A trajectory detection device and method for a humanoid robot

Abstract

The application discloses a kind of trajectory detection device and method for humanoid robot, it is related to robot trajectory detection device technical field, including humanoid robot ontology, the both sides of the humanoid robot ontology are equipped with large arm and small arm, rotating shaft is installed between the large arm and small arm, and the outside of one small arm is sequentially provided with mounting plate and guide plate from inside to outside, laser detection head is slidably connected on the guide plate, driving assembly is equipped between the mounting plate and guide plate, and driving assembly can adjust the included angle between laser detection head and small arm in real time according to the attitude change of small arm, so that the scanning optical axis of laser detection head always remains downwardly inclined and aligns ground, reverse angle compensation is realized by driving assembly, ensure that laser detection head optical axis is stably aligned ground, and dynamic fine adjustment of laser detection head is guided by S-shaped track, both accurate displacement and dynamic scanning are considered, guarantee detection data integrity, improve detection efficiency.

Description

Technical Field

[0001] This invention relates to the field of robot trajectory detection device technology, specifically to a trajectory detection device and method for humanoid robots. Background Technology

[0002] With the rapid development of artificial intelligence, automatic control and bionics, humanoid robots are being used more and more widely in fields such as service, medical care, rescue, education and intelligent manufacturing.

[0003] Currently, the testing of robot motion performance mainly draws on the testing standards and methods for industrial robots, with laser tracking being a typical technique.

[0004] Laser tracking method: This method uses a high-precision laser detector to track and measure the spatial coordinates of key points on the robot in real time. It has high measurement accuracy (down to the micrometer level) and is widely used in the positional accuracy detection of industrial robots. However, in practical applications, humanoid robots are relatively flexible in their walking process, with large movement areas and complex movement postures. One-to-one laser tracking solutions cannot ensure real-time tracking, and there are problems such as limited field of view and easy obstruction, making it difficult to achieve synchronous and continuous tracking. In addition, in scenarios with large swinging movements, such as handling materials, existing robots have large arm movements, which can easily create blind spots and make it difficult to achieve full coverage scanning, resulting in incomplete trajectory data.

[0005] Therefore, innovative designs are needed based on existing detection devices. Summary of the Invention

[0006] The present invention addresses the problem that existing technical solutions are too simplistic and provides a solution that is significantly different from existing technologies. Specifically, the purpose of the present invention is to provide a trajectory detection device and method for humanoid robots, so as to solve the problems mentioned in the background art, such as the detection head being obstructed during use and the detection range not being comprehensive enough.

[0007] To achieve the above objectives, the present invention provides the following technical solution: a trajectory detection device for a humanoid robot, comprising a humanoid robot body, wherein a large arm and a forearm are provided on both sides of the humanoid robot body, and a rotating shaft is installed between the large arm and the forearm. A mounting plate and a guide plate are arranged sequentially from the inside to the outside on the outer side of one of the forearms. A laser detection head is slidably connected to the guide plate. A driving component is provided between the mounting plate and the guide plate, and the driving component can adjust the angle between the laser detection head and the forearm in real time according to the posture change of the forearm, so that the scanning optical axis of the laser detection head always remains tilted downward and aligned with the ground.

[0008] The guide plate is provided with two S-shaped tracks, and the inner wall of the S-shaped tracks is slidably connected to a guide rod for connecting the laser detection head.

[0009] Preferably, the rotating shaft is fixedly connected to the upper end of the forearm, and connecting blocks are rotatably connected to both ends of the rotating shaft. The connecting blocks are rotatably connected to the upper arm through a spherical universal joint, and the mounting plate is fixedly connected to one side of the connecting block.

[0010] Preferably, the drive assembly includes a connecting shaft rotatably connected to the mounting plate, a drive gear is fixedly connected to the front end of the connecting shaft, and the end of the connecting shaft is fixedly connected between the mounting plate and the rotating shaft. A driven gear is meshed on one side of the drive gear, and a main rotating rod is fixedly connected to the inner wall of the driven gear.

