Biped advancing device and robot

Abstract

The double-foot advancing device comprises two advancing parts and a transverse adjusting part, each advancing part comprises a driving wheel, a first connecting rod, a second connecting rod, a torsion part and a balance wheel, and the driving wheels are connected to the lower ends of the first connecting rods; the lower end of the second connecting rod is rotatably connected with the upper end of the first connecting rod; the upper end of the second connecting rod is rotatably connected with the torsion piece; the balance wheel is fixedly connected with the torsion piece; the transverse adjusting part is connected with the balance wheels of the two advancing parts and drives the two balance wheels to rotate so as to drive the twisting part to twist. The torsion part is adopted, so that when facing a complex terrain, the two driving wheels can be staggered by twisting the torsion part so as to cope with the complex terrain, particularly in complex environments such as steps, slopes, muddy ground and irregular road surfaces, the torsion part is twisted by using the balance wheel, an action similar to hip twisting is realized, terrain obstacles are effectively overcome, and the service life of the robot is prolonged. Inclination or overturning is avoided, and the terrain adaptive capacity is remarkably improved.

Description

Technical Field

[0001] The present application relates to the technical field of robots, and in particular to a bipedal walking device and a robot. Background Art

[0002] In modern society, with the rapid development of science and technology, robotics has been widely used in various fields, especially in patrol and inspection. Most traditional patrol robots adopt small-sized designs with four-wheel differential drive or Ackerman steering. These designs perform well in flat and open indoor and outdoor scenes, effectively meeting basic patrol and inspection needs. However, in the face of complex and changing environments, especially in difficult security patrol scenes, traditional four-wheel robots have gradually exposed many technical bottlenecks and shortcomings.

[0003] First, limited terrain adaptability is one of the main problems faced by traditional four-wheeled robots. In complex terrains such as stairs, slopes, mud or irregular roads, traditional four-wheel designs often have difficulty maintaining sufficient stability and driving performance. Especially in terrains with large height differences, such robots are very likely to lose balance or get into trouble, resulting in the inability to smoothly perform patrol missions. In addition, in narrow passages or cluttered environments, traditional wheeled drive solutions are often stuck due to lack of flexibility.

[0004] Secondly, the lack of flexibility and movement ability also restricts the application of traditional four-wheel robots in complex scenarios. In scenarios that require high-precision small-radius turns or frequent posture adjustments, traditional four-wheel robots are often unable to cope with them. At the same time, for highly dynamic scenes, such as avoiding sudden obstacles or quickly responding to emergencies, the response speed and maneuverability of traditional designs are also insufficient.

[0005] The next problem is low energy efficiency. In order to overcome the resistance of complex terrain, such robots usually need to increase the motor power to provide additional power, which leads to an increase in the overall energy consumption of the system and a shortened battery life. This not only causes economic waste, but also limits the application of robots in long-term patrols or frequent attendance tasks.

[0006] In addition, limited environmental adaptability and expansion capabilities are also a major drawback of traditional four-wheeled robots. Such robots are generally designed with fixed structures and lack adaptability to different mission scenarios. When the application scenario expands from indoors to outdoors, or from flat terrain to complex terrain, the robot often needs to replace the entire chassis or transmission system to adapt to the new environment, which not only increases costs but also reduces flexibility.

[0007] Therefore, there is currently a lack of solutions that can effectively deal with difficult security patrol scenarios. Traditional four-wheel drive and Ackerman steering robots often fail when crossing stairs between buildings, patrolling in low-light environments in basements, narrow passages and dense obstacles, and the innovative design of combining wheels and feet has not been widely used or deeply developed, leaving an obvious technical gap. Summary of the invention

[0008] In view of the deficiencies in the prior art, the purpose of the present application is to provide a bipedal walking device and a robot that can adapt to complex terrain environments.

[0009] The above-mentioned purpose of the present application is achieved through the following technical solutions:

[0010] A bipedal walking device comprises two walking components and a lateral adjustment component, wherein each of the walking components comprises a driving wheel, a first connecting rod, a second connecting rod, a torsion piece and a balance wheel, wherein the driving wheel is connected to the lower end of the first connecting rod; the lower end of the second connecting rod is rotatably connected to the upper end of the first connecting rod; the upper end of the second connecting rod is rotatably connected to the torsion piece; the balance wheel is fixedly connected to the torsion piece; the lateral adjustment component is connected to the balance wheels of the two walking components, and the lateral adjustment component drives the two balance wheels to rotate and thereby drives the torsion part to twist.

