An all-weather autonomous intelligent quadruped robot

Abstract

The present invention provides an all-weather autonomous intelligent quadruped robot. The all-weather autonomous intelligent quadruped robot comprises two units: a motion control CPU and an application layer AI processor. The motion control CPU calculates the force to be output in the next step based on the inertial unit of the current body posture feedback and the torque, position and speed sensors of all joint motors and the plantar force pressure sensor. The all-weather autonomous intelligent quadruped robot provided by the present invention has good ground adaptability and an AI carrier, which can bring convenience to human life and survive in environments where humans cannot survive, where energy acquisition is crucial, self-care ability, thinking and emotional functions, including visual and auditory systems, and excellent maneuverability. It is suitable for autonomous learning and evolution without human intervention all day long. After optimized design, it can be used for emotional care at home and unmanned long-term field inspections.

Description

Technical Field

[0001] The present invention relates to the field of robotics technology, and in particular to an all-weather autonomous intelligent quadruped robot. Background Art

[0002] As a newly emerging industry, large-scale bionic robot dogs have mostly completed the normal walking and moving functions in the industry so far. The functions are relatively simple and mechanical, and many necessary details in the application have not been considered. However, if they are put into large-scale application, these details will seriously affect the customer experience of the product. The present invention makes necessary improvements and improvements on the basis of the company's existing robot dogs to meet the all-weather working requirements of robot dogs. The current robot dogs do not have their own vision to find energy sources and recharge themselves, and have not considered the problem of power backup energy supply when acting alone in the wild. The power joints of the robot dog's legs are the most important components of the robot dog. Conventional designs must comprehensively consider weight, strength, appearance, assembly, and excellent leg structure design and geometry, which is also very helpful for simplifying motion control software. Intelligent robot dogs must have basic vision to interact with the human environment in order to complete obstacle avoidance and information entry, but the robot dog's vision is different from that of the human eye, which can rotate flexibly, so the planning of the field of vision is difficult. That is, the arrangement of the robot dog's visual camera must meet the normal working angle of view. The robot dog is mass-produced. In order to be identifiable, and it often collides during use, it must have the property of replacing skin or shell. After being integrated into the family, the metal structure of the robot dog may cause unconscious harm to the user. Therefore, the design of the key mechanical parts must be reasonable. When in use, if the robot dog has a display device that can interact with people and is endowed with hearing and voice, communication can be more convenient. Modern robot dogs not only have local CPU brains, but also need to communicate with the remote CPU brain, as well as transfer memory, emotion and thinking. This is almost impossible for carbon-based life. However, with the help of existing technologies of local information collation, intermediate data transmission, and remote mother servers, the transfer of silicon-based life can be realized. This design has the above physical properties. In addition, based on the company's actual production and manufacturing experience, in order to facilitate large-scale production, the core component structure design is optimized. Description and implementation details are given below.

[0003] Disadvantage 1: Existing robot dogs must be charged manually and cannot rely on vision to find charging devices. In addition, without a dedicated charging device in the wild, they do not have the ability to wake up and obtain energy on their own. The practicality of the above two designs of such robot dogs is greatly reduced.

[0004] Disadvantage 2: Most of the existing robot dogs are experimental products, with numerous parts in their leg designs, many of which are belt-driven, prone to slipping during operation and damaged over time. Some are quadrilateral linkage mechanisms. In the design of quadrilateral linkage mechanisms, if attention is not paid to the construction and optimization of the side length of the quadrilateral, the difficulty of the software layer will increase. In addition, the traditional design structure is complex and heavy, which will cause the maneuverability of the finished product to decline, and it does not have the basic design for large-scale production. The several stress-bearing parts of the linkage transmission almost determine the service life of the robot dog. In the joint movement of the robot dog, there will be left and right mechanical dead points and collision points. This is a characteristic of the usual quadrilateral linkage and must be avoided.

[0005] Disadvantage 3: The power unit of the robot dog is mainly composed of a motor reducer controller, which needs to have long-term stable operation, complete functions, and easy production. The power unit is basically an articulated type, and the articulated motors are basically positional within 360 degrees. Under normal use, the normal movement of the joint is within 180 degrees. Because a reducer is used, the joint moves 360 degrees, and the internal motor moves 360×N degrees, where N is the reduction ratio. Current absolute encoders are basically single-turn, and multi-turn mechanical encoders have a complex structure and are so thick that they cannot be used in this product. The conventional practice is to add a backup battery to follow the number of turns at any time. The existing problems are obvious. When the battery is dead, the number of turns will disappear, and after a surge pulse, it will also be disordered. This design can reasonably avoid this problem.

[0006] Disadvantage 4: As mentioned above, robot dogs are mass-produced in factories. It is difficult to distinguish multiple robot dogs when placed together, so the shell and coat must be designed, and collision and friction will cause them to become dirty and old. In addition, in order to facilitate customers to modify the skin themselves, installation holes need to be left on the legs to facilitate customers to DIY, which is not available in existing products.

[0007] Disadvantage 5: The existing robot dog vision should have both long-range and short-range capabilities, that is, it should be able to see distant obstacles and pay attention to the environment under its feet at the same time. Most conventional designs only pay attention to the distance and cannot see the road conditions under its feet well, which is not ideal in environments with potholes or stairs.

[0008] Disadvantage 6: The foot design is mainly for shock absorption and support. The existing designs are either too elastic or too rigid, causing the robot dog to rebound instantly or vibrate violently when it steps on the ground, affecting the stability of the system. In addition, in some applications, the pressure on the sole of the foot needs to be transmitted to the system for control decisions. In this way, the signal needs to be transmitted from the sole of the foot to the foot through a long wire, which is difficult to design and even more difficult to implement.

[0009] Disadvantage 7: The internal circuit layout can facilitate mass production, reduce the number of wiring and wiring harnesses, reduce the difficulty of assembly, and save space inside the machine to place more things. Therefore, the reasonable layout of the internal circuit is necessary. Existing products do not have these characteristics. This design provides a solution.

