Foot type robot agile competition field
By designing a modular robot agile competition venue system, the problem of insufficient flexibility and adaptability of existing venue design is solved, rapid combination and multi-scene adaptive training is achieved, and comprehensive data feedback is provided.
Patent Information
- Application Number
- CN202510447962.X
- Authority / Receiving Office
- CN · China
- Patent Type
- Applications(China)
- Current Assignee / Owner
- Filing Date
- 2025-04-10
- Publication Date
- 2025-07-11
AI Technical Summary
The existing robot agile competition venues lack modular design, making it difficult to quickly adjust the site layout, lack of adaptability and scalability, and limited data feedback and interaction, which cannot meet the multi-scene adaptive training needs of four-legged robots in complex environments.
A field system including floor modules and multiple barrier modules is designed. The barrier module is connected to the floor module through mechanical and electrical interfaces, configured with sensors and adjustable structures, supporting diversified combinations and data acquisition, and adapting to different training tasks.
It realizes rapid combination and adjustment of the site, adapts to different rules and robot sizes, provides comprehensive training data feedback, and improves the flexibility and adaptability of the training site.
Smart Images
Figure CN120299325A_ABST
Abstract
Description
Technical Field
[0001] This application relates to the technical field of robot agile training, and particularly relates to a legged robot agile competition venue. Background Art
[0002] Multi-legged animals, represented by quadrupeds, have evolved various behavioral patterns to cope with survival challenges, enabling them to move through a variety of obstacle-filled environments on Earth through natural locomotion. To showcase the extraordinary agility of these animals, many competitions are held globally every year, the most famous of which is the agility of dogs at the Crufts Dog Show, where handlers guide their dogs through different obstacle courses to meet time and accuracy requirements. Inspired by dogs, quadruped robots are designed to assist humans in performing specific tasks in complex and dangerous environments. However, the agility of these robots is still inferior to that of quadrupeds, making it difficult to complete similar obstacle training, which limits their broader application potential.
[0003] Modern neuroscience has shown that quadruped locomotion is coordinated by higher neural regions, such as the cerebral cortex and basal ganglia, which process sensory integration and motor planning, and lower neural regions, including the brainstem and spinal cord, which control posture, balance, and basic gait patterns. Replicating this natural and agile movement in quadruped robots poses significant challenges. First, due to limitations in mechanical design, actuators, and energy sources, quadruped robots have fewer joints than dogs and lack biological structures such as muscles and skin to buffer, which results in inherent limitations. Second, quadruped robots are in a state of dynamic balance most of the time, which complicates the ability of the controller to maintain real-time responsiveness and robustness, especially when replicating natural and diverse behaviors managed by lower neural regions. Finally, effective autonomous obstacle crossing relies on the ability to extract relevant features from high-dimensional sensory inputs and integrate this information into motion planning, which is a task that higher neural regions are good at. While these abilities are instinctive for dogs, they still pose an open challenge for robots.
[0004] In recent years, model-free deep reinforcement learning (DRL) has shown great potential in robotics. By interacting with the environment through trial and error, it learns strategies to maximize expected rewards without the need for an explicit physical model of the controlled system. Combined with deep neural networks, DRL effectively processes high-dimensional sensory inputs and has been widely applied to the control of legged robots, demonstrating strong performance in various unstructured environments such as stairs, poles, rough terrains, and the wild. However, designing an effective reward function is a complex engineering task. For example, in quadruped animals, a natural jump involves the hind legs pushing off and the front legs landing, but a quadruped robot driven by an artificially crafted reward typically starts jumping with all four legs pushing off simultaneously. Additionally, the DRL controller may overexploit environmental features to maximize expected rewards, which can lead to unnatural or even dangerous behaviors.
[0005] With the rapid development of quadruped robot technology, its adaptability and traversal ability in complex terrains and multi-obstacle environments are becoming increasingly important. Traditional robot test platforms mostly have simple planar or fixed obstacle layouts, making it difficult to meet the requirements of rapid iteration, multi-scenario evaluation, and targeted training.