[0011] Preferably, the end of the main rotating rod is rotatably connected to the mounting plate, and the front end of the main rotating rod is fixedly connected to the guide plate through the driven gear. The forearm rotates around the axis of the rotating shaft, which further drives the connecting shaft and the driving gear to rotate, and the driven gear rotates in the opposite direction, so that the angle between the laser detection head and the forearm changes.

[0012] Preferably, the guide plate has straight grooves in the middle and at the top. A double-layer clamping plate is slidably connected in the straight groove in the middle, and a slider is slidably connected in the straight groove at the top. The slider is internally threaded with a lead screw.

[0013] Preferably, the double-layer clamping plate is divided into an outer clamping plate and an inner clamping plate. A square block that slides along a straight groove is provided between the outer clamping plate and the inner clamping plate. An elastic rope is fixedly connected to one side of the square block. One end of the elastic rope passes through the guide plate and is fixedly connected to the slider. The elastic rope is in a stretched state.

[0014] Preferably, a bracket is rotatably connected to the surface of the outer clamping plate, and the front end of the bracket is fixedly connected to the laser detection head. A sliding rod is fixedly connected to the side wall of the bracket, and a sliding groove is provided in the middle of the guide rod for the sliding rod to slide.

[0015] Preferably, the upper end of the guide rod is slidably connected to a connecting rod, and the bottom of the connecting rod is fixedly connected to the outer clamping plate.

[0016] This invention also discloses a trajectory detection method for a humanoid robot, employing the aforementioned trajectory detection device for a humanoid robot, comprising the following steps:

[0017] S1. First, align the end of the connecting shaft with the front end of the rotating shaft and insert it. Secure the connection with rivets. First, control one end of the mounting plate. During this process, the angle of the laser detection head needs to be adjusted by the drive assembly. Use the rotation of the connecting shaft to drive the drive gear to rotate, and the driven gear meshing with it will rotate synchronously in the opposite direction. Further control the angle between the entire guide plate and the forearm. The angle is set between 40° and 60°. Ensure that when the forearm is parallel, the guide plate and the laser detection head are tilted towards the ground. Then, secure the mounting plate and the connecting block with rivets or bolts to form a two-point limiting fixation with the connecting shaft.

[0018] S2. Rotate the screw to adjust the position of the slider. Rotate the screw clockwise to move the slider backward along the top of the guide plate, while the elastic rope is stretched at the same time. When the elastic rope is stretched to a certain extent, the square block is further pulled by the elastic rope. The two ends of the square block are fixedly connected to the outer clamping plate and the inner clamping plate respectively. When the square block moves, the entire double-layer clamping plate moves synchronously.

[0019] S3. Driven by the connecting rod, the double-layer clamping plate and the guide rod are synchronously displaced. The guide rod is guided by the S-shaped track, so the guide rod moves up and down dynamically. During the process of the guide rod's up and down dynamic displacement, the sliding rod rotates up and down, which further drives the bracket and the laser detection head to rotate around the axis of the outer clamping plate. This allows for fine adjustment of the position and tilt angle of the laser detection head in the initial state. The specific angle can be adjusted according to the measurement requirements.

[0020] S4. Start controlling the humanoid robot body to move objects. Use the laser detection head to record the overall path of the humanoid robot body in real time. During this process, when the humanoid robot body moves objects up and down, the overall movement range of the upper arm and forearm is large, the extension range of the upper arm and forearm is large, and the tilt angle of the entire guide plate changes significantly. The double-layer clamping plate and the laser detection head are affected by gravity and slide back and forth along the guide plate. During the sliding process, the angle of the laser detection head is slightly deflected within the set angle range, and the whole process maintains dynamic scanning.

[0021] S5. During the object transfer process, the forearm and upper arm are in a relatively stable state. The forearm is controlled to maintain a horizontal position. At this time, the laser detection head is affected by the elastic rope and gravity, and returns to the initial setting position. The whole body is tilted towards the ground. During the handling process, the forearm rotates around the axis of rotation. When it deflects downward or upward, it further drives the entire guide plate to rotate in the opposite direction to achieve angle compensation. The position of the laser detection head is always tilted downward, and the walking trajectory of the humanoid robot body is tracked in real time.

