A humanoid robot for dispensing in a pharmacy and a walking control method

Abstract

This invention discloses a humanoid robot for dispensing medicine in a pharmacy and its walking control method. The humanoid robot includes a walking base, a torso, a humanoid robotic arm mechanism, a humanoid robotic hand mechanism, a humanoid head, and a behavior control unit. The torso is connected to the top of the walking base, and the humanoid robotic arm mechanism is connected to opposite sides of the torso. The humanoid robotic hand mechanism for grasping medicine is connected to the side of the humanoid robotic arm mechanism away from the torso. A storage box is provided on the top of the walking base. The humanoid robotic arm mechanism is movable. A humanoid head is connected to the top of the torso, and the humanoid head is equipped with a lidar for collecting high-altitude environmental data. The walking base is equipped with an environmental sensing device for collecting near-ground environmental data. The behavior control unit is used to construct a global environmental model based on the high-altitude and near-ground environmental data; obtain a preset trajectory route based on the global environmental model; and control the walking base to move according to the preset trajectory route.

Description

Technical Field

[0001] This invention relates to the field of robotics, and in particular to a humanoid robot for dispensing medicine in a pharmacy and a walking control method thereon. Background Technology

[0002] For a long time, the dispensing windows of hospital outpatient pharmacies have been overcrowded, with patients having to wait in long lines for pharmacists to take different types of medicines from the shelves and dispense them to them, which usually results in a long waiting time for patients to pick up their medicines.

[0003] Currently, some hospitals have begun to use automated dispensing equipment at their dispensing windows to improve dispensing efficiency. This automated dispensing equipment can dispense medicines stored in the equipment according to demand. Summary of the Invention

[0004] In order to enrich the product range of humanoid robots and improve the automation level of pharmacy dispensing, this invention provides a humanoid robot for pharmacy dispensing and a walking control method.

[0005] In a first aspect, the present invention proposes a humanoid robot for dispensing medicine in a pharmacy, which is used to communicate with an external walking control system. The robot is characterized by comprising: a walking base, a torso, a humanoid robotic arm mechanism, a humanoid robotic hand mechanism, a humanoid head, and a behavior control unit.

[0006] The torso is connected to the top of the walking base. The humanoid robotic arm mechanism is connected to the opposite sides of the torso. The humanoid robotic arm mechanism is connected to the side away from the torso for grasping medicines. The top of the walking base is provided with a storage box for holding medicines.

[0007] The humanoid robotic arm mechanism is movable to drive the humanoid robotic hand mechanism to move;

[0008] The top of the torso is connected to the humanoid head, and the humanoid head is equipped with a lidar for collecting first high-altitude environmental data;

[0009] The walking base is equipped with an environmental sensing device for collecting first near-ground environmental data;

[0010] The behavior control unit is used to receive walking commands from the external walking control system, construct a first global environment model based on the first high-altitude environment data and the first near-ground environment data, obtain a first preset trajectory route based on the first global environment model, and control the walking base to move according to the first preset trajectory route.

[0011] Optionally, two image acquisition devices are provided, and multiple environmental sensing devices are provided, with the multiple environmental sensing devices arranged at intervals along the axial direction of the walking base.

[0012] Optionally, the humanoid robotic hand mechanism includes a palm portion and multiple finger portions. Each finger portion includes a swing component, a first phalanx, a second phalanx, and a third phalanx. The swing component is connected to the palm portion via a swing drive component. The first phalanx is rotatably connected to the swing component via a first rotation drive component. The first phalanx and the second phalanx are rotatably connected via a second rotation drive component. The second phalanx and the third phalanx are rotatably connected via a third rotation drive component.

[0013] Optionally, the rotation axis of the first phalanx, the rotation axis of the second phalanx, and the rotation axis of the third phalanx are parallel; the swing axis of the swing assembly is perpendicular to the rotation axis of the first phalanx.

[0014] Optionally, the palm portion is provided with a connecting portion, the swing assembly is provided with a fixing portion, the fixing portion is rotatably connected to the connecting portion, and the fixing portion is connected to the connecting portion through a swing drive assembly, the first knuckle portion is rotatably connected to the fixing portion through a first rotation drive assembly, and the rotation axis of the fixing portion is perpendicular to the rotation axis of the first knuckle portion.

[0015] Optionally, the swing drive assembly includes two telescopic mechanisms disposed between the connecting part and the fixed part, the two telescopic mechanisms being located on opposite sides of the rotatable connection between the connecting part and the fixed part.

[0016] Optionally, a lifting mechanism is also provided between the walking base and the torso.

