Special electric vehicle for humanoid robot

Abstract

The electric vehicle special for the humanoid robot is a vehicle provided for traveling of the humanoid robot, and overcomes the defects that the humanoid robot is short in traveling distance and low in walking speed. The humanoid robot is characterized in that starting and stopping of the electric vehicle, the running speed, turning-on and turning-off of a front lamp 6, turning-on and turning-off of a rear lamp 9, rotation of a steering shaft 102, braking of a front wheel 103, braking of a rear wheel 108, sound production of a horn 4 and supporting of a vehicle support 11 are all controlled by a control signal sent by the humanoid robot to firstly control a master controller 3 on the electric vehicle; the main controller 3 controls according to different control signals, the rearview device 8 plays a role in enabling the humanoid robot to see the scene behind the vehicle without turning back, the inclination angle sensor module plays a role in controlling the inclination angle of the vehicle frame 104, and when the special electric vehicle is used by the humanoid robot, a special intelligent chip must be arranged in the humanoid robot to be matched with the electric vehicle. A humanoid robot without a matched intelligent chip cannot use the special electric vehicle.

Description

Technical Field

[0001] The present invention relates to the field of electric vehicles, in particular to an electric vehicle dedicated to a humanoid robot. Background Art

[0002] The walking of existing humanoid robots imitates the way humans walk, and the walking speed is close to that of humans. Since the built-in rechargeable battery of the humanoid robot is limited by space, the robot's travel distance is limited, and other advantages of the humanoid robot cannot be exerted over long distances. Although the robot can be transported to a farther place by a transport vehicle, if the humanoid robot is required to complete its work within a short distance, this short distance exceeds the walking range of the humanoid robot, and the road at the workplace is not suitable for transport vehicles. Under this condition, a special transportation tool for the humanoid robot is required to complete it. This special electric vehicle for the humanoid robot is controlled by the humanoid robot during the driving process, and can be completed without human participation. The travel distance is determined by the cruising range of the electric vehicle. Summary of the invention

[0003] Electric vehicles for humanoid robots, hereinafter referred to as "electric vehicles", wherein the front lights refer to the combination of the front lighting lamps and the front turn signals, the rear lights refer to the combination of the rear warning lights and the rear turn signals, one end of the steering shaft is connected to the handlebars as a whole, and the other end is the front wheel fork, the center axis of the front wheel is fixed on the front wheel fork, the middle part of the steering shaft is in the bushing on the frame, and the direction of travel of the electric vehicle can be changed by controlling the rotation of the steering shaft, the function of the vehicle support is to prevent the vehicle from tilting after parking, the rear wheel is the driving wheel, and controlling the travel speed is to control the rotation speed of the rear wheel; The invention is characterized in that the start and stop of the electric vehicle, the speed of the vehicle, the turning on and off of the front and rear lights, the rotation of the steering shaft, the braking of the front and rear wheels, the sounding of the horn and the raising of the vehicle stand are all controlled by the humanoid robot sending control signals to first control the main controller on the electric vehicle, and then the main controller controls according to different control signals; The front wheel brake is controlled by the front wheel electric brake device, the rear wheel brake is controlled by the rear wheel electric brake device, the vehicle stand is controlled by the vehicle stand electric control device, and the steering shaft rotation is controlled by the steering shaft electric control device; There are two ways to transmit signals between the humanoid robot and the master controller: wired and wireless. Wired means that data is transmitted between the humanoid robot and the electric vehicle using a data cable, and wireless means that data is transmitted wirelessly using remote control, Bluetooth, and networking. The master controller is connected with control lines and data lines of the headlight, the rear light, the horn, the front wheel electric brake device, the rear wheel electric brake device, the rear wheel speed control circuit, the steering shaft electric control device, the vehicle support electric control device, the tilt angle sensor module, the rear view device, the battery power detection circuit and the vehicle speed detection circuit; The rear-view device is installed at the rear of the vehicle frame. The rear-view device is an electrically controlled camera that can change the viewing angle; The tilt angle sensor module is installed on the vehicle frame, and the function of the tilt angle sensor module is to detect the tilt angle of the vehicle frame.

