A robot with body sensing component and control method thereof

Abstract

The present invention discloses a robot with a body sensing component, comprising: a robot body; a robot head, the robot head is installed at the upper end of the robot body; two robot upper limbs, the two robot upper limbs are respectively installed on both sides of the upper end of the robot body; two robot lower limbs, the two robot lower limbs are respectively installed on both sides of the lower end of the robot body; a body sensing component, the body sensing component is installed on the front of the robot body; an intelligent processor, the intelligent processor is installed in the robot body, the intelligent processor is used to control the two robot upper limbs, the two robot upper limbs, the robot head and the body sensing component. Through the application of the present invention, the robot is provided with a terrain scan for the front when it is in an upright walking state, and a method for preventing lower body damage is provided when it is in a four-limb crawling state, thereby better protecting the lower structure of the robot.

Description

Technical Field

[0001] The present invention relates to the field of robot technology, and in particular to a robot with a body sensor component and a control method thereof. Background Art

[0002] A robot is a programmable and multifunctional manipulator used to carry materials, parts, tools, or a specialized system with changeable and programmable actions to perform different tasks. With the continuous development of technology and the expansion of application areas, people expect intelligent robots to serve humans in more areas and replace humans to complete more complex tasks.

[0003] In the prior art, robots can transform into different forms, such as standing, crawling, etc., by adjusting their own structures, to thereby improve their ability to overcome obstacles in complex terrains. However, when the robot is in a crawling state where the main body of the robot is close to the ground, researchers can easily overlook the fact that during the crawling process, the lower surface of the robot body can easily rub against the protrusions on the ground, thereby causing damage to the robot's outer shell and even important structures such as sensors. Summary of the invention

[0004] In view of this, in order to solve the problem that the lower surface of the robot is easily damaged during crawling, the object of the present invention is to provide a robot with a body sensor component and a control method thereof, so as to better protect the lower surface of the robot in the crawling state.

[0005] The specific technical solutions are as follows:

[0006] A robot with a body sensing component, the robot comprising:

[0007] a robot body;

[0008] a robot head, the robot head being mounted on the upper end of the robot body;

[0009] Two robot upper limbs, the two robot upper limbs are respectively installed on both sides of the upper end of the robot body;

[0010] Two robot lower limbs, the two robot lower limbs are respectively installed on both sides of the lower end of the robot body;

[0011] a body sensor component, the body sensor component is installed on the front side of the robot body;

[0012] an intelligent processor, the intelligent processor being installed in the robot body, the intelligent processor being used to control the two robot upper limbs, the two robot upper limbs, the robot head and the body sensor assembly;

[0013] Wherein, the body sensing component comprises:

[0014] A mounting base, wherein the upper surface of the mounting base is circular, the side surface of the mounting base is annular, the lower end of the mounting base is rotatably mounted on the front of the robot body, the mounting base protrudes from the front of the robot body, a first mounting groove is provided along the center of the upper surface of the mounting base, a plurality of second mounting grooves are provided on the side surface of the mounting base, and the plurality of second mounting grooves are evenly arranged along the annular side surface of the mounting base;

[0015] A plurality of first infrared ranging sensors, each of which is installed in one of the second mounting slots, and each of which is communicatively connected with the intelligent processor;

[0016] a camera, the camera being installed in the first installation slot and being communicatively connected with the intelligent processor;

[0017] The robot adjusts the two upper limbs and the two lower limbs of the robot through the intelligent processor, so that the robot is in an upright walking state and a four-limb crawling state respectively:

[0018] In an upright walking state, the robot is kept upright by the two robot lower limbs, the overall structure of the robot is supported by the two robot lower limbs, and the body sensor component faces the forward direction of the robot;

[0019] In the four-limb crawling state, the robot maintains the crawling state by having the two robot lower limbs and the two robot upper limbs touch the ground at the same time, the robot maintains balance by being supported by the two robot upper limbs and the two robot lower limbs, and the body sensor component faces the ground.

[0020] In another preferred embodiment, each of the robot upper limbs comprises:

[0021] A transmission connecting arm, one end of which is mounted on one side of the upper end of the robot body;

[0022] A first crawler device is installed at the other end of the transmission connecting arm.

