Foldable robot and control method thereof, computer equipment and readable storage medium

Abstract

The invention discloses a retractable robot, a control method of the retractable robot, computer equipment and a readable storage medium. The retractable robot comprises a body; the two folding and unfolding arms are movably arranged on the body; the upper end of the folding and unfolding leg is movably arranged on the body; the rear end of the movable table is rotationally connected with the lower ends of the folding and unfolding legs; the folding and unfolding legs and the body can be folded to the corresponding positions of the middle of the movable table. The folding and unfolding arms can be folded to the two sides of the movable table and the front position of the body. Through folding of the folding and unfolding legs and the folding and unfolding arms, the whole folding and unfolding robot is in a curled posture, the gravity center can be lowered and moved forwards, the wind resistance can be reduced, and rapid and stable movement of the folding and unfolding robot is facilitated.

Description

Technical Field

[0001] The present invention relates to the field of robots, and particularly to a deployable robot, its control method, a computer device, and a readable storage medium. Background Art

[0002] With the development of robots, dual-arm robots can now complete some work tasks. Robots imitate human postures and movements in the hope of replacing some human operations. In some tasks, the robot needs to move a certain distance, and the requirements for the movement stability and speed of the robot are very important in the process of the robot completing these work tasks.

[0003] In the prior art, the center of gravity of the robot is relatively high, and the movement stability of the robot is relatively low, so it cannot move quickly.

[0004] Therefore, the prior art still needs to be improved and developed. Summary of the Invention

[0005] The technical problem to be solved by the present invention is to provide a deployable robot, its control method, a computer device, and a readable storage medium aiming at the above-mentioned defects of the prior art, so as to solve the problem that the movement stability of the robot in the prior art is relatively low and it cannot move quickly.

[0006] The technical solution adopted by the present invention to solve the technical problem is as follows: In a first aspect, the solution of the present invention provides a deployable robot, including: A body; Two deployable arms, movably arranged on the body; A deployable leg, the upper end of the deployable leg is movably arranged on the body; A mobile platform, the rear end of the mobile platform is rotatably connected to the lower end of the deployable leg; Wherein, the deployable leg and the body can be folded to the corresponding position in the middle of the mobile platform; The deployable arms can be folded to the positions on both sides of the mobile platform and the front position of the body.

[0007] In other solutions of the present invention, the mobile platform includes: A first housing; A mobile driver, located in the first housing; Mobile wheels, connected to the mobile driver; A radar and a first depth camera, both arranged on the front side of the first housing.

[0008] In other solutions of the present invention, the body includes: A second housing; A first bracket, located in the second housing; The first driver, which is disposed on the first bracket; The second bracket, which is connected to the output shaft of the first driver; The second driver, which is disposed on the second bracket; The second depth camera, which is disposed on the front side of the second housing; Wherein, the second depth camera is disposed to incline downward; The deployable leg includes: The first left side plate and the first right side plate; The third driver, which is disposed between the upper ends of the first left side plate and the first right side plate; The fourth driver, which is disposed between the lower ends of the first left side plate and the first right side plate; The second left side plate, the two ends of which are respectively connected to the output shaft of the second driver and the output shaft of the third driver; The second right side plate, the two ends of which are respectively connected to the second driver and the third driver; Wherein, the output shaft of the fourth driver is connected to the mobile platform; Both the first left side plate and the second right side plate are located between the second left side plate and the second right side plate.

[0009] In other solutions of the present invention, the mobile platform further includes: The third depth camera, which is disposed on the rear side of the first housing.

[0010] In other solutions of the present invention, the deployable robot further includes: The head, which is movably disposed on the first bracket; The deployable arm includes: The upper arm, which is movably connected to the first bracket; The forearm, which is movably connected to the upper arm; The palm, which is movably connected to the upper arm.

[0011] In a second aspect, the solution of the present invention provides a control method for a deployable robot as described in any one of the above, including: Controlling the deployable arm to fold to the front position of the body; Controlling the deployable leg to fold to the corresponding position in the middle of the mobile platform; Obtaining the radar information of the radar, the first image information of the first depth camera and the second image information of the second depth camera, and determining the forward path according to the radar information, the first image information and the second image information; Controlling the mobile platform to move forward according to the forward path.