[0004] Figure 1 It is a driving mode and structural principle diagram of the present invention.

[0005] Figure 2 It is another driving mode and structural principle diagram of the present invention.

[0006] Description of parts in the accompanying drawings: handlebar 101, steering shaft 102, front wheel 103, frame 104, rechargeable battery 105, driver's seat 106, rear seat 107, rear wheel 108, main controller 3, horn 4, steering shaft electric control device 5, headlight 6, front wheel electric brake device 7, rear view device 8, rear light 9, rear wheel electric brake device 10, vehicle support 11, first robot arm 201, second robot arm 202, robot head 203, robot trunk 204, first robot foot 205, second robot foot 206. DETAILED DESCRIPTION

[0007] Reference Figure 1 and Figure 2 The electric vehicle for humanoid robot is composed of handlebar 101, steering shaft 102, front wheel 103, frame 104, rechargeable battery 105, driver's seat 106, rear seat 107, rear wheel 108, main controller 3, horn 4, steering shaft electric control device 5, headlight 6, front wheel electric brake device 7, rear view device 8, rear light 9, rear wheel electric brake device 10 and vehicle support 11. The horn 4, steering shaft electric control device 5, headlight 6, front wheel electric brake device 7, rear view device 8, rear light 9, rear wheel electric brake device 10, vehicle support 11 and rear wheel 108 speed control circuits are all controlled by humanoid robot. The robot is controlled by the main controller 3. The headlight 6 refers to the combination of the front lighting lamp and the front turn signal lamp. The taillight 9 refers to the combination of the rear warning lamp and the rear turn signal lamp. The front wheel electric brake device 7 and the rear wheel electric brake device 10 refer to the input ends of which the electric control signals can be input to control the rotating front and rear wheels to stop rotating. The principle of the steering shaft electric control device 5 controlling the steering shaft 102 is: the power output of the steering shaft electric control device 5 is a gear, and there is a gear on the steering shaft 102. The gear on the steering shaft electric control device 5 is meshed with the gear on the steering shaft 102 to drive the steering shaft 102 to rotate.

[0008] The rear-view device 8 is an electrically controlled camera that can change the viewing angle. The function of the rear-view device 8 is that the humanoid robot can see the scene behind the vehicle through the rear-view device 8 without looking back. The function of the tilt angle sensor module is that the humanoid robot detects the tilt angle of the frame 104 through the tilt angle sensor module.

[0009] Reference Figure 1 and Figure 2 The front wheel electric brake device 7 is installed on the front wheel fork part at one end of the steering shaft 102, and the brake pad is on the front wheel 103. The rear wheel electric brake device 10 is installed on the rear wheel fork part of the frame 104, and the brake pad is on the rear wheel 108. The steering shaft electric control device 5 is installed on the frame 104, and the power output gear is meshed with the gear on the steering shaft 102. The vehicle support 11 and its electric control device are installed below the footrest part of the frame 104. The rear-view device 8 is installed at the tail of the frame 104. The main controller 3 is installed on the handlebar 101, preferably in the center position. The tilt angle sensor module is installed on the frame 104, preferably integrated with the control circuit of the electric vehicle.

[0010] The function of the master controller 3 is to receive control signals from the humanoid robot, provide the humanoid robot with various data of the electric vehicle, and connect the components to be controlled. The signal transmission methods between the humanoid robot and the master controller 3 are divided into wired and wireless. The wired method refers to the connection between the humanoid robot and the master controller 3 by a data cable, and the wireless method refers to the connection between the humanoid robot and the master controller 3 by remote control, Bluetooth, Internet of Things and other wireless methods. After the humanoid robot is connected to the master controller 3, it can not only control the components to be controlled, but also see the scene behind the vehicle, detect the tilt angle of the frame 104, the battery power and other data of the electric vehicle, and make correct judgments for using the electric vehicle for travel.

[0011] Reference Figure 1 and Figure 2 , Figure 1 The humanoid robot sits on the driving seat 106 of the electric vehicle to control the driving of the electric vehicle. The rear seat 107 can carry people or goods according to actual needs. The appearance and structure are the same as those of the electric bicycle. Figure 2 It is a humanoid robot standing on an electric vehicle to control its driving, and its appearance and structure are the same as those of an electric scooter.