[0023] In another preferred embodiment, each of the robot lower limbs comprises:

[0024] A transmission connecting leg, one end of which is mounted on one side of the lower end of the robot body;

[0025] A second crawler device is installed at the other end of the transmission connecting arm.

[0026] In another preferred embodiment, it further comprises: a glass protection cover, wherein the glass protection cover is mounted on the upper surface of the mounting base.

[0027] In another preferred embodiment, a manipulator is also installed on the first crawler device.

[0028] In another preferred embodiment, it further comprises: an anti-collision airbag device, wherein the anti-collision airbag device is arranged on the front side of the robot body.

[0029] In another preferred embodiment, the anti-collision airbag device includes: an airbag storage chamber, an airbag, a gas generator and a second infrared ranging sensor, the airbag storage chamber is arranged on the front side of the robot body, one end of the airbag storage chamber extends into the robot body, and the other end of the airbag storage chamber protrudes from the front side of the robot body, the gas generator is arranged on the surface of one end of the airbag storage chamber, the airbag can be popped out and stored in the airbag storage chamber, the airbag is installed at the air outlet end of the gas generator, the second infrared ranging sensor is arranged on the front side of the robot body, and the second infrared ranging sensor is arranged on one side of the body sensing component.

[0030] A control method for a robot with a body sensing component, comprising any one of the above-mentioned robots with a body sensing component,

[0031] The control method comprises the following steps:

[0032] Step S1: The user sets the travel route of the robot in advance and imports the travel route into the intelligent processor;

[0033] Step S2: The user selects the motion state of the robot, and the motion state includes: the upright walking state and the four-limb crawling state. If the user selects the upright walking state, the process proceeds to step S3; if the user selects the four-limb crawling state, the process proceeds to step S8;

[0034] Step S3: the intelligent processor controls the two upper limbs of the robot and the two lower limbs of the robot to make corresponding adjustment movements so that the robot is in an upright walking state where the two lower limbs of the robot support the whole robot;

[0035] Step S4: the intelligent processor activates the camera, deactivates the first infrared ranging sensors, and continuously collects the terrain features on the route through the camera to generate corresponding terrain information;

[0036] Step S5: the intelligent processor determines whether the two second crawler devices of the two robot lower limbs can pass through the travel route according to the generated terrain information.

[0037] If yes, go to step S6;

[0038] If not, proceed to step S7;

[0039] Step S6: the intelligent processor controls the two second crawler devices to move, and returns to step S5;

[0040] Step S7: the intelligent processor controls the two second transmission connection legs to perform a stepping action to cross the obstacle, and returns to step S5;

[0041] Step S8: the intelligent processor controls the two robot upper limbs and the two robot lower limbs to make corresponding adjustment movements so that the robot is in a four-limb crawling state in which the two robot upper limbs and the two robot upper limbs jointly support the whole robot, and records the first distance between the bottom end of the body sensor component and the ground at this time;

[0042] Step S9: the intelligent processor deactivates the camera and activates the first infrared ranging sensors to continuously collect terrain features on the route through the infrared ranging sensors to generate corresponding terrain information;

[0043] Step S10: The intelligent processor determines whether there is a ground protrusion with a height not less than a first distance on the route according to the generated terrain information:

[0044] If yes, go to step S11;

[0045] If not, proceed to step S12;

[0046] Step S11, the intelligent processor controls the two transmission connection arms of the two upper limbs of the robot and the two transmission connection legs of the two lower limbs of the robot to raise the height of the robot body by adjusting, and returns to step S10;

[0047] Step S12: the intelligent processor controls the two first crawler devices and the two second crawler devices to move, and returns to step S10.

[0048] In another preferred embodiment, the step S9 comprises:

[0049] Step S9.1, the intelligent processor deactivates the camera;

[0050] Step S9.2, the intelligent processor enables a plurality of the first infrared ranging sensors;

[0051] Step S9.3, the intelligent processor controls the mounting base to start rotating;

[0052] Step S9.4: a plurality of the infrared ranging sensors simultaneously start terrain scanning operations, and the scanning direction of each of the infrared ranging sensors rotates along with the rotation of the mounting base.

