Mobile robot

Abstract

The invention relates to the technical field of robots, and provides a mobile robot which comprises a robot body, two mechanical arms, two mechanical legs and machine body auxiliary wheels, the mechanical arms are arranged on the robot body, and the mechanical arms are provided with quick-change connectors; the mechanical legs are arranged on the robot body, driving wheels are arranged at the tail ends of the mechanical legs, and each mechanical leg is provided with a leg auxiliary wheel. The robot body auxiliary wheels are mounted on the robot main body; the robot is suitable for being switched among an upright form, a cruising form, a crawling form and a folding form. According to the mobile robot provided by the invention, through the driving wheels arranged at the tail ends of the mechanical legs, the leg part auxiliary wheels on the mechanical legs and the robot body auxiliary wheels on the robot main body, the mobile robot can be switched among an upright form, a cruising form, a crawling form and a folding form, so that the requirements of different environments are met; the trafficability in complex terrains and the efficient moving performance in relatively flat terrains are both considered.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of robots, in particular to a mobile robot. BACKGROUND

[0002] With the development of science and technology, mobile robots are gradually applied to various production and life scenes. Among them, wheeled robots and biped humanoid robots are the two most representative configurations. Wheeled robots have the advantages of simple dynamics model, high running stability, high energy efficiency, etc., and have been widely used in many real scenes. Compared with biped humanoid robots, wheeled robots are more mature in technology, have strong reliability, and relatively low energy consumption, and are especially suitable for stable movement on flat ground. However, its movement mode also brings obvious limitations, such as the inability to cross obstacles such as steps and stairs, and weak terrain adaptability. Biped humanoid robots are designed to imitate human morphology and movement ability, aiming to adapt to various environments of human daily life and replace humans to perform dangerous, repetitive or heavy work. However, the problem of biped walking control is still a technical challenge, especially in terms of dynamic balance ability and gait energy efficiency in unstructured terrain. In addition, the complex structure of biped humanoid robots has high manufacturing costs, which also limits its large-scale popularization and application range.

[0003] Therefore, the wheeled robots and biped humanoid robots in the prior art both have obvious defects: the wheeled robots are efficient and stable but have insufficient terrain adaptability, and the biped humanoid robots have strong terrain adaptability but have complex control, high cost and low energy efficiency. There is an urgent need in the field for a new technical solution to achieve a better balance between mobility efficiency, stability, terrain adaptability and manufacturing cost. SUMMARY

[0004] The present application aims to at least solve one of the technical problems in the related art. To this end, the present application provides a mobile robot to solve the above-mentioned problems.

[0005] The present application provides a mobile robot, comprising: a robot body; two mechanical arms, the mechanical arms being arranged on the robot body, the mechanical arms being provided with quick-change interfaces; two mechanical legs, the mechanical legs being arranged on the robot body, the mechanical legs being provided with driving wheels at the ends thereof, and each of the mechanical legs being provided with a leg auxiliary wheel; a body auxiliary wheel mounted on the robot body; The robot is adapted to switch between four modes: an upright mode, a cruising mode, a crawling mode and a folding mode. In the standing mode, the driving wheels support the ground, and the center of gravity of the mobile robot is distributed between the two driving wheels. In the cruising mode, the driving wheels and the leg auxiliary wheels jointly support the ground, and the center of gravity of the mobile robot is distributed between the driving wheels and the leg auxiliary wheels. In the crawling mode, the mechanical arm is connected to the crawling support through the quick-change interface, the crawling support jointly supports the ground with the driving wheels, and the center of gravity of the mobile robot is distributed between the crawling support and the driving wheels. In the folding mode, the driving wheels and the body auxiliary wheels jointly support the ground, and the center of gravity of the mobile robot is distributed between the driving wheels and the body auxiliary wheels.

[0006] The mobile robot provided by the application can be switched between the standing mode, the cruising mode, the crawling mode and the folding mode through the driving wheels arranged at the ends of the mechanical legs, the leg auxiliary wheels on the mechanical legs and the body auxiliary wheels on the robot body, so that the requirements of different environments are met, and the passability on complex terrains and the high-efficiency moving performance on relatively flat terrains are considered. On non-paved roads, such as grasslands and stone roads, the mobile robot can adopt the standing mode to run more stably. In a flat environment, the mobile robot can adopt the cruising mode to improve the moving speed. In an environment blocked by stairs or obstacles, the mobile robot can adopt the crawling mode to adapt to different terrains. In a transportation environment, the mobile robot can adopt the folding mode to reduce the occupied space and facilitate dragging and transportation.

