A safety transportable foot robot

Abstract

The application discloses a kind of guarantee transport foot type robot, it is related to robot technical field, by integrated hardware design, modular control architecture and multi-sensor fusion technology, a set of function complete, strong expansibility, adaptable foot type robot guarantee transport system is constructed.The system effectively solves the problem that the existing foot type robot is single, difficult to meet the actual demand of complex scene such as fire rescue, realizes the collaborative work of a variety of functions such as autonomous following, real-time talkback, environmental lighting, high-precision positioning and autonomous patrol, remote monitoring, significantly improves the practicability and application value of foot type robot, with good popularization and application prospect.

Description

Technical Field

[0001] This invention relates to the field of robotics, and in particular to a legged robot for support and transportation that features multi-sensor fusion, modular integration, autonomous following, real-time communication, and environmental adaptability. Background Technology

[0002] Firefighting and rescue operations are typically characterized by high complexity, uncertainty, and danger. In scenarios such as fires, earthquakes, and mountain rescues, firefighters not only need to carry personal protective equipment but also a variety of essential supplies, including communication equipment, rescue materials, first-aid kits, and lighting equipment. Carrying such a large amount of supplies significantly reduces the mobility and rescue efficiency of firefighters, especially in confined spaces, rugged terrain, or high-rise buildings, where carrying heavy loads will significantly increase physical exertion and operational risks.

[0003] Currently, to alleviate the burden on firefighters, some rescue sites are attempting to use wheeled or tracked transport robots to assist in transporting supplies. However, wheeled or tracked robots have poor maneuverability in complex terrains (such as stairs, rubble, and steep slopes), making it difficult to meet the diverse terrain requirements of fire rescue sites. Legged robots, due to their superior obstacle-crossing ability and terrain adaptability, are gradually becoming a research hotspot in rescue auxiliary equipment.

[0004] Existing legged robots primarily focus on proprioception and stability research, resulting in relatively limited functionality and a lack of integrated support systems specifically designed for fire and rescue scenarios. This is manifested in the following ways: Lack of target following function: Existing legged robots usually require remote control by personnel and cannot follow firefighters autonomously, which increases the operational burden; Lack of real-time voice interaction capability: Firefighters have limited means of communication with robots or the command center during operations, making it difficult to achieve efficient remote collaboration; Lack of environmental awareness and auxiliary lighting: In low-light environments such as dense smoke, nighttime, or underground spaces, the robot cannot provide effective lighting support; Lack of high-precision positioning and autonomous patrol capabilities: Existing robots mostly rely on remote control or simple path planning, and cannot achieve autonomous patrol and path reproduction based on high-precision satellite navigation; Low integration of functional modules: Most functional modules are installed independently, lacking a unified control architecture and communication protocol, resulting in poor system reliability and high maintenance costs.

[0005] In summary, existing legged robots lack the comprehensive support capabilities to meet the practical application needs in complex scenarios such as fire rescue. Therefore, there is an urgent need for a legged robot with multi-sensor fusion, modular integration, autonomous following, real-time communication, and environmental adaptability to improve the efficiency and safety of fire rescue operations. Summary of the Invention

[0006] In view of the above problems, the present invention provides a legged robot for ensuring transportation, which overcomes or at least partially solves the above problems.

[0007] This invention provides the following solution: A legged robot for ensuring safe transport includes: The robot itself; A control box is mounted on the robot body and integrates a main control board, a radio module, and a power conversion board. At least one following module is mounted on the robot body and is used to detect the position information of the target being followed and to communicate with the main control board. A lighting source is mounted on the robot body and electrically connected to the general-purpose input / output port of the main control board via a first relay module; A speaker and a microphone, wherein the speaker and the microphone are electrically connected to the main control board via audio interfaces; An audible and visual alarm light is installed on the robot body and is electrically connected to the general input / output port of the main control board through a second relay module. The antenna module includes a radio antenna, a real-time dynamic differential antenna, and a fourth-generation mobile communication antenna. The radio antenna is electrically connected to the radio module, the real-time dynamic differential antenna is electrically connected to the real-time dynamic differential control board, and the fourth-generation mobile communication antenna is electrically connected to the main control board. The transport superstructure is connected to the upper part of the robot body and is used to carry and fix transported goods.

