Expandable robot and control method thereof, computer device and readable storage medium

Abstract

The present invention discloses a retractable robot and its control method, computer device, and readable storage medium. The retractable robot includes: a body; two retractable arms movably mounted on the body; a retractable leg, the upper end of which is movably mounted on the body; a mobile platform, the rear end of which is rotatably connected to the lower end of the retractable leg; the retractable leg and the body can be retracted to positions corresponding to the middle of the mobile platform; and the retractable arms can be retracted to positions on both sides of the mobile platform and in front of the body. By retracting the retractable legs and arms, the entire retractable robot assumes a crouched posture, which not only lowers and moves the center of gravity forward but also reduces wind resistance, facilitating rapid and stable movement of the retractable robot.

Description

Technical Field

[0001] The present invention relates to the field of robots, and in particular to a retractable robot and a control method thereof, a computer device, and a readable storage medium. Background Art

[0002] With the development of robotics, dual-arm robots can now perform some tasks. These robots mimic human posture and movements, hoping to replace some manual labor. Some tasks require robots to move a considerable distance, and their stability and speed are crucial for completing these tasks.

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

[0004] Therefore, the existing technology 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 retractable robot and its control method, computer equipment and readable storage medium in response to the above-mentioned defects of the prior art, aiming to solve the problem that the robot in the prior art has low movement stability and cannot move quickly.

[0006] The technical solutions adopted by the present invention to solve the technical problems are as follows:

[0007] In a first aspect, the solution of the present invention provides a retractable robot, comprising:

[0008] body;

[0009] two retractable arms movably mounted on the torso;

[0010] a retractable leg, the upper end of the retractable leg being movably disposed on the trunk;

[0011] A movable platform, the rear end of which is rotatably connected to the lower end of the retractable leg;

[0012] wherein the retractable legs and the torso can be retracted to a position corresponding to the middle of the moving platform;

[0013] The retractable arms can be retracted to positions on both sides of the moving platform and in front of the body.

[0014] In other embodiments of the present invention, the mobile station includes:

[0015] a first shell;

[0016] A mobile driver, located in the first housing;

[0017] A moving wheel connected to the moving driver;

[0018] The radar and the first depth camera are both arranged on the front side of the first shell.

[0019] In other embodiments of the present invention, the body comprises:

[0020] a second shell;

[0021] a first bracket, located in the second shell;

[0022] a first driver, disposed on the first bracket;

[0023] a second bracket connected to the output shaft of the first driver;

[0024] a second driver, disposed on the second bracket;

[0025] a second depth camera, disposed on the front side of the second housing;

[0026] Wherein, the second depth camera is arranged to face downward in an inclined manner;

[0027] The retractable legs include:

[0028] a first left side panel and a first right side panel;

[0029] a third driver, disposed between an upper end of the first left plate and an upper end of the first right plate;

[0030] a fourth driver, disposed between a lower end of the first left plate and a lower end of the first right plate;

[0031] a second left side plate, two ends of which are respectively connected to the output shaft of the second driver and the output shaft of the third driver;

[0032] a second right side plate, two ends of which are respectively connected to the second driver and the third driver;

[0033] wherein the output shaft of the fourth driver is connected to the moving platform;

[0034] The first left side plate and the second right side plate are both located between the second left side plate and the second right side plate.

[0035] In other embodiments of the present invention, the mobile station further includes:

[0036] The third depth camera is arranged on the rear side of the first shell.

[0037] In other embodiments of the present invention, the retractable robot further comprises:

[0038] a head, movably disposed on the first bracket;

[0039] The retractable arm comprises:

[0040] A large arm movably connected to the first bracket;

[0041] A small arm movably connected to the large arm;

[0042] The palm is movably connected to the upper arm.

[0043] In a second aspect, the present invention provides a control method for a retractable robot as described in any one of the above, comprising:

[0044] Control the extension of the arms to the front of the body.