[0011] The present application is further configured such that the lateral adjustment component includes a belt assembly and a first motor, the first motor and the belt assembly are drivingly connected, the belt assembly is drivingly connected to the two torsion parts, and the lateral adjustment component synchronously drives the two torsion parts to twist in opposite directions.

[0012] The present application is further configured that the traveling component also includes a driving link, the driving link is rotatably connected to the middle portion of the second connection, and the driving link drives the second link and the torsion member to be rotatably connected.

[0013] The present application is further configured such that the bipedal walking device also includes two second motors and two rotating wheel structures, each of the second motors is connected to one of the rotating wheel structures, the edge of each of the rotating wheel structures is connected to one of the driving connecting rods, and the second motor drives the rotating wheel structure to rotate and thereby drives the driving connecting rod to move.

[0014] The present application is further configured that the bipedal walking device also includes a shell, and the torsion member is installed on both sides of the shell.

[0015] The present application is further configured such that the bipedal walking device also includes a balancing component, which is installed at the bottom of the shell, and the balancing component includes a screw component, a nut component and a counterweight block, the screw component cooperates with the nut component, and the counterweight block is connected to the nut component.

[0016] The present application is further configured such that the balancing component is disposed between two moving components, and the orientation of the screw rod component is consistent with the orientation of the moving components.

[0017] The present application is further configured that the bipedal walking device also includes a support wheel, the support wheel is fixedly arranged on the bottom of the shell, and the support wheel and the two driving wheels are arranged in a triangle.

[0018] The present application is further configured that the traveling component further includes a telescopic strut, one end of the telescopic strut is connected to an end of the torsion member close to the balance wheel, and the other end of the telescopic strut is connected to the first connecting rod or the second connecting rod.

[0019] A robot comprises the above-mentioned bipedal moving device, and also comprises a sensor component and a central controller, wherein the central controller is respectively connected to the bipedal moving device and the sensor component.

[0020] In summary, the beneficial technical effects of this application are:

[0021] 1. The present application adopts a torsion member, so that when facing complex terrain, the two driving wheels can be staggered by twisting the torsion member to cope with the complex terrain, especially in complex environments such as stairs, slopes, mud and irregular roads. The torsion member is twisted by the balance wheel to achieve a movement similar to twisting the hips, effectively overcoming terrain obstacles, avoiding tilting or tipping, and significantly improving the terrain adaptability.

[0022] 2. The present application adopts a torsion piece in combination with a first connecting rod and a second connecting rod. The first connecting rod and the second connecting rod are rotatably connected, and the second connecting rod and the torsion piece are rotatably connected. The change in height of the traveling component can be achieved through the rotatable connection. Combined with the torsion of the torsion piece, it can cope with more complex terrain environments and reduce unnecessary energy losses.

[0023] 3. The application adopts double travel parts with higher flexibility and movement ability. Through the coordinated action of the balance wheel, connecting rod and torsion member, the device can achieve high-precision small radius turning and frequent posture adjustment.

[0024] 4. This application uses dual-travel components, which are smaller in size than four-wheel robots and can more easily adapt to narrow passages or cluttered environments. BRIEF DESCRIPTION OF THE DRAWINGS

[0025] Figure 1It is a schematic diagram of a bipedal walking device.

[0026] Figure 2 This is a schematic diagram of the robot.

[0027] Figure 3 is a schematic diagram of the balancing components.

[0028] Explanation of the accompanying drawings: 1. driving wheel; 2. first connecting rod; 3. second connecting rod; 4. torsion member; 5. balance wheel; 6. belt assembly; 7. first motor; 8. driving connecting rod; 9. rotating wheel structure; 10. second motor; 11. housing; 12. screw rod component; 13. nut component; 14. counterweight; 15. supporting wheel; 16. laser radar; 17. dual-light camera; 18. gimbal camera; 19. communication device; 20. lighting; 21. central controller; 22. telescopic support rod. DETAILED DESCRIPTION

[0029] The present application is further described in detail below in conjunction with the accompanying drawings.