[0017] Optionally, the walking base is an AGV base.

[0018] Optionally, the walking base has multiple receiving slots, and each receiving slot has a movable storage compartment.

[0019] Secondly, this application provides a walking control method for a humanoid robot used for dispensing medicine in a pharmacy, applied to the humanoid robot for dispensing medicine in a pharmacy as described in the first aspect, the walking control method comprising:

[0020] It receives walking commands from an external walking control system and uses the lidar to collect first high-altitude environmental data.

[0021] The environmental sensing device is used to collect first near-ground environmental data;

[0022] A first global environment model is constructed based on the first high-altitude environment data and the first near-ground environment data;

[0023] The first preset trajectory route is obtained based on the first global environment model;

[0024] The walking base is controlled to move along the first preset trajectory.

[0025] Optionally, the step of controlling the walking base to move according to the first preset trajectory includes:

[0026] The walking base is controlled to move along the first preset trajectory, while the environmental sensing device collects real-time near-ground environmental data to detect whether there are obstacles on the first preset trajectory.

[0027] If an obstacle is detected, the walking base is controlled to stop moving;

[0028] The lidar was used to collect second high-altitude environmental data;

[0029] The environmental sensing device is used to collect second near-ground environmental data;

[0030] A second global environment model is constructed based on the second upper-altitude environment data and the second near-ground environment data;

[0031] The second preset trajectory route is obtained based on the second global environment model;

[0032] Control the walking base to move according to the second preset trajectory.

[0033] Optionally, the step of controlling the walking base to move according to the first preset trajectory includes:

[0034] The walking base is controlled to move along the first preset trajectory route, while the environmental sensing device collects real-time near-ground environmental data and determines the ground slope value on the first preset trajectory route based on the real-time near-ground environmental data.

[0035] When the ground slope value is greater than the preset ground slope value, the walking base is controlled to stop moving;

[0036] The lidar was used to collect third-level high-altitude environmental data;

[0037] The environmental sensing device is used to collect third near-ground environmental data;

[0038] A third global environment model is constructed based on the third high-altitude environment data and the third near-ground environment data;

[0039] The third preset trajectory route is obtained based on the third global environment model;

[0040] Control the walking base to move according to the third preset trajectory.

[0041] The beneficial effects of the above-described technical solutions provided in the embodiments of the present invention include at least the following:

[0042] In the technical solution provided by this invention, the walking base, through a behavior control unit, enables the entire humanoid robot to move. It can move to a pre-designed medicine shelf area, and then, through a designed humanoid robotic arm mechanism, drive a humanoid robotic hand mechanism to move to an area close to the medicines. The humanoid robotic hand grasps the medicines and stores them in a storage box. The robot then moves to the dispensing window area via the walking base, where the designed humanoid robotic arm mechanism drives the humanoid robotic hand mechanism to dispense the medicines from the storage box to the dispensing window, thus improving the automation level and work efficiency of the pharmacy. Furthermore, the LiDAR installed on the humanoid's head and the environmental perception device installed on the walking base enhance the robot's environmental perception capabilities, which is beneficial for obstacle avoidance during movement. Attached Figure Description

[0043] To more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on the structures shown in these drawings without creative effort.

[0044] Figure 1 This invention provides a structural schematic diagram of a humanoid robot for dispensing medicine in a pharmacy;

[0045] Figure 2 This is a side view of the humanoid robot in picture 1;

[0046] Figure 3 This is a structural schematic diagram of a humanoid robotic arm mechanism provided by the present invention;

[0047] Figure 4 This is a structural schematic diagram of a humanoid robotic arm mechanism provided by the present invention.

[0048] Explanation of icon numbers:

[0049] 100 - Humanoid robot;

[0050] 1-Walking base; 11-Receiving slot;

[0051] 2-Tortoise; 21-Display screen;

[0052] 3-Humanoid robotic arm mechanism; 31-First arm section; 32-Second arm section; 321-First arm segment; 322-Second arm segment; 33-Third arm section; 331-Third arm segment; 332-Fourth arm segment; 34-Fourth arm section; 341-Fifth arm segment; 342-Sixth arm segment;

[0053] 4-Humanoid robotic hand mechanism; 41-Palm part; 411-Connecting part; 42-Finger part; 421-First phalanx part; 422-Second phalanx part; 423-Third phalanx part; 424-Swing assembly; 4241-Fixing part; 425-Image acquisition device; 426-Swing drive assembly;

[0054] 5-Human-shaped head;

[0055] 6- Lifting mechanism;

[0056] 71-Storage box; 72-Storage compartment;

[0057] 8-Environmental sensing equipment;

[0058] 9-Circular interactive display screen.