[0008] Preferably, the main control board includes an x86 architecture motherboard, and the radio module and the control port of the robot body are connected to the x86 architecture motherboard through a switch motherboard.

[0009] Preferably, the follower module is an ultra-wideband follower module, and the ultra-wideband follower module is connected to the main control board through a serial communication interface protocol.

[0010] Preferably, the real-time dynamic differential antenna is electrically connected to the real-time dynamic differential control board, and the real-time dynamic differential control board is connected to the main control board via a serial communication interface protocol.

[0011] Preferably, the number of the following modules is three, which are respectively located in front, on the left and on the right of the robot body.

[0012] Preferably, the control box is further provided with a switch motherboard, which is communicatively connected to the control ports of the main control board, the radio module and the robot body.

[0013] Preferably, the lighting source and the audible and visual alarm light trigger the first relay module and the second relay module to switch on and off via control signals output from the general-purpose input / output port of the main control board, respectively, so as to realize switch control.

[0014] Preferably, the transport superstructure includes front and rear fixed guardrails and left and right movable guardrails. The left and right movable guardrails are used to change the size of the transport superstructure in the left and right direction to accommodate and fix transported goods of different sizes.

[0015] Preferably, the input terminal of the power conversion board is electrically connected to the power supply terminal of the robot body, and the output terminal of the power conversion board is electrically connected to the main control board, the radio module, and the real-time dynamic differential control board respectively.

[0016] Preferably, the main control board is also connected to the remote command center via the fourth-generation mobile communication antenna to receive control commands and transmit status information.

[0017] According to specific embodiments provided by the present invention, the present invention discloses the following technical effects: This invention provides a legged robot for ensuring safe transportation. Through integrated hardware design, modular control architecture, and multi-sensor fusion technology, it constructs a fully functional, highly scalable, and adaptable legged robot-based transportation system. This system effectively solves the problems of existing legged robots having limited functionality and being unable to meet the actual needs of complex scenarios such as fire rescue. It achieves collaborative operation of multiple functions, including autonomous following, real-time intercom, ambient lighting, high-precision positioning and autonomous patrolling, and remote monitoring, significantly improving the practicality and application value of legged robots and demonstrating promising prospects for widespread application.

[0018] Of course, any product implementing this invention does not necessarily need to achieve all of the advantages described above at the same time. Attached Figure Description

[0019] To more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the drawings used in the embodiments will be briefly described below. Obviously, the drawings described below are merely some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on these drawings without any creative effort.

[0020] Figure 1 This is a front view of a legged robot for ensuring safe transport provided by an embodiment of the present invention; Figure 2 This is a front view of a legged robot for ensuring safe transport provided by an embodiment of the present invention; Figure 3 This is a top view of a legged robot for ensuring safe transport, provided by an embodiment of the present invention; Figure 4 This is a schematic diagram of the internal structure of the control box provided in an embodiment of the present invention; Figure 5 This is a block diagram showing the connection relationship of the internal modules of the control box provided in an embodiment of the present invention; Figure 6 This is a schematic diagram of the electrical control architecture provided in an embodiment of the present invention.

[0021] In the diagram: 1-Quadruped robot body, 2-Speaker, 3-Radio antenna, 4-Control box, 5-Left and right movable guardrails, 6-Front and rear fixed guardrails, 7-Fourth-generation mobile communication antenna, 8-Follower module, 9-Real-time dynamic differential antenna, 10-Light source, 11-Audio and visual alarm light, 12-Pickup, 13-Ultra-wideband follower board, 14-Radio module, 15-Relay module, 16-Real-time dynamic differential control board, 17-Power conversion board, 18-Main control board, 19-Switch motherboard. Detailed Implementation

[0022] 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 them. All other embodiments obtained by those skilled in the art based on the embodiments of the present invention are within the scope of protection of the present invention.

