Multipurpose interactive humanoid robot, system and control method

Abstract

The invention discloses a multi-purpose interactive humanoid robot, a system and a control method.The multi-purpose interactive humanoid robot comprises a robot body provided with a head, a trunk, bionic arms, a waist and legs from top to bottom, a main control device used for controlling the robot body is arranged in the trunk, wrist parts are arranged at the ends of the bionic arms, and the robot body is connected with the robot body. The wrist part is connected with a clamping jaw, the head part, the wrist part and / or the waist part are / is provided with a visual guidance and mechanical action implementation device which is used for scanning and code reading, visual identification, accurate positioning and cooperative grabbing and is connected with the main control device, and the clamping jaw can selectively hold an auxiliary tool matched with the clamping jaw according to an application scene. The multi-purpose interactive humanoid robot can meet the requirements of various industrial scenes and civil scenes at the same time.

Description

Technical Field

[0001] This invention relates to the field of interactive robot technology, and in particular to a multi-purpose interactive humanoid robot, system, and control method. Background Technology

[0002] In modern automobile production and logistics management, the demand for automation and intelligence is growing. While traditional automated equipment has improved production efficiency to some extent, it has limitations in terms of flexibility and versatility. Especially in the production of various models and specifications of new energy vehicle drive systems, the handling and transfer of workpieces in different areas requires high-precision and highly flexible solutions.

[0003] Furthermore, in civilian and commercial scenarios, such as household cabinets and gashapon machines, there is a need for intelligent and engaging interactive methods to enhance user experience and ease of use. Currently, the market lacks a multifunctional humanoid robot application solution that can simultaneously meet the needs of both industrial and civilian scenarios.

[0004] Therefore, it is necessary to design a multi-purpose, interactive humanoid robot that can meet user needs. Summary of the Invention

[0005] This invention provides a multi-purpose interactive humanoid robot that can simultaneously meet the needs of various industrial and civilian scenarios.

[0006] The present invention provides a multi-purpose interactive humanoid robot, comprising a robot body with a head, torso, bionic arm, waist, and legs from top to bottom. The torso contains a main control device for controlling the robot body. The end of the bionic arm has a wrist, and a gripper is connected to the wrist. The head, the wrist, and / or the waist are provided with visual guidance and mechanical action implementation devices connected to the main control device for scanning codes, visual recognition, precise positioning, and collaborative grasping. The gripper can select and hold an auxiliary tool that matches the application scenario.

[0007] In one of the optional technical solutions, the main control device includes a visual recognition module, a real-time mapping and positioning module, a code reading and navigation module, an obstacle avoidance module, a motion capture module, and a communication module.

[0008] In one of the alternative technical solutions, the legs are bipedal or wheeled, and a ball-head guide positioning device for connecting to industrial equipment or commercial and civilian devices is provided at the waist or hip of the robot body.

[0009] In one of the alternative technical solutions, the gripper is an industrial electric servo gripper, the gripper including a connecting flange for connecting to the bionic arm, a servo guide rail, a flat block connected to the servo guide rail, and flat-mouth gripping fingers connected to the flat block; The auxiliary tool includes a material receiving port, a material storage space, and a gripping handle that matches the flat-mouthed finger gripper, arranged sequentially from top to bottom.

[0010] The present invention provides a system comprising an overall scheduling device, a plurality of multi-purpose interactive humanoid robots as described above that are communicatively connected to the overall scheduling device, and a plurality of work areas, wherein the overall scheduling device performs unified management and task scheduling of the multi-purpose interactive humanoid robots and the equipment in the work areas.

[0011] In one of the alternative technical solutions, the multi-purpose interactive humanoid robot is provided with a ball-head guiding and positioning mechanical device, and the working area is provided with a limiting groove and a connecting device that match the ball-head guiding and positioning mechanical device.

[0012] The present invention provides a control method for any of the aforementioned systems, comprising: The multi-purpose interactive humanoid robot is controlled by the overall scheduling device and the main control device to cruise to the target location; Lock the multi-purpose, interactive humanoid robot to the target location; The target workpiece or equipment is precisely positioned by visual guidance and mechanical motion implementation devices set in the head, wrist and / or waist of the robot body. Drive the bionic arm and gripper to perform corresponding gripping or operation on the target workpiece or equipment; Unlock the multi-purpose interactive humanoid robot; The multi-purpose interactive humanoid robot is controlled by an overall scheduling device to move and transport workpieces or items to the next process or designated location.

