Quadruped robot fusing multi-modal perception and control method

Abstract

The invention provides a quadruped robot fusing multi-mode perception and a control method, and the robot comprises a machine body module which is provided with a hollow hole; the driving module is provided with two power sources; the movement module comprises four groups of movement lower limb mechanisms which are in transmission connection with the two power sources respectively; the sensing module comprises a camera, a laser radar and a laser range finder; wherein the camera is used for collecting surrounding environment information; the laser radar is used for collecting ground state information; the laser range finder is used for collecting distance information; and the control module is used for receiving and comparing whether any two of the surrounding environment information, the ground state information and the distance information exceed a preset deviation threshold value or not, and reconciling the corresponding information within the preset deviation threshold value so as to realize accurate obstacle avoidance of the robot in the moving process. Through the robot provided by the invention, the problems of high weight, high cost, high energy consumption, low movement performance and poor obstacle avoidance capability of an existing robot are solved.

Description

Technical Field

[0001] The present application relates to the technical field of quadruped robots, and in particular to a quadruped robot integrating multimodal perception and a control method thereof. Background Art

[0002] Compared with wheeled and tracked robots, legged robots have significant advantages in complex unstructured terrain. The leg design gives them excellent terrain adaptability, requiring only discrete support points to maintain balance, and have stronger dynamic stability. They can respond to sudden disturbances by adjusting their gait and leg posture. The three-dimensional spatial motion capability of quadruped robots also provides them with more obstacle avoidance options, helping them achieve good application results in many scenarios.

[0003] Although existing quadruped robots have excellent walking ability, their structures are complex, and their overall manufacturing and maintenance costs are high. Due to the overall complexity, their weight is large, so their motion performance is reduced, their energy consumption is high, and their control difficulty is increased. Therefore, they cannot meet the comprehensive requirements of various industrial fields for robots to have low cost, low power consumption and high stability. In addition, the perception accuracy of traditional robots is easily affected by the robot's own movement, resulting in offset errors, so their obstacle avoidance ability is poor. Summary of the invention

[0004] In view of the above problems, one of the purposes of the present invention is to provide a quadruped robot integrating multimodal perception to solve the problems of high weight, high cost, high energy consumption, low motion performance and poor obstacle avoidance ability of existing quadruped robots. Another purpose of the present invention is to provide a control method of a quadruped robot integrating multimodal perception.

[0005] To achieve one of the objectives, in a first aspect, the present invention provides a quadruped robot integrating multimodal perception, and the technical solution adopted is: A quadruped robot integrating multimodal perception, the robot comprising: A fuselage module, comprising a frame and a base plate fixed on the frame; wherein the frame is a hollow square aluminum structure, a plurality of first hollow holes are formed in an area where the base plate is staggered from the frame, and a plurality of second hollow holes are formed in an area where the base plate overlaps with the frame; A driving module, comprising a first power source and a second power source, wherein the first power source is arranged at the corners of opposite sides of the frame, and the second power source is arranged inside the edges of opposite sides of the frame, and the power output shafts of the first power source and the second power source are collinear; A motion module, comprising four groups of motion lower limb mechanisms, each group of the motion lower limb mechanisms is provided with two power input ends, and the two power input ends are respectively connected to the power output shafts of the first power source and the second power source in a transmission manner; The perception module includes a camera, a lidar, and a laser rangefinder disposed on the frame. Among them, the camera is used to collect the surrounding environment information of the robot; the lidar is used to collect the ground state information in the forward direction of the robot; the laser rangefinder is used to collect the distance information of obstacles during the forward movement of the robot. The control module is connected to the drive module and the perception module; among them, the control module is used for Receiving and comparing whether any two of the surrounding environment information, the ground state information, and the distance information exceed a preset deviation threshold, and reconciling the corresponding information within the preset deviation threshold, and outputting the target distance information of the obstacle. Based on the target distance information, controlling the drive module to output a target torque to control the motion module to move along a target trajectory, so as to achieve accurate obstacle avoidance during the movement of the robot.

[0006] As one of the preferred solutions, the frame includes four horizontally extending and longitudinally parallel square aluminum bars, and a plurality of longitudinally extending square aluminum bars, and the plurality of longitudinally extending square aluminum bars are connected or coupled between the plurality of horizontally extending aluminum bars. The base plate includes a main board and rib plates. The main board is fixed on the top surface of the frame and covers part of the space enclosed by the horizontally extending square aluminum bars and the longitudinally extending square aluminum bars; the rib plates are fixed on the bottom surface of the frame and cover the space enclosed by the longitudinally extending square aluminum bars.

[0007] As one of the preferred solutions, the first power source includes four first drive motors, and the four first drive motors are fixed in pairs at both ends of the two horizontally extending square aluminum bars located on the longitudinal outer side; the second power source includes four second drive motors, and the four second drive motors are fixed in pairs at both ends of the other two horizontally extending square aluminum bars. Among them, each first drive motor and each second drive motor are fixed on the corresponding horizontally extending square aluminum bar through a fixing structure; the fixing structure includes: A first fixing plate and a second fixing plate, which are fixed on the longitudinally opposite sides of the corresponding horizontally extending square aluminum bar, and motor mounting holes for fixing the drive motor are respectively provided on the two fixing plates. A first connecting block and a second connecting block fastened between the first fixing plate and the second fixing plate, and the first connecting block and the second connecting block are vertically spaced apart to form an installation space. Among them, the corresponding horizontally extending square aluminum bar is embedded in the installation space, and the first connecting block and the second connecting block are fixed on the vertically opposite sides of the corresponding horizontally extending square aluminum bar. A spacer block is disposed in the gap between the installation space and the horizontally extending square aluminum bar.

[0008] As one of the preferred solutions, the fixing structure provided for the two second drive motors located at the front ends of the corresponding two horizontal square aluminums further includes: Two fixing blocks, respectively fixed to the front sides of the first fixing plate and the second fixing plate; Two heightening support members, respectively fixed to the lower sides of the first fixing plate and the second fixing plate; Among them, among the multiple vertical square aluminums, there are a support square aluminum and a fixing square aluminum close to the front end of the horizontal square aluminum; the support square aluminum longitudinally extends through the fixing blocks on the two second drive motors, and the sensing module is fixed on the support square aluminum and the fixing square aluminum.

[0009] As one of the preferred solutions, the four sets of lower limb movement mechanisms are connected to four sets of drive sources in one-to-one correspondence, and each set of drive sources is composed of a first drive motor and a second drive motor adjacent longitudinally; Each set of lower limb movement mechanisms includes: Two transmission seats, two thigh modules, two knee joints, two calf modules, an ankle joint, a foot end clip and a foot end; wherein, the two transmission seats are respectively in transmission connection with the first drive motor and the second drive motor, the two thigh modules are respectively fixedly connected to the two transmission seats, and are simultaneously connected to the two calf modules through the two knee joints, the two calf modules are connected through the ankle joint, and one of the calf modules is fixed with the foot end through the foot end clip.

