Variable height and foot wheel conversion humanoid robot mechanism and information processing control method

Abstract

The application provides a height-variable and wheel-foot conversion humanoid robot mechanism and an information processing control method, and relates to a robot body and an information processing control method. The robot body is composed of a body, legs, feet, arms, a height adjustment mechanism, a sensor unit and a control system. The height adjustment mechanism is composed of a contraction mechanism and a rotation mechanism. The contraction mechanism comprises a paper folding structure, a torsion spring, a folding motor and a pull rope. The rotation mechanism comprises a rotation motor and a motor base. The legs and arms are provided with a structure reused with knee joint driving motors and elbow joint driving motors, which comprises a shaft coupling, an electromagnetic clutch and a wheel, so as to realize the coupling and switching of foot-type and wheel-type movements. The information processing control method comprises a wheel-foot conversion control method and a height adjustment control method, and information acquisition and processing and movement control are realized through the sensor unit and the control system. The application can realize active height control and wheel-foot movement switching, and improves the information perception, obstacle crossing and movement ability of the humanoid robot.

Description

Technical Field

[0001] This invention relates to the fields of intelligent robots, artificial intelligence, next-generation information technology, and bionic mechanisms, specifically to a humanoid robot mechanism with variable height and footwheel conversion, and an information processing and control method. Background Technology

[0002] Humanoid robots possess bipedal locomotion and bi-arm operation capabilities similar to humans, as well as multimodal perception functions including vision, hearing, force, and touch. They can move and perform tasks in typical indoor environments such as flat ground and stairs. However, due to their high center of gravity, the safe and stable movement of humanoid robots requires extremely high control standards, making it difficult to achieve high-speed movement. Especially in environments with small obstacles on the ground, slipping can cause the humanoid robot to fall and be damaged.

[0003] To improve the speed of humanoid robots, researchers have added wheels or tracks to them for movement.

[0004] For example, invention patent CN201580020076.3 discloses an omnidirectional wheeled humanoid robot, which has the advantage of the speed of wheeled movement, but cannot cross obstacles like legged movement. Utility model patent CN201720886723.5 discloses a device that can switch the movement mode of a humanoid robot. By rotating a power component, the rollers rotate relative to the base plate, allowing the robot to switch between low-speed and high-speed modes, but it cannot perform legged movement.

[0005] Invention patent CN201810650307.4 discloses a wheeled humanoid robot with two wheels on each leg, resembling a balance scooter, but it struggles with bipedal obstacle crossing. Invention patent CN201910562329.X also discloses a wheel-legged humanoid robot capable of wheeled movement but similarly unable to perform legged obstacle crossing. Invention patent CN201510443721.4 discloses a wheeled humanoid robot and its operating method. This robot achieves wheeled walking by installing drive wheels and driven wheels on the outer side of its legs, with the drive wheels driven by a motor. This solution separates wheeled and legged movement, but requires an additional drive motor to achieve wheeled movement, increasing the robot's complexity and weight.

[0006] Utility model patent CN201621145118.4 discloses a deformable humanoid robot. By setting a drive wheel on the robot's back, a front support wheel on the front of the forearm, and a support wheel on the rear of the lower leg, it can change from humanoid walking to vehicle-like movement. However, this robot only has one back drive wheel as the active drive wheel, which limits the driving performance of wheeled movement, and the drive wheel also requires an additional drive motor. Invention patent CN201710565178.4 discloses a footed composite humanoid robot with two tracked wheels on each foot, enabling both tracked and footed movement. However, the tracked wheels require independent drive, and their large mass results in high energy consumption for the robot's footed movement.

[0007] Utility model patent CN201820492346.1 discloses a wheel-legged humanoid robot whose feet include a foot base and a roller skate module, enabling both legged walking and wheeled rolling movements. However, the roller skate structure results in a large mass of the robot's feet, leading to high energy consumption during legged movements. Furthermore, due to the high center of gravity of the humanoid robot, the wheel-on-the-foot design prevents high-speed wheeled rolling.

[0008] In addition, some researchers have also designed humanoid robot torso extension devices. For example, utility model patent CN201720183258.9 discloses a robot torso extension device, which realizes the rapid and smooth extension and retraction of the robot torso through a worm gear screw jack. However, the worm gear screw mechanism is bulky and greatly increases the weight of the robot.

[0009] Utility model patent CN202021215261.2 also discloses a humanoid robot structure for adjusting height, which uses a screw and nut mechanism to adjust the robot's body height; however, this mechanism is complex and heavy. Furthermore, the operational control of humanoid robots in complex environments is also crucial. For example, invention patent CN202210737033.9 discloses a robot and its operation method based on multimodal fusion in complex and constrained environments; however, this robot cannot perform legged walking, and its information processing method does not involve information acquisition and control during the switching process between legged and footed movements.

[0010] Furthermore, current research on humanoid robots mainly focuses on mechanism design, motion control, and environmental perception, with limited applications in inspection operations. Humanoid robots, like humans, have greater height than wheeled or quadruped robots, making them suitable for tasks such as power line inspection. However, the taller the humanoid robot, the higher its center of gravity, leading to lower stability and safety. Addressing the current challenges of low movement speed, increased weight and complexity due to added wheels, and low stability and safety due to a high center of gravity in inspection operations, this invention proposes a humanoid inspection robot with variable height and multi-mode leg-wheel movement, along with its control method. This robot employs a height adjustment mechanism to adjust the height of the sensor units in space, thereby enabling wide-range, multi-angle detection of instruments and power equipment, while reducing the robot's height and weight. A leg-wheel switching mechanism allows for rapid switching between bipedal walking and quadrupedal movement, balancing the robot's obstacle-crossing and high-speed movement requirements across different terrains. It also boasts advantages such as simple mechanism, light weight, and easy control. Summary of the Invention

[0011] To address the aforementioned technical problems, this invention proposes a variable height and wheel-based humanoid robot mechanism and information processing and control method, which enables active height control and wheel-based motion switching, thereby improving the humanoid robot's information perception, obstacle crossing, and movement capabilities.