[0007] According to one embodiment of the application, the robot controls the driving wheels on different mechanical legs to realize differential control to realize turning and obstacle avoidance, or the robot realizes walking through the mechanical legs.

[0008] According to one embodiment of the application, in the cruising mode, the robot forms stable support through the leg auxiliary wheels and the driving wheels to assist the movement of the driving wheels.

[0009] According to one embodiment of the application, in the crawling mode, the crawling support is a ball head; the robot controls the joint modules of the mechanical arm and the mechanical legs to rotate through the control module to realize the function of climbing over obstacles.

[0010] According to one embodiment of the application, in the folding mode, the robot controls the joint modules of the mechanical arm and the mechanical legs to rotate through the control module, so that the mechanical arm and the mechanical legs are folded and attached to the robot body.

[0011] According to one embodiment provided by the present application, the mechanical arm comprises a first mechanical arm and a second mechanical arm, each of the mechanical arms has at least three degrees of freedom, and / or, The mechanical leg comprises a first mechanical leg and a second mechanical leg, each of the mechanical legs has at least two degrees of freedom.

[0012] According to one embodiment provided by the present application, the mechanical arm comprises: a first joint module fixed to a robot body; a second joint module connected to the first joint module through a first connecting rod; a third joint module connected to the second joint module through a second connecting rod; The quick-change interface is connected to the third joint module through a third connecting rod.

[0013] According to one embodiment provided by the present application, the mechanical leg comprises: a leg joint module fixed to a robot body; a knee joint module connected to the leg joint module through a thigh connecting rod; The active wheel is connected to the knee joint module through a shank connecting rod; The leg auxiliary wheel is connected to the shank connecting rod through an auxiliary connecting rod.

[0014] According to one embodiment provided by the present application, the leg auxiliary wheel is an omni-directional wheel or a universal wheel.

[0015] According to one embodiment provided by the present application, the mobile robot comprises: a robot head provided with a screen, the robot head being connected to the robot body; a voice interaction component provided in the robot body; a battery provided in the robot body; a depth camera provided in the robot body; a control module provided in the robot body.

[0016] According to one embodiment provided by the present application, the robot body comprises a robot upper part and a robot lower part, the robot upper part is connected to the robot lower part, the mechanical arm is connected to the robot upper part, the mechanical leg is connected to the robot lower part, the body auxiliary wheel is provided in the robot lower part, the robot upper part comprises a first fixed plate and a second fixed plate, the first mechanical arm is connected to the first fixed plate, the second mechanical arm is connected to the second fixed plate, the robot lower part comprises a third fixed plate and a fourth fixed plate, the first mechanical leg is connected to the third fixed plate, and the second mechanical leg is connected to the fourth fixed plate.

[0017] The mobile robot provided by the application has the following advantages: 1. Excellent terrain adaptability: through intelligent switching of four modes, the mobile robot of the application can realize high-speed and low-power consumption movement in a cruising mode on flat ground, can move in an upright mode on non-paved roads to increase stability, can provide the best working space and interaction angle when long-time interaction with humans or high-altitude work is needed, can switch to a crawling mode to climb stably by using a mechanical arm and a mechanical leg to form four-foot or multi-foot support when encountering complex terrains such as stairs and steep slopes, and can greatly reduce the storage space in a folding mode for convenient transportation. The design concept of "one machine with multiple modes" enables the robot to seamlessly adapt to various scenes from structured factories to unstructured home environments.

[0018] 2. High functional integration and economic benefits: the mobile platform and the operating arm are organically integrated in the application, and the functions are further expanded through a quick-change interface. The application can replace multiple special-purpose devices, significantly reducing the user's purchase, maintenance and management costs, and realizing "one machine with multiple uses".