[0045] Control the retractable legs to retract to the corresponding position in the middle of the moving platform;

[0046] Obtain radar information from a radar, first image information from a first depth camera, and second image information from a second depth camera, and determine a forward path based on the radar information, the first image information, and the second image information;

[0047] According to the forward path, the mobile station is controlled to move forward.

[0048] In other embodiments of the present invention, the control method includes:

[0049] When there is no obstacle in front of the retractable robot, the body is controlled to retract to a position corresponding to the middle of the mobile platform, so that the retractable arms are retracted to positions on both sides of the mobile platform; the second depth camera is controlled to be turned off, and the mobile platform is controlled to increase the moving speed.

[0050] In other embodiments of the present invention, after controlling the retractable legs to be retracted to a position corresponding to the middle of the mobile platform, the control method further includes:

[0051] controlling the first driver to rotate the body so that the second depth camera faces backward;

[0052] Acquire second image information from the second depth camera and third image information from the third depth camera, and determine a backward path based on the second image information and the third image information;

[0053] According to the reverse path, the mobile station is controlled to move backward.

[0054] In a third aspect, a solution of the present invention provides a computer device comprising a memory and a processor, wherein the memory stores a computer program, wherein the processor implements the steps of any of the control methods described above when executing the computer program.

[0055] In a fourth aspect, a solution of the present invention provides a computer-readable storage medium having a computer program stored thereon, wherein the computer program, when executed by a processor, implements the steps of the control method as described in any one of the above items.

[0056] Beneficial effect: By retracting the retractable legs and arms, the entire retractable robot presents a curled-up posture, which not only lowers and moves the center of gravity forward, but also reduces wind resistance, which is conducive to the rapid and stable movement of the retractable robot. BRIEF DESCRIPTION OF THE DRAWINGS

[0057] Figure 1 2 is a front view of the retractable robot in an embodiment of the present invention.

[0058] Figure 2 yes Figure 1 A-axis sectional view.

[0059] Figure 3 2 is a schematic structural diagram of a retractable robot in a kneeling posture according to an embodiment of the present invention.

[0060] Figure 4 2 is a schematic structural diagram of a retractable robot in a curled-up position according to an embodiment of the present invention.

[0061] Figure 5 2 is a side view of the retractable robot according to an embodiment of the present invention.

[0062] Figure 6 yes Figure 5 Middle B-direction sectional view.

[0063] Figure 7 It is a schematic diagram of the internal structure of the retractable and extendable arm in an embodiment of the present invention.

[0064] Figure 8 FIG. 1 is a structural diagram of a mobile station in an embodiment of the present invention.

[0065] Description of reference numerals:

[0066] 10. Body; 11. Second housing; 12. First bracket; 13. First driver; 14. Second bracket; 15. Second driver; 16. Second depth camera;

[0067] 20. Arm retraction and extension; 21. Upper arm; 211. Fifth actuator; 212. Sixth actuator; 213. First horizontal rotation actuator; 214. Forward and backward rotation actuator; 22. Lower arm; 221. Second horizontal rotation actuator; 222. Left and right rotation actuator; 23. Palm;

[0068] 30. Retractable leg; 31. First left side panel; 32. First right side panel; 33. Third actuator; 34. Fourth actuator; 35. Second left side panel; 36. Second right side panel;

[0069] 40. Mobile platform; 41. First housing; 411. Side-by-side wedge structure; 42. Mobile wheel; 43. Radar; 44. First depth camera; 45. Third depth camera;

[0070] 50. Head. DETAILED DESCRIPTION

[0071] In order to make the purpose, technical solutions and advantages of the present invention more clear and distinct, the present invention is further described in detail below with reference to the accompanying drawings and examples. It should be understood that the specific embodiments described herein are only used to explain the present invention and are not intended to limit the present invention.

[0072] Please also see Figures 1-8 , the present invention provides some embodiments of a retractable robot.