[0023] See Figure 1 , Figure 2 , Figure 3 This invention provides a legged robot for ensuring safe transport, such as... Figure 1 , Figure 2 , Figure 3 As shown, the robot may include: Robot body 1; Control box 4, which is disposed on the robot body 1, integrates a main control board 18, a radio module 14 and a power conversion board 17 inside the control box 4; At least one following module 8 is installed on the robot body 1 to detect the position information of the following target and to communicate with the main control board 18. Lighting source 10, which is mounted on the robot body 1 and electrically connected to the general input / output port of the main control board 18 through the first relay module; The speaker 2 and the pickup 12 are electrically connected to the main control board 18 via audio interfaces. The audible and visual alarm light 11 is installed on the robot body 1 and is electrically connected to the general input / output port of the main control board 18 through the second relay module. The antenna module includes a radio antenna 3, a real-time dynamic differential antenna 9, and a fourth-generation mobile communication antenna 7. The radio antenna 3 is electrically connected to the radio module 14, the real-time dynamic differential antenna 9 is electrically connected to the real-time dynamic differential control board 16, and the fourth-generation mobile communication antenna 7 is electrically connected to the main control board 18. The transport superstructure is connected to the upper part of the robot body 1 and is used to carry and fix transported materials.

[0024] The legged robot for transport provided in this embodiment of the invention mainly consists of a robot body 1, a lighting source 10, a following module 8, a speaker 2, a microphone 12, an audible and visual alarm light 11, a radio antenna 3, an RTK antenna, a 4G antenna, a main control board, a radio module 14, a power conversion board 17, and a transport superstructure. Multiple following modules 8 are designed at the front and sides of the robot to enable reliable following by firefighters; the lighting provides good illumination for firefighters in low-light conditions; the microphone 12 and speaker 2 facilitate voice communication; the radio antenna 3 and 4G antenna (fourth-generation mobile communication antenna 7) are used for remote communication and control of the robot; the RTK antenna (real-time dynamic differential antenna 9) enables the robot to perform satellite navigation patrol functions; the audible and visual alarm light 11 provides alerts in case of system failure; and the transport superstructure is used to carry and secure transported materials.

[0025] Furthermore, in this embodiment of the invention, the main control board 18 may include an X86 architecture motherboard, and the control ports of the radio module 14 and the robot body 1 are communicatively connected to the X86 architecture motherboard through a switch motherboard 19.

[0026] The follower module 8 is an ultra-wideband follower module 8, and the ultra-wideband follower module 8 is connected to the main control board 18 through a serial communication interface protocol.

[0027] The real-time dynamic differential antenna 9 is electrically connected to the real-time dynamic differential control board 16, and the real-time dynamic differential control board 16 is connected to the main control board 18 through a serial communication interface protocol.

[0028] The control box 4 is also equipped with a switch motherboard 19, which is communicatively connected to the main control board 18, the radio module 14 and the control port of the robot body 1.

[0029] The lighting source 10 and the audible and visual alarm light 11 trigger the on / off state of the first relay module and the second relay module respectively through the control signals output from the general input / output port of the main control board 18, so as to realize the switch control.

[0030] To further improve the following effect, this embodiment of the invention can provide three following modules 8, which are respectively located in front, on the left and right sides of the robot body 1.

[0031] The transport superstructure includes front and rear fixed guardrails 6 and left and right movable guardrails 5. The left and right movable guardrails 5 are used to change the size of the transport superstructure in the left and right directions to accommodate and fix transported goods of different sizes.

[0032] The input terminal of the power conversion board 17 is electrically connected to the power supply terminal of the robot body 1, and the output terminal of the power conversion board 17 is electrically connected to the main control board 18, the radio module 14, the real-time dynamic differential control board 16 and the switch motherboard 19 respectively.

[0033] The main control board 18 is also connected to the remote command center via the fourth-generation mobile communication antenna 7 to receive control commands and transmit status information.

