Humanoid robot wearable intelligent navigation equipment

Abstract

The invention provides a humanoid robot wearable intelligent navigation device which is composed of a navigation module and a wearable body, the navigation module is not limited in installation position, and a user can install the navigation module at the most appropriate position according to task requirements and motion characteristics of a robot; the structure of the wearable body is not specifically limited, and the wearable body can be designed in a customized mode according to the shapes and sizes of different humanoid robots. The wearable navigation equipment has the beneficial effects that the wearable navigation equipment is adopted, the problems that a humanoid robot navigation scheme is long in design period, large in original structure change and high in implementation cost are solved, the compact structure of the humanoid robot is met, the overall attractiveness of the humanoid robot is guaranteed, the wearable navigation equipment can be worn or taken off at any time according to the use scene requirement, and the practicability is high. Multiple humanoid robots share one set of navigation equipment in a time-sharing manner, and the method has the advantages of being short in production period, low in scheme cost and the like.

Description

Technical Field

[0001] The present invention mainly relates to the technical field of humanoid robot navigation equipment, and in particular to wearable intelligent navigation equipment for a humanoid robot. Background Art

[0002] At present, humanoid robots have been widely used in many fields, such as service, rescue, industry, etc. However, in complex environments, humanoid robots need precise navigation to complete various tasks. The existing humanoid robot navigation system has some problems. For example, the navigation module is installed in a fixed position, which may affect the flexible movement of the robot. The existing navigation equipment is difficult to meet the diverse needs.

[0003] It is worth noting that not all application scenarios of humanoid robots require navigation function. When the robot is only used to perform some repetitive tasks in fixed positions, such as performing specific assembly operations on a production line, the navigation function becomes redundant; therefore, navigation and non-navigation versions of humanoid robots appear on the market.

[0004] During the specific implementation process, the inventor discovered the following defects: The traditional humanoid robot navigation solution, which is to embed navigation hardware into the robot body, has many problems that cannot be ignored. First of all, to integrate the hardware required for navigation into the robot, it is often necessary to significantly modify the overall structure of the original humanoid robot. This not only involves complex mechanical structure adjustments, but also requires re-planning of the circuit layout. The workload is huge and the R&D cycle will be extended accordingly.

[0005] Secondly, the humanoid robot itself has a compact structure and limited internal space, while navigation-related hardware such as lidar and computing chips are usually large in size and will take up more internal space after installation. This may not only lead to difficulties in heat dissipation inside the robot, but also affect the collaborative work between various components, thereby reducing the overall performance of the humanoid robot.

[0006] Furthermore, once the solution of integrating navigation equipment into the main body is adopted, the subsequent optimization and improvement of the structure will become extremely difficult. Since all hardware are tightly integrated, every adjustment requires a lot of manpower and material resources for redesign and testing, which is costly.

[0007] Finally, from the perspective of appearance design, the additional navigation hardware is difficult to perfectly integrate with the robot's original smooth appearance. The abrupt components often affect the overall aesthetics of the humanoid robot. In some application scenarios that have high requirements on appearance, this is undoubtedly an obvious disadvantage.

[0008] It should be noted that the above contents belong to the technical cognition scope of the inventor. Since the technical contents in this field are vast and too complicated, the above contents of this application do not necessarily constitute prior art. Summary of the invention

[0009] 1. Technical problem to be solved by the invention: The present invention provides a wearable intelligent navigation device for a humanoid robot, which is used to solve the technical problems existing in the above-mentioned background technology.

[0010] 2. Technical solution: In order to achieve the above-mentioned purpose, the technical solution provided by the present invention is: a wearable intelligent navigation device for a humanoid robot, which is composed of a navigation module and a wearable body: Navigation module: equipped with sensors such as cameras and lidar, it can collect information about the surrounding environmental characteristics in real time; built-in SLAM-based positioning technology can analyze and fuse the above signals in real time to achieve high-precision positioning function, and quickly and accurately determine the spatial position and dynamic posture of the humanoid robot; it has an intelligent path planning module, which plans the optimal travel path based on positioning information and map information, combined with a variety of built-in path planning algorithms according to different task requirements and environmental conditions; the built-in deep learning fusion algorithm can identify the surrounding dynamic and static obstacles based on camera and lidar data, and stop or bypass obstacles according to specific circumstances to ensure safety; a control command output interface is set to convert the path planning results into control commands, which are transmitted to the control system of the humanoid robot in real time to accurately control the movement of the robot; it is equipped with a standardized plug-and-play universal connection interface, which integrates automatic recognition and adaptation circuits, can quickly match wearable bodies of different specifications, and the module can be flexibly installed on the head, torso and other parts of the humanoid robot to meet complex and changeable task requirements.