[0019] 3. Excellent stability and energy efficiency: each mode is carefully designed to ensure that the center of gravity always falls between stable support points. The cruising mode expands the support surface through the leg auxiliary wheel, and is more stable and has lower energy consumption than the traditional two-wheel self-balancing robot. The crawling mode disperses the weight to four support points, and is more stable and energy-efficient than biped walking.

[0020] Additional aspects and advantages of the application will be described in part below, will become apparent from the following description, or will be learned by practice of the application. BRIEF DESCRIPTION OF DRAWINGS

[0021] In order to more clearly illustrate the technical solutions in the application or the prior art, the following will briefly introduce the drawings needed to be used in the embodiments or prior art description. Obviously, the drawings in the following description are some embodiments of the application, and those skilled in the art can also obtain other drawings according to these drawings without creative labor.

[0022] Figure 1 is one of the structural schematic diagrams of the mobile robot provided by the application.

[0023] Figure 2 is the second structural schematic diagram of the mobile robot provided by the application.

[0024] Figure 3 is the structural schematic diagram of the mechanical arm provided by the application.

[0025] Figure 4is a structural schematic view of a mechanical leg provided by the present application.

[0026] Figure 5 is a structural schematic view of a mobile robot in a cruising mode provided by the present application.

[0027] Figure 6 is a structural schematic view of a mobile robot in a crawling mode provided by the present application.

[0028] Figure 7 is a structural schematic view of a mobile robot in a folding mode provided by the present application.

[0029] Figure 8 is a structural schematic view of a mobile robot in an upright mode provided by the present application.

[0030] Figure 9 is a structural schematic view of a mobile robot in a semi-standing mode provided by the present application.

[0031] Reference signs: 1, robot head; 2, robot main body; 3, first mechanical arm; 4, first mechanical leg; 5, second mechanical leg; 6, second mechanical arm; 301, voice interaction assembly; 302, battery; 303, depth camera; 304, body auxiliary wheel; 305, third fixed plate; 306, second fixed plate; 307, fourth fixed plate; 308, control module; 309, first fixed plate; 501, leg joint module; 502, thigh connecting rod; 503, knee joint module; 504, shank connecting rod; 505, driving wheel; 506, leg auxiliary wheel; 507, hinge; 508, auxiliary connecting rod; 601, first joint module; 602, first connecting rod; 603, second joint module; 604, second connecting rod; 605, third joint module; 606, third connecting rod; 607, crawling support. DETAILED DESCRIPTION

[0032] The embodiments of the present application will be further described in detail below with reference to the accompanying drawings and examples. The following examples are used to illustrate the present application, but cannot be used to limit the scope of the present application.

[0033] In the description of the embodiments of the present application, it should be noted that the terms "center", "longitudinal", "lateral", "upper", "lower", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer" and the like indicate the orientation or positional relationship shown in the drawings, and are only for the convenience of describing the embodiments of the present application and simplifying the description, and do not indicate or imply that the devices or elements referred to must have a particular orientation, be constructed and operated in a particular orientation, and therefore cannot be understood as a limitation on the embodiments of the present application. In addition, the terms "first", "second", "third" are only for the purpose of description, and cannot be understood as indicating or implying relative importance.

[0034] In the description of the embodiments of the present application, unless otherwise explicitly specified and limited, the terms "connected", "connected" should be understood broadly, for example, it can be fixedly connected, or it can be detachably connected, wherein the fixedly connected can include the way of integrally connected; it can be mechanically connected, or it can be electrically connected; it can be directly connected, or it can be indirectly connected through an intermediate medium. For those skilled in the art, the specific meaning of the above terms in the embodiments of the present application can be understood according to the specific circumstances.

[0035] In the embodiments of the present application, unless otherwise explicitly specified and limited, the first feature is "on" or "under" the second feature, which can be that the first and second features are in direct contact, or the first and second features are in indirect contact through an intermediate medium. Moreover, the first feature "above", "above" and "above" the second feature can be that the first feature is directly above or obliquely above the second feature, or only indicates that the horizontal height of the first feature is higher than that of the second feature. The first feature "below", "below" and "below" the second feature can be that the first feature is directly below or obliquely below the second feature, or only indicates that the horizontal height of the first feature is less than that of the second feature.

