Multipurpose humanoid biped robot based on three-point visual identification system

Abstract

The invention discloses a multi-purpose humanoid biped robot based on a three-point visual recognition system. The multi-purpose humanoid biped robot comprises an upper body unit; the head unit is located at the upper end of the upper body unit; the arm units are located on the left and right sides of the upper body unit; the leg units are integrated on the left side and the right side below the upper body unit through hip joint units; a visual sensor is integrated in the head unit, and the shooting angle of the visual sensor is adjusted through a head movement module integrated in the head unit. The head of the biped robot has two degrees of freedom, so that the head can pitch and rotate, meanwhile, the visual sensor is carried, information of the surrounding environment can be collected in real time, and main information input is provided for the robot.

Description

Technical Field

[0001] The present invention relates to the field of robot technology, and particularly to a multi-purpose humanoid biped robot based on a three-point vision recognition system. Background Art

[0002] Robot technology is experiencing rapid development and showing broad application prospects in various fields. From early simple household robots to the current in-depth applications in multiple fields such as manufacturing, service, military, and medical, the functions and performance of robots have been greatly improved. In manufacturing, industrial robots have become important roles on the production line, capable of performing tasks such as handling, welding, and precision assembly, greatly improving production efficiency. At the same time, with the continuous progress of technology, industrial robots have also become more intelligent and can self-adjust and optimize according to different environmental and task requirements. In the service field, robots are also playing an increasingly important role. For example, in the medical field, robots can assist doctors in surgical operations, drug delivery, etc., improving the efficiency and safety of medical services. In the fields of catering, delivery, cleaning, etc., commercial robots are gradually replacing human labor to provide more convenient and efficient services. In addition, with the continuous development of technologies such as artificial intelligence and machine learning, robots are also becoming more intelligent and autonomous. For example, through a generative artificial intelligence-driven interface, users can program robots using natural language without the need for specialized programming skills. At the same time, predictive artificial intelligence and machine learning algorithms are also used to analyze the performance data of robots to identify the future state of the device and optimize it. Generally speaking, the development and application of robot technology are changing our lifestyle and working mode, bringing new impetus to the progress and development of society. In the future, with the continuous progress of technology and the continuous expansion of application fields, we have reason to believe that robots will play a greater role in more fields and create a better future for mankind.

[0003] Humanoid bipedal robot technology is a highly advanced robotics technology with a high degree of flexibility and anthropomorphism, capable of playing an important role in many fields. The exploration of humanoid bipedal robots began in the 1960s when researchers started to attempt to design and manufacture robots that could walk on two legs like humans. Over time, this technology has gradually developed, and a worldwide upsurge in theoretical research and prototype development of humanoid bipedal robots has emerged, from Europe to the United States and then to Japan in Asia. These early studies laid a solid foundation for the development of humanoid bipedal robot technology. Humanoid bipedal robots face many challenges in technology. First of all, the complexity of bipedal walking makes it necessary for the robot to maintain a high degree of balance and stability during walking. This requires precise mechanical design and advanced control algorithms to ensure the stable movement of the robot. Secondly, the technical problems of the drive and control systems are also the key to the research of humanoid bipedal robots. In order to achieve smooth and natural walking movements, an efficient and reliable drive system and precise control algorithms are needed. To overcome these technical challenges, researchers have continuously innovated and made breakthroughs. They have continuously improved the performance of humanoid bipedal robots by improving the mechanical structure of the robot, optimizing the drive system, and enhancing the accuracy and efficiency of control algorithms. Generally speaking, humanoid bipedal robot technology is an advanced technology with broad application prospects and great development potential. In the future, with continuous innovation and breakthroughs in technology, we have reason to believe that humanoid bipedal robots will play a greater role in more fields, bringing more convenience and benefits to human life and work.