[0013] In one of the optional technical solutions, locking the multi-purpose interactive humanoid robot at the target position specifically involves: controlling the ball-head guiding and positioning mechanical device to cooperate with the limiting groove of the target device at the target position through the main control device to achieve structural anchoring; The unlocking of the multi-purpose interactive humanoid robot specifically involves releasing the ball-head guide positioning mechanism from the limiting groove by issuing a body movement through the main control device, thereby unlocking the multi-purpose interactive humanoid robot from the target device at the target location.

[0014] In one of the alternative technical solutions, the precise positioning of the target workpiece or equipment via the visual guidance and mechanical motion execution device located at the head, wrist, and / or waist of the robot body includes: The main control device calls upon the compensation information of the center point of the end effector of the robot body under external vision guidance for positioning; The robot body uses visual guidance and mechanical motion implementation devices in its head, wrist and / or waist to take one or more photos of the workpiece and combine them, and then uses deep learning neural networks or template matching to generate displacement values ​​from the photos. The compensation program calls six-dimensional attitude estimation compensation information, two-dimensional plane and vertical offset compensation information, and stacking height compensation information as needed, and combines them with displacement values ​​to perform positioning compensation, thereby achieving precise positioning of the workpiece.

[0015] In one of the alternative technical solutions, joint space planning or Cartesian space planning is used in the motion trajectory of the bionic arm to ensure that the two bionic arms can execute synchronously and avoid posture deviation.

[0016] The above technical solution has the following beneficial effects: The multi-purpose interactive humanoid robot provided by this invention has the advantages of versatility, high precision, and high flexibility. By incorporating a main control device and visual guidance and mechanical motion execution devices, it can achieve high-precision navigation, accurate positioning, and safe obstacle avoidance, enabling efficient operation in complex industrial environments and civilian scenarios. The bionic arm and replaceable grippers, combined with various auxiliary tools, can meet diverse working conditions, flexibly completing tasks such as workpiece grasping and equipment interaction, significantly improving the level of automation and user experience. Attached Figure Description

[0017] The disclosure of this invention will become more readily understood by referring to the accompanying drawings. It should be understood that these drawings are for illustrative purposes only and are not intended to limit the scope of protection of this invention. In the drawings: Figure 1 A front view of a multi-purpose interactive humanoid robot provided in an embodiment of the present invention; Figure 2 This is a top view of a multi-purpose interactive humanoid robot provided in an embodiment of the present invention; Figure 3 This is a first working state diagram of a multi-purpose interactive humanoid robot provided in an embodiment of the present invention; Figure 4 This is a second working state diagram of a multi-purpose interactive humanoid robot provided in an embodiment of the present invention; Figure 5 A perspective view of a gripper provided in an embodiment of the present invention; Figure 6This is a schematic diagram of the structure of an auxiliary tool provided in an embodiment of the present invention; Figure 7 This is a schematic diagram of the connection between the gripper and the auxiliary tool according to an embodiment of the present invention; Figure 8 This is a flowchart of a control method provided in an embodiment of the present invention.

[0018] Figure reference numerals: 1. Robot body; 11. Head; 12. Torso; 13. Bionic arm; 14. Waist; 15. Legs; 16. Wrist; 17. Ball-head guide positioning mechanism; 2. Clamping jaws; 21. Connecting flange; 22. Flat block; 23. Flat-mouth clamping fingers; 3. Auxiliary tools; 31. Material receiving port; 32. Material storage space; 33. Grip handle; 4. Target equipment; 41. Limiting groove; 42. Connecting device. Detailed Implementation

[0019] The specific embodiments of the present invention will be further described below with reference to the accompanying drawings.

[0020] like Figure 1-7 As shown, a multi-purpose interactive humanoid robot provided in an embodiment of the present invention includes a robot body 1 consisting of a head 11, a torso 12, a bionic arm 13, a waist 14, and legs 15 from top to bottom. The torso 12 is provided with a main control device for controlling the robot body 1. The end of the bionic arm 13 is provided with a wrist 16, and a gripper 2 is connected to the wrist 16. The head 11, wrist 16, and / or waist 14 are provided with visual guidance and mechanical action implementation devices connected to the main control device for scanning codes, visual recognition, precise positioning, and collaborative grasping. The gripper 2 can select to hold an auxiliary tool 3 that matches it according to the application scenario.

[0021] In this embodiment, the robot body 1 can adopt a bipedal or wheeled structure. Bipedal robots can walk in complex environments by mimicking human gait, while wheeled robots are suitable for flat environments such as workshops to improve movement speed and stability. The robot is equipped with a real-time mapping and localization system and a QR code reading and navigation system, enabling autonomous navigation in unknown environments using SLAM technology. Simultaneously, it can correct the navigation path in real time by recognizing QR code information on the ground or equipment.