[0010] As one of the preferred solutions, the camera is arranged on the frame through a rotating platform, and the rotating platform includes: A fixed head, on which the camera is fixed; A pan-tilt drive motor, fixed on the main board; A driving gear, connected to the output shaft of the pan-tilt drive motor; A pan-tilt, fixed on a radar mounting plate, and the radar mounting plate is fixed on the vertical square aluminum; A driven gear, sleeved on the outer periphery of the pan-tilt, and having a distance from the radar mounting plate; The driving gear and the driven gear are meshed and connected.

[0011] As one of the preferred solutions, the lidar is arranged on the frame through a fixed platform, and the fixed platform includes: The radar mounting plate, fixed on the top surface of the fixed square aluminum; wherein, a notch is opened in the area of the top surface of the fixed square aluminum covered by the main board, and a part of the radar mounting plate is located in the notch and connected to the fixed square aluminum; The radar protection plate is fixed on the bottom surface of the fixed square aluminum; and the supporting square aluminum and the gasket are fixed between the radar mounting plate and the radar protection plate in a vertically overlapping manner; A radar protection cover, fixed on the radar protection plate; Wherein, the detection end of the laser radar passes through the radar mounting plate and the radar protection plate and is located in the radar protection cover.

[0012] As one of the preferred solutions, the laser rangefinder is invertedly mounted on the side of the fixed square aluminum so that the detection end of the laser rangefinder faces the ground.

[0013] As one of the preferred solutions, the sensing module further includes a posture sensor; Wherein, the control module is also used for: Receive the posture information collected by the posture sensor, and when the posture information meets the motion condition, control the motion module to move along the target trajectory based on the target distance information; when the posture information does not meet the motion condition, control the drive module to output a preset torque to control the motion module to adjust to a preset posture that meets the motion condition.

[0014] To achieve the second objective, in a second aspect, the present invention provides a control method for a quadruped robot integrating multimodal perception, and the technical solution adopted is: A control method for a quadruped robot integrating multimodal perception, the method comprising: The control module receives the surrounding environment information of the robot collected by the camera, the ground state information of the robot's forward direction collected by the laser radar, and the distance information of obstacles encountered by the robot during its forward movement collected by the laser rangefinder; Comparing whether any two of the surrounding environment information, the ground state information and the distance information exceed a preset deviation threshold, reconciling corresponding information within the preset deviation threshold, and outputting target distance information of the obstacle; Based on the target distance information, the drive module is controlled to output the target torque to control the motion module to move along the target trajectory, thereby achieving accurate obstacle avoidance for the robot during its forward movement.

[0015] Compared with the prior art, this application has the following advantages: Compared with traditional quadruped robots, the quadruped robot provided by the embodiments of the present application reduces the manufacturing cost, reduces the requirements for aspects such as energy consumption, and improves the flexibility and adaptability of movement. The modular design and layout contribute to its flexible adjustment when dealing with different work requirements, effectively enhancing the adaptability of the quadruped robot in complex working environments. The four lower limb movement mechanisms symmetrically arranged on both sides of the fuselage are individually driven by independent drive modules. On the one hand, it can reduce the requirements for the power source in terms of torque, volume, and weight, and on the other hand, it can also reduce the complexity of debugging and ensure the long-term stable operation of the robot. The perception module greatly improves the environmental perception ability of the quadruped robot, solves the data deviation caused by walking jitter, improves the accuracy of footfall point selection and obstacle avoidance, especially the captured ground conditions, provides elevation information for the robot's footfall point selection, and thus enables it to effectively plan in complex ground conditions to maintain the stable forward movement of the robot.

[0016] The advantages of the method and the above robot compared with the prior art are the same and will not be elaborated here. BRIEF DESCRIPTION OF THE DRAWINGS

[0017] In order to more clearly illustrate the technical solutions of the present application, the drawings required for the description of the present application will be briefly introduced below. Obviously, the drawings in the following description are only some embodiments of the present application. For those of ordinary skill in the art, other drawings can be obtained based on these drawings without creative efforts.

[0018] Figure 1 is the overall structure diagram of a quadruped robot integrating multi-modal perception provided by an embodiment of the present application; Figure 2 is the top view of the fuselage module with a drive module provided by an embodiment of the present application; Figure 3 is the top view of the frame provided by an embodiment of the present application; Figure 4 is the three-dimensional structure diagram of the moving lower limb mechanism provided by an embodiment of the present application; Figure 5 is the structural schematic diagram of the first drive motor provided by an embodiment of the present application; Figure 6 is the structural schematic diagram of the second drive motor provided by an embodiment of the present application; Figure 7 is the structural schematic diagram of the first drive motor from another perspective provided by an embodiment of the present application; Figure 8 is the combined structural diagram of the camera and the lidar provided by an embodiment of the present application; Figure 9It is the overall structure diagram of a laser rangefinder provided by an embodiment of the present application; Figure 10 It is the step flowchart of the control method of a quadruped robot integrating multi-modal perception provided by an embodiment of the present application.

[0019] Explanation of reference numerals: 1. Body module; 11. Main board; 12. Rib plate; 13. Horizontal square aluminum; 14. Vertical square aluminum; 141. Fixed square aluminum; 142. Support square aluminum; 2. Sensing module; 21. Fixed head; 22. Camera; 23. Pan-tilt; 24. Driven gear; 25. Radar mounting plate; 26. Gasket; 27. Radar protection plate; 28. Radar protection cover; 29. Pan-tilt drive motor; 210. Driving gear; 211. Lidar; 212. Laser sensor mounting plate; 213. Laser sensor; 214. Laser sensor elevation; 3. Motion module; 31. Transmission seat; 32. Thigh module; 33. Knee joint; 34. Calf module; 35. Ankle joint; 36. Foot end clip; 37. Foot end; 38. Calf module with foot; 4. Driving module; 41. First driving motor; 42. Second driving motor; 401. First fixing plate; 402. Second fixing plate; 403. Driving motor; 404. First connecting block; 405. Elevation block; 4051. Installation space; 406. Second connecting block; 407. Elevation support; 408. Fixed block. Detailed implementation manners

[0020] Next, the technical solutions in the embodiments of the present application will be clearly and completely described in conjunction with the accompanying drawings in the embodiments of the present application. Obviously, the described embodiments are part of the embodiments of the present application, rather than all the embodiments. Based on the embodiments in the present application, all other embodiments obtained by those of ordinary skill in the art without creative efforts shall fall within the protection scope of the present application.

[0021] To solve the deficiencies in the prior art, the purpose of the present invention is to provide a quadruped robot design with a simple structure, stable movement, wide sensing range and high sensing accuracy. With the help of visual devices such as the camera 22 and radar, the ground conditions and the surrounding environment are sensed, so as to select the landing points of the optimized robot and actively avoid obstacles. Then, with the help of the high-precision measurement function of the laser rangefinder, the obstacle information obtained by the lidar 211 and the camera 22 is further compared and corrected, so as to improve the accuracy and stability of the obtained sensing information, thereby maximizing the obstacle avoidance ability of the quadruped robot to effectively cope with various complex terrains in the usage scenario.