[0012] According to the structural principle of the present invention, there are two types of electric vehicles for humanoid robots. The first is an electric two-wheeled vehicle, and the second is an electric tricycle. In the electric two-wheeled vehicle, the rear wheel 108 is a hub motor, and the structure of the electric tricycle is the same as that of the electric two-wheeled vehicle. In the electric tricycle, the rear wheel 108 refers to two rear drive wheels. The driving of the electric tricycle is that the output power of the driving motor drives the two rear drive wheels to rotate after passing through the differential. In the electric tricycle, there are two sets of rear wheel electric brake devices 10, which are respectively installed on the two rear drive wheels.

[0013] The first robot arm 201, the second robot arm 202, the robot head 203, the robot trunk 204, the first robot foot 205 and the second robot foot 206 are parts of the humanoid robot. The humanoid robot uses the electric vehicle in imitation of the way humans use electric vehicles. The two robot arms hold the handlebars 101 tightly, and the two robot feet step on the pedals on the electric vehicle to prevent the humanoid robot from falling off the electric vehicle and ensure travel safety. When the steering shaft 102 rotates in a controlled manner, the two robot arms rotate with the handlebars 101 without controlling the handlebars 101. When the humanoid robot drives an electric two-wheeled vehicle, the humanoid robot is also required to tilt its upper body according to different road conditions to ensure smooth driving. When the humanoid robot drives an electric tricycle, the two robot arms also hold the handlebars 101 tightly to prevent the humanoid robot from falling off the electric vehicle and ensure travel safety.

[0014] When humans use electric vehicles, the speed, lights, steering and brakes are all controlled by the users. If a humanoid robot imitates humans in using electric vehicles, the control signal sent by the humanoid robot must first control the two robotic arms, and then the two robotic arms respectively control the controlled components. There is a time delay in the control process. Due to the technical limitations of existing humanoid robots, the robotic arms cannot reach the sensitivity of human hands. On the other hand, the mechanical brakes and mechanical speed control devices of existing electric vehicles used by humans have a high failure rate and slow reaction speed. For travel safety, existing humanoid robots cannot use electric vehicles used by humans, and can only use special electric vehicles designed specifically for humanoid robots.

[0015] When the present invention is actually manufactured, due to the versatility of electronic components, a certain component may have multiple models, and the control principle is the same. Different auxiliary functions of the electric vehicle are selected according to different models. The auxiliary functions include battery charge and discharge protection circuit, battery power detection circuit, automatic locking circuit and automatic walking device, etc. The automatic walking device means that the electric vehicle can walk automatically and has a navigation function when there is no driver.

[0016] Compared with the existing electric two-wheeled vehicles and electric three-wheeled vehicles for human use, the present invention has: no controller for controlling the driving speed on the handlebar 101, no switch for controlling the headlight 6, no switch for controlling the rear light 9, no button for turning on the horn 4, no brake handle for controlling the brakes of the front wheel 103 and no brake handle for controlling the brakes of the rear wheel 108. The rotation speed of the rear wheel 108, the turning on and off of the headlight 6, the turning on and off of the rear light 9, the rotation of the steering shaft 102, the braking of the front wheel 103, the braking of the rear wheel 108, the sounding of the horn 4 and the propping up of the vehicle support 11 are all controlled by the humanoid robot sending control signals through the main controller 3. Compared with unmanned electric vehicles, the electric vehicles have no intelligent chips and automatic balancing devices, and there is no need to set a destination when traveling. The humanoid robot can start and stop at will according to actual conditions and change the driving route at will.

[0017] The present invention is a means of transportation provided for humanoid robots to travel based on the advantages and disadvantages of humanoid robots. Due to its simple structure, it can only be used for small electric two-wheeled vehicles and small electric tricycles that travel at low speeds, and is not suitable for large electric tricycles that travel at high speeds. With this electric vehicle, the humanoid robot can move within the endurance range of the electric vehicle, making up for the shortcomings of the humanoid robot's short travel distance and slow walking speed. When a humanoid robot uses this special electric vehicle, it must have a special smart chip inside and be used in conjunction with the electric vehicle. A humanoid robot without a matching smart chip cannot use this special electric vehicle.

