Child target object for robot detection

Abstract

The invention relates to a child target object for robot detection, and belongs to the technical field of robot target object detection, the child target object comprises a trunk and legs, and the legs comprise thighs and shanks; one ends of the thighs are rotatably connected with the trunk, the other ends of the thighs are rotatably connected with the shanks, and walking assemblies are arranged between the thighs and the trunk and between the thighs and the shanks; the robot further comprises large arms and small arms, the large arms are rotationally arranged on the trunk, the small arms are rotationally connected with the large arms, swing assemblies are arranged between the large arms and the trunk and between the small arms and the large arms, and the walking assemblies and the swing assemblies achieve flexible rotation of the lower limbs and the arms. The method has the effect that the target object can simulate various child postures to cooperate with robot detection.

Description

Technical Field

[0001] This application relates to the technical field of robot detecting target objects, and particularly to a child target object for robot detection. Background Art

[0002] In recent years, with the popularization of smart home and unmanned delivery, the market demand for floor-sweeping robots and food-delivery robots has been continuously increasing.

[0003] Currently, such robots usually navigate and avoid obstacles by carrying a variety of sensors, such as cameras, lidars, infrared sensors, etc. However, in actual use, due to different reasons such as sensor stability, manufacturer's algorithms, and environmental interference, there is a potential risk that the robot's navigation route may be inaccurate and even injure people.

[0004] Compared with adults, children have poor self-control, strong mobility and small body size. When the robot encounters children during its movement, children will present a variety of body postures. Therefore, there is an urgent need for a target object that can cooperate with the robot for detection and can simulate a variety of children's postures. Summary of the Invention

[0005] In order for the target object to simulate a variety of children's postures to cooperate with the robot for detection, this application provides a child target object for robot detection.

[0006] The child target object for robot detection provided by this application adopts the following technical solutions: A child target object for robot detection includes a torso and legs. The legs include a thigh and a calf; one end of the thigh is rotatably connected to the torso, and the other end is rotatably connected to the calf. A walking component is provided between the thigh and the torso and between the thigh and the calf; the walking component includes a special-shaped central gear, a connecting piece, a conforming top pin and an embedded spring. One end of the connecting piece is rotatably connected to the special-shaped central gear and the rotation axis passes through the center of the special-shaped central gear. The conforming top pin is slidably arranged on the connecting piece and the sliding direction is along the direction of approaching or departing from the tooth socket of the special-shaped central gear; the embedded spring is located between the connecting piece and the conforming top pin and is used to push the conforming top pin to move towards the special-shaped central gear; when the special-shaped central gear is fixed on the torso, the connecting piece is fixedly connected to the thigh; when the special-shaped central gear is fixed at the end of the thigh, the connecting piece is fixedly connected to the calf.

[0007] By adopting the above technical solution, when the robot is conducting detection, the legs of the child target object can be flexibly rotated with the help of the walking component to simulate a variety of child postures. After the special-shaped central gear is fixed, the connecting piece drives the thigh or calf to rotate, and the profiled ejector pin slides on the connecting piece, and approaches or moves away from the tooth socket under the action of the embedded spring, so as to achieve the posture change simulating the movement of the human leg. For example, when the thigh rotates relative to the torso, the profiled ejector pin is squeezed by the inner wall of the tooth socket and moves in the direction away from the tooth socket. The embedded spring is compressed until the end of the profiled ejector pin slides into the adjacent tooth socket, and the embedded spring releases the elastic force synchronously to complete a minimum angle rotation. The realization of a variety of posture changes of human leg movements can effectively cooperate with robot detection, help the robot better identify children in different postures, reduce the risk of inaccurate navigation or injury to personnel due to the inability to accurately identify the posture of children, and improve the detection accuracy and safety of the robot in complex scenes.

[0008] Optionally, an elastic pin is provided on the connecting member, a slot is provided on the free-standing ejector pin, and one end of the elastic pin is slidably arranged in a direction approaching or moving away from the slot.

[0009] By adopting the above technical solution, the elastic pin cooperates with the slot to play a limiting and buffering role during the sliding and rotation of the conformal ejector pin, further accurately controlling the movement trajectory of the conformal ejector pin, enhancing the stability and accuracy of the movement of the walking component, and making the child's posture simulated by the child target object more realistic.