[0022] The visual guidance and mechanical action implementation device can be any industrial machine vision and video processing equipment applicable to this invention in the prior art. This technology is relatively mature and therefore is not specifically indicated in the accompanying drawings.

[0023] The robot is also equipped with an obstacle avoidance system, using lidar, cameras, and ultrasonic sensors to detect obstacles and nearby personnel, stopping its movement when necessary to ensure safe human-robot interaction. Visual recognition devices in the head 11, wrists 16, and waist 14 identify and locate target workpieces or equipment through image acquisition and processing, and generate displacement compensation values ​​using deep learning neural networks or template matching. The bionic arm 13 employs a multi-joint structure, enabling trajectory planning in joint space and Cartesian space, ensuring synchronized movements during collaborative grasping.

[0024] Preferably, the gripper 2 is an industrial electric servo gripper 2, which supports precise control of opening and closing stroke, speed and force, and can be used in conjunction with auxiliary tools 3 such as receiving port 31, storage space 32 and gripping handle 33, so as to achieve stable interaction of industrial and commercial items such as tooling racks, shaking machines, cabinets, and gashapon machines.

[0025] The robot body has the ability to navigate and move autonomously, lift, tilt and rotate its torso 12 times, and work synchronously or independently with its two arms. It can navigate freely in a preset environment, execute trajectory programs for all parts of its body, and complete the task in combination with visual guidance.

[0026] The robot employs wireless communication and is equipped with conversion boards and industrial protocols for real-time communication across the entire system. One or more ball-headed guide positioning non-powered mechanical devices are installed at the robot's waist, hips, or at one side, both sides, or around the entire body to ensure relatively accurate overall positioning and suppress body swaying and upper body drift during operation. Through minor lifting, pitching, and rotating movements of the humanoid robot body, and a spherical mechanism with a protruding guide pin and a certain fitting clearance, the guide pin achieves guided connection and fixation with the surrounding structures of industrial equipment and commercial / civilian appliances, and unlocks the devices without requiring additional external power.

[0027] In summary, the multi-purpose interactive humanoid robot provided by this invention has the advantages of versatility, high precision, and high flexibility. By incorporating a main control device and visual guidance and mechanical motion execution devices, it can achieve high-precision navigation, accurate positioning, and safe obstacle avoidance, enabling efficient operation in complex industrial environments and civilian scenarios. The bionic arm 13 and replaceable grippers 2, combined with various auxiliary tools 3, can meet various working conditions, flexibly completing tasks such as workpiece grasping and equipment interaction, significantly improving the level of automation and user experience.

[0028] In one embodiment, the main control device includes a visual recognition module, a real-time mapping and positioning module, a code reading and navigation module, an obstacle avoidance module, a motion capture module, and a communication module.

[0029] The visual recognition module processes the image information acquired by the visual guidance and mechanical motion implementation device to identify the target workpiece or equipment; the real-time mapping and localization module uses SLAM technology to build an environmental map in real time and determine the robot's position; the code reading and navigation module corrects the path by recognizing QR codes on the ground or equipment; the obstacle avoidance module uses sensors such as lidar, ultrasonic waves or cameras to detect obstacles and adjust the walking path; the motion grasping module controls the motion trajectory of the bionic arm 13 and coordinates the two arms and gripper 2 to work together; the communication module realizes information interaction and task command transmission between the robot and the scheduling system, industrial equipment or home terminal.

[0030] In this embodiment, the main control device can call different modules according to the production task to realize multi-task collaboration of the robot in industrial production, automotive drive system manufacturing and civilian and commercial scenarios.

[0031] The visual recognition module, combined with external or internal camera data, can access six-dimensional pose estimation compensation, two-dimensional plane and vertical offset compensation, and stacking height compensation information to ensure precise alignment of the robot's end effector.

[0032] The real-time mapping and positioning module works in conjunction with the QR code navigation module to improve the accuracy and flexibility of robot navigation and workstation switching.

[0033] The obstacle avoidance module detects the surrounding environment in real time and combines it with path planning to achieve safe operation in the presence of humans and machines.

[0034] The motion grasping module supports simultaneous programming of both arms, avoiding posture deviation when performing two-handed operation tasks such as knobs, switches, and handles.

[0035] The communication module maintains a real-time connection with the overall scheduling system wirelessly and can communicate with industrial controllers or home computers to upload the robot's operating status and receive scheduling instructions.

