Obstacle perception device and humanoid robot

Abstract

The present application 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; and a humanoid robot also comprising the obstacle sensing device. By arranging a fixed arc plate and a movable arc plate on the outside 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, and the protection area is improved. At the same time, when the movable arc plate is unfolded, the fixed air bag and the movable air bag 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 arrangement 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 assembly, so that the dust adhered to the lens of the robot body during daily use and the dust adhered after falling down can be cleaned.

Description

Technical Field

[0001] This invention relates to the field of humanoid robot technology, specifically to an obstacle sensing device and a humanoid robot. Background Technology

[0002] Humanoid robots typically mount obstacle perception devices on their heads. Mounting these devices on the head allows the robot to perceive its surroundings more intuitively. The relatively high head position also provides a wider field of vision, helping the robot to better perceive obstacles and potential hazards in its environment. Additionally, visual sensors (such as cameras) mounted on the head can capture information from further away, which helps improve the robot's autonomous navigation and obstacle avoidance.

[0003] The patent with publication number CN217453942U discloses a humanoid robot, including a head mechanism, a body mechanism, two arm mechanisms, and two leg mechanisms. The body mechanism is located at the bottom of the head mechanism, the two arm mechanisms are located on both sides of the body mechanism, and the two leg mechanisms are located on the side of the body mechanism away from the head mechanism. The head mechanism provides the mounting conditions for the body mechanism, and the body mechanism provides the mounting conditions for the two arm mechanisms and the two leg mechanisms. The operation of the body mechanism can drive the head mechanism to rotate, and the drive mechanism can drive the two arm mechanisms to move up and down. The operation of the two leg mechanisms can drive the body mechanism to move, which improves the robot's flexibility and solves the problem of insufficient flexibility in the movement of existing robots.

[0004] While the aforementioned device has solved the problem of poor mobility of existing robots, it still has the following shortcomings: because its head is equipped with obstacle perception devices such as sensors, cameras and radar, when the robot accidentally falls, its head will directly contact the ground, causing the head to be bumped and damaged, which may cause inconvenience. Summary of the Invention

[0005] To address the shortcomings of existing technologies, this invention provides an obstacle sensing device and a humanoid robot to solve the problems mentioned in the background art and facilitate the protection of the obstacle sensing device on the robot's head.

[0006] To achieve the above objectives, the present invention provides the following technical solution: an obstacle sensing device, comprising an obstacle sensing module connected to the front side of the robot's head, a protective structure connected to the outer side of the robot's head, the protective structure comprising a fixed arc plate and a movable arc plate, two symmetrically arranged mounting columns fixedly connected to the bottom of the fixed arc plate, the mounting columns being fixedly connected to the head shell, a fixed airbag connected to the outer wall of the fixed arc plate, a movable airbag connected to the outer side of the movable arc plate, an air source assembly connected to the outer sides of the movable and fixed airbags, an air blowing assembly connected to the inner wall of the movable arc plate, driving assemblies connected to both sides of the movable arc plate, and a scraper for cleaning the obstacle sensing module connected to the outer wall of the obstacle sensing module, with pulling assemblies connected to both sides of the scraper.

[0007] Furthermore, the air source assembly includes two symmetrically arranged air cylinders. The connecting end of each air cylinder is equipped with a solenoid valve, which is electrically connected to the control unit inside the robot body. The connecting end of each air cylinder is connected to a fixed arc plate through a pipe, and one end of the pipe is connected to a fixed airbag through the fixed arc plate. A connecting pipe is fixedly connected to the outer wall of the fixed airbag, and the other end of the connecting pipe is connected to a movable airbag.

[0008] Furthermore, the air blowing assembly includes multiple vent valve nozzles, and the movable arc plate has an installation groove. Multiple sets of vent valve nozzles are located in the installation groove and are connected to the interior of the movable airbag.

[0009] Furthermore, the drive assembly includes two arc rack plates, which are respectively fixedly connected to both sides of the movable arc plate. Two symmetrically arranged motors are connected to the lower part of the fixed arc plate. An mounting plate is fixedly connected to the outer wall of the mounting column. The motor is located on the top of the mounting plate and is fixedly installed by fasteners. The output shafts of the two motors are fixedly connected to a first gear, which meshes with the corresponding arc rack plate. The motor is electrically connected to the 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 top of the scraper. The outer sides of the vertical rack plates are meshed with the second gears, and the outer sides of the second gears are meshed with the arc rack plates.

[0011] Furthermore, side plates are connected to both sides of the head of the robot body, and fastening rods are threaded through the two side plates. The two fastening rods are threaded to the corresponding mounting columns, and the inner walls of the two side plates are connected to push-and-store components.