[0010] Disadvantage 8: When the robot dog is repaired or debugged by the user, or during production, abnormalities may occur. At this time, the robot dog itself needs to be designed with protection functions and emergency protection when the user finds abnormalities. The usual design installs this protection on the robot dog, which is not reasonable, because when the robot dog is abnormal, if you touch the emergency stop on the robot dog, it is possible to cause harm to the human body or the robot body during the process of the robot dog's limbs dancing violently.

[0011] Disadvantage 9: In addition to the ability to walk, an intelligent robot dog must also have machine vision to determine the location of the owner's obstacles and dangerous energy devices. In order to get as close as possible to and surpass existing real creatures, it must have basic thinking judgment and virtual emotional logic. This will generate a large amount of data. This data represents the robot dog's neural network and intelligence. During the robot dog's damage, repair and evolution process, this data must be backed up remotely and on a remote server, or the neural network must be transferred to a new machine. The hardware properties corresponding to these basic functions must all be available when designing the robot dog. Existing robot dogs do not have these functions or are missing these functions. If the lost data cannot be successfully transferred to the new robot dog, it is equivalent to the user adopting a new dog, which is unacceptable to the user.

[0012] Disadvantage 10: In addition, for large-scale production, the planetary carrier of the reducer is also a casting. The conventional design requires secondary finishing after casting. The biggest problem is the problem of accurate tool alignment again. The existing conventional planetary carrier structure cannot meet this requirement and is only suitable for single CNC processing, which will reduce the accuracy and efficiency.

[0013] Disadvantage 11: Robot dogs usually need to interact with people, and screens and audio are more convenient. Therefore, a display device is added to the face of the robot dog to show the expression and status of the machine. The addition of voice and microphone can make the robot dog have the ability to hear and communicate with users by voice. These functions are partially or completely missing in existing robot dogs.

[0014] Disadvantage 12: Because most of the parts of the robot dog are made of metal, some components, such as joints, can easily cause harm to the human body, such as fingers, during movement. Therefore, how to reduce this harm and improve the design are issues that need to be addressed. However, the existing robot dogs do not take these into consideration and pose a major safety hazard.

[0015] Therefore, it is necessary to provide an all-weather autonomous intelligent quadruped robot to solve the above technical problems. Summary of the invention

[0016] The present invention provides an all-weather autonomous intelligent quadruped robot, which solves the problem that the batteries of quadruped robots up to now have to be replaced manually, and the users need to charge the robot dog themselves when it runs out of power, and the robot dog may always be in a dead state in the wild or in the wild without power supply.

[0017] In order to solve the above technical problems, the all-weather autonomous intelligent quadruped robot provided by the present invention includes: a motion control CPU and an application layer AI processor. The motion control CPU calculates the force to be output in the next step based on the inertial unit of the current body posture feedback and the torque, position and speed sensors of all joint motors and the plantar force pressure sensor, and transmits it to the twelve joint motors through local communication conversion to complete the closed-loop control of the action layer. The application layer AI processor is the core of the unit, and the local communication conversion is provided with a user-defined CAN; a power management system, which is electrically connected to the input ends of the motion control CPU and the application layer AI processor respectively, and is responsible for managing the wired and wireless charging system of the lithium battery. The input end of the power management system is provided with a solar charging system for backup; a visual and auditory unit, which is connected to one end of the application layer AI processor, and the visual and auditory unit is responsible for A large number of neural network units required for processing the visual, auditory and emotional evolution system; a display unit, the input end of the display unit is connected to one end of the application layer AI processor, and is used to process some non-urgent matters through the application layer AI processor; a GPS unit, one end of the GPS unit is connected to one end of the application layer AI processor; anomaly detection protection, the anomaly detection protection is arranged on the power management system, the power management system is provided with a wireless emergency notification protection, and the power management system is provided with an outdoor expansion power interface; a single-button wireless emergency stop transmitter, the single-button wireless emergency stop transmitter is wirelessly connected to the wireless emergency notification protection; the main body is composed of a body cavity part composed of a tail protection cover, a face end cover, a motor protection shell and a solar energy device, and four legs, wherein each leg is equipped with three power units to control the side swing of the thigh, the front and back of the thigh, and the extension and retraction of the calf respectively; the machine vision part is completed by the camera at the bottom of the figure and the face camera.

[0018] The solar energy device is a solar power panel mounted outside a part of the fuselage or the entire upper shell of the fuselage is a solar cell substrate structure.

[0019] Compared with the related art, the all-weather autonomous intelligent quadruped robot provided by the present invention has the following beneficial effects:

[0020] The present invention provides an all-weather autonomous intelligent quadruped robot. The quadruped robot has good ground adaptability and an AI carrier, which can bring convenience to human life and survive in environments where humans cannot survive. It also has the possibility of surviving independently from humans, in which energy acquisition is crucial. The robot has self-care ability, thinking and emotional functions, including visual and auditory systems, and excellent maneuverability. It is suitable for autonomous learning and evolution in all-weather situations without human intervention. After optimized design, it can be used for emotional care at home and unmanned long-term field inspections. BRIEF DESCRIPTION OF THE DRAWINGS

[0021] Figure 1 A system block diagram of the all-weather autonomous intelligent quadruped robot provided by the present invention;

[0022] Figure 2 A schematic diagram of a tripod structure of the all-weather autonomous intelligent quadruped robot provided by the present invention;

[0023] Figure 3 for Figure 2 A sectional view of the overall side shown;

[0024] Figure 4 for Figure 2 a bottom view of the whole shown;

[0025] Figure 5 for Figure 2 The overall transverse cross-sectional view shown;

[0026] Figure 6 for Figure 2 The composition diagram of the leg shown;

[0027] Figure 7 for Figure 2 The structural composition diagram of the leg shown;

[0028] Figure 8 for Figure 7 The structural diagram of the FM part shown;

[0029] Fig. 9 for Figure 7 The structural schematic diagram of the FN part shown;

[0030] Fig.10 for Figure 7 The schematic diagram of the structure of the FP part shown;

[0031] Fig.11 for Figure 2 The schematic diagram of the structure of the power unit part shown;

