Bionic elephant intelligent accompanying robot and control method thereof

Abstract

The invention provides a bionic elephant intelligent accompanying robot and a control method thereof.The bionic elephant intelligent accompanying robot comprises a body, the body is provided with four walking mechanisms, the front end of the body is provided with an elephant nose mechanism, the top of the elephant nose mechanism is provided with an elephant ear mechanism, the elephant ear mechanism communicates with the elephant nose mechanism and the body, and the elephant nose mechanism comprises a flexible shell and a plurality of soft body units; and an inertia measurement module is arranged on the software unit. When the service object exceeds the monitored electronic fence area, the whole mechanism moves to the vicinity of the service object and drives the trunk mechanism, so that the trunk mechanism straightens and blocks the service object to prevent the service object from crossing the electronic fence area, thereby preventing the service object from being caught in a dangerous environment, and reducing the probability of safety accidents. And the whole robot adapts to the requirements of different service objects, the combination of science and technology and humanistic care is promoted, and the popularization value is high.

Description

Technical Field

[0001] The present invention relates to the field of simulation robots, and more particularly to a bionic elephant intelligent escort robot and its control method. Background Art

[0002] Compared with traditional companion robots, they have a simple structure, no robotic arm structure or a simple robotic arm structure with a single function.

[0003] For children, when playing on an uneven road surface or playing, children cannot predict the phenomenon of losing balance or falling to the ground when encountering obstacles. If not picked up in time, children may not only suffer physical injuries due to abrasions and bruises, but also have psychological shadows due to fear and helplessness. At the same time, in the absence of real-time parental supervision, when children are curious and go beyond the designated play area alone, in the face of potential dangers such as vehicles, waters, and strangers in an unfamiliar environment, children are extremely likely to fall into crisis, increasing the probability of safety accidents. The same situation exists for the elderly at home, where they may not be picked up in time after falling, causing harm to the elderly. For this reason, we propose a bionic elephant intelligent escort robot and its control method to solve the above problems. Summary of the Invention

[0004] The present invention provides a bionic elephant intelligent escort robot and its control method, which solves the problems of existing robots that when the service object falls to the ground, they cannot pick up the service object in time, which may cause physical injuries and psychological shadows. At the same time, in the absence of guardianship, the service object is prone to exceed the designated area, and the service object falls into a dangerous environment, increasing the probability of safety accidents.

[0005] To solve the above technical problems, the technical solution adopted by the present invention is: a bionic elephant intelligent escort robot and its control method, including a body, four walking mechanisms are provided on the body, a trunk mechanism is provided at the front end of the body, and ear mechanisms are provided on the top of the trunk mechanism. The ear mechanisms are both connected to the trunk mechanism and the body. The trunk mechanism includes a flexible outer shell and a plurality of soft body units, and an inertial measurement module is provided on the soft body units.

[0006] In a preferred solution, the soft body unit includes a first support disk and a second support disk. Four SMA spring drivers are provided on the second support disk in a circumferential array. An SMA spring is provided between the SMA spring driver and the first support disk.

[0007] In a preferred solution, a central hole and four mounting seats are provided on the first support disk. The mounting seats are connected to the SMA spring drivers. Through holes are provided on the mounting seats. The first support disk is connected to the second support disk of the adjacent soft body unit.

[0008] In a preferred embodiment, the soft body unit includes a connecting member and a rotating block. The connecting member includes a connecting rod. U-shaped frames are provided at both ends of the connecting rod. Two rotating shafts are provided at one end of the U-shaped frame. The rotating shafts of adjacent soft body units are all rotatably connected to the rotating block. The connecting rod is connected to the first support disc. A central spring is provided around the connecting member. Both ends of the central spring are respectively connected to the first support disc and the second support disc.