[0036] In the description of the present application, the description of the terms "one embodiment", "some embodiments", "example", "specific example" or "some examples" means that the specific features, structures, materials or characteristics described in conjunction with the embodiment or example are included in at least one embodiment or example of the present application. In the present application, the illustrative description of the above terms does not necessarily refer to the same embodiment or example. Moreover, the specific features, structures, materials or characteristics described can be combined in any one or more embodiments or examples in a suitable manner. In addition, those skilled in the art can combine and combine the different embodiments or examples described in the present application and the features of the different embodiments or examples without contradiction.

[0037] The following will be described in conjunction with Figures 1-8 The mobile robot of the present application is described.

[0038] The application provides a mobile robot, referring to Figures 1 to 4 The mobile robot comprises a robot body 2, two mechanical arms, two mechanical legs and a body auxiliary wheel 304; the mechanical arms are arranged on the robot body 2, and the mechanical arms are provided with quick-change interfaces; the mechanical legs are arranged on the robot body 2, and the mechanical legs are provided with driving wheels 505 at the ends of the mechanical legs, and each of the mechanical legs is provided with a leg auxiliary wheel 506; and the body auxiliary wheel 304 is installed on the robot body 2.

[0039] The robot is adapted to switch among four modes of an upright mode, a cruising mode, a crawling mode and a folding mode, referring to Figures 5 to 8 In the upright mode, the driving wheels 505 support the ground, and the center of gravity of the mobile robot is distributed between the two driving wheels. In the cruising mode, the driving wheels 505 and the leg auxiliary wheels 506 jointly support the ground, and the center of gravity of the mobile robot is distributed between the driving wheels 505 and the leg auxiliary wheels 506. In the crawling mode, the mechanical arms are connected to crawling supports 607 through the quick-change interfaces, the crawling supports 607 jointly support the ground with the driving wheels 505, and the center of gravity of the mobile robot is distributed between the crawling supports 607 and the driving wheels 505. In the folding mode, the driving wheels 505 and the body auxiliary wheel 304 jointly support the ground, and the center of gravity of the mobile robot is distributed between the driving wheels 505 and the body auxiliary wheel 304.

[0040] The mobile robot provided by the application can switch among the upright mode, the cruising mode, the crawling mode and the folding mode through the driving wheels 505 arranged at the ends of the mechanical legs, the leg auxiliary wheels 506 on the mechanical legs and the body auxiliary wheel 304 on the robot body 2, so as to meet the requirements of different environments, and the passability in complex terrain and the high-efficiency moving performance on relatively flat terrain are taken into account.

[0041] It can be understood that, compared with a conventional wheeled robot, the mobile robot of the application has a more human-like appearance, can directly cross a step, is more suitable for home use, and can be switched to the crawling mode to realize the function of climbing stairs. Compared with a biped humanoid robot, the mobile robot of the application has the advantages of low running power consumption, high speed, stable running, high reliability and low cost in the case of realizing most functions of the biped humanoid robot, and can provide functions of life convenience, interesting interaction, accompanying learning and safety monitoring for a family. Compared with a general household robot, the mobile robot of the application has the characteristics of small and light body, and can be switched to the folding mode for convenient transportation and carrying.

[0042] In the crawling mode, the crawling supports 607 and the driving wheels 505 cooperatively move to realize crawling.

[0043] In one embodiment, the mobile robot comprises a control module disposed within the robot body 2, the control module is configured to dynamically adjust the center of gravity of the robot by adjusting the joint angles of the mechanical arms and / or mechanical legs in any of the modes to maintain motion stability.

[0044] The control module is configured to autonomously trigger the switching between the four modes based on sensor information, including at least one of environmental image information from the depth camera 303, and attitude information from the inertial measurement unit.

[0045] Referring to Figure 5 In the cruising mode, the control module 308 of the mobile robot controls the joint modules of the mechanical legs to keep the shank link 504 at an angle relative to the ground, so that the active wheel 505 and the leg auxiliary wheel 506 jointly contact and support the ground. The active wheel 505 provides the main driving force, while the leg auxiliary wheel 506 plays a crucial supporting role. Together with the active wheel 505, they form a stable triangle or polygonal support surface, significantly reducing the overall center of gravity of the robot.

