Obstacle sensing equipment and humanoid robot

Abstract

The invention relates to the technical field of humanoid robots, and discloses an obstacle sensing device which comprises an obstacle sensing module connected to the front side of the head of a robot body. The humanoid robot further comprises the obstacle sensing equipment. The fixed arc plate and the movable arc plate are arranged on the outer side of the head of the robot body, the movable arc plate can be unfolded to protect the obstacle sensing module, the fixed arc plate protects the rear side of the head, the protection area is enlarged, meanwhile, when the movable arc plate is unfolded, the fixed air bag and the movable air bag are inflated at the same time, impact force is absorbed, and the safety of the robot is improved. The damage degree of the obstacle sensing module is greatly reduced, and the protection effect on the obstacle sensing module is effectively improved; and due to the arrangement of the scraping plate, the lens on the front side of the obstacle sensing module can be cleaned through linkage of the downward moving assembly, and dust attached to the lens during daily use of the robot body and dust attached to the lens after falling down are cleaned away.

Description

Technical Field

[0001] The present invention relates to the technical field of humanoid robots, and in particular to an obstacle sensing device and a humanoid robot. Background Art

[0002] The obstacle sensing device of a humanoid robot is usually installed on the head. Installing the obstacle sensing device on the head of a humanoid robot can enable it to perceive the surrounding environment more intuitively. The relatively high position of the head can provide a wider field of view, which helps the robot to better perceive obstacles and potential dangers in the surrounding environment. At the same time, the visual sensors installed on the head (such as cameras) can capture information from farther away, which helps to improve the robot's autonomous navigation and obstacle avoidance.

[0003] The patent with announcement number CN217453942U currently discloses a humanoid robot, including a head mechanism, a torso mechanism, two arm mechanisms and two leg mechanisms. The torso mechanism is arranged at the bottom of the head mechanism, the two arm mechanisms are respectively arranged on both sides of the torso mechanism, and the two leg mechanisms are respectively arranged on the side of the torso mechanism away from the head mechanism. The head mechanism provides installation conditions for the torso mechanism, and the torso mechanism provides installation conditions for the two arm mechanisms and the two leg mechanisms. The torso mechanism can drive the head mechanism to rotate when it works, and the two arm mechanisms can be driven to move up and down through the driving mechanism. The two leg mechanisms can drive the torso mechanism to move when they work, thereby improving the flexibility of the robot and solving the problem that the existing robots are not flexible enough.

[0004] Although the above device solves the problem of poor mobility of existing robots, it still has the following shortcomings: since its head is equipped with obstacle sensing devices such as sensors, cameras and radars, when the robot falls accidentally, its head will directly contact the ground, causing the head to be bumped, which can easily cause damage to the obstacle sensing device on its head and cause inconvenience. Summary of the invention

[0005] In view of the deficiencies in the prior art, the present invention provides an obstacle sensing device and a humanoid robot to solve the problems raised by the background technology and facilitate the protection of the obstacle sensing device on the head of the robot body.

[0006] To achieve the above-mentioned objectives, the present invention provides the following technical solutions: an obstacle sensing device, comprising an obstacle sensing module connected to the front side of a robot body head, the outer side of the robot body head being connected to a protective structure, the protective structure comprising a fixed arc plate and a movable arc plate, the bottom of the fixed arc plate being fixedly connected to two symmetrically arranged mounting posts, the mounting posts being fixedly connected to the head shell, the outer wall of the fixed arc plate being connected to a fixed airbag, the outer side of the movable arc plate being connected to a mobile airbag, the mobile airbag and the outer side of the fixed airbag being connected to an air source assembly, the inner wall of the movable arc plate being connected to an air blowing assembly, the two sides of the movable arc plate being connected to drive assemblies, the outer wall of the obstacle sensing module being also connected to a scraper for cleaning the obstacle sensing module, and the two sides of the scraper being connected to pulling assemblies.

[0007] Furthermore, the gas source assembly includes two symmetrically arranged gas cylinders, the connecting ends of the gas cylinders are equipped with solenoid valves, the solenoid valves are electrically connected to the control unit in the robot body, the connecting ends of the gas cylinders are connected to the fixed arc plate through a pipeline, and one end of the pipeline is connected to the fixed airbag through the fixed arc plate, the outer wall of the fixed airbag is fixedly connected to a connecting pipe, and the other end of the connecting pipe is connected to the mobile airbag.