[0012] In other solutions of the present invention, the control method includes: When there is no obstacle in front of the deployable robot, control the body to retract to the corresponding position in the middle of the mobile platform, so that the deployable arms retract to the positions on both sides of the mobile platform; control the second depth camera to turn off, and control the mobile platform to increase the moving speed.

[0013] In other solutions of the present invention, after controlling the deployable legs to retract to the corresponding position in the middle of the mobile platform, the control method further includes: Control the first driver to rotate the body so that the second depth camera faces backward; Obtain the second image information of the second depth camera and the third image information of the third depth camera, and determine the reverse path according to the second image information and the third image information; Control the mobile platform to move backward according to the reverse path.

[0014] In a third aspect, the solution of the present invention provides a computer device, including a memory and a processor, where the memory stores a computer program, and wherein, when the processor executes the computer program, the steps of the control method described in any one of the above are implemented.

[0015] In a fourth aspect, the solution of the present invention provides a computer-readable storage medium, on which a computer program is stored, and wherein, when the computer program is executed by a processor, the steps of the control method described in any one of the above are implemented.

[0016] Beneficial effects: After the deployable legs and deployable arms are retracted, the entire deployable robot presents a curled posture, which can not only lower and move the center of gravity forward, but also reduce the wind resistance, which is beneficial to the deployable robot to move quickly and stably. Description of the Drawings

[0017] Figure 1 is the front view of the deployable robot in the embodiment of the present invention.

[0018] Figure 2 is Figure 1 the sectional view taken along the direction A in

[0019] Figure 3 is the structural schematic diagram of the deployable robot in the knee-bending posture in the embodiment of the present invention.

[0020] Figure 4 is the structural schematic diagram of the deployable robot in the curled posture in the embodiment of the present invention.

[0021] Figure 5 is the side view of the deployable robot in the embodiment of the present invention.

[0022] Figure 6Yes Figure 5 Cross-sectional view in the B direction

[0023] Figure 7 It is a schematic diagram of the internal structure of the retractable arm in the embodiment of the present invention

[0024] Figure 8 It is a schematic diagram of the structure of the mobile platform in the embodiment of the present invention

[0025] Explanation of reference numerals 10, body; 11, second housing; 12, first bracket; 13, first driver; 14, second bracket; 15, second driver; 16, second depth camera 20, retractable arm; 21, upper arm; 211, fifth driver; 212, sixth driver; 213, first horizontal rotation driver; 214, front-back rotation driver; 22, forearm; 221, second horizontal rotation driver; 222, left-right rotation driver; 23, palm 30, retractable leg; 31, first left side plate; 32, first right side plate; 33, third driver; 34, fourth driver; 35, second left side plate; 36, second right side plate 40, mobile platform; 41, first housing; 411, side-by-side wedge structure; 42, moving wheel; 43, radar; 44, first depth camera; 45, third depth camera 50, head Detailed implementation manners

[0026] To make the purpose, technical solutions and advantages of the present invention clearer and more definite, the following further describes the present invention in detail with reference to the accompanying drawings and by way of examples. It should be understood that the specific examples described herein are only used to explain the present invention and are not used to limit the present invention

[0027] Please refer to Figures 1-8 at the same time. The present invention provides some embodiments of a retractable robot

[0028] As Figure 1 shown, the retractable robot of the present invention includes a body 10 two retractable arms 20, movably arranged on the body 10 one retractable leg 30, the upper end of the retractable leg 30 is movably arranged on the body 10 a mobile platform 40, the rear end of the mobile platform 40 is rotatably connected to the lower end of the retractable leg 30 wherein, the retractable leg 30 and the body 10 can be retracted to the corresponding position in the middle of the mobile platform 40; the retractable arms 20 can be retracted to the positions on both sides of the mobile platform 40 and the front position of the body 10

[0029] Specifically, the body 10 refers to the structure of an artificial human body excluding the limbs and the head 50. The body 10 is in the shape of an artificial human body 10, and specifically, it is an inverted trapezoid. The retractable and extendable arms 20 can be retracted and extended, and the retractable and extendable arms 20 are retracted and extended by means of horizontal rotation and bending rotation. There are two retractable and extendable arms 20, namely the retractable and extendable left arm and the retractable and extendable right arm. The retractable and extendable legs 30 can be retracted and extended, and the retractable and extendable legs 30 are retracted and extended by means of bending rotation. The mobile platform 40 can move, that is, the movement of the retractable robot is realized, and specifically, it can move in the front-rear direction of the retractable robot and turn and move in the left-right direction.