[0073] like Figure 1 As shown, the retractable robot of the present invention comprises:

[0074] body 10;

[0075] Two retractable arms 20 movably disposed on the torso 10;

[0076] a retractable leg 30, the upper end of the retractable leg 30 being movably disposed on the body 10;

[0077] a movable platform 40, wherein the rear end of the movable platform 40 is rotatably connected to the lower end of the retractable leg 30;

[0078] The retractable legs 30 and the body 10 can be retracted to positions corresponding to the middle of the movable platform 40 ; the retractable arms 20 can be retracted to positions on both sides of the movable platform 40 and in front of the body 10 .

[0079] Specifically, the torso 10 refers to the structure of a humanoid excluding the limbs and head 50. The torso 10 is shaped like a humanoid torso 10, specifically an inverted trapezoid. The retractable arms 20 can be folded and unfolded, and the retractable arms 20 fold and unfold by horizontal rotation and bending rotation. There are two retractable arms 20, namely the retractable left arm and the retractable right arm. The retractable legs 30 can be folded and unfolded, and the retractable legs 30 fold and unfold by bending rotation. The movable platform 40 can move, thereby realizing the movement of the retractable robot, specifically, the retractable robot can move in the forward and backward direction and turn left and right.

[0080] When the retractable legs 30 are controlled to be retracted, the retractable legs 30 and the body 10 are retracted to the corresponding position in the middle of the mobile platform 40; when the retractable arms 20 are controlled to be retracted, the retractable arms 20 can be retracted to the positions on both sides of the mobile platform 40 and in front of the body 10. After the retractable legs 30 and the retractable arms 20 are retracted, the entire retractable robot is in a curled-up position (such as Figure 4 As shown in the figure), it can not only lower and move the center of gravity forward, but also reduce the wind resistance, which is conducive to the rapid and stable movement of the deployable robot.

[0081] In a preferred implementation of the embodiment of the present invention, Figure 2 and Figure 8 As shown, the mobile station 40 includes:

[0082] First housing 41;

[0083] A mobile driver, located in the first housing 41;

[0084] A moving wheel 42 connected to the moving driver;

[0085] The radar 43 and the first depth camera 44 are both disposed on the front side of the first housing 41 .

[0086] 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, thereby improving the mobility stability of the retractable robot. The side-by-side wedge structure 411 comprises two wedge structures, each with a larger end and a smaller end. The smaller end of the side-by-side wedge structure 411 faces forward, while the larger end faces backward. A mobile actuator is configured to drive the mobile wheels 42. There are at least two mobile actuators and at least three mobile wheels 42. For example, two mobile actuators may be connected to corresponding mobile wheels 42. When the two mobile actuators drive the corresponding mobile wheels 42 to rotate synchronously, the retractable robot can move forward or backward. When the two mobile actuators drive the corresponding mobile wheels 42 to rotate asynchronously, the retractable robot can turn. A radar 43 is located on the front side of the mobile platform 40 and transmits and receives radar 43 signals in front of the mobile platform 40. A first depth camera 44 is located on the front side of the mobile platform 40 and captures 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 condition in the space in front of the retractable robot is sensed so that the retractable robot can move forward without being damaged.

[0087] In a preferred implementation of the embodiment of the present invention, Figure 2 As shown, the body 10 includes:

[0088] a second housing 11;

[0089] A first bracket 12 is located in the second shell 11;

[0090] A first driver 13, provided on the first bracket 12;

[0091] A second bracket 14 connected to the output shaft of the first driver 13;

[0092] A second driver 15 is provided on the second bracket 14;

[0093] A second depth camera 16 is provided on the front side of the second housing 11;

[0094] The second depth camera 16 is disposed tilted downward.

[0095] Specifically, a first bracket 12 is mounted within the second housing 11, and a first actuator 13 is mounted on the first bracket 12. The first actuator 13 is configured to drive the second bracket 14 to rotate horizontally. A second actuator 15 is mounted on the second bracket 14. The second actuator 15 is configured to drive the retractable legs 30 to bend and rotate forward and backward. A second depth camera 16 is located on the front side of the second housing 11 and captures second image information from the front and lower sides of the body 10. This second image information supplements the perception of the road conditions in the space in front of the retractable robot, achieving a more comprehensive perception.