[0011] Wearable body: Mainly used for the installation of navigation equipment. The wearable device can be quickly put on, is easy to put on and take off, and is highly compatible with humanoid robots. It can be flexibly worn on the head, torso and other parts of the humanoid robot.

[0012] Furthermore, the structure of the wearable body is not specifically limited and can be customized according to the shape and size of different humanoid robots. It is made of flexible, lightweight and high-strength materials to ensure that stable support and protection are provided for the navigation module without affecting the movement of the robot. The wearable body is provided with a plurality of adjustable fixing devices, which may be straps, buckles, Velcro, etc., which can firmly fix the navigation module to the robot while allowing the robot to move freely during movement.

[0013] Furthermore, the universal connection interface complies with the international unified standard protocol, has hot plugging, high-speed data transmission and electrical isolation protection functions, and can seamlessly adapt to wearable bodies and humanoid robots of different models and styles around the world, effectively reducing the cost and difficulty of system integration.

[0014] Furthermore, the navigation module is not limited to an installation location and has an intelligent power consumption management function. It can automatically adjust the working mode according to the task load and signal strength, thereby reducing energy consumption and extending the battery life while ensuring navigation accuracy.

[0015] Furthermore, the navigation module also has a robot status output function, which can collect and output data such as the power level, motion status, fault information, etc. of the humanoid robot in real time; it is equipped with a display module for intuitively displaying navigation information, environmental parameters, robot status, etc.; and a voice broadcast module is set up, which can broadcast key information in voice form, such as navigation instructions, danger warnings, etc.

[0016] Furthermore, the navigation module includes a controller module, a perception sensor module and a battery module, and the controller module includes a perception and data processing unit, a motion control unit, a communication and interaction unit and a safety and protection alarm unit.

[0017] Furthermore, the controller module has a high-performance, anti-interference communication module that can maintain stable communication in complex environments. At the same time, the navigation equipment is equipped with a high-gain, automatically adjustable antenna to enhance signal reception capabilities and reduce signal blind spots. It also has multiple communication methods as backup, including but not limited to wireless communication, Bluetooth, NFC, etc.

[0018] 3. Beneficial effects: Compared with the prior art, the technical solution provided by the present invention has the following beneficial effects: The present invention has a reasonable design and adopts a wearable navigation device composed of a navigation module and a wearable body. It does not require major changes to the original structure of the humanoid robot, greatly shortens the design cycle, and can well fit the compact structure of the humanoid robot, ensuring the overall beauty of the humanoid robot. Moreover, users can wear or take off the wearable device at any time according to the actual usage scenario, which is very convenient. A set of wearable devices can be suitable for a variety of humanoid robots, enabling multiple humanoid robots to share a set of navigation equipment in a time-sharing manner, effectively reducing the cost of the solution and having significant advantages.

[0019] It should be noted that the structures not introduced in the present invention are the same as the prior art or can be implemented by using the prior art, and are not described in detail here because they do not involve the design points and improvement directions of the present invention. BRIEF DESCRIPTION OF THE DRAWINGS

[0020] Figure 1 This is a schematic diagram of the wearable intelligent navigation equipment for a humanoid robot provided by the present invention. DETAILED DESCRIPTION

[0021] To facilitate understanding of the present invention, the present invention will be described more comprehensively below with reference to the relevant drawings. Several embodiments of the present invention are shown in the drawings. However, the present invention can be implemented in many different forms and is not limited to the embodiments described herein. On the contrary, the purpose of providing these embodiments is to make the disclosure of the present invention more thorough and comprehensive.

[0022] In the description of the present invention, it should be understood that the terms "center", "longitudinal", "lateral", "length", "width", "thickness", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "page", "bottom", "inside", "outside", "clockwise", "counterclockwise" and the like indicating orientations or positional relationships are based on the orientations or positional relationships shown in the accompanying drawings, and are only for the convenience of describing the present invention and simplifying the description, and do not indicate or imply that the referred device or element must have a specific orientation, be constructed and operated in a specific orientation, and therefore should not be understood as limiting the present invention.