[0010] Optionally, a groove is provided on the connecting member, the notch of the groove is arranged toward the circumferential side wall of the special-shaped central gear, the profiled ejector pin is slidably arranged in the groove, and the embedded spring is located in the groove and on the side of the profiled ejector pin away from the special-shaped central gear.

[0011] By adopting the above technical solution, the groove provides a guide and limiting structure for the sliding of the follow-up ejector pin, making the sliding of the follow-up ejector pin more stable and smooth, while protecting the embedded spring from external interference, ensuring that the walking component can continuously and stably realize the function of simulating the changes in the movement posture of the human leg, thereby improving the reliability of the children's target object.

[0012] Optionally, a through slot is provided on the connecting member, one end of the through slot is connected to the outside, and the other end is connected to the inside of the groove, and the elastic pin is arranged in the through slot.

[0013] By adopting the above technical solution, the through groove provides installation and sliding space for the elastic pin, which facilitates the coordinated installation and operation of the elastic pin and the slot, making the elastic pin more stable when realizing the limiting and buffering functions. It also facilitates the maintenance and replacement of the elastic pin, ensuring the long-term stable operation of the walking component and improving the practicality of the children's target object.

[0014] Optionally, the slot is formed along the circumferential outer wall of the ejector pin, and the end of the elastic pin close to the slot is an arc surface.

[0015] By adopting the above technical solution, the arc surface design of the end of the elastic pin makes it easier for the end of the elastic pin to be squeezed out of the slot by the inner wall of the slot during the movement of the ejector pin.

[0016] Optionally, it also includes an upper arm and a lower arm, the upper arm is rotatably arranged on the torso, the lower arm is rotatably connected to the upper arm, and a swing assembly is arranged between the upper arm and the torso, as well as between the lower arm and the upper arm; the swing assembly includes a special-shaped gear, an upper half ring, a lower half ring and an external spring, the special-shaped gear is fixed on the torso or the upper arm, the upper half ring is rotatably arranged relative to the special-shaped gear and the rotating shaft passes through the center of the special-shaped gear, a protrusion is fixed on the lower half ring, the protrusion is inserted in any tooth socket of the special-shaped gear itself, the lower half ring and the upper half ring are slidably arranged and the sliding direction is in the direction of approaching or moving away from the special-shaped gear, and the external spring is used to provide the lower half ring with a force to slide in the direction close to or away from the special-shaped gear; when the special-shaped gear is fixed on the torso, the upper arm is fixed on the lower half ring; when the special-shaped gear is fixed on the end of the upper arm, the lower arm is fixed on the lower half ring.

[0017] By adopting the above technical solution, the upper arm or lower arm is pulled downward, and the external spring is compressed, a gap is generated between the lower half ring and the upper half ring, and the protrusion is disengaged from the corresponding tooth socket. The upper arm or lower arm is rotated to move the protrusion to the next tooth socket, and the upper arm or lower arm is released. The external spring is reset, and finally the upper arm is swung relative to the trunk, or the lower arm is swung relative to the upper arm. The swing component can realize the flexible rotation of the upper arm and the lower arm, simulate a variety of arm postures, and cooperate with the leg walking component to simulate the posture of children in an all-round and more realistic manner, which greatly enriches the types of postures that can be simulated by child targets, so that the robot can more comprehensively detect and adapt to the postures of children in different scenarios, and further improve the accuracy and safety of robot detection.

[0018] Optionally, a positioning column is fixed on the lower half ring, one end of the positioning column passes through the upper half ring, and an external spring ring is sleeved on the positioning column and is located on the side of the upper half ring away from the lower half ring.

[0019] By adopting the above technical solution, the positioning column provides guidance for the relative sliding of the lower half ring and the upper half ring, ensuring that the lower half ring does not shift during the sliding process, so that the protrusion can accurately match with the tooth socket of the special-shaped gear; at the same time, the positioning column provides installation support for the external spring, ensuring that the external spring can function stably and maintain the stability of the movement of the swing assembly, thereby ensuring that the upper arm and the forearm can accurately simulate the arm posture.

[0020] Optionally, the torso, legs, upper arms and forearms are filled with foam.

[0021] By adopting the above technical solution, the foam has the characteristics of lightness and softness. On the one hand, it can reduce the overall weight of the child target object and facilitate movement and operation; on the other hand, it can play a buffering and protective role. When the robot contacts the target object, it reduces the damage caused by the collision to the robot and the target object itself. At the same time, it simulates the soft touch of the human body, making the feedback during robot detection closer to the actual situation, thereby improving the accuracy of detection.