[0096] In a preferred implementation of the embodiment of the present invention, Figure 5-Figure 6 As shown, the retractable legs 30 include:

[0097] a first left side plate 31 and a first right side plate 32;

[0098] a third driver 33 disposed between the upper end of the first left plate 31 and the upper end of the first right plate 32;

[0099] a fourth driver 34 disposed between the lower end of the first left plate 31 and the lower end of the first right plate 32;

[0100] A second left side plate 35 , two ends of which are connected to the output shaft of the second driver 15 and the output shaft of the third driver 33 respectively;

[0101] A second right side plate 36 , two ends of which are connected to the second driver 15 and the third driver 33 respectively;

[0102] The output shaft of the fourth driver 34 is connected to the moving platform 40 ; the first left side plate 31 and the second right side plate 36 are both located between the second left side plate 35 and the second right side plate 36 .

[0103] Specifically, the second driver 15 drives the second left side panel 35 and the second right side panel 36 to bend and rotate in the front-to-back direction relative to the body 10. The third driver 33 drives the first left side panel 31 to bend and rotate in the front-to-back direction relative to the second left side panel 35, and drives the first right side panel 32 to bend and rotate in the front-to-back direction relative to the second right side panel 36. The fourth driver 34 drives the first left side panel 31 and the first right side panel 32 to bend and rotate in the front-to-back direction relative to the movable platform 40. The retractable leg 30 is retracted and extended through the cooperation of the second driver 15, the third driver 33, and the fourth driver 34.

[0104] In a preferred implementation of the embodiment of the present invention, Figure 2 As shown, the mobile station 40 further includes:

[0105] The third depth camera 45 is disposed on the rear side of the first housing 41 .

[0106] Specifically, a third depth camera 45 is disposed on the rear side of the first housing 41. The third depth camera 45 is located behind the mobile platform 40 and captures third image information from behind the mobile platform 40. The first actuator 13 can horizontally rotate the body 10 so that the second depth camera 16 faces rearward and downward. The coordination of the second and third image information allows the robot to perceive the road conditions behind the retractable robot, allowing the robot to move backward without damage.

[0107] In a preferred implementation of the embodiment of the present invention, Figure 1 、 Figure 2 、 Figure 5 and Figure 6 As shown, the retractable robot further includes:

[0108] The head 50 is movably disposed on the first bracket 12 .

[0109] Specifically, the head 50 rotates relative to the first bracket 12 , specifically, it can rotate left and right and up and down.

[0110] In a preferred implementation of the embodiment of the present invention, Figure 5-Figure 6 As shown, the retractable arm 20 includes:

[0111] The upper arm 21 is movably connected to the first bracket 12;

[0112] A small arm 22, movably connected to the large arm 21;

[0113] The palm 23 is movably connected to the upper arm 21 .

[0114] Specifically, the upper arm 21 can bend and rotate in the front-to-back direction and in the left-to-right direction relative to the torso 10. The lower arm 22 can rotate horizontally and bend and rotate in the front-to-back direction relative to the upper arm 21. The palm 23 can rotate horizontally and bend and rotate in the left-to-right direction relative to the lower arm 22. The fingers of the palm 23 can be retracted and extended.

[0115] In a preferred implementation of the embodiment of the present invention, Figure 5 and Figure 7 As shown, the upper 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 lower 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 torso 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.

[0116] Specifically, the fifth actuator 211 and the sixth actuator 212 respectively enable the upper arm 21 to bend and rotate in the front-to-back direction and the left-to-right direction. The first horizontal rotation actuator 213 enables horizontal rotation of the lower arm 22. The front-to-back rotation actuator 214 enables the lower arm 22 to bend and rotate in the front-to-back direction. The second horizontal rotation actuator 221 enables horizontal rotation of the palm 23. The left-to-right rotation actuator 222 enables the palm 23 to bend and rotate in the left-to-right direction.

