A robot

Abstract

The embodiment of the application relates to the technical field of robots, in particular to a robot, a supporting mechanism is located on the upside of a moving mechanism; an upper mechanism comprises a trunk and a head, the trunk is connected with the supporting mechanism, and the head is located on the upside of the trunk; a first lower space sensor and a second lower space sensor are respectively located on the left side and the right side of the moving mechanism, and a third lower space sensor is located on the front side or the back side of the moving mechanism; a first upper space sensor and a second upper space sensor are respectively located on the left side and the right side of the upper mechanism, and a third upper space sensor is located on the front side or the back side of the upper mechanism. In the application, the visual field blind area of the robot is reduced, and the obstacle avoidance capability of the robot is improved.

Description

Technical Field

[0001] This application relates to the field of robotics, and more particularly to a robot. Background Technology

[0002] With the continuous development of robotics technology, humanoid robots are no longer limited to applications in shopping malls and industrial settings. They are gradually expanding from industrial scenarios to complex and dynamic environments such as home services, commercial services, hotel delivery, medical care, warehousing and logistics, and intelligent inspection. Robots not only need to perform functions such as autonomous navigation, path planning, and environmental mapping, but also complex tasks such as dual-arm grasping, object handling, human-computer interaction, desktop-level fine manipulation, dynamic obstacle avoidance, and passage through narrow spaces.

[0003] A robot typically consists of a locating mechanism and a robot body mounted on the locating mechanism. The locating mechanism propels the robot across the ground. To ensure safe movement and obstacle avoidance, the locating mechanism is usually equipped with sensors that detect obstacles in its path. Since humanoid robots are typically tall, and obstacles vary at different heights, the sensors on the locating mechanism cannot accurately detect taller objects, making the robot prone to collisions with objects at higher positions during movement. Furthermore, sensors operating in only one direction often have blind spots, preventing the robot from detecting obstacles within these blind spots. Summary of the Invention

[0004] This application provides a robot designed to improve upon existing robots' limited obstacle avoidance capabilities and other technical issues.

[0005] This disclosure provides a robot comprising: Mobile mechanism; A support mechanism is located on the upper side of the moving mechanism; An upper structure, comprising a torso and a head, wherein the torso is connected to the support structure and the head is located on the upper side of the torso; The system comprises a first lower space sensor, a second lower space sensor, and a third lower space sensor. The first lower space sensor and the second lower space sensor are located on the left and right sides of the moving mechanism, respectively, and the third lower space sensor is located on the front or rear side of the moving mechanism. The upper space sensor comprises a first upper space sensor, a second upper space sensor, and a third upper space sensor. The first upper space sensor and the second upper space sensor are located on the left and right sides of the upper mechanism, respectively, and the third upper space sensor is located on the front or rear side of the upper mechanism.

[0006] Optionally, the third lower space sensor is located on the front side of the moving mechanism, and the third upper space sensor is located on the front side of the upper mechanism. The robot further includes: A back space sensor is located on the rear side of the torso, and the back space sensor is able to sense the space behind the moving mechanism.

[0007] Optionally, the third lower space sensor is located on the front side of the moving mechanism, the first lower space sensor faces the left rear, the second lower space sensor faces the right rear, and the third upper space sensor is located on the rear side of the upper mechanism, the first upper space sensor faces the left front, and the second upper space sensor faces the right front; or The third lower space sensor is located on the rear side of the moving mechanism, the first lower space sensor faces the left front, the second lower space sensor faces the right front, and the third upper space sensor is located on the front side of the upper mechanism, the first upper space sensor faces the left rear, and the second upper space sensor faces the right rear.

[0008] Optionally, the robot also includes: A robotic arm, which is mounted on the torso; A chest space sensor is mounted on the front side of the torso. When the robotic arm moves in front of the torso, the chest space sensor can sense the space below the robotic arm.