[0004] In the prior art, a Chinese patent application with the application number 202010197497.6, applicant Shenzhen Guoxin Taifu Technology Co., Ltd., and titled "A Highly Intelligent Transforming Robot" discloses a robot. The robot includes a main body, a head, and multiple mechanical limbs. A sensing unit is arranged inside the head, and a central control unit is arranged inside the main body. The central control unit is respectively connected to each of the mechanical limbs and the sensing unit; the head is arranged above the main body; the mechanical limbs include: a first mechanical leg, which is rotatably connected to the left bottom of the main body through a first connecting shaft; a second mechanical leg, which is rotatably connected to the right bottom of the main body through a second connecting shaft; a first mechanical arm, a first supporting part is arranged in the middle of the first mechanical arm, and the first mechanical arm is rotatably connected to the left top of the main body through a third connecting shaft; a second mechanical arm, a second supporting part is arranged in the middle of the second mechanical arm, and the second mechanical arm is rotatably connected to the right top of the main body through a fourth connecting shaft; Task information and execution actions respectively associated with different task scenarios are preset inside the central control unit, and it includes: a scene selection module, which is used to select different task scenarios according to an externally input instruction, and extract the corresponding task information and execution actions according to the selected task scenario; a navigation module, which is used to perform navigation control on the walking path of the highly intelligent transforming robot according to the external environment information transmitted by the sensing unit; an attitude change module, which is respectively connected to the scene selection module and the navigation module, and is used to control the highly intelligent transforming robot to perform attitude changes according to the external environment information and the task information during the navigation control process; an operation module, which is connected to the scene selection module, and is used to control the highly intelligent transforming robot to perform corresponding operation actions according to the external environment information and the execution actions when the highly intelligent transforming robot moves to the execution position determined in the task information; an execution module, which is respectively connected to the navigation module, the attitude change module, and the operation module, and the execution module is also connected to the drive motors of each of the mechanical limbs, and is used to control the drive motors of each of the mechanical limbs according to the control instructions output by each module, so as to control the highly intelligent transforming robot to perform path navigation, attitude changes, and execute corresponding operation actions.

[0005] However, after carefully analyzing the structure of the robot in the prior art, it is not difficult to find that although the overall form of the robot in the prior art can be changed according to different environments, the robot cannot collect the surrounding environment.

[0006] Therefore, based on the above technical problems, those skilled in the art urgently need to develop a multi-purpose humanoid biped robot based on a three-point vision recognition system. Summary of the Invention

[0007] The objective of the present invention is to provide a multi-purpose humanoid bipedal robot based on a three-point vision recognition system. The bipedal robot of the present application solves the problems existing in the prior art through the mutual cooperation of the movements of each joint and the vision acquisition system of the head unit.

[0008] To achieve the above objective, the present invention provides the following technical solutions:

[0009] A multi-purpose humanoid bipedal robot based on a three-point vision recognition system of the present invention, the robot comprising:

[0010] An upper body unit;

[0011] A head unit located at the upper end of the upper body unit;

[0012] Arm units located on the left and right sides of the upper body unit; and

[0013] Leg units integrated under the left and right sides of the upper body unit through hip joint units;

[0014] A visual sensor is integrated in the head unit, and the shooting angle of the visual sensor is adjusted by a head movement module integrated in the head unit;

[0015] The arm units achieve multi-degree-of-freedom movement of the arm units through multiple groups of movement modules integrated thereon;

[0016] The hip joint units and the leg units achieve multi-degree-of-freedom movement of the leg units through multiple groups of movement modules integrated thereon.

[0017] Further, the upper body unit includes:

[0018] An upper body unit housing; and

[0019] An upper body connecting plate disposed inside the upper body unit housing, and corresponding positions of the upper body connecting plate are respectively used for connecting the head unit, the arm units, and the hip joint units.

[0020] Further, the head unit includes:

[0021] A head unit housing;

[0022] A head unit connecting member connected to the upper end of the upper body connecting plate; and

[0023] The visual sensor;

[0024] The head unit is further provided with a head module connecting seat. A pitching module is connected to the lower part of the head module connecting seat. The pitching module is connected to the head unit connecting member, and a rotation module is connected to the upper end of the head module connection;

[0025] The visual sensor is integrated at the output end of the rotation module through a sensor connecting seat so as to drive the visual sensor to rotate around the axis of the rotation module through the rotation module;

[0026] The output end of the pitching module is connected to the lower part of the head module connecting seat, and the pitching module drives the module connecting seat and the rotation module and the visual sensor at its upper end to rotate around the axis of the pitching module.

[0027] Furthermore, the arm unit realizes six-degree-of-freedom movement of the arm unit through six groups of motion modules integrated thereon;

[0028] The arm unit includes:

[0029] An arm motion module connected to the corresponding position of the upper body connecting plate, and an arm module connecting seat is connected to the output end of the arm motion module;

[0030] A shoulder motion module installed at one end of the arm module connecting seat relative to the arm motion module, and a shoulder module connecting seat is connected to the output end of the shoulder motion module;

[0031] A forearm motion module installed at one end of the shoulder module connecting seat away from the shoulder motion module, and a upper arm module connecting seat is connected to the output end of the forearm motion module;

[0032] An elbow motion module installed at one end of the upper arm module connecting seat relative to the forearm motion module, and a forearm module connecting seat is connected to the output end of the elbow motion module;

[0033] A hand motion module installed at one end of the forearm module connecting seat away from the elbow motion module, and a wrist module connecting seat is connected to the output end of the hand motion module, and a hand is connected to the lower end of the wrist module connecting seat.