[0030] When controlling the retraction of the retractable and extendable legs 30, the retractable and extendable legs 30 and the body 10 are retracted to the corresponding positions in the middle of the mobile platform 40; when controlling the retraction of the retractable and extendable arms 20, the retractable and extendable arms 20 can be retracted to the positions on both sides of the mobile platform 40 and the front position of the body 10. After the retraction of the retractable and extendable legs 30 and the retractable and extendable arms 20, the entire retractable robot presents a curled posture (as Figure 4 shown), which can not only lower and move the center of gravity forward, but also reduce the wind resistance, which is beneficial to the rapid and stable movement of the retractable robot.

[0031] In a preferred implementation manner of the embodiment of the present invention, as Figure 2 and Figure 8 shown, the mobile platform 40 includes: The first housing 41; A mobile driver, located inside the first housing 41; Mobile wheels 42, connected to the mobile driver; A radar 43 and a first depth camera 44, both arranged on the front side of the first housing 41.

[0032] Specifically, the upper surface of the first housing 41 presents a side-by-side wedge structure 411, which is configured to support and limit the retractable legs 30 in the retracted state, improving the moving stability of the retractable robot. The side-by-side wedge structure 411 has two wedge structures, and the wedge structure is a structure with a large end and a small end. The small end of the side-by-side wedge structure 411 faces forward, and the large end faces backward. The moving driver is configured to drive the moving wheel 42 to rotate. There are at least two moving drivers and at least three moving wheels 42. For example, when two moving drivers are adopted and the two moving drivers are connected to the corresponding moving wheels 42 and drive the corresponding moving wheels 42 to rotate synchronously, the retractable robot can move forward or backward. When the two moving drivers drive the corresponding moving wheels 42 to rotate asynchronously, the retractable robot can turn. The radar 43 is located on the front side of the mobile platform 40, and sends and receives radar 43 signals in front of the mobile platform 40. The first depth camera 44 is located on the front side of the mobile platform 40, and acquires the first image information in front of the mobile platform 40. Through the cooperation of the radar 43 and the first depth camera 44, the road conditions in the space in front of the retractable robot are sensed, so that the retractable robot can move forward without being damaged.

[0033] In a preferred implementation manner of the embodiment of the present invention, as Figure 2 shown, the body 10 includes: A second housing 11; A first bracket 12, located inside the second housing 11; A first driver 13, disposed on the first bracket 12; A second bracket 14, connected to the output shaft of the first driver 13; A second driver 15, disposed on the second bracket 14; A second depth camera 16, disposed on the front side of the second housing 11; Wherein, the second depth camera 16 is inclined downward.

[0034] Specifically, the first bracket 12 is installed inside the second housing 11, and the first driver 13 is installed on the first bracket 12. The first driver 13 is configured to drive the second bracket 14 to rotate horizontally. The second driver 15 is installed on the second bracket 14. The second driver 15 is configured to drive the retractable legs 30 to bend forward and backward. The second depth camera 16 is located on the front side of the second housing 11, and acquires the second image information in front of and below the body 10. By supplementing the second image information, the road conditions in the space in front of the retractable robot are sensed, realizing more comprehensive sensing.