[0022] As Figure 1As shown, a quadruped robot integrating multimodal perception, the robot comprises: a body module 1, comprising a frame and a base plate fixed on the frame; wherein the frame is a hollow square aluminum structure, a plurality of first hollow holes are provided in the area where the base plate is staggered from the frame, and a plurality of second hollow holes are provided in the area where the base plate overlaps with the frame; a driving module 4, comprising a first power source and a second power source, the first power source being arranged on the corners on opposite sides of the frame, the second power source being arranged on the inner sides of the edges on opposite sides of the frame, and the power output shafts of the first power source and the second power source being collinear; a motion module 3, comprising four groups of motion lower limb mechanisms, each group of motion lower limb mechanisms being provided with two power input ends, and the two power input ends being respectively connected to the power output shafts of the first power source and the second power source in transmission; a perception module 2, comprising a camera 22, a laser radar 211 and a laser rangefinder arranged on the frame; wherein the camera 22 is used to collect information about the surrounding environment of the robot; the laser radar 211 is used to collect information about the ground state in the direction of the robot's advance; and the laser rangefinder is used to collect information about the distance of obstacles encountered by the robot during its advance; The control module is connected to the driving module and the sensing module 2; wherein the control module is used to: Receive and compare whether any two of the surrounding environment information, ground state information and distance information exceed a preset deviation threshold, reconcile the corresponding information within the preset deviation threshold, and output the target distance information of the obstacle; Based on the target distance information, the drive module 4 is controlled to output the target torque to control the motion module 3 to move along the target trajectory, thereby achieving accurate obstacle avoidance of the robot during movement.

[0023] Specifically, the quadruped robot provided in this embodiment adopts a main structure integrated with a multimodal sensing structure, and the main structure is designed by dual power drive, a hollow square aluminum lightweight frame, and a modular hollow base plate. Specifically, the main structure includes a fuselage module 1, a drive module 4, and a motion module 3. The four sets of lower limb motion mechanisms in the motion module 3 are symmetrically distributed on the front and rear sides of the frame, and are directly connected to the drive module through the transmission seat 31 (power source input end), so they are directly driven by the drive module 4 integrated on the fuselage.

[0024] In this embodiment, the frame is a hollow square aluminum structure, which can have a good stiffness / weight ratio compared to traditional solid frames or welded steel frames, so as to reduce the weight of the whole machine and lower the energy consumption. At the same time, the substrate is installed on the frame, providing an installation interface for installing the required components according to needs. For example, a 48V main power supply can be placed in the central area of the substrate to supply power to the drive module 4; a 24V secondary power supply can be placed in the tail area of the substrate to mainly supply power to the control module and the sensing system. As a preferred design of this embodiment, the first hollow holes and the second hollow holes are respectively opened in the areas where the substrate and the frame are staggered and overlapped. Both types of hollow holes can further reduce the weight of the fuselage and the load burden on the power source.

[0025] More preferably, the aperture of the second hollow hole in the area where the substrate overlaps with the frame is smaller, while the aperture of the first hollow hole in the area where the substrate is staggered from the frame is larger. Therefore, the overlapping area is mainly used for fixing the substrate and the frame. The second hollow hole can reduce the weight without weakening the mechanical strength of the connection area of the fuselage module 1. In the staggered area, there is no need to connect the substrate to the frame, and large holes can be opened to the greatest extent to achieve the greatest weight reduction. Therefore, by setting hollow holes with different apertures in the substrate according to the relative position with the frame, setting small holes in the overlapping area can ensure the connection reliability and local rigidity of the fuselage, and setting large holes in the staggered area can improve the structural lightweight, thus realizing the unity of structural optimization and functional integration.

[0026] In some embodiments, debugging handles are installed on the fuselage, which are symmetrically distributed in the middle of the two opposite sides of the substrate, facilitating the handling of the robot.

[0027] Furthermore, the drive module 4 includes a first power source and a second power source. The first power source is installed at the corners, and the second power source is installed inside the edges. The first power source and the second power source are parallel and relatively arranged, and their power output shafts are on the same axis, providing coordinated drive for the whole machine motion module 3.

[0028] Taking the forward direction of the robot as an example, the four sets of moving lower limb mechanisms are divided into two sets of moving lower limb mechanisms located on the front side and two sets of moving lower limb mechanisms located on the rear side. And the two sets of moving lower limb mechanisms on the front side are left-right symmetric in the static state. Similarly, the two sets of moving lower limb mechanisms on the rear side are left-right symmetric in the static state. Therefore, the first power source is located at the left and right edges on the front side and the left and right edges on the rear side, while the second power source is located between the left and right edges on the front side and between the left and right edges on the rear side. Each set of moving lower limb mechanisms has two power input ends (transmission seats 31), which are respectively connected to the first power source and the second power source.

[0029] Therefore, four sets of moving lower limb mechanisms are driven by two power sources to move in different postures. Therefore, the four sets of moving lower limb mechanisms are separately driven by independent power sources, which can further reduce the requirements for the power source in terms of torque, volume, weight, etc. Through the independent but collaborative arrangement of the power sources, the overall system is lighter and has a higher degree of modularity, which is conducive to achieving high-degree-of-freedom gait control and lightweight optimization of the overall machine structure, and improving the flexibility, stability and reliability of the overall machine.

[0030] For the convenience of understanding, the following examples are all based on this direction. Therefore, the lateral direction mentioned later can be regarded as the front-back direction of the horizontal plane, the longitudinal direction can be regarded as the left-right direction of the horizontal plane, and the vertical direction can be regarded as the up-down direction perpendicular to the horizontal plane.

[0031] More specifically, the sensing module 2 is integrated on the fuselage in this embodiment. The sensing module 2 can realize the perception of the surrounding environment of the quadruped robot and the perception of the ground state in the forward direction. When dealing with problems such as detouring, the quadruped robot often shows a greater need for perceiving side obstacles than general obstacle avoidance. In this embodiment, the camera 22 is used to obtain the surrounding environment information of the robot's surroundings, so as to identify the side obstacles.

[0032] Preferably, the camera 22 can be a multi-view combined camera 22, so as to collect the omnidirectional side surrounding environment information covering the front area, the oblique side area, the left area, the right area and the rear area of the robot. Preferably, the camera 22 can rotate 360°, for example, installed on a rotating platform, to achieve omnidirectional perception of the side. The specific implementation method of this embodiment can be learned later.

[0033] Regarding the perception of the ground state, in this embodiment, the lidar 211 is used to capture the ground state information, such as the elevation information of the ground condition, so as to know the ruggedness of the ground in front of the quadruped robot. The elevation information can be processed by a local planning algorithm, or a global planning algorithm can be added to plan a relatively smooth forward route for the quadruped robot, and further select a relatively flat position with a small height difference as the optional landing point. At the same time, the lidar 211 can be used to detect obstacles with discontinuous ground conditions such as broken bridges and ditches, so as to pass these obstacles by jumping at a suitable position. At the same time, the lidar 211 can be used to avoid obstacles with obvious and stable height changes such as stairs and slopes, and combined with a further path planning algorithm, to achieve obstacle avoidance of the quadruped robot in the current environment. For example, the lidar 211 module can register the obstacle information in front and the pre-known possible obstacles, so as to perform specific obstacle avoidance methods on specific obstacles, such as realizing actions such as climbing stairs.