[0034] Furthermore, the output end of the arm motion module drives the arm module connecting seat to rotate around the axis of the arm motion module to realize the circumferential motion of the robot arm;

[0035] The output end of the shoulder motion module drives the shoulder module connecting seat to rotate around the axis of the shoulder motion module to realize the raising and lowering motion of the robot arm;

[0036] The output end of the forearm motion module drives the connecting seat of the upper arm module to rotate around the axis of the forearm motion module to achieve the rotational motion of the robot's forearm;

[0037] The output end of the elbow motion module drives the connecting seat of the forearm module to rotate around the axis of the elbow motion module to achieve the flexion and extension motions of the robot's arm;

[0038] The output end of the hand motion module drives the connecting seat of the wrist module to rotate around the axis of the hand motion module to achieve the pronation and supination motions of the robot's wrist.

[0039] Further, the leg unit is divided into the thigh and the calf;

[0040] The hip joint unit is connected to the lower end of the upper body connecting plate through a hip joint connecting piece;

[0041] The hip joint unit is symmetrically provided with a left hip motion module and a right hip motion module, and the left hip motion module is connected to the left thigh to drive the lateral swing motion of the left thigh, and the right hip motion module is connected to the right thigh to drive the lateral swing motion of the right thigh.

[0042] Further, a thigh linkage rod is connected between the thigh and the calf, and a calf linkage rod is connected between the calf and the foot;

[0043] A leg motion module is installed at the upper end of the leg unit, and the leg motion module is used to drive the leg unit to rotate around the axis of the leg motion module to achieve the rotation of the leg unit;

[0044] The thigh is provided with an inner thigh motor module and an outer thigh motor module, and one end of the thigh linkage rod is connected to the output end of the outer thigh motor module, and the other end of the thigh linkage rod is connected to the upper end of the calf, and the output end of the outer thigh motor module drives the thigh linkage rod to move to drive the calf to move.

[0045] Further, the calf is provided with an inner calf motor module and an outer calf motor module;

[0046] The foot has a foot support seat, and one end of the heel of the foot support seat has a first connecting seat, and the foot support seat is hinged to the lower end of the calf through a second connecting seat;

[0047] The calf is further provided with two calf linkage rods, and one of the calf linkage rods is connected to the output end of the outer calf motor module, and the other end of it is connected to one side of the first connecting seat;

[0048] Another one of the calf linkage rods is connected to the output end of the inner calf motor module, and the other end thereof is connected to the other side of the first connecting seat.

[0049] Further, the three-point vision recognition system of the biped robot is configured to: set three laser markers in the non-moving area of the biped robot, and the three laser markers are respectively:

[0050] The first laser marker, the second laser marker, and the third laser marker;

[0051] The three laser markers are arranged in a right triangle.

[0052] Further, the laser marker points projected by the three laser markers are respectively the laser marker point A, the laser marker point B, and the laser marker point C, and the laser marker points ABC are arranged in a right triangle. Taking the right angle point of this right triangle as the coordinate origin B, the long side as the Z axis, and the short side as the X axis, the Y axis is determined according to the right-hand rule of the Cartesian coordinate system.

[0053] In the above technical solution, a multi-purpose humanoid biped robot based on a three-point vision recognition system provided by the present invention has the following beneficial effects:

[0054] The head of the biped robot of the present invention has two degrees of freedom, enabling the head to perform pitching and self-rotation movements. At the same time, a vision sensor is carried, which can collect information about the surrounding environment in real time, providing the main information input for the robot.

[0055] The arm of the biped robot of the present invention has six degrees of freedom, enabling the hand to have extremely high flexibility. At the same time, a dexterous hand is configured to achieve perfect grasping, taking, transferring and other fine actions, so as to be able to flexibly adapt to the diverse task requirements in different working scenarios, just as flexible as a human arm.

[0056] The hip unit of the present invention is provided with three degrees of freedom in accordance with the movement characteristics of the human hip, respectively realizing leg lifting, leg side swing and leg rotation actions to ensure that the robot can achieve a stable and flexible walking posture.

[0057] The leg unit of the present invention mainly includes one degree of freedom of the knee joint and two degrees of freedom of the ankle joint. The degree of freedom of the knee joint is realized by a unique joint module plus a linkage rod. This design places the driving joint module above the leg, which can effectively reduce the size of the knee joint and make the leg line more conform to the natural curve of the human body.