[0032] Fig.12 for Fig.11 The schematic diagram of the overall structure of the power unit shown;

[0033] Fig.13 for Figure 2 The schematic diagram of the structure of the robot dog with its legs folded;

[0034] Fig.14 A schematic diagram of the structure of the protective coat of the robot dog provided by the present invention;

[0035] Fig.15 A schematic diagram of the structure of the foot portion of the robot dog provided by the present invention;

[0036] Fig.16 A schematic diagram of the structure of the power distribution board provided by the present invention;

[0037] Fig.17 A schematic diagram of the structure of the anti-pinch device provided by the present invention;

[0038] Fig.18 A schematic diagram of the structure of the front cover of the robot dog provided by the present invention;

[0039] Fig.19 A diagram showing the transfer mode of the robot dog's thinking neural network provided by the present invention;

[0040] Fig. 20 This is a diagram of the process modification of the planetary carrier provided by the present invention.

[0041] Numbers in the figure: A.1, motion control C.PU, A.2, user-layer AI processor, A.3, power management system, A.4, local communication conversion, A.5, joint motor, A.6, wired and wireless charging system, A.7, solar charging system, A.8, visual and auditory unit, A.9, display unit, A.10, GPS unit, A.11, user-defined CAN communication interface, A.12, inertial unit, A.13, wireless control information reception, A.14, user common communication interface, A.15, torque, position and speed sensing, A.16, plantar force pressure sensor, A.17, user external power supply interface, A.18, abnormal detection protection, A19, wireless emergency communication protection, A.20, single-button wireless emergency stop transmitter, B.1, robot dog calf, B.2, detachable foot end, B.3, sole cushioning, B.4, solar device, B.5, anti-collision protection cover, B.6, bottom camera, B.7, facial camera, B.8, display device, B.9, motor protection cover, B.10, tail protection cover, B.11, thigh motor, B.12, calf motor, B.13, calf joint pin, B.14, calf connecting rod pin, B.15, facial end cover, C.1, wireless charging device, C.2, wireless data transmission module, C.3, motion control C.PU, C.4, neural network AI processor, C.5, power management board, C.6, local data C .AN conversion board, C.7, front camera, C.8, bottom camera, C.9, power distribution board, C.10, display screen, C.11, current limiting level dial switch, C.12, leg end cover fastening screw hole, C.13, calf through nut pin, C.14, calf connecting rod through nut pin, C.15, calf structure, C.16, foot support, C.17, foot shock absorption buffer hemisphere, C.18, solar charging panel, C.19, tail power distribution board signal and power bus, C.20, front power distribution board signal and power bus, K1, bottom camera, K2, front camera, K3, wireless charging receiving device, K4, wireless charging pile sending device, K5, facial display device, K6, pronunciation Equipment, K7, sound pickup equipment, G.1, protective rubber cover, G.2, calf hollow weight reduction structure, G.3, removable foot frame, FL, cam output disc, FH, limit protrusion, FM, output pin, FG, upper and lower thigh cover clamping screws, FK, customer DIY reserved screw holes, FP, calf connecting rod through pin, FN, calf joint through pin, FM1, cam disc output pin, FM2, transmission connecting rod, FM3, needle bearing, FN1, calf joint shaft locking screw, FN2, calf joint through nut, FN3, first calf joint bearing, FN4, second calf joint bearing, FN5, anti-locking annular hollow top column tube, FN6, calf, FN7, thigh left shell, FN8. Right thigh shell, FP1, calf connecting rod shaft locking screw, FP2, calf shaft locking inner nut, FP3, calf connecting rod, FP4, calf connecting rod needle bearing, FP5, gasket, FP6, nut stop point, FP7, first locking position schematic point, FP8, second locking position schematic point, M.1, cross roller bearing, M.2, output flange, M.3, rotor, M.4, stator coil, M.5, gear ring, M.6, sun gear, M.7, Planetary gear, M.8, drive board, M.9, encoder magnet, M.10, encoder IC, M.11, flange encoder Hall, M.12, flange position magnet, S.1, robot dog thigh outer cover, S.2, robot dog thigh inner cover, V.1, robot dog protective jacket bottom view, V.2, robot dog protective jacket top view, V.3, protective jacket zipper structure, Y.1, plantar skeleton, Y.2, plantar cushioning hemisphere, Y.3, assembly protrusion, Y.4 , assembly groove, Y.5, plantar cushioning and plantar bone adjustable height, Y.6, sole, X.1, side swing joint motor, X.2, joint motor mounting beam, X.3, power and signal distribution board, X.4, locking screw, X.5, motor power plug, X.6, motor signal line power line enters the fuselage PCB opening, X.7, main board power line output terminal, X.8, CAN signal line to the motor, X.9, CAN signal line enters, Z.1, finger pinching danger zone 1 special Write, Z.2, upper hand clamping area, Z.3, lower hand clamping area, Z.4, leg end hand clamping area, Z.5, leg inner hand clamping area, Z.6, leg back hand clamping area, Z.7, anti-pinch kit, Z.8, anti-pinch flexible material, Q.1, front shell design, Q.2, shell support plate, Q.3, motor cover, J.1, local two robot dogs wired connection transfer, J.2, local wireless connection transfer, J.3, remote data exchange transfer through cloud server. . DETAILED DESCRIPTION

[0042] The present invention will be further described below in conjunction with the accompanying drawings and implementation modes.