[0034] It can be known that the path planning algorithm is a well-known and mature technology, and this embodiment will not elaborate on it. Preferably, the laser radar 211 is mounted upside down at the front end of the fuselage to facilitate the capture of ground condition information.

[0035] Another major improvement of this embodiment is that the obstacle information obtained by the laser radar 211 and the camera 22 is compared and corrected by the distance information collected by the laser rangefinder. It can be known that the ground state information collected by the laser radar 211 usually also includes the distance information of the obstacle. The surrounding environment information collected by the camera 22 usually also includes the position of the obstacle, and the distance of the obstacle can be calculated. Through the creative work of the inventor, it is found that in actual operation, the information fed back by the camera 22 and the laser radar 211 (such as the measured obstacle distance) often produces a very large deviation due to the jitter during travel and the jumping action made by obstacle avoidance, which seriously affects the obstacle avoidance process. The laser rangefinder has a higher precision and stronger anti-interference distance perception benchmark in perceiving the distance of the obstacle, so the laser rangefinder is used to perform error assessment on the camera 22 and the laser radar 211.

[0036] Specifically, the control module receives and compares whether any two of the surrounding environment information, ground state information and distance information exceed the preset deviation threshold, and reconciles the corresponding information within the preset deviation threshold to output the target distance information of the obstacle. In this embodiment, the control module compares the distance difference between the obstacle distance in the surrounding environment information and the obstacle distance in the ground state information, and performs deviation correction based on the precise distance data provided by the laser rangefinder, and compares whether the distance difference between the three exceeds the preset deviation threshold. Data exceeding the preset deviation threshold is identified as "invalid" or "abnormal" and does not participate in subsequent data reconciliation.

[0037] If the distance difference between any two of them does not exceed the preset deviation threshold, the three pieces of information are reconciled to obtain more accurate target distance information.

[0038] If the distance difference between the camera 22 and the laser radar 211 exceeds the preset deviation threshold, the data of the party whose distance measurement value is within the preset deviation threshold is retained according to the difference between the laser rangefinder and the two, and is reconciled with the distance measurement value, and the other party's data is discarded. For example, if the distance difference between the laser radar 211 and the laser rangefinder does not exceed the preset deviation threshold, the information of the laser radar 211 is reconciled with the information of the laser rangefinder, and the information of the camera 22 is rejected.

[0039] If the distance difference between any two exceeds the preset deviation threshold, only the distance information collected by the laser rangefinder is retained as the target distance information.

[0040] Therefore, the control module generates a target torque command based on the target distance information, and controls the drive module 4 to output a corresponding torque to drive the motion module 3 to move along a target trajectory (such as normal gait, deceleration, emergency avoidance, detour or standby in place), so as to achieve accurate obstacle avoidance of the robot in a complex dynamic environment. The data of the vision module is corrected by a laser rangefinder to dynamically identify abnormal offset information during the movement and eliminate it, reducing the impact of mis-collected data on the overall data. Then, the effective data is reconciled, greatly improving the accuracy and stability of the obtained distance information of the obstacle, thereby maximizing the obstacle avoidance ability of the quadruped robot.

[0041] In summary, the robot of this embodiment reduces the manufacturing cost, reduces the requirements for energy consumption, etc., and improves the flexibility and adaptability of movement. The modular design and layout contribute to its flexible adjustment when dealing with different work requirements, effectively enhancing the adaptability of the quadruped robot in a complex working environment. The four lower limb motion mechanisms symmetrically arranged on both sides of the fuselage are separately driven by independent drive modules. On the one hand, it can reduce the requirements for the power source in terms of torque, volume and weight. On the other hand, it can also reduce the complexity of debugging and ensure the long-term stable operation of the robot. The perception module 2 greatly improves the perception ability of the quadruped robot to the environment, solves the data offset caused by walking jitter, improves the accuracy of footfall point selection and obstacle avoidance, especially captures the ground conditions, provides elevation information for the footfall point selection of the robot, and enables it to make effective planning in complex ground conditions to keep the robot moving forward smoothly.

[0042] In some embodiments, it is further found that relying on the data obtained by visual perception for decision-making, although theoretically having a good obstacle avoidance effect, in actual operation, due to the failure to consider the walking posture of the robot, etc., it will instead cause the robot to make abnormal obstacle avoidance behaviors according to the given obstacle avoidance motion command, resulting in problems such as robot rollover. As a further improvement of this embodiment, the perception module 2 further includes an attitude sensor; wherein, the control module is further configured to: receive the attitude information collected by the attitude sensor, and control the motion module 3 to move along a target trajectory based on the target distance information when the attitude information meets the motion conditions; when the attitude information does not meet the motion conditions, control the drive module 4 to output a preset torque to control the motion module 3 to adjust to a preset attitude that meets the motion conditions.

[0043] In this embodiment, if the posture of the robot itself is unstable (such as tilting), etc., the motion conditions are not met. Once obstacle avoidance actions such as side jumping or large-step bypassing are performed at this time, it is easy to cause the center of gravity to become unbalanced, resulting in falling or tipping over. Therefore, the current pose status of the robot can be obtained through the pose information first to determine whether to perform subsequent obstacle avoidance actions. Specifically, an attitude sensor (imu sensor) is installed on the fuselage to monitor the pose status of the quadruped robot in real time. In many embodiments, the imu sensor is installed in the middle of the fuselage. However, since the installation position is flexibly adjustable and all have good application effects, it is not shown in the figure. By using the imu to limit the obstacle avoidance decision-making, when the fuselage tilts beyond a certain range, a pre-designed preset pose can be used to force the robot to adjust its pose preferentially. When the adjusted pose meets the motion conditions, the obstacle avoidance trajectory is continued based on the target distance information. Therefore, the introduction of the attitude sensor can effectively prevent problems such as tipping over and falling caused by improper execution postures, greatly improving the stability and safety of the robot's subsequent obstacle avoidance.

[0044] This embodiment is used to illustrate the fuselage module 1 with both structural strength and lightweight design. The frame includes four horizontally extending and longitudinally parallel square aluminum bars 13, and a plurality of longitudinally extending square aluminum bars 14. The plurality of square aluminum bars 14 are connected or coupled between the plurality of horizontal aluminum bars; the substrate includes a main board 11 and rib plates 12. The main board 11 is fixed on the top surface of the frame and covers part of the space enclosed by the square aluminum bars 13 and the square aluminum bars 14; the rib plates 12 are fixed on the bottom surface of the frame and cover the space enclosed by the square aluminum bars 14.