[0012] To achieve the above objectives, the technical solution adopted by the present invention is as follows:

[0013] The humanoid robot's main body structure consists of a torso, legs, feet, arms, a height adjustment mechanism, a sensor unit, and a control system. The legs, feet, and arms are mounted on the torso. The legs include a left leg and a right leg, the feet include a left foot and a right foot, and the arms include a left arm and a right arm. The left and right legs have the same structure and are symmetrical with respect to the torso. The left and right feet have the same structure and are symmetrical with respect to the torso. The structure reuses the knee joint drive motor and elbow joint drive motor of the humanoid robot's bipedal motion mechanism, realizing the coupling and switching between legged and wheeled motion.

[0014] The height adjustment mechanism consists of a retracting mechanism and a rotating mechanism. The rotating mechanism drives the retracting mechanism to rotate 360 ​​degrees relative to the body, thereby achieving folding and unfolding.

[0015] As a further improvement to the humanoid robot body structure of the present invention, the leg and foot mechanism, which reuses the knee joint drive motor and elbow joint drive motor of the humanoid robot bipedal motion mechanism, is as follows;

[0016] Both the left and right legs are composed of a side-swing drive motor, a direction adjustment motor mount, a direction adjustment motor, a hip joint motor mount, a hip joint motor, a thigh frame, a knee joint drive motor, a knee joint linkage one, a knee joint linkage two, a lower leg frame, an ankle joint drive motor, a leg coupling, a leg electromagnetic clutch, a leg wheel, and ankle joint linkage one and two. The side-swing drive motor is fixed to the lower end of the body. The direction adjustment motor mount is fixed to the output shaft of the side-swing drive motor, and the direction adjustment motor is fixed to the direction adjustment motor mount. The hip joint motor mount is fixed to the output shaft of the direction adjustment motor, and the hip joint motor is fixed to the hip joint motor mount. The upper end of the thigh frame is fixed to the output shaft of the hip joint motor. The knee joint drive motor is fixed to the thigh frame, with the hip joint motor located on the inner side of the thigh frame and the knee joint drive motor located on the outer side of the thigh frame. The knee joint linkage... One end of the first ankle joint linkage is fixed to the output shaft of the knee joint drive motor. The other end of the first ankle joint linkage is connected to the second knee joint linkage via a revolute joint. The other end of the second knee joint linkage is connected to the top of the lower leg frame via a revolute joint. A rotating shaft hole is provided below the top of the lower leg frame, which is connected to the bottom of the thigh frame via a revolute joint. The bottom of the lower leg frame is connected to the middle part of the foot via a revolute joint. The ankle joint drive motor is fixed to the inner side of the lower leg frame, located below the revolute joint between the thigh frame and the lower leg frame. The leg coupling is fixed to the output shaft of the ankle joint drive motor. The moving plate of the leg electromagnetic clutch is fixed to the leg coupling. The leg wheel is sleeved on the outer ring of the moving plate of the leg electromagnetic clutch and fixed. One end of the first ankle joint linkage is fixed to the base plate of the leg electromagnetic clutch. The other end of the first ankle joint linkage is connected to the second ankle joint linkage via a revolute joint. The other end of the second ankle joint linkage is connected to the heel of the foot via a revolute joint.

[0017] As a further improvement to the humanoid robot body structure of the present invention, the arm mechanism, which reuses the knee joint drive motor and elbow joint drive motor of the humanoid robot's bipedal motion mechanism, is as follows;

[0018] Both the left and right arms include an abduction drive motor, an upward drive motor mount, an upward drive motor, a large arm, an elbow joint drive motor, an arm coupling, an arm electromagnetic clutch, an arm wheel, a large arm and forearm connector, and a forearm. The abduction drive motor is fixed to the shoulder of the torso. The upward drive motor mount is fixed to the output shaft of the abduction drive motor. The upward drive motor is fixed to the upper end of the large arm and the output shaft of the upward drive motor. The elbow joint drive motor is fixed to the bottom end of the large arm. The arm coupling is fixed to the output shaft of the elbow joint drive motor. The moving plate of the arm electromagnetic clutch is fixed to the arm coupling. The arm wheel is sleeved on the outer ring of the moving plate of the arm electromagnetic clutch and fixed. The large arm and forearm connector is fixed to the base plate of the arm electromagnetic clutch. The forearm is fixed to the large arm and forearm connector.

[0019] As a further improvement to the humanoid robot body structure of the present invention, the retraction mechanism of the height adjustment mechanism includes an origami structure, a torsion spring, a folding motor, a winch, a base, a top seat, and a pull rope. The origami structure consists of at least two triangular carbon fiber plates connected by adhesive tape. The torsion spring includes at least two springs, and the rotation axis of the torsion spring is coaxial with the movable side connecting the adjacent upper and lower triangular carbon fiber plates. One lever arm is fixed on the upper triangular carbon fiber plate, and the other lever arm is fixed on the lower triangular carbon fiber plate. The folding motor is fixed on the base, the winch is fixed on the output shaft of the folding motor, the bottom end of the origami structure is fixed on the base, and the top seat is fixed on the top of the origami structure. The pull rope includes two ropes, one end of which is fixed on the top seat, and the other end passes through the triangular carbon fiber plate of the origami structure and is fixed on the winch.