[0009] Optionally, the chest space sensor can also sense the space in front of the moving mechanism.

[0010] Optionally, The moving mechanism is a mobile chassis, the distance between the front side of the mobile chassis and the first straight line is equal to the distance between the rear side of the mobile chassis and the first straight line, the support mechanism is located in front of the first straight line, and the robot further includes: A chassis lidar is located on the upper side of the moving mechanism and behind the first straight line.

[0011] Optionally, the third lower space sensor is located on the front side of the moving mechanism, and the central axis of the sensing range of the third lower space sensor is inclined upward relative to the horizontal direction.

[0012] Optionally, the third upper space sensor is located on the front side of the head, and when the pitch angle of the head is 0, the central axis of the sensing range of the third upper space sensor is tilted downward relative to the horizontal direction.

[0013] Optionally, the moving mechanism is a mobile chassis, and at least one of the front, rear, left and right sides of the moving mechanism is provided with two chassis space sensors, and the field of view of the two chassis space sensors is defined.

[0014] Optionally, the distance between the left side of the mobile chassis and the second straight line is equal to the distance between the right side of the mobile chassis and the second straight line; Two front chassis space sensors are provided at intervals on the front side of the moving mechanism. The two front chassis space sensors are located on opposite sides of the second straight line. When the moving chassis moves forward, the outer boundary of the field of view of the two front chassis space sensors does not exceed the travel range of the moving mechanism.

[0015] Optionally, the robot further includes a controller electrically connected to the two front chassis space sensors and the mobile mechanism, the controller being configured to: control the mobile mechanism to move forward; control the mobile mechanism to adjust its direction of travel and / or speed in response to both front chassis space sensors detecting an obstacle; and control the mobile mechanism to move forward in response to only one of the two front chassis space sensors detecting an obstacle.

[0016] Optionally, the first lower space sensor, the second lower space sensor, the third lower space sensor, the first upper space sensor, the second upper space sensor, and the third upper space sensor each include at least one of the following: a ranging sensor or a vision sensor.

[0017] Optionally, the first lower spatial sensor, the second lower spatial sensor, the third lower spatial sensor, the first upper spatial sensor, the second upper spatial sensor, and the third upper spatial sensor are vision sensors, and the total field of view of the first lower spatial sensor, the second lower spatial sensor, and the third lower spatial sensor covers 360 degrees in the horizontal direction, and the total field of view of the first upper spatial sensor, the second upper spatial sensor, and the third upper spatial sensor covers 360 degrees in the horizontal direction.

[0018] Optionally, the third lower spatial sensor is an RGBD camera, the third upper spatial sensor is a binocular RGB camera, the first lower spatial sensor, the second lower spatial sensor, the first upper spatial sensor and the second upper spatial sensor are fisheye cameras, and the rear spatial sensor is a wide-angle camera.

[0019] Optionally, the robot further includes a controller electrically connected to the first lower space sensor, the second lower space sensor, the third lower space sensor, the first upper space sensor, the second upper space sensor, the third upper space sensor, the moving mechanism, and the upper mechanism; when at least one of the first lower space sensor, the second lower space sensor, and the third lower space sensor senses an obstacle, the controller is at least configured to control the moving mechanism to adjust its direction of travel and / or its speed; when at least one of the first upper space sensor, the second upper space sensor, and the third upper space sensor senses an obstacle, the controller is at least configured to control the upper mechanism to adjust its pose.

[0020] Optionally, the head is rotatably mounted on the torso via a pivot; the first upper space sensor and the second upper space sensor are located at opposite ends of the pivot. The distance between the third upper space sensor and the rotating shaft is greater than the distance between the first upper space sensor and the rotating shaft, and the distance between the third upper space sensor and the rotating shaft is greater than the distance between the second upper space sensor and the rotating shaft.