[0008] Furthermore, the blowing assembly includes a plurality of air release valve nozzles, a mounting groove is provided in the movable arc plate, and a plurality of groups of the air release valve nozzles are located in the mounting groove and are connected to the interior of the movable airbag.

[0009] Furthermore, the driving assembly includes two arc rack plates, which are respectively fixedly connected to both sides of the movable arc plate, and two symmetrically arranged motors are connected below the fixed arc plate. The outer wall of the mounting column is fixedly connected to a mounting plate, and the motor is located on the top of the mounting plate and fixedly installed by fasteners. The output shafts of the two motors are fixedly connected to a first gear, which is meshed with the corresponding arc rack plate, and the motor is electrically connected to a control unit inside the robot body.

[0010] Furthermore, the pulling assembly includes two symmetrically arranged second gears and vertical rack plates, the tops of the two vertical rack plates are respectively connected to the tops of the scrapers, the outer sides of the vertical rack plates are meshedly connected with second gears, and the outer sides of the second gears are meshedly connected with arc rack plates.

[0011] Furthermore, side panels are connected to both sides of the head of the robot body, and fastening rods are passed through the two side panels. The two fastening rods are respectively threadedly connected to corresponding mounting columns, and the inner walls of the two side panels are connected to sliding storage components.

[0012] Furthermore, the pushing and storing assembly includes an electric push rod, the inner wall of the side plate is fixedly connected with the electric push rod, the output shaft of the electric push rod is fixedly connected with a movable plate slidably connected to the inner wall of the side plate, the outer wall of the second gear is rotatably connected with a rotating shaft, the rotating shaft is fixedly connected to the movable plate, the front end of the scraper is L-shaped, the two ends of the scraper are slidably connected to the inner walls of the two side plates, the inner walls of the two ends of the scraper are fixedly connected to a limiting shaft, one end of the limiting shaft passes through the top of a vertical rack plate and is slidably connected to it, the inner wall of the movable plate is fixedly connected to the limiting plate, a vertical sliding groove is provided in the vertical rack plate, the limiting plate is slidably connected in the sliding groove, the two ends of the top of the scraper are fixedly connected with springs, and the top of the spring is detachably connected to the top of the side plate through a connecting block.

[0013] Furthermore, movable grooves are provided on both sides of the fixed arc plate, and sliding blocks slidably connected to the movable grooves are fixedly connected to the bottoms of both sides of the movable arc plate.

[0014] Furthermore, two ends of the scraper are fixedly connected with moving blocks, and the moving blocks are slidably connected to the inner wall of the side plate.

[0015] The present invention also provides a humanoid robot, which also includes the above-mentioned obstacle sensing device.

[0016] Compared with the prior art, the present invention has the following beneficial effects:

[0017] 1. The present invention sets a fixed arc plate and a movable arc plate on the outside of the head of the robot body, so that when the sensor in the robot body detects the falling posture, the movable arc plate can be unfolded to protect the obstacle sensing module, and the fixed arc plate protects the back of the head to increase the protection area. At the same time, when the movable arc plate is unfolded, the fixed airbag and the movable airbag are inflated at the same time to absorb the impact force, so that the damage degree of the obstacle sensing module is greatly reduced, and the protection effect of the obstacle sensing module is effectively improved; the setting of the scraper can realize the cleaning of the lens on the front side of the obstacle sensing module through the linkage of the downward moving component, and clean up the dust attached to the lens of the robot body during daily use and the dust raised after falling;

[0018] 2. The present invention sprays gas through multiple air release valve nozzles, and the sprayed gas can blow the front side of the obstacle sensing module, so that the dust particles attached to the front lens of the obstacle sensing module are washed away. In this way, the dust attached to the lens of the robot body during daily use and the dust raised after falling can be cleaned up. BRIEF DESCRIPTION OF THE DRAWINGS

[0019] Figure 1 It is a three-dimensional structural schematic diagram of the overall structure of the present invention;

[0020] Figure 2It is a three-dimensional structural schematic diagram of the fixed arc plate and the movable arc plate of the present invention in an unfolded state;

[0021] Figure 3 It is a schematic diagram of the three-dimensional structure of the fixed arc plate and the movable arc plate in the combined state of the present invention;

[0022] Figure 4 It is a schematic diagram of the three-dimensional structure of the present invention in the unfolded state of two side panels;