[0058] The two degrees of freedom of the ankle joint of the present invention are used to realize the foot lifting action and the internal and external turning of the ankle to ensure the stability of the robot on complex road conditions. Description of the Drawings

[0059] To more clearly illustrate the technical solutions in the embodiments of the present application or the prior art, the following will briefly introduce the drawings required in the embodiments. Obviously, the drawings described below are only some embodiments recorded in the present invention. For those of ordinary skill in the art, other drawings can also be obtained based on these drawings.

[0060] Figure 1 Schematic diagram of the structure of a multi-purpose humanoid bipedal robot based on a three-point vision recognition system disclosed in an embodiment of the present invention;

[0061] Figure 2 Schematic diagram of the structure of a multi-purpose humanoid bipedal robot based on a three-point vision recognition system after removing the outer shell disclosed in an embodiment of the present invention;

[0062] Figure 3 Semi-sectional schematic diagram of a multi-purpose humanoid bipedal robot based on a three-point vision recognition system disclosed in an embodiment of the present invention;

[0063] Figure 4 Schematic diagram of the internal components of the head unit of a multi-purpose humanoid bipedal robot based on a three-point vision recognition system disclosed in an embodiment of the present invention;

[0064] Figure 5 Schematic diagram of the arm unit of a multi-purpose humanoid bipedal robot based on a three-point vision recognition system disclosed in an embodiment of the present invention;

[0065] Figure 6 Schematic diagram of the back of a multi-purpose humanoid bipedal robot based on a three-point vision recognition system disclosed in an embodiment of the present invention;

[0066] Figure 7 Schematic diagram of the leg unit of a multi-purpose humanoid bipedal robot based on a three-point vision recognition system disclosed in an embodiment of the present invention;

[0067] Figure 8 Schematic diagram of the connection structure between the foot and the calf of a multi-purpose humanoid bipedal robot based on a three-point vision recognition system disclosed in an embodiment of the present invention Figure 1 ;

[0068] Figure 9 Schematic diagram of the connection structure between the foot and the calf of a multi-purpose humanoid bipedal robot based on a three-point vision recognition system disclosed in an embodiment of the present invention Figure 2 ;

[0069] Figure 10 Schematic diagram of the three-point marking of a multi-purpose humanoid bipedal robot based on a three-point vision recognition system disclosed in an embodiment of the present invention;

[0070] Figure 11 This is the algorithm logic diagram of a multi - purpose humanoid biped robot based on a three - point vision recognition system disclosed in the embodiments of the present invention.

[0071] Explanation of the reference numerals in the drawings:

[0072] 1. Head unit; 2. Upper body unit; 3. Arm unit; 4. Hip joint unit; 5. Leg unit;

[0073] 101. Head unit housing; 102. Vision sensor; 103. Pitch module; 104. Rotation module; 105. Head module connection seat; 106. Sensor connection seat;

[0074] 201. Upper body unit housing; 202. Upper body connecting plate; 203. Head unit connecting piece; 204. Arm unit connecting piece; 205. Hip joint unit connecting piece; 206. First laser marker; 207. Second laser marker; 208. Third laser marker;

[0075] 301. Arm movement module; 302. Shoulder movement module; 303. Forearm movement module; 304. Elbow movement module; 305. Hand movement module; 306. Wrist movement module; 307. Arm module connection seat; 308. Shoulder module connection seat; 309. Upper arm module connection seat; 310. Forearm module connection seat; 311. Wrist module connection seat;

[0076] 401. Left hip movement module; 402. Right hip movement module;

[0077] 501. Thigh; 502. Calf; 503. Foot; 504. Leg movement module; 505. Outer thigh motor module; 506. Inner thigh motor module; 507. Thigh linkage rod; 508. Outer calf motor module; 509. Inner calf motor module; 510. Calf linkage rod; 511. First connection seat; 512. Second connection seat; 513. Foot support seat. Detailed implementation manners

[0078] In order to enable those skilled in the art to better understand the technical solution of the present invention, the present invention will be further described in detail below with reference to the accompanying drawings.

[0079] See Figures 1 to 11 as shown in

[0080] A multi - purpose humanoid biped robot based on a three - point vision recognition system in this embodiment, the robot includes:

[0081] Upper body unit 2;

[0082] The head unit 1 located at the upper end of the upper body unit 2;

[0083] The arm units 3 located on the left and right sides of the upper body unit 2; and

[0084] The leg units 5 integrated on the left and right sides below the upper body unit 2 through the hip joint unit 4;

[0085] A vision sensor 102 is integrated in the head unit 1, and the shooting angle of the vision sensor 102 is adjusted by the head motion module integrated in the head unit 1;

[0086] The arm unit 3 realizes multi-degree-of-freedom movement of the arm unit 3 through multiple groups of motion modules integrated thereon;

[0087] The hip joint unit 4 and the leg unit 5 realize multi-degree-of-freedom movement of the leg unit 5 through multiple groups of motion modules integrated thereon.