[0021] In this disclosure, the first lower space sensor and the second lower space sensor are respectively located on the left and right sides of the moving mechanism, and the third lower space sensor is located on the front or rear side of the moving mechanism. Therefore, compared with a single-direction sensor layout, the combination of the first lower space sensor, the second lower space sensor, and the third lower space sensor can achieve a larger spatial detection range at low altitudes. The first upper space sensor and the second upper space sensor are respectively located on the left and right sides of the head, and the third upper space sensor is located on the front or rear side of the head. Therefore, compared with a single-direction sensor layout, the combination of the first upper space sensor, the second upper space sensor, and the third upper space sensor can achieve a larger spatial detection range at high altitudes. Since the detected upper and lower objects may be different, the robot can avoid upper and / or lower objects in a timely manner during walking, reducing the robot's blind spot and improving the robot's obstacle avoidance capability. Attached Figure Description

[0022] Figure 1 This is a schematic diagram of the structure of a robot provided in one embodiment of this application; Figure 2 This is a structural schematic diagram of a robot provided in one embodiment of this application from another perspective.

[0023] Explanation of reference numerals in the attached figures: 1. Motion mechanism; 11. First lower space sensor; 12. Second lower space sensor; 13. Third lower space sensor; 14. Chassis lidar; 15. Chassis ultrasonic sensor; 2. Support mechanism; 3. Upper mechanism; 31. Torso; 311. Back space sensor; 312. Chest space sensor; 32. Head; 321. First upper space sensor; 322. Second upper space sensor; 323. Third upper space sensor; 4. Robotic arm. Detailed Implementation

[0024] To make the technical problems, technical solutions, and beneficial effects solved by this application clearer, the following detailed description is provided in conjunction with embodiments. It should be understood that the specific embodiments described herein are merely illustrative and not intended to limit the scope of this application.

[0025] like Figure 1 and Figure 2 As shown, this application embodiment provides a robot, including: Mobile mechanism 1; Support mechanism 2 is located on the upper side of the moving mechanism 1; The upper mechanism 3 includes a torso 31 and a head 32. The torso 31 is connected to the support mechanism 2, and the head 32 is located on the upper side of the torso 31. The first lower space sensor 11, the second lower space sensor 12, and the third lower space sensor 13 are located on the left and right sides of the moving mechanism 1, respectively, and the third lower space sensor 13 is located on the front or rear side of the moving mechanism 1. The upper space sensor consists of a first upper space sensor 321, a second upper space sensor 322, and a third upper space sensor 323. The first upper space sensor 321 and the second upper space sensor 322 are located on the left and right sides of the upper mechanism 3, respectively, and the third upper space sensor 323 is located on the front or rear side of the upper mechanism 3.

[0026] The mobility mechanism 1 can be the robot's lower limbs, such as quadrupeds or bipeds. Taking bipeds as an example, the space sensor can be mounted on the front, left, right, or rear sides of the bipeds via fixing components. The mobility mechanism can also be a mobile chassis, or the space sensor can be mounted on the front, left, right, or rear sides of the bipeds via fixing components and supports. The mobility mechanism can also be a mobile chassis.

[0027] In some embodiments, the mobile mechanism 1 is the mobile chassis of the robot, and the mobile mechanism 1 can move on the ground via wheels, tracks, etc.

[0028] The support mechanism 2 can be a fixed structure, in which case the support mechanism 2 only serves to connect the moving mechanism 1 and the upper mechanism 3 and support the upper mechanism 3; the support mechanism 2 can also be a sliding mechanism, in which case the support mechanism 2 includes a support column mounted on the moving mechanism 1, and the upper mechanism 3 is slidably mounted vertically on the support column. For example, the support column can be provided with guide rails distributed vertically, and the upper mechanism 3 can be slidably mounted on the guide rails by a slider, so that the upper mechanism 3 can also slide vertically on the support column; the support mechanism 2 can also be a lifting mechanism, in which case the support mechanism 2 can be a lifting column mounted on the moving mechanism 1, and the upper mechanism can be mounted on the upper side of the lifting column. The lifting column can drive the upper mechanism to move up and down. For example, the lifting column can be a multi-stage telescopic rod; the support mechanism 2 can also be a linkage structure, with one side of the linkage structure mounted on the moving mechanism and the other side of the linkage structure mounted on the upper mechanism.