[0023] Figure 5 It is a schematic diagram of the three-dimensional cross-sectional structure of the fixed arc plate and the movable arc plate of the present invention;

[0024] Figure 6 It is a schematic diagram of the three-dimensional cross-sectional structure of the fixed arc plate and the fixed airbag of the present invention;

[0025] Figure 7 It is a schematic diagram of the vertical cross-section structure of the movable arc plate and the movable airbag of the present invention;

[0026] Figure 8 It is a schematic diagram of the three-dimensional structure of the second gear, the scraper and the vertical rack plate of the present invention;

[0027] Fig. 9 It is a three-dimensional structural schematic diagram of the scraper and the spring of the present invention;

[0028] Fig.10 It is a schematic diagram of the three-dimensional structure of another state of the present invention as a whole.

[0029] In the figure: 1. Robot body; 2. Obstacle sensing module; 3. Side panel; 4. Fixed airbag; 5. Mobile airbag; 6. Connecting pipe; 7. Fixed arc plate; 8. Mobile arc plate; 9. Scraper; 10. First gear; 11. Mounting column; 12. Gas cylinder; 13. Fastening rod; 14. Electric push rod; 15. Second gear; 16. Vertical rack plate; 17. Mobile plate; 18. Limiting shaft; 19. Solenoid valve; 20. Arc rack plate; 21. Mounting plate; 22. Mounting slot; 23. Air release valve nozzle; 24. Slider; 25. Motor; 26. Spring; 27. Rotating shaft; 28. Limiting plate; 29. ​​Slide; 30. Mobile block; 31. Mobile slot. DETAILED DESCRIPTION

[0030] The technical solutions in the embodiments of the present invention will be described clearly and completely below in conjunction with the drawings in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, rather than all the embodiments.

[0031] See also Figure 1-Figure 10An obstacle sensing device comprises an obstacle sensing module 2 connected to the front side of the head of a robot body 1, a protective structure is connected to the outside of the head of the robot body 1, the protective structure comprises a fixed arc plate 7 and a movable arc plate 8, the bottom of the fixed arc plate 7 is fixedly connected to two symmetrically arranged mounting columns 11, the mounting columns 11 are fixedly connected to the head shell, the outer wall of the fixed arc plate 7 is connected to a fixed airbag 4, the outer side of the movable arc plate 8 is connected to a movable airbag 5, the outer sides of the movable airbag 5 and the fixed airbag 4 are connected to an air source component, the inner wall of the movable arc plate 8 is connected to an air blowing component, and both sides of the movable arc plate 8 are connected to a driving component, the outer wall of the obstacle sensing module 2 is also connected to a scraper 9 for cleaning the obstacle sensing module 2, and both sides of the scraper 9 are connected to pulling components.

[0032] The obstacle sensing device of the present invention, when the robot body 1 accidentally falls while walking, since the robot body 1 is provided with an obstacle sensing module 2, when the robot body 1 is about to fall, the obstacle sensing module 2 can determine that the robot body 1 is about to fall on the ground through the distance of the robot body 1 from the ground, its own posture, or by setting a pressure sensor on the sole of the foot. When the time of losing pressure exceeds the set threshold value and the pressure is abnormal (the above can be set at the same time), the control unit inside the robot body 1 can be used to drive the driving component, so that the driving component works and the moving arc plate 8 is unfolded;

[0033] When the movable arc plate 8 is driven by the driving component, the outer sides of the fixed arc plate 7 and the fixed airbag 4 will slide and unfold, so that the movable arc plate 8 will slide down to protect the obstacle sensing module 2. At the same time, the fixed airbag 4 will lose the restriction of the movable arc plate 8 and will be inflated with the movable airbag 5 under the inflation of the air source component, so that the outer sides of the fixed arc plate 7 and the movable arc plate 8 will be absorbed by the received impact force.

[0034] When the robot body 1 falls, due to its own width, it can only lie flat with its head facing up or down. The fixed arc plate 7 and the fixed airbag 4 can protect the back of the head, and the movable arc plate 8 and the movable airbag 5 can protect the front of the head, that is, the protection of the obstacle sensing module 2, which greatly reduces the degree of damage to the obstacle sensing module 2 and effectively improves the protection effect of the obstacle sensing module 2.