[0030] like Figures 1 to 3 As shown, a bipedal moving device and a robot, wherein the bipedal moving device includes two moving parts and a lateral adjustment part, wherein each moving part includes a driving wheel 1, a first connecting rod 2, a second connecting rod 3, a torsion piece 4 and a balancing wheel 5, the driving wheel 1 is connected to the lower end of the first connecting rod 2; the lower end of the second connecting rod 3 is rotatably connected to the upper end of the first connecting rod 2; the upper end of the second connecting rod 3 is rotatably connected to the torsion piece 4; the balancing wheel 5 is fixedly connected to the torsion piece 4; the lateral adjustment part connects the balancing wheels 5 of the two moving parts, and the lateral adjustment part drives the two balancing wheels 5 to rotate and then drives the torsion part to twist.

[0031] Specifically, a driving wheel 1 is provided at the bottom of each moving component, and the driving wheel 1 is driven by a motor and is responsible for providing forward power. The driving wheel 1 is firmly mounted on the lower end of the first connecting rod 2 through a connecting piece to ensure the stability of power transmission. Preferably, the driving wheel 1 adopts an omnidirectional wheel design, which can be freely turned 360 degrees to ensure its high maneuverability in a small space. The servo motor works in conjunction with the driving wheel 1 to provide stable driving capabilities. In addition, the foot also has multi-degree-of-freedom flexibility, which can automatically adjust according to the ground conditions to ensure the high stability and flexibility of the robot in complex environments.

[0032] The first link 2 is a long strip structure, the lower end of which is connected to the driving wheel 1, and the upper end is rotatably connected to the lower end of the second link 3 through a hinge. This design allows a certain angle change between the first link 2 and the second link 3 to adapt to different terrains.

[0033] The second connecting rod 3 is also a long strip structure, with its lower end connected to the first connecting rod 2 and its upper end rotatably connected to the torsion member 4 via a hinge. The rotation of the second connecting rod 3 can drive the torsion member 4 and the balance wheel 5 fixed thereto to swing.

[0034] The torsion piece 4 is made of an elastic and torsionable material, such as spring steel or high-strength plastic, and is used to actively twist according to terrain changes, thereby achieving adaptation to the terrain. One end of the torsion piece 4 is connected to the second connecting rod 3, and the other end is fixed with a balance wheel 5.

[0035] The lateral adjustment component is a set of transmission mechanisms, such as gear transmission or belt transmission, which is used to connect and drive the balance wheels 5 of the two traveling components to rotate synchronously. The lateral adjustment component synchronously drives the two torsion parts to twist in opposite directions. Specifically, the opposite directions refer to that relative to the bipedal traveling device, when one torsion part twists inwardly, the other torsion part twists outwardly synchronously.

[0036] When the lateral adjustment component is working, it drives the two balance wheels 5 to rotate in opposite directions, thereby driving the torsion member 4 to twist, so that the two moving components produce relative displacement in the lateral direction to adapt to complex terrain.

[0037] During the travel, the driving wheel 1 provides the driving force, while the balancing wheel 5 swings according to the terrain changes, so that the torsion member 4 can actively twist according to the ups and downs and changes of the terrain, thereby adjusting the posture of the travel component to better adapt to the terrain. When encountering complex terrain, the lateral adjustment component will drive the two balancing wheels 5 to rotate synchronously, so that the two travel components will have relative displacement in the lateral direction, thereby further adjusting the posture of the device to adapt to the terrain changes.

[0038] By introducing the design of the torsion member 4 and the balance wheel 5, the bipedal walking device can flexibly cope with various complex terrains, such as stairs, slopes, muddy ground and irregular roads, etc. The torsion member 4 actively twists according to the terrain, adjusts the posture of the walking component, and achieves precise adaptation to the terrain.

[0039] Due to the synergistic effect of the torsion member 4 and the balance wheel 5, the device can use energy more efficiently during travel. The active torsion of the torsion member 4 reduces unnecessary energy loss, allowing the device to travel more efficiently in complex terrain.