[0022] Optionally, the foam is wrapped with an outer skin layer.

[0023] By adopting the above technical solution, the outer layer can protect the internal foam, prevent the foam from being damaged or deformed, and extend the service life of the child target object; at the same time, the outer layer can provide a texture and appearance closer to human skin, making the target object more realistic, helping the robot to identify and detect more accurately, and also facilitating cleaning and maintenance, keeping the target object's appearance neat.

[0024] Optionally, a blocking piece is fixed to one end of the positioning column, one end of the external spring abuts against the blocking piece, and the other end abuts against the side wall of the upper half ring away from the lower half ring.

[0025] By adopting the above technical solution, the baffle can prevent the external spring from falling off the positioning column, ensure the stable installation and normal operation of the external spring, and continuously provide the lower half ring with a force to slide toward the direction close to the special-shaped gear.

[0026] In summary, the present application includes at least one of the following beneficial technical effects: Simulate various postures and improve detection accuracy: Through the design of the leg walking component and the arm swinging component, the child target can simulate a variety of children's leg and arm postures, which greatly enriches the types of simulated postures, helps the robot better identify children in different postures, significantly improves the robot's detection accuracy in complex scenes, and reduces the risk of inaccurate navigation and injuries to people; Optimized structural design to ensure movement stability: The grooves and through-slots on the connectors, as well as the matching of the elastic pins and the slots, provide guidance, limiting and installation space for the push pins and elastic pins, enhancing the stability and accuracy of the movement of the walking assembly. The positioning column and baffle ensure the accuracy of the sliding of the lower half ring in the swing assembly and the stability of the external spring, ensuring that the arms and legs can accurately simulate the corresponding postures. Use appropriate materials to enhance practicality and realism: Fill the torso, legs, upper arms and forearms with foam and wrap them with an outer layer, which not only reduces the weight of the target and facilitates operation, but also plays a buffering and protective role in collisions, simulating the soft touch of the human body; the outer layer can also protect the foam, provide a human-like appearance and texture, and facilitate cleaning and maintenance, thereby improving the practicality and realism of children's targets. BRIEF DESCRIPTION OF THE DRAWINGS

[0027] Figure 1 It is a schematic diagram of the overall structure of an embodiment of the present application; Figure 2 It is a schematic diagram of the local structure where the swinging component acts as the shoulder joint; Figure 3 It is an exploded view of the local structure at the swinging component; Figure 4 It is a schematic diagram of the local structure where the swinging component acts as the elbow joint; Figure 5 It is a schematic diagram of the local structure at the walking component; Figure 6 It is a sectional view of the local structure at the walking component.

[0028] In the figure, 1 is the torso; 2 is the leg; 21 is the thigh; 22 is the calf; 3 is the upper arm; 4 is the forearm; 5 is the walking component; 51 is the special-shaped central gear; 52 is the connecting piece; 521 is the groove; 522 is the through groove; 53 is the profiling pin; 531 is the clamping groove; 54 is the embedded spring; 6 is the elastic pin; 7 is the swinging component; 71 is the special-shaped gear; 72 is the upper half ring; 721 is the cover; 73 is the lower half ring; 731 is the convex block; 74 is the peripheral spring; 8 is the positioning post; 81 is the retaining piece; 9 is the outer skin. Detailed implementation manners

[0029] The following further elaborates on the present application in conjunction with the attached Figures 1 - 6 for a more detailed description.

[0030] An embodiment of the present application discloses a children's target for robot detection.

[0031] Refer to Figure 1 , a children's target for robot detection includes a torso 1, legs 2, upper arms 3, forearms 4, and a head. The head, legs 2, and upper arms 3 are all rotatably arranged on the torso 1, so that the target can simulate various children's postures.

[0032] Refer to Figure 1 , the torso 1, legs 2, upper arms 3, forearms 4, and head are all composed of a metal bracket, foam, and an outer skin 9. The metal bracket serves as an internal support, providing a stable structural framework for the entire target to ensure the firm connection of each component. The foam is filled. Utilizing its light weight and soft characteristics, on the one hand, it reduces the overall weight of the children's target, facilitating movement and operation; on the other hand, when the robot contacts the target, it can play a buffering and protective role, reducing the damage caused by collisions to the robot and the target itself, and at the same time simulating the soft touch of the human body, making the feedback during robot detection closer to the real situation and improving the accuracy of detection. Finally, the outer skin 9 is wrapped on the outside.