[0009] In a preferred embodiment, the elephant trunk mechanism includes an installation box body and four cables. One end of each cable is connected to the soft body unit at the top. A winding motor is provided at the other end of the cable. The winding motor is installed on the installation box body. The installation box body is connected to the main body. The inertial measurement module includes a three-axis gyroscope and a three-axis accelerometer. A plurality of batteries are provided on the main body. Four swivel rings are provided on the main body.

[0010] In a preferred embodiment, the traveling mechanism includes an upper leg, a lower leg and a roller. A connecting shaft is provided on the upper leg. The connecting shaft is connected to the swivel ring. An adjustment motor is provided on the main body. The output shaft of the adjustment motor is connected to the upper leg. The upper leg is connected to the lower leg. A rolling motor is provided on the lower leg. A roller shaft is provided on the output shaft of the rolling motor. The roller shaft is connected to the roller.

[0011] In a preferred embodiment, a rotating joint is provided on the roller. The rotating joint is rotatably connected to the roller shaft. An electric push rod is provided between the universal joint and the roller shaft. One end of the electric push rod is connected to the universal joint. The other end of the electric push rod is connected to the roller shaft.

[0012] In a preferred embodiment, the elephant ear mechanism includes a housing. A first fan and a second fan are provided on the housing. The housing is communicated with the main body. A lidar is provided on the top of the housing. A monitoring sensor is provided at one end of the housing. Two tusks are provided at the front end of the elephant ear mechanism. A fluorescent agent layer is provided on the surface of the tusks. An elephant tail is provided at the tail of the main body. An action recognition module, a target detection and tracking module are provided on the main body. The target detection and tracking module adopts the ECO-HC tracking algorithm of YOLOv5.

[0013] A control method for a bionic elephant intelligent escort robot, characterized in that: S1. The robot sets an electronic fence area. When the lidar of the robot monitors that the service object falls or exceeds the electronic fence, the traveling mechanism is driven to move near the service object; S2. When the robot encounters a lateral slope section, the electric push rod on one side of the roller is driven to adjust the lateral angle of the roller to prevent the robot from tipping over; S3. The adjustment motor on the main body is driven to make the whole traveling mechanism rotate relative to the main body to lower the center of gravity of the robot; S4. Establish a kinematic model for the bending of the elephant trunk mechanism. Calculate the homogeneous transformation matrix of the end coordinate system of the bent main body relative to the base coordinate system. The monitoring sensor and the lidar refer to the trajectory of the robot. Each soft body unit on the main body inputs the position to which it needs to move. S5. Drive multiple rewinding motors and the SMA spring drivers on each flexible unit to move each flexible unit into place; S6. The robot extends its trunk mechanism to assist the service object or prevent the service object from crossing the electronic fence.

[0014] In a preferred solution, in S4, the homogeneous transformation matrix of the end coordinate system of the bending body relative to the base coordinate system is: ; It is the homogeneous transformation matrix from the coordinate system {X{k}0; Y{k}0; Z{k}0} to the coordinate system {X{k}3; Y{k}3; Z{k}3}, and its expression can be obtained as: ; The expression of is: ; In the formula: and respectively represent the bending angle and deflection angle of the k th flexible unit; is the homogeneous transformation matrix from the coordinate system to the coordinate system , which is related to the double-pass stud connecting two adjacent flexible units; θ and φ are joint variables, and α, β, and γ represent Euler angles.

[0015] The beneficial effects of the present invention are as follows: When the service object falls or exceeds the monitored electronic fence area, drive the traveling mechanism to move the traveling mechanism, so that the overall structure moves near the service object, and perform tracking through the YOLOv5s detection module and ECO-HC. Detect and re-identify the tracking target through image information, and can calculate the linear velocity and angular velocity and publish the motion in real time. The inertial measurement module on the trunk mechanism includes a three-axis gyroscope and a three-axis accelerometer, so as to output the end-plane Euler angles in the yaw-pitch-roll mode of each flexible unit to measure the attitude of each flexible unit.