[0043] Please refer to Figure 1 , Figure 2 , Figure 3 , Figure 4 , Figure 5 , Figure 6 , Figure 7 , Figure 8 , Fig. 9 , Fig.10 , Fig.11 , Fig.12 , Fig.13 , Fig.14 , Fig.15 , Fig.16 , Fig.17 , Fig.18 , Fig.19 and Fig. 20 ,in, Figure 1 A system block diagram of the all-weather autonomous intelligent quadruped robot provided by the present invention; Figure 2 A schematic diagram of a tripod structure of the all-weather autonomous intelligent quadruped robot provided by the present invention; Figure 3 for Figure 2 A sectional view of the overall side shown; Figure 4 for Figure 2 a bottom view of the whole shown; Figure 5 for Figure 2 The overall transverse cross-sectional view shown; Figure 6 for Figure 2 The composition diagram of the leg shown; Figure 7 for Figure 2 The structural composition diagram of the leg shown; Figure 8 for Figure 7 The structural diagram of the FM part shown; Fig. 9 for Figure 7 The structural schematic diagram of the FN part shown; Fig.10 for Figure 7 The schematic diagram of the structure of the FP part shown; Fig.11 for Figure 2 The schematic diagram of the structure of the power unit part shown; Fig.12 for Fig.11 The schematic diagram of the overall structure of the power unit shown; Fig.13 for Figure 2 The schematic diagram of the structure of the robot dog with its legs folded; Fig.14 A schematic diagram of the structure of the protective coat of the robot dog provided by the present invention; Fig.15 A schematic diagram of the structure of the foot portion of the robot dog provided by the present invention; Fig.16 A schematic diagram of the structure of the power distribution board provided by the present invention; Fig.17 A schematic diagram of the structure of the anti-pinch device provided by the present invention; Fig.18 A schematic diagram of the structure of the front cover of the robot dog provided by the present invention; Fig.19The diagram of the transfer mode of the robot dog's thinking neural network provided by the present invention. An all-weather autonomous intelligent quadruped robot includes two units: a motion control CPU A.1 and a user layer AI processor A.2. The motion control CPU A.1 calculates the next output force based on the inertial unit of the current body posture feedback A.12 and the torque, position and speed sensors of all current joint motors A.5 and the A1.16 plantar force pressure sensor, and transmits it to the twelve joint motors A.5 through the local communication conversion A.4 to complete the closed-loop control of the action layer. The user layer AI processor A.2 is the core of the unit, and the local communication conversion A.4 is provided with a user Custom CANA.11; power management system A.3, the power management system A.3 is electrically connected to the input end of the motion control CPU A.1 and the user layer AI processor A.2 respectively, the power management system A.3 is responsible for managing the wired and wireless charging system A.6 of the lithium battery, and the input end of the power management system A.3 is provided with a solar charging system A.7 for backup; visual and auditory unit A.8, the visual and auditory unit A.8 is connected to one end of the user layer AI processor A.2, and the visual and auditory unit A.8 is responsible for processing the visual and auditory emotional evolution system A large number of neural network units required by the system; a display unit A.9, the input end of the display unit A.9 is connected to one end of the user layer AI processor A.2, and is used to process some non-urgent matters through the user layer AI processor A.2; a GPS unit A.10, one end of the GPS unit A.10 is connected to one end of the user layer AI processor A.2; an abnormality detection protection A.18, the abnormality detection protection A.18 is arranged on the power management system A.3, and the power management system A.3 is provided with a wireless emergency notification protection A.19, the power management system A. 3 is provided with an outdoor power supply interface A.17; a single-button wireless emergency stop transmitter A.20, which is wirelessly connected to the wireless emergency notification protection A.19; the main body is composed of a body cavity composed of a tail protection cover B.10, a face end cover B.15, a motor protection shell B.9 and a solar device B.4, and four legs of G, wherein each leg is equipped with three power units to control the side swing of the thigh, the front and back movement of the thigh, and the extension and contraction of the calf, respectively; the machine vision part is completed by the bottom camera B.6 and the face camera B.7 in the figure. Among them, the solar device is a partial external solar power panel of the fuselage or the entire upper shell of the fuselage is a solar cell substrate structure.

[0044] The core unit is mainly composed of two units: the motion control CPU A.1, which is responsible for dynamic analysis and solution, and the AI ​​processor A.2. The motion control unit is responsible for walking, running, jumping, body balance control, and the required dynamics and kinematics real-time solution, as well as real-time communication with each joint motor, while the AI ​​control unit is responsible for a large amount of AI calculations required for machine vision, audio of environmental interaction, and the evolutionary control of the emotional system. The motion control unit calculates the next output based on the inertial unit of the current body posture feedback A.12 and the current position, speed, and torque information of all joint motors A.15 and A1.16. The force is transmitted to the 12 joint motors A.5 through the communication board to complete the closed-loop control of the action layer. The AI ​​processor A.2 of the user layer is the core of the unit, which is responsible for processing a large number of neural network units required by the visual, auditory, and emotional evolution systems. The mounted visual and auditory units A.8, the AI ​​unit also needs to handle some non-urgent matters, the display unit A.9, the energy power supply is the core unit of the mobile robot, the power management system A.3 is responsible for managing the wired and wireless charging system A.6 of the lithium battery, the wired and wireless charging system A.6 is mainly for contact wired charging and non-contact wireless charging, and is used for independent survival in the wild without solar energy;

[0045] Start the solar charging system A.7 to ensure that it can survive independently even without artificial power. In addition, when the robot dog is abnormal, it usually causes a surge in energy current. In this case, it needs to have the ability to detect it. The abnormal detection protection A.18 of the current abnormality detection is convenient to turn off the power of the whole machine to protect the robot dog. In addition, it can also be manually shut down through the wireless emergency notification protection A.19. In many cases, customers need to expand the equipment themselves. At this time, the internal energy supply unit needs to be led out to the user external power interface A.17 and the user-defined CAN communication interface A.11, respectively leading out the power supply and communication interface for customer expansion. In addition, the robot dog survives independently in the wild, or gets lost. With the help of the built-in GPS unit A.10, it can return to the designated location according to the coordinate position. The built-in AI neural network unit of the robot dog records the robot dog's visual, auditory and event recording units, as well as virtual units. These units often need to be remotely backed up to a remote server, or transferred to another robot dog through a server as a bridge, and the data migration process that can directly transfer or transmit thinking data between robots can be completed by the built-in remote data module of this machine.

[0046] The main body includes a thigh shell FE, which has raised columns and grooves respectively. The inner and outer shells of FE are tightly buckled, which plays a role of tight connection and impact dispersion to the entire shell. The screws passing through FE press the upper and lower shells together and the upper and lower thigh covers are fixed with screws FG. Finally, a silicone protective cover of protective cover G.1 is added.