[0022] Compared with the prior art, the beneficial effects of the present invention are:

[0023] The rigid connection between the connecting shaft and the rotating shaft of the forearm allows the motion signal of the forearm's up-and-down swing to be transmitted to the drive gear without delay. Then, through the meshing transmission between the drive gear and the driven gear, the guide plate and the laser detection head are driven to deflect in the opposite direction. When the forearm swings, the laser detection head is driven to swing in the opposite direction synchronously, forming a certain angle compensation to counteract the influence of the forearm's movement on the detection direction. This ensures that the laser scanning optical axis always remains tilted downwards and accurately aligned with the ground, avoiding deviation in the detection direction.

[0024] In addition, two S-shaped tracks are provided on the guide plate, with straight grooves in the middle and top, respectively, to connect the double-layer clamping plate and the slider, providing stable motion guidance. The S-shaped tracks serve as the core dynamic guidance path. When the humanoid robot body is handling materials, the overall movement of the upper and lower arms is coordinated. Under the influence of gravity, the double-layer clamping plate automatically slides along the guide plate, driving the guide rod to move synchronously. Through the cooperation of the guide rod and the connecting rod, the double-layer clamping plate and the laser detection head slide down along the tilt direction of the upper and lower arms. During the sliding process, the laser detection head itself continuously swings up and down to achieve dynamic scanning, covering a wider range and ensuring the integrity of trajectory data during the detection process. It can also further detect obstacles and control the upper and lower arms to avoid obstacles in time during the handling process, while ensuring that the trajectory recording is uninterrupted.

[0025] In addition, the elastic rope is adjusted by using a combination of lead screw and slider to provide controllable power for the overall movement. The stretched elastic rope connects the slider and the square block, providing a more stable movement rhythm for the laser detection head. The lead screw can adjust the tension of the elastic rope to optimize the initial stability of the laser detection head. The double-layer clamping plate design can effectively counteract the lateral torque generated by the S-shaped sway, avoiding sliding jamming or tilting, and providing stable support for the complex movement of the laser detection head. From the initial angle calibration to the humanoid robot's walking process, the laser detection head rotates for angle compensation, and finally, its reset is controlled to ensure stable movement of the laser detection head in complex environments, improving the trajectory detection efficiency of the humanoid robot in actual operations. Attached Figure Description

[0026] Figure 1 This is a schematic diagram of the overall structure of the present invention.

[0027] Figure 2 This is a diagram showing the working state of the drive component when the forearm oscillates according to the present invention.

[0028] Figure 3 This is a schematic diagram of the connection structure between the drive component and the forearm of the present invention.

[0029] Figure 4 This is a schematic diagram of the connection structure between the drive component and the mounting plate of the present invention.

[0030] Figure 5This is a schematic diagram of the guide plate structure of the present invention.

[0031] Figure 6 For the present invention Figure 5 Enlarged structural diagram at point A in the middle.

[0032] Figure 7 This is a cross-sectional view of the guide plate structure of the present invention.

[0033] Figure 8 This is a schematic diagram of the double-layer clamping plate structure of the present invention.

[0034] In the diagram: 1. Humanoid robot body; 101. Upper arm; 102. Forearm; 2. Mounting plate; 3. Guide plate; 301. S-shaped track; 302. Guide rod; 303. Elastic rope; 304. Outer clamping plate; 305. Inner clamping plate; 306. Square block; 307. Sliding rod; 308. Connecting rod; 309. Slider; 3010. Lead screw; 4. Laser detection head; 5. Drive assembly; 501. Connecting shaft; 502. Driving gear; 503. Driven gear; 6. Connecting block; 7. Rotating shaft. Detailed Implementation

[0035] The technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0036] Example 1

[0037] Please see Figures 1 to 8 The present invention provides a technical solution: a trajectory detection device for a humanoid robot, comprising a humanoid robot body 1, with a large arm 101 and a forearm 102 on both sides of the humanoid robot body 1, and a rotating shaft 7 installed between the large arm 101 and the forearm 102. A mounting plate 2 and a guide plate 3 are arranged sequentially from the inside to the outside on the outer side of one of the forearms 102. A laser detection head 4 is slidably connected on the guide plate 3. A driving component 5 is provided between the mounting plate 2 and the guide plate 3. The driving component 5 can adjust the angle between the laser detection head 4 and the forearm 102 in real time according to the posture change of the forearm 102, so that the scanning optical axis of the laser detection head 4 always remains tilted downward and aligned with the ground.