[0016] Multiple winding motors drive the elephant trunk mechanism to adjust the lengths of four cables, control the initial bending posture of the elephant trunk mechanism, and perform initial adjustment of multiple soft units. By controlling the four SMA spring drivers of each soft unit, the magnitude of the heating current on the SMA spring corresponding to the SMA spring driver is controlled to control the length of the SMA spring, and precise adjustment of each soft unit is achieved. By controlling the contraction degree of 4 SMA springs, spatial bending with two degrees of freedom can be realized, enabling the elephant trunk mechanism to bend. The walking mechanism can walk and lower the center of gravity of the overall structure. When the service object needs to be assisted, the walking mechanism is driven to lower the center of gravity of the overall structure, and the elephant trunk mechanism is driven to make the elephant trunk mechanism wind around the service object. While the center of gravity of the overall structure is lifted, the elephant trunk mechanism is driven to assist the service object to stand up.

[0017] When the service object exceeds the monitored electronic fence area, the overall mechanism moves near the service object, and the elephant trunk mechanism is driven to straighten and block the service object to prevent the service object from crossing the electronic fence area, thus avoiding the service object falling into a dangerous environment and reducing the probability of safety accidents. The walking mechanism adopts a wheeled quadruped walking mechanism. The overall robot improves the quality of life of those staying at home alone, enabling the elderly to enjoy their later years more calmly and preventing children from getting into danger. The overall robot meets the needs of different service objects, promotes the combination of technology and human care, and has great promotion value. Brief Description of the Drawings

[0018] The present invention will be further described below in conjunction with the drawings and embodiments; Figure 1 is the axonometric view of the overall structure of the present invention; Figure 2 is the side view of the overall structure of the present invention; Figure 3 is the axonometric view of the partial structure of the present invention; Figure 4 is the axonometric view of the elephant ear mechanism of the present invention; Figure 5 is the axonometric view of the partial structure of the present invention; Figure 6 is the axonometric view of the partial structure of the elephant trunk mechanism of the present invention; Figure 7 is the present invention Figure 6 side view; Figure 8 is the axonometric view of the elephant trunk mechanism of the present invention; Figure 9 is the present invention Figure 8 side view; Figure 10 is the side view of the connecting piece of the present invention; Figure 11 is an enlarged view of A in the present invention Figure 8 ; Figure 12 is an enlarged view of B in the present invention Figure 9 ; Figure 13 is an axonometric view of the traveling mechanism of the present invention Figure 14 is a side view of the traveling mechanism of the present invention Figure 15 is a pose schematic diagram of the kinematic model of the curved body of the present invention Figure 16 is a diagram of three mapping relationships of the kinematic model of the soft body unit of the present invention Figure 17 is a schematic diagram of the principle of lidar ranging of the present invention Figure 18 is a flowchart of SLAM construction of the present invention Figure 19 is a schematic diagram before and after the lateral slope climbing adjustment of the robot of the present invention In the figure: body 1; battery 101; swivel 102; elephant trunk mechanism 2; flexible housing 201; soft body unit 202; first support disc 203; central hole 2031; mounting seat 2032; through hole 2033; second support disc 204; SMA spring 205; cable 206; SMA spring driver 207; connecting piece 208; connecting rod 2081; U-shaped frame 2082; rotating shaft 2083; rotating block 209; inertial measurement module 210; mounting box body 211; winding motor 212; traveling mechanism 3; upper leg 301; connecting shaft 3011; lower leg 302; roller 303; rolling motor 304; roller shaft 305; elephant ear mechanism 4; housing 401; first fan 402; second fan 403; lidar 404; ivory 5; fluorescent agent layer 501; elephant tail 6; monitoring sensor 7. Detailed implementation manners