[0053] Due to the adoption of the above technical solution, the present invention has the following positive effects compared with the prior art:

[0054] (1) The present invention provides a method for scanning the terrain in front of the robot when the robot is in an upright walking state, and provides a method for preventing damage to the lower part of the robot through terrain scanning when the robot is in a four-limb crawling state, thereby better protecting the structure of the robot;

[0055] (2) The present invention has a simple structure and high precision. BRIEF DESCRIPTION OF THE DRAWINGS

[0056] Figure 1 A schematic diagram of an upright walking state of a robot with a body sensing component and a control method thereof according to the present invention;

[0057] Figure 2 A schematic diagram of a robot with a body sensing component and a control method thereof in a crawling state of four limbs of the present invention;

[0058] Figure 3 A schematic diagram of a body sensing component of a robot with a body sensing component and a control method thereof according to the present invention;

[0059] Figure 4 The present invention is a control method block diagram of a robot with a body sensing component and a control method thereof.

[0060] In the accompanying drawings: 100, robot body; 200, robot head; 300, robot upper limbs; 400, robot lower limbs; 500, body sensing component; 600, intelligent processor; 510, mounting base; 520, first infrared ranging sensor; 530, camera; 310, transmission connecting arm; 320, first track device; 410, transmission connecting leg; 420, second track device; 510, glass protection cover; 321, manipulator; 110, anti-collision airbag device; 120, second infrared ranging sensor. DETAILED DESCRIPTION

[0061] The present invention will be further described below in conjunction with the accompanying drawings and specific embodiments, but they are not intended to limit the present invention.

[0062] like Figures 1 to 4As shown, a robot with a body sensing component 500 of a preferred embodiment is shown, and the robot includes:

[0063] A robot body 100;

[0064] A robot head 200, which is mounted on the upper end of the robot body 100;

[0065] Two robot upper limbs 300, the two robot upper limbs 300 are respectively installed on both sides of the upper end of the robot body 100;

[0066] Two robot lower limbs 400, the two robot lower limbs 400 are respectively installed on both sides of the lower end of the robot body 100;

[0067] A body sensor component 500, which is installed on the front side of the robot body 100;

[0068] An intelligent processor 600, the intelligent processor 600 is installed in the robot body 100, and the intelligent processor 600 is used to control the two robot upper limbs 300, the two robot upper limbs 300, the robot head 200 and the body sensor component 500;

[0069] The body sensing component 500 includes:

[0070] A mounting base 510, the upper surface of the mounting base 510 is circular, the side surface of the mounting base 510 is annular, the lower end of the mounting base 510 is rotatably mounted on the front of the robot body 100, the mounting base 510 protrudes from the front of the robot body 100, a first mounting groove is provided along the center of the upper surface of the mounting base 510, a plurality of second mounting grooves are provided on the side surface of the mounting base 510, and the plurality of second mounting grooves are evenly arranged along the annular side surface of the mounting base 510;

[0071] A plurality of first infrared ranging sensors 520, each of which is installed in a second installation slot, and each of which is in communication connection with the intelligent processor 600;

[0072] A camera 530, the camera 530 is installed in the first installation slot, and the camera 530 is communicatively connected with the intelligent processor 600;

[0073] The robot adjusts the two robot upper limbs 300 and the two robot lower limbs 400 through the intelligent processor 600, so that the robot is in an upright walking state and a four-limb crawling state respectively:

[0074] In the upright walking state, the robot is kept upright by the two robot lower limbs 400, the robot is supported by the two robot lower limbs 400, and the body sensor component 500 faces the forward direction of the robot;

[0075] In the four-limb crawling state, the robot maintains the crawling state by simultaneously touching the ground with two robot lower limbs 400 and two robot upper limbs 300, and the robot maintains balance by supporting the two robot upper limbs 300 and two robot lower limbs 400, and the body sensor component 500 faces the ground.

[0076] Furthermore, as a preferred embodiment, the two robot upper limbs 300 include: a transmission connecting arm 310, one end of which is installed on one side of the upper end of the robot body 100; and a first crawler device 320, which is installed on the other end of the transmission connecting arm 310.