[0046] The mobile robot of the present application can maintain stability without complex dynamic balance algorithms, greatly reducing control difficulty and system power consumption, and is particularly suitable for long-distance, high-speed planar movement. The center of gravity of the robot is controlled within the support formed by the active wheel 505 and the leg auxiliary wheel 506, ensuring natural stability during movement. When turning, the speed of the left and right active wheels 505 can be easily realized by differential control, and the leg auxiliary wheel 506 will follow the steering, the whole process is smooth and low in energy consumption.

[0047] Referring to Figure 6 When the sensors of the robot (such as the depth camera 303) identify the presence of a step, ditch or other large obstacle in front, the control module 308 decides to switch to the crawling mode. In this mode, the mechanical arms are extended downward and connected to the crawling support 607 through the quick-change interface. The crawling support 607 and the active wheel 505 at the end of the mechanical leg jointly form a four-point support.

[0048] The movement mode of the robot is changed from wheeled rolling to quadruped climbing. The multiple joint modules of the mechanical arms and legs are coordinately controlled by the control module 308 to simulate the "triangular gait" or "creeping gait" of quadruped animals (i.e., always three points are supported and one point is moved). The core technical effect brought by this design is that the weight of the robot is dispersed to four support points, the pressure borne by each support point is reduced, and the gravity center projection always falls within the triangle formed by the three support points, thereby obtaining static stability far exceeding biped walking, making the process of climbing over obstacles more safe and reliable. The spherical head-shaped creeping support 607 reduces the friction with the ground, facilitating the adjustment of the direction in movement. In this form, the robot has the ability to cross terrains such as stairs and ruins.

[0049] With reference to Figure 7 When storage or transportation is needed, the robot enters the folded form. The control module 308 controls the joint modules of all mechanical arms and legs to rotate so as to be close to the profile of the robot main body 2. Through the multi-degree-of-freedom joint movement, the originally unfolded limb structure is minimized and packaged. At this time, the support points of the robot are mainly borne by the body auxiliary wheels 304 and / or the driving wheels 505. Such a setting greatly reduces the overall volume of the robot, so that it can enter a narrow storage space or be easily carried and transported, significantly improving the portability and space utilization of the product.

[0050] With reference to Figure 8 In the upright form, the robot is supported on the ground by only two driving wheels 505 by controlling the mechanical legs to be fully stretched, simulating the standing posture of a human being. Movement and turning are achieved by differential rotation of the driving wheels 505, and the control principle is similar to that of a two-wheel self-balancing robot. The control module 308 can dynamically compensate for the gravity center offset by adjusting the position of the mechanical arms (such as swinging forward or backward), and on non-paved roads, such as grassland and stone-paved roads, the mobile robot can adopt the upright form to run more stably.

[0051] In addition, the upright form can also obtain a higher working space and interaction angle, which is very suitable for face-to-face interaction with humans, performing observation or simple operation tasks at a high place (such as a desktop).

[0052] In one embodiment, with reference to Figure 9 The mobile robot also has a semi-standing form for lowering the interaction angle.

[0053] In one embodiment, the driving wheel 505 is a hub motor, and the leg auxiliary wheel 506 is connected to the mechanical leg by a hinge 507 to share the pressure of the driving wheel 505, thereby reducing power consumption and also enhancing stability.

[0054] In one embodiment, the quick-change interface is not only used to connect the crawling support 607, but also can be quickly changed into various end effectors such as dexterous hands, clamping jaws, cameras, disinfection nozzles, etc. This enables the robot to transform from a single mobile platform into a multifunctional work platform.

[0055] According to one embodiment provided by the present application, in the cruising mode, the robot performs differential control through the driving wheels 505 on different mechanical legs to realize turning and obstacle avoidance.

[0056] According to one embodiment provided by the present application, in the crawling mode, the crawling support 607 is a ball head; the robot realizes the function of climbing over obstacles by controlling the joint modules of the mechanical arm and the mechanical leg to rotate through the control module.

[0057] In one embodiment, the quick-change interface can also replace the crawling support 607 with an end effector including a dexterous hand or an electric clamping jaw to perform a grasping task in the crawling mode or the cruising mode.