[0019] Embodiment 1: As Figure 1 - 19In it, a bionic elephant intelligent escort robot and its control method include a main body 1. Four walking mechanisms 3 are provided on the main body 1. A trunk mechanism 2 is provided at the front end of the main body 1. An ear mechanism 4 is provided at the top of the trunk mechanism 2. The ear mechanisms 4 are both connected to the trunk mechanism 2 and the main body 1. The trunk mechanism 2 includes a flexible outer shell 201 and a plurality of soft body units 202. An inertial measurement module 210 is provided on the soft body unit 202. With this structure, when the service object falls or exceeds the monitored electronic fence area, the walking mechanism 3 is driven to make the walking mechanism 3 move, so that the overall structure moves near the service object, and is tracked by the YOLOv5s detection module and ECO-HC. The detection and re-identification of the tracking target are realized through the image information, and the linear velocity and angular velocity can be calculated and the motion can be published in real time. The inertial measurement module 210 on the trunk mechanism 2 includes a three-axis gyroscope and a three-axis accelerometer, so as to output the end-plane Euler angles in the yaw-pitch-roll mode of each soft body unit 202 to measure the attitude of each soft body unit 202.

[0020] Drive the plurality of winding motors 212 of the trunk mechanism 2 to adjust the lengths of the four cables 206, so as to control the initial bending posture of the trunk mechanism 2 and perform the initial adjustment of the plurality of soft body units 202. By controlling the four SMA spring drivers 207 of each soft body unit 202, the magnitude of the heating current on the SMA spring 205 corresponding to the SMA spring driver 207 is controlled to control the length of the SMA spring 205. To precisely adjust each soft body unit 202. By controlling the contraction degree of the 4 SMA springs 205, spatial bending with two degrees of freedom can be realized, so that the trunk mechanism 2 can bend. The walking mechanism 3 can walk and lower the center of gravity of the overall structure. When the service object needs to be helped up, the walking mechanism 3 is driven to lower the center of gravity of the overall structure, and the trunk mechanism 2 is driven to make the trunk mechanism 2 wrap around the service object. While the center of gravity of the overall structure is lifted, the trunk mechanism 2 is driven to make the trunk mechanism 2 help up the service object.

[0021] When the service object exceeds the monitored electronic fence area, the overall mechanism moves near the service object, and the trunk mechanism 2 is driven to make the trunk mechanism 2 straighten to block the service object to prevent the service object from crossing the electronic fence area, thus avoiding the service object from falling into a dangerous environment and reducing the probability of safety accidents. The walking mechanism 3 adopts a wheeled quadruped walking mechanism. The overall robot improves the quality of life of those staying at home alone, enables the elderly to enjoy their later years more calmly, and prevents children from getting into danger. The overall robot adapts to the needs of different service objects and promotes the combination of technology and human care.

[0022] In a preferred embodiment, the flexible unit 202 includes a first support disk 203 and a second support disk 204. Four SMA spring actuators 207 arranged in a circumferential array are provided on the second support disk 204. An SMA spring 205 is provided between the SMA spring actuator 207 and the first support disk 203. With this structure, the SMA spring 205 contracts when the SMA spring actuator 207 is heated by applying a voltage.

[0023] In a preferred embodiment, a central hole 2031 and four mounting seats 2032 are provided on the first support disk 203. The mounting seats 2032 are connected to the SMA spring actuators 207. Through holes 2033 are provided on the mounting seats 2032. The first support disk 203 is connected to the second support disk 204 of the adjacent flexible unit 202. With this structure, the end of the flexible unit 202 is connected to the inertial measurement module 210.

[0024] The flexible unit 202 mainly realizes spatial bending motion. Imitating the arrangement form of the longitudinal muscles of the elephant trunk structure, the four SMA springs 205 are arranged circumferentially at intervals of 90° along the central axis of the flexible unit 202. The SMA spring actuator 207 contracts when heated by applying a voltage, and its length can be controlled by adjusting the magnitude of the heating current. By coordinately controlling the contraction degrees of the four SMA springs 205, spatial bending with two degrees of freedom can be achieved.