[0012] Furthermore, the pushing and storing assembly includes an electric push rod, which is fixedly connected to the inner wall of the side plate. The output shaft of the electric push rod is fixedly connected to a movable plate that is slidably connected to the inner wall of the side plate. A rotating shaft is rotatably connected to the outer wall of the second gear. The rotating shaft is fixedly connected to the movable plate. The front end of the scraper is L-shaped. Both ends of the scraper are slidably connected to the inner walls of the two side plates. Limiting shafts are fixedly connected to the inner walls of both ends of the scraper. One end of the limiting shaft passes through the top of the vertical rack plate and is slidably connected to it. A limiting plate is fixedly connected to the inner wall of the movable plate. A vertical groove is opened in the vertical rack plate. The limiting plate is slidably connected in the groove. Springs are fixedly connected to both ends of the top of the scraper. The top of the springs is detachably connected to the top of the side plate through a connecting block.

[0013] Furthermore, the fixed arc plate has movable grooves on both sides, and the bottom of both sides of the movable arc plate is fixedly connected to sliders that are slidably connected to the movable grooves.

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

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

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

[0017] 1. This invention, by setting a fixed arc plate and a movable arc plate on the outer side of the robot's head, allows the movable arc plate to unfold when the robot's sensors detect a fall, protecting the obstacle perception module. The fixed arc plate protects the rear of the head, increasing the protection area. Simultaneously, as the movable arc plate unfolds, both the fixed and movable airbags inflate to absorb the impact force, greatly reducing the damage to the obstacle perception module and effectively improving its protection. The scraper, through the linkage of the downward component, can clean the lens on the front of the obstacle perception module, removing dust that accumulates on the lens during daily use and dust raised after a fall.

[0018] 2. This invention uses multiple venting valve nozzles to spray gas, which blows the front of the obstacle sensing module, thereby washing away dust particles adhering to the front lens of the obstacle sensing module. In this way, dust adhering to the lens of the robot body during daily use and dust kicked up after a fall can be cleaned. Attached Figure Description

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

[0020] Figure 2This is a three-dimensional structural diagram of the fixed arc plate and the movable arc plate of the present invention in their unfolded states;

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

[0022] Figure 4 This is a three-dimensional structural diagram of the two side plates of the present invention in their unfolded state;

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

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

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

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

[0027] Figure 9 This is a three-dimensional structural diagram of the scraper and spring of the present invention;

[0028] Figure 10 This is a three-dimensional structural diagram of another state of the present invention.

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

[0030] The technical solutions of the present invention will be clearly and completely described below with reference to the accompanying drawings of the embodiments of the present invention. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments.

[0031] Please see Figures 1-10An obstacle sensing device includes an obstacle sensing module 2 connected to the front of the head of a robot body 1. A protective structure is connected to the outer side of the head of the robot body 1. The protective structure includes a fixed arc plate 7 and a movable arc plate 8. Two symmetrically arranged mounting columns 11 are fixedly connected to the bottom of the fixed arc plate 7. The mounting columns 11 are fixedly connected to the head shell. A fixed airbag 4 is connected to the outer wall of the fixed arc plate 7. A movable airbag 5 is connected to the outer side of the movable arc plate 8. An air source assembly is connected to the outer side of the movable airbag 5 and the fixed airbag 4. An air blowing assembly is connected to the inner wall of the movable arc plate 8. A drive assembly is connected to both sides of the movable arc plate 8. A scraper 9 for cleaning the obstacle sensing module 2 is also connected to the outer wall of the obstacle sensing module 2. Pulling assemblies are connected to both sides of the scraper 9.

[0032] In the obstacle sensing device of the present invention, when the robot body 1 accidentally falls while walking, since the robot body 1 is equipped 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 to the ground by measuring the distance of the robot body 1 to the ground, its own posture, or by setting pressure sensors on the soles of its feet. When the time of loss of pressure exceeds a set threshold or the pressure is abnormal (the above can be set simultaneously), the robot body 1 can be driven by the control unit inside the robot body 1 to make the drive component work and make the moving arc plate 8 unfold.

[0033] When the movable arc plate 8 is driven by the drive component, it will slide and unfold on the outside of the fixed arc plate 7 and the fixed airbag 4, so that the movable arc plate 8 slides down and protects the obstacle perception module 2. At the same time, the fixed airbag 4 is no longer restricted by the movable arc plate 8, and it will be inflated by the air source component and the movable airbag 5, so that the outside of the fixed arc plate 7 and the movable arc plate 8 will be absorbed by the impact force received.