[0058] According to one embodiment provided by the present application, in the folding mode, the robot controls the joint modules of the mechanical arm and the mechanical leg to rotate through the control module, so that the mechanical arm and the mechanical leg are folded and attached to the robot body 2.

[0059] According to one embodiment provided by the present application, the mechanical arm includes a first mechanical arm 3 and a second mechanical arm 6, each of which has at least three degrees of freedom.

[0060] Of course, the mechanical arm is not limited to three degrees of freedom, but can also be four degrees of freedom, five degrees of freedom, six degrees of freedom, seven degrees of freedom, etc.

[0061] According to one embodiment provided by the present application, the mechanical leg includes a first mechanical leg 4 and a second mechanical leg 5, each of which has at least two degrees of freedom.

[0062] Similarly, the mechanical leg is not limited to two degrees of freedom, but can also be three degrees of freedom, four degrees of freedom, five degrees of freedom, six degrees of freedom, seven degrees of freedom, etc.

[0063] According to one embodiment provided by the present application, the mechanical arm includes a first joint module 601, a second joint module 603, a third joint module 605, and a quick-change interface, the first joint module 601 is fixed to the robot body 2; the second joint module 603 is connected to the first joint module 601 through a first connecting rod 602; the third joint module 605 is connected to the second joint module 603 through a second connecting rod 604; and the quick-change interface is connected to the third joint module 605 through a third connecting rod 606.

[0064] It can be understood that the first joint module 601 provides shoulder rotation movement, the second joint module 603 provides shoulder pitch movement, and the third joint module 605 provides elbow movement, and the three degrees of freedom constitute a basic but complete operation space, which is sufficient to complete tasks such as supporting and simple grabbing. More degrees of freedom can be added on this basis.

[0065] In an embodiment, the first joint module 601 can be fixed on the robot body 2 by screws. The first connecting rod 602 can be installed on the moving end of the first joint module 601 by screws. The fixed end of the second joint module 603 is installed on the other end of the first connecting rod 602 by screws. The moving end of the second joint module 603 is connected with one end of the second connecting rod 604 by screws. The fixed end of the third joint module 605 is connected with the other end of the second connecting rod 604 by screws. The moving end of the third joint module 605 is connected with one end of the third connecting rod 606 by screws. The other end of the third connecting rod 606 is provided with a quick-change interface.

[0066] According to an embodiment provided by the application, the mechanical leg comprises: a leg joint module 501, a knee joint module 503, a driving wheel 505, and a leg auxiliary wheel 506, the leg joint module 501 is fixed to the robot body 2; the knee joint module 503 is connected to the leg joint module 501 through a thigh connecting rod 502; the driving wheel 505 is connected to the knee joint module 503 through a shank connecting rod 504; and the leg auxiliary wheel 506 is connected to the shank connecting rod 504 through an auxiliary connecting rod 508.

[0067] It can be understood that the leg joint module 501 provides hip movement, and the knee joint module 503 provides knee movement. The two degrees of freedom are combined with the end driving wheel 505 to realize the flexion and extension of the leg and the positioning of the wheel. The leg auxiliary wheel 506 is connected to the shank connecting rod 504 through the hinge 507 and the auxiliary connecting rod 508, so as to ensure that it can effectively support the ground in the cruising mode.

[0068] In an embodiment, the fixed end of the leg joint module 501 is installed on the robot body 2 by screws, and the thigh connecting rod 502 can be installed on the moving end of the leg joint module 501 by screws. The fixed end of the knee joint module 503 is installed on the other end of the thigh connecting rod 502 by screws. The moving end of the knee joint module 503 is connected with one end of the shank connecting rod 504 by screws. The driving wheel 505 is rotatably connected to the other end of the shank connecting rod 504. The leg auxiliary wheel 506 and the auxiliary connecting rod 508 are connected together through the hinge 507, and the leg auxiliary wheel 506 and the auxiliary connecting rod 508 are installed on the shank connecting rod 504 as a whole by screws.

[0069] According to an embodiment provided by the application, the leg auxiliary wheel 506 is an omnidirectional wheel or a universal wheel.