[0077] Further, as a preferred embodiment, the two robot lower limbs 400 include: a transmission connecting leg 410, one end of which is installed on one side of the lower end of the robot body 100; and a second track device 420, which is installed on the other end of the transmission connecting arm 310.

[0078] Furthermore, the transmission connecting arm 310 and the transmission connecting leg 410 provide a support and movement basis for the robot. The transmission connecting arm 310 and the transmission connecting leg 410 can be adjusted to enable the robot body 100 to perform vertical lifting and lowering actions within a certain range according to the needs of the user. The two first crawler devices 320 and the two second crawler devices 420 jointly provide a fast movement solution for the robot, and in the upright walking state, the robot only moves through the two second crawler devices 420, and in the crawling state, the robot moves together through the two first crawler devices 320 and the two second crawler devices 420; further, the first crawler device 320 and the second crawler device 420 can be adjusted to a certain angle according to the instructions of the intelligent processor 600, so that the lower surfaces of the two first crawler devices 320 and the two second crawler devices 420 can better fit the ground.

[0079] Furthermore, as a preferred embodiment, it also includes: a glass protective cover 510, which is installed on the upper surface of the mounting base 510. Furthermore, the camera 530 is further protected by the glass protective cover 510, which prolongs the service life of the camera 530 and prevents the camera 530 from accumulating too much dirt during use; and the glass protective cover 510 is installed on the upper surface of the mounting base 510, which will not affect the normal operation of the first infrared ranging sensors 520 on the side of the mounting base 510.

[0080] Further, as a preferred embodiment, a manipulator 321 is also installed on the first crawler device 320. The robot can perform specific operations through the manipulator 321 according to the actual work needs of the user.

[0081] Furthermore, as a preferred embodiment, it also includes: an anti-collision airbag device 110, which is arranged on the front side of the robot body 100.

[0082] Further, as a preferred embodiment, the anti-collision airbag device 110 includes: an airbag storage chamber, an airbag, a gas generator and a second infrared ranging sensor 120. The airbag storage chamber is arranged on the front of the robot body 100, one end of the airbag storage chamber extends into the robot body 100, and the other end of the airbag storage chamber protrudes from the front of the robot body 100. The gas generator is arranged on the surface of one end of the airbag storage chamber. The airbag can be popped out and stored in the airbag storage chamber. The airbag is installed at the air outlet end of the gas generator. The second infrared ranging sensor 120 is arranged on the front of the robot body 100. The second infrared ranging sensor 120 is arranged on one side of the body sensing component 500. Furthermore, the anti-collision airbag device 110 provides emergency protection for the lower surface of the robot to prevent damage to the lower surface caused by sudden falling; when in the crawling state, the second infrared distance sensor is facing the ground, and the user can preset an alarm value for the second infrared distance sensor. When the second infrared distance sensor detects that the distance from the ground exceeds the alarm value, the intelligent processor 600 controls the gas generator to quickly generate a large amount of gas to push the airbag out of the airbag storage chamber, thereby forming an airbag protection on the side close to the ground.

[0083] The above description is only a preferred embodiment of the present invention, and does not limit the implementation mode and protection scope of the present invention.

[0084] The control method of the robot with a body sensor component of the present invention is described below. Figure 4 As shown, the following steps are included:

[0085] Step S1: The user sets the travel route of the robot in advance and imports the travel route into the intelligent processor 600;

[0086] Step S2: The user selects the motion state of the robot, which includes: upright walking state and four-limb crawling state. If the user selects the upright walking state, the process proceeds to step S3; if the user selects the four-limb crawling state, the process proceeds to step S8;

[0087] Step S3: the intelligent processor 600 controls the two robot upper limbs 300 and the two robot lower limbs 400 to make corresponding adjustment actions so that the robot is in an upright walking state supported by the two robot lower limbs 400;

[0088] Step S4: the intelligent processor 600 activates the camera 530 and deactivates the first infrared ranging sensors 520, and continuously collects the terrain features on the route through the camera 530 to generate corresponding terrain information;

[0089] Step S5: The intelligent processor 600 determines whether the two second crawler devices 420 of the two robot lower limbs 400 can pass through the travel route according to the generated terrain information.