[0038] The guide plate 3 is provided with two S-shaped tracks 301, and the inner wall of the S-shaped track 301 is slidably connected to the guide rod 302 for connecting the laser detection head 4.

[0039] By linking the drive component 5 with the posture of the forearm 102, the angle between the laser detection head 4 and the forearm 102 can be adjusted in real time to ensure that the scanning optical axis always remains tilted downward and accurately aligned with the ground. The laser detection head 4 can sense the tilt angle change of the forearm 102 and automatically rotate in the opposite direction to form complementary angles. Even if the forearm 102 changes, the laser detection head 4 can automatically find the correct detection direction, ensuring that the detection trajectory recording is uninterrupted during the movement of the humanoid robot body 1, and that the recording angle is always within the set range, ensuring the integrity and validity of the trajectory data.

[0040] In addition, the laser detection head 4 is guided in real time by the S-shaped track 301. During the up and down transportation of the humanoid robot body 1, the guide rod 302 slides along the S-shaped track 301 to automatically guide the laser detection head 4 to continuously swing. During the loading and unloading process, the dynamic scanning design of the working area is completed, which not only expands the scanning range, but also ensures that the detection values ​​cover a wider range during the movement of the humanoid robot body 1.

[0041] In this embodiment, as Figures 1 to 4 As shown, the rotating shaft 7 is fixedly connected to the upper end of the forearm 102, and the two ends of the rotating shaft 7 are rotatably connected to the connecting blocks 6. The connecting blocks 6 are rotatably connected to the upper arm 101 through a ball joint. The mounting plate 2 is fixedly connected to one side of the connecting block 6.

[0042] The drive assembly 5 includes a connecting shaft 501 that is rotatably connected to the mounting plate 2. A drive gear 502 is fixedly connected to the front end of the connecting shaft 501, and the end of the connecting shaft 501 is fixedly connected between the mounting plate 2 and the rotating shaft 7. A driven gear 503 is meshed on one side of the drive gear 502, and a main rotating rod is fixedly connected to the inner wall of the driven gear 503.

[0043] The end of the main rotating rod is rotatably connected to the mounting plate 2, and the front end of the main rotating rod passes through the driven gear 503 and is fixedly connected to the guide plate 3. The forearm 102 rotates around the axis of the rotating shaft 7, which further drives the connecting shaft 501 and the driving gear 502 to rotate, and the driven gear 503 rotates in the opposite direction, so that the included angle between the laser detection head 4 and the forearm 102 changes.

[0044] It should be noted that the rotating shaft 7 is connected to the upper arm 101 via the connecting block 6 and the spherical universal joint, forming a multi-level connection from the upper arm 101, the spherical universal joint to the lower arm 102. This ensures the flexibility of the lower arm 102 in vertical swing without affecting the stable operation of the upper arm 101. The mounting plate 2, as the core connecting component, is used to connect the drive assembly 5 and the lower arm 102. The connecting shaft 501 of the drive assembly 5 passes through the mounting plate 2 and is connected to the rotating shaft 7. At the same time, the mounting plate 2 is connected to the connecting block 6, forming a two-point fixation. The drive assembly 5 and the laser detection head 4 can then be assembled onto the lower arm 102 and move synchronously with the lower arm 102 and the humanoid robot body 1, realizing real-time trajectory detection of the humanoid robot body 1.