[0034] When the robot body 1 falls, due to its width, it will only lie flat with its head up or down. The fixed arc plate 7 and fixed airbag 4 can protect the back of its head, while the movable arc plate 8 and movable airbag 5 can protect the front of its head, thus protecting the obstacle perception module 2. This greatly reduces the damage to the obstacle perception module 2 and effectively improves the protection effect of the obstacle perception module 2.

[0035] The scraper 9 can clean the lens on the front of the obstacle perception module 2 through the linkage of the downward component, removing the dust that adheres to the lens of the robot body 1 during daily use, as well as the dust that is kicked up after a fall.

[0036] By setting a fixed arc plate 7 and a movable arc plate 8 on the outer side of the head of the robot body 1, when the sensors in the robot body 1 detect its fall posture, the movable arc plate 8 can be deployed to protect the obstacle perception module 2, while the fixed arc plate 7 protects the back of the head, increasing the protection area. At the same time as the movable arc plate 8 is deployed, the fixed airbag 4 and the movable airbag 5 are inflated to absorb the impact force, greatly reducing the damage to the obstacle perception module 2 and effectively improving the protection effect of the obstacle perception module 2. The scraper 9 can be used to clean the lens on the front side of the obstacle perception module 2 through the linkage of the downward component, removing the dust that adheres to the lens of the robot body 1 during daily use and the dust that is stirred up after a fall.

[0037] As a preferred embodiment of the present invention, the air source assembly includes two symmetrically arranged air cylinders 12. The connecting end of the air cylinders 12 is equipped with a solenoid valve 19. The solenoid valve 19 is electrically connected to the control unit inside the robot body 1. The connecting end of the air cylinders 12 is connected to the fixed arc plate 7 through a pipe, and one end of the pipe 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 movable 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 injected into the fixed airbag 4 through the pipe, and then injected into the mobile airbag 5 through the connecting pipe 6. The connecting pipe 6 is an elastic pipe or a flexible hose with sufficient extension to facilitate the smooth movement of the mobile airbag 5.

[0039] The gas in cylinder 12 can be compressed carbon dioxide or nitrogen, which are existing mature technologies, especially with reference to "automatic inflatable life rings", which will not be elaborated on here.

[0040] It is worth noting that the air source component here can also be replaced with an air machine or blower, which can also inflate the fixed airbag 4 and the movable airbag 5, and also has the convenient advantage of not needing to replace or inflate the air cylinder 12 after use.

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

[0042] Specifically, when maintenance personnel need to lift the fallen robot body 1, they need to restore the movable arc plate 8 to its original state. At this time, the solenoid valve structure and the control unit inside the robot body 1 can be used to open the vent valve nozzle 23, so that the vent valve nozzle 23 sprays out gas. The sprayed gas can blow on the front side of the obstacle perception module 2, thereby washing away the dust particles adhering to the front lens of the obstacle perception module 2. In this way, the dust adhering to the lens of the robot body 1 during daily use and the dust kicked up after the fall can be cleaned.

[0043] As a preferred embodiment of the present invention, the drive assembly includes two arc rack plates 20, which are respectively fixedly connected to both sides of the movable arc plate 8. Two symmetrically arranged motors 25 are connected to the lower part of the fixed arc plate 7. A mounting plate 21 is fixedly connected to the outer wall of the mounting column 11. The motors 25 are located on the top of the mounting plate 21 and are fixedly installed by fasteners. The output shafts of the two motors 25 are fixedly connected to a first gear 10. The first gear 10 meshes with the corresponding arc rack plate 20. The motors 25 are 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, the control unit of the robot body 1 issues a command to make the motor 25 rotate, which drives the first gear 10 at the end of its output shaft to rotate. The first gear 10 meshes with the arc rack plate 20, thereby causing the movable arc plate 8 to slide outside the fixed arc plate 7 and the fixed airbag 4, so that the movable arc plate 8 unfolds and covers the obstacle perception module 2 inside for its protection.

[0045] As a preferred embodiment of the present invention, the pulling assembly includes two symmetrically arranged second gears 15 and vertical rack plates 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 meshed with the second gears 15, and the outer sides of the second gears 15 are meshed with the arc rack plates 20.

[0046] Specifically, when the movable arc plate 8 is unfolded, the arc rack plates 20 on both sides of it unfold simultaneously and mesh with the second gear 15. At this time, the second gear 15 rotates clockwise and rotates without meshing with the vertical rack plate 16. Meanwhile, the scraper 9 remains stationary.