[0090] If yes, go to step S6;

[0091] If not, proceed to step S7;

[0092] Step S6: the intelligent processor 600 controls the two second crawler devices 420 to move, and returns to step S5;

[0093] Step S7: the intelligent processor 600 controls the two second transmission connection legs 410 to perform a stepping action to cross the obstacle, and returns to step S5;

[0094] Step S8: the intelligent processor 600 controls the two robot upper limbs 300 and the two robot lower limbs 400 to make corresponding adjustment actions so that the robot is in a four-limb crawling state where the two robot upper limbs 300 and the two robot upper limbs 300 jointly support the whole body, and records the first distance between the bottom end of the body sensor component 500 and the ground at this time;

[0095] Step S9: the intelligent processor 600 disables the camera 530 and enables a plurality of first infrared ranging sensors 520 to continuously collect terrain features on the route through the plurality of infrared ranging sensors to generate corresponding terrain information;

[0096] Step S10: The intelligent processor 600 determines whether there is a ground protrusion with a height not less than the first distance on the route according to the generated terrain information:

[0097] If yes, go to step S11;

[0098] If not, proceed to step S12;

[0099] Step S11, the intelligent processor 600 controls the two transmission connection arms 310 of the two robot upper limbs 300 and the two transmission connection legs 410 of the two robot lower limbs 400 to raise the height of the robot body 100 by adjusting, and returns to step S10;

[0100] In step S12, the intelligent processor 600 controls the two first crawler devices 320 and the two second crawler devices 420 to move, and returns to step S10.

[0101] In another preferred embodiment, the above step S9 includes:

[0102] Step S9.1, the intelligent processor 600 deactivates the camera 530;

[0103] Step S9.2, the intelligent processor 600 enables a plurality of first infrared ranging sensors 520;

[0104] Step S9.3, the intelligent processor 600 controls the mounting base 510 to start rotating;

[0105] Step S9.4: Several infrared distance measuring sensors start terrain scanning operation at the same time, and the scanning direction of each infrared distance measuring sensor rotates along with the rotation of the mounting base 510. Further, the accuracy of terrain scanning is improved.

[0106] The above description is only a preferred embodiment of the present invention, and does not limit the implementation mode and protection scope of the present invention. For those skilled in the art, it should be aware that all solutions obtained by equivalent substitutions and obvious changes made using the description and illustrations of the present invention should be included in the protection scope of the present invention.