[0045] Specifically, please refer to Figure 2 and Figure 3 , Figure 2 show the combined structure of the frame and the substrate and the position when the drive module is installed on the frame, Figure 3The structure of the frame is shown. The main board 11 is not shown, and the rib plate 12 on the bottom surface is exposed. Four horizontal square aluminums 13 (the first horizontal square aluminum, the second horizontal square aluminum, the third horizontal square aluminum, and the fourth horizontal square aluminum) extend horizontally from front to back with the same extension length and are sequentially spaced apart in the left-right direction. The spacing distance between the first horizontal square aluminum and the second horizontal square aluminum is the same as the spacing distance between the third horizontal square aluminum and the fourth horizontal square aluminum. The vertical square aluminum 14 extends horizontally from left to right and includes the first vertical square aluminum group, the second vertical square aluminum group, the third vertical square aluminum group, and the supporting square aluminum 142. The first vertical square aluminum group consists of two vertically parallel square aluminums 14 directly connected to the middle area between the first horizontal square aluminum and the second horizontal square aluminum; the second vertical square aluminum group consists of four vertically parallel square aluminums 14, two of which are connected to the middle area between the second horizontal square aluminum and the third horizontal square aluminum, and the other two are coupled to the front and rear edges through the housing of the drive motor 403. The vertical square aluminum 14 at the front edge serves as the fixed square aluminum 141 to further assist in fixing the sensing module; the third vertical square aluminum group consists of two vertically parallel square aluminums 14 directly connected to the middle area between the third horizontal square aluminum and the fourth horizontal square aluminum. The supporting square aluminum 142 is located at the frontmost and is fixed to the housing of the drive motor 403.

[0046] Specifically, other additional components can be installed in the area of the main board 11 where the vertical square aluminum 14 is connected to the horizontal square aluminum 13. For example, a power supply and a control module are installed, etc., so that the force on the whole machine is more concentrated, which helps to improve the stability and anti-tipping ability of the robot during movement.

[0047] The main board 11 is covered and fixed on the four horizontal square aluminums 13 and the vertical square aluminum 14, providing a large supporting surface, but leaving the interval spaces at the front and rear ends between the first horizontal square aluminum and the second horizontal square aluminum, and between the third horizontal square aluminum and the fourth horizontal square aluminum (the main board 11 only covers the middle section, leaving the four corners empty, just making room for the motors and the lower limb linkage mechanism of the movement). This interval space is used to avoid interfering with the four groups of lower limb mechanisms of the movement connected to the eight drive motors 403 at the front and rear ends on the four horizontal square aluminums 13. The rib plate 12 is covered and fixed on the vertical square aluminum 14 connected to the middle area of the horizontal square aluminum 13 to ensure the rigidity of the main board 11 and reduce the weight of the fuselage mechanism.

[0048] Please continue to refer to Figure 2 and Figure 3, this embodiment is used to further illustrate the power module. The first power source includes four first drive motors 41, and two first drive motors 41 are respectively fixed at the front and rear ends of the first horizontal square aluminum and the fourth horizontal square aluminum; the second power source includes four second drive motors 42, and two second drive motors 42 are respectively fixed at the front and rear ends of the second horizontal square aluminum and the third horizontal square aluminum. At the same time, two second drive motors 42 on the same side of the second horizontal square aluminum and the third horizontal square aluminum are further connected by two longitudinal square aluminums 14 located at the front and rear edges in the above-mentioned second longitudinal square aluminum group. Both the first drive motor 41 and the second drive motor 42 include a drive motor 403 and a protective housing, and the drive motor 403 is completely placed inside the protective housing. Therefore, only the four horizontal square aluminums 13 themselves are used as the direct fixing basis for the motors, and at the same time, the two longitudinal square aluminums 14 are used for coupling and auxiliary fixing, effectively reducing the number of components. The overall drive system structure is more concise, lighter in weight, with a high structural integration degree of the whole machine and stable support.

[0049] Among them, each first drive motor 41 and each second drive motor 42 are fixed on the corresponding horizontal square aluminum 13 through a fixing structure; the fixing structure includes: a first fixing plate 401 and a second fixing plate 402, which are fixed on the left and right sides of the corresponding horizontal square aluminum 13, and motor mounting holes for fixing the drive motor 403 are respectively opened on the two fixing plates; a first connecting block 404 and a second connecting block 406 fastened between the first fixing plate 401 and the second fixing plate 402, and the first connecting block 404 and the second connecting block 406 are vertically spaced apart to form an installation space 4051; wherein, the corresponding horizontal square aluminum 13 is embedded in the installation space 4051, and the first connecting block 404 and the second connecting block 406 are fixed on the upper and lower sides of the corresponding horizontal square aluminum 13; a spacer block 405 is arranged in the gap between the installation space 4051 and the horizontal square aluminum 13.

[0050] As Figure 5 shown in the three-dimensional structure of the first perspective of the first drive motor and Figure 7 shown in the three-dimensional structure of the second perspective, taking the first drive motor 41 on the left side in the front as an example, the other seven drive motors 403 can be referred to. The first fixing plate 401 and the second fixing plate 402 are fixed on the left and right sides of the first horizontal square aluminum. The first connecting block and the second connecting block 406 are used to further fix the two fixing plates, and at the same time, they are clamped at the two ends in the vertical direction of the first horizontal square aluminum to ensure the vertical fixing of the first drive motor 41. The spacer block 405 is used to make the thickness of the first horizontal square aluminum consistent with that of the installation space 4051 inside the housing of the first drive motor 41. Motor mounting holes are drilled through the first fixing plate 401 and the second fixing plate 402 from left to right to fix the stator of the motor from both the front and back sides.

[0051] Therefore, in this embodiment, the left and right sides of the driving motor 403 are clamped and installed on the horizontal square aluminum 13 through the first fixing plate 401 and the second fixing plate 402. The first connecting block 404 and the second connecting block 406 arranged vertically not only jointly form an installation space 4051 for the horizontal square aluminum 13 to be embedded, but also realize the four-sided clamping and fixing of the horizontal square aluminum 13. At the same time, by arranging a spacer block 405 between the installation space 4051 and the horizontal square aluminum 13, it is used to fill the gap and correct the installation deviation. Therefore, the installation rigidity of the motor is improved with lightweight components, and it is not easy to have micro-displacements during takeoff, landing, lateral thrust, or in the scenario of uneven terrain.

[0052] As Figure 6 shown, Figure 6 it shows an optimized structure of the second driving motor different from the first driving motor. Preferably, the fixing structures provided for the two second driving motors 42 located at the front ends of the second horizontal square aluminum and the third horizontal square aluminum further include: Two fixing blocks 408, respectively fixed on the front sides of the first fixing plate 401 and the second fixing plate 402; Two spacer support members 407, respectively fixed on the lower sides of the first fixing plate 401 and the second fixing plate 402; In this embodiment, the fixing plates of the second driving motor 42 located at the front end are changed. Fixing blocks 408 are added in front of the first fixing plate 401 and the second fixing plate 402. The fixing blocks 408 are provided with through holes for fixing and supporting the square aluminum 142. Below, it is connected to the spacer support member 407 to ensure that the main body maintains a certain distance from the ground in the stationary state.