[0040] The design of the bipedal walking device makes the device have higher flexibility and movement ability. By adjusting the swing of the balance wheel 5 and the torsion of the torsion member 4, the device can achieve high-precision small radius turns and frequent posture adjustments to adapt to different environments and task requirements.

[0041] Compared with four-wheeled robots, the bipedal walking device is smaller and can more easily adapt to narrow passages or cluttered environments. This makes the device more competitive in scenarios that require high flexibility and small space operations.

[0042] Specifically, the lateral adjustment component includes a belt assembly 6 and a first motor 7, the first motor 7 and the belt assembly 6 are transmission connected, the belt assembly 6 is transmission connected to the two torsion parts, and the lateral adjustment component synchronously drives the two torsion parts to twist in opposite directions.

[0043] More specifically, the belt assembly 6 includes a transmission belt, which is tensioned between the two balance wheels 5; the belt assembly 6 also includes a transmission wheel, which also tensions the belt and is connected to the first motor 7, so that the torque from the first motor 7 can be transmitted, thereby driving the two torsion parts to perform synchronous but opposite torsion.

[0044] During the process of traveling, when the posture needs to be adjusted to adapt to the terrain, the first motor 7 starts and drives the belt assembly 6 to move. The movement of the belt assembly 6 drives the two torsion parts to twist in opposite directions synchronously through the transmission device, thereby adjusting the postures of the two traveling parts. This adjustment enables the device to better adapt to complex terrain and maintain balance and stability.

[0045] The design of the lateral adjustment component enables the device to use energy more efficiently when adjusting the posture. The first motor 7 drives the two torsion parts to twist synchronously through the belt assembly 6, reducing unnecessary energy loss. At the same time, the elastic characteristics of the torsion member 4 can also store and release energy to a certain extent, further improving the energy utilization efficiency.

[0046] Furthermore, the traveling component further comprises a driving link 8, which is rotatably connected to the middle portion of the second connection, and the driving link 8 drives the second link 3 and the torsion member 4 to be rotatably connected.

[0047] The bipedal walking device also includes two second motors 10 and two rotating wheel structures 9. Each second motor 10 is connected to a rotating wheel structure 9. The edge of each rotating wheel structure 9 is connected to a driving connecting rod 8. The second motor 10 drives the rotating wheel structure 9 to rotate and then drives the driving connecting rod 8 to move.

[0048] Specifically, the driving link 8 is a long strip structure, one end of which is connected to the rotating wheel structure 9, and the other end is rotatably connected to the middle of the second link 3 through a hinge. This design enables the driving link 8 to drive the second link 3 to swing, thereby driving the traveling component to achieve telescopic height.

[0049] The second motor 10 is used to drive the two rotating wheel structures 9 to rotate.

[0050] The rotating wheel structure 9 is connected to the second motor 10 to realize rotation, and drives the driving connecting rod 8 to move, and then drives the second connecting rod 3 to swing, so as to realize the extension and retraction of the traveling component in height.

[0051] During the travel, the second motor 10 drives the rotating wheel structure 9 to rotate. The rotation of the rotating wheel drives the connecting rod 8 to move. Since the driving connecting rod 8 is connected to the middle part of the second connecting rod 3 by a hinge, the movement of the driving connecting rod 8 drives the second connecting rod 3 to swing. In addition, the twisting action of the twisting member 4 forms a movement similar to the extension and retraction of the thigh and twisting of the hip of a human leg, thereby adapting to different travel environments.

[0052] Furthermore, the bipedal walking device further comprises a housing 11 , and the torsion members 4 are mounted on both sides of the housing 11 .

[0053] The bipedal walking device further includes a balancing component, which is mounted at the bottom of the housing 11. The balancing component includes a screw component 12, a nut component 13, and a counterweight 14. The screw component 12 cooperates with the nut component 13, and the counterweight 14 is connected to the nut component 13. The balancing component is disposed between the two walking components, and the direction of the screw component 12 is consistent with the direction of the walking component.