[0059] The realization of the objective, functional features and advantages of the present invention will be further explained in conjunction with the embodiments and with reference to the accompanying drawings. Detailed Implementation

[0060] 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 a part of the embodiments of the present invention, and not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those of ordinary skill in the art without creative effort are within the scope of protection of the present invention.

[0061] It should be noted that if the embodiments of the present invention involve directional indicators (such as up, down, left, right, front, back, etc.), the directional indicators are only used to explain the relative positional relationship and movement of the components in a certain specific posture (as shown in the figure). If the specific posture changes, the directional indicators will also change accordingly.

[0062] Furthermore, if the embodiments of this invention involve descriptions such as "first" or "second," these descriptions are for descriptive purposes only and should not be construed as indicating or implying their relative importance or implicitly specifying the number of technical features indicated. Therefore, a feature defined with "first" or "second" may explicitly or implicitly include at least one of those features. Additionally, the meaning of "and / or" throughout the text includes three parallel solutions; for example, "A and / or B" includes solution A, solution B, or a solution where both A and B are satisfied simultaneously. Furthermore, the technical solutions of the various embodiments can be combined with each other, but this must be based on the ability of those skilled in the art to implement them. When the combination of technical solutions is contradictory or impossible to implement, it should be considered that such a combination of technical solutions does not exist and is not within the scope of protection claimed by this invention.

[0063] Current automated dispensing equipment can dispense medicines stored in the equipment according to demand, but when all the stored medicines are dispensed, manual replenishment is still required, which is not conducive to the automation development of pharmacies.

[0064] To at least partially address the aforementioned problems, the inventors attempted to design a humanoid robot for dispensing medicine in pharmacies. This robot communicates with an external walking control system, receives walking commands from the system, and is propelled by a walking base. It can move to a pre-designed medicine shelf area, where a designed humanoid robotic arm mechanism drives a humanoid robotic hand mechanism to approach the medicines. The robotic hand grasps the medicines and stores them in a storage box. The robot then moves to the dispensing window area via the walking base, where the humanoid robotic arm mechanism drives the robotic hand mechanism to dispense the medicines from the storage box. This improves the automation and efficiency of the pharmacy. Furthermore, a lidar sensor mounted on the robot's head and an environmental sensing device mounted on the walking base enhance the robot's environmental awareness, facilitating obstacle avoidance during movement.

[0065] Based on this, the present invention provides a humanoid robot for dispensing medicine in a pharmacy and a walking control method. Figures 1 to 4 This invention provides a specific embodiment of a humanoid robot for dispensing medicine in a pharmacy.

[0066] Example 1

[0067] Please see Figures 1 to 2The humanoid robot 100 is used to communicate with an external walking control system. The humanoid robot 100, used for dispensing medicine in a pharmacy, includes a walking base 1, a torso 2, a humanoid robotic arm mechanism 3, a humanoid robotic hand mechanism 4, a humanoid head 5, and a behavior control unit. The torso 2 is connected to the top of the walking base 1. The humanoid robotic arm mechanism 3 is connected to opposite sides of the torso 2. The humanoid robotic hand mechanism 4, used for grasping medicine, is connected to the side of the humanoid robotic arm mechanism 3 away from the torso 2. A storage box 71 for holding medicine is provided on the top of the walking base 1. The humanoid robotic arm mechanism 3 is movable to drive the humanoid robotic hand mechanism 4. The humanoid head 5 is connected to the top of the torso 2. The humanoid head 5 is equipped with a lidar (not shown in the figure) for collecting first-level high-altitude environmental data. The walking base 1 is equipped with an environmental sensing device 8 for collecting first near-ground environmental data; the behavior control unit is used to construct a first global environment model based on the first high-altitude environmental data and the first near-ground environmental data, obtain a first preset trajectory route based on the first global environment model, and control the walking base 1 to move according to the first preset trajectory route.

[0068] In the technical solution provided by this invention, the walking base 1, through the behavior control unit, can drive the entire humanoid robot 100 to move to a preset medicine shelf area. Then, through the designed humanoid robotic arm mechanism 3, the humanoid robotic hand mechanism 4 moves to the area near the medicines. The humanoid robotic hand grasps the medicines and stores them in the storage box 71. The walking base 1 then moves to the dispensing window area, where the humanoid robotic arm mechanism 3 drives the humanoid robotic hand mechanism 4 to dispense the medicines from the storage box 71 to the dispensing window, thus improving the automation level and work efficiency of the pharmacy. Furthermore, the LiDAR installed on the humanoid head 5 and the environmental perception device 8 installed on the walking base 1 enhance the environmental perception capability of the humanoid robot 100, which is beneficial for obstacle avoidance during movement.