[0047] The robot dog consists of a thigh shell as shown in the figure FE, which should be light enough, strong, easy to assemble, and have beautiful lines in appearance. It is composed of two halves, left and right. E.1 in the figure is a raised column, which can be inserted into the groove shown in E.2, so that the inner and outer shells are tightly buckled, which plays a role of close connection and impact resistance is dispersed to the entire shell. The screws through E.1 and E.2 in the figure press the upper and lower shells together as shown in FG in the figure, and finally add a protective cover as shown in G.1 in the figure. The silicone protective cover acts as a buffer when falling, and no screws are exposed, as shown in G in the figure, and maintenance is also convenient. The calf transmission of this design is a quadrilateral connecting rod structure;

[0048] When the calf is extended to the limit or retracted to the limit, a mechanical limit is required, otherwise the quadrilateral linkage mechanism will be stuck when it exceeds the limit position. The solution is to add a limit block at the FH position as shown in the figure. In this design, it is a raised block cast together with the outer shell. When the calf is extended, the cam plate drives the connecting rod to move, and the top L of the connecting rod will hit H, which plays a limiting role to avoid exceeding the dead zone when the leg is extended. When the leg is retracted to the limit, the calf arc composed of CD and the thigh arc composed of AD overlap and squeeze together, which plays a role of self-heating limit of the leg retraction limit. The design of the three connection points is very important. It is necessary to ensure high strength and low friction and to ensure the accuracy after connection. The structures of these three key points are shown in FM, FN and FP in the figure. The bearings use needle roller structure (FM3 and FP4) as much as possible, with two-way support. FP1 in the figure is a countersunk screw, and FP2 in the figure is an internal thread nut. Both can pass through the needle roller bearing FP4 and then be locked. Note that after the FP4 nut and FP.2 screw are locked in the figure, the part where FP7 and FP8 are located is clamped. This ensures that after the nut and screw here are locked, the nut bolt FP4 will not slide in the aluminum frame, because FP4 nuts are usually made of steel. If they slide in the aluminum frame, their life and accuracy will be greatly reduced. FN1 and FN2 in the figure form similar structures. In the design of FN in the figure, it should be noted that in order to ensure the accuracy of the mechanical structure, FN6 in the figure is around the axis FN2 in the left and right thigh shells FN7 and FN8. The calf has no radial sliding or axial sliding relative to the axis FN2. The design here is that in the calf cavity, the outer rings of the first deep groove ball bearings FN3 and the second deep groove ball bearings FN4 are sunk on both sides and are limited by the calf structure FN6, and the inner ring of the bearing is FN5 built-in cylindrical ring Limit, so that after the nut FN1 and the nut FN2 are locked, the lateral sliding clearance can be limited to the minimum. Component FN6 moves in the frame composed of FN7 and FN8, and will encounter friction problems. The membrane material here is transferred to two bearings, FN3 and FN4 because of the design characteristics of FN as shown in the figure. In this way, axial friction and radial friction will occur on these two bearings. The two bearings are deep groove ball bearings. Deep groove ball bearings can withstand both large radial forces and axial friction. There are mounting holes on the outside of the legs for customers to mount their own shell skins, such as the spare mounting holes shown in FK in the figure.

[0049] The bottom of the main body is provided with machine vision, which includes a bottom camera K1, a front camera K2, a wireless charging receiving device K3, a wireless charging pile sending device K4, a facial display device K5, a sound producing device K6, and a sound pickup device K7.

[0050] Most of the robot dog's sensors, such as vision, hearing, audio interaction, and facial expression units, are concentrated on the head. The addition of these devices can make the robot dog more practical. The reasonable selection and arrangement of the sensor units need to be comprehensive, and the structure should be as light as possible and easy to assemble;

[0051] This design is implemented as follows:

[0052] Machine vision is the core component of the robot dog, which is responsible for collecting information about external objects, as well as judging obstacles and road conditions. Unlike human eyes, which can move up, down, left and right, it is necessary to look far away and pay attention to the feet. The layout of this design is shown in K.1 and K.2 in the figure. This camera cloth can cover the feet and the front. In addition, the charging device as shown in the figure K.4 is also responsible for obtaining the detection of this camera. The robot dog often interacts with people, and can express the information intuitively through the sound synthesis speaker as shown in the figure K.6 and the display device where K.5 is located in the facial expression figure. The front part of this robot dog is equipped with a display screen K.5, which can display expressions, system information and other functions. In addition, on the head Equipped with microphone sound pickup K.7, human-computer interaction and human-machine interaction are frequent occurrences, so a simple display interface is necessary. In this design, the robot dog's face has a realistic device that can display the robot dog's status, expression, and setting parameters. The head has more sensors and the structural design is as light and strong as possible, with a surrounding design. The face shell design is shown in Q.1 in the figure and is assembled as shown in B.15 in the figure. In order to strengthen the structure, the reinforcing rib structure shown in Q.2 is inserted inside. In addition, in order to hide the side swing motor, which is beautiful and safe, a side swing motor cover is added as shown in Q.3 in the figure and B.9 after assembly. It can be seen that the side swing motor is completely surrounded by Q.3, which is beautiful and durable.

[0053] A body shell is arranged on the outside of the main body, and the body shell includes V.1 in the bottom view of the robot dog protective jacket, V.2 in the top view of the robot dog protective jacket, and a zipper structure V.3 of the protective jacket.

[0054] In actual use, since each robot dog is produced the same, it is easy to confuse and lose its individuality. In addition, if the robot dog does not have a protective cover, it is easy to be scratched and broken. It is necessary to design a protective coat or vest for the robot dog. In order to meet the customer's own modification and OEM needs, the shell attachment holes are left on the body to facilitate the customer to assemble the shell by themselves.

[0055] As shown in the figure, V.1 is the bottom view of the flexible jacket designed according to the appearance of the robot dog, V.2 is the top view of the flexible protective cover, and V.3 is the zipper structure for convenient removal of the protective cover. The design here is not limited to the zipper, and can be buttons or felt structures, etc.