[0035] The scraper 9 can be set to clean the lens on the front side of the obstacle sensing module 2 through the linkage of the downward moving component, and clean up the dust attached to the lens of the robot body 1 during daily use and the dust raised after falling.

[0036] By setting a fixed arc plate 7 and a movable arc plate 8 on the outside of the head of the robot body 1, when the sensors in the robot body 1 detect its falling posture, the movable arc plate 8 can be unfolded to protect the obstacle sensing module 2, and the fixed arc plate 7 protects the back of the head to increase the protection area. At the same time, when the movable arc plate 8 is unfolded, the fixed airbag 4 and the mobile airbag 5 are inflated at the same time to absorb the impact force, so that the damage degree of the obstacle sensing module 2 is greatly reduced, and the protection effect of the obstacle sensing module 2 is effectively improved; the scraper 9 is set, and the lens on the front side of the obstacle sensing module 2 can be cleaned through the linkage of the downward moving component, and the dust attached to the lens of the robot body 1 during daily use and the dust raised after falling are cleaned.

[0037] As a preferred technical solution of the present invention, the gas source assembly includes two symmetrically arranged gas cylinders 12, and the connecting ends of the gas cylinders 12 are equipped with solenoid valves 19, which are electrically connected to the control unit in the robot body 1. The connecting ends of the gas cylinders 12 are connected to the fixed arc plate 7 through a pipeline, and one end of the pipeline is connected to the fixed airbag 4 through the fixed arc plate 7. The outer wall of the fixed airbag 4 is fixedly connected to the connecting pipe 6, and the other end of the connecting pipe 6 is connected to the mobile airbag 5.

[0038] Specifically, when it is necessary to inflate the fixed airbag 4 and the mobile airbag 5, the solenoid valve 19 at the end of the gas cylinder 12 will be opened under the control of the control unit of the robot body 1, and the gas in the gas cylinder 12 will be flushed into the fixed airbag 4 through the pipeline, and then filled into the mobile airbag 5 through the connecting pipe 6. The connecting pipe 6 is an elastic tube or a hose with sufficient extension to facilitate the smooth movement of the mobile airbag 5.

[0039] The gas in the gas cylinder 12 can be compressed carbon dioxide or nitrogen, which is an existing mature technology, especially referring to the "automatic inflatable life buoy", and will not be elaborated in detail here.

[0040] It is worth noting that the gas source component here can also be replaced with an air machine or a blower, etc., so that the fixed airbag 4 and the mobile airbag 5 can be inflated, and it also has the convenient advantage of not having to replace or inflate the gas cylinder 12 after use.

[0041] As a preferred technical solution of the present invention, the blowing assembly includes multiple air release valve nozzles 23, a mounting groove 22 is opened in the movable arc plate 8, and multiple groups of air release valve nozzles 23 are located in the mounting groove 22 and are connected to the interior of the movable airbag 5.

[0042] Specifically, when the maintenance personnel need to pick up the fallen robot body 1, the movable arc plate 8 needs to be restored to its original state. At this time, the solenoid valve structure and the control unit in the robot body 1 can be used to control the air release valve nozzle 23 to open, so that the air release valve nozzle 23 can spray gas. The sprayed gas can blow to the front side of the obstacle sensing module 2, so that the dust particles attached to the front lens of the obstacle sensing module 2 can be washed away. In this way, the dust attached to the lens of the robot body 1 during daily use and the dust raised after falling can be cleaned up.

[0043] As a preferred technical solution of the present invention, the driving assembly includes two arc rack plates 20, which are respectively fixedly connected on both sides of the movable arc plate 8, and two symmetrically arranged motors 25 are connected below the fixed arc plate 7. The outer wall of the mounting column 11 is fixedly connected with a mounting plate 21, and the motor 25 is located on the top of the mounting plate 21 and fixedly installed by fasteners. The output shafts of the two motors 25 are fixedly connected with a first gear 10, and the first gear 10 is meshed with the corresponding arc rack plate 20, and the motor 25 is electrically connected to the control unit inside the robot body 1.

[0044] Specifically, when the movable arc plate 8 needs to be moved and unfolded, a command is issued through the control unit of the robot body 1 to rotate the motor 25, thereby driving the first gear 10 at the end of its output shaft to rotate, and the first gear 10 is engaged with the arc rack plate 20, thereby making the movable arc plate 8 slide on the outside of the fixed arc plate 7 and the fixed airbag 4, so that the movable arc plate 8 is unfolded and the obstacle sensing module 2 is covered on the inside to protect it.