[0036] The humanoid robot's control equipment allows for wired or wireless remote operation, control, and program invocation. The motion grasping module controls the motion and grasping system of the bionic arm 13, including: Declare a target object for motion planning, i.e. the physical position of the endpoint to be reached in the next step, and call the trajectory generator to generate a smooth time-angle curve for each joint independently; declare a joint group object and encapsulate it in a structure to set and store the rotational positions of the servo motors of each joint from the shoulder to the wrist of the left and right arms, as well as the rise, fall, pitch and roll positions of the 14 joints of the robot's waist.

[0037] Declare the motion type, such as joint space or Cartesian space, and check whether each axis is approaching the limit position in the positive and negative directions. When moving in a straight line in Cartesian space, the planner needs to avoid joints entering singular points or having no solution.

[0038] Call the spatial digital model of the current gripper 2 hardware of the humanoid robot and the center point number and spatial information of the end effector. This is used to avoid collisions between the arm body and the left and right end effectors when the two arms are running synchronously. When a collision is detected, small transition points are added to each axis in reverse order from the end of the arm to the shoulder in the joint space rotation trajectory to avoid collision. When moving in a straight line, the program stops before the collision and is interrupted.

[0039] Declare the movement speed to ensure the desired linear or rotational movement speed of both arms as a whole. For applications where both hands must operate synchronously, if speed lag occurs due to mechanical errors or slow responses of individual joints, prioritize limiting the speed of other joints as needed to maintain the synchronous movement of both arms and the end effector, and avoid the risks caused by asynchrony.

[0040] The system calls upon external vision-guided positioning to compensate for the center point of the robot's end effector. It also calls upon 6DEOP six-dimensional pose estimation, 2D and 2.5D planar offset and stacking height compensation information as needed. The compensation information can come from single or multiple images of the workpiece taken by the hand camera, head camera, or externally fixed third-party camera, and the displacement values ​​generated by deep learning neural networks or template matching.

[0041] In one embodiment, the legs 15 are bipedal or wheeled, and a ball-head guide positioning mechanism 17 for connecting to industrial equipment or commercial and civilian devices is provided on the waist 14 or hip of the robot body 1.

[0042] The legs 15 of the robot body 1 can be bipedal or wheeled to adapt to the needs of different application scenarios. A ball-head guide positioning mechanism 17 is provided at the waist 14 or hip of the robot body 1. This mechanism consists of a guide component with a spherical front end and a connecting mechanism that cooperates with it. When the robot approaches the target device 4 or equipment, it can engage with the limiting groove 41 provided on the target device 4 or equipment.

[0043] The robot's waist 14 can be configured as a liftable structure. Through a small amount of lifting, pitching, or rotating movements of the ball-head guiding and positioning mechanism 17, the sphere is inserted into the limiting groove 41, thereby achieving overall anchoring. After the task is completed, the robot performs a small movement opposite to the locking direction to disengage the ball head 11 from the limiting groove 41, thereby unlocking and leaving the target device 4.

[0044] In this embodiment, the ball-head guiding and positioning mechanism 17 can complete structural locking and unlocking without relying on additional energy. Its ball head 11 is spherical and avoids sharp edges to ensure safety when the robot collaborates with the operator. The robot can insert and remove the ball head by raising and lowering its waist 14, slightly rotating its upper body, or slightly squatting with its feet, reducing energy consumption for chassis adjustments. The limiting groove 41 structure at the industrial equipment or commercial equipment end can be equipped with damping or elastic elements as needed to coordinate with the humanoid robot's movements when approaching or disengaging.

[0045] The ball-head guiding and positioning mechanism 17 can reduce the impact of navigation and positioning errors, achieve overall anchoring without relying on visual guidance, and improve the stability of dual-arm trajectory operation. The ball head of the ball-head guiding and positioning mechanism 17 itself is ensured to have no sharp edges, avoiding potential safety hazards in collaborative operation.

[0046] Meanwhile, the material and weight of this device are limited to avoid insufficient strength or interference with motion control. The guide groove mechanism corresponding to the industrial equipment and commercial instruments operated by the robot can be equipped with a damping-controlled elastic device as needed, facilitating the humanoid robot's approach, locking, unlocking, and departure. If necessary, a simple unlocking and fixing device can also be added to the humanoid robot side for control by the robot's own bionic arm 13 or internal wiring.

[0047] In one embodiment, the gripper 2 is an industrial electric servo gripper 2, which includes a connecting flange 21 for connecting to the bionic arm 13, a servo guide rail, a flat block 22 connected to the servo guide rail, and flat gripping fingers 23 connected to the flat block 22. The auxiliary tool 3 includes a receiving port 31, a storage space 32, and a gripping handle 33 that matches the flat gripping fingers 23, arranged sequentially from top to bottom.