[0020] The height adjustment mechanism includes a rotating mechanism and a rotating motor base. The rotating motor is fixed on the rotating motor base, and the rotating motor base is fixed on the top of the body. The base of the retraction mechanism is fixed on the output shaft of the rotating motor.

[0021] As a further improvement to the humanoid robot body structure of the present invention, the sensor unit includes a lidar, a camera, a microphone, and a thermal imager. The lidar and camera are mounted on the top of the height adjustment mechanism, and the microphone and thermal imager are mounted on the upper part of the body.

[0022] The present invention relates to a humanoid robot information processing and control method, characterized in that it includes a road and obstacle detection and foot-wheel conversion control method, and a target detection information processing and height control method;

[0023] The steps of the road and obstacle detection and foot-to-wheel switching control method are as follows:

[0024] S1: Road and obstacle detection: The humanoid robot scans and maps the surrounding environment using LiDAR to obtain three-dimensional geometric information, and uses a camera to identify surrounding objects based on machine learning algorithms to obtain semantic information about the objects.

[0025] S2: Road condition judgment: The humanoid robot combines three-dimensional geometric information and object semantic information to judge the road surface condition;

[0026] S3: Wheeled Motion Mode: When the ground is flat, the robot switches from legged motion mode to wheeled motion mode, adopting wheeled motion. The legged-to-wheeled motion includes the following sub-steps:

[0027] a1: Stand with your legs together and arms hanging down;

[0028] a2: Squat down as low as possible;

[0029] a3: Leg joint adjustment for knee landing:

[0030] The angles of the hip, knee, and ankle joints are dynamically adjusted based on the ZMP control algorithm so that the knee contacts the ground.

[0031] a4: Lean forward and place your arms on the ground:

[0032] The angle of the hip joint is dynamically adjusted based on the ZMP control algorithm, so that the body leans forward and the ends of the arms touch the ground;

[0033] a5: Arm wheel on the ground;

[0034] The elbow joint angle is dynamically adjusted based on the ZMP control algorithm so that the elbow arm wheel touches the ground;

[0035] a6: Forearm and foot posture adjustment; adjust the elbow angle to bring the forearm as close to the upper arm as possible to ensure the arm wheel is in full contact with the ground, adjust the ankle angle to retract the foot so that it is not in contact with the ground, ensure the leg wheel is in full contact with the ground, and control the left and right leg electromagnetic clutches to shut off, and the left and right arm electromagnetic clutches to shut off.

[0036] S4: Legged motion mode: When there are obstacles on the ground that the wheels cannot overcome, the robot switches from wheeled motion mode to legged motion mode to cross the obstacles. The steps of switching from wheeled to legged motion mode are the reverse of the steps of switching from legged to wheeled motion mode above. The robot uses the ZMP control algorithm to adjust the joint angles of the arms and legs to realize the switch from legged motion mode to wheeled motion mode.

[0037] The steps of the target detection information processing and height control method are as follows:

[0038] S1: Environment and target detection: The robot scans and maps the surrounding environment using LiDAR to obtain three-dimensional geometric information. It then uses a camera to identify surrounding objects based on machine learning algorithms to obtain semantic information about the objects. After matching the geometric and speech information, the robot obtains the three-dimensional position of the target to be observed.

[0039] S2: Height and Viewpoint Control: The robot controls its spatial position over a wide range by controlling the angles of its knee and ankle joints, as well as the unfolding height of the retraction mechanism. It adjusts the camera's orientation by controlling the rotation of the rotating mechanism, thereby adjusting the viewpoint. Based on a PID algorithm, it controls the distance between the target's 3D camera position and the target's 3D position to reach a set threshold, obtaining the optimal field of view. By adjusting the height and viewpoint, or adjusting the pose of the microphone and thermal imager, it can better detect instrument malfunctions and abnormal equipment temperatures. When the folding motor of the retraction mechanism rotates forward, the pull rope winds around the winch, the retraction mechanism retracts, and the height decreases. When the folding motor of the retraction mechanism rotates in reverse, the pull rope unwinds from the winch, the retraction mechanism unfolds, and the height increases.

[0040] The technical solution of the present invention has the following beneficial effects:

[0041] (1) The variable height and wheel conversion humanoid robot mechanism and information processing control method of the present invention, based on the origami mechanism, realizes only the adjustment of the height and posture of sensors such as cameras, without the need for height adjustment of the robot body, which reduces the complexity, weight and energy consumption of the system and improves the flexibility of detection operations in complex and narrow indoor environments.