[0034] The control box 4 provided in this embodiment of the invention is equipped with a core control module that ensures the robot can perform its functions. Its control architecture is shown in the figure. The main control board 18, radio module 14 and dog body control port are connected and communicate through a switch. The ultra-wideband following board 13 of the UWB following module 8 and the real-time dynamic differential control board 16 of the RTK module communicate with the X86 motherboard through a serial communication protocol. The speaker 2 and the pickup 12 are driven by expanding the 3.5mm audio interface on the motherboard into a speaker interface and a microphone interface, respectively. The lighting module and the sound and light alarm are controlled by the 3588 motherboard through the control signal of the GPIO port to trigger the relay module 15 to switch on and off, thereby realizing the switch control.

[0035] The following section provides a detailed description of the legged robot for ensuring transportation provided in this embodiment of the invention, using the example of setting up three following modules 8.

[0036] like Figure 1 , Figure 2 , Figure 3 As shown, the legged robot for support and transportation provided in this embodiment includes a quadruped robot body 1 and a support and transportation superstructure mounted on it. The support and transportation superstructure mainly includes a control box 4, a lighting source 10, a following module 8, a speaker 2, a microphone 12, an audible and visual alarm light 11, a radio antenna 3, a real-time dynamic differential antenna 9, a fourth-generation mobile communication antenna 7, front and rear fixed guardrails 6, and left and right movable guardrails 5.

[0037] The control box 4 is fixedly installed on the back of the quadruped robot body 1. It integrates a core control module that enables the robot's extended functions, including an X86 main control board 18, a radio module 14, a switch motherboard 19, a real-time dynamic differential control board 16, a relay module 15, and a power conversion board 17, etc. The specific internal structure is as follows: Figure 4 As shown.

[0038] The front and rear fixed guardrails 6 are fixedly installed at the front and rear ends of the robot body 1, and the left and right movable guardrails 5 are hinged or inserted into the sides of the robot body 1. Together with the front and rear fixed guardrails 6, they enclose a material carrying space for fixing and transporting rescue materials, communication equipment, etc.

[0039] like Figure 4 As shown, the control box 4 has a multi-layered installation structure, with each module arranged according to its function: Power conversion board 17: The input end is electrically connected to the power supply end of the robot body 1, converting the DC power (such as 48V) provided by the robot body 1 into the working voltage (such as 12V, 5V, 3.3V) required by each module. The output end is electrically connected to modules such as X86 main control board 18, radio module 14, RTK control board, and switch motherboard 19, respectively, to provide stable power to each module.

[0040] The x86 main control board 18 serves as the core control unit, responsible for data processing, logical judgment, and instruction issuance. The x86 main control board 18 runs an embedded operating system and control program, and integrates GPIO (General Purpose Input / Output) ports, a USB interface, serial communication interfaces (such as RS232 and TTL), audio interfaces, and network interfaces. Besides the x86 architecture, the main control board 18 can also use an ARM architecture embedded motherboard (such as Rockchip RK3588 or NVIDIA Jetson series), as long as it has the corresponding interface resources.

[0041] Switch motherboard 19: Connects to the network interface of the X86 main control board 18 via a network cable, and also connects to the control ports (usually Ethernet interfaces) of the radio module 14 and the robot body 1 to enable data exchange among the three. Radio module 14 communicates with an external remote control terminal through radio antenna 3 to receive remote control commands or transmit robot status.

[0042] Real-time dynamic differential control board 16 (RTK control board): Electrically connected to the RTK antenna, it is used to receive satellite signals and perform real-time dynamic differential positioning calculations, outputting centimeter-level high-precision position information. The RTK control board is connected to the X86 main control board 18 through a serial communication interface, and uses a serial communication protocol (such as RS232) to transmit positioning data.

[0043] Relay module 15 includes a first relay module and a second relay module, which are electrically connected to the GPIO ports of the X86 main control board 18, respectively. The output of the first relay module is electrically connected to the lighting source 10, and the output of the second relay module is electrically connected to the audible and visual alarm light 11. The X86 main control board 18 outputs high and low level signals through the GPIO ports to control the on / off state of the relays, thereby realizing the switching control of the lighting source 10 and the audible and visual alarm light 11.