[0056] The bottom head and tail of the main body are both provided with foot units, and the foot units include a plantar skeleton Y.1, a plantar buffer hemisphere Y.2, an assembly protrusion Y.3, an assembly groove Y.4, a plantar buffer and plantar bone adjustable height Y.5, and a plantar Y.6.

[0057] The robot dog foot unit has an excellent design that helps to significantly reduce noise and has a mechanical buffering effect. In addition, the sole force can also be fed back to the system for sole force detection. This design is shown in the figure Y. Y.1 is a hollow frame to reduce weight. The material can be plastic or metal. The design must ensure that the sole is as flat as possible as shown in the figure Y.1 with a large arc structure. This can ensure that the foot steps on the ground with sufficient surface contact rather than point contact. Sufficient contact with the ground can ensure the robot dog's stable standing. Y.2 is a hemispherical flexible buffer, which can be made of rubber, silicone and other structures, and the protrusion shown in Y.3 can be easily buckled into the groove of Y.4, which is relatively convenient to replace. The height shown in Y.5 is the height between the buffer rubber and the sole skeleton. Different elastic effects can be easily obtained by adjusting the flexibility of the rubber and this height. The protective cover can be replaced, with built-in wireless and force sensing devices. Good materials are selected and sufficient height is designed to ensure sufficient buffering and no rebound.

[0058] The main body is provided with a motor protection device, which includes a side swing joint motor X.1, a joint motor mounting beam X.2, a power and signal distribution board X.3, a locking screw X.4, a motor power plug X.5, a motor signal line power line entering the fuselage PCB opening X.6, a main board power line output terminal X.7, a CAN signal line to the motor X.8, and a CAN signal line entry X.9.

[0059] In order to mass produce and route the wires, it is necessary to route the wires as little as possible inside. The front and rear leg motors can be fixed on a base plate and communication lines can be set, as shown in the figure. This reduces the wiring and when it is subjected to external impact, the wires can be pulled out to protect the motor from being burned. This easy-to-remove structure can also be used to design a protective device for a single motor on the board. For example, the two side swing motors taking X.1 as an example in the figure rely on the screw holes that penetrate the PCB board X.3 mounting beam X.2 and the back of the X.1 motor at the same time, and the three are combined to form a front module. This modular structural design, because of the introduction of the power distribution board X.3, all the wiring harnesses of the previous 6 motors are connected. Assembled on a PCB, the number of wiring harnesses is reduced, and the PCB can standardize the routing, or add new functions, such as the overcurrent secondary detection function of a single motor, or add more filter capacitors on the PCB, etc., to facilitate the expansion of new functions. In this way, the power supply and signal from the power supply to each motor do not need to be directly connected to the battery or CPU communication board for each motor, which will cause too many signal power lines and make them messy. After this design scheme, the whole machine only needs two bundles of wiring, C.18 and C.19, and the power and signal lines can be distributed to each motor unit through the distribution boards X.7 and X.9. This design greatly reduces the wiring harness in the fuselage and facilitates assembly and maintenance.

[0060] A limited current level dial switch C.11 is arranged inside the main body, and a wireless charging device C.1, a wireless data transmission module C.2, a motion control C.PUC.3, a neural network AI processor C.4, a power management board C.5, a local data C.AN conversion board C.6, a front camera C.7, a lower camera C.8, a distribution board C.9, a display screen C.10, a leg end cover fastening screw hole C.12, a calf through-nut pin C.13, a calf connecting rod through-nut pin C.14, a calf structure C.15, a foot support C.16, a foot shock-absorbing buffer hemisphere C.17, a solar charging panel C.18, a tail distribution board signal and power bus C.19, and a front distribution board signal and power bus C.20 are arranged on the main body respectively.

[0061] As shown in the figure, C.11 is the dip switch for power management. This product has built-in development protection mode and one-button emergency stop switch. When the customer is debugging or repairing by himself, if the system is abnormal or disordered, it will usually cause serious damage to the robot body or the user. In this design, there is a current detection device on the board. Because the current detection is a mature circuit, the working principle is not repeated. This unit is included in the A.18 unit in the figure. When the system detects that a single motor or the total current is abnormal, it can be set according to the settings to perform power-off protection and alarm. The system is mainly composed of current detection, current abnormality detection, and abnormal threshold setting. In the abnormal threshold setting, the gear can be simply set by the dip switch as shown in the C.11 component in the figure, or it can be soft-set in the user menu. Parts settings, in addition, when the system is abnormal, an emergency stop device is necessary. The usual design is on the machine. On this robot, this design is unsafe, because when the machine is abnormal, if a person approaches the machine itself, it will cause harm to the human body. Therefore, this design adopts a single-button remote emergency stop switch mode. When the system is abnormal, the power can be cut off without touching the robot body. Some designs have wireless emergency stops set on the remote control, because usually the remote control has many buttons. When an abnormality occurs, it is easy to panic. It takes a long time to find the emergency stop button on the remote control, and it is likely to miss the best time for emergency stop. Therefore, an independent and obvious separate remote emergency stop button is necessary, as shown in Figure A.20. The single-button wireless emergency stop transmitter.

[0062] The visual and auditory unit A.8 and the GPS unit A.10 constitute an audio-visual memory and emotion system, which includes local wired connection transfer between two robot dogs J.1, local wireless connection transfer J.2, and remote data exchange transfer via a cloud server J.3.

[0063] This robot has the owner's audio and video memory, and the emotional function is composed of the machine vision and hearing speech unit shown in A.8, the sensory vision and hearing deep learning unit A.2, and the remote data transmission system A.10. When the robot dog is damaged or upgraded, as well as remote behavior monitoring, it has data saving and setting functions, so that the data of the robot body can be remotely backed up to the server cloud. After the robot is repaired and awakened, the software memory and emotions can be restored to the new body, and remote AI network transfer can be performed, that is, the transfer of robot thinking is on the remote body. The transmission of remote data mainly relies on wireless or wired transmission. The migration of robot dog neural network thinking data can be transferred from local to local, and remote transfer function;

[0064] As shown in the figure, the three modes J in the figure are specifically implemented: J.1 Local wired connection transfer between two robot dogs J.2 Local wireless connection transfer J.3 Remote data exchange and transfer through the cloud server.