[0025] In a preferred embodiment, the flexible unit 202 includes a connecting member 208 and a rotating block 209. The connecting member 208 includes a connecting rod 2081. U-shaped frames 2082 are provided at both ends of the connecting rod 2081. Two rotating shafts 2083 are provided at one end of the U-shaped frame 2082. The rotating shafts 2083 of the adjacent flexible units 202 are all rotatably connected to the rotating block 209. The connecting rod 2081 is connected to the first support disk 203. A central spring is provided outside the connecting member 208. Both ends of the central spring are respectively connected to the first support disk 203 and the second support disk 204. With this structure, the central spring provided outside the connecting member 208 serves as the support material of the flexible unit. The good elasticity of the central spring can meet the needs of continuous bending motion. When the SMA spring actuator 207 does not work, the central spring with appropriate stiffness can restore the module to the initial position so that the elephant trunk mechanism 2 returns to the initial position. The pitch and wire diameter in the center are equal, and the spring skeleton will not contract due to external forces. The connecting member 208 passes through the middle of the central spring.

[0026] In a preferred embodiment, the elephant trunk mechanism 2 includes a mounting box body 211 and four cables 206. One end of each cable 206 is connected to the flexible unit 202 at the top. A winding motor 212 is provided at the other end of the cable 206. The winding motor 212 is installed on the mounting box body 211. The mounting box body 211 is connected to the body 1; The inertial measurement module 210 includes a three-axis gyroscope and a three-axis accelerometer. A plurality of batteries 101 are provided on the main body 1, and four swivel rings 102 are provided on the main body 1. With this structure, the inertial measurement module 210 on the elephant trunk mechanism 2 includes a three-axis gyroscope and a three-axis accelerometer, so as to output the end-plane Euler angles in a yaw-pitch-roll manner for each soft body unit 202 to measure the attitude of each soft body unit 202.

[0027] By driving a plurality of winding motors 212 of the elephant trunk mechanism 2, the lengths of the four cables 206 are adjusted to control the initial bending attitude of the elephant trunk mechanism 2 for the initial adjustment of the plurality of soft body units 202.

[0028] Drive the SMA spring driver 207 to precisely adjust the SMA spring 205, thereby precisely adjusting the soft body unit 202. The initial adjustment and the precise adjustment cooperate to make the structural adjustment of the elephant trunk mechanism 2 accurate.

[0029] In a preferred solution, the walking mechanism 3 includes an upper leg 301, a lower leg 302 and a roller 303. A connecting shaft 3011 is provided on the upper leg 301, and the connecting shaft 3011 is connected to the swivel ring 102. An adjustment motor is provided on the main body 1, and the output shaft of the adjustment motor is connected to the upper leg 301. The upper leg 301 is connected to the lower leg 302. A rolling motor 304 is provided on the lower leg 302, and a roller shaft 305 is provided on the output shaft of the rolling motor 304. The roller shaft 305 is connected to the roller 303. With this structure, when the service object falls or exceeds the monitored electronic fence area, drive the walking mechanism 3 to make the walking mechanism 3 move, so that the overall structure moves near the service object, and detect and re-identify the tracking target through the YOLOv5s detection module and the tracking of ECO-HC. The detection and re-identification of the tracking target can be realized through the image information, and the linear velocity and angular velocity can be calculated and the movement can be published in real time.

[0030] In a preferred solution, a rotating joint is provided on the roller 303, and the rotating joint is rotatably connected to the roller shaft 305. An electric push rod is provided between the universal joint and the roller shaft 305. One end of the electric push rod is connected to the universal joint, and the other end of the electric push rod is connected to the roller shaft 305. With this structure, as Figure 19 , when the robot encounters a side slope section, drive the electric push rod on one side of the roller 303 to adjust the lateral angle of the roller 303 to avoid the robot from tipping over. Drive the adjustment motor on the main body 1 to adjust the swing angle of the walking mechanism 3 relative to the main body 1, and drive the rolling motor 304 to make the roller 303 roll so that the overall mechanism walks.