[0044] In this embodiment, the following module 8 can use UWB (Ultra-Wideband) technology to achieve high-precision ranging and positioning. Besides UWB technology, the following module 8 can also use Bluetooth Angle of Arrival (AoA) positioning, LiDAR following, or visual following, all of which are equivalent alternatives to this invention. Three following modules are installed at the front, left, and right sides of the robot body 1, forming a fan-shaped coverage area. Each UWB following module 8 is connected to the X86 main control board 18 via a serial communication interface, transmitting ranging data using a serial communication protocol. Firefighters wear UWB tags, and each following module 8 measures the distance to the tag. The X86 main control board 18 uses a triangulation algorithm based on the three ranging values ​​to calculate the tag's position coordinates relative to the robot, generating a following motion command. This command is sent to the control port of the robot body 1 via the switch motherboard 19 and radio module 14, driving the robot to follow the target.

[0045] Speaker 2 and microphone 12 are respectively mounted on the front of the robot body 1 or on the outer shell of the control box 4. The audio interface (such as a 3.5mm audio interface) of the X86 main control board 18 is led out through an audio cable and is divided into a speaker interface and a microphone interface, which are electrically connected to speaker 2 and microphone 12 respectively. The X86 main control board 18 runs a voice communication program and establishes a VoIP (Voice over IP) voice communication link with the remote command center through a 4G antenna. Microphone 12 collects ambient sound and personnel voices, which are encoded and compressed by the X86 main control board 18 and then uploaded to the command center through the 4G network; voice commands issued by the command center are decoded by the X86 main control board 18 and broadcast through speaker 2, realizing remote real-time intercom function.

[0046] The lighting source 10 can be a high-power LED light assembly, installed at the front of the robot body 1 or the front of the control box 4, to provide illumination for firefighters in low-light environments. The audible and visual alarm light 11 is installed on the top of the robot body 1 or the top of the control box 4, to provide audible and visual warnings in case of system failure, insufficient power, or danger.

[0047] The X86 main control board 18 outputs control signals to the relay module via GPIO ports. When lighting needs to be turned on, the X86 main control board 18 sets the corresponding GPIO port to a high level, triggering the first relay module to engage and connecting the power supply circuit of the lighting source 10; when the lighting is turned off, the GPIO port is set to a low level, and the relay is disengaged. The control method for the audible and visual alarm light 11 is similar; the X86 main control board 18 controls the switching on and off via the second relay module based on fault detection results or remote commands.

[0048] Radio antenna 3: Electrically connected to radio module 14, used for point-to-point wireless communication with remote control terminal to transmit control commands and status data.

[0049] Fourth-generation mobile communication antenna 7 (4G antenna): Electrically connected to the 4G communication module (which can be integrated into the motherboard or a separate module) of the X86 main control board 18, used to access the mobile communication network and realize data communication and voice calls with the remote command center. In addition to 4G, a 5G communication module can also be used to achieve data transmission with higher bandwidth and lower latency.

[0050] RTK antenna: Electrically connected to the real-time dynamic differential control board 16 (RTK control board), used to receive signals from satellite navigation systems such as GPS and Beidou, providing high-precision positioning services for the robot and supporting functions such as autonomous patrol and path reproduction.

[0051] The control architecture of this embodiment is as follows: Figure 5 , Figure 6 As shown, a layered and modular design is adopted: Network communication layer: The control ports of the X86 main control board 18, radio module 14, and robot body 1 form a local area network through the switch motherboard 19, and exchange data using the TCP / IP protocol. The X86 main control board 18 acts as a server, receiving remote control commands forwarded by the radio module 14, and simultaneously sending motion control commands to the robot body 1.

[0052] Serial communication layer: The ultra-wideband follower substrate 13 and the real-time dynamic differential control board 16 of the UWB follower module 8 are connected to the X86 main control board 18 through serial communication interfaces, respectively, and transmit ranging data and positioning data using custom or standard serial communication protocols (such as Modbus). The X86 main control board 18 reads data and processes the data in a polling or interrupt manner.

[0053] GPIO control layer: The lighting source 10 and the audible and visual alarm light 11 are connected to the GPIO port of the X86 main control board 18 through a relay module. They adopt a simple switch control method, which has a fast response speed and high reliability.