[0070] According to one embodiment provided by the application, the mobile robot comprises a robot head 1, the robot head is provided with a screen, and the robot head 1 is connected to the robot body 2.

[0071] According to one embodiment provided by the application, the mobile robot comprises a voice interaction assembly 301, the voice interaction assembly 301 is arranged on the robot body 2, and the voice interaction assembly 301 is configured with a large language model and supports multi-language interaction and more human-like voice.

[0072] According to one embodiment provided by the application, the mobile robot comprises a battery 302, the battery 302 is arranged on the robot body 2, and the battery 302 is used to provide power for the whole robot.

[0073] According to one embodiment provided by the application, the mobile robot comprises a depth camera 303, the depth camera 303 is arranged on the robot body 2, and the depth camera 303 is used for navigation and obstacle avoidance, identification of the expression changes of the host, cooperation with the screen of the voice interaction assembly 301 and the robot head 1, and realization of functions such as emotional analysis and humanistic care.

[0074] According to one embodiment provided by the application, the mobile robot comprises a control module 308, and the control module 308 is arranged on the robot body 2.

[0075] According to one embodiment provided by the application, the robot body 2 comprises a robot upper part and a robot lower part, the robot upper part is connected to the robot lower part, the mechanical arm is connected to the robot upper part, the mechanical leg is connected to the robot lower part, the body auxiliary wheel 304 is arranged on the robot lower part, the robot upper part comprises a first fixed plate 309 and a second fixed plate 306, the first mechanical arm 3 is connected to the first fixed plate 309, and the second mechanical arm 6 is connected to the second fixed plate 306; the robot lower part comprises a third fixed plate 305 and a fourth fixed plate 307, the first mechanical leg 4 is connected to the third fixed plate 305, and the second mechanical leg 5 is connected to the fourth fixed plate 307.

[0076] Specifically, the control module 308 of the mobile robot can adjust the angles of the joint modules according to instructions to change the shape: In a planar environment, the mobile robot can adopt a cruising shape, and the specific structure is shown in FIG. 6. Figure 5In cruising mode, the control module 308 controls the posture of the mechanical legs, ensuring that the drive wheels 505 and the auxiliary leg wheels 506 jointly contact and support the ground. At this time, the mobile robot's center of gravity is distributed between the drive wheels 505 and the auxiliary leg wheels 506, forming a stable supporting chassis. The mobile robot achieves rapid movement, flexible turning, and obstacle avoidance through differential speed control via the drive wheels 505 on the first and second mechanical legs 4, combined with the follow-up movement of the auxiliary leg wheels 506. This mode is suitable for flat ground and features high movement speed and low energy consumption.

[0077] When encountering steps, slopes, or unstructured complex terrain, the mobile robot switches to crawling mode, referring to... Figure 6 At this point, the robotic arm extends downwards, and the crawling support 607, connected via the quick-change interface, contacts the ground. The crawling support 607 and the drive wheel 505 together support the ground, forming a four-legged support structure (two robotic arms and two robotic legs). The center of gravity of the mobile robot is distributed between the crawling support 607 and the drive wheel 505. In this configuration, the mobile robot controls the coordinated movement of the robotic arms (first joint module 601, second joint module 603, third joint module 605) and the robotic legs (leg joint module 501, knee joint module 503) via the control module 308. By adjusting the angle, it maintains the balance of the robot body and achieves the function of overcoming obstacles. In this state, the drive wheel 505 can be used as a passive wheel to roll or lock, coordinating with the limb swing to achieve crawling or stepping. Of course, it can also be configured to actively roll to coordinate with the overall movement.

[0078] In standby, transportation, or handling scenarios, the mobile robot switches to a folded form. The control module 308 controls the joint modules of the robotic arm and legs to rotate, causing the robotic arm and legs to retract inwards towards the robot body 2. At this time, the mobile robot is supported on the ground by the auxiliary wheels 304 and the drive wheels 505 mounted on the bottom of the robot body 2 (or supported only by the auxiliary wheels 304, depending on the specific center of gravity adjustment). The center of gravity of the mobile robot is distributed between the support wheels. In this form, the robot occupies the least space, making it easy to store or be dragged by the user like a suitcase.