Claims

1. A control method for a robot with a body sensing component, characterized in that: A robot with a body sensing component, the robot comprising: a robot body; a robot head, the robot head being mounted on the upper end of the robot body; Two robot upper limbs, the two robot upper limbs are respectively installed on both sides of the upper end of the robot body; Two robot lower limbs, the two robot lower limbs are respectively installed on both sides of the lower end of the robot body; a body sensor component, the body sensor component is installed on the front side of the robot body; an intelligent processor, the intelligent processor being installed in the robot body, the intelligent processor being used to control the two robot upper limbs, the two robot upper limbs, the robot head and the body sensor assembly; Wherein, the body sensing component comprises: A mounting base, wherein the upper surface of the mounting base is circular, the side surface of the mounting base is annular, the lower end of the mounting base is rotatably mounted on the front of the robot body, the mounting base protrudes from the front of the robot body, a first mounting groove is provided along the center of the upper surface of the mounting base, a plurality of second mounting grooves are provided on the side surface of the mounting base, and the plurality of second mounting grooves are evenly arranged along the annular side surface of the mounting base; A plurality of first infrared ranging sensors, each of which is installed in one of the second mounting slots, and each of which is communicatively connected with the intelligent processor; a camera, the camera being installed in the first installation slot and being communicatively connected with the intelligent processor; The robot adjusts the two upper limbs and the two lower limbs of the robot through the intelligent processor, so that the robot is in an upright walking state and a four-limb crawling state respectively: In an upright walking state, the robot is kept upright by the two robot lower limbs, the robot is supported by the two robot lower limbs, and the body sensor component faces the forward direction of the robot; In a four-limb crawling state, the robot maintains the crawling state by simultaneously touching the ground with the two robot lower limbs and the two robot upper limbs, the robot maintains balance by supporting the two robot upper limbs and the two robot lower limbs, and the body sensor component faces the ground; Each of the robot upper limbs comprises: A transmission connecting arm, one end of which is mounted on one side of the upper end of the robot body; A first crawler device, wherein the first crawler device is installed at the other end of the transmission connecting arm; Each of the robot lower limbs comprises: A transmission connecting leg, one end of which is mounted on one side of the lower end of the robot body; a second crawler device, the second crawler device being mounted on the other end of the transmission connecting arm; Also included: a glass protection cover, the glass protection cover is mounted on the upper surface of the mounting base; A manipulator is also installed on the first crawler device; It also includes: an anti-collision airbag device, which is arranged on the front side of the robot body; The anti-collision airbag device comprises: an airbag storage chamber, an airbag, a gas generator and a second infrared ranging sensor, wherein the airbag storage chamber is arranged at the front of the robot body, one end of the airbag storage chamber extends into the robot body, and the other end of the airbag storage chamber protrudes from the front of the robot body, the gas generator is arranged on the surface of one end of the airbag storage chamber, the airbag can be popped out and stored in the airbag storage chamber, the airbag is installed at the gas outlet end of the gas generator, the second infrared ranging sensor is arranged at the front of the robot body, and the second infrared ranging sensor is arranged at one side of the body sensing component; Wherein, the control method comprises: Step S1: The user sets the travel route of the robot in advance and imports the travel route into the intelligent processor; Step S2: The user selects the motion state of the robot, and the motion state includes: the upright walking state and the four-limb crawling state. If the user selects the upright walking state, the process proceeds to step S3; if the user selects the four-limb crawling state, the process proceeds to step S8; Step S3: the intelligent processor controls the two upper limbs of the robot and the two lower limbs of the robot to make corresponding adjustment movements so that the robot is in an upright walking state where the two lower limbs of the robot support the whole robot; Step S4: the intelligent processor activates the camera, deactivates the first infrared ranging sensors, and continuously collects the terrain features on the route through the camera to generate corresponding terrain information; Step S5: the intelligent processor determines whether the two second crawler devices of the two robot lower limbs can pass through the travel route according to the generated terrain information. If yes, go to step S6; If not, proceed to step S7; Step S6: the intelligent processor controls the two second crawler devices to move, and returns to step S5; Step S7: the intelligent processor controls the two transmission connection legs to perform a stepping action to cross the obstacle, and returns to step S5; Step S8: the intelligent processor controls the two robot upper limbs and the two robot lower limbs to make corresponding adjustment movements so that the robot is in a four-limb crawling state in which the two robot upper limbs and the two robot upper limbs jointly support the whole robot, and records the first distance between the bottom end of the body sensor component and the ground at this time; Step S9: the intelligent processor deactivates the camera and activates the first infrared ranging sensors to continuously collect terrain features on the route through the infrared ranging sensors to generate corresponding terrain information; Step S10: The intelligent processor determines whether there is a ground protrusion with a height not less than a first distance on the route according to the generated terrain information: If yes, go to step S11; If not, proceed to step S12; Step S11, the intelligent processor controls the two transmission connection arms of the two upper limbs of the robot and the two transmission connection legs of the two lower limbs of the robot to raise the height of the robot body by adjusting, and returns to step S10; Step S12: the intelligent processor controls the two first crawler devices and the two second crawler devices to move, and returns to step S10.

2. The control method of a robot with a body sensing component according to claim 1, characterized in that: The step S9 comprises: Step S9.1, the intelligent processor deactivates the camera; Step S9.2, the intelligent processor enables a plurality of the first infrared ranging sensors; Step S9.3, the intelligent processor controls the mounting base to start rotating; Step S9.4: a plurality of the infrared ranging sensors simultaneously start terrain scanning operations, and the scanning direction of each of the infrared ranging sensors rotates along with the rotation of the mounting base.

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