[0054] Audio layer: Speaker 2 and microphone 12 are directly connected to the X86 main control board 18 through the audio interface. The audio codec chip of the X86 main control board 1818 completes the analog-to-digital / digital-to-analog conversion to realize the acquisition and playback of voice signals.

[0055] The workflow of this invention is described below with reference to specific application scenarios: 1. Autonomous Follow Mode Before entering the rescue site, firefighters wear UWB tags and start the robot. After the X86 main control board 18 is powered on and initialized, it reads the ranging data from the three UWB following modules 8 via serial port to calculate the tag's position. When the tag is within the effective range in front of the robot, the X86 main control board 18 generates speed control and steering control commands based on the tag's azimuth and distance relative to the robot. These commands are sent to the control port of the robot body 1 via the switch motherboard 1919 and radio module 14, driving the robot to follow the firefighters at a set speed. During the following process, the X86 main control board 18 updates the ranging data in real time and dynamically adjusts the motion parameters to ensure the smoothness and reliability of the following.

[0056] 2. Remote voice intercom mode When the command center needs to communicate with on-site firefighters, it initiates a voice call request via the 4G network. Upon receiving the request through the 4G antenna, the X86 main control board 18 automatically connects the voice channel. The microphone 12 collects the voices of on-site personnel, encodes them using the X86 main control board 18, and then uploads them. Voice messages from the command center are decoded by the X86 main control board 18 and broadcast through the speaker 2. During the call, the X86 main control board 18 can simultaneously maintain control over the robot's movement and following functions without affecting the robot's normal operation.

[0057] 3. Autonomous Patrol Mode Firefighters pre-set patrol routes (consisting of a series of RTK positioning coordinates) at the remote command center and transmit the route data to the X86 main control board 18 via a 4G network. After activating the autonomous patrol mode, the X86 main control board 18 reads the centimeter-level positioning coordinates calculated by the RTK control board in real time, compares them with the preset route, and generates motion control commands using a path tracking algorithm. These commands are then used to drive the robot to move autonomously along the preset route via the radio module 14. During the patrol, the robot can be equipped with a camera for environmental monitoring and transmit the video stream back to the command center via the 4G network.

[0058] 4. Lighting and alarm control The X86 main control board 18 detects external switch signals or receives remote control commands through its GPIO ports to determine whether lighting or alarms need to be activated. When the ambient light intensity is detected to be below a set threshold (which can be achieved through an external light sensor) or a remote light-on command is received, the X86 main control board 18 sets the corresponding GPIO port to a high level, triggering the first relay module to engage and illuminating the lighting source 10. When the system detects low battery, loss of tracking target, or receipt of a remote alarm command, the X86 main control board 18 controls the second relay module to switch on and off, causing the audible and visual alarm light 11 to flash and sound an alarm, alerting on-site personnel and the remote command center.

[0059] This invention integrates core control modules such as the main control board, radio module, power conversion board, and switch motherboard into a single unit by placing a control box on the robot body. These modules are then uniformly connected to functional units such as the following module, lighting source, speaker, microphone, audible and visual alarm lights, and multi-mode antenna, constructing a complete support and transportation system. All functional modules are coordinated and controlled through a unified main control board, avoiding the system redundancy, communication conflicts, and poor reliability problems caused by independently installed and fragmented functional modules in existing technologies. This integrated design enables a single legged robot to simultaneously possess multiple functions, including target following, real-time intercom, ambient lighting, autonomous patrolling, remote communication, and status alarms, greatly expanding the application capabilities of legged robots in complex scenarios such as fire rescue and field operations.

[0060] This invention features three UWB (Ultra-Wideband) following modules positioned at the front and left / right sides of the robot body, connected to the main control board via a serial communication interface. The main control board calculates the relative position between the robot and the target in real time based on the target position information detected by each following module, and sends following commands to the robot's motion control system via a radio module. This enables the robot to autonomously and reliably follow targets such as firefighters. This function allows firefighters to focus on the rescue mission without manually controlling the robot, freeing their hands to carry necessary equipment, significantly reducing personnel load and operational complexity, and improving rescue efficiency and safety.