[0054] Specifically, openings or grooves are provided on both sides of the housing 11 to install the torsion member 4 and ensure that the torsion member 4 can be freely twisted. The torsion member 4 is installed in the openings or grooves on both sides of the housing 11, and is fixedly connected to the housing 11 through connecting members such as bolts, pins, etc., while maintaining a certain degree of rotational freedom. One end of the torsion member 4 is connected to the second connecting rod 3, and the other end is stabilized by the support structure of the housing 11.

[0055] The balancing component is installed at the bottom of the housing 11, between the two traveling components. The balancing component is designed to improve the stability and balance of the device, especially when traveling in complex terrain.

[0056] The screw rod component 12 is a slender rod-shaped structure with dense threads, and its direction is consistent with the direction of the moving component. Figure 3 One end of the screw rod component 12 is connected to a motor to facilitate its adjustment.

[0057] The nut component 13 is a component that matches the thread of the screw component 12 and can move forward and backward along the screw component 12 to achieve the matching of the screw and nut.

[0058] The counterweight 14 is connected to the nut component 13 . By adjusting the position of the nut component 13 on the screw component 12 , the position of the counterweight 14 can be changed, thereby adjusting the balance state of the device.

[0059] Furthermore, the bipedal walking device further comprises a support wheel 15 , which is fixedly arranged at the bottom of the housing 11 , and the support wheel 15 and the two driving wheels 1 are arranged in a triangle.

[0060] like Figures 1 to 3 The figure shows the state where the first link 2 and the second link 3 are extended, at which time the two driving wheels 1 touch the ground and support the bipedal walking device. When the first link 2 and the second link 3 are folded and contracted, the two driving wheels 1 and the support wheel 15 touch the ground together to form a triangular stable support, which is convenient for charging or battery replacement.

[0061] The support wheel 15 is a round or similar wheel, fixedly arranged at the bottom of the housing 11, and forms a triangular arrangement with the two driving wheels 1. This arrangement ensures the stability of the device when it is stationary or in a specific state, such as when charging or changing batteries.

[0062] In particular, when the first link 2 and the second link 3 are in an extended state, the two driving wheels 1 touch the ground and support the bipedal walking device to move; and when the first link 2 and the second link 3 are folded and contracted, the two driving wheels 1 are lifted up, and at this time the support wheel 15 contacts the ground and forms a triangular stable support together with the two driving wheels 1.

[0063] Travel status, such as Figures 1 to 3 As shown, the bipedal walking device provides the power for advancement through two driving wheels 1, and the twisting member 4 is twisted according to the terrain change to adjust the posture of the walking component. At this time, the support wheel 15 does not contact the ground and is only used as a standby support or auxiliary balance.

[0064] In the static state, when charging or battery replacement is required, the bipedal walking device will stop moving and fold and shrink the first connecting rod 2 and the second connecting rod 3. At this time, the two driving wheels 1 and the support wheel 15 are in contact with the ground, forming a triangular stable support together with the two driving wheels 1. This arrangement not only ensures the stability of the device in the static state, but also facilitates the user to perform operations such as charging or battery replacement.

[0065] The stability of the bipedal walking device in a static or specific state is significantly improved by introducing the support wheel 15 and forming a triangular arrangement with the two drive wheels 1. The stability principle of the triangle ensures that the device will not tip over or slide in these states.

[0066] Furthermore, the traveling component further includes a telescopic support rod 22 , one end of the telescopic support rod 22 is connected to one end of the torsion member 4 close to the balance wheel 5 , and the other end of the telescopic support rod 22 is connected to the first connecting rod 2 or the second connecting rod 3 .

[0067] The telescopic support rod 22 is a telescopic rod-shaped structure, one end of which is rotatably connected to the end of the torsion member 4 close to the balance wheel 5, and the other end is rotatably connected to the first connecting rod 2 or the second connecting rod 3. The design of the telescopic support rod 22 allows it to be telescoped within a certain range, thereby adjusting the relative position between the torsion member 4 and the first connecting rod 2 or the second connecting rod 3, thereby changing the overall posture of the traveling component.

[0068] During the travel, the telescopic support rod 22 is telescopically adjusted according to the terrain changes or travel requirements. When the travel component needs to be raised or lowered, the telescopic support rod 22 can be extended or shortened accordingly, thereby changing the angle between the torsion member 4 and the first connecting rod 2 or the second connecting rod 3, so that the travel component can better adapt to the terrain changes. At the same time, the telescopic action of the telescopic support rod 22 can also be combined with the torsion action of the torsion member 4 to achieve more complex and sophisticated posture adjustment.