[0117] Based on the retractable robot described in any one of the above embodiments, the present invention also provides a preferred embodiment of a control method for the retractable robot.

[0118] The control method of the expandable robot according to the embodiment of the present invention comprises the following steps:

[0119] Step S100, controlling the arms to be retracted and extended to the front of the body;

[0120] Step S200, controlling the retractable legs to retract to a position corresponding to the middle of the mobile platform;

[0121] Step S300: obtaining radar information from a radar, first image information from a first depth camera, and second image information from a second depth camera, and determining a forward path based on the radar information, the first image information, and the second image information;

[0122] Step S400: Control the mobile station to move forward according to the forward path.

[0123] Specifically, when folding the retractable robot, first fold the retractable arms to the front of the body, then fold the retractable legs to the middle position of the mobile platform, and finally fold the body to the corresponding position in the middle of the mobile platform, and the retractable arms will also be folded to the sides of the mobile platform.

[0124] Step S100 specifically includes:

[0125] Step S110: Control the forward and backward rotation driver to drive the forearm to bend forward and rotate to the sides of the body;

[0126] Step S120: Control the first horizontal rotation driver to drive the forearm to rotate horizontally to the front position of the torso.

[0127] Specifically, by controlling the front and rear rotation driver and the first horizontal rotation driver, the forearm can be tilted from the side of the torso to the front of the torso, so that the palm is located in the front of the torso.

[0128] Step S100 further includes:

[0129] Step S130, controlling the hand to make a fist;

[0130] Step S140: Control the second horizontal rotation driver to rotate the palm to a position where the palm faces upward;

[0131] Step S150: Control the left and right rotation driver to drive the palm to rotate toward the torso.

[0132] Specifically, the folded state of the arms can be further adjusted to bring the palms together.

[0133] Step S200 specifically includes:

[0134] Step S210, control the second driver, the third driver and the fourth driver to drive the calf to bend and rotate forward and the thigh to bend and rotate backward; wherein, the angle at which the third driver drives the thigh to bend and rotate 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 and rotate forward.

[0135] Specifically, the second driver, the third driver, and the fourth driver are driven simultaneously. The second driver drives the thigh to bend and rotate forward relative to the torso, the third driver drives the thigh to bend and rotate backward relative to the calf, and the fourth driver drives the calf to bend and rotate forward. Then, the second driver moves downward, and the third driver moves forward, and the folded legs are folded. 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 bend forward and the angle at which the fourth driver drives the calf to bend forward. Then, the folded legs are folded, but the torso does not fold. The torso remains upright, and the center of gravity of the torso steadily drops, but does not move forward (as shown in the following example). Figure 3 The fourth driver drives the calf to bend forward at an angle of 90°, and the second driver drives the thigh to bend forward at an angle less than 90°.

[0136] The control method further comprises the steps of:

[0137] Step S500: When there is no obstacle in front of the retractable robot, the body is controlled to retract to a position corresponding to the middle of the mobile platform, so that the retractable arms are retracted to positions on both sides of the mobile platform; the second depth camera is controlled to be turned off, and the mobile platform is controlled to increase the moving speed.

[0138] 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 it can be judged whether there is an obstacle in the three-dimensional image. If there is no obstacle, the body can be controlled to retract (specifically, Figure 4 The second depth camera is turned off, and the moving speed of the mobile platform is increased to quickly reach the destination along the forward path.

[0139] The control method further comprises the steps of:

[0140] Step S600: Control the first driver to rotate the body so that the second depth camera faces backward;

[0141] Step S700: obtaining second image information from the second depth camera and third image information from the third depth camera, and determining a backward path based on the second image information and the third image information;

[0142] Step S800: Control the mobile station to move backward according to the backward path.

[0143] Specifically, the retractable robot can also move backward. After controlling the retractable legs to retract, the torso remains upright. To move backward, the first actuator can be controlled to rotate the torso to face backward, and the second depth camera can be directed backward. The second and third images are then combined to plan a backward path, and the mobile platform is controlled to move backward.