[0045] As a preferred technical solution of the present invention, the pulling assembly includes two symmetrically arranged second gears 15 and a vertical rack plate 16, the tops of the two vertical rack plates 16 are respectively connected to the tops of the scraper 9, the outer sides of the vertical rack plates 16 are meshedly connected with the second gear 15, and the outer sides of the second gear 15 are meshedly connected with the arc rack plate 20.

[0046] Specifically, when the movable arc plate 8 is unfolded, the arc rack plates 20 on both sides thereof are unfolded at the same time and mesh with the second gear 15. At this time, the second gear 15 rotates clockwise, and the second gear 15 does not mesh with the vertical rack plate 16 and rotates, and the scraper 9 does not move;

[0047] When the arc rack plate 20 moves under the recovery of the movable arc plate 8, it will mesh with the second gear 15. At this time, the second gear 15 rotates counterclockwise, and the second gear 15 will mesh with the vertical rack plate 16, so that the vertical rack plate 16 moves downward, driving the scraper 9 to move downward;

[0048] The downward movement of the scraper 9 can scrape and clean the lens that has just been blown clean by the blowing component again. This setting can prevent the particles caused by the direct scraping of the scraper 9 from scratching or damaging the lens, causing scratches on the lens position of the obstacle sensing module 2, resulting in unclear image acquisition.

[0049] As a preferred technical solution of the present invention, side panels 3 are also connected to both sides of the head of the robot body 1, and fastening rods 13 are passed through the two side panels 3. The two fastening rods 13 are respectively threadedly connected to the corresponding mounting columns 11, and the inner walls of the two side panels 3 are connected to the sliding storage components.

[0050] Specifically, the fixed arc plate 7 and the movable arc plate 8 are also connected to the side panels 3. The setting of the side panels 3 can effectively shield the air source components, drive components and downward moving components on both sides of the head of the robot body 1, thereby improving the aesthetic effect to a certain extent.

[0051] In addition, by connecting the side plate 3 to the mounting column 11 via the fastening rod 13, the side plate 3 can be disassembled and installed, which is convenient for replacing the gas cylinder 12 after use.

[0052] As a preferred technical solution of the present invention, the push-and-hold assembly includes an electric push rod 14, the inner wall of the side plate 3 is fixedly connected with the electric push rod 14, the output shaft of the electric push rod 14 is fixedly connected with a movable plate 17 slidably connected to the inner wall of the side plate 3, the outer wall of the second gear 15 is rotatably connected with a rotating shaft 27, the rotating shaft 27 is fixedly connected to the movable plate 17, the front end of the scraper 9 is L-shaped, the two ends of the scraper 9 are slidably connected to the inner walls of the two side plates 3, the inner walls of the two ends of the scraper 9 are fixedly connected with a limiting shaft 18, one end of the limiting shaft 18 passes through the top of the vertical rack plate 16 and is slidably connected thereto, the inner wall of the movable plate 17 is fixedly connected with a limiting plate 28, a vertical slide groove 29 is opened in the vertical rack plate 16, the limiting plate 28 is slidably connected in the slide groove 29, the two ends of the top of the scraper 9 are fixedly connected with springs 26, and the top of the spring 26 is detachably connected to the top of the side plate 3 through a connecting block.

[0053] Specifically, in order to ensure that the second gears 15 and the vertical rack plates 16 on both sides of the movable arc plate 8 do not protrude and affect the appearance and block the line of sight when the movable arc plate 8 is not in use, when the robot body 1 issues a command to the motor 25, it can also issue a command to the two electric push rods 14, so that the output shafts of the electric push rods 14 work, drive the movable plate 17 to slide on the inner wall of the side plate 3, and move the movable plate 17, the rotating shaft 27, the second gear 15, and the vertical rack plate 16 originally located in the side plate 3 from the inner side of the side plate 3 to mesh with the arc rack plate 20, so that the movable plate 17 drives the rotating shaft 27 and the second gear 15 to move to mesh with the arc rack plate 20 of the movable arc plate 8. After the second gear 15 is meshed with the arc rack plate 20, under the recovery of the arc rack plate 20, the second gear 15 will be driven to rotate, so that the vertical rack plate 16 moves downward, thereby driving the scraper 9 to scrape the obstacle sensing module 2;