[0069] For example, when climbing a slope, by extending the telescopic strut 22 and adjusting the torsion angle of the torsion member 4, the front end height of the traveling component can be increased, thereby improving the climbing ability; while when going downhill, by shortening the telescopic strut 22 and appropriately adjusting the torsion angle of the torsion member 4, the front end height of the traveling component can be lowered, thereby improving the stability and safety when going downhill.

[0070] In addition, the design of the telescopic support rod 22 also allows fine adjustment of the traveling components in a stationary state to ensure that the device can maintain a more stable posture during operations such as charging or changing batteries.

[0071] By introducing the telescopic support rod 22, the bipedal walking device can more flexibly adjust the posture of the walking component to adapt to various complex terrains. The telescopic action of the telescopic support rod 22 is combined with the twisting action of the twisting member 4 to achieve more precise and efficient posture adjustment.

[0072] The introduction of the telescopic support rod 22 not only improves the stability of the device during travel, but also enhances its ability to pass and safety on special terrain. By adjusting the length of the telescopic support rod 22 and the torsion angle of the torsion member 4, the device can be ensured to maintain balance and stability in complex terrain.

[0073] The design of the telescopic support rod 22 enables the device to be fine-tuned even when it is stationary, thereby facilitating the user to perform operations such as charging and battery replacement. At the same time, the telescopic action of the telescopic support rod 22 is relatively simple and easy to understand, which reduces the difficulty of use for the user.

[0074] The robot includes the above-mentioned bipedal moving device, and also includes a sensor component and a central controller 21. The central controller 21 is connected to the bipedal moving device and the sensor component respectively.

[0075] Specifically, the sensor components include a laser radar 16 , a dual-light camera 17 , a gimbal camera 18 and a communication device 19 .

[0076] The robot further includes a lighting lamp 20 , which is disposed in front of the dual-light camera 17 .

[0077] Specifically, the central controller 21 is connected above the two traveling components. More specifically, the central controller 21 is installed on the housing 11 .

[0078] The laser radar 16 , the dual-light camera 17 and the gimbal camera 18 are all connected to the central controller 21 .

[0079] Specifically, the gimbal camera 18 adopts an AI gimbal camera; the dual-light camera 17 includes a thermal imaging camera and a white light camera.

[0080] Furthermore, the robot also includes a main battery and a backup motor. Both the main battery and the backup battery are connected to the central controller 21, and the main battery and the backup battery are switched for use.

[0081] The laser radar 16 is installed on the top or front of the robot to build a three-dimensional map of the environment in real time and provide accurate navigation and obstacle avoidance information.

[0082] The dual light camera 17 includes a thermal imaging camera and a white light camera, both of which are connected to the central controller 21. The thermal imaging camera is used for temperature detection and object recognition at night or in bad weather, and the white light camera is used for image capture during the day or in a well-lit environment.

[0083] The gimbal camera 18 uses an AI gimbal camera with functions such as intelligent tracking, automatic rotation and tilt, which can capture a wider view of the environment and transmit it to the central controller 21 in real time.

[0084] The communication device 19 is integrated inside the robot, supports remote communication and data transmission, and ensures real-time communication between the robot and the remote control center.

[0085] The lighting lamp 20 is installed in front of the dual-light camera 17 and adopts a high-brightness LED light source to provide lighting support for the dual-light camera 17 and the pan-tilt camera 18 at night or in low-light environments.

[0086] The central controller 21 is installed on the robot housing 11, located above the two moving parts, and is responsible for receiving data input from the sensor parts, processing data, making decisions and outputting instructions. The central controller 21 uses a high-performance processor and a large-capacity memory to ensure that the robot can process complex environmental information and task instructions in real time.

[0087] The robot includes a main battery and a backup battery, both of which are connected to the central controller 21. The main battery provides continuous power support for the robot, and the backup battery automatically switches to the main battery when the main battery is low on power, ensuring that the robot can continue to work. The energy management system also has functions such as power monitoring and charging management to ensure the safe use of the battery and extend its service life.