[0048] By incorporating a gripper handle 33, the robot achieves stable clamping and material storage in industrial and commercial goods handling. When performing tasks, the robot can select different auxiliary tools 3 based on the shape and weight of the workpiece or item, and achieve precise control of the gripper 2's opening, closing, force application, and position through servo control.

[0049] In this embodiment, the servo gripper 2 can be programmed to set the opening and closing stroke percentage, speed, and applied force, and can be controlled in a closed loop in conjunction with an external service node. During the debugging phase, cross-process remote communication can be used to call the gripper 2 opening and closing parameters. After formal deployment, the gripper 2 server node is called through the service / action mode of robot operating systems such as ROS2 to realize the detection and feedback of opening and closing positions.

[0050] For the specially designed auxiliary tool 3, the gripper 2 automatically applies force according to the width of the tool's grip and the weight of the goods, keeping it constantly closed unless an opening command is received to prevent accidental slippage of materials. The robot unloads the goods through wrist joint rotation and gravity, and then returns the auxiliary tool 3 to its tooling position after unloading.

[0051] The control steps for the industrial electric servo gripper 2 include: During the debugging phase, cross-process remote communication calls are used to encapsulate data with the underlying hardware controller. Specific parameters such as the gripper 2's opening / closing mode, opening / closing stroke percentage, opening / closing speed, and closing force percentage are sent and controlled to control the gripper 2 hardware. During formal deployment, based on the selected gripper 2 type, service processes are specifically distributed according to the service / action mode of robot control systems such as ROS2. The gripper 2 control service is defined to include required opening / closing speed, stroke, force, and send / receive ports. A gripper 2 control server node is written. This node subscribes to the above control service, encapsulates the above control fields internally, and remotely calls the process. When a client node calls the above service, this node executes the encapsulated control command, blocks subsequent commands for a time limit, waits for and parses the gripper 2 controller's response, confirms whether the command was successfully delivered to the hardware, and then fills the service response with information on whether the opening / closing was successful, returning it to the caller to achieve closed-loop feedback. For functionally defined and specifically designed auxiliary interactive tools, such as the auxiliary gripping tools required for cargo transportation in commercial equipment like gashapon machines, the program needs to match the opening and closing stroke of gripper 2 with the width of the tool's gripping area, and the length and height of the gripping area with the dimensions of gripper 2. The opening and closing mode should be set to closed, and the closing force should match the frictional force required for the total weight of the tool and cargo. Furthermore, the servo gripper 2 should, by default, maintain a closed position unless an open service command is received. The humanoid robot, according to task scheduling, selects industrial gripper 2 to directly grasp the workpiece or further utilizes auxiliary interactive tools. Various interactive tools can be placed in fixed positions for gripping by the robot's gripper 2. For unloading cargo transported within the interactive auxiliary tool 3, the robot relies on the rotation of the wrist joints of its two arms to unload the workpiece using gravity. Gripper 2 can be optionally kept partially closed to prevent the interactive auxiliary tool 3 from loosening. After unloading the workpiece, the interactive auxiliary tool 3 is placed back into the parking fixture.

[0052] The present invention also provides a system, such as Figure 3 and Figure 4 As shown, the system includes an overall scheduling device, multiple multi-purpose interactive humanoid robots communicatively connected to the overall scheduling device, and multiple work areas. The overall scheduling device provides unified management and task scheduling for the multi-purpose interactive humanoid robots and the equipment in the work areas. The overall scheduling device receives status information and location data from each robot, allocates tasks in real time, and coordinates the interactive actions between the robots and the equipment, achieving efficient production process control.

[0053] In this embodiment, the overall scheduling device has a human-machine interface that can access the robot controller's IP and heartbeat status, display the robot's running program progress and log records, and provide alarm information.

[0054] The scheduling device can combine maps or regional layout diagrams to display the robot's physical location in the work scene in real time and uniformly arrange the process task chain. The scheduling system can also dynamically allocate tasks and coordinate the interaction between robots and equipment such as industrial material shakers, logistics racks, cabinets, and gashapon machines to meet the high-efficiency operation requirements of industrial production and commercial services.