[0088] Specifically, in order to solve the technical problem that robots in the prior art cannot collect the surrounding environment, this embodiment proposes a robot structure with multiple degrees of freedom to ensure the flexible movement of the robot's arms and legs, and also uses the vision sensor 102 mounted in the head unit 1 to collect the surrounding environment in real time, so as to effectively overcome the technical problems existing in the prior art. Specifically, the robot in this embodiment is divided into an upper body unit 2, a head unit 1, arm units 3, a hip joint unit 4, and leg units 5. Among them, in order to realize the collection of the surrounding environment by the robot, a vision sensor 102 is integrated inside the head unit 1 of this embodiment, and this embodiment does not further limit the selection of the vision sensor 102. Its purpose is to enable the robot to collect surrounding environment information. Therefore, any model of the vision sensor 102 that meets the requirements can be used. In addition, in order to ensure more comprehensive and wider range of environment collection, the head motion module in the head unit 1 of this embodiment is designed, so that it can drive the internal vision sensor 102 to move to collect environment information in different angular ranges.

[0089] Preferably, the upper body unit 2 of this embodiment includes an upper body unit housing 201; and an upper body connection plate 202 disposed inside the upper body unit housing 201, and corresponding positions of the upper body connection plate 202 are respectively used to connect the head unit 1, the arm units 3, and the hip joint unit 4.

[0090] First of all, this embodiment further defines the composition of the upper body unit 2. Its external part is the upper body unit housing 201, and its internal part is the upper body connection plate 202. The upper body connection plate 202 is provided with corresponding connection parts and connectors, which are respectively used to connect the head unit 1, the arm units 3, and the hip joint unit 4 of the robot in this embodiment. Finally, the leg units 5 of this embodiment are integrated through the hip joint unit 4.

[0091] Preferably, the head unit 1 of this embodiment includes a head unit housing 101; a head unit connecting member 203 connected to the upper end of the upper body connecting plate 202; and a vision sensor 102;

[0092] The head unit 1 is further provided with a head module connecting seat 105. A pitching module 103 is connected to the lower part of the head module connecting seat 105. The pitching module 103 is connected to the head unit connecting member 203. A rotation module 104 is connected to the upper end of the head module connecting seat 105;

[0093] The vision sensor 102 is integrated at the output end of the rotation module 104 through a sensor connecting seat 106 to drive the vision sensor 102 to rotate around the axis of the rotation module 103;

[0094] The output end of the pitching module 103 is connected to the lower part of the head module connecting seat 105, and the pitching module 103 drives the head module connecting seat 105 and the rotation module 104 and the vision sensor 102 at its upper end to rotate around the axis of the pitching module.

[0095] This embodiment further defines the composition of the head unit 1. The internal pitching module 103 and rotation module 104 are respectively used to realize the rotation of the vision sensor 102 in different directions; specifically: the rotation module 104 directly drives the sensor connecting seat 106 and the vision sensor 102 to rotate around its axis to realize the scanning and acquisition in the XY plane. Secondly, the pitching module 103 drives the head module connecting seat 105 to rotate around the axis of the pitching module 103 to realize the scanning and acquisition in the XZ and YZ planes.

[0096] Preferably, this embodiment further defines the composition of the arm unit 3. It discloses a six-degree-of-freedom arm structure. Specifically: the arm unit 3 of this embodiment realizes the six-degree-of-freedom movement of the arm unit 3 through six groups of motion modules integrated thereon;

[0097] First, from the structural perspective, the composition of the arm unit 3 is further defined. The arm unit 3 of this embodiment includes:

[0098] An arm motion module 301 connected to the corresponding position of the upper body connecting plate 202. The output end of the arm motion module 301 is connected to an arm module connecting seat 307;

[0099] A shoulder motion module 302 installed at one end of the arm module connecting seat 307 relative to the arm motion module 301. The output end of the shoulder motion module 302 is connected to a shoulder module connecting seat 308;

[0100] The forearm motion module 303 is installed at one end of the shoulder module connecting seat 308 away from the shoulder motion module 302, and the output end of the forearm motion module 303 is connected to the upper arm module connecting seat 309;

[0101] The elbow motion module 304 is installed at one end of the upper arm module connecting seat 3069 relative to the forearm motion module 303, and the output end of the elbow motion module 304 is connected to the forearm module connecting seat 310;

[0102] The hand motion module 305 is installed at one end of the forearm module connecting seat 310 away from the elbow motion module 304, and the output end of the hand motion module 305 is connected to the wrist module connecting seat 311, and the lower end of the wrist module connecting seat 311 is connected to the hand.