[0045] When the forearm 102 swings up and down around the rotation axis 7, the rotation axis 7 rotates synchronously, and its rotation signal can be directly transmitted to the drive gear 502 of the drive component 5 through the fixedly connected connecting shaft 501, so as to realize the mechanical synchronous linkage between the posture of the forearm 102 and the drive component 5.

[0046] Specifically, when the forearm 102 swings upward, the drive gear 502 rotates counterclockwise upward with the connecting shaft 501, and the meshing drives the driven gear 503 to rotate downward in the opposite direction. The driven gear 503 drives the guide plate 3 and the laser detection head 4 to rotate downward synchronously through the main rotating rod.

[0047] Similarly, when the forearm 102 swings downward, the drive gear 502 rotates clockwise downward with the connecting shaft 501, and the meshing drives the driven gear 503 to rotate upward in the opposite direction. The driven gear 503 drives the guide plate 3 and the laser detection head 4 to rotate upward synchronously through the main rotating rod.

[0048] For the humanoid robot body 1 during the handling process, when the humanoid robot body 1 enters an uphill or downhill section, at the initial stage of handling, the upper arm 101 has been adjusted to a fixed angle to adapt to the slope through the spherical universal joint. However, when there are local unevenness on the slope, the upper arm 101 maintains the current angle to maintain the overall posture stability. The lower arm 102 makes fine adjustments by tilting up and down to offset the height fluctuations of the local road surface, ensuring that the center of gravity of the object always falls within the support and stability range, and avoiding the object from becoming unbalanced due to slight tilting. Utilizing the reverse transmission characteristics of the active gear 502 and the driven gear 503, the angle between the laser detection head 4 and the lower arm 102 is adjusted in real time, and the angle adjustment process can be complementary to offset the influence of the lower arm 102 tilting on the detection direction, ensuring that the laser scanning optical axis always stays tilted downward and accurately aligned with the ground, further ensuring that the detection optical axis direction is always stable within the set range. Through the precise mapping of the motion trajectory and the detection path, the detection efficiency in complex motion processes is greatly improved.

[0049] In this embodiment, as Figures 5 to 8As shown, the guide plate 3 has straight grooves in the middle and at the top. A double-layer clamping plate is slidably connected in the straight groove in the middle, and a slider 309 is slidably connected in the straight groove at the top. A lead screw 3010 is threadedly connected to the inside of the slider 309.

[0050] The double-layer clamping plate is divided into an outer clamping plate 304 and an inner clamping plate 305. A square block 306 that slides along a straight groove is provided between the outer clamping plate 304 and the inner clamping plate 305. An elastic rope 303 is fixedly connected to one side of the square block 306. One end of the elastic rope 303 passes through the guide plate 3 and is fixedly connected to the slider 309. The elastic rope 303 is in a stretched state.

[0051] A bracket is rotatably connected to the surface of the outer clamping plate 304, and the front end of the bracket is fixedly connected to the laser detection head 4. A slide rod 307 is fixedly connected to the side wall of the bracket, and a slide groove is provided in the middle of the guide rod 302 for the slide rod 307 to slide.

[0052] The upper end of the guide rod 302 is slidably connected to the connecting rod 308, and the bottom of the connecting rod 308 is fixedly connected to the outer clamping plate 304;

[0053] It should be noted that the guide plate 3 is provided with two S-shaped tracks 301, and straight grooves are provided in the middle and at the top, respectively, to connect the double-layer clamping plate and the slider 309, providing stable linear motion guidance and ensuring the accuracy of the laser detection head 4 in the basic displacement.

[0054] Its S-shaped track 301 serves as the core dynamic guidance path. When the humanoid robot body 1 is unloading materials, and the overall swing amplitude is large, it drives the double-layer clamping plate and the laser detection head 4 to continuously swing through the linkage with the guide rod 302 and the connecting rod 308 to achieve dynamic scanning coverage along the S-shaped trajectory.

[0055] The double-layer clamping plate consists of an outer clamping plate 304 and an inner clamping plate 305, which are fixedly connected by a square block 306 in the middle, significantly improving the anti-overturning ability during the sliding process. The outer clamping plate 304 and the inner clamping plate 305 wrap around the square block 306 from both sides to form a clamping constraint, which can effectively resist the lateral torque generated when the S-shaped track 301 is guided. At the same time, a pulley is added to the bottom of the square block 306 to prevent the square block 306 from getting stuck in the slide groove.