[0055] The overall scheduling device's task management is developed using Python and C++, and includes a user interface with the following signals, functions, and instructions for wireless operation or wired debugging of the humanoid robot: Connecting the humanoid robot controller IP and heartbeat status; selecting the humanoid robot program number, variable information, and modifiable configuration information; the current program block's execution progress and logger records; alarm or alert information from the humanoid robot; navigation map matching and estimation; and basic working status of the robot gripper 2 or vision. The interface allows configuration of the actual map of the work scene, or a simplified top-down view of the area layout, and displays the robot's precise physical location or signal feedback flow position within the work scene, combined with robot coordinates and program status. The next step requires the humanoid robot to call a task block or execute a task chain, along with corresponding operation buttons. The next step requires the humanoid robot to execute status instructions and corresponding operation buttons, including starting, interrupting, canceling, and continuing the program.

[0056] In one embodiment, the multi-purpose interactive humanoid robot is equipped with a ball-head guiding and positioning mechanism 17, and a limiting groove 41 and a connecting device 42 that match the ball-head guiding and positioning mechanism 17 are provided in the working area. Through the cooperation of the limiting groove 41 and the ball-head guiding and positioning mechanism 17, the robot can lock and unlock with the target device 4 and equipment without additional power input, thereby enhancing positioning accuracy and operational stability.

[0057] In this embodiment, the robot performs small movements such as squatting or raising / lowering its waist 14 after approaching the device, allowing the ball head 11 to smoothly slide into the limiting groove 41 and achieve stable fixation. After completing the task, it exits the limiting groove 41 by performing the reverse movement. The limiting groove 41 can be designed as a damped elastic structure to ensure a buffering effect during insertion and disengagement. This mating structure keeps the robot stable when performing dual-arm collaborative tasks, avoiding grasping failure due to positional deviation.

[0058] like Figure 8As shown, the present invention also provides a control method for the above-described system, comprising the following steps: Step S101: Control the multi-purpose interactive humanoid robot to cruise to the target location through the overall scheduling device and the main control device.

[0059] Step S102: Lock the multi-purpose interactive humanoid robot at the target location.

[0060] Step S103: The target workpiece or equipment is precisely positioned by means of the vision guidance and mechanical motion implementation device set in the head 11, wrist 16 and / or waist 14 of the robot body 1.

[0061] Step S104: Drive the bionic arm 13 and gripper 2 to perform corresponding gripping or operation on the target workpiece or equipment.

[0062] Step S105: Unlock the multi-purpose interactive humanoid robot.

[0063] Step S106: Control the movement of the multi-purpose interactive humanoid robot through the overall scheduling device, and transport the workpiece or item to the next process or designated location.

[0064] In this embodiment, during the cruise of the multi-purpose interactive humanoid robot, the real-time mapping and positioning module and the code-reading navigation module in the main control device complete global path planning and local fine-tuning. The obstacle avoidance module detects surrounding obstacles in real time and adjusts the movement trajectory to ensure safe arrival at the target location. In the anchoring step, the robot uses the ball-head guide positioning mechanism 17 in conjunction with the limiting groove 41 to achieve structural fixation and prevent upper body swaying. In the positioning step, the visual recognition module in the main control device calls the compensation information from external visual guidance, combines the image data collected by the visual guidance and mechanical motion implementation device, performs multi-image combination and neural network calculation, and generates displacement compensation values ​​to further improve positioning accuracy.

[0065] During the gripping operation, the robot selects the appropriate gripper 2 or auxiliary tool 3 according to the characteristics of the workpiece or equipment, performs pinching, lifting or rotating actions, and keeps the movements of both arms synchronized during the handling process.

[0066] After the humanoid robot is started, it identifies the environment and determines its current position through an instant mapping and positioning system and a QR code reading and navigation system. According to the task requirements of the scheduling system, it generates a planned running path for a two-legged or wheeled chassis.

[0067] In high-precision radar navigation and QR code navigation movement modes, the humanoid robot approaches the working mechanism with a small positioning error. It then uses a ball-head guide positioning mechanism with a spherical head 11 and a cylindrical rear end to approach from the side or top. The humanoid robot performs small-amplitude movements such as squatting and standing, waist 14 lifting and lowering, upper body horizontal rotation, and chassis roller flexible follow-up, so that the sphere is inserted into the guide groove and anchored to the positioning structure.

[0068] Once anchored, the robot can squat slightly or lower its upper body with a small stroke, reducing unnecessary gait adjustments of the lower limbs or adjustments of the chassis casters, thus reducing energy consumption and upper limb swaying.

[0069] The above method enables the overall structural anchoring of the robot body and commercial / civilian equipment and materials solely through navigation, without using a head or hand-based visual guidance system for the robot's arms. This further facilitates the smooth execution of tasks based on the fixed trajectory of the arms, avoiding the additional visual guidance hardware and software costs and time caused by navigation and positioning errors.