[0042] (2) The foot-wheel conversion mechanism of the present invention adopts a structure that reuses the knee joint drive motor and elbow joint drive motor of the bipedal motion mechanism of the humanoid robot, realizing the coupling and switching of foot and wheel motion. It does not require an additional motor to drive wheel motion, and has the advantages of simple mechanism, light weight and simple control. It balances the needs of humanoid robots to overcome obstacles and move at high speed, and improves the robot's ability to pass through complex environments and its motion efficiency. Attached Figure Description

[0043] Figure 1 This is a three-dimensional front right view of the body structure of the humanoid robot in this invention example;

[0044] Figure 2 This is a three-dimensional left rear view of the body structure of the humanoid robot in this embodiment of the invention;

[0045] Figure 3 This is a front view of the body structure of the humanoid robot in this embodiment of the invention;

[0046] Figure 4This is a rear view of the body structure of the humanoid robot in this embodiment of the invention;

[0047] Figure 5 This is a schematic diagram of the humanoid robot's body in an example of the present invention;

[0048] Figure 6 This is a schematic diagram of the leg structure details of the humanoid robot in this invention example. Figure 1 ;

[0049] Figure 7 This is a schematic diagram of the leg structure details of the humanoid robot in this invention example. Figure 2 ;

[0050] Figure 8 This is a schematic diagram of the height adjustment mechanism and folding state of the humanoid robot in this invention example. Figure 1 ;

[0051] Figure 9 This is a schematic diagram of the height adjustment mechanism and folding state of the humanoid robot in this invention example. Figure 2 ;

[0052] Figure 10 This is a schematic diagram of the height adjustment mechanism and extended state of the humanoid robot in this invention example. Figure 1 ;

[0053] Figure 11 This is a schematic diagram of the height adjustment mechanism and extended state of the humanoid robot in this invention example. Figure 2 ;

[0054] Figure 12 This is a schematic diagram of the humanoid robot's height adjustment at its highest state in an example of the present invention;

[0055] Figure 13 This is a schematic diagram of the leg wheel mechanism of the humanoid robot in this invention example;

[0056] Figure 14 This is a schematic diagram of the leg-wheel conversion mechanism arm wheel mechanism of the humanoid robot in an example of the present invention;

[0057] Figure 15 This is a schematic diagram of the humanoid robot's legged movement on flat ground in an example of the present invention;

[0058] Figure 16 This is a schematic diagram of the humanoid robot's leg-based stair-climbing motion in an example of the present invention;

[0059] Figure 17 This is a schematic diagram of the humanoid robot's obstacle-crossing movement in an example of the present invention;

[0060] Figure 18 This is a schematic diagram of the leg-wheel motion conversion of the humanoid robot in an example of the present invention;

[0061] Figure 19 This is a schematic diagram of the wheeled movement of the humanoid robot on flat ground in an example of the present invention;

[0062] Figure 20 This is a flowchart of the road and obstacle detection and foot-wheel switching control method for a humanoid robot in an example of the present invention;

[0063] Figure 21 This is a flowchart of the target detection information processing and height control method for a humanoid robot in an example of the present invention.

[0064] List of reference numerals in the attached diagram:

[0065] 1. Body; 2. Legs; 2-1. Left leg; 2-2. Right leg; 2-3. Side swing drive motor; 2-4. Direction adjustment motor mount; 2-5. Direction adjustment motor; 2-6. Hip joint motor mount; 2-7. Hip joint motor; 2-8. Thigh skeleton; 2-9. Knee joint drive motor; 2-10. Knee joint link one; 2-11. Knee joint link two; 2-12. Lower leg skeleton; 2-13. Ankle joint drive motor; 2-14. Leg coupling; 2-15. Leg electromagnetic clutch; 2-16. Leg wheel; 2-17. Ankle joint link one; 2-18. Ankle joint link two; 3. Foot; 3-1. Left foot; 3-2. Right foot; 4. Arm; 4-1. Left arm; 4-2. Right arm; 4-3. Abduction drive motor; 4-4. Lift drive motor mount; 4-5. Lift drive motor; 4 -6. Upper arm; 4-7. Elbow joint drive motor; 4-8. Arm coupling; 4-9. Arm electromagnetic clutch; 4-10. Arm wheel; 4-11. Upper arm and forearm connector; 4-12. Forearm; 5. Height adjustment mechanism; 5-1. Retraction mechanism; 5-1-1. Origami structure; 5-1-1-1. Upper triangular carbon fiber plate; 5-1-1-2. Lower triangular carbon fiber plate; 5-1-2. Torsion spring; 5-1-3. Folding motor; 5-1-4. Winch; 5-1-5. Base; 5-1-6. Top seat; 5-1-7. Pull rope; 5-2. Rotation mechanism; 5-2-1. Rotation motor; 5-2-2. Rotation motor base; 6. Sensor unit; 6-1. LiDAR; 6-2. Camera; 6-3. Microphone; 6-4. Thermal imager; 7. Control system. Detailed Implementation

[0066] The present invention will be further described in detail below with reference to the accompanying drawings and specific embodiments:

[0067] The structural part is shown in the appendix. Figure 1-7 The composition and folding state of the height adjustment mechanism of the humanoid robot are shown in the attached document. Figure 8-9 The composition and extension state of the height adjustment mechanism of the humanoid robot are shown in the attached document. Figure 10-11The maximum height adjustment state of the humanoid robot is shown in the attached figure. Figure 12 The leg-wheel conversion mechanism of the humanoid robot is shown in the attached figure. Figure 13 The leg-to-wheel conversion mechanism and arm-wheel mechanism of the humanoid robot are shown in the attached figure. Figure 14 The motion state of the humanoid robot is referenced in the appendix. Figure 15-19 A variable height and wheel-mounted humanoid robot mechanism and information processing and control method are disclosed. The robot body comprises a torso 1, legs 2, feet 3, arms 4, a height adjustment mechanism 5, a sensor unit 6, and a control system 7. The legs 2, feet 3, and arms 4 are mounted on the torso. The legs 2 include a left leg 2-1 and a right leg 2-2. The feet 3 include a left foot 3-1 and a right foot 3-2. The arms 4 include a left arm 4-1 and a right arm 4-2. The left leg 2-1 and the right leg 2-2 have the same structure and are symmetrical with respect to the torso. The left foot 3-1 and the right foot 3-2 have the same structure and are symmetrical with respect to the torso.