[0029] The upper mechanism 3 includes a torso 31 and a head 32. The torso 31 is connected to the support mechanism 2, and the head 32 is located on the upper side of the torso 31. It should be noted that the terms "head" and "torso" are used for ease of description and do not imply that the described head or torso needs to resemble a human head or torso. The head and torso can be a single structure, representing an upper and lower part of a whole; or they can be two separate parts, with the head mounted on the upper side of the torso.

[0030] The first lower spatial sensor 11, the second lower spatial sensor 12, the third lower spatial sensor 13, the first upper spatial sensor 321, the second upper spatial sensor 322, and the third upper spatial sensor 323 are, but are not limited to, visual sensors or ranging sensors. The visual sensor includes at least one of the following: a fisheye camera, an RGB camera, an RGBD camera, a wide-angle camera, and an infrared camera. The ranging sensor includes at least one of the following: a lidar, an ultrasonic sensor, an infrared ranging sensor, and a ToF (Time-of-Flight) sensor.

[0031] In some embodiments, the first upper space sensor 321 and the second upper space sensor 322 are positioned relative to the ear of the head 32, and the third upper space sensor 323 may be installed in front of or behind the head 32.

[0032] In some embodiments, the viewing angles of the first upper space sensor 321, the second upper space sensor 322, and the third upper space sensor 323 are oriented diagonally downwards. The viewing angles of the first lower space sensor 11, the second lower space sensor 12, and the third lower space sensor 13 are oriented diagonally upwards.

[0033] In some embodiments, since the sensing range of each of the first lower space sensor 11, the second lower space sensor 12, and the third lower space sensor 13 is limited, the combination of the three sensors can detect objects within a 360° or near-360° spatial range in the horizontal direction of the moving mechanism. Similarly, since the sensing range of each of the first upper space sensor 321, the second upper space sensor 322, and the third upper space sensor 323 is limited, the combination of the three sensors can detect objects within a 360° or near-360° spatial range in the horizontal direction of the upper mechanism. Here, "near-360°" can refer to 270° to 360°.

[0034] In this disclosure, the first lower space sensor 11 and the second lower space sensor 12 are respectively located on the left and right sides of the moving mechanism 1, and the third lower space sensor 13 is located on the front or rear side of the moving mechanism 1. Therefore, compared with a single-direction sensor layout, the combination of the first lower space sensor 11, the second lower space sensor 12, and the third lower space sensor 13 can achieve a larger spatial detection range at low altitudes. The first upper space sensor 321 and the second upper space sensor 322 are respectively located on the left and right sides of the head 32, and the third upper space sensor 323 is located on the front or rear side of the head 32. Therefore, compared with a single-direction sensor layout, the combination of the first upper space sensor 321, the second upper space sensor 322, and the third upper space sensor 323 can achieve a larger spatial detection range at high altitudes. Since the detected upper and lower objects may be different, the robot can avoid upper and / or lower objects in a timely manner during its movement, reducing the robot's blind spot and improving its obstacle avoidance capability.

[0035] In one embodiment, such as Figure 1 and Figure 2 As shown, the third lower space sensor 13 is located on the front side of the moving mechanism 1, and the third upper space sensor 323 is located on the front side of the upper mechanism 3. The robot also includes: A back space sensor 311 is located on the rear side of the torso 31, and the back space sensor 311 can sense the space behind the moving mechanism 1.

[0036] The back space sensor 311 includes, but is not limited to, a vision sensor or a ranging sensor.