[0070] After completing the task, the humanoid robot performs small movements such as squatting and standing up, waist 14 lifting and lowering, upper body horizontal rotation, and chassis roller flexible follow-up, so that the ball head guide positioning mechanical device 17 slides out of the limit groove 41 to release the lock, and the robot then gradually leaves the industrial work equipment or commercial and civilian equipment.

[0071] During movement, the obstacle avoidance system detects obstacles in real time, ensuring the humanoid robot operates safely or remains stationary. Following the scheduling system, the humanoid robot selects tasks and interacts efficiently with equipment and items such as industrial material shakers, logistics racks, household cabinets, and commercial gashapon machines. The humanoid robot moves to the work area and near the equipment. Upon reaching the target location, the head's visual recognition system accurately locates the workpiece, and the two arms work together to complete the grasping task. Using industrial grippers, humanoid dexterous hands, or auxiliary tools designed according to the shape of human hands and workpieces, the robot performs grasping, lifting, dragging, and rotating operations to obtain the workpiece or item to be grasped and moved, then walks or moves it to the next process or designated location.

[0072] In one embodiment, the step of locking the multi-purpose interactive humanoid robot at the target position in the above control method is specifically as follows: the main control device controls the ball-head guide positioning mechanism 17 to cooperate with the limiting groove 41 of the target device 4 to achieve structural anchoring; the step of unlocking the multi-purpose interactive humanoid robot is specifically as follows: the main control device sends a body movement to release the connection between the ball-head guide positioning mechanism 17 and the limiting groove 41, so that the multi-purpose interactive humanoid robot is unlocked from the target device 4.

[0073] In this embodiment, the robot can achieve dual assurance during locking by combining navigation accuracy and the ball head positioning device, ensuring a smooth locking process. During unlocking, the ball head is pushed out of the limiting groove 41 by performing reverse micro-movements, completing the departure without relying on external power, making the process simple and reliable.

[0074] In one embodiment, the control method described above uses visual guidance and mechanical motion implementation devices located at the head 11, wrist 16, and / or waist 14 of the robot body 1 to precisely position the target workpiece or equipment. This includes: the main control device calling compensation information for the center point of the end effector of the robot body 1 using external visual guidance; taking single or multiple photos of the workpiece using the visual guidance and mechanical motion implementation devices at the head 11, wrist 16, and / or waist 14 of the robot body 1, and generating displacement values ​​by performing deep learning neural network or template matching on the photos; and calling six-dimensional pose estimation compensation information, two-dimensional plane and vertical offset compensation information, and stacking height compensation information as needed in the compensation program, and combining the displacement values ​​to perform positioning compensation, thereby achieving precise positioning of the workpiece.

[0075] In this embodiment, the image acquisition and processing method used in the positioning step can compensate for robot navigation and positioning errors, enabling the end effector to perform alignment correction before grasping. Combining data fusion from an external vision system and the robot's built-in vision device can improve operational accuracy in complex industrial production scenarios or confined spaces in commercial installations.

[0076] In one embodiment, the control method described above employs joint space planning or Cartesian space planning in the motion trajectory of the bionic arm 13 to ensure that the two bionic arms 13 can execute synchronously and avoid posture deviations. By limiting the rotation speed, path, and limit conditions of the two arms in the program, synchronous grasping, operation, or handling of workpieces, materials, or equipment buttons and handles can be achieved, improving the stability and reliability of the multi-purpose interactive humanoid robot when performing multiple tasks.

[0077] In this embodiment, when the robot performs a synchronized two-arm task, it calls a trajectory generator to generate a smooth angle curve between the starting point and the target point, and adds transition points when necessary to avoid collisions between the arms and the end effector. In linear motion mode, it ensures that the center point of the end effector maintains a straight trajectory to avoid entering joint singularities or calculation failures. When there is velocity lag in both arms, the program limits the velocity of some joints as needed to ensure the overall synchronization of the two arm end effects, thereby avoiding risks caused by asynchronous operation.

[0078] It should be understood that the sequence number of each step in the above embodiments does not imply the order of execution. The execution order of each process should be determined by its function and internal logic, and should not constitute any limitation on the implementation process of the embodiments of the present invention.

[0079] The above embodiments are merely examples of several implementations of the present invention, and their descriptions are quite specific and detailed, but they should not be construed as limiting the scope of the present invention.

[0080] It should be noted that those skilled in the art can make various modifications and improvements without departing from the inventive concept, and these all fall within the scope of protection of this invention. Therefore, the scope of protection of this patent should be determined by the appended claims.

