (who can wear a seat belt), and having prominent creative features and very remarkable practicality. BRIEF DESCRIPTION OF THE DRAWINGS

[0046] Figure 1 FIG. 1 is a schematic diagram of the structure and operation of Embodiment 1 of the device and method for changing the flight direction and speed of a spatial object according to the present invention;

[0047] Figure 2 FIG. 2 is a schematic diagram of the structure and operation of Embodiment 2 of the present invention;

[0048] Figure 3 FIG. 3 is a schematic diagram of the control flow of the robot control system.

[0049] Among them, 11 is the fuselage, 12 is the thigh, 13 is the calf, 14 is the leg joint, 15 is the seat, 16 is the hip joint, 17 is the lidar, 18 is the keyboard, 19 is the step, 20 is the shoulder joint, 21 is the upper arm, 22 is the forearm, 23 is the arm joint, 24 is the wrist, 25 is the wrist joint, 26 is the mechanical finger, 27 is the fuselage head, 28 is the foot, 31 is to receive the action instruction, 32 is to determine the environment and the step railing handrail, 33 is to instruct the robot to approach or leave the step, 34 is to instruct the robot to enter the climbing or descending state, 35 is to instruct each mechanical leg to operate, 36 is to instruct each mechanical hand to operate, 37 is the synchronous movement of the fuselage, 38 is to judge the state of the fuselage, 39 is to judge the state of the fuselage or the grasping state, 40 is to continue the stepping operation, 41 is to maintain the supporting state of the mechanical leg, 42 is to instruct the mechanical hand to release and continue the operation, 43 is to keep the mechanical hand grasping and immobile, 44 is to stop running.

[0050] SPECIFIC EMBODIMENTS

[0051] The following are examples for illustration respectively.

[0052] Embodiment 1 (see Figure 1) is a quadruped single-arm stair-climbing robot, which consists of a fuselage 11, a seat 15 on the fuselage, a fuselage head 27, four mechanical legs and a manipulator. Each mechanical leg consists of a thigh 12, a calf 13, a leg joint 14 and a foot 28, and is connected to the fuselage through a hip joint 16. The manipulator consists of a large arm 21, a small arm 22, an arm joint 23, a wrist joint 25 and mechanical fingers 26, and is connected to the side of the fuselage through a shoulder joint 20. The feet and mechanical fingers are wrapped or lined with an elastic or soft or anti-slip or wear-resistant surface layer, which is beneficial to the pedaling of the mechanical legs on the surface of the steps 19 or other ground surfaces, and the grasping of the handrail or railing by the manipulator.

[0053] A lidar 17 or other detection mechanism is respectively installed on the rear side of the fuselage and the front side of the fuselage head, and a keyboard 18 is installed on the side of the fuselage head. A computer control device, sensors and a storage battery are installed inside the fuselage or inside the fuselage head. The sensors include stress sensors, position or angle or length or distance sensors and attitude sensors. The movement of the thigh or calf is driven and controlled by the motor, transmission mechanism and sensors inside the fuselage or hip joint or mechanical leg shell, and the movement of the large arm or small arm or mechanical fingers is driven and controlled by the motor and transmission mechanism inside the fuselage or fuselage shoulder joint or manipulator shell. The computer control device, lidar, motor, transmission mechanism and sensors inside the fuselage or hip joint or mechanical leg shell of the robot constitute a control system to control the stair-climbing behavior of the robot.

[0054] In the fuselage of Embodiment 1, there is a seat 15 on which a seat belt can be fastened. When going upstairs, the riding direction of the rider is opposite to the forward direction. When going downstairs, the robot needs to walk backwards, and the riding direction is the same as the forward direction. The rider can press the keyboard or give an upstairs command verbally. The computer control device of the control system of the robot will, according to the instruction, obtain the surrounding environment signal through the wide-angle lidar on the fuselage, judge the shape and position of the stairs or railing or handrail, coordinate the actions of each mechanical leg, make the manned robot approach the steps and enter the climbing state. When climbing, each mechanical leg coordinates and alternately performs actions such as lifting the leg, taking a step, supporting, and stepping onto another step according to the control system instruction. It can also rotate or extend or stop the supporting leg as needed to make the robot move up smoothly. At the same time, the manipulator extends forward or sideways, grasps the railing or handrail and then pulls or sends it backward, then releases the railing or handrail, extends forward to grasp the railing or handrail in front, and keeps moving up synchronously with the robot. In case of signs or abnormal states of slipping, tilting or abnormal movement of the fuselage or mechanical legs, the computer control device will command the manipulator to increase the force to keep grasping the railing or handrail, maintain stability and ensure the safety of the crew. The operation of the stair-climbing robot carrying the crew downstairs is similar. When reaching the destination upstairs or downstairs, the robot will stop according to the instruction, or continue to carry the crew into the house or outside the building.