[0035] In a preferred implementation manner of the embodiment of the present invention, as Figures 5-6 shown, the retractable leg 30 includes: A first left side plate 31 and a first right side plate 32; A third driver 33 is disposed between the upper ends of the first left side plate 31 and the first right side plate 32; A fourth driver 34 is disposed between the lower ends of the first left side plate 31 and the first right side plate 32; A second left side plate 35 has its two ends respectively connected to the output shafts of the second driver 15 and the third driver 33; A second right side plate 36 has its two ends respectively connected to the second driver 15 and the third driver 33; Wherein, the output shaft of the fourth driver 34 is connected to the mobile platform 40; both the first left side plate 31 and the second right side plate 36 are located between the second left side plate 35 and the second right side plate 36.

[0036] Specifically, the second driver 15 drives both the second left side plate 35 and the second right side plate 36 to bend and rotate relative to the body 10 in the front - rear direction. The third driver 33 drives the first left side plate 31 to bend and rotate relative to the second left side plate 35 in the front - rear direction, and drives the first right side plate 32 to bend and rotate relative to the second right side plate 36 in the front - rear direction. The fourth driver 34 drives both the first left side plate 31 and the first right side plate 32 to bend and rotate relative to the mobile platform 40 in the front - rear direction. Through the cooperation of the second driver 15, the third driver 33, and the fourth driver 34, the retractable leg 30 is retracted and deployed.

[0037] In a preferred implementation manner of the embodiment of the present invention, as Figure 2 shown, the mobile platform 40 further includes: A third depth camera 45 is disposed at the rear side of the first housing 41.

[0038] Specifically, a third depth camera 45 is configured at the rear side of the first housing 41. The third depth camera 45 is located at the rear side of the mobile platform 40 to obtain third - image information behind the mobile platform 40. The first driver 13 can horizontally rotate the body 10 so that the second depth camera 16 faces the lower rear. Then, through the cooperation of the second - image information and the third - image information, the road conditions of the space behind the retractable robot can be sensed, so that the retractable robot can move backward without being damaged.

[0039] In a preferred implementation manner of the embodiment of the present invention, as Figure 1 、 Figure 2 、 Figure 5 and Figure 6 shown, the retractable robot further includes: A head 50 is movably disposed on the first bracket 12.

[0040] Specifically, the head 50 rotates relative to the first support 12, which can specifically be left - right rotation and up - down rotation.

[0041] In a preferred implementation manner of the embodiment of the present invention, as Figures 5-6 shown, the expandable and retractable arm 20 includes: A large arm 21, which is movably connected to the first support 12; A small arm 22, which is movably connected to the large arm 21; A palm 23, which is movably connected to the large arm 21.

[0042] Specifically, the large arm 21 can bend and rotate in the front - back direction and bend and rotate in the left - right direction relative to the body 10. The small arm 22 can rotate horizontally and bend and rotate in the front - back direction relative to the large arm 21. The palm 23 can rotate horizontally and bend and rotate in the left - right direction relative to the small arm 22. The fingers of the palm 23 can expand and contract.

[0043] In a preferred implementation manner of the embodiment of the present invention, as Figure 5 and Figure 7 shown, the large arm 21 includes: a fifth driver 211, a sixth driver 212, a first horizontal rotation driver 213, and a front - back rotation driver 214 connected in sequence; the small arm 22 includes: a second horizontal rotation driver 221 and a left - right rotation driver 222 connected in sequence; the fifth driver 211 is connected to the body 10, the front - back rotation driver 214 is connected to the second horizontal rotation driver 221, and the left - right rotation driver 222 is connected to the palm 23.

[0044] Specifically, the fifth driver 211 and the sixth driver 212 respectively enable the large arm 21 to bend and rotate in the front - back direction and bend and rotate in the left - right direction. The first horizontal rotation driver 213 enables the small arm 22 to rotate horizontally. The front - back rotation driver 214 enables the small arm 22 to bend and rotate in the front - back direction. The second horizontal rotation driver 221 enables the palm 23 to rotate horizontally. The left - right rotation driver 222 enables the palm 23 to bend and rotate in the left - right direction.

[0045] Based on the expandable and retractable robot described in any of the above embodiments, the present invention also provides a preferred embodiment of a control method for an expandable and retractable robot.