[0088] The robot is highly integrated and intelligent by integrating advanced bipedal locomotion devices, multi-sensor fusion systems, central controllers 21, and energy management systems. The robot can autonomously navigate, identify the environment, perform complex tasks, and perform manual intervention or remote control when necessary.

[0089] The bipedal walking device and sensor components used by the robot enable it to walk stably and move flexibly in various terrains and environments. The combination of laser radar 16, dual-light camera 17 and pan-tilt camera 18 enables the robot to perceive the surrounding environment in real time, perform accurate navigation and avoid obstacles.

[0090] The robot's energy management system achieves high efficiency and energy saving by switching between the main battery and the backup battery. At the same time, the energy management system also has functions such as power monitoring and charging management to ensure the safe use of the battery and extend its service life.

[0091] The robot is designed for ease of operation, and users can control and operate the robot through a remote control center or manual intervention. At the same time, the robot's central controller 21 uses a high-performance processor and large-capacity memory to ensure that the robot can process complex environmental information and task instructions in real time.

[0092] More specifically, the AI ​​PTZ camera combines high-performance image processing and deep learning algorithms to analyze, identify and track targets in real time. The PTZ rotation function enables panoramic monitoring, suitable for large-scale patrols. It supports applications such as autonomous target tracking, license plate and personnel recognition, and optimizes the monitoring field of view.

[0093] The dual-light camera 17 combines thermal imaging and white light imaging technologies to ensure effective operation in different lighting environments. Thermal imaging captures the thermal radiation of objects and identifies objects with large temperature differences; white light imaging provides visible light images for easy detail recognition.

[0094] The laser radar 16 emits lasers and calculates the return time, accurately measures the distance to obstacles, and generates a three-dimensional map. It is used for navigation, environment modeling, and path planning to ensure that the robot avoids obstacles and reaches the target accurately.

[0095] The support wheel 15 as the front support wheel 15 provides stability and support, especially on complex terrain or irregular surfaces, it can lean forward and form a triangle with the driving wheel 1 to effectively share the weight and avoid tilting or overturning. It also plays a role of stable support in charging and standby mode.

[0096] The driving wheel 1 is made of highly wear-resistant material and has omnidirectional rotation capability, allowing the robot to maneuver flexibly in a small space. The design ensures stable operation in flat and slightly complex environments.

[0097] The first link 2 can be lifted, rotated and other actions through independent joints to help the robot cross obstacles and adapt to irregular ground. The structure can be adjusted according to ground conditions to ensure stable walking.

[0098] The second link 3 provides support and stability, and cooperates with the first link 2 to complete complex movements and achieve efficient gait conversion, which is particularly important when crossing obstacles or climbing slopes.

[0099] The balance wheel 5 provides additional stability, especially when performing complex maneuvers, helping to maintain the center of gravity and preventing tilting or loss of balance.

[0100] The hydraulic support rod provides stable support when facing large obstacles. The height and angle are adjusted in real time according to the sensor data to provide more support for the robot.

[0101] The central controller 21 processes sensor data, executes path planning algorithms, and schedules motion module actions. It has powerful computing capabilities, enables real-time data processing and decision-making, and adjusts robot behavior according to task requirements and environmental changes.

[0102] The motor driver converts the controller's instructions into motor motion signals, driving each component to move precisely, ensuring efficient synchronization of each part in complex movements.

[0103] The main battery is a lithium battery that provides continuous power. It uses high-density cells and has fast charging and efficient discharge capabilities. The battery management system monitors the power in real time and automatically switches to energy-saving mode when the power is low.

[0104] The backup battery prevents the main battery from running out of power and affecting work. When the main battery is low, the backup battery is automatically activated to ensure that the mission can continue.

[0105] The communication device 19 ensures real-time data transmission with the external control platform, including location, status, sensor data and task progress, etc. Maintaining stable connection between different areas facilitates remote control, monitoring and scheduling.

[0106] The lighting lamp 20 provides long-distance lighting capability, especially at night or in low-light environments, to ensure clear identification of the environment.