[0054] When the moving plate 17 is pushed by the electric push rod 14, the top of the vertical rack plate 16 is slidably connected with the limit shaft 18 at the end of the scraper 9, and the length of the limit shaft 18 is set within the moving length range of the moving plate 17, so the top of the vertical rack plate 16 will not be separated from the limit shaft 18;

[0055] When the vertical rack plate 16 moves downward under the meshing of the second gear 15, the limit plate 28 on the inner wall of the moving plate 17 slides in the slide groove 29 in the vertical rack plate 16, so that the vertical rack plate 16 can move up and down and left and right in coordination with the limit shaft 18;

[0056] In order to enable the second gear 15 to rotate counterclockwise and engage with the vertical rack plate 16, a detachably connected spring 26 is provided on the top of the scraper 9, so that when the vertical rack plate 16 engages with the second gear 15, a downward thrust can be given to the vertical rack plate 16, thereby allowing the vertical rack plate 16 to engage smoothly; at the same time, when the arc rack plate 20 is disengaged from the second gear 15, the second gear 15 is restored to its original position under the action of the spring 26 on the top of the vertical rack plate 16, so that the second gear 15 is restored to its original position, and when the second gear 15 is restored to its original position, the shaft 27 can be set as a torsion shaft to ensure that the second gear 15 is restored smoothly.

[0057] As a preferred technical solution of the present invention, movable grooves 31 are opened on both sides of the fixed arc plate 7, and sliders 24 slidably connected to the movable grooves 31 are fixedly connected to the bottom of both sides of the movable arc plate 8.

[0058] Specifically, when the movable arc plate 8 is unfolded, the sliders 24 on the bottom surfaces of both sides of the movable arc plate 8 will be slidably connected in the movable grooves 31 on both sides of the fixed arc plate 7, thus ensuring the stability of the movable arc plate 8 when moving.

[0059] As a preferred technical solution of the present invention, two ends of the scraper 9 are fixedly connected with moving blocks 30 , and the moving blocks 30 are slidably connected to the inner wall of the side plate 3 .

[0060] Specifically, when the scraper 9 moves downward, the moving block 30 can slide up and down on the inner wall of the side plate 3 to ensure the stability of the scraper 9.

[0061] The present invention also provides a humanoid robot, which also includes the above-mentioned obstacle sensing device.

[0062] It is worth noting that when a humanoid robot falls, the time from standing to falling is similar to that of a human falling, which is about 0.6 to 0.8 seconds. Take a medium-speed motor as an example: assuming its speed is 6000rpm, then in one second it will rotate: 6000÷60=100 rpm;

[0063] Take a high-speed motor as an example: assuming its speed is 12000rpm, in one second it will turn: 12000÷60=200 rpm;

[0064] Therefore, the motor 25 in the above driving structure has enough time to drive the moving arc plate 8 to unfold before the robot body 1 falls to the ground;

[0065] As for the filling speed of the gas cylinder 12, since the gas in the gas cylinder 12 is compressed carbon dioxide or nitrogen, its discharge speed is based on the pressure of the gas, that is, the higher the pressure of the gas, the faster the filling speed;

[0066] In summary, before the robot body 1 falls to the ground, the various sensors of the robot body 1 calculate that the robot is about to fall based on the posture, etc., and can respond quickly to open the movable arc plate 8 and inflate the two airbags to be protected.

[0067] Although embodiments of the present invention have been shown and described, it will be appreciated by those skilled in the art that various changes, modifications, substitutions and variations may be made to the embodiments without departing from the principles and spirit of the present invention, and that the scope of the present invention is defined by the appended claims and their equivalents.

Claims

1. An obstacle sensing device, comprising an obstacle sensing module (2) connected to the front side of the head of a robot body (1), characterized in that: The outer side of the head of the robot body (1) is connected to a protective structure, the protective structure comprising a fixed arc plate (7) and a movable arc plate (8), the bottom of the fixed arc plate (7) is fixedly connected to two symmetrically arranged mounting posts (11), the mounting posts (11) are fixedly connected to the head shell, the outer wall of the fixed arc plate (7) is connected to a fixed airbag (4), the outer side of the movable arc plate (8) is connected to a movable airbag (5), the outer sides of the movable airbag (5) and the fixed airbag (4) are connected to an air source component, the inner wall of the movable arc plate (8) is connected to an air blowing component, the two sides of the movable arc plate (8) are connected to a driving component, the outer wall of the obstacle sensing module (2) is also connected to a scraper (9) for cleaning the obstacle sensing module (2), and the two sides of the scraper (9) are connected to a pulling component.