[0053] Among them, among the multiple vertical square aluminums 14, there are a support square aluminum 142 and a fixing square aluminum 141 close to the front end of the horizontal square aluminum 13; the support square aluminum 142 extends from left to right through the fixing blocks 408 on the two second driving motors 42, and the sensing module 2 is fixed on the support square aluminum 142 and the fixing square aluminum 141. Therefore, the support square aluminum 142 passes through the two fixing blocks 408 as a fixing member of the sensing module 2, and is assisted by the fixing square aluminum 141 for fixing. The support square aluminum 142 and the fixing square aluminum 141 also function as part of the frame to fix the driving motor 403 at the same time, making the structure more compact, improving the integration degree, reducing the overall weight of the machine, effectively improving the structural utilization rate and the degree of functional integration, and being suitable for scenarios such as mobile robots sensitive to weight.

[0054] As Figure 4Schematic diagram of the structure of a set of moving lower limb mechanisms shown. This embodiment is used to further illustrate the motion module 3. Four sets of moving lower limb mechanisms are connected to four sets of drive sources in one-to-one correspondence. Each set of drive sources consists of a first drive motor 41 and a second drive motor 42 adjacent longitudinally; for example, the first set of moving lower limb mechanisms on the front side is connected to the first drive motor 41 on the front side of the first horizontal square aluminum and the second drive motor 42 on the front side of the second horizontal square aluminum, and the second set of moving lower limb mechanisms on the front side is connected to the second drive motor 42 on the front side of the third horizontal square aluminum and the first drive motor 41 on the front side of the fourth horizontal square aluminum. The two sets of moving lower limb mechanisms on the rear side are arranged in the same way.

[0055] Each set of moving lower limb mechanisms includes: two transmission seats 31, two thigh modules 32, two knee joints 33, two calf modules 34, an ankle joint 35, a foot end clamp 36, and a foot end 37; among them, the two transmission seats 31 are respectively connected to the first drive motor 41 and the second drive motor 42 in a transmission manner, the two thigh modules 32 are respectively fixedly connected to the two transmission seats 31, and at the same time are connected to the two calf modules 34 through the two knee joints 33, the two calf modules 34 are connected through the ankle joint 35, and one of the calf modules 34 is fixed with the foot end 37 through the foot end clamp 36.

[0056] The moving lower limb mechanism includes the following components: two transmission seats 31, two thigh modules 32, two knee joints 33, two calf modules 34, an ankle joint 35, a foot end clamp 36, and a foot end 37, as Figure 1 and Figure 4 shown. Due to its relatively light own weight and the fact that the drive motor 403 can provide a relatively large torque, two transmission seats 31 are designed and directly connected to the two power sources without using a speed reducer to transmit the power into the thigh module 32. The left and right thigh modules 32 are respectively fixedly connected to the left and right transmission seats 31. When moving forward, based on the calculation and setting of the gait of the quadruped robot, the two transmission seats 31 will respectively transmit torques in opposite directions with specified magnitudes to the two thigh modules 32 to meet the requirements for the quadruped robot to move forward. The thigh module 32 and the calf module 34 are connected through the knee joint 33 to further transmit the power downward. Among them, the knee joint 33 is composed of a flanged bearing, a needle roller bearing, bolts, and nuts. The flanged bearing limits the leg, and the flat needle roller bearing is responsible for separating the two-side movements, ensuring the flexible movement at the connection of the thigh and calf. Further, the two calf modules 34 are connected at the ankle joint 35 and are connected to the foot end 37 through the ankle joint 35, synthesizing the independent movements into the movement of the foot end 37 as expected, thus constituting a complete composite moving lower limb mechanism.

[0057] Specifically, the drive seat 31 is provided with both a motor mounting hole and a locating pin mating hole. The thigh module 32 is provided with a motor mounting hole and is connected to the drive seat 31. The drive motor 403 has six evenly arranged mounting holes and three locating pins. The locating pin mating hole of the drive seat 31 is mated with the locating pins through two 3D printed shims. At the same time, the spacer space formed by the main board 11 is used to prevent interference between the leg module and the main board 11, and the drive seat 31 is connected to the drive motor 403, so that the drive seat 31 can rotate together with the drive motor 403. Bearing mounting holes are provided in the calf module 34 and the calf module 38 with a foot. The thigh module 32 is connected to the calf module 34 through the knee joint 33. The calf module 34 is connected to the calf module 38 with a foot through the ankle joint 35. The foot end 37 is composed of two foot end clamping pieces 36 and one foot end 37 printed part, and is fixed on the calf module 38 with a foot. When the first drive motor 41 and the second drive motor 42 rotate, they drive the two thigh modules 32 to rotate together, thereby realizing the change in the height of the robot.

[0058] Specifically, each set of moving lower limb mechanisms includes a first lower limb group and a second lower limb group.

[0059] The first lower limb group includes a first drive seat 31, a first thigh part, a first knee joint 33 part, and a first calf part. The first drive seat 31 is driven by the first drive motor 41. The upper end of the first thigh part is connected to the first drive seat 31, and the lower end is connected to the upper end of the first calf part through the first knee joint 33. The lower end of the first calf part is connected to the foot end 37 through the ankle joint 35. The second lower limb group includes a second drive seat 31, a second thigh part, a second knee joint 33 part, and a second calf part. The second drive seat 31 is driven by the second drive motor 42. The upper end of the second thigh part is connected to the second drive seat 31, and the lower end is connected to the upper end of the second calf part through the second knee joint 33. The lower ends of the second calf part and the first calf part are jointly connected to the foot end 37 through the ankle joint 35.

[0060] Preferably, the thigh module 32 and the calf module 34 are fixed by overlapping two plates, which improves the stiffness of the leg.

[0061] As a preferred design of this embodiment, during the control process, the trajectory planning of the foot end 37 is carried out using a fifth-order Bezier curve. Key parameters such as the base height, step length, step peak, step valley, and frequency of the quadruped robot are input into the fifth-order Bezier curve generation function. The trajectory of the foot end 37 is generated using the Bezier curve, and then the coordinate values of the foot end 37 trajectory are obtained. Then, the coordinate values of the foot end 37 trajectory are converted into the rotation angles θ1 and θ2 of the motors using the inverse kinematic equation, and the target angles are input into the PID controller to control the quadruped to output a walking gait. Through the trajectory planning of the foot end 37, the trajectory of the foot end 37 is made smoother, and the speed and acceleration change continuously without sudden changes, which also significantly improves the stability of the quadruped robot during movement.

[0062] As Figure 8 and Figure 9 shown, Figure 8 shows the combined structure of the lidar and the camera 22. Figure 9 It is an inverted structure of the laser rangefinder. This embodiment is used to further illustrate the sensing module 2. The camera 22 is arranged on the frame through a rotating platform. The rotating platform includes: a fixed head 21, which fixes the camera 22; a pan-tilt driving motor 40329, which is fixed on the main board 11; a driving gear 210, which is connected to the output shaft of the pan-tilt driving motor 40329; a pan-tilt 23, which is fixed on the radar mounting plate 25, and the radar mounting plate 25 is fixed on the longitudinal square aluminum 14; a driven gear 24, which is sleeved on the outer periphery of the pan-tilt 23 and has a distance from the radar mounting plate 25; the driving gear 210 and the driven gear 24 are meshed and connected.