[0144] Based on the control method of the retractable robot described in any one of the above embodiments, the present invention also provides an embodiment of a computer device.

[0145] The computer device of the present invention includes a memory and a processor, wherein the memory stores a computer program, and the processor implements the steps of the control method described in any one of the above embodiments when executing the computer program.

[0146] Based on the control method of the retractable robot described in any of the above embodiments, the present invention also provides an embodiment of a computer-readable storage medium.

[0147] The computer-readable storage medium of the present invention stores a computer program thereon, and when the computer program is executed by a processor, the steps of the control method described in any one of the above embodiments are implemented.

[0148] It should be understood that the application of the present invention is not limited to the above examples. For those skilled in the art, improvements or changes can be made based on the above description. All these improvements and changes should fall within the scope of protection of the claims attached to the present invention.

Claims

1. A retractable robot, characterized in that: include: body; two retractable arms movably mounted on the torso; a retractable leg, the upper end of the retractable leg being movably disposed on the trunk; A movable platform, the rear end of which is rotatably connected to the lower end of the retractable leg; wherein the retractable legs and the torso can be retracted to a position corresponding to the middle of the moving platform; The retractable arms can be retracted to positions on both sides of the moving platform and in front of the body; The mobile station comprises: a first shell; A mobile driver, located in the first housing; A moving wheel connected to the moving driver; The radar and the first depth camera are both arranged on the front side of the first housing; The body includes: a second shell; a first bracket, located in the second shell; a first driver, disposed on the first bracket; a second bracket connected to the output shaft of the first driver; a second driver, disposed on the second bracket; a second depth camera, disposed on the front side of the second housing; Wherein, the second depth camera is arranged to face downwards in an inclined manner; The retractable legs include: a first left side panel and a first right side panel; a third driver, disposed between an upper end of the first left plate and an upper end of the first right plate; a fourth driver, disposed between a lower end of the first left plate and a lower end of the first right plate; a second left side plate, 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 side plate, 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 moving platform; The first left side panel and the second right side panel are both located between the second left side panel and the second right side panel; the retractable legs and the retractable arms are retracted so that the center of gravity of the retractable robot is lowered and moved forward and wind resistance is reduced.

2. The retractable robot according to claim 1, characterized in that: The mobile station further comprises: The third depth camera is arranged on the rear side of the first shell.

3. The retractable robot according to claim 1, characterized in that: The retractable robot further comprises: a head, movably disposed on the first bracket; The retractable arm comprises: A large arm movably connected to the first bracket; A small arm movably connected to the large arm; The palm is movably connected to the upper arm.

4. A control method for a retractable robot according to any one of claims 1 to 3, characterized in that: The control method includes: Control the extension of the arms to the front of the body. Control the retractable legs to retract to the corresponding position in the middle of the moving platform; Obtain radar information from a radar, first image information from a first depth camera, and second image information from a second depth camera, and determine a forward path based on the radar information, the first image information, and the second image information; According to the forward path, the mobile station is controlled to move forward.

5. The control method of the expandable robot according to claim 4, characterized in that: The control method includes: When there is no obstacle in front of the retractable robot, the body is controlled to retract to a position corresponding to the middle of the mobile platform, so that the retractable arms are retracted to positions on both sides of the mobile platform; the second depth camera is controlled to be turned off, and the mobile platform is controlled to increase the moving speed.

6. The control method of the expandable robot according to claim 4, characterized in that: After controlling the retractable legs to be retracted to a position corresponding to 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; Acquire second image information from the second depth camera and third image information from the third depth camera, and determine a backward path based on the second image information and the third image information; According to the reverse path, the mobile station is controlled to move backward.

7. A computer device comprising a memory and a processor, wherein the memory stores a computer program, wherein: When the processor executes the computer program, the steps of the control method according to any one of claims 4 to 6 are implemented.

8. 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 4 to 6 are implemented.

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