[0103] Secondly, from the perspective of motion, the working principles of the various motion modules of the arm unit 3 are further defined. Specifically, the output end of the arm motion module 301 of this embodiment drives the arm module connecting seat 307 to rotate around the axis of the arm motion module 301 to achieve the circular motion of the robot arm;

[0104] The output end of the shoulder motion module 302 drives the shoulder module connecting seat 308 to rotate around the axis of the shoulder motion module 302 to achieve the raising and lowering motion of the robot arm;

[0105] The output end of the forearm motion module 303 drives the upper arm module connecting seat 309 to rotate around the axis of the forearm motion module 303 to achieve the rotational motion of the robot forearm;

[0106] The output end of the elbow motion module 304 drives the forearm module connecting seat 310 to rotate around the axis of the elbow motion module 304 to achieve the flexion and extension motion of the robot arm;

[0107] The output end of the hand motion module 305 drives the wrist module connecting seat 311 to rotate around the axis of the hand motion module 305 to achieve the pronation and supination motion of the robot wrist.

[0108] Preferably, the leg unit 5 of this embodiment is divided into a thigh 501 and a calf 502;

[0109] The hip joint unit 4 is connected to the lower end of the upper body connecting plate 202 through the hip joint connecting piece 205;

[0110] The hip joint unit 4 is symmetrically provided with a left hip motion module 401 and a right hip motion module 402, and the left hip motion module 401 is connected to the left thigh to drive the lateral swing motion of the left thigh, and the right hip motion module 402 is connected to the right thigh to drive the lateral swing motion of the right thigh.

[0111] Among them, a thigh linkage rod 507 is connected between the thigh 501 and the calf 502 of this embodiment, and a calf linkage rod 510 is connected between the calf 502 and the foot 503;

[0112] A leg motion module 504 is installed at the upper end of the leg unit 5. The leg motion module 504 is used to drive the leg unit 5 to rotate around the axis of the leg motion module 504 to realize the rotation of the leg unit 5;

[0113] The thigh 501 is provided with an inner thigh motor module 506 and an outer thigh motor module 505. One end of the thigh linkage rod 507 is connected to the output end of the outer thigh motor module 505, and the other end of the thigh linkage rod 507 is connected to the upper end of the calf 502, and the output end of the outer thigh motor module 505 drives the thigh linkage rod 507 to move to drive the calf 502 to move.

[0114] Secondly, the calf 502 of this embodiment is provided with an inner calf motor module 509 and an outer calf motor module 508;

[0115] The foot 503 has a foot support base 513, and the heel end of the foot support base 513 has a first connection seat 511. The foot support base 513 is hinged to the lower end of the calf 502 through a second connection seat 512;

[0116] The calf 502 is also provided with two calf linkage rods 510. One of the calf linkage rods 510 is connected to the output end of the outer calf motor module 508, and the other end is connected to one side of the first connection seat 511;

[0117] The other calf linkage rod 510 is connected to the output end of the inner calf motor module 509, and the other end is connected to the other side of the first connection seat 511.

[0118] The three-point vision recognition system of the biped robot of the present invention is configured as: three laser markers are set in the non-moving area of the biped robot. The three laser markers are the first laser marker 206, the second laser marker 207, and the third laser marker 208 respectively; the three laser markers are arranged in a right triangle.

[0119] See Figure 10 The laser marker points projected by the three laser markers shown are the laser marker point A, the laser marker point B, and the laser marker point C respectively, and the laser marker points ABC are arranged in a right triangle. Taking the right angle point of this right triangle as the coordinate origin B, the long side is established as the Z axis, the short side is established as the X axis, and the Y axis is determined according to the right-hand rule of the Cartesian coordinate system.

[0120] See Figure 11As shown in the figure, the gait conversion algorithm of the three-point vision recognition system is as follows. The vision sensor 1.2 and the laser marking points in the ground projection marking point area remain stationary, so the position relationship of the marking points only needs to be calculated once. The purpose of this algorithm is to obtain the gait adjustment matrix before the robot moves, which serves as an important parameter for the robot's motion planning. Therefore, the real-time recognition of the robot's motion speed does not need to be considered. So, three points are selected from the set of marking point coordinates recognized by the vision sensor 102 for recognition and judgment. The judgment condition is the geometric shape of the triangle, and the purpose is to obtain the accurate coordinates of points A, B, and C. Finally, the robot gait adjustment matrix of the marking points under the vision sensor 102 is as follows:

[0121]

[0122] Based on the above formula and further explanation of the above formula, for example: A = O1; B = O; C = O2; vector S = the product of vector AB and vector BC; OX is the position of point O on the X-axis; the result represents the gait matrix of the robot under binocular vision.