[0055] The movement of the robot climbing stairs is carried out by the control system according to the control process, and the specific process is as follows:

[0056] In this embodiment, the control system performs the following multiple processes according to the instructions of the computer control device:

[0057] Process 1: The system receives the movement, stop, or up / down stair instructions from the interactive interface or the computer control device;

[0058] Process 2: The system's computer control device determines the relative position and shape of the environment, or the steps, railings, or handrails, or the posture or force condition of the robot or its various parts at any time according to the information provided by the detection mechanism or sensor;

[0059] Process 3: The system controls the robot to approach or leave the steps;

[0060] Process 4: The system instructs the robot to enter the climbing or descending state, and simultaneously or successively performs the following operations, including:

[0061] Operation 1: Each mechanical leg climbs or descends the steps according to the instructions of the computer control device, including: stepping up, stepping down, supporting the steps, or rotating, extending, or stopping the supporting leg;

[0062] Operation 2: The fuselage moves up or down in coordination with the mechanical legs or mechanical claws;

[0063] Operation 3: The manipulator grasps the railing or handrail and then sends it backward or forward according to the instructions of the computer control device. These actions are performed by one manipulator or alternately or sequentially by two or more manipulators;

[0064] Operation 4: When the fuselage shows a sliding, tilting, abnormal movement, or abnormal state, the manipulator, in the state of grasping the railing or handrail according to the instructions, maintains the grasping state or increases the strength of the manipulator to help the fuselage maintain stability.

[0065] Process 5: If there is no abnormality, continue with Operation 1, Operation 2, and Operation 3;

[0066] Process 6: The system receives the stop instruction from the interactive interface or the computer control device, and the robot stops moving.

[0067] Embodiment 2( Figure 2 ) The structure and operation mode of the robot are similar to those of Embodiment 1, except that the shoulder joint 20 to which the manipulator is connected is located above the head 27 of the fuselage, so the manipulator is more convenient for grasping the handrail of the stairs.

[0068] The robot structure and operation mode of Embodiment 3 are also relatively similar to those of Embodiment 2. The difference lies in that it has two manipulators, and the shoulder joints connected to them are respectively located at the upper part of the head of the fuselage and the side part of the fuselage. When the robot grasps the handrail or railing while climbing the stairs, the two manipulators can alternate. Preferably, at least one manipulator grasps the railing or handrail at any time. That is, when the first manipulator holds the handrail or railing, the other manipulator extends forward. When it holds the handrail or railing in front, the first manipulator releases and extends forward, advancing alternately. This can greatly increase the stability and safety of the manned robot when going up and down the stairs.

[0069] The robot structure and operation mode of Embodiment 4 are also relatively similar to those of Embodiment 3. The difference lies in that it has six mechanical legs, so that the body movement can be more stable when walking and climbing the stairs, which helps to enhance the comfort of the passengers.

[0070] The robot structure and operation mode of Embodiment 5 are similar to the above embodiments. However, it is equipped with a positioning device. For example, a device using the satellite positioning system can be used for positioning. Its control system has the ability to arrange the movement mode, route or destination of the robot according to the input positioning requirements, and can control the robot to automatically go to the predetermined location in the manned or unmanned situation.

[0071] The robot structure and operation mode of Embodiment 6 are also relatively similar to those of Embodiment 3. The difference lies in that in addition to the keyboard, it also has a voice input device, or a device that can wirelessly receive signals from a remote controller or a mobile phone. Therefore, its control system can receive oral instructions from the user, or accept remote control by the user or the controller using a remote controller or a mobile phone over a long distance.

Claims

1. A stair - climbing robot, which consists of a fuselage, four or more mechanical legs connected to the fuselage and extending downward for standing or climbing stairs, one or more mechanical hands protruding from the top, side or front of the fuselage for grasping handrails or balusters, a carrying mechanism on the fuselage, a detection mechanism on the fuselage, mechanical legs or mechanical hands, an internal computer control device and a human - machine interaction device, internal sensors, and a storage battery; The "internal" includes the inside of the fuselage, mechanical legs or mechanical hands; Each mechanical leg consists of a thigh hinged to the fuselage or the hip joint of the fuselage and a calf hinged to the thigh. The movement of the thigh or calf is driven and controlled by the computer control device, motors, transmission mechanisms and sensors inside the fuselage, hip joint or mechanical leg housing; Each mechanical hand consists of a large arm hinged at one end to the fuselage or the shoulder joint of the fuselage, a small arm hinged at one end to the other end of the large arm, and a hand hinged to the other end of the small arm or hinged to the other end of the small arm through a wrist. The hand consists of two or more mechanically articulated fingers that can open or close. The movement of the large arm, small arm or mechanical fingers of the mechanical hand is driven and controlled by the computer control device, motors and transmission mechanisms inside the fuselage, shoulder joint of the fuselage or mechanical arm housing. The movements of the mechanical legs and mechanical hands are regulated by the computer control device to cooperate with each other for walking or climbing stairs.