[0023] In addition, the terms "first" and "second" are used for descriptive purposes only and should not be understood as indicating or implying relative importance or implicitly indicating the number of the indicated technical features. Therefore, the features defined as "first" and "second" may explicitly or implicitly include one or more of the features. In the description of the present invention, the meaning of "plurality" is two or more, unless otherwise clearly and specifically defined.

[0024] In the present invention, unless otherwise clearly specified and limited, the terms "installed", "connected", "connected", "fixed", "provided with", "provided on" and the like should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be a direct connection, or it can be an indirect connection through an intermediate medium, or it can be the internal communication of two components. For ordinary technicians in this field, the specific meanings of the above terms in the present invention can be understood according to specific circumstances. Example

[0025] See attached Figure 1 , a wearable intelligent navigation device for humanoid robots, consisting of a navigation module and a wearable body: Navigation module: equipped with sensors such as cameras and lidar, it can collect information about the surrounding environmental characteristics in real time; built-in SLAM-based positioning technology can analyze and fuse the above signals in real time to achieve high-precision positioning function, and quickly and accurately determine the spatial position and dynamic posture of the humanoid robot; it has an intelligent path planning module, which plans the optimal travel path based on positioning information and map information, combined with a variety of built-in path planning algorithms according to different task requirements and environmental conditions; the built-in deep learning fusion algorithm can identify the surrounding dynamic and static obstacles based on camera and lidar data, and stop or bypass obstacles according to specific circumstances to ensure safety; a control command output interface is set to convert the path planning results into control commands, which are transmitted to the control system of the humanoid robot in real time to accurately control the movement of the robot; it is equipped with a standardized plug-and-play universal connection interface, which integrates automatic recognition and adaptation circuits, can quickly match wearable bodies of different specifications, and the module can be flexibly installed on the head, torso and other parts of the humanoid robot to meet complex and changeable task requirements.

[0026] Wearable body: Mainly used for the installation of navigation equipment. The wearable device can be quickly put on, is easy to put on and take off, and is highly compatible with humanoid robots. It can be flexibly worn on the head, torso and other parts of the humanoid robot.

[0027] In this embodiment, a communication module can be connected to realize data interaction between the navigation device and other components of the humanoid robot body. It can also be used for communication with external devices to transmit data or receive remote commands, including but not limited to mobile phone software and computer terminals.

[0028] In this embodiment, the navigation equipment is suitable for all types of humanoid robots, including household service robots, medical care robots, industrial collaborative robots, emergency rescue robots, and special operation robots. It can meet their precise navigation needs in various scenarios such as daily life services, medical rehabilitation assistance, industrial production and manufacturing, disaster rescue and special environment operations.

[0029] In this embodiment, since the installation position of the navigation module is not limited, the user can install the navigation module in the most suitable position according to the task requirements and movement characteristics of the robot, thereby optimizing the navigation performance; for example, in tasks that require rapid turning, installing the navigation module close to the center of gravity of the robot can improve the accuracy of posture detection.

[0030] In this embodiment, since the structure of the wearable body is not restricted, the navigation equipment can be adapted to humanoid robots of various shapes and sizes, greatly improving its versatility and applicability. Whether it is a small household service robot or a large industrial or rescue robot, the navigation equipment of the present invention can be easily installed and used.

[0031] The navigation equipment of the present invention can achieve high-precision navigation in complex environments, such as indoors, outdoors, and areas with obstructions or signal interference, through multiple signal fusion processing, providing a strong guarantee for the reliable operation of humanoid robots in various scenarios.

[0032] In another embodiment, the perception sensor components in the navigation module include but are not limited to visual sensors and lidars, which can be used in combination or individually according to the usage scenario. The number of sensors can be two or one.

[0033] To sum up, the product structure that combines a wearable structure with a navigation device matches the body shape, size and proportion of the humanoid robot to ensure the movement balance of the robot, and can realize the movement state of the humanoid robot in various scenarios in actual use to maintain the stable operation of the navigation device. Fully consider the various movement modes and movement amplitudes of the robot to ensure that when the robot walks, runs, turns, bends, etc., the navigation device will not be damaged or shifted due to the impact force and vibration generated by the movement; the universal navigation function of the humanoid robot is realized without changing the original humanoid robot structure, with the advantages of short production cycle and low solution cost, and can be worn or removed at any time according to the requirements of the use scenario, and a set of wearable equipment can be used for a variety of humanoid robots, so that multiple humanoid robots can share a set of navigation equipment in a time-sharing manner.