[0033] Refer to Figure 1 and Figure 2One end of the upper arm 3 away from the trunk 1 is rotatably connected to the lower arm 4, and a swing component 7 is provided between the upper arm 3 and the trunk 1 and between the upper arm 3 and the lower arm 4.

[0034] refer to Figure 2 and Figure 3 The swing assembly 7 includes a special-shaped gear 71, an upper half ring 72, a lower half ring 73 and an external spring 74. The special-shaped gear 71 is fixed on the trunk 1 or the upper arm 3, and the upper half ring 72 is rotatably arranged relative to the special-shaped gear 71, and the rotating shaft passes through the center of the special-shaped gear 71. The upper half ring 72 and the lower half ring 73 form a complete ring shape and are sleeved on the circumferential outer wall of the special-shaped gear 71. The lower half ring 73 is fixed with a protrusion 731, and the protrusion 731 is inserted into any tooth socket of the special-shaped gear 71. A positioning column 8 is fixed on the lower half ring 73, and a baffle 81 is fixed after one end of the positioning column 8 passes through the upper half ring 72. The positioning column 8 is slidably arranged relative to the upper half ring 72, and the external spring 74 is sleeved on the positioning column 8 and is located on the side of the upper half ring 72 away from the lower half ring 73. One end of the external spring 74 abuts against the baffle 81, and the other end abuts against the side wall of the upper half ring 72 away from the lower half ring 73. The lower half ring 73 is slidably arranged with the upper half ring 72 and the sliding direction is in the direction of approaching or moving away from the special-shaped gear 71. The positioning column 8 provides guidance for the relative sliding of the lower half ring 73 and the upper half ring 72, and the external spring 74 provides the lower half ring 73 with a force to slide toward the special-shaped gear 71.

[0035] refer to Figure 3 and Figure 4 When the special-shaped gear 71 is located between the trunk 1 and the upper arm 3, the special-shaped gear 71 is fixed on the trunk 1, and the upper arm 3 is fixed on the lower half ring 73; when the special-shaped gear 71 is located between the upper arm 3 and the lower arm 4, the special-shaped gear 71 is fixed on the end of the upper arm 3, and the lower arm 4 is fixed on the lower half ring 73.

[0036] In this embodiment, reference Figure 3 , two positioning posts 8 are provided in the single swing component 7 and are symmetrically distributed on both sides of the special-shaped gear 71 with the center of the special-shaped gear 71 as the symmetry point. Similarly, two external springs 74 and baffles 81 are provided corresponding to the number of positioning posts 8. A cover 721 is provided in the single swing component 7. The cover 721 is located on the side of the special-shaped gear 71 away from the trunk and blocks the special-shaped gear 71. The cover 721 is fixedly connected to the upper half ring 72, and the cover 721 abuts against the lower half ring 73. In this embodiment, the swing amplitude is controlled by the number of tooth sockets and the spacing distance between adjacent tooth sockets. It is not limited to the state shown in the figure, and can be increased or decreased according to actual needs.

[0037] During operation, the upper arm 3 or the lower arm 4 is pulled downward, and the external spring 74 is compressed, a gap is formed between the lower half ring 73 and the upper half ring 72, and the protrusion 731 is disengaged from the corresponding tooth socket. The upper arm 3 or the lower arm 4 is rotated to move the protrusion 731 to the next tooth socket, and the upper arm 3 or the lower arm 4 is released, and the external spring 74 is reset, and finally the upper arm 3 is swung relative to the trunk 1, or the lower arm 4 is swung relative to the upper arm 3. The swing component 7 can realize the flexible rotation of the upper arm 3 and the lower arm 4, and simulate a variety of arm postures. The swing component 7 acts as the shoulder joint and elbow joint of the target object.

[0038] refer to Figure 1 and Figure 5 The leg 2 includes a thigh 21 and a calf 22, one end of the thigh 21 is rotatably connected to the trunk 1, and the other end is rotatably connected to the calf 22. A walking assembly 5 is provided between the thigh 21 and the trunk 1 and between the thigh 21 and the calf 22.