[0037] In this embodiment, the third lower space sensor 13 is installed on the front side of the mobile mechanism 1, and the third upper space sensor 323 is installed on the front side of the upper mechanism 3. In order to avoid blind spots in the field of vision at the back of the robot, a back space sensor 311 is installed on the rear side of the torso 31. The back space sensor 311 can sense the space behind the mobile mechanism 1, so that the space behind the robot can also be sensed, thereby ensuring the safety of the robot moving backward.

[0038] In one embodiment, such as Figure 1 and Figure 2 As shown, the third lower space sensor 13 is located on the front side of the moving mechanism 1, the first lower space sensor 11 faces the left rear, the second lower space sensor 12 faces the right rear, and the third upper space sensor 323 is located on the rear side of the upper mechanism 3, with the first upper space sensor 321 facing the left front and the second upper space sensor 322 facing the right front; or the third lower space sensor 13 is located on the rear side of the moving mechanism 1, with the first lower space sensor 11 facing the left front and the second lower space sensor 12 facing the right front, and the third upper space sensor 323 is located on the front side of the upper mechanism 3, with the first upper space sensor 321 facing the left rear and the second upper space sensor 322 facing the right rear.

[0039] In this embodiment, the detection angle of the third lower spatial sensor 13 faces directly forward, the detection angle of the first lower spatial sensor 11 faces to the left rear, and the detection angle of the second lower spatial sensor 12 faces to the right rear; the detection angle of the third upper spatial sensor 323 faces directly forward, the detection angle of the first upper spatial sensor 321 faces to the left rear, and the detection angle of the second upper spatial sensor 322 faces to the right rear. Through the staggered arrangement of the upper and lower sensors, their sensing ranges can be mutually compensated.

[0040] In one embodiment, such as Figure 1 and Figure 2 As shown, the robot also includes: Robotic arm 4, which is mounted on the torso 31; A chest space sensor 312 is installed on the front side of the torso 31. When the robotic arm 4 moves in front of the torso 31, the chest space sensor 312 can sense the space below the robotic arm 4.

[0041] The chest sensor includes, but is not limited to, a visual sensor or a ranging sensor.

[0042] In some embodiments, two robotic arms 4 may be provided, with the two robotic arms 4 installed on the left and right sides of the torso 31, and the chest space sensor 312 located between the two robotic arms 4 and facing diagonally downward; alternatively, only one robotic arm 4 may be provided, with one robotic arm 4 installed on the left or right side of the torso 31; depending on the height at which the chest space sensor 312 is installed on the torso 31, the sensing angle of the chest space sensor 312 may be horizontal or diagonally downward.

[0043] Specifically, during the operation of the robotic arm 4, the robotic arm 4 can block the detection field of view of the first upper space sensor 321, the second upper space sensor 322, and the third upper space sensor 323, resulting in a blind spot during the robot's operation; the chest space sensor 312 can sense the space below the robotic arm 4, avoiding the blind spot (located below the robotic arm 4) that exists during the operation of the robotic arm 4 due to blocking the detection field of view of the first upper space sensor 321, the second upper space sensor 322, and the third upper space sensor 323.

[0044] In one embodiment, the chest space sensor 312 is also capable of sensing the space in front of the moving mechanism 1.

[0045] In this embodiment, the chest space sensor 312 can detect the space in front of the mobile mechanism 1, so that the robot can detect obstacles in front of the mobile mechanism 1 in time during the robot's walking process, avoid the accident of the robot colliding with the object during the robot's walking process, and further improve the robot's obstacle avoidance ability.

[0046] In some embodiments, the chest space sensor 312 may include an RGBD camera.

[0047] In one embodiment, such as Figure 1 and Figure 2 As shown, the moving mechanism 1 is a mobile chassis, and the distance between the front side of the mobile chassis and the first straight line is equal to the distance between the rear side of the mobile chassis and the first straight line. The support mechanism 2 is located in front of the first straight line. The robot also