[0034] The above-described embodiments only express a certain implementation mode of the present invention, and the description thereof is relatively specific and detailed, but it cannot be understood as limiting the patent scope of the present invention. It should be pointed out that, for ordinary technicians in this field, several modifications and improvements can be made without departing from the concept of the present invention, which all belong to the protection scope of the present invention. Therefore, the protection scope of the patent of the present invention shall be based on the attached claims.

Claims

1. A wearable intelligent navigation device for a humanoid robot, characterized in that: It consists of a navigation module and a wearable body: Navigation module: equipped with sensors such as cameras and laser radars, it can collect information about the surrounding environment in real time; built-in SLAM-based positioning technology can analyze and fuse the above signals in real time to achieve high-precision positioning function, and quickly and accurately determine the spatial position and dynamic posture of the humanoid robot; It has an intelligent path planning module. Based on positioning information and map information, combined with built-in multiple path planning algorithms, it plans the optimal path according to different task requirements and environmental conditions. The built-in deep learning fusion algorithm can identify the surrounding dynamic and static obstacles based on camera and lidar data, and stop or bypass obstacles according to the specific situation to ensure safety. The control command output interface is set to convert the path planning results into control commands, which are transmitted to the control system of the humanoid robot in real time to accurately control the movement of the robot. It is equipped with a standardized plug-and-play universal connection interface, which integrates automatic identification and adaptation circuits, can quickly match wearable bodies of different specifications, and the module can be flexibly installed on the head, torso and other parts of the humanoid robot to meet complex and changing task requirements. Wearable body: Mainly used for the installation of navigation equipment. The wearable device can be quickly put on, is easy to put on and take off, and is highly compatible with humanoid robots. It can be flexibly worn on the head, torso and other parts of the humanoid robot.

2. The wearable intelligent navigation device for a humanoid robot according to claim 1, characterized in that: The structure of the wearable body is not specifically limited and can be customized according to the shape and size of different humanoid robots. It is made of flexible, lightweight and high-strength materials to ensure that stable support and protection are provided for the navigation module without affecting the movement of the robot. The wearable body is provided with a plurality of adjustable fixing devices, which may be straps, buckles, Velcro, etc., which can firmly fix the navigation module to the robot while allowing the robot to move freely during movement.

3. The wearable intelligent navigation device for a humanoid robot according to claim 1, characterized in that: The universal connection interface complies with the international unified standard protocol, and has hot-swap, high-speed data transmission and electrical isolation protection functions. It can seamlessly adapt to wearable bodies and humanoid robots of different models and styles around the world, effectively reducing the cost and difficulty of system integration.

4. The wearable intelligent navigation device for a humanoid robot according to claim 1, characterized in that: The navigation module has no restrictions on the installation location and has an intelligent power consumption management function. It can automatically adjust the working mode according to the task load and signal strength, while ensuring navigation accuracy, reducing energy consumption and extending battery life.

5. The wearable intelligent navigation device for a humanoid robot according to claim 1, characterized in that: The navigation module also has a robot status output function, which can collect and output data such as the power, motion status, fault information, etc. of the humanoid robot in real time; it is equipped with a display module for intuitively displaying navigation information, environmental parameters, robot status, etc. A voice broadcast module is set up to broadcast key information in voice form, such as navigation instructions, danger warnings, etc.

6. The wearable intelligent navigation device for a humanoid robot according to claim 1, characterized in that: The navigation module includes a controller module, a perception sensor module and a battery module. The controller module includes a perception and data processing unit, a motion control unit, a communication and interaction unit and a safety and protection alarm unit.

7. The wearable intelligent navigation device for a humanoid robot according to claim 6, characterized in that: The controller module has a high-performance communication module with strong anti-interference ability, which can maintain stable communication in complex environments. At the same time, the navigation equipment is equipped with a high-gain, automatically adjustable antenna to enhance signal reception capability and reduce signal blind spots. It also has multiple communication methods as backup, including but not limited to wireless communication, Bluetooth, NFC, etc.

Images