[0068] Both the left leg 2-1 and the right leg 2-2 are driven by a side-swing drive motor 2-3, a direction adjustment motor mount 2-4, a direction adjustment motor 2-5, a hip joint motor mount 2-6, a hip joint motor 2-7, a thigh frame 2-8, a knee joint drive motor 2-9, a knee joint link one 2-10, a knee joint link two 2-11, a lower leg frame 2-12, an ankle joint drive motor 2-13, a leg coupling 2-14, a leg electromagnetic clutch 2-15, a leg wheel 2-16, an ankle joint link one 2-17, and an ankle joint link two 2-18. The side-swing drive motor 2-3 is fixed to the lower end of the corresponding body 1. The adjustment motor mount 2-4 is fixed to the output shaft of the side-swing drive motor 2-3. The direction adjustment motor 2-5 is fixed to the direction adjustment motor mount 2-4. The hip joint motor mount 2-6 is fixed to the output shaft of the direction adjustment motor 2-5. The hip joint motor 2-7 is fixed to the hip joint motor mount 2-6. The upper end of the thigh frame 2-8 is fixed to the output shaft of the hip joint motor 2-7. The knee joint drive motor 2-9 is fixed to the thigh frame. The hip joint motor 2-7 is located on the inner side of the thigh frame 2-8, and the knee joint drive motor 2-9 is located on the outer side of the thigh frame 2-8. One end of the knee joint link 2-10 is fixed to the output shaft of the knee joint drive motor 2-9. The other end of the knee joint link 2-10 is connected to the knee joint link 2-11 via a revolute joint. The other end of the knee joint link 2-11 is connected to the top of the lower leg frame 2-12 via a revolute joint. A rotating shaft hole is provided below the top of the lower leg frame 2-12, which is connected to the bottom of the thigh frame 2-8 via a revolute joint. The bottom of the lower leg frame 2-12 is connected to the middle part of the foot 3 via a revolute joint. The ankle joint drive motor 2-13 is fixed to the inner side of the lower leg frame 2-12, located in the upper leg. Below the rotating joint of leg frame 2-8 and lower leg frame 2-12, the leg coupling 2-14 is fixed on the output shaft of ankle joint drive motor 2-13, the moving plate of leg electromagnetic clutch 2-15 is fixed on leg coupling 2-14, the leg wheel 2-16 is sleeved on the outer ring of the moving plate of leg electromagnetic clutch 2-15 and fixed, one end of ankle joint connecting rod 1 2-17 is fixed on the bottom plate of leg electromagnetic clutch 2-15, the other end of ankle joint connecting rod 1 2-17 is connected to ankle joint connecting rod 2-18 by a rotating joint, and the other end of ankle joint connecting rod 2-18 is connected to the root of foot 3 by a rotating joint;

[0069] Both the left arm 4-1 and the right arm 4-2 include an abduction drive motor 4-3, an upward drive motor mount 4-4, an upward drive motor 4-5, an upper arm 4-6, an elbow joint drive motor 4-7, an arm coupling 4-8, an arm electromagnetic clutch 4-9, an arm wheel 4-10, an upper arm and forearm connector 4-11, and a forearm 4-12. The abduction drive motor 4-3 is fixed to the shoulder of the torso 1. The upward drive motor mount 4-4 is fixed to the output shaft of the abduction drive motor 4-3. The upward drive motor 4-5 is fixed to the upward drive motor mount 4-4. The upper arm 4-6... The upper end of 6 is fixed on the output shaft of the lifting drive motor 4-5, the elbow joint drive motor 4-7 is fixed on the bottom end of the upper arm 4-6, the arm coupling 4-8 is fixed on the output shaft of the elbow joint drive motor 4-7, the moving plate of the arm electromagnetic clutch 4-9 is fixed on the arm coupling 4-8, the arm wheel 4-10 is sleeved on the outer ring of the moving plate of the arm electromagnetic clutch 4-9 and fixed, the upper arm and lower arm connecting piece 4-11 is fixed on the base plate of the arm electromagnetic clutch 4-9, and the lower arm 4-12 is fixed on the upper arm and lower arm connecting piece 4-11.

[0070] The height adjustment mechanism 5 consists of a retraction mechanism 5-1 and a rotation mechanism 5-2. The retraction mechanism 5-1 includes an origami structure 5-1-1, a torsion spring 5-1-2, a folding motor 5-1-3, a winch 5-1-4, a base 5-1-5, a top seat 5-1-6, and a pull rope 5-1-7. The origami structure 5-1-1 is formed by multiple triangular carbon fiber plates connected by adhesive tape, constituting a Yoshimura origami mechanism. The torsion spring 5-1-2 includes multiple springs, and its rotation axis is coaxial with the movable side connecting the adjacent upper triangular carbon fiber plate 5-1-1-1 and lower triangular carbon fiber plate 5-1-1-2. One lever arm is fixed to the upper triangular carbon fiber plate 5-1-1-1, and the other lever arm is fixed to the lower triangular carbon fiber plate 5-1-1-2. The folding motor 5-1-3 is fixed to the base 5-1-5, and the winch 5-1-4 is fixed to the folding motor. On the output shaft 5-1-3, the bottom end of the origami structure 5-1-1 is fixed to the base 5-1-5, and the top seat 5-1-6 is fixed to the top of the origami structure 5-1-1. The pull rope 5-1-7 includes two ropes, one end of which is fixed to the top seat 5-1-6, and the other end passes through the triangular carbon fiber plate of the origami structure 5-1-1 and is fixed to the winch 5-1-4. The rotating mechanism 5-2 includes a rotating motor 5-2-1 and a rotating motor seat 5-2-2. The rotating motor 5-2-1 is fixed to the rotating motor seat 5-2-2, and the rotating motor seat 5-2-2 is fixed to the top of the body 1. The base 5-1-5 of the shrinking mechanism 5-1 is fixed to the output shaft of the rotating motor 5-2-1. The rotating mechanism 5-2 drives the shrinking mechanism 5-1 to rotate 360 ​​degrees relative to the body 1. The shrinking mechanism 5-1 can fold and unfold.