[0065] The driving part on the main body is composed of a thigh motor B.11 and a calf motor B.12. The thigh motor B.11 and the calf motor B.12 have the same structure. The motor is composed of a rotor, a stator, a reducer, and a through gear, forming an integrated design, wherein the inner ring of the cross roller bearing connects the upper and lower planetary carriers. The planetary carrier is made of a specific planetary carrier casting process.

[0066] The inside of the motor is shown as M in the figure. The motor consists of a rotor, a stator, a reducer, and a through gear, forming an integrated design. The inner ring of the cross roller bearing connects the upper and lower planetary carriers. The core of the planetary reducer is the gear set and the design of the planetary carrier. The quality of the planetary carrier design directly determines the location and difficulty of assembly, and the precision of mechanical processing is extremely high. In order to reduce costs and improve production efficiency, this design uses castings for the planetary carrier, which greatly reduces the cost. In the figure, W.1W.2 are the upper and lower planetary carriers designed by pure mechanical CNC processing. W.12 and W.14 are planetary carriers optimized in casting processing. The classic design is that W1.W.2 buckles the upper and lower planetary carriers together, and the countersunk screw W.15 presses the upper and lower planetary carriers and the inner ring of the cross roller bearing W10, and then forms the structure in the main figure where W.10 is located. W.1 is a countersunk hole, and W.2 is a convex column that can be inserted and buckled. This structure is suitable for one-time tool setting on a CNC machine tool, but because of the complex shape, W.1W.2W.3W.1 The positional relationship of 9 is required to be very accurate. If the blank produced according to this structure is almost impossible to align the tool before finishing, because the shape is not absolutely symmetrical. After each blank to be processed is placed, it will be required to re-align the tool to determine the zero point and the cutting point, and the form and position tolerance is required to be 0.01 mm. This structure is not suitable for casting structure. The casting process is generally a blank, and the form and position tolerance of the casting error is usually above 0.05, which does not meet the accuracy requirements at all. Generally, the blank needs secondary finishing processing, as shown in the figure. The tool alignment will be more troublesome, affecting the production efficiency and manufacturing accuracy. After improvement, this design only leaves the annular structure (W.11 in the figure) when the mold is out, and then it is clamped to the machine. After simple tool alignment, the cutting finishing can be completed at one time. The shape after finishing is described in the main figure where W.12 is located. After modifying the structure and product process, it is not necessary to do each special positioning, and one-time processing can be carried out to achieve efficient casting and finishing production, meet the possibility of batch production, and actually have high efficiency in production, and good yield and accuracy.

[0067] An anti-pinch device is arranged between the thigh and the calf of the main body, and the anti-pinch device mainly acts between the hand pinching area Z.5 on the inner side of the leg and the hand pinching area Z.6 on the back of the leg. The anti-pinch device adopts an anti-pinch flexible material Z.8, and the anti-pinch flexible material Z.8 adopts a full-enclosure mode to wrap the anti-pinch kit Z.7 from the upper hand pinching area Z.2 to the lower hand pinching area Z.3.

[0068] The device to prevent the fingers from being pinched is used by the robot dog for home users. Safety is of utmost importance and it should not cause harm to the human body. As shown in the figure, the two active parts Z.5 and Z.6 are more likely to pinch fingers. Z.1 and Z.4 are close-up pictures of two dangerous areas. In this design, a soft rubber cover can be set between X.2 and X.3 as shown in Z.8, or a full surround mode can be used to wrap X.2 to X.3 to prevent damage caused by the fingers being put in. A flexible device can be added, or continuous filling can be used to prevent fingers from entering. As shown in the figure, the material of X.7 can be made of leather cloth or other flexible, low-damping materials to cover or cover the joint dangerous areas.

[0069] The working principle of the all-weather autonomous intelligent quadruped robot provided by the present invention is as follows:

[0070] The motion control unit calculates the next output force based on the inertial unit of the current body posture feedback A.12 and the current position, speed, and torque information of all joint motors A.15 and A1.16, and transmits it to the 12 joint motors A.5 through the communication board to complete the closed-loop control of the action layer. The AI ​​processor A.2 is the core of the unit, which is responsible for processing a large number of neural network units required by the visual, auditory, and emotional evolution systems, and the mounted visual and auditory units A.8. The AI ​​unit also needs to handle some non-urgent matters, the display unit A.9, and the energy power supply are the core units of the mobile robot. The power management system A.3 is responsible for managing the wired and wireless charging system A.6 of the lithium battery. The wired and wireless charging system A.6 is mainly for contact wired charging and non-contact wireless charging, as well as independent survival in the wild without solar energy.

[0071] Restart the solar charging system A.7 to ensure that it can survive independently even without artificial power. In addition, when the robot dog is abnormal, it usually causes a surge in energy current. In this case, it needs to have the ability to detect it. The abnormal detection protection A.18 of the current abnormality detection is convenient to turn off the power of the whole machine to protect the robot dog. In addition, it can also be manually closed through the wireless emergency notification protection A.19. In many cases, customers need to expand the equipment themselves. At this time, the internal energy supply unit needs to be led out of the user external power interface A.17 and the user-defined CAN communication interface A.11, and the power supply and communication interface are led out respectively for customer expansion. In addition, the robot dog survives independently in the wild, or gets lost. With the help of the built-in GPS unit A.10, it can return to the designated location according to the coordinate position. The built-in AI neural network unit of the robot dog records the robot dog's visual, auditory and event recording units, as well as virtual units. These units often need to be remotely backed up to a remote server, or transferred to another robot dog through a server as a bridge, and the thinking data can be directly transferred or transmitted between robot dogs. The data migration process can be completed in the built-in remote data module of this machine.