Claims

1. An electric vehicle for humanoid robots, hereinafter referred to as "electric vehicle", wherein the front light (6) refers to a combination of a front lighting lamp and a front turn signal lamp, the rear light (9) refers to a combination of a rear warning lamp and a rear turn signal lamp, one end of a steering shaft (102) is connected to a handlebar (101) as a whole, and the other end is a front wheel fork portion, the center axis of the front wheel (103) is fixed to the front wheel fork portion, the middle portion of the steering shaft (102) is in a shaft sleeve on a frame (104), the direction of travel of the electric vehicle can be changed by controlling the rotation of the steering shaft (102), the rear wheel (108) is a driving wheel, and controlling the travel speed is to control the rotation speed of the rear wheel (108); Its characteristics are The starting and stopping of the electric vehicle, the speed of the vehicle, the turning on and off of the front light (6), the turning on and off of the rear light (9), the rotation of the steering shaft (102), the braking of the front wheel (103), the braking of the rear wheel (108), the sounding of the horn (4) and the propping up of the vehicle support (11) are all controlled by the humanoid robot sending control signals to first control the main controller (3) on the electric vehicle, and then the main controller (3) controls according to different control signals; The front wheel (103) is braked by the front wheel electric brake device (7), the rear wheel (108) is braked by the rear wheel electric brake device (10), the vehicle support (11) is supported by the electric control device of the vehicle support (11), and the steering shaft (102) is rotated by the electric control device of the steering shaft (5); The signal transmission between the humanoid robot and the master controller (3) is divided into two types: wired and wireless. The wired method refers to the use of a data cable to transmit data between the humanoid robot and the electric vehicle, and the wireless method refers to the use of remote control, Bluetooth and networking to achieve wireless data transmission. The master controller (3) is connected to the control lines and data lines of the headlight (6), the rear light (9), the horn (4), the front wheel electric brake device (7), the rear wheel electric brake device (10), the rear wheel speed control circuit, the steering shaft electric control device (5), the electric control device of the vehicle support (11), the tilt angle sensor module, the rear view device (8), the battery power detection circuit and the vehicle speed detection circuit; The handlebar (101) has no controller for controlling the driving speed, no switch for controlling the front light (6), no switch for controlling the rear light (9), no button for turning on the horn (4), no brake handle for controlling the brakes of the front wheel (103), and no brake handle for controlling the brakes of the rear wheel (108); The rear-view device (8) is a camera that can be electrically controlled to change the viewing angle. The function of the rear-view device (8) is to enable the humanoid robot to see the scene behind the vehicle through the rear-view device (8). The function of the tilt angle sensor module is to detect the tilt angle of the vehicle frame (104).

2. The electric vehicle for humanoid robots according to claim 1, characterized in that the electric vehicle There are two types of vehicles, the first type is an electric two-wheeled vehicle, and the second type is an electric three-wheeled vehicle. In the electric two-wheeled vehicle, the rear wheel (108) is a wheel hub motor, and in the electric three-wheeled vehicle, the rear wheel (108) refers to two rear drive wheels. The electric three-wheeled vehicle runs by driving the output power of the driving motor through the differential to drive the two rear drive wheels to rotate. In the electric three-wheeled vehicle, there are two sets of rear wheel electric brake devices (10), which are respectively installed on the two rear drive wheels.

3. The electric vehicle for humanoid robots according to claim 1, characterized in that The front wheel electric brake device (7) is mounted on the front wheel fork portion at one end of the steering shaft (102), and the brake pad is on the front wheel (103); the rear wheel electric brake device (10) is mounted on the rear wheel fork portion of the frame (104), and the brake pad is on the rear wheel (108); the steering shaft electric control device (5) is mounted on the frame (104), and the power output gear is meshed with the gear on the steering shaft (102); the vehicle support (11) and its electric control device are mounted below the footrest portion of the frame (104); the rear view device (8) is mounted on the rear of the frame (104); the main controller (3) is mounted on the handlebar (101), and the tilt angle sensor module is mounted on the frame (104).

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