[0061] This invention enables two-way voice communication between robots and personnel by incorporating a speaker and a microphone, connecting them to the main control board via an audio interface. The main control board establishes a communication link with a remote command center via a 4G antenna or radio antenna, transmitting real-time voice data collected by the on-site microphone to the command center, while simultaneously broadcasting commands from the command center to on-site personnel through the speaker. This function effectively solves the problems of limited communication methods between firefighters and the command center in existing technologies, as well as communication difficulties in complex environments, providing reliable voice communication support for rescue operations.

[0062] This invention incorporates a lighting source on the robot body, connected to the GPIO port of the main control board via a relay module. The main control board can trigger the relay to switch on and off based on detection signals from an ambient light intensity sensor (which can be used as an expansion module) or remote control commands, outputting control signals through the GPIO port. In low-light environments such as at night, in dense smoke, or underground spaces, the robot can autonomously or under controlled illumination, providing firefighters with a clear view and reducing operational risks caused by poor visibility.

[0063] This invention employs a real-time dynamic differential antenna (RTK) and a corresponding RTK control board, connected to the main control board via a serial communication interface. The RTK module receives satellite signals and calculates high-precision location information (down to centimeter level), providing accurate navigation and positioning data to the main control board. Combined with pre-set patrol paths or autonomously planned paths, the robot can achieve high-precision autonomous patrol functions, suitable for scenarios such as fixed-point material delivery, area inspection, and path reproduction. Compared to existing technologies that rely on remote control or low-precision GPS, this invention offers higher positioning accuracy and stronger autonomous operation capabilities.

[0064] This invention employs an x86 architecture main control board as the core control unit. It achieves network communication with the radio module and robot body control port via a switch motherboard. Simultaneously, it connects to the UWB follower module and RTK module through a serial communication interface, controls the lighting and alarm modules through GPIO ports, and drives the voice module through an audio interface. This modular and layered control architecture offers excellent scalability, allowing users to flexibly add or remove functional modules according to actual needs. The main control board manages the system through a unified interface protocol, eliminating the need for significant system modifications and reducing the difficulty and cost of subsequent functional upgrades and customized development.

[0065] This invention incorporates fixed front and rear guardrails and movable left and right guardrails on the robot body, forming a stable cargo-carrying space. This effectively secures transported goods and prevents them from slipping or being damaged due to bumps or tilting during robot movement. The structure is simple and practical, integrated with the robot's main structure, and does not affect the robot's motion performance or obstacle-crossing ability.

[0066] This invention enables wireless communication between the main control board and the remote command center via a 4G antenna. The main control board can upload data such as the robot's location, working status, target following status, and alarm information in real time. The command center can also issue control commands (such as turning lights on and off, activating alarms, and switching following modes). This function allows the command center to monitor the robot's operation on-site in real time, enabling remote monitoring and dispatching, and improving the intelligence level of rescue command.

[0067] In summary, the legged transport robot provided by this invention, through integrated hardware design, modular control architecture, and multi-sensor fusion technology, constructs a fully functional, highly scalable, and adaptable legged robot transport support system. This system effectively solves the problems of existing legged robots having limited functionality and being unable to meet the actual needs of complex scenarios such as fire rescue. It achieves collaborative operation of multiple functions, including autonomous following, real-time intercom, ambient lighting, high-precision positioning and autonomous patrolling, and remote monitoring, significantly improving the practicality and application value of legged robots and demonstrating promising prospects for widespread application.

[0068] It should be noted that, in this document, relational terms such as "first" and "second" are used only to distinguish one entity or operation from another, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Furthermore, the terms "comprising," "including," or any other variations thereof are intended to cover non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such a process, method, article, or apparatus. Without further limitations, an element defined by the phrase "comprising one..." does not exclude the presence of other identical elements in the process, method, article, or apparatus that includes said element.