[0056] In addition, the outer clamping plate 304 of the double-layer clamping plate serves as the direct connection carrier for the laser detection head 4. When the double-layer clamping plate slides along the S-shaped track 301, it drives the laser detection head 4 to slide synchronously. The sliding rod 307 on the side wall of the bracket is embedded in the groove in the middle of the guide rod 302. When the guide rod 302 slides vertically up and down along the S-shaped track 301, the sliding rod 307 slides along the groove, driving the bracket to rotate and pulling the laser detection head 4 to rotate. By utilizing the efficient coverage of the S-shaped continuous trajectory, it replaces the traditional linear scanning, achieving large-area coverage with small movements, and significantly improving the detection efficiency and data integrity in dynamic scenarios.

[0057] In addition, the lead screw 3010 drives the slider 309 to move precisely along the top linear groove through the threaded transmission, providing a controllable power source for the overall movement. At the same time, in the initial state, the lead screw 3010 can drive the slider 309 to move, further realizing the adjustment of the tension of the elastic rope 303. The reverse traction force of the elastic rope 303 makes the laser detection head 4 more stable when tilted towards the ground.

[0058] In other embodiments, the trajectory detection device can be adaptively adjusted according to different models of humanoid robot bodies 1. For example, for different sizes of upper arm 101 and forearm 102, the dimensions of mounting plate 2 and guide plate 3, as well as the transmission ratio of each gear in drive assembly 5, can be adjusted to ensure that the angle adjustment range between laser detection head 4 and forearm 102 meets the actual requirements. In addition, by replacing elastic rope 303 with different elasticity or adjusting the pitch of lead screw 3010, the initial angle of laser detection head 4 can be further fine-tuned to adapt to the detection requirements under different working environments.

[0059] Example 2

[0060] The following describes a trajectory detection method for a humanoid robot, based on the aforementioned trajectory detection device, specifically including the following steps:

[0061] S1. First, align the end of the connecting shaft 501 with the front end of the rotating shaft 7 and insert it. Secure the connection with rivets. First, control one end of the mounting plate 2. During this process, the angle of the laser detection head 4 needs to be adjusted by the drive assembly 5. The rotation of the connecting shaft 501 drives the drive gear 502 to rotate, and the driven gear 503 meshing with it rotates synchronously in the opposite direction. Further control the angle between the entire guide plate 3 and the forearm 102. The angle is set between 40° and 60° to ensure that when the forearm 102 is parallel, the guide plate 3 and the laser detection head 4 are tilted towards the ground. Then, secure the mounting plate 2 and the connecting block 6 with rivets or bolts to form a two-point limiting fixation with the connecting shaft 501.

[0062] S2. Rotate the lead screw 3010 to adjust the position of the slider 309. Rotate the lead screw 3010 clockwise to drive the slider 309 to move backward along the top of the guide plate 3, while the elastic rope 303 is stretched. When the elastic rope 303 is stretched to a certain extent, the square block 306 is further pulled by the elastic rope 303. The two ends of the square block 306 are fixedly connected to the outer clamping plate 304 and the inner clamping plate 305 respectively. When the square block 306 moves, the entire double-layer clamping plate moves synchronously.

[0063] S3. Driven by the connecting rod 308, the double-layer clamping plate and the guide rod 302 are synchronously displaced. The guide rod 302 is guided by the S-shaped track 301, so the guide rod 302 moves up and down dynamically. During the process of the guide rod 302 moving up and down dynamically, the sliding rod 307 is rotated up and down, which further drives the bracket and the laser detection head 4 to rotate around the axis of the outer clamping plate 304, and finely adjusts the position and tilt angle of the laser detection head 4 in the initial state. The specific angle can be adjusted according to the measurement requirements.