[0046] The control method for the expandable and retractable robot according to the embodiment of the present invention includes the following steps: Step S100, controlling the expandable and retractable arm to retract to the front position of the body; Step S200, controlling the expandable and retractable leg to retract to the corresponding middle position of the mobile platform; Step S300: Obtain the radar information of the radar, the first image information of the first depth camera, and the second image information of the second depth camera, and determine the forward path according to the radar information, the first image information, and the second image information. Step S400: Control the mobile platform to move forward according to the forward path.

[0047] Specifically, when folding up the deployable robot, first fold the deployment arm to the front of the body, then fold the deployment leg to the middle position of the mobile platform, and finally fold the body to the corresponding middle position of the mobile platform, and the deployment arm will then be folded to both sides of the mobile platform.

[0048] Step S100 specifically includes: Step S110: Control the front-back rotation driver to drive the forearm to bend forward and rotate to both sides of the body. Step S120: Control the first horizontal rotation driver to drive the forearm to rotate horizontally to the front position of the body.

[0049] Specifically, by controlling the front-back rotation driver and the first horizontal rotation driver, the forearm can be arranged to tilt from the side of the body to the front of the body, so that the palm is located in the front position of the body.

[0050] Step S100 further includes: Step S130: Control the palm to make a fist. Step S140: Control the second horizontal rotation driver to drive the palm to rotate to the position with the palm facing up. Step S150: Control the left-right rotation driver to drive the palm to rotate towards the body.

[0051] Specifically, the folding state of the deployment arm can be further adjusted to fold the palm.

[0052] Step S200 specifically includes: Step S210: Control the second driver, the third driver, and the fourth driver to drive the calf to bend forward and rotate, and the thigh to bend backward and rotate; wherein, the angle at which the third driver drives the thigh to bend backward relative to the calf is the sum of the angle at which the second driver drives the thigh to rotate forward and the angle at which the fourth driver drives the calf to bend forward and rotate.

[0053] Specifically, the second drive, the third drive, and the fourth drive adopt a simultaneous driving method. The second drive drives the thigh to bend forward relative to the body, the third drive drives the thigh to bend backward relative to the calf, and the fourth drive drives the calf to bend forward. Then, the second drive moves downward, the third drive moves forward, and the retractable leg is retracted. The angle at which the third drive drives the thigh to bend backward relative to the calf is the sum of the angle at which the second drive drives the thigh to rotate forward and the angle at which the fourth drive drives the calf to bend forward. Then, the retractable leg is retracted, the body is not retracted, the body still remains upright, the center of gravity of the body steadily descends, but the center of gravity does not move forward (specifically, such as the knee-bending posture shown in Figure 3 ). The angle at which the fourth drive drives the calf to bend forward can be 90°, and the angle at which the second drive drives the thigh to rotate forward is less than 90°.

[0054] The control method further includes the steps of: Step S500: When there is no obstacle in front of the retractable robot, control the body to retract to the corresponding position in the middle of the mobile platform, so that the retractable arm retracts to the positions on both sides of the mobile platform; control the second depth camera to turn off, and control the mobile platform to increase the moving speed.

[0055] Specifically, by fusing radar information, first image information, and second image information, a three-dimensional image in front of the retractable robot can be determined, and whether there is an obstacle in the three-dimensional image can be judged. If there is no obstacle, the body can be controlled to retract (specifically, such as the curled-up posture shown in Figure 4 ), turn off the second depth camera, and increase the moving speed of the mobile platform to quickly reach the destination according to the forward path.

[0056] The control method further includes the steps of: Step S600: Control the first drive to rotate the body so that the second depth camera faces backward; Step S700: Obtain the second image information of the second depth camera and the third image information of the third depth camera, and determine the backward path according to the second image information and the third image information; Step S800: Control the mobile platform to move backward according to the backward path.

[0057] Specifically, the retractable robot can also move backward. After controlling the retractable leg to retract, the body remains upright. If backward movement is required, the first drive can be controlled to rotate the body to face backward, then the second depth camera faces backward. Then, fuse the second image information and the third image information, plan the backward path, and finally control the mobile platform to move backward.

[0058] Based on the control method of the deployable robot described in any of the above embodiments, the present invention also provides an embodiment of a computer device.