[0123] In the above technical solution, a multi-purpose humanoid bipedal robot based on a three-point vision recognition system provided by the present invention has the following beneficial effects:

[0124] The head of the bipedal robot of the present invention has two degrees of freedom, enabling the head to perform pitching and self-rotation movements. At the same time, it is equipped with a vision sensor 102, which can collect information about the surrounding environment in real time, providing the main information input for the robot.

[0125] The arm of the bipedal robot of the present invention has six degrees of freedom, giving the hand extremely high flexibility. At the same time, it is equipped with a dexterous hand to achieve perfect grasping, picking up, transferring and other fine movements, so as to be able to flexibly adapt to the diverse task requirements in different working scenarios, just as flexible as a human arm.

[0126] The hip joint unit of the present invention is set with three degrees of freedom in accordance with the movement characteristics of the human hip, realizing the actions of lifting the leg, lateral swinging of the leg, and rotation of the leg respectively, so as to ensure that the robot can achieve a stable and flexible walking posture.

[0127] The leg unit of the present invention mainly includes one degree of freedom of the knee joint and two degrees of freedom of the ankle joint. The degree of freedom of the knee joint is realized through a unique joint module plus a connecting rod. This design places the driving joint module above the leg, which can effectively reduce the size of the knee joint and make the leg line more conform to the natural curve of the human body.

[0128] The two degrees of freedom of the ankle joint of the present invention are used to realize the action of lifting the foot and the internal and external turning of the ankle, ensuring that the robot can maintain stability under complex road conditions.

[0129] Only certain exemplary embodiments of the present invention have been described above by way of illustration. Without doubt, for those of ordinary skill in the art, various different ways can be used to modify the described embodiments without departing from the spirit and scope of the present invention. Therefore, the above drawings and description are illustrative in nature and should not be construed as limiting the scope of protection of the claims of the present invention.

Claims

1. A multi-purpose humanoid biped robot based on a three-point visual recognition system, the robot comprising: Upper body unit (2); A head unit (1) located at the upper end of the upper body unit (2); arm units (3) located on the left and right sides of the upper body unit (2); and A leg unit (5) integrated into the left and right sides of the lower part of the upper body unit (2) via a hip joint unit (4); Features: The head unit (1) is integrated with a visual sensor (102), and the visual sensor (102) adjusts the shooting angle of the visual sensor (102) through a head movement module integrated in the head unit (1); The arm unit (3) realizes multi-degree-of-freedom movement of the arm unit (3) through multiple groups of motion modules integrated thereon; The hip joint unit (4) and the leg unit (5) realize multi-degree-of-freedom movement of the leg unit (5) through multiple groups of motion modules integrated thereon.

2. The multi-purpose humanoid biped robot based on a three-point visual recognition system according to claim 1, characterized in that: The upper body unit (2) comprises: an upper body unit housing (201); and An upper body connection plate (202) is arranged inside the upper body unit shell (201), and corresponding positions of the upper body connection plate (202) are used to connect the head unit (1), the arm unit (3) and the hip joint unit (4) respectively.

3. The multi-purpose humanoid biped robot based on a three-point visual recognition system according to claim 2, characterized in that: The head unit (1) comprises: Head unit housing (101); a head unit connection piece (203) connected to the upper end of the upper body connection plate (202); and The visual sensor (102); The head unit (1) is further provided with a head module connecting seat (105), the lower part of the head module connecting seat (105) is connected to a pitch module (103), the pitch module (103) is connected to the head unit connecting piece (203), and the upper end of the head module connecting seat (105) is connected to a rotation module (104); The visual sensor (102) is integrated with the output end of the self-rotating module (104) via a sensor connection seat (106) so as to drive the visual sensor (102) to rotate around the axis of the self-rotating module (104) via the self-rotating module (104); The output end of the pitch module (103) is connected to the lower part of the head module connecting seat (105), and the pitch module (103) drives the head module connecting seat (105) and the rotation module (104) and the visual sensor (102) at its upper end to rotate around the axis of the pitch module (103).