[0069] As can be seen from the above description of the embodiments, those skilled in the art can clearly understand that the present invention can be implemented by means of software plus necessary general-purpose hardware platforms. Based on this understanding, the technical solution of the present invention, or the part that contributes to the prior art, can be embodied in the form of a software product. This computer software product can be stored in a storage medium, such as ROM / RAM, magnetic disk, optical disk, etc., and includes several instructions to cause a computer device (which may be a personal computer, server, or network device, etc.) to execute the methods described in various embodiments or some parts of the embodiments of the present invention.

[0070] The various embodiments in this specification are described in a progressive manner. Similar or identical parts between embodiments can be referred to mutually. Each embodiment focuses on describing the differences from other embodiments. In particular, for system or system embodiments, since they are basically similar to method embodiments, the description is relatively simple, and relevant parts can be referred to the descriptions in the method embodiments. The systems and system embodiments described above are merely illustrative. The units described as separate components may or may not be physically separate. The components shown as units may or may not be physical units; that is, they may be located in one place or distributed across multiple network units. Some or all of the modules can be selected to achieve the purpose of this embodiment according to actual needs. Those skilled in the art can understand and implement this without creative effort.

[0071] The above description is merely a preferred embodiment of the present invention and is not intended to limit the scope of protection of the present invention. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of the present invention are included within the scope of protection of the present invention.

Claims

1. A legged robot for ensuring safe transport, characterized in that, include: The robot itself; A control box is mounted on the robot body and integrates a main control board, a radio module, and a power conversion board. At least one following module is mounted on the robot body and is used to detect the position information of the target being followed and to communicate with the main control board. A lighting source is mounted on the robot body and electrically connected to the general-purpose input / output port of the main control board via a first relay module; A speaker and a microphone, wherein the speaker and the microphone are electrically connected to the main control board via audio interfaces; An audible and visual alarm light is installed on the robot body and is electrically connected to the general input / output port of the main control board through a second relay module. The antenna module includes a radio antenna, a real-time dynamic differential antenna, and a fourth-generation mobile communication antenna. The radio antenna is electrically connected to the radio module, the real-time dynamic differential antenna is electrically connected to the real-time dynamic differential control board, and the fourth-generation mobile communication antenna is electrically connected to the main control board. The transport superstructure is connected to the upper part of the robot body and is used to carry and fix transported goods.

2. The legged robot for ensuring safe transport according to claim 1, characterized in that, The main control board includes an x86 architecture motherboard, and the radio module and the control port of the robot body are connected to the x86 architecture motherboard through a switch motherboard.

3. The legged robot for ensuring safe transport according to claim 1, characterized in that, The follower module is an ultra-wideband follower module, and the ultra-wideband follower module is connected to the main control board through a serial communication interface protocol.

4. The legged robot for ensuring safe transport according to claim 1, characterized in that, The real-time dynamic differential antenna is electrically connected to the real-time dynamic differential control board, and the real-time dynamic differential control board is connected to the main control board via a serial communication interface protocol.

5. The legged robot for ensuring safe transport according to claim 1, characterized in that, The number of following modules is three, which are respectively located in front, on the left and right sides of the robot body.

6. The legged robot for ensuring safe transport according to claim 1, characterized in that, The control box also contains a switch motherboard, which is communicatively connected to the control ports of the main control board, the radio module, and the robot body.

7. The legged robot for ensuring safe transport according to claim 1, characterized in that, The lighting source and the audible and visual alarm light trigger the first relay module and the second relay module to switch on and off via control signals output from the general-purpose input / output port of the main control board, respectively, so as to realize switch control.

8. The legged robot for ensuring safe transport according to claim 1, characterized in that, The transport superstructure includes front and rear fixed guardrails and left and right movable guardrails. The left and right movable guardrails are used to change the size of the transport superstructure in the left and right direction to accommodate and fix transported goods of different sizes.

9. The legged robot for ensuring safe transport according to claim 1, characterized in that, The input terminal of the power conversion board is electrically connected to the power supply terminal of the robot body, and the output terminal of the power conversion board is electrically connected to the main control board, the radio module, and the real-time dynamic differential control board, respectively.

10. The legged robot for ensuring safe transport according to claim 1, characterized in that, The main control board is also connected to the remote command center via the fourth-generation mobile communication antenna to receive control commands and transmit status information.

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