2. The obstacle sensing device according to claim 1, characterized in that: The gas source assembly comprises two symmetrically arranged gas cylinders (12), the connection ends of the gas cylinders (12) are equipped with electromagnetic valves (19), the electromagnetic valves (19) are electrically connected to a control unit in a robot body (1), the connection ends of the gas cylinders (12) are connected to a fixed arc plate (7) through a pipeline, and one end of the pipeline is connected to a fixed airbag (4) through the fixed arc plate (7), the outer wall of the fixed airbag (4) is fixedly connected to a connecting pipe (6), and the other end of the connecting pipe (6) is connected to a movable airbag (5).

3. An obstacle sensing device according to claim 1 or 2, characterized in that: The blowing assembly comprises a plurality of air release valve nozzles (23), a mounting groove (22) is provided in the movable arc plate (8), and a plurality of groups of the air release valve nozzles (23) are located in the mounting groove (22) and are connected to the interior of the movable airbag (5).

4. An obstacle sensing device according to claim 1 or 2, characterized in that: The driving assembly comprises two arc rack plates (20), the two arc rack plates (20) are respectively fixedly connected to the two sides of the movable arc plate (8), two symmetrically arranged motors (25) are connected below the fixed arc plate (7), the outer wall of the mounting column (11) is fixedly connected to the mounting plate (21), the motor (25) is located on the top of the mounting plate (21) and is fixedly installed by fasteners, the output shafts of the two motors (25) are fixedly connected to the first gear (10), the first gear (10) is meshedly connected with the corresponding arc rack plate (20), and the motor (25) is electrically connected to the control unit inside the robot body (1).

5. The obstacle sensing device according to claim 4, characterized in that: The pulling assembly comprises two symmetrically arranged second gears (15) and a vertical rack plate (16), the tops of the two vertical rack plates (16) are respectively connected to the tops of the scraper plates (9), the outer sides of the vertical rack plates (16) are meshedly connected with the second gears (15), and the outer sides of the second gears (15) are meshedly connected with the arc rack plate (20).

6. An obstacle sensing device according to claim 1, 2 or 5, characterized in that: The robot body (1) is also connected to side panels (3) on both sides of the head, and fastening rods (13) are provided on the two side panels (3). The two fastening rods (13) are respectively threadedly connected to corresponding mounting columns (11), and the inner walls of the two side panels (3) are connected to push-and-hold components.

7. The obstacle sensing device according to claim 6, characterized in that: The push-and-hold assembly comprises an electric push rod (14), the inner wall of the side plate (3) is fixedly connected with the electric push rod (14), the output shaft of the electric push rod (14) is fixedly connected with a movable plate (17) slidably connected with the inner wall of the side plate (3), the outer wall of the second gear (15) is rotatably connected with a rotating shaft (27), the rotating shaft (27) is fixedly connected with the movable plate (17), the front end of the scraper (9) is L-shaped, the two ends of the scraper (9) are slidably connected with the inner walls of the two side plates (3), and the scraper (9) The inner walls at both ends are fixedly connected with a limit shaft (18), one end of the limit shaft (18) passes through the top of the vertical rack plate (16) and is slidably connected thereto, the inner wall of the movable plate (17) is fixedly connected with a limit plate (28), a vertical slide groove (29) is provided in the vertical rack plate (16), the limit plate (28) is slidably connected in the slide groove (29), the top ends of the scraper (9) are fixedly connected with springs (26), and the top of the spring (26) is detachably connected to the top of the side plate (3) through a connecting block.

8. An obstacle sensing device according to claim 1, 2, 5 or 7, characterized in that: The fixed arc plate (7) is provided with movable grooves (31) on both sides, and the bottoms of both sides of the movable arc plate (8) are fixedly connected with sliding blocks (24) which are slidably connected to the movable grooves (31).

9. The obstacle sensing device according to claim 6, characterized in that: The two ends of the scraper (9) are fixedly connected with moving blocks (30), and the moving blocks (30) are slidably connected to the inner wall of the side plate (3).

10. A humanoid robot, comprising a humanoid robot body (1), characterized in that: It also includes the obstacle sensing device described in any one of claims 1 to 9.

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