[0006] Existing agile arenas are mostly manually built with fixed structures and lack flexible modular designs, resulting in: 1. Difficulty in quickly adjusting the venue layout: Once the built obstacles are difficult to quickly reorganize or replace, the scene diversity is insufficient.
[0007] 2. Insufficient adaptability and scalability: The current venue design cannot be easily and seamlessly adapted according to different competition rules, different robot sizes, and performance levels.
[0008] 3. Limited data feedback and interaction: Traditional obstacles are mostly pure physical structures, lacking sensors and signal interfaces, making it difficult to accurately detect and record the process of the robot passing through.
[0009] Therefore, there is an urgent need for a robot agile competition venue and obstacle structure system with modularity, scalability, flexible adjustment, and rapid combination to adapt to multi-type obstacle tests and meet the research needs of the agility and multi-scenario adaptability of quadruped robots. Summary of the Invention
[0010] This application provides an agile competition venue for legged robots, which has the advantage of being easy to build a training venue according to actual needs to meet the training requirements of different training tasks.
[0011] The above object of the present application is achieved by the following technical solutions. A legged robot agility competition venue includes a floor module and at least one obstacle module. The obstacle module includes one or more of a pole-rounding module, a hurdle module, a seesaw module, a ramp module, a hole-piercing module, and a jumping hole-piercing module; The pole-rounding module includes several rods, and a first base is provided at the bottom of the rods; The hurdle module includes a crossbar and hurdle frames provided on both sides of the crossbar for supporting the crossbar. A second base is provided at the bottom of the hurdle frames; The seesaw module includes a third base and a seesaw, and the seesaw is rotatably connected to the third base; The ramp module includes two inclined plates; The hole-piercing module includes a first frame and a hole-shaped panel provided on the first frame; The jumping hole-piercing module includes a second frame and a circular ring. The circular ring is arranged in the second frame through several connecting rods or ropes, and a sixth base is provided at the bottom of the second frame; In the seesaw module, ramp module, hole-piercing module, and jumping hole-piercing module, pressure sensors are provided on the surface where the robot passes to detect whether a robot passes; an inertial measurement unit is provided on the seesaw module; force sensors are provided at the bottom of the seesaw module and the hurdle module for measuring force and vibration information; A first electrical interface is provided on the floor module, and a second electrical interface is provided at the bottom of the obstacle module. The obstacle module realizes electrical connection with the floor module through a first mechanical interface and a second mechanical interface.
[0012] Further, in the hurdle module, several slots are provided on the opposite side of the two hurdle frames, and different heights are set by inserting the crossbar into different slots.
[0013] Further, in the hurdle module, a movable synchronous belt is provided in the two hurdle frames. At least one support member is provided on the synchronous belt for supporting the crossbar, and a driving mechanism is provided on the hurdle frame for driving the synchronous belt to rotate.
[0014] Further, in the jumping hole-piercing module, the circular ring is respectively connected to the four corners of the second frame through four ropes, and a wire winder is provided on the second frame, and the ends of the ropes are connected to the wire winder.
[0015] Further, several first mechanical interfaces are provided on the floor module, and second mechanical interfaces are provided on the obstacle module. The obstacle module is arranged on the floor module through the first mechanical interface and the second mechanical interface Further, a timing sensor is also provided on the floor module for recording the entry time of the robot.
[0016] Furthermore, the first mechanical interface and the second mechanical interface are a matching plug-in structure, the first electrical interface and the second electrical interface are a matching plug-in structure, and the first electrical interface and the second electrical interface are respectively arranged inside the first mechanical interface and the second mechanical interface.
[0017] Furthermore, several columns are provided on the floor, cameras are provided on the columns, and a second mechanical interface and a second electrical interface are provided at the bottom of the columns.