Claims

1. A multi-purpose interactive humanoid robot, comprising a robot body (1) having a head (11), torso (12), bionic arms (13), waist (14), and legs (15) from top to bottom, characterized in that, The torso (12) is provided with a main control device for controlling the robot body (1). The end of the bionic arm (13) is provided with a wrist (16). A gripper (2) is connected to the wrist (16). A visual guidance and mechanical action implementation device connected to the main control device is provided on the head (11), the wrist (16) and / or the waist (14) for scanning codes, visual recognition, precise positioning and collaborative grasping. The gripper (2) can select to hold an auxiliary tool (3) that matches it according to the application scenario.

2. The multi-purpose interactive humanoid robot according to claim 1, characterized in that, The main control device includes a visual recognition module, a real-time mapping and positioning module, a code reading and navigation module, an obstacle avoidance module, a motion capture module, and a communication module.

3. The multi-purpose interactive humanoid robot according to claim 1, characterized in that, The legs (15) are bipedal or wheeled, and the waist (14) or hip of the robot body (1) is provided with a ball-head guide positioning mechanical device (17) for connecting with industrial equipment or commercial and civilian devices.

4. The multi-purpose interactive humanoid robot according to claim 1, characterized in that, The gripper (2) is an industrial electric servo gripper (2), which includes a connecting flange (21) for connecting to the bionic arm (13), a servo rail, a flat block (22) connected to the servo rail, and a flat-mouth gripper (23) connected to the flat block (22). The auxiliary tool (3) includes a receiving port (31), a storage space (32), and a gripping handle (33) that matches the flat-mouthed finger clamp (23) arranged from top to bottom.

5. A system, characterized in that, The system includes an overall scheduling device, multiple multi-purpose interactive humanoid robots as described in any one of claims 1-4 that are communicatively connected to the overall scheduling device, and multiple work areas. The overall scheduling device performs unified management and task scheduling of the multi-purpose interactive humanoid robots and the equipment in the work areas.

6. The system according to claim 5, characterized in that, The multi-purpose interactive humanoid robot is equipped with a ball-head guiding and positioning mechanical device (17), and the working area is equipped with a limiting groove (41) that matches the ball-head guiding and positioning mechanical device (17) and a connecting device (42).

7. A control method for the system described in claim 5 or 6, characterized in that, include: The multi-purpose interactive humanoid robot is controlled by the overall scheduling device and the main control device to cruise to the target location; Lock the multi-purpose, interactive humanoid robot to the target location; The target workpiece or equipment is precisely positioned by visual guidance and mechanical motion implementation devices set in the head (11), wrist (16) and / or waist (14) of the robot body (1). Drive the bionic arm (13) and gripper (2) to perform corresponding gripping or operation on the target workpiece or equipment; Unlock the multi-purpose interactive humanoid robot; The multi-purpose interactive humanoid robot is controlled by an overall scheduling device to move and transport workpieces or items to the next process or designated location.

8. The control method according to claim 7, characterized in that: The process of locking the multi-purpose interactive humanoid robot at the target position is as follows: the main control device controls the ball-head guide positioning mechanical device (17) to cooperate with the limiting groove (41) of the target device (4) at the target position to achieve structural anchoring. The unlocking of the multi-purpose interactive humanoid robot is specifically achieved by sending a body movement through the main control device to disconnect the ball-head guide positioning mechanism (17) from the limiting groove (41), thereby unlocking the multi-purpose interactive humanoid robot from the target device (4) at the target location.

9. The control method according to claim 7, characterized in that, The precise positioning of the target workpiece or equipment via the visual guidance and mechanical motion execution device located in the head (11), wrist (16) and / or waist (14) of the robot body (1) includes: The main control device calls the compensation information of the center point of the end effector of the robot body (1) under external vision guidance and positioning; The robot body (1) uses visual guidance and mechanical action implementation devices in its head (11), wrist (16) and / or waist (14) to take single or multiple photos of the workpiece and generate displacement values ​​by deep learning neural networks or template matching on the photos. The compensation program calls six-dimensional attitude estimation compensation information, two-dimensional plane and vertical offset compensation information, and stacking height compensation information as needed, and combines them with displacement values ​​to perform positioning compensation, thereby achieving precise positioning of the workpiece.

10. The control method according to claim 7, characterized in that, Joint space planning or Cartesian space planning is used in the motion trajectory of the bionic arm (13) to ensure that the two bionic arms (13) can be executed synchronously and avoid posture deviation.

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