[0039] refer to Figure 5 and Figure 6 The travel assembly 5 includes a special-shaped central gear 51, a connecting member 52, a follow-up pin 53 and an embedded spring 54. One end of the connecting member 52 is rotatably connected to the special-shaped central gear 51, and the rotating shaft passes through the center of the special-shaped central gear 51, so as to ensure that the connecting member 52 can smoothly rotate around the special-shaped central gear 51. The follow-up pin 53 is slidably arranged on the connecting member 52, and its sliding direction is along the direction of approaching or moving away from the tooth socket of the special-shaped central gear 51. A groove 521 is provided on the connecting member 52, and the notch of the groove 521 is arranged toward the circumferential side wall of the special-shaped central gear 51. The follow-up pin 53 is slidably arranged in the groove 521. The embedded spring 54 is located in the groove 521 and on the side of the follow-up pin 53 away from the special-shaped central gear 51. One end of the embedded spring 54 abuts against the bottom of the groove 521, and the other end abuts against the follow-up pin 53. The embedded spring 54 pushes the follow-up pin 53 to move toward the direction of approaching the special-shaped central gear 51.

[0040] refer to Figure 5 and Figure 6 The connecting member 52 is also provided with a through slot 522, one end of which is in communication with the outside, and the other end of which is in communication with the groove 521. The connecting member 52 is provided with an elastic pin 6, and the free-standing pin 53 is provided with a slot 531, which is provided along the circumferential outer wall of the free-standing pin 53. The end of the elastic pin 6 close to the slot 531 is an arc surface. The elastic pin 6 is fixed in the through slot 522, and one end of the elastic pin 6 is slidably arranged in a direction close to or away from the slot 531. The elastic pin 6 itself has the ability of compression deformation. During the sliding process of the free-standing pin 53, the elastic pin 6 cooperates with the slot 531, that is, the end of the elastic pin 6 slides into or out of the slot 531.

[0041] refer to Figure 1 and Figure 5, when the special-shaped central gear 51 is located between the torso 1 and the thigh 21 to act as a hip joint, the special-shaped central gear 51 is fixed on the torso 1, and the connecting member 52 is fixedly connected to the thigh 21; when the special-shaped central gear 51 is located between the thigh 21 and the calf 22 to act as a knee joint, the special-shaped central gear 51 is fixed at the end of the thigh 21, and the connecting member 52 is fixedly connected to the calf 22.

[0042] During the actual movement process, for example, when the thigh 21 rotates relative to the torso 1, the profiling pin 53 is squeezed by the inner wall of the tooth socket and moves in a direction away from the tooth socket, and the embedded spring 54 is compressed to store elastic potential energy. At the same time, the end of the elastic pin 6 is squeezed and begins to retract and starts to slide out of the card slot 531. Until the end of the profiling pin 53 slides into the adjacent tooth socket, the embedded spring 54 synchronously releases the elastic force, and the end of the elastic pin 6 slides back into the card slot 531 again, completing a rotation of the minimum angle, thereby realizing the posture change of simulating the movement of the human leg, enabling the leg 2 of the child target to be flexibly rotated by means of the walking component 5, simulating various child postures, and effectively cooperating with the robot detection.

[0043] The implementation principle of a child target for robot detection in the embodiment of the present application is as follows: through the walking component 5 of the leg 2 and the swinging component 7 of the arm, the flexible rotation of the lower limb and the arm is realized, and various child postures are simulated. At the same time, the combined design of the metal bracket, the foam and the outer skin 9 improves the practicability and authenticity of the target on the basis of ensuring the structural stability, thereby effectively cooperating with the robot for detection, helping the robot to better identify children in different postures, reducing the risks such as inaccurate navigation or injury to personnel caused by the inability to accurately identify the child posture, and improving the detection accuracy and safety of the robot in complex scenarios.

[0044] The embodiments of the present specific implementation manners are all preferred embodiments of the present application, and do not limit the protection scope of the present application accordingly. Therefore, all equivalent changes made according to the structure, shape and principle of the present application should be covered within the protection scope of the present application.