[0069] Understandably, the humanoid head 5, located at the highest point of the humanoid robot 100, provides an unobstructed wide-angle field of view for the LiDAR. The LiDAR, by emitting laser beams and receiving reflected signals, can construct a real-time 3D point cloud map of the pharmacy environment. This capability enables the humanoid robot 100 to accurately identify shelf locations, aisle boundaries, and obstacle distribution, providing a data foundation for path planning. In the dynamic environment of the pharmacy, the LiDAR can detect suddenly appearing obstacles (such as staff) and promptly trigger obstacle avoidance strategies. The environmental perception device 8 can work in conjunction with the LiDAR located in the humanoid head 5 to form a larger perception network. This environmental perception device 8 can be a LiDAR, depth camera, motion-sensing camera, etc.

[0070] It should be noted that the behavior control unit is located inside the humanoid robot 100. In this embodiment, the behavior control unit is located inside the torso 2.

[0071] The following will describe, through exemplary illustration, a further detailed or improved implementation or process of the humanoid robot 100 for dispensing medicines in a pharmacy, in order to further improve its work efficiency, reliability, or for other improvement considerations.

[0072] In some embodiments, multiple environmental sensing devices 8 are provided, and the multiple environmental sensing devices 8 are arranged at intervals along the axial direction of the walking base 1, which can expand the sensing range of the humanoid robot 100.

[0073] In some embodiments, the humanoid robotic hand mechanism 4 includes a palm portion 41 and a plurality of finger portions 42. Each finger portion 42 includes a swing assembly 424, a first knuckle portion 421, a second knuckle portion 422, and a third knuckle portion 423. The swing assembly 424 is connected to the palm portion 41 via a swing drive assembly 426. The first knuckle portion 421 is rotatably connected to the swing assembly 424 via a first rotation drive assembly. The swing axis of the swing assembly 424 is perpendicular to the rotation axis of the first knuckle portion 421. The first knuckle portion 421 and the second knuckle portion 422 are rotatably connected via a second rotation drive assembly. The second knuckle portion 422 and the third knuckle portion 423 are rotatably connected via a third rotation drive assembly. The rotation axes of the first knuckle portion 421, the second knuckle portion 422, and the third knuckle portion 423 are parallel. By driving the oscillating component to swing the first phalanx, and by driving the first, second, and third phalanxes to rotate through various rotational drive components, a humanoid robotic hand mechanism can achieve bending and extending movements similar to human fingers, simulating the grasping, holding, and releasing functions of a human hand. This allows it to be used for dispensing bottled and bagged medicines that cannot be handled by automated dispensing equipment.

[0074] It should be noted that the first, second, and third rotation drive components are not specifically limited, as long as they can respectively drive the first finger joint 421 to rotate relative to the swing component 424, the second finger joint 422 to rotate relative to the first finger joint 421, and the third finger joint 423 to rotate relative to the second finger joint 422. For example, the first, second, and third rotation drive components are all servo motors. The walking base 1 is not specifically limited; in this embodiment, the walking base 1 is an AGV base.

[0075] It should be noted that the swing component 424 only needs to be able to drive the first phalanx 421 to swing, and there are no specific limitations. In some embodiments, please refer to... Figure 4 The palm portion 41 is provided with a connecting portion 411, and the swing assembly 424 is provided with a fixing portion 4241. The fixing portion 4241 is rotatably connected to the connecting portion 411, and the fixing portion 4241 and the connecting portion 411 are connected through a swing drive assembly 426. The first knuckle portion 421 is rotatably connected to the fixing portion 4241 through a first rotation drive assembly. The rotation axis of the fixing portion 4241 is perpendicular to the rotation axis of the first knuckle portion 421. The swing drive assembly 426 includes two telescopic mechanisms disposed between the connecting portion 411 and the fixing portion 4241, and the two telescopic mechanisms are located on opposite sides of the rotatable connection between the connecting portion 411 and the fixing portion 4241. The telescopic mechanism can be an electric push rod, and the angle of swing of the fixing portion 4241 relative to the connecting portion 411 can be adjusted by adjusting the extension length of the two electric push rods respectively.

[0076] See Figure 4 In this embodiment, five fingers are provided.

[0077] In some embodiments, the end of the third knuckle portion 423 away from the second knuckle portion 422 is provided with an irregularly shaped surface for contacting the drug. This irregularly shaped surface can increase the friction between the third knuckle portion 423 and the drug, thereby improving the reliability of gripping.