[0031] In a preferred solution, the elephant ear mechanism 4 includes a housing 401, on which a first fan 402 and a second fan 403 are provided. The housing 401 is in communication with the main body 1. A lidar 404 is provided at the top of the housing 401. A monitoring sensor 7 is provided at one end of the housing 401. Two ivory tusks 5 are provided at the front end of the elephant ear mechanism 4. A fluorescent agent layer 501 is provided on the surface of the ivory tusks 5. An elephant tail 6 is provided at the tail of the main body 1. An action recognition module, a target detection and tracking module are provided on the main body 1. The target detection and tracking module adopts the ECO-HC tracking algorithm of YOLOv5. With this structure, the monitoring sensor 7 detects the concentration of carbon monoxide to avoid poisoning the service object. The ivory tusks 5 adopt a structure of cured resin plus the fluorescent agent layer 501. The ivory tusks 5 are passivated to avoid harming people, and at the same time, warm-toned fluorescence will be emitted at night. While improving safety, it also sets off a warm atmosphere.

[0032] YOLOv5 is a target detection algorithm with strong flexibility and fast speed. A small target detection layer is added on the basis of the original YOLOv5s. Continuing to perform upsampling on the original intermediate layer of the network to obtain a feature map with a size of 160*160. The ECO tracking algorithm includes the ECO method based on convolutional features and the ECO-HC method based on artificial features. The ECO tracking algorithm includes fHOG and CN features. The detection module of YOLOv5s and the tracking module of ECO-HC are called. Through the image information, the detection and re-identification of the tracking target are realized, and the linear velocity and angular velocity can be calculated and the motion can be released in real time.

[0033] The action recognition module adopts the OpenPose algorithm. For the input image of the OpenPose algorithm, it first passes through the VGG19 network to obtain deep features, and then the features are input into a multi-stage network. The first few stages are used to predict the human body part affinity fields (PAFs). Its vector field contains two directions, x and y, which are used to characterize the correlation between human body key points. The last few stages are used to predict the human body key point heatmaps. Through multi-stage iteration, the prediction results are continuously refined and purified. Finally, through bipartite graph matching, the key points are correctly assigned to each person and connected to generate a human body skeleton graph. The multi-stage network structure of OpenPose, where F represents the deep features, which are obtained by convolving the input image with the first ten layers of the VGG19

[53] network. The feature map F is input into the first stage to generate a set of PAFs. Subsequently, the prediction result of the previous stage is concatenated with the feature F and then input into the next stage to generate more accurate PAFs. Among them, L represents the stage of predicting PAFs, t represents the current stage number, and Tp represents the total number of stages of predicting PAFs. After Tp iterations, the network starts to predict the key point confidence maps (Heatmaps). Among them, S represents the prediction of Heatmaps, and Tc represents the total number of stages of predicting Heatmaps. The input of the Tp stage is the latest PAFs features. The final output result.

[0034] The main body 1 is provided with a vision and control module. The lidar 404, camera and IMU jointly complete the environmental perception and SLAM construction. The lidar obtains the reference trajectory of the mobile robot, which is used as the basis for evaluating the performance and accuracy of the subsequent optimized visual SLAM algorithm. Based on the laser time-of-flight ranging technology, combined with a high-speed laser acquisition and processing mechanism, during the ranging process, the lidar will emit a modulated infrared laser signal. The reflected light generated after the laser signal irradiates the target object will be received by the laser acquisition system of the lidar, and then it will be real-time solved by the DSP processor embedded inside the lidar. The distance value of the irradiated target object from the lidar and the current angle information will be output from the communication interface. Based on the TOF principle, in the outdoor situation, the visual detection mechanism of the robot can normally monitor the distance, achieving the purpose of setting up an electronic fence.