[0064] S4. Start controlling the humanoid robot body 1 to move objects. Use the laser detection head 4 to record the overall path of the humanoid robot body 1 in real time. During this process, when the humanoid robot body 1 moves objects up and down, the upper arm 101 and the lower arm 102 have a large overall range of motion and a large extension range. The tilt angle of the entire guide plate 3 changes significantly. The double-layer clamping plate and the laser detection head 4 are affected by gravity and slide back and forth along the guide plate 3. During the sliding process, the angle of the laser detection head 4 is slightly deflected within the set angle range, and the whole process maintains dynamic scanning.

[0065] S5. During the object transfer process, the forearm 102 and the upper arm 101 are in a relatively stable state. The forearm 102 is controlled to maintain a horizontal state. At this time, the laser detection head 4 is affected by the elastic rope 303 and gravity, and returns to the initial setting position, tilting towards the ground. During the handling process, the forearm 102 rotates around the axis of the rotation axis 7. When it deflects downward or upward, it further drives the entire guide plate 3 to rotate in the opposite direction to achieve angle compensation. The position of the laser detection head 4 is always tilted downward, and the walking trajectory of the humanoid robot body 1 is tracked in real time.

[0066] Although the present invention has been described in detail with reference to the foregoing embodiments, those skilled in the art can still modify the technical solutions described in the foregoing embodiments or make equivalent substitutions for some of the technical features. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of the present invention should be included within the protection scope of the present invention.

Claims

1. A trajectory detection device for a humanoid robot, comprising a humanoid robot body (1), both sides of the humanoid robot body (1) are provided with a large arm (101) and a small arm (102), a rotating shaft (7) is installed between the large arm (101) and the small arm (102), characterized in that: One of the outer side of the arm (102) is provided with mounting plate (2) and guide plate (3) from inside to outside in turn, the guide plate (3) is slidably connected with laser detection head (4), the mounting plate (2) and guide plate (3) are provided with driving assembly (5), and driving assembly (5) can adjust the included angle between laser detection head (4) and arm (102) in real time according to the attitude change of arm (102), so that the scanning optical axis of laser detection head (4) always keeps downwardly inclined and aligns with the ground. The guide plate (3) is provided with two S-shaped tracks (301), and the inner wall of the S-shaped track (301) is slidably connected with a guide rod (302) for connecting the laser detection head (4); The middle and top of the guide plate (3) are provided with linear sliding grooves, the double-layer clamping plate is slidably connected in the linear sliding groove in the middle, and the sliding block (309) is slidably connected in the linear sliding groove in the top, and the inner thread of the sliding block (309) is connected with the lead screw (3010); The double-layer clamping plate is divided into outer clamping plate (304) and inner clamping plate (305), the outer clamping plate (304) and the inner clamping plate (305) are provided with a square block (306) sliding along the linear sliding groove, one side of the square block (306) is fixedly connected with the elastic rope (303), one end of the elastic rope (303) penetrates the guide plate (3) and is fixedly connected with the sliding block (309), and the elastic rope (303) is in tension state; The surface of the outer clamping plate (304) is rotatably connected with the bracket, the front end of the bracket is fixedly connected with the laser detection head (4), and the sliding rod (307) is fixedly connected with the side wall of the bracket, and the middle of the guide rod (302) is provided with a sliding groove for the sliding rod (307) to slide; The upper end of the guide rod (302) is slidably connected with the connecting rod (308), and the bottom of the connecting rod (308) is fixedly connected with the outer clamping plate (304).

2. The trajectory detecting device for a humanoid robot according to claim 1, characterized by: The rotating shaft (7) is fixedly connected with the upper end of the arm (102), and the connecting block (6) is rotatably connected with the two ends of the rotating shaft (7), the connecting block (6) and the large arm (101) are rotatably connected through the spherical universal joint, and the mounting plate (2) is fixedly connected with one side of the connecting block (6).