[0078] To improve the grasping accuracy of the humanoid robotic arm mechanism 4, in some embodiments, see [reference]. Figure 3 The humanoid robot 100 also includes an image acquisition device 425, which is located on the side of the humanoid robotic arm mechanism 3 away from the torso 2, near the humanoid robotic hand mechanism 4. This image acquisition device 425 can acquire images of the operating area of ​​the humanoid robotic hand mechanism 4, quickly identify and locate the target drug, and assist the humanoid robotic hand mechanism 4 in adjusting its gripping force and angle during the grasping process to avoid damaging the drug. The image acquisition device 425 can be a high-definition camera with a large imaging area or a 3D camera, etc.

[0079] In this embodiment, the image acquisition device 425 can be a high-definition camera or a 3D camera with a large imaging area.

[0080] In some embodiments, two image acquisition devices 425 are provided, with the two image acquisition devices 425 respectively arranged on both sides of the humanoid robotic arm mechanism 4. Arranging the image acquisition devices 425 on both sides can expand the image acquisition range while reducing visual blind spots and dead angles. For example, during the grasping process, even if the lens of one device is temporarily obstructed, the lens of the other device can still provide usable visual image data, which is beneficial to the continuity of operation of the humanoid robotic arm mechanism 4.

[0081] In some embodiments, please refer to Figure 1 and Figure 3 The humanoid robotic arm mechanism 3 includes a first arm 31, a second arm 32, a third arm 33, and a fourth arm 34. One end of the first arm 31 is movably connected to the torso 2. The other end of the first arm 31 is rotatably connected to the second arm 32 via a first rotation drive mechanism. The second arm 32 is rotatably connected to the third arm 33 via a second rotation drive mechanism. One end of the third arm 33 is rotatably connected to the fourth arm 34 via a third rotation drive mechanism. The other end of the fourth arm 34 is connected to the humanoid robotic hand mechanism 4. By sequentially rotating and connecting the four arms, three degrees of freedom of motion are provided. The humanoid robotic arm mechanism 3 can simulate bending and extending movements similar to a human arm, allowing the humanoid robot 100 to move the humanoid robotic hand mechanism 4 to different positions and angles on the pharmacy shelf, just like a human arm, thus improving the flexibility and adaptability of the humanoid robotic arm mechanism 3. The first, second, and third rotation drive mechanisms are all servo motors.

[0082] Please refer to the following: Figure 3The first arm portion 31 is rotatably connected to the torso 2 via a fourth rotation drive mechanism, and the rotation axis of the first arm portion 31 and the torso 2 is perpendicular to the rotation axis of the first arm portion 31 and the second arm portion 32. The second arm portion 32 includes a first arm segment 321 and a second arm segment 322 rotatably connected via a fifth rotation drive mechanism. The third arm portion 33 includes a third arm segment 331 and a fourth arm segment 332 rotatably connected via a sixth rotation drive mechanism. The fourth arm portion 34 includes a fifth arm segment 341 and a sixth arm segment 342 rotatably connected via a seventh rotation drive mechanism. The first arm segment 321 is rotatably connected to the first arm portion 31 via the first rotation drive mechanism, and the rotation axis of the first arm segment 321 and the first arm portion 31 is perpendicular to the rotation axis of the first arm segment 321 and the second arm segment 322. The third arm segment 331 is rotatably connected to the second arm segment 322 via the second rotation drive mechanism, and the rotation axis of the third arm segment 331 and the second arm segment 322 is perpendicular to the rotation axis of the third arm segment 331 and the fourth arm segment 332. The fifth arm segment 341 and the fourth arm segment 332 are rotatably connected via the third rotation drive mechanism. The rotation axes of the fifth arm segment 341 and the fourth arm segment 332 are perpendicular to the rotation axes of the fifth arm segment 341 and the sixth arm segment 342. The end of the sixth arm segment 342 away from the fifth arm segment 341 is connected to the humanoid robotic arm mechanism 4. Thus, four more degrees of freedom are added to the existing three degrees of freedom, providing seven degrees of freedom of movement. The humanoid robotic arm mechanism 4, in addition to simulating bending and extending movements similar to a human arm, can further simulate rotational movements. This not only increases the range of motion of the humanoid robotic arm mechanism 3 but also allows for more precise posture adjustments, ensuring that the humanoid robotic arm mechanism 4 can be moved to the optimal grasping position and angle. This improves the flexibility and positioning accuracy of the humanoid robotic arm mechanism 3. The fourth, fifth, sixth, and seventh rotation drive mechanisms are all rotary motors.