[0079] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention, and not to limit them; although the present invention has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that modifications can still be made to the technical solutions described in the foregoing embodiments, or equivalent substitutions can be made to some of the technical features; and these modifications or substitutions do not cause the essence of the corresponding technical solutions to deviate from the spirit and scope of the technical solutions of the embodiments of the present invention.

Claims

1. A mobile robot, characterized in that, include: Robot body (2); Two robotic arms are mounted on the robot body (2) and each robotic arm is equipped with a quick-change interface. Two mechanical legs are provided on the robot body (2), and each mechanical leg is provided with a drive wheel (505) at its end. Each mechanical leg is also provided with a leg auxiliary wheel (506). The auxiliary wheels (304) are mounted on the robot body (2); The robot is adapted to switch between four modes: upright, roaming, crawling, and folded. In the upright configuration, the drive wheel (505) supports the ground; In the cruising mode, the drive wheel (505) and the leg auxiliary wheel (506) jointly support the ground; In the crawling mode, the robotic arm is connected to the crawling support (607) via the quick-change interface, and the crawling support (607) and the drive wheel (505) jointly support the ground; In the folded configuration, the drive wheel (505) and the fuselage auxiliary wheel (304) together support the ground.

2. The mobile robot according to claim 1, characterized in that, The robot uses differential control via drive wheels (505) on different mechanical legs to achieve turning and obstacle avoidance, or the robot uses mechanical legs to achieve walking.

3. The mobile robot according to claim 1, characterized in that, In the cruising mode, the robot provides stable support through the leg auxiliary wheels (506) and the drive wheels (505), which assist the movement of the drive wheels (505).

4. The mobile robot according to claim 1, characterized in that, In the crawling mode, the crawling support (607) is a ball head; the robot controls the joint modules of the robotic arm and robotic leg to rotate through the control module (308) to achieve the function of climbing over obstacles.

5. The mobile robot according to claim 1, characterized in that, In the folded state, the robot controls the joint modules of the robotic arm and robotic leg to rotate through the control module, so that the robotic arm and robotic leg are folded and fit against the robot body (2).

6. The mobile robot according to claim 1, characterized in that, The robotic arm includes a first robotic arm (3) and a second robotic arm (6), each of which has at least three degrees of freedom. And / or, The mechanical leg includes a first mechanical leg (4) and a second mechanical leg (5), each of which has at least two degrees of freedom.

7. The mobile robot according to claim 6, characterized in that, The robotic arm includes: The first joint module (601) is fixed to the robot body (2); The second joint module (603) is connected to the first joint module (601) via the first link (602); The third joint module (605) is connected to the second joint module (603) via the second link (604); The quick-change interface is connected to the third joint module (605) via the third link (606).

8. The mobile robot according to claim 6, characterized in that, The mechanical leg includes: The leg joint module (501) is fixed to the robot body (2); The knee joint module (503) is connected to the leg joint module (501) via the thigh link (502); The drive wheel (505) is connected to the knee joint module (503) via the lower leg connecting rod (504); The leg auxiliary wheel (506) is connected to the lower leg connecting rod (504) via an auxiliary connecting rod (508).

9. The mobile robot according to any one of claims 1 to 8, characterized in that, The mobile robot includes: Robot head (1), the robot head is equipped with a screen, and the robot head (1) is connected to the robot body (2). A voice interaction component (301) is provided on the robot body (2). Battery (302) is provided in the robot body (2); A depth camera (303) is installed on the robot body (2); The control module (308) is located on the robot body (2).

10. The mobile robot according to any one of claims 1 to 8, characterized in that, The robot body (2) includes an upper part and a lower part. The upper part is connected to the lower part, the robotic arm is connected to the upper part, the robotic leg is connected to the lower part, and the auxiliary wheel is located on the lower part. The upper part includes a first fixed plate (309) and a second fixed plate (306). The first robotic arm (3) is connected to the first fixed plate (309), and the second robotic arm (6) is connected to the second fixed plate (306). The lower part includes a third fixed plate (305) and a fourth fixed plate (307). The first robotic leg (4) is connected to the third fixed plate (305), and the second robotic leg (5) is connected to the fourth fixed plate (307).

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