[0018] In summary, the beneficial effects of this application are as follows: 1. This application uses multiple obstacle modules to meet different training tasks of the robot. In some obstacle modules, the obstacle difficulty can be automatically or manually adjusted to meet the different needs of different training tasks; 2. The obstacle modules in this application can be flexibly combined with the floor module to realize the construction of different sites, which is suitable for diversified and personalized robot training; 3. Mechanical interfaces and electrical interfaces are configured between the obstacle modules and the floor module in this application, and multiple sensors are deployed in the obstacle modules to realize the collection of data during the training process, which is conducive to obtaining more comprehensive training data. BRIEF DESCRIPTION OF THE DRAWINGS
[0019] Figure 1 is a schematic diagram of the overall structure of a specific embodiment of this application; Figure 2 is a schematic diagram of the camera and the column in a specific embodiment of this application; Figure 3 is a schematic diagram of the pole-rounding module in a specific embodiment of this application; Figure 4 is a schematic diagram of the hurdle module in a specific embodiment of this application; Figure 5 is a schematic diagram of the seesaw module in a specific embodiment of this application; Figure 6 is a schematic diagram of the ramp module in a specific embodiment of this application; Figure 7 is a schematic diagram of the hole-piercing module in a specific embodiment of this application; Figure 8 is a schematic diagram of the jumping hole-piercing module in a specific embodiment of this application. DETAILED DESCRIPTION OF THE EMBODIMENTS
[0020] The following details the specific embodiments of this application with reference to the drawings.
[0021] Embodiment: Refer to Figure 1-8, A foot-type robot agility competition venue, including a floor module and at least one obstacle module. A number of first mechanical interfaces are provided on the floor module, and second mechanical interfaces are provided on the obstacle module. The obstacle module is arranged on the floor module through the first mechanical interface and the second mechanical interface.
[0022] The obstacle module includes one or more of a pole-rounding module, a hurdle module, a seesaw module, a ramp module, a hole-passing module, and a jumping hole-passing module.
[0023] The pole-rounding module includes a number of rods. A first base is provided at the bottom of the rod, and a second mechanical interface is provided at the bottom of the first base.
[0024] The hurdle module includes a crossbar and hurdle frames arranged on both sides of the crossbar to support the crossbar. A second base is provided at the bottom of the hurdle frame, and a second mechanical interface is provided at the bottom of the second base. In the hurdle module, a number of slots are provided on the opposite side of the two hurdle frames. The height is set by inserting the crossbar into different slots. In some other embodiments of the present application, in the hurdle module, a movable synchronous belt is provided in the two hurdle frames. At least one support member is provided on the synchronous belt to support the crossbar. A driving mechanism is provided on the hurdle frame to drive the synchronous belt to rotate. The driving mechanism, such as a motor, can drive the crossbar to rise and fall to adjust the difficulty of the hurdle module.
[0025] The seesaw module includes a third base and a seesaw. The seesaw is rotatably connected to the third base, and a second mechanical interface is provided at the bottom of the third base; The ramp module includes two inclined plates, and at least one inclined plate is provided with a second mechanical interface at the bottom; The hole-passing module includes a first frame and a hole-shaped panel arranged on the first frame. A second mechanical interface is provided at the bottom of the first frame; The jumping hole-passing module includes a second frame and a circular ring. The circular ring is arranged in the second frame through a number of connecting rods or ropes. A sixth base is provided at the bottom of the second frame, and a second mechanical interface is provided at the bottom of the sixth base. In the jumping hole-passing module, the circular ring is respectively connected to the four corners of the second frame through four ropes. A wire winder is provided on the second frame. The end of the rope is connected to the wire winder, and the wire winder is connected to a motor and can be controlled to rotate, so that the position of the circular ring can be controlled to adjust the difficulty of the jumping hole-passing module.
[0026] In the seesaw module, ramp module, hole-passing module, and jumping hole-passing module, pressure sensors are provided on the surface where the robot passes to detect whether a robot passes; an inertial measurement unit is provided on the seesaw module; force sensors are provided at the bottom of the seesaw module and the hurdle module to measure force and vibration information.
[0027] At the entrance of the obstacle module, there is also an infrared pair emitter, RFID or visual marker. The infrared pair emitter and RFID can be used to detect whether the robot has reached in front of the obstacle module. The visual markers correspond one-to-one with the obstacle modules, that is, different obstacle modules are configured with different visual markers for the robot to identify.
[0028] The floor module is also provided with a timing sensor for recording the time when the robot enters.