[0083] Considering that medicine shelves are typically designed with tiers of varying heights, please refer to... Figure 1 In some embodiments, a lifting mechanism 6 is also provided between the walking base 1 and the torso 2. The lifting mechanism 6 can adjust the height of the torso 2, thereby adjusting the height of the two humanoid robotic arm mechanisms 3, so that the humanoid robotic arm mechanisms 3 can easily reach the upper or lower levels of the medicine shelves.

[0084] Considering that the humanoid robot 100 may need to dispense large quantities of medicine at a time during medication dispensing operations, in some embodiments, the walking base 1 has multiple receiving slots 11, each containing a movable storage compartment 72. The multiple storage compartments 72 can be flexibly accessed and placed, facilitating the classification, management, and replenishment of medicines. The retrieval and return of the storage compartments 72 can be achieved through the coordinated action of the humanoid robotic arm mechanism 3 and the humanoid robotic hand mechanism 4.

[0085] In some embodiments, the torso 2 is provided with a display screen 21, which can be used to display information or interact with the user.

[0086] In some embodiments, the humanoid robot 100 further includes a ring-shaped interactive display screen 9, the humanoid head 5 is provided with a slide rail, the ring-shaped interactive display screen 9 is slidably connected to the slide rail, and is fixed to the slide rail by a snap-fit ​​connection structure.

[0087] Example 2

[0088] This invention provides a walking control method for a humanoid robot 100 used for dispensing medicine in a pharmacy. The method is applied to the humanoid robot 100 described in Embodiment 1, which communicates with an existing walking control system in the pharmacy and receives walking commands from the walking control system to achieve walking as follows:

[0089] S101: Receives walking commands from the external walking control system and uses the lidar to collect high-altitude environmental data.

[0090] Specifically, the lidar of the humanoid head 5 is located at the highest point of the humanoid robot 100. By emitting laser beams and receiving reflected signals, it can provide a wide-angle high-altitude field of view. This high-altitude environmental data is used to construct a high-altitude three-dimensional point cloud map of the pharmacy environment, mainly for detecting distant obstacles (such as the top of shelves and objects at high places) and global path planning.

[0091] S102: Collect near-ground environmental data using the environmental sensing device 8.

[0092] Specifically, the environmental sensing device 8 (which can be a lidar, depth camera, etc.) is deployed at a low altitude, focusing on collecting near-ground data. When lidar is used, the near-ground data is a near-ground 3D point cloud map; when a depth camera is used, the near-ground data is near-ground depth image data, used to compensate for any blind spots that may exist in the lidar on the humanoid head 5. It is mainly used for detecting near-ground obstacles and global path planning.

[0093] S103: Construct a global environment model based on the upper-altitude environment data and the near-ground environment data;

[0094] Specifically, the humanoid robot 100 registers and overlays the high-altitude environmental data from the lidar with the near-ground environmental data from the environmental perception device 8. For example, the high-altitude 3D point cloud map and the near-ground depth image data are aligned using an algorithm (such as the ICP iterative nearest point algorithm) and fused to generate a unified 3D environmental model, i.e., a global environmental model. In the global environmental model, the environment is represented by a point cloud sequence, and feasible areas and obstacle boundaries are marked.

[0095] S104: Obtain a preset trajectory route based on the global environment model;

[0096] Specifically, using the global environment model as a benchmark, a path planning algorithm (such as the A* algorithm) is used to calculate the safe trajectory of the walking base 1, and the preset trajectory route is obtained.

[0097] S105: Control the walking base 1 to move according to the preset trajectory route.

[0098] The walking control method for a humanoid robot 100 used for dispensing medicine in a pharmacy provided by this invention first uses a lidar mounted on the humanoid head 5 to collect high-altitude environmental data to obtain the high-altitude field of view and obstacle distribution of the pharmacy environment. At the same time, an environmental sensing device 8 mounted on the walking base 1 collects near-ground environmental data, focusing on detecting low-level obstacles and passage details. Next, the high-altitude environmental data from the lidar and the near-ground environmental data from the environmental sensing device 8 are registered and superimposed to construct a global environmental model. Then, based on the global environmental model, a path planning algorithm is used to generate a preset trajectory route. This route optimizes the path from the starting point to the target point (such as the medicine shelf area or dispensing window), taking into account the minimum distance and obstacle avoidance requirements. Finally, the walking base 1 is controlled to move according to the preset trajectory route to ensure navigation accuracy.