[0107] The sensor components scan the environment in real time and build a map. The central controller 21 determines the route according to the path planning algorithm and dynamically avoids obstacles. The controller coordinates the motion module actions and controls the movement according to the path planning instructions. When crossing obstacles, the first and second connecting rods are linked, and the hydraulic support rods provide support to ensure stability. The communication device 19 provides real-time data transmission to achieve remote monitoring and command control.

[0108] When in use, the robot is started first, and the task instructions are issued through the central controller 21. The robot automatically senses the environment, intelligently plans the patrol path, and prepares for action. It receives sensor data in real time, updates environmental perception information, optimizes the path and gait, and copes with complex terrain. The pan-tilt camera 18 provides image recognition and target tracking functions. The robot returns to the starting point or the specified location, and uploads data to the control center through the communication module to form an environmental image and a 3D map for subsequent analysis.

[0109] The embodiments of this specific implementation method are all preferred embodiments of the present invention, and are not intended to limit the protection scope of the present invention. Therefore, any equivalent changes made based on the structure, shape, and principle of the present invention should be included in the protection scope of the present invention.

Claims

1. A bipedal walking device, characterized in that: include: Two traveling components, each of which comprises a driving wheel (1), a first connecting rod (2), a second connecting rod (3), a torsion member (4) and a balancing wheel (5), wherein the driving wheel (1) is connected to the lower end of the first connecting rod (2); the lower end of the second connecting rod (3) is rotatably connected to the upper end of the first connecting rod (2); the upper end of the second connecting rod (3) is rotatably connected to the torsion member (4); and the balancing wheel (5) is fixedly connected to the torsion member (4); A lateral adjustment component is provided, wherein the lateral adjustment component is connected to the balance wheels (5) of the two traveling components, and the lateral adjustment component drives the two balance wheels (5) to rotate and thereby drives the torsion part to torsion.

2. The bipedal walking device according to claim 1, characterized in that: The lateral adjustment component comprises a belt assembly (6) and a first motor (7); the first motor (7) and the belt assembly (6) are in transmission connection; the belt assembly (6) is in transmission connection with the two torsion parts; and the lateral adjustment component synchronously drives the two torsion parts to twist in opposite directions.

3. The bipedal walking device according to claim 1, characterized in that: The traveling component further comprises a driving link (8), wherein the driving link (8) is rotatably connected to the middle portion of the second connection, and the driving link (8) drives the second link (3) and the torsion member (4) to be rotatably connected.

4. The bipedal walking device according to claim 3, characterized in that: The invention also comprises two second motors (10) and two rotating wheel structures (9), each of the second motors (10) is connected to one of the rotating wheel structures (9), the edge of each of the rotating wheel structures (9) is connected to one of the driving connecting rods (8), and the second motor (10) drives the rotating wheel structure (9) to rotate and thereby drives the driving connecting rod (8) to move.

5. The bipedal walking device according to claim 1, characterized in that: It also comprises a housing (11), wherein the twisting member (4) is mounted on both sides of the housing (11).

6. The bipedal walking device according to claim 5, characterized in that: It also includes a balancing component, which is installed at the bottom of the housing (11). The balancing component includes a screw component (12), a nut component (13) and a counterweight (14). The screw component (12) and the nut component (13) cooperate with each other, and the counterweight (14) is connected to the nut component (13).

7. The bipedal walking device according to claim 6, characterized in that: The balancing component is arranged between the two moving components, and the direction of the screw rod component (12) is consistent with the direction of the moving components.

8. The bipedal walking device according to claim 5, characterized in that: It also comprises a supporting wheel (15), wherein the supporting wheel (15) is fixedly arranged on the bottom of the housing (11), and the supporting wheel (15) and the two driving wheels (1) are arranged in a triangle.

9. The bipedal walking device according to claim 1, characterized in that: The traveling component further comprises a telescopic support rod (22), one end of the telescopic support rod (22) being connected to an end of the torsion member (4) close to the balance wheel (5), and the other end of the telescopic support rod (22) being connected to the first connecting rod (2) or the second connecting rod (3).

10. A robot, characterized in that: The bipedal walking device comprises the bipedal walking device as claimed in any one of claims 1 to 9, and further comprises a sensor component and a central controller (21), wherein the central controller (21) is connected to the bipedal walking device and the sensor component respectively.

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