[0047] When the arc rack plate 20 moves under the recovery of the moving arc plate 8, it will mesh with the second gear 15. At this time, the second gear 15 rotates counterclockwise and meshes with the vertical rack plate 16, causing the vertical rack plate 16 to move down and drive the scraper 9 to move down.

[0048] The downward movement of scraper 9 can scrape and clean the lens that has just been cleaned by the blowing component again. This setting can prevent particles caused by scraping directly by scraper 9 from scratching or damaging the lens, which would cause scratches on the lens of obstacle perception module 2 and result in unclear image acquisition.

[0049] As a preferred technical solution of the present invention, the robot body 1 is also connected to the two sides of the head with side plates 3, and fastening rods 13 are threaded through the two side plates 3. The two fastening rods 13 are respectively threaded to the corresponding mounting posts 11, and the inner walls of the two side plates 3 are connected to the push-and-store components.

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

[0051] In addition, by connecting the side plate 3 to the mounting post 11 via the fastening rod 13, the side plate 3 can be disassembled and installed, which facilitates the replacement of the gas cylinder 12 after use.

[0052] As a preferred embodiment of the present invention, the push-and-store assembly includes an electric push rod 14, which is fixedly connected to the inner wall of the side plate 3. The output shaft of the electric push rod 14 is fixedly connected to a movable plate 17 that is slidably connected to the inner wall of the side plate 3. The outer wall of the second gear 15 is rotatably connected to a rotating shaft 27, which is fixedly connected to the movable plate 17. The front end of the scraper 9 is L-shaped, and both ends of the scraper 9 are slidably connected to the inner walls of the two side plates 3. The inner walls of both ends of the scraper 9 are fixedly connected to 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 to it. The inner wall of the movable plate 17 is fixedly connected to a limiting plate 28. A vertical groove 29 is opened in the vertical rack plate 16, and the limiting plate 28 is slidably connected in the groove 29. The top two ends of the scraper 9 are fixedly connected to springs 26, and the top of the springs 26 is detachably connected to the top of the side plate 3 through a connecting block.

[0053] Specifically, in order to prevent the second gears 15 and vertical rack plates 16 on both sides of the movable arc plate 8 from protruding and affecting aesthetics and obstructing the view 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 to make the output shafts of the electric push rods 14 work, driving the movable plate 17 to slide on the inner wall of the side plate 3. The movable plate 17, the rotating shaft 27, the second gear 15, and the vertical rack plate 16, which were originally located inside the side plate 3, are all moved out from the inside of the side plate 3 to engage with the arc rack plate 20. This allows the movable plate 17 to drive the rotating shaft 27 and the second gear 15 to move to engage with the arc rack plate 20 of the movable arc plate 8. When the second gear 15 engages with the arc rack plate 20, the arc rack plate 20 will return to its original position, which will drive the second gear 15 to rotate, thereby causing the vertical rack plate 16 to move downward, thereby driving the scraper 9 to scrape the obstacle perception 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 to the limiting shaft 18 at the end of the scraper 9. The length of the limiting shaft 18 is set within the moving length range of the moving plate 17. Therefore, the top of the vertical rack plate 16 will not detach from the limiting shaft 18.

[0055] When the vertical rack plate 16 moves downward under the meshing of the second gear 15, the limiting plate 28 on the inner wall of the moving plate 17 slides in the groove 29 inside the vertical rack plate 16. This, in conjunction with the limiting shaft 18, enables the vertical rack plate 16 to move up and down and left and right.

[0056] To enable the second gear 15 to mesh with the vertical rack plate 16 when rotating counterclockwise, the top of the scraper 9 is provided with a detachably connected spring 26. When the vertical rack plate 16 meshes with the second gear 15, it can provide a downward thrust to the vertical rack plate 16, thus enabling the vertical rack plate 16 to mesh smoothly. At the same time, when the arc rack plate 20 disengages from the second gear 15, the second gear 15, under the action of the spring 26 at the top of the vertical rack plate 16, causes the vertical rack plate 16 to return to its original position, and the second gear 15 to return to its original position. The return of the second gear 15 to its original position can set the rotating shaft 27 as a torque rotating shaft, ensuring that the second gear 15 returns to its original position smoothly.

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

[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 slide and connect within the movable grooves 31 on both sides of the fixed arc plate 7, thus ensuring the stability of the movable arc plate 8 during movement.

[0059] As a preferred embodiment of the present invention, the scraper 9 is fixedly connected to both ends of a movable block 30, and the movable block 30 is 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 includes the aforementioned obstacle sensing device.