[0071] The sensor unit 6 includes a lidar 6-1, a camera 6-2, a microphone 6-3, and a thermal imager 6-4. The lidar 6-1 and the camera 6-2 are mounted on the top of the height adjustment mechanism 5, and the microphone 6-3 and the thermal imager 6-4 are mounted on the upper part of the body 1.

[0072] The information processing and control method includes a road and obstacle detection and foot-to-wheel conversion control method, and a target detection information processing and height control method;

[0073] Road and obstacle detection and foot-wheel switching control methods for humanoid robots, such as Figure 20 As shown, the steps of the road and obstacle detection and foot-to-wheel conversion control method are as follows:

[0074] S1: Road and obstacle detection: The humanoid robot scans and maps the surrounding environment using LiDAR to obtain three-dimensional geometric information, and uses a camera to identify surrounding objects based on machine learning algorithms to obtain semantic information about the objects.

[0075] S2: Road condition judgment: The humanoid robot combines three-dimensional geometric information and object semantic information to judge the road surface condition;

[0076] S3: Wheeled Motion Mode: When the ground is flat, the robot switches from legged motion mode to wheeled motion mode, adopting wheeled motion. The legged-to-wheeled motion includes the following sub-steps:

[0077] a1: Stand with your legs together and arms hanging down;

[0078] a2: Squat down to the lowest possible height;

[0079] a3: Leg joint adjustment for knee contact: Based on the Zero Moment Point (ZMP) control algorithm, the angles of the hip, knee and ankle joints are dynamically adjusted to ensure that the knee contacts the ground;

[0080] a4: Lean forward and touch the ground with the ends of both arms: The angle of the hip joint is dynamically adjusted based on the ZMP control algorithm so that the body leans forward and the ends of both arms touch the ground;

[0081] a5: Arm wheel ground contact; Based on the ZMP control algorithm, the angle of the elbow joint is dynamically adjusted to ensure that the elbow arm wheel is ground contact;

[0082] a6: Forearm and foot posture adjustment; adjust the elbow angle to bring the forearm as close to the upper arm as possible to ensure the arm wheel is in full contact with the ground, adjust the ankle angle to retract the foot so that it is not in contact with the ground, ensure the leg wheel is in full contact with the ground, and control the left and right leg electromagnetic clutches to shut off, and the left and right arm electromagnetic clutches to shut off.

[0083] S4: Legged Motion Mode: When there are obstacles on the ground such as stairs or thresholds that the wheels cannot overcome, the robot switches from wheeled motion mode to legged motion mode to cross the obstacles. The steps from wheeled to legged are the reverse of the steps from legged to wheeled above. The robot uses the ZMP control algorithm to adjust the joint angles of the arms and legs to achieve the switch from legged motion mode to wheeled motion mode.

[0084] Humanoid robot target detection information processing and height control methods, such as Figure 21 As shown, the steps of the target detection information processing and height control method are as follows:

[0085] S1: Environment and target detection: The robot scans and maps the surrounding environment using LiDAR to obtain three-dimensional geometric information. It then uses a camera to identify surrounding objects based on machine learning algorithms to obtain semantic information about the objects. After matching the geometric and speech information, the robot obtains the three-dimensional position of the target to be observed.

[0086] S2: Height and Viewpoint Control: The robot controls its spatial position over a wide range by controlling the angles of its knee and ankle joints, as well as the unfolding height of the retraction mechanism. It adjusts the camera's orientation by controlling the rotation of the rotating mechanism, thereby adjusting the viewpoint. Based on a PID algorithm, the robot controls the distance between the target's 3D camera position and the target's 3D position to reach a set threshold, achieving the optimal field of view. Adjusting the height and viewpoint also adjusts the pose of the microphone and thermal imager, enabling better detection of instrument malfunctions and abnormal equipment temperatures. When the retraction motor rotates forward, the pull rope winds around the winch, the retraction mechanism retracts, and the robot's height decreases. When the retraction motor rotates in reverse, the pull rope unwinds from the winch, the retraction mechanism unfolds, and the robot's height increases.

[0087] The above description is merely a preferred embodiment of the present invention and is not intended to limit the present invention in any other way. Any modifications or equivalent changes made based on the technical essence of the present invention shall still fall within the scope of protection claimed by the present invention.