4. The multi-purpose humanoid biped robot based on a three-point visual recognition system according to claim 2, characterized in that: The arm unit (3) realizes six-degree-of-freedom motion of the arm unit (3) through six groups of motion modules integrated thereon; The arm unit (3) comprises: an arm movement module (301) connected to a corresponding position of the upper body connection plate (204), wherein an output end of the arm movement module (301) is connected to an arm module connection seat (307); A shoulder motion module (302) mounted on one end of the arm module connection seat (307) relative to the arm motion module (301), wherein the output end of the shoulder motion module (302) is connected to the shoulder module connection seat (308); A forearm motion module (303) mounted on one end of the shoulder module connection seat (308) away from the shoulder motion module (302), wherein the output end of the forearm motion module (303) is connected to the upper arm module connection seat (309); An elbow motion module (304) mounted on one end of the upper arm module connection seat (309) relative to the lower arm motion module (303), wherein an output end of the elbow motion module (304) is connected to the lower arm module connection seat (310); A hand motion module (305) is installed on one end of the forearm module connection seat (310) away from the elbow motion module (304), wherein the output end of the hand motion module (305) is connected to a wrist module connection seat (311), and the lower end of the wrist module connection seat (311) is connected to the hand.

5. The multi-purpose humanoid biped robot based on a three-point visual recognition system according to claim 4, characterized in that: The output end of the arm motion module (301) drives the arm module connection seat (307) to rotate around the axis of the arm motion module (301) to achieve circular motion of the robot arm; The output end of the shoulder motion module (302) drives the shoulder module connection seat (308) to rotate around the axis of the shoulder motion module (302) to achieve the lifting and lowering movement of the robot arm; The output end of the forearm motion module (303) drives the large arm module connection seat (309) to rotate around the axis of the forearm motion module (303) to realize the rotational movement of the robot forearm; The output end of the elbow motion module (304) drives the forearm module connection seat (310) to rotate around the axis of the elbow motion module (304) to achieve flexion and extension of the robot arm; The output end of the hand motion module (305) drives the wrist module connection seat (311) to rotate around the axis of the hand motion module (305) to achieve forward and backward rotation of the robot wrist.

6. The multi-purpose humanoid biped robot based on a three-point visual recognition system according to claim 2, characterized in that: The leg unit (5) is divided into a thigh (501) and a calf (502); The hip joint unit (4) is connected to the lower end of the upper body connection plate (202) via a hip joint connection piece (205); The hip joint unit (4) is symmetrically provided with a left hip motion module (401) and a right hip motion module (402), and the left hip motion module (401) is connected to the left thigh to drive the side swing movement of the left thigh, and the right hip motion module (402) is connected to the right thigh to drive the side swing movement of the right thigh.

7. The multi-purpose humanoid biped robot based on a three-point visual recognition system according to claim 6, characterized in that: A thigh linkage rod (507) is connected between the thigh (501) and the calf (502), and a calf linkage rod (510) is connected between the calf (502) and the foot (503); A leg motion module (504) is installed at the upper end of the leg unit (5), and the leg motion module (504) is used to drive the leg unit (5) to rotate around the axis of the leg motion module (504) to realize the rotation of the leg unit (5); The thigh (501) is provided with an inner thigh motor module (506) and an outer thigh motor module (505), and one end of the thigh linkage rod (507) is connected to the output end of the outer thigh motor module (505), and the other end of the thigh linkage rod (507) is connected to the upper end of the calf (502), and the thigh linkage rod (507) is driven to move through the output end of the outer thigh motor module (505) to drive the calf (502) to move.

8. The multi-purpose humanoid biped robot based on a three-point visual recognition system according to claim 7, characterized in that: The calf (502) is provided with a calf inner motor module (509) and a calf outer motor module (508); The foot (503) has a foot support seat (513), and a heel end of the foot support seat (513) has a first connecting seat (511), and the foot support seat (513) is hinged to the lower end of the calf (502) through a second connecting seat (512); The calf (502) is also provided with two calf linkage rods (510), and one of the calf linkage rods (510) is connected to the output end of the calf outer motor module (508), and the other end thereof is connected to one side of the first connection seat (511); Another calf linkage rod (510) is connected to the output end of the calf inner motor module (509), and the other end thereof is connected to the other side of the first connection seat (511).

9. The multi-purpose humanoid biped robot based on a three-point visual recognition system according to any one of claims 1 to 8, characterized in that: The three-point visual recognition system of the bipedal robot is configured as follows: three laser markers are set in the non-movement area of ​​the bipedal robot, and the three laser markers are: A first laser marker (206), a second laser marker (207), and a third laser marker (208); The three laser markers are arranged in a right triangle.

10. The multi-purpose humanoid biped robot based on a three-point visual recognition system according to claim 9, characterized in that: The laser marking points projected by the three laser markers are laser marking point A, laser marking point B, and laser marking point C, and the laser marking points ABC are arranged in a right triangle. The coordinate origin B is established with the right angle point of the right triangle, the Z axis is established with the long side, the X axis is established with the short side, and the Y axis is determined according to the right-hand rule of the Cartesian coordinate system.

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