[0035] Embodiment 2 is further described in combination with Embodiment 1: A control method for a bionic elephant intelligent escort robot, characterized in that: S1. The robot sets an electronic fence area. When the lidar 404 of the robot monitors and discovers that the service object has fallen or exceeded the electronic fence, it drives the walking mechanism 3 to move near the service object; S2. When the robot encounters a lateral slope section, drive the electric push rod on one side of the driving roller 303 to adjust the lateral angle of the roller 303 to prevent the robot from tipping over. S3. Drive the adjustment motor on the driving body 1 to rotate the entire traveling mechanism 3 relative to the body 1 to lower the center of gravity of the robot. S4. Establish a kinematic model for the bending body of the elephant trunk mechanism 2, calculate the homogeneous transformation matrix of the end coordinate system of the bending body relative to the base coordinate system, monitor the trajectories of the reference robot by the monitoring sensor 7 and the lidar 404, and input the positions that each soft body unit 202 needs to move to the body 1. S5. Drive a plurality of winding motors 212 and the SMA spring drivers 207 on each soft body unit 202 to move each soft body unit 202 into place. S6. The robot extends the elephant trunk mechanism 2 to help the service object or block the service object from crossing the electronic fence.

[0036] In the preferred solution, in S4, the homogeneous transformation matrix of the end coordinate system of the bending body relative to the base coordinate system is: ; It is the homogeneous transformation matrix from the coordinate system {X{k}0; Y{k}0; Z{k}0} to the coordinate system {X{k}3; Y{k}3; Z{k}3}, and its expression can be obtained as: ; The expression of is: ; In the formula: and respectively represent the bending angle and deflection angle of the k th soft body unit; is the homogeneous transformation matrix from the coordinate system to the coordinate system , which is related to the double-pass stud connecting two adjacent soft body units 202; θ and φ are joint variables, and α, β, and γ represent Euler angles.

[0037] The above embodiments are only the preferred technical solutions of the present invention and should not be regarded as limitations on the present invention. The protection scope of the present invention should be the technical solutions recorded in the claims, including the equivalent replacement solutions of the technical features in the technical solutions recorded in the claims. That is, the equivalent replacement improvements within this scope are also within the protection scope of the present invention.

Claims

1. A bionic elephant intelligent companion robot, characterized in that: It includes a main body (1), on which four walking mechanisms (3) are provided. At the front end of the main body (1), a proboscis mechanism (2) is provided. At the top of the proboscis mechanism (2), an ear-like mechanism (4) is provided. The ear-like mechanisms (4) are all connected to the proboscis mechanism (2) and the main body (1). The proboscis mechanism (2) includes a flexible housing (201) and a plurality of soft body units (202). An inertial measurement module (210) is provided on the soft body unit (202).

2. The bionic elephant intelligent escort robot according to claim 1, wherein: The soft body unit (202) includes a first support disc (203) and a second support disc (204). Four circumferentially arrayed SMA spring drivers (207) are provided on the second support disc (204). An SMA spring (205) is provided between the SMA spring driver (207) and the first support disc (203).

3. The bionic elephant intelligent escort robot according to claim 2, characterized in that: A central hole (2031) and four mounting seats (2032) are provided on the first support disc (203). The mounting seats (2032) are connected to the SMA spring drivers (207). Through holes (2033) are provided on the mounting seats (2032). The first support disc (203) is connected to the second support disc (204) of the adjacent soft body unit (202).

4. The bionic elephant intelligent escort robot according to claim 2, characterized in that: The soft body unit (202) includes a connecting member (208) and a rotating block (209). The connecting member (208) includes a connecting rod (2081). U-shaped frames (2082) are provided at both ends of the connecting rod (2081). Two rotating shafts (2083) are provided at one end of the U-shaped frame (2082). The rotating shafts (2083) of the adjacent soft body units (202) are all rotatably connected to the rotating block (209). The connecting rod (2081) is connected to the first support disc (203). A central spring is provided outside the connecting member (208). The two ends of the central spring are respectively connected to the first support disc (203) and the second support disc (204).