Claims

1. A humanoid robot body structure, comprising a torso (1), legs (2), feet (3), arms (4), a height adjustment mechanism (5), a sensor unit (6), and a control system (7), characterized in that; The legs (2), feet (3), and arms (4) are mounted on the body (1). The legs (2) include the left leg (2-1) and the right leg (2-2). The feet (3) include the left foot (3-1) and the right foot (3-2). The arms (4) include the left arm (4-1) and the right arm (4-2). The left leg (2-1) and the right leg (2-2) have the same structure and are symmetrical about the left and right sides relative to the body (1). The left foot (3-1) and the right foot (3-2) have the same structure and are symmetrical about the left and right sides relative to the body (1). The structure reuses the knee joint drive motor and elbow joint drive motor of the bipedal motion mechanism of the humanoid robot, realizing the coupling and switching of foot and wheel motion. The height adjustment mechanism (5) consists of a retraction mechanism (5-1) and a rotation mechanism (5-2). The rotation mechanism (5-2) drives the retraction mechanism (5-1) to rotate 360 ​​degrees relative to the body (1). The retraction mechanism (5-1) is used to fold and unfold the body. The leg (2) and foot (3) mechanisms that reuse the knee joint drive motor and elbow joint drive motor of the bipedal motion mechanism of the humanoid robot are as follows; The left leg (2-1) and right leg (2-2) are each composed of a side-swing drive motor (2-3), a direction adjustment motor mount (2-4), a direction adjustment motor (2-5), a hip joint motor mount (2-6), a hip joint motor (2-7), a thigh frame (2-8), a knee joint drive motor (2-9), a knee joint link one (2-10), a knee joint link two (2-11), a lower leg frame (2-12), an ankle joint drive motor (2-13), a leg coupling (2-14), a leg electromagnetic clutch (2-15), a leg wheel (2-16), an ankle joint link one (2-17), and an ankle joint link two (2-18); the side-swing drive motor (2-3) is fixed to the torso (1 At the lower end of the ), the direction adjustment motor mount (2-4) is fixed on the output shaft of the side swing drive motor (2-3), the direction adjustment motor (2-5) is fixed on the direction adjustment motor mount (2-4), the hip joint motor mount (2-6) is fixed on the output shaft of the direction adjustment motor (2-5), the hip joint motor (2-7) is fixed on the hip joint motor mount (2-6), the upper end of the thigh frame (2-8) is fixed on the output shaft of the hip joint motor (2-7), the knee joint drive motor (2-9) is fixed on the thigh frame (2-8), the hip joint motor (2-7) is on the inner side of the thigh frame (2-8), and the knee joint drive motor (2-9) is positioned... On the outer side of the thigh frame (2-8), one end of the first knee joint link (2-10) is fixed to the output shaft of the knee joint drive motor (2-9), and the other end of the first knee joint link (2-10) is connected to the second knee joint link (2-11) by a revolute joint. The other end of the second knee joint link (2-11) is connected to the top of the lower leg frame (2-12) by a revolute joint. A rotating shaft hole is provided below the top of the lower leg frame (2-12), which is connected to the bottom of the thigh frame (2-8) by a revolute joint. The bottom of the lower leg frame (2-12) is connected to the middle part of the foot (3) by a revolute joint. The ankle joint drive motor (2-13) is fixed to the inner side of the lower leg frame (2-12). Located below the rotating joint of the thigh skeleton (2-8) and the calf skeleton (2-12), the leg coupling (2-14) is fixed on the output shaft of the ankle joint drive motor (2-13), the moving plate of the leg electromagnetic clutch (2-15) is fixed on the leg coupling (2-14), the leg wheel (2-16) is sleeved on the outer ring of the moving plate of the leg electromagnetic clutch (2-15) and fixed, one end of the ankle joint connecting rod one (2-17) is fixed on the bottom plate of the leg electromagnetic clutch (2-15), the other end of the ankle joint connecting rod one (2-17) is connected to the ankle joint connecting rod two (2-18) by a rotating joint, and the other end of the ankle joint connecting rod two (2-18) is connected to the root of the foot (3) by a rotating joint.

2. The humanoid robot body structure according to claim 1, characterized in that: The arm (4) mechanism, which reuses the knee joint drive motor and elbow joint drive motor of the bipedal motion mechanism of the humanoid robot, is as follows: Both the left arm (4-1) and the right arm (4-2) include an abduction drive motor (4-3), an upward drive motor mount (4-4), an upward drive motor (4-5), an upper arm (4-6), an elbow joint drive motor (4-7), an arm coupling (4-8), an arm electromagnetic clutch (4-9), an arm wheel (4-10), an upper arm and forearm connector (4-11), and a forearm (4-12). The abduction drive motor (4-3) is fixed to the shoulder of the torso (1), the upward drive motor mount (4-4) is fixed to the output shaft of the abduction drive motor (4-3), and the upward drive motor (4-5) is fixed to the upward drive motor mount (4-4). The upper end of the boom (4-6) is fixed on the output shaft of the lifting drive motor (4-5), the elbow joint drive motor (4-7) is fixed on the bottom end of the boom (4-6), the boom coupling (4-8) is fixed on the output shaft of the elbow joint drive motor (4-7), the moving plate of the boom electromagnetic clutch (4-9) is fixed on the boom coupling (4-8), the boom wheel (4-10) is sleeved on the outer ring of the moving plate of the boom electromagnetic clutch (4-9) and fixed, the boom and forearm connector (4-11) is fixed on the base plate of the boom electromagnetic clutch (4-9), and the forearm (4-12) is fixed on the boom and forearm connector (4-11).