[0099] Considering that the pharmacy environment is not static, medical staff, patients, or other mobile devices may suddenly appear, becoming new obstacles in the planned path. To address such emergencies, in some embodiments, step S105 further includes:

[0100] The walking base 1 is controlled to move along the first preset trajectory, while the environmental sensing device 8 collects real-time near-ground environmental data to detect whether there are obstacles on the first preset trajectory.

[0101] If an obstacle is detected, the walking base is controlled to stop moving;

[0102] Specifically, the environmental sensing device 8 detects an obstacle by collecting real-time near-ground environmental data to obtain real-time three-dimensional point cloud data of the near-ground. When a point cloud cluster suddenly appears in the real-time three-dimensional point cloud data, it indicates the presence of an obstacle.

[0103] The lidar is used to collect second high-altitude environmental data; the environmental sensing device 8 is used to collect second near-ground environmental data; and a second global environmental model is constructed based on the second high-altitude environmental data and the second near-ground environmental data.

[0104] Specifically, the constructed second global environment model refers to the new global environment model surrounding the current position of the walking base, in which the positions of obstacles are marked in the second global environment model in the form of point cloud sequences.

[0105] The second preset trajectory route is obtained based on the second global environment model; the walking base is controlled to move according to the second preset trajectory route.

[0106] Specifically, after obtaining the second global environment model around the current position of the walking base 1, a second preset trajectory route that can bypass obstacles can be obtained based on the second global environment model.

[0107] Considering that the pharmacy environment has uneven ground with varying slopes, and that the walking base may be unable to pass through areas with steep slopes, if the first preset trajectory includes areas with steep slopes, it could easily damage the equipment and affect its movement. To solve this problem, in some embodiments, step S105 further includes:

[0108] The walking base 1 is controlled to move along the first preset trajectory route, while the environmental sensing device 8 collects real-time near-ground environmental data and determines the ground slope value on the first preset trajectory route based on the real-time near-ground environmental data.

[0109] Specifically, simultaneously collecting real-time near-ground environmental data using the environmental sensing device 8 and determining the ground slope value on the first preset trajectory route based on the real-time near-ground environmental data includes: collecting real-time near-ground environmental data using the environmental sensing device 8 to obtain real-time three-dimensional point cloud data of the near ground; and using the real-time three-dimensional point cloud data to perform plane fitting using the Random Sample Consensus (RANSAC) algorithm. This algorithm can efficiently identify the largest ground plane area from the point cloud and calculate the angle (θ) between the normal vector of the ground plane area and the gravity direction vector. This angle (θ) is the ground slope value, and the size of the angle directly reflects the degree of inclination of the ground plane area. θ = 0° represents a horizontal ground surface, and the larger the angle value, the steeper the slope. It should be noted that the normal vector is a vector perpendicular to the ground plane area and can be directly calculated. The gravity direction vector can be directly measured and provided by the robot's own body sensor—the inertial measurement unit (IMU). The IMU can sense the direction of gravitational acceleration. Therefore, in the robot's own coordinate system, regardless of how the robot body is tilted, the IMU can output the gravity direction vector in the current posture in real time.

[0110] When the ground slope value is greater than the preset ground slope value, the walking base 1 is controlled to stop moving;

[0111] The lidar is used to collect third high-altitude environmental data; the environmental sensing device 8 is used to collect third near-ground environmental data; and a third global environmental model is constructed based on the third high-altitude environmental data and the third near-ground environmental data.

[0112] Specifically, the constructed third global environment model refers to the new global environment model surrounding the current position of the walking base 1, in which the location of the steep slope area will be marked in the third global environment model in the form of point cloud sequence.

[0113] The third preset trajectory route is obtained based on the third global environment model; the walking base is controlled to move according to the third preset trajectory route.

[0114] Specifically, after obtaining the third global environment model around the current position of the walking base, a third preset trajectory route that can bypass the steep slope area can be obtained based on the third global environment model.

[0115] The above description is only a preferred embodiment of the present invention and does not limit the patent scope of the present invention. All equivalent structural transformations made under the concept of the present invention using the contents of the present invention specification and drawings, or direct / indirect applications in other related technical fields, are included within the patent protection scope of the present invention.