2. The stair - climbing robot according to claim 1, wherein the detection mechanism can collect signals of the ground, rooms, stairs, balusters, handrails or the environment around the robot at any time and provide them to the computer control device. The computer control device decides and controls the operating actions of each part of the robot with reference to the instructions of the human - machine interaction device and the signals of each sensor, including the stepping or pedaling of the mechanical legs on the ground or steps, and the approaching, grasping or releasing of the mechanical hands to the balusters or handrails, so that the actions of the mechanical legs and the mechanical hands cooperate with each other when climbing stairs.

3. The stair - climbing robot according to claim 1, wherein the carrying mechanism is a seat, a reclining chair, a stool, a loading platform or a loading compartment.

4. The stair - climbing robot according to claim 1, wherein the detection mechanism is a lidar, a camera mechanism, a vision mechanism or an ultrasonic radar.

5. The stair - climbing robot according to claim 1, wherein the human - machine interaction device is a keyboard or a button, or a touch or voice input device, or a device capable of wirelessly receiving a remote controller or a mobile phone.

6. The stair - climbing robot according to claim 1, wherein the sensors are stress sensors, position, angle, length, distance sensors or attitude sensors, or force sensors or action degree sensors at each part, and their signals are communicated with the computer control device.

7. The stair - climbing robot according to claim 1, wherein the hinge is realized through a joint or a multi - degree - of - freedom joint.

8. This technology also includes an operating method for the stair - climbing robot according to claim 1, including: Mechanical leg action: Each mechanical leg climbs or descends the steps according to the instructions of the computer control device; Mechanical hand action: During the process of each mechanical leg ascending or descending the steps according to the instructions of the computer control device, the mechanical hand performs one or more of the following hand actions: Hand movement 1: Reach forward, sideward, or backward to approach the position to be grasped on the railing or handrail; Hand movement 2: Grasp the railing or handrail and then pull, push backward, or push forward; Hand movement 3: Release the railing or handrail; Hand movement 4: When necessary, while grasping the railing or handrail, maintain the state of the robotic arm or increase the strength of the robotic arm to help the fuselage maintain stability.

9. The operation method of the stair-climbing robot according to claim 8 further includes Hand movement 5: When there are two or more robotic arms, during the process or most of the process of the robot going up and down the stairs, each robotic arm alternately moves forward to grasp the railing or handrail, or at least one robotic arm is in the state of grasping the railing or handrail.

10. The present technology may further include a control method for the control system of the stair-climbing robot according to claim 1, including: The system consists of the computer control device of the robot, the detection mechanism, the motors inside the fuselage, hip joint, or mechanical leg housing, the transmission mechanism, and the sensors. The system performs the following processes according to the instructions of the computer control device: Process 1: The system receives the movement, stop, or up / down stair instructions from the interactive interface or the computer control device; Process 2: The computer device determines at any time the relative position and shape of the environment, steps, railing, or handrail, or the posture or force condition of the robot or its various parts based on the information provided by the detection mechanism or sensors, in order to perform the subsequent processes; Process 3: The system controls the robot to approach or leave the steps; Process 4: The system instructs the robot to enter the climbing or descending state, and simultaneously or successively performs the following operations, including: Operation 1: Each mechanical leg climbs or descends the steps according to the instructions of the computer control device, including: stepping onto or off or supporting the steps, or rotating, extending, or stopping the support leg; Operation 2: The fuselage moves up or down in coordination with the mechanical leg or mechanical claw movement; Operation 3: The robotic arm approaches and grasps the railing or handrail according to the instructions of the computer control device and then pushes backward or forward. These actions are performed by one robotic arm or alternately or sequentially by two or more robotic arms; Operation 4: If the robot shows a downward slide, tilt, abnormal movement, or abnormal state, maintain the support state of the mechanical legs according to the instructions, and the robotic arm maintains the grasping state or increases the strength of the robotic arm according to the instructions to help the fuselage maintain stability; Process 5: If there is no abnormality, continue with Operation 1, Operation 2, and Operation 3; Process 6: The system receives the stop instruction from the interactive interface or the computer control device, and the robot stops moving.

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