3. The humanoid robot body structure according to claim 2, characterized in that: The retraction mechanism (5-1) of the height adjustment mechanism (5) includes a paper-folding structure (5-1-1), a torsion spring (5-1-2), a folding motor (5-1-3), a winch (5-1-4), a base (5-1-5), a top seat (5-1-6), and a pull rope (5-1-7). The paper-folding structure (5-1-1) is made up of at least two triangular carbon fiber plates connected by adhesive tape. The torsion spring (5-1-2) includes at least two plates. The rotation axis of the torsion spring (5-1-2) is coaxial with the movable side connecting the adjacent upper triangular carbon fiber plate (5-1-1-1) and lower triangular carbon fiber plate (5-1-1-2). One of its lever arms is fixed on the upper three... On the triangular carbon fiber plate (5-1-1-1), another lever arm is fixed on the lower triangular carbon fiber plate (5-1-1-2), the folding motor (5-1-3) is fixed on the base (5-1-5), the winch (5-1-4) is fixed on the output shaft of the folding motor (5-1-3), the bottom end of the origami structure (5-1-1) is fixed on the base (5-1-5), the top seat (5-1-6) is fixed on the top of the origami structure (5-1-1), and the pull rope (5-1-7) includes 2 ropes, one end of which is fixed on the top seat (5-1-6), and the other end passes through the triangular carbon fiber plate of the origami structure (5-1-1) and is fixed on the winch (5-1-4); The rotating mechanism (5-2) of the height adjustment mechanism (5) includes a rotating motor (5-2-1) and a rotating motor base (5-2-2). The rotating motor (5-2-1) is fixed on the rotating motor base (5-2-2), and the rotating motor base (5-2-2) is fixed on the top of the body (1). The base (5-1-5) of the retraction mechanism (5-1) is fixed on the output shaft of the rotating motor (5-2-1).

4. The humanoid robot body structure according to claim 3, characterized in that: The sensor unit (6) includes a lidar (6-1), a camera (6-2), a microphone (6-3), and a thermal imager (6-4). The lidar (6-1) and the camera (6-2) are mounted on the top of the height adjustment mechanism (5), and the microphone (6-3) and the thermal imager (6-4) are mounted on the upper part of the body (1).

5. The control method for the humanoid robot body structure according to claim 4, characterized in that: This includes methods for road and obstacle detection and foot-to-wheel transition control, as well as methods for target detection information processing and height control; The steps of the road and obstacle detection and foot-to-wheel switching control method are as follows: S1: Road and obstacle detection: The humanoid robot scans and maps the surrounding environment using LiDAR (6-1) to obtain three-dimensional geometric information, and uses a camera (6-2) to identify surrounding objects based on machine learning algorithms to obtain semantic information of the objects. S2: Road condition judgment: The humanoid robot combines three-dimensional geometric information and object semantic information to judge the road surface condition; S3: Wheeled Motion Mode: When the ground is flat, the robot switches from legged motion mode to wheeled motion mode, adopting wheeled motion. The legged-to-wheeled motion includes the following sub-steps: a1: Stand with your legs together and arms hanging down; a2: Squat down as low as possible; a3: Leg joint adjustment for knee landing: The angles of the hip, knee, and ankle joints are dynamically adjusted based on the ZMP control algorithm so that the knee contacts the ground. a4: Lean forward and place your arms on the ground: The angle of the hip joint is dynamically adjusted based on the ZMP control algorithm, so that the body leans forward and the ends of the arms touch the ground; a5: Arm wheel on the ground; The elbow joint angle is dynamically adjusted based on the ZMP control algorithm so that the elbow arm wheel touches the ground; a6: Adjust the posture of the forearm and foot; adjust the angle of the elbow joint so that the forearm (4-12) is as close as possible to the upper arm (4-6), ensuring that the arm wheel (4-10) is in full contact with the ground; adjust the angle of the ankle joint so that the foot is retracted and does not contact the ground, ensuring that the leg wheel (2-16) is in full contact with the ground; and control the leg electromagnetic clutch (2-15) of the left leg (2-1) and right leg (2-2) to be closed, and the arm electromagnetic clutch (4-9) of the left arm (4-1) and right arm (4-2) to be closed. S4: Legged motion mode: When there are obstacles on the ground that the wheels cannot overcome, the robot switches from wheeled motion mode to legged motion mode to cross the obstacles. The steps of switching from wheeled to legged motion mode are the reverse of the steps of switching from legged to wheeled motion mode above. The robot uses the ZMP control algorithm to adjust the joint angles of the arms and legs to realize the switch from legged motion mode to wheeled motion mode. The steps of the target detection information processing and height control method are as follows: S1: Environment and target detection: The robot scans and maps the surrounding environment using LiDAR to obtain three-dimensional geometric information. It then uses a camera to identify surrounding objects based on machine learning algorithms to obtain semantic information about the objects. After matching the geometric and speech information, the robot obtains the three-dimensional position of the target to be observed. S2: Height and Viewpoint Control: The robot controls its spatial position over a wide range by controlling the angles of its knee and ankle joints, as well as the unfolding height of the retraction mechanism (5-1). It adjusts the viewing angle by controlling the rotation mechanism (5-2) and the orientation of the camera (6-2). Based on a PID algorithm, the robot controls the distance between the target's 3D position and the target's 3D position to reach a set threshold, thus obtaining the optimal field of view. This can be achieved by adjusting the height and viewing angle, or by adjusting the microphone. The position of (6-3) and thermal imager (6-4) is used to detect the fault sound of the instrument and the abnormal temperature of the equipment in a better position; when the folding motor (5-1-3) of the shrinking mechanism (5-1) rotates forward, the pull rope (5-1-7) is wound on the winch (5-1-4), the shrinking mechanism (5-1) is closed and the height is reduced; when the folding motor (5-1-3) of the shrinking mechanism (5-1) rotates in reverse, the pull rope (5-1-7) is unwound from the winch (5-1-4), the shrinking mechanism (5-1) is unfolded and the height is increased.

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