Claims

1. A humanoid robot for dispensing medicine in a pharmacy, used for communicating with an external walking control system, characterized in that, include: Walking base, torso, humanoid robotic arm mechanism, humanoid robotic hand mechanism, humanoid head and behavior control unit; The torso is connected to the top of the walking base. The humanoid robotic arm mechanism is connected to the opposite sides of the torso. The humanoid robotic arm mechanism is connected to the side away from the torso for grasping medicines. The top of the walking base is provided with a storage box for holding medicines. The humanoid robotic arm mechanism is movable to drive the humanoid robotic hand mechanism to move; The top of the torso is connected to the humanoid head, and the humanoid head is equipped with a lidar for collecting first high-altitude environmental data; The walking base is equipped with an environmental sensing device for collecting first near-ground environmental data; The behavior control unit is used to receive walking commands from the external walking control system, construct a first global environment model based on the first high-altitude environment data and the first near-ground environment data, obtain a first preset trajectory route based on the first global environment model, and control the walking base to move according to the first preset trajectory route.

2. The humanoid robot for dispensing medicine in a pharmacy as described in claim 1, characterized in that, Multiple environmental sensing devices are provided, and these multiple environmental sensing devices are arranged at intervals along the axial direction of the walking base.

3. The humanoid robot for dispensing medicine in a pharmacy as described in claim 1, characterized in that, The humanoid robotic hand mechanism includes a palm portion and multiple finger portions. Each finger portion includes a swing component, a first phalanx, a second phalanx, and a third phalanx. The swing component is connected to the palm portion via a swing drive component. The first phalanx is rotatably connected to the swing component via a first rotation drive component. The first phalanx and the second phalanx are rotatably connected via a second rotation drive component. The second phalanx and the third phalanx are rotatably connected via a third rotation drive component.

4. The humanoid robot for dispensing medicine in a pharmacy as described in claim 3, characterized in that, The rotation axes of the first phalanx, the second phalanx, and the third phalanx are parallel; the swing axis of the swing assembly is perpendicular to the rotation axis of the first phalanx.

5. The humanoid robot for dispensing medicine in a pharmacy as described in claim 4, characterized in that, The palm portion is provided with a connecting portion, the swing assembly is provided with a fixing portion, the fixing portion is rotatably connected to the connecting portion, and the fixing portion is connected to the connecting portion through a swing drive assembly. The first phalanx portion is rotatably connected to the fixing portion through a first rotation drive assembly, and the rotation axis of the fixing portion is perpendicular to the rotation axis of the first phalanx portion.

6. The humanoid robot for dispensing medicine in a pharmacy as described in claim 5, characterized in that, The swing drive assembly includes two telescopic mechanisms disposed between the connecting part and the fixed part, the two telescopic mechanisms being located on opposite sides of the rotatable connection between the connecting part and the fixed part.

7. The humanoid robot for dispensing medicine in a pharmacy as described in claim 1, characterized in that, A lifting mechanism is also provided between the walking base and the torso.

8. A walking control method for a humanoid robot used in pharmacy dispensing, characterized in that, The walking control method, applied to the humanoid robot for dispensing medicine in a pharmacy as described in any one of claims 1-7, includes: It receives walking commands from an external walking control system and uses the lidar to collect first high-altitude environmental data. The environmental sensing device is used to collect first near-ground environmental data; A first global environment model is constructed based on the first high-altitude environment data and the first near-ground environment data; The first preset trajectory route is obtained based on the first global environment model; The walking base is controlled to move along the first preset trajectory.

9. The walking control method for a humanoid robot used in pharmacy dispensing as described in claim 8, characterized in that, The step of controlling the walking base to move according to the first preset trajectory includes: The walking base is controlled to move along the first preset trajectory, while the environmental sensing device collects real-time near-ground environmental data to detect whether there are obstacles on the first preset trajectory. If an obstacle is detected, the walking base is controlled to stop moving; The lidar was used to collect second high-altitude environmental data; The environmental sensing device is used to collect second near-ground environmental data; A second global environment model is constructed based on the second upper-altitude environment data and the second near-ground environment data; The second preset trajectory route is obtained based on the second global environment model; Control the walking base to move according to the second preset trajectory.

10. The walking control method for a humanoid robot used in pharmacy dispensing as described in claim 8, characterized in that, The step of controlling the walking base to move according to the first preset trajectory includes: The walking base is controlled to move along the first preset trajectory route, while the environmental sensing device collects real-time near-ground environmental data and determines the ground slope value on the first preset trajectory route based on the real-time near-ground environmental data. When the ground slope value is greater than the preset ground slope value, the walking base is controlled to stop moving; The lidar was used to collect third-level high-altitude environmental data; The environmental sensing device is used to collect third near-ground environmental data; A third global environment model is constructed based on the third high-altitude environment data and the third near-ground environment data; The third preset trajectory route is obtained based on the third global environment model; Control the walking base to move according to the third preset trajectory.

Images