[0072] Compared with the related art, the all-weather autonomous intelligent quadruped robot provided by the present invention has the following beneficial effects:

[0073] The quadruped robot has good ground adaptability and is equipped with AI carriers, which can bring convenience to human life and survive in environments where humans cannot survive. It also has the possibility of surviving independently from humans, in which energy acquisition is crucial. It has self-care ability, thinking and emotional functions, including visual and auditory systems, and excellent mobility. It is suitable for autonomous learning and evolution without human intervention around the clock. After optimized design, it can be used for emotional care at home and unmanned long-term field inspections.

[0074] The above descriptions are merely embodiments of the present invention and are not intended to limit the patent scope of the present invention. Any equivalent structure or equivalent process transformation made using the contents of the present invention specification and drawings, or directly or indirectly applied in other related technical fields, are also included in the patent protection scope of the present invention.

Claims

1. An all-weather autonomous intelligent quadruped robot, characterized by: include: The motion control CPU and the application layer AI processor are composed of two units. The motion control CPU calculates the force to be output in the next step based on the inertial unit of the current body posture feedback and the torque, position and speed sensors of all joint motors and the plantar force pressure sensor, and transmits it to the twelve joint motors through local communication conversion to complete the closed-loop control of the action layer. The application layer AI processor is the core of the unit, and the local communication conversion is set with a user-defined CAN. A power management system, the power management system is electrically connected to the input terminals of the motion control CPU and the application layer AI processor respectively, the power management system is responsible for managing the wired and wireless charging system of the lithium battery, and the input terminal of the power management system is provided with a solar charging system for backup; A visual and auditory unit, which is connected to one end of the application layer AI processor and is responsible for processing a large number of neural network units required by the visual and auditory emotion evolution system; A display unit, wherein an input end of the display unit is connected to one end of the application layer AI processor, and is used to process some non-urgent matters through the application layer AI processor; A GPS unit, one end of which is connected to one end of the application layer AI processor; Abnormal detection protection, the abnormal detection protection is set on the power management system, the power management system is provided with wireless emergency notification protection, and the power management system is provided with an outdoor power expansion interface; A single-button wireless emergency stop transmitter, the single-button wireless emergency stop transmitter is wirelessly connected to the wireless emergency notification protection; The main body is composed of a body cavity composed of a tail protection cover, a face end cover, a motor protection shell and a solar device, and four legs, each of which is equipped with three power units to control the side swing of the thigh, the front and back movement of the thigh, and the extension and retraction of the calf. The machine vision part is completed by the camera at the bottom of the picture and the facial camera; The solar energy device is a solar power panel mounted outside a part of the fuselage or the entire upper shell of the fuselage is a solar cell substrate structure.

2. The all-weather autonomous intelligent quadruped robot according to claim 1, characterized in that: The main body includes a thigh shell, which corresponds to the raised column and the groove respectively. The inner and outer shells are tightly buckled, which plays the role of tight connection and impact resistance dispersed to the entire shell. The screws passing through press the upper and lower shells together to fix the upper and lower thigh covers with screws, and finally add a protective cover silicone protective cover.

3. The all-weather autonomous intelligent quadruped robot according to claim 1, characterized in that: The bottom of the main body is provided with machine vision, which includes a bottom camera, a front camera, a wireless charging receiving device, a wireless charging pile sending device, a facial display device, a sound producing device, and a sound pickup device.

4. The all-weather autonomous intelligent quadruped robot according to claim 1, characterized in that: A body shell is arranged outside the main body, and the body shell includes a bottom view of a robot dog protective coat, a top view of the robot dog protective coat, and a zipper structure of the protective coat.

5. The all-weather autonomous intelligent quadruped robot according to claim 1, characterized in that: The bottom head and tail of the main body are both provided with foot units, and the foot units include a plantar frame, a plantar buffer hemisphere, an assembly protrusion, an assembly groove, a plantar buffer and a plantar bone with adjustable height, and a plantar.

6. The all-weather autonomous intelligent quadruped robot according to claim 1, characterized in that: The main body is provided with a motor protection device, which includes a side swing joint motor, a joint motor mounting beam, a power and signal distribution board, a locking screw, a motor power plug, a motor signal line power line entering the fuselage PCB opening, a main board power line output end, a CAN signal line to the motor, and a CAN signal line entry.

7. The all-weather autonomous intelligent quadruped robot according to claim 1, characterized in that: A limited current level dial switch is arranged inside the main body, and a wireless charging device, a wireless data transmission module, a motion control PU, a neural network AI processor, a power management board, a local data AN conversion board, a front camera, a lower camera, a distribution board, a display screen, a leg end cover fastening screw hole, a calf through-nut pin, a calf connecting rod through-nut pin, a calf structure, a foot support, a foot shock-absorbing buffer hemisphere, a solar charging panel, a tail distribution board signal and power bus, and a front distribution board signal and power bus are arranged on the main body.

8. The all-weather autonomous intelligent quadruped robot according to claim 1, characterized in that: The visual and auditory units and the GPS unit constitute an audio-visual memory and emotion system, which includes local wired connection transfer between two robot dogs, local wireless connection transfer, and remote data exchange and transfer via a cloud server.

9. The all-weather autonomous intelligent quadruped robot according to claim 1, characterized in that: The driving part on the main body is composed of a thigh motor and a calf motor. The thigh motor and the calf motor have the same structure. The motor is composed of a rotor, a stator, a reducer, and through teeth, forming an integrated design. The inner ring of the cross roller bearing connects the upper and lower planetary carriers, and the planetary carrier is made of a planetary carrier casting process.

10. The all-weather autonomous intelligent quadruped robot according to claim 1, characterized in that: An anti-pinch device is arranged between the thigh and the calf of the main body, and the anti-pinch device mainly acts between the hand pinching area on the inner side of the leg and the hand pinching area on the back of the leg. The anti-pinch device adopts an anti-pinch flexible material, and the anti-pinch flexible material adopts a full-enclosure mode to wrap the anti-pinch kit from the upper hand pinching area to the lower hand pinching area.

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