[0063] The lidar 211 is arranged on the frame through a fixed platform. The fixed platform includes: a radar mounting plate 25, which is fixed on the top surface of the fixed square aluminum 141; among them, a notch is opened in the area of the main board 11 covering the top surface of the fixed square aluminum 141, and a part of the radar mounting plate 25 is located in the notch and connected to the fixed square aluminum 141; a radar protection plate 27, which is fixed on the bottom surface of the fixed square aluminum 141; and a support square aluminum 142 and a gasket 26 are fixedly arranged vertically and overlappingly between the radar mounting plate 25 and the radar protection plate 27; a radar protection cover 28, which is fixed on the radar protection plate 27; among them, the detection end of the lidar 211 passes through the radar mounting plate 25 and the radar protection plate 27 and is located in the radar protection cover 28.

[0064] The camera 22, the fixed head 21, the laser radar 211, the radar mounting plate 25, the radar protection plate 27, the radar protection cover 28 and the mounting pad constitute the visual module. The pan-tilt drive motor 40329 is fixed on the main board 11, and the driving gear 210 is connected to the pan-tilt drive motor 40329 through a coupling to realize the rotation of the gear with the motor. The camera 22 is mounted on the fixed head 21, and the fixed head 21 is fixed on the pan-tilt 23. The pan-tilt 23 is mainly composed of a thin-walled bearing, whose inner ring is fixed on the radar mounting plate 25, and the outer ring is connected to the large driven gear 24, and the rotation of the camera 22 is realized by meshing with the small driving gear 210. The laser radar 211 is mounted on the radar mounting plate 25, and the radar protection cover 28 is fixed to the radar protection plate 27 through a pressure plate. The radar mounting plate 25, the front end of the radar protection plate 27 and the gasket 26 are connected to the supporting square aluminum 142 through coaxial threaded holes, so that the distance between the radar mounting plate 25 and the radar protection plate 27 is consistent with the thickness of the fixed square aluminum 141, and then the radar mounting plate 25 and the radar protection plate 27 are fixed to the fixed square aluminum 141 to complete the fixation of the visual module, so that the highly integrated structure realizes the perception of the surrounding environment of the quadruped robot and the perception of the ground status in the forward direction.

[0065] Specifically, the laser rangefinder is inverted on the side of the fixed square aluminum 141 so that the detection end of the laser rangefinder faces the ground. For example, the laser rangefinder includes a laser sensor mounting plate 212, a laser sensor 213, and a laser sensor pad 214. The laser sensor pad 214 has a fixing hole, and the laser sensor mounting plate 212 is fixed on the laser sensor pad 214. The laser sensor mounting plate 212 has a mounting hole, and the laser sensor 213 is fixed on it.

[0066] Therefore, the supporting square aluminum 142 and the fixing square aluminum 141 not only serve as fixing parts of the sensing module 2, but also serve as a part of the frame to fix the driving motor 403. At the same time, the gap opened in the main board 11 avoids interference and conflict between the motor and the sensing module 2 during the fixing process, thereby eliminating the need to set up an independent sensing module 2 frame or motor support, reducing the number of structural parts, improving the compactness of the whole machine, and improving space utilization efficiency.

[0067] In summary, the assembly process of the quadruped robot provided in this application is as follows: Fix the main board 11 on the four horizontal square aluminums 13 and vertical square aluminums 14 with screws to form a base plate on the lower fixed rib plate 12. Subsequently, fix the first fixing plate 401, the second fixing plate 402, and the spacer block 405 on the left and right sides of the front and rear ends of the four horizontal square aluminums 13 with eight drive motors 403 through bolts, and then fix the first connecting block 404 and the second connecting block 406 to ensure the stability of the connection between the power source and the horizontal square aluminum 13 in the vertical direction. Then, fix the drive motor 403 on the first fixing plate 401 and the second fixing plate 402 with screws respectively to ensure the stability of the stator of the drive motor 403. Subsequently, fix the thigh module 32 and the transmission seat 31 on the rotating motor with screws through the positioning pins and mounting holes on the motor; then combine the ankle joint 35 to fix the calf module 34 and the calf module with foot 38 together, and then clamp the foot end clip 36 on both sides of the calf module with foot 38 with bolts to complete the assembly of the leg module. After completing the assembly of the eight power sources, install the radar mounting plate 25 and the radar protection plate 27 on the support square aluminum 142, and then assemble the lidar 211 and the radar protection cover 28 in sequence; finally, fix the pan-tilt 23 on the radar mounting plate 25 with screws to complete the assembly of the robot.

[0068] Correspondingly, for the second aspect, please refer to Figure 10 as shown in Figure 10 is a step flowchart of a control method for a quadruped robot that fuses multi-modal perception. The present invention also provides a control method for a quadruped robot that fuses multi-modal perception, which is used for the quadruped robot that fuses multi-modal perception provided in the first aspect of the present invention. The method includes the following steps: S1. The control module receives the surrounding environment information of the robot collected by the camera 22, the ground state information of the robot's forward direction collected by the lidar 211, and the distance information of the obstacles during the robot's forward movement collected by the laser rangefinder; S2. Compare whether any two of the surrounding environment information, the ground state information, and the distance information exceed a preset deviation threshold, and reconcile the corresponding information within the preset deviation threshold, and output the target distance information of the obstacle; S3. Based on the target distance information, control the drive module 4 to output a target torque to control the motion module 3 to move along a target trajectory, so as to achieve accurate obstacle avoidance during the robot's forward movement.

[0069] Further, after step S3, it further includes: S4. The control module receives the attitude information collected by the attitude sensor. When the attitude information meets the motion conditions, it controls the motion module 3 to move along the target trajectory based on the target distance information; when the attitude information does not meet the motion conditions, it controls the drive module 4 to output a preset torque to control the motion module 3 to adjust to a preset attitude that meets the motion conditions.

[0070] It should be noted that for the method embodiments, the embodiments of the present application are not limited by the described order of actions, because according to the embodiments of the present application, certain steps can be performed in other orders or simultaneously.

[0071] For the above method and aircraft embodiments, since they are basically similar to the device embodiments, the description is relatively simple. For the relevant parts, reference can be made to the partial description of the system embodiments.

[0072] It should be noted that the embodiments in this specification are all described in a progressive manner. Each embodiment focuses on the differences from other embodiments. For the same or similar parts among the embodiments, reference can be made to each other.

[0073] It should also be noted that in this text, the orientation or positional relationship indicated by terms such as "upper", "lower", "left", "right", "inner", "outer", etc. is based on the orientation or positional relationship shown in the drawings. It is only for the convenience of describing the present invention and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, so it cannot be understood as a limitation of the present invention. In addition, relational terms such as "first" and "second" are only used to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply any such actual relationship or order between these entities or operations, nor can they be understood as indicating or implying relative importance. Moreover, the term "comprising" or any other variant thereof is intended to cover non-exclusive inclusion, so that a process, method, article or terminal device comprising a series of elements not only includes those elements, but also includes other elements not expressly listed, or further includes elements inherent to such process, method, article or terminal device.