Claims

1. A children's target object for robot detection, comprising a torso (1) and legs (2), the legs (2) comprising a thigh (21) and a calf (22); one end of the thigh (21) is rotatably connected to the torso (1), and the other end is rotatably connected to the calf (22), characterized in that: A walking assembly (5) is provided between the thigh (21) and the trunk (1) and between the thigh (21) and the calf (22); the walking assembly (5) comprises a special-shaped central gear (51), a connecting piece (52), a conforming ejector pin (53) and an embedded spring (54); one end of the connecting piece (52) is rotatably connected to the special-shaped central gear (51) and the rotating shaft passes through the center of the special-shaped central gear (51); the conforming ejector pin (53) is slidably provided on the connecting piece (52) and the sliding direction is along the direction close to the connecting piece (52). or away from the tooth socket of the special-shaped central gear (51); an embedded spring (54) is located between the connecting piece (52) and the follow-up ejector pin (53) for pushing the follow-up ejector pin (53) to move towards the direction approaching the special-shaped central gear (51); when the special-shaped central gear (51) is fixed on the trunk (1), the connecting piece (52) is fixedly connected to the thigh (21); when the special-shaped central gear (51) is fixed on the end of the thigh (21), the connecting piece (52) is fixedly connected to the calf (22).

2. The child target object for robot detection according to claim 1, characterized in that: The connecting member (52) is provided with an elastic pin (6), the conformable ejector pin (53) is provided with a slot (531), and one end of the elastic pin (6) is slidably arranged in a direction approaching or moving away from the slot (531).

3. The child target object for robot detection according to claim 2, characterized in that: The connecting member (52) is provided with a groove (521), the notch of the groove (521) is arranged toward the circumferential side wall of the special-shaped central gear (51), the follow-up ejector pin (53) is slidably arranged in the groove (521), and the embedded spring (54) is located in the groove (521) and on the side of the follow-up ejector pin (53) facing away from the special-shaped central gear (51).

4. A child target for robot detection according to claim 3, wherein: The connecting member (52) is provided with a through slot (522), one end of the through slot (522) is in communication with the outside, and the other end is in communication with the inside of the groove (521), and the elastic pin (6) is arranged in the through slot (522).

5. A child target object for robot detection according to claim 2, characterized in that: The clamping groove (531) is formed along the circumferential outer wall of the conformal ejector pin (53), and the end of the elastic pin (6) close to the clamping groove (531) is an arc surface.

6. The child target object for robot detection according to claim 1, wherein: The invention also comprises an upper arm (3) and a lower arm (4), wherein the upper arm (3) is rotatably arranged on the trunk (1), the lower arm (4) is rotatably connected to the upper arm (3), and a swing assembly (7) is arranged between the upper arm (3) and the trunk (1) and between the lower arm (4) and the upper arm (3); the swing assembly (7) comprises a special-shaped gear (71), an upper half ring (72), a lower half ring (73) and an external spring (74), the special-shaped gear (71) is fixed on the trunk (1) or the upper arm (3), the upper half ring (72) is rotatably arranged relative to the special-shaped gear (71) and the rotation axis passes through the center of the special-shaped gear (71), and the lower half ring (73) is arranged at a rotation axis of the rotation axis. A protrusion (731) is fixed on the special-shaped gear (73), and the protrusion (731) is inserted into any tooth socket of the special-shaped gear (71). The lower half ring (73) and the upper half ring (72) are slidably arranged, and the sliding direction is along the direction of approaching or moving away from the special-shaped gear (71). The external spring (74) is used to provide the lower half ring (73) with a force to slide in the direction of approaching the special-shaped gear (71); when the special-shaped gear (71) is fixed on the trunk (1), the upper arm (3) is fixed on the lower half ring (73); when the special-shaped gear (71) is fixed on the end of the upper arm (3), the lower arm (4) is fixed on the lower half ring (73).

7. A child target for robot detection according to claim 6, characterized in that: A positioning column (8) is fixed on the lower half ring (73), one end of the positioning column (8) passes through the upper half ring (72), and an external spring (74) is sleeved on the positioning column (8) and is located on a side of the upper half ring (72) away from the lower half ring (73).

8. A child target object for robot detection according to claim 6, characterized in that: The trunk (1), legs (2), upper arms (3) and lower arms (4) are all filled with foam.

9. A child target object for robot detection according to claim 8, characterized in that: The foam is wrapped with an outer skin layer (9).

10. A child target object for robot detection according to claim 7, characterized in that: A baffle (81) is fixed to one end of the positioning column (8); one end of the external spring (74) abuts against the baffle (81), and the other end abuts against the side wall of the upper half ring (72) away from the lower half ring (73).

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