5. The bionic elephant intelligent companion robot according to claim 2, characterized in that: The proboscis mechanism (2) includes a mounting box body (211) and four cables (206). One end of the cable (206) is connected to the soft body unit (202) at the top. A winding motor (212) is provided at the other end of the cable (206). The winding motor (212) is installed on the mounting box body (211). The mounting box body (211) is connected to the main body (1). The inertial measurement module (210) includes a three-axis gyroscope and a three-axis accelerometer. A plurality of batteries (101) are provided on the main body (1). Four swivel rings (102) are provided on the main body (1).

6. The bionic elephant intelligent escort robot according to claim 1, characterized in that: walking The mechanism (3) includes an upper leg (301), a lower leg (302) and a roller (303). A connecting shaft (3011) is provided on the upper leg (301). The connecting shaft (3011) is connected to the swivel ring (102). An adjusting motor is provided on the main body (1). The output shaft of the adjusting motor is connected to the upper leg (301). The upper leg (301) is connected to the lower leg (302). A rolling motor (304) is provided on the lower leg (302). A roller shaft (305) is provided on the output shaft of the rolling motor (304). The roller shaft (305) is connected to the roller (303).

7. The bionic elephant intelligent escort robot according to claim 6, characterized in that: The roller (303) is provided with a rotating joint, the rotating joint is rotatably connected to the roller shaft (305), and an electric push rod is arranged between the universal joint and the roller shaft (305). One end of the electric push rod is connected to the universal joint, and the other end of the electric push rod is connected to the roller shaft (305).

8. The bionic elephant intelligent escort robot according to claim 1, wherein: The elephant ear mechanism (4) includes a housing (401). The housing (401) is provided with a first fan (402) and a second fan (403). The housing (401) is communicated with the body (1). A lidar (404) is arranged on the top of the housing (401). A monitoring sensor (7) is arranged at one end of the housing (401). Two ivory tusks (5) are arranged at the front end of the elephant ear mechanism (4). A fluorescent agent layer (501) is arranged on the surface of the ivory tusks (5). An elephant tail (6) is arranged at the tail of the body (1). An action recognition module, a target detection and tracking module are arranged on the body (1). The target detection and tracking module adopts the ECO-HC tracking algorithm of YOLOv5.

9. The control method of a bionic elephant intelligent companion robot according to any one of claims 1 to 8, characterized in that: S1. The robot sets an electronic fence area. When the lidar (404) of the robot monitors that the service object has fallen or exceeded the electronic fence, it drives the traveling mechanism (3) to move near the service object; S2. When the robot encounters a lateral slope section, it drives the electric push rod on one side of the roller (303) to adjust the lateral angle of the roller (303) to prevent the robot from tipping over; S3. Drive the adjustment motor on the body (1) to make the whole traveling mechanism (3) rotate relative to the body (1) to lower the center of gravity of the robot; S4. Establish a kinematic model of the bending body of the elephant trunk mechanism (2), calculate the homogeneous transformation matrix of the end coordinate system of the bending body relative to the base coordinate system, the monitoring sensor (7) and the lidar (404) refer to the trajectory of the robot, and the body (1) inputs the position that each soft body unit (202) needs to move to; S5. Drive a plurality of winding motors (212) and the SMA spring drivers (207) on each soft body unit (202) to make each soft body unit (202) move in place; S6. The robot extends the elephant trunk mechanism (2) to help the service object up or prevent the service object from crossing the electronic fence.

10. The control method of a bionic elephant intelligent escort robot according to claim 9, characterized in that: in S4, the homogeneous transformation matrix of the end coordinate system of the bending body relative to the base coordinate system is: ； For the homogeneous transformation matrix from the coordinate system {X{k}0; Y{k}0; Z{k}0} to the coordinate system {X{k}3; Y{k}3; Z{k}3}, its expression can be obtained as follows: ； The expression is: ； Wherein: and respectively represent the bending angle and deflection angle of the k th software unit; is the homogeneous transformation matrix from the coordinate system to the coordinate system and is related to the double - through stud connecting two adjacent software units (202); θ and φ are joint variables, and α, β, and γ represent Euler angles.

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