3. The trajectory detecting device for a humanoid robot according to claim 2, characterized in that: The driving assembly (5) comprises an adapter shaft (501) rotatably connected with the mounting plate (2), the front end of the adapter shaft (501) is fixedly connected with a driving gear (502), and the distal end of the adapter shaft (501) penetrates the mounting plate (2) and is fixedly connected with the rotating shaft (7), one side of the driving gear (502) is engaged with a driven gear (503), and the inner wall of the driven gear (503) is fixedly connected with a main rotating rod.

4. The trajectory detecting device for a humanoid robot according to claim 3, characterized in that: The end of the main rotating lever is rotationally connected with the mounting plate (2), and the front end of the main rotating lever penetrates the driven gear (503) and is fixedly connected with the guide plate (3), rotates with the axis of the rotating shaft (7) as the center point, further drives the connecting shaft (501) and the driving gear (502) to rotate, and reversely rotates with the driven gear (503), so that the included angle between the laser detection head (4) and the small arm (102) changes.

5. A trajectory detection method for a humanoid robot, characterized by, The trajectory detection device for a humanoid robot according to any one of claims 1-4, comprising the following steps: S1, first, the end of the connecting shaft (501) is aligned with the front end of the rotating shaft (7) and is inserted, and is fixedly connected through rivets, first, control one end point of the mounting plate (2), in this process, the angle of the laser detection head (4) needs to be adjusted through the driving assembly (5), the connecting shaft (501) is rotated to drive the driving gear (502) to rotate, the driven gear (503) engaged with the driving gear (502) is synchronously reversely rotated, the included angle between the guide plate (3) and the small arm (102) is further controlled, and the included angle is set to 40°-60°, when the small arm (102) is parallel, the guide plate (3) and the laser detection head (4) are inclined to the ground, and then the mounting plate (2) and the connecting block (6) are fixedly connected through rivets or bolts, and the connecting shaft (501) is integrally formed into a two-point limiting fixing; S2, rotate the lead screw (3010) to adjust the position of the sliding block (309), rotate the lead screw (3010) clockwise to drive the sliding block (309) to move backward along the top of the guide plate (3), and at the same time, the elastic cord (303) is stretched, until the elastic cord (303) is stretched to a certain extent, the square block (306) is further pulled through the elastic cord (303), the two ends of the square block (306) are fixedly connected with the outer clamping plate (304) and the inner clamping plate (305), and the square block (306) moves, so that the whole double-layer clamping plate moves synchronously; S3, under the driving of the connecting rod (308), the double-layer clamping plate and the guide rod (302) are synchronously displaced, the guide rod (302) is guided by the S-shaped track (301), so that the guide rod (302) moves up and down dynamically, the guide rod (302) moves up and down dynamically, the slide rod (307) rotates up and down, further drives the bracket and the laser detection head (4) to rotate with the axis of the outer clamping plate (304) as the center, and the position and the inclination angle of the laser detection head (4) in the initial state are fine-tuned, and the specific angle can be adjusted according to the measurement requirement. S4, start to control the humanoid robot body (1) to carry the object, record the overall path of the humanoid robot body (1) in real time by using the laser detection head (4), in the process, when the humanoid robot body (1) carries the object up and down, the overall motion amplitude of the large arm (101) and the small arm (102) is large, the stretching amplitude of the large arm (101) and the small arm (102) is large, the inclination angle of the whole guide plate (3) changes greatly, the double-layer clamping plate and the laser detection head (4) are affected by gravity and slide along the guide plate (3), in the sliding process, the angle of the laser detection head (4) slightly deviates within the set angle range, and the whole keeps dynamic scanning; S5, in the object transfer process, at this time the whole small arm (102) and the large arm (101) are in a relatively stable form, the small arm (102) is controlled to maintain a horizontal form, at this time the laser detection head (4) is affected by the elastic rope (303) and gravity and returns to the initial setting position, and the whole is inclined to the ground, in the carrying process, the small arm (102) rotates around the axis of the rotating shaft (7) as the rotation center, and when it is deflected downward or upward, further drives the whole guide plate (3) to rotate in the opposite direction, realizes angle compensation, controls the position of the laser detection head (4) to be always inclined downward, and real-time tracks the walking track of the humanoid robot body (1).

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