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

[0063] Taking a high-speed motor as an example: Assuming its speed is 12,000 rpm, it will rotate in one second: 12,000 ÷ 60 = 200 revolutions / second;

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

[0065] The inflation speed of gas cylinder 12 depends on the gas pressure, since the gas inside gas cylinder 12 is compressed carbon dioxide or nitrogen. In other words, the higher the gas pressure, the faster the inflation speed.

[0066] In summary, before the robot body 1 falls to the ground, the various sensors of the robot body 1 calculate the robot is about to fall based on its posture and other factors, and can react quickly to open the movable arc plate 8 and inflate the two airbags for protection.

[0067] Although embodiments of the invention have been shown and described, it will be understood by those skilled in the art that various changes, modifications, substitutions and alterations can be made to these embodiments without departing from the principles and spirit of the invention, the scope of which 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 robot body (1) has a protective structure connected to the outside of its head. The protective structure includes 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 assembly. The inner wall of the movable arc plate (8) is connected to an air blowing assembly. The two sides of the movable arc plate (8) are connected to a drive assembly. The outer wall of the obstacle perception module (2) is also connected to a scraper (9) for cleaning the obstacle perception module (2). The two sides of the scraper (9) are connected to a pulling assembly. The drive assembly includes two arc rack plates (20), which are fixedly connected to both sides of the movable arc plate (8). Two symmetrically arranged motors (25) are connected to the bottom of the fixed arc plate (7). An installation plate (21) is fixedly connected to the outer wall of the mounting column (11). The motors (25) are located on the top of the installation plate (21) and are fixedly installed by fasteners. The output shafts of the two motors (25) are fixedly connected to a first gear (10). The first gear (10) meshes with the corresponding arc rack plate (20). The motors (25) are electrically connected to the control unit inside the robot body (1). The pulling assembly includes two symmetrically arranged second gears (15) and vertical rack plates (16). The tops of the two vertical rack plates (16) are respectively connected to the top of the scraper (9). The outer side of the vertical rack plates (16) is meshed with the second gears (15), and the outer side of the second gears (15) is meshed with the arc rack plate (20). The robot body (1) is also connected to two side plates (3) on both sides of its head. Fastening rods (13) are threaded through the two side plates (3). The two fastening rods (13) are threaded to the corresponding mounting posts (11). Push-and-store components are connected to the inner walls of the two side plates (3). The pushing and storing assembly includes an electric push rod (14), which is fixedly connected to the inner wall of the side plate (3). The output shaft of the electric push rod (14) is fixedly connected to a movable plate (17) that is slidably connected to the inner wall of the side plate (3). A rotating shaft (27) is rotatably connected to the outer wall of the second gear (15). The rotating shaft (27) is fixedly connected to the movable plate (17). The front end of the scraper (9) is L-shaped, and both ends of the scraper (9) are slidably connected to the inner walls of the two side plates (3). The inner walls of both ends of the moving plate (17) are fixedly connected to 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 to it. The inner wall of the moving plate (17) is fixedly connected to a limiting plate (28). A vertical groove (29) is opened in the vertical rack plate (16). The limiting plate (28) is slidably connected in the groove (29). The top two ends of the scraper (9) are fixedly connected to springs (26). The top of the springs (26) is detachably connected to the top of the side plate (3) through a connecting block.

2. The obstacle sensing device according to claim 1, characterized in that, The gas source assembly includes two symmetrically arranged gas cylinders (12). The connecting end of the gas cylinder (12) is equipped with a solenoid valve (19). The solenoid valve (19) is electrically connected to the control unit inside the robot body (1). The connecting end of the gas cylinder (12) is connected to the fixed arc plate (7) through a pipe. One end of the pipe 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). The other end of the connecting pipe (6) is connected to the moving airbag (5).

3. An obstacle sensing device according to claim 1 or 2, characterized in that, The air blowing assembly includes multiple air release valve nozzles (23), and the movable arc plate (8) has an installation groove (22) inside. Multiple sets of air release valve nozzles (23) are located in the installation groove (22) and are connected to the inside of the movable airbag (5).

4. An obstacle sensing device according to claim 1 or 2, characterized in that, The fixed arc plate (7) has movable grooves (31) on both sides, and the bottom of both sides of the movable arc plate (8) is fixedly connected to sliders (24) that are slidably connected to the movable grooves (31).

5. An obstacle sensing device according to claim 1 or 2, characterized in that, The scraper (9) has a movable block (30) fixedly connected to both ends, and the movable block (30) is slidably connected to the inner wall of the side plate (3).

6. 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 1-5 above.

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