[0059] The computer device of the present invention includes a memory and a processor. The memory stores a computer program, and when the processor executes the computer program, it implements the steps of the control method described in any of the above embodiments.

[0060] Based on the control method of the deployable robot described in any of the above embodiments, the present invention also provides an embodiment of a computer-readable storage medium.

[0061] The computer-readable storage medium of the present invention stores a computer program thereon, and when the computer program is executed by a processor, it implements the steps of the control method described in any of the above embodiments.

[0062] It should be understood that the application of the present invention is not limited to the above examples. For those of ordinary skill in the art, improvements or transformations can be made according to the above description, and all such improvements and transformations should fall within the protection scope of the appended claims of the present invention.

Claims

1. A deployable robot, characterized in that, Comprising: A body; Two expandable arms, movably arranged on the body; One expandable leg, the upper end of the expandable leg is movably arranged on the body; A mobile platform, the rear end of the mobile platform is rotatably connected to the lower end of the expandable leg; Wherein, the expandable leg and the body can be retracted to the corresponding position in the middle of the mobile platform; The expandable arms can be retracted to the positions on both sides of the mobile platform and the front position of the body.

2. The retractable robot according to claim 1, wherein, The mobile platform includes: A first housing; A mobile driver, located inside the first housing; Mobile wheels, connected to the mobile driver; A radar and a first depth camera, both arranged on the front side of the first housing.

3. The retractable robot according to claim 2, wherein The body includes: A second housing; A first bracket, located inside the second housing; A first driver, arranged on the first bracket; A second bracket, connected to the output shaft of the first driver; A second driver, arranged on the second bracket; A second depth camera, arranged on the front side of the second housing; Wherein, the second depth camera is arranged to incline downward; The expandable leg includes: A first left plate and a first right plate; A third driver, arranged between the upper ends of the first left plate and the first right plate; A fourth driver, arranged between the lower ends of the first left plate and the first right plate; A second left plate, the two ends of which are respectively connected to the output shaft of the second driver and the output shaft of the third driver; A second right plate, the two ends of which are respectively connected to the second driver and the third driver; Wherein, the output shaft of the fourth driver is connected to the mobile platform; Both the first left plate and the second right plate are located between the second left plate and the second right plate.

4. The retractable robot according to claim 3, wherein, The mobile platform further includes: A third depth camera, arranged on the rear side of the first housing.

5. The retractable robot according to claim 3, characterized in that, The retractable robot further includes: A head, movably arranged on the first bracket; The expandable arm includes: A large arm, movably connected to the first bracket; A small arm, movably connected to the large arm; A palm, movably connected to the large arm.

6. A control method for a deployable robot according to any one of claims 1 to 5, characterized in that, The control method includes: Controlling the expandable arms to retract to the front position of the body; Controlling the expandable leg to retract to the corresponding position in the middle of the mobile platform; Obtaining the radar information of the radar, the first image information of the first depth camera and the second image information of the second depth camera, and determining the forward path according to the radar information, the first image information and the second image information; Controlling the mobile platform to move forward according to the forward path.

7. The control method of the deployable robot according to claim 6, wherein The control method includes: When there is no obstacle in front of the retractable robot, controlling the body to retract to the corresponding position in the middle of the mobile platform, so that the expandable arms retract to the positions on both sides of the mobile platform; controlling the second depth camera to turn off, and controlling the mobile platform to increase the moving speed.

8. The control method of the deployable robot according to claim 6, characterized in that, After controlling the expandable leg to retract to the corresponding position in the middle of the mobile platform, the control method further includes: Controlling the first driver to rotate the body, so that the second depth camera faces backward; Obtaining the second image information of the second depth camera and the third image information of the third depth camera, and determining the backward path according to the second image information and the third image information; Control the mobile station to move backward according to the backward path.

9. A computer device, comprising a memory and a processor, the memory storing a computer program, characterized in that, When the processor executes the computer program, the steps of the control method according to any one of claims 6 to 8 are implemented.

10. A computer-readable storage medium having a computer program stored thereon, characterized in that, When the computer program is executed by a processor, the steps of the control method according to any one of claims 6 to 8 are implemented.

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