Claims

1. A quadruped robot integrating multi-modal perception, characterized in that, The robots include: A fuselage module, comprising a frame and a base plate fixed on the frame; wherein the frame is a hollow square aluminum structure, a plurality of first hollow holes are formed in an area where the base plate is staggered from the frame, and a plurality of second hollow holes are formed in an area where the base plate overlaps with the frame; A driving module, comprising a first power source and a second power source, wherein the first power source is arranged at the corners of opposite sides of the frame, and the second power source is arranged inside the edges of opposite sides of the frame, and the power output shafts of the first power source and the second power source are collinear; A motion module, comprising four groups of motion lower limb mechanisms, each group of the motion lower limb mechanisms is provided with two power input ends, and the two power input ends are respectively connected to the power output shafts of the first power source and the second power source in a transmission manner; A perception module, comprising a camera, a laser radar and a laser rangefinder arranged on the frame; The camera is used to collect information about the surrounding environment of the robot; the laser radar is used to collect ground state information in the direction of the robot's advance; and the laser rangefinder is used to collect distance information of obstacles encountered by the robot during its advance. A control module is connected to the driving module and the sensing module; wherein the control module is used to: receiving and comparing whether any two of the surrounding environment information, the ground state information and the distance information exceed a preset deviation threshold, reconciling corresponding information within the preset deviation threshold, and outputting target distance information of the obstacle; Based on the target distance information, the drive module is controlled to output the target torque to control the motion module to move along the target trajectory, thereby achieving accurate obstacle avoidance of the robot during movement.

2. The quadruped robot integrating multi-modal perception according to claim 1, characterized in that, The frame includes four transverse aluminum strips extending transversely and parallel in the longitudinal direction, and a plurality of longitudinal aluminum strips extending longitudinally, wherein the plurality of longitudinal aluminum strips are connected or coupled between the plurality of transverse aluminum strips; The base plate includes a main board and a rib plate. The main board is fixed on the top surface of the frame and covers part of the space enclosed by the horizontal aluminum and the vertical aluminum. The rib plate is fixed on the bottom surface of the frame and covers the space enclosed by the vertical aluminum.

3. The quadruped robot integrating multi-modal perception according to claim 2, characterized in that, The first power source includes four first drive motors, and the four first drive motors are fixed in pairs at both ends of the two horizontal aluminums located on the longitudinal outer sides; the second power source includes four second drive motors, and the four second drive motors are fixed in pairs at both ends of the other two horizontal aluminums; Wherein, each of the first drive motors and each of the second drive motors are fixed on the corresponding horizontal aluminum by a fixing structure; the fixing structure includes: The first fixing plate and the second fixing plate are fixed on the longitudinal opposite sides of the corresponding horizontal aluminum, and the two fixing plates are respectively provided with motor mounting holes for fixing the driving motor; A first connection block and a second connection block fastened between the first fixing plate and the second fixing plate, wherein the first connection block and the second connection block are vertically spaced apart to form an installation space; Wherein, the corresponding horizontal aluminum is embedded in the installation space, and the first connecting block and the second connecting block are fixed on two opposite vertical sides of the corresponding horizontal aluminum; The pad block is arranged in the gap between the installation space and the horizontal aluminum.

4. A quadruped robot integrating multi-modal perception according to claim 3, characterized in that, The fixing structure provided for the two second driving motors located at the front ends of the two horizontal aluminum plates also includes: Two fixing blocks, respectively fixed to the front sides of the first fixing plate and the second fixing plate; Two cushioning support members, respectively fixed to the lower sides of the first fixing plate and the second fixing plate; Among them, the plurality of longitudinal square aluminums include a supporting square aluminum and a fixing square aluminum close to the front end of the transverse square aluminum; the supporting square aluminum extends longitudinally through the fixing blocks on the two second drive motors, and the sensing module is fixed on the supporting square aluminum and the fixing square aluminum.

5. The quadruped robot integrating multi-modal perception according to claim 3, characterized in that, The four groups of lower limb movement mechanisms are connected to the four groups of drive sources in a one-to-one correspondence, and each group of drive sources is composed of a first drive motor and a second drive motor that are adjacent to each other in the longitudinal direction; Each group of lower limb movement mechanisms includes: Two transmission seats, two thigh modules, two knee joints, two calf modules, an ankle joint, a foot end clamp and a foot end; wherein, the two transmission seats are respectively connected to the first drive motor and the second drive motor in a transmission manner, the two thigh modules are respectively fixedly connected to the two transmission seats, and are connected to the two calf modules through the two knee joints, the two calf modules are connected through the ankle joint, and one of the calf modules is fixed with the foot end through the foot end clamp.

6. A quadruped robot integrating multi-modal perception according to claim 4, characterized in that, The camera is arranged on the frame via a rotating platform, and the rotating platform comprises: A fixed head, on which the camera is fixed; A pan / tilt drive motor is fixed on the main board; A driving gear connected to the output shaft of the pan / tilt drive motor; A pan / tilt platform is fixed on a radar mounting plate, and the radar mounting plate is fixed on the longitudinal aluminum; A driven gear is sleeved on the outer periphery of the pan / tilt platform and is spaced apart from the radar mounting plate; The driving gear and the driven gear are meshingly connected.

7. A quadruped robot integrating multi-modal perception according to claim 6, characterized in that, The laser radar is arranged on the frame via a fixed platform, and the fixed platform comprises: The radar mounting plate is fixed on the top surface of the fixed square aluminum; wherein a notch is provided in the top surface area of ​​the main board covering the fixed square aluminum, and a portion of the radar mounting plate is located in the notch and connected to the fixed square aluminum; The radar protection plate is fixed on the bottom surface of the fixed square aluminum; and the supporting square aluminum and the gasket are fixed between the radar mounting plate and the radar protection plate in a vertically overlapping manner; A radar protection cover, fixed on the radar protection plate; Wherein, the detection end of the laser radar passes through the radar mounting plate and the radar protection plate and is located in the radar protection cover.

8. The quadruped robot integrating multi-modal perception according to claim 4, characterized in that, The laser rangefinder is invertedly mounted on the side of the fixed aluminum square so that the detection end of the laser rangefinder faces the ground.

9. A quadruped robot integrating multi-modal perception according to any one of claims 1-8, characterized in that, The perception module also includes a posture sensor; Wherein, the control module is also used for: Receive the posture information collected by the posture sensor, and when the posture information meets the motion condition, control the motion module to move along the target trajectory based on the target distance information; when the posture information does not meet the motion condition, control the drive module to output a preset torque to control the motion module to adjust to a preset posture that meets the motion condition.

10. A control method for a quadruped robot integrating multi-modal perception, characterized in that the method Including: The control module receives the surrounding environment information of the robot collected by the camera, the ground state information of the forward direction of the robot collected by the lidar, and the distance information of the obstacles during the forward movement of the robot collected by the laser rangefinder; Compare whether any two of the surrounding environment information, the ground state information, and the distance information exceed a preset deviation threshold, reconcile the corresponding information within the preset deviation threshold, and output the target distance information of the obstacle; Based on the target distance information, control the drive module to output a target torque to control the motion module to move along a target trajectory, so as to achieve accurate obstacle avoidance during the forward movement of the robot.

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