[0029] The floor module is provided with a first electrical interface, and the bottom of the obstacle module is provided with a second electrical interface. The obstacle module realizes electrical connection with the floor module through the first mechanical interface and the second mechanical interface.
[0030] The first mechanical interface and the second mechanical interface are matching plug-in structures. The first electrical interface and the second electrical interface are matching plug-in structures. The first electrical interface and the second electrical interface are respectively arranged inside the first mechanical interface and the second mechanical interface. In order to better fix the obstacle module, in some other embodiments of the present application, an electromagnet is further provided in the second mechanical interface, and a matching locking member is arranged in the first mechanical interface. The connection strength between the first mechanical interface and the second mechanical interface is improved by the electromagnet attracting the locking member.
[0031] Several columns are provided on the floor, cameras are provided on the columns, and a second mechanical interface and a second electrical interface are provided at the bottom of the columns.
[0032] The above are only the preferred embodiments of the present application. It should be noted that for those of ordinary skill in the art, without departing from the creative concept of the present application, several modifications and improvements can still be made, and these all belong to the protection scope of the present application.
Claims
1. An agile competition venue for a legged robot, characterized in that, It includes a floor module and at least one obstacle module, and the obstacle module includes one or more of a pole - winding module, a hurdle module, a seesaw module, a ramp module, a hole - passing module, and a jumping - through - hole module; The pole - winding module includes several rods, and a first base is provided at the bottom of the rods; The hurdle module includes a crossbar and hurdle frames arranged on both sides of the crossbar for supporting the crossbar, and a second base is provided at the bottom of the hurdle frames; The seesaw module includes a third base and a seesaw, and the seesaw is rotatably connected to the third base; The ramp module includes two inclined plates; The hole - passing module includes a first frame and a hole - shaped panel arranged on the first frame; The jumping - through - hole module includes a second frame and a circular ring, and the circular ring is arranged in the second frame through several connecting rods or ropes, and a sixth base is provided at the bottom of the second frame; Among the seesaw module, the ramp module, the hole - passing module, and the jumping - through - hole module, pressure sensors are provided on the surface where the robot passes to detect whether a robot passes; an inertial measurement unit is provided on the seesaw module; mechanical sensors are provided at the bottom of the seesaw module and the hurdle module for measuring force and vibration information; A first electrical interface is provided on the floor module, a second electrical interface is provided at the bottom of the obstacle module, and the obstacle module realizes electrical connection with the floor module through a first mechanical interface and a second mechanical interface.
2. The agile competition venue for the legged robot according to claim 1, wherein In the hurdle module, several slots are provided on the opposite side of the two hurdle frames, and different heights are set by inserting the crossbar into different slots.
3. The foot-type robot agility competition venue according to claim 1, characterized in that, In the hurdle module, a movable synchronous belt is provided in the two hurdle frames, at least one support member for supporting the crossbar is provided on the synchronous belt, and a driving mechanism is provided on the hurdle frame for driving the synchronous belt to rotate.
4. The foot-type robot agility competition venue according to claim 1, characterized in that, In the jumping - through - hole module, the circular ring is respectively connected to the four corners of the second frame through four ropes, a wire winder is provided on the second frame, and the end of the rope is connected to the wire winder.
5. The foot-type robot agility competition venue according to claim 1, characterized in that, Several first mechanical interfaces are provided on the floor module, second mechanical interfaces are provided on the obstacle module, and the obstacle module is arranged on the floor module through the first mechanical interface and the second mechanical interface.
6. The foot-type robot agile competition venue according to claim 1, characterized in that, A timing sensor is also provided on the floor module for recording the time when the robot enters.
7. The foot-type robot agility competition venue according to claim 1, characterized in that, The first mechanical interface and the second mechanical interface are matching plug - in structures, the first electrical interface and the second electrical interface are matching plug - in structures, and the first electrical interface and the second electrical interface are respectively arranged inside the first mechanical interface and the second mechanical interface.
8. The legged robot agility competition venue according to claim 1, characterized in that Several columns are provided on the floor, cameras are provided on the columns, and a second mechanical interface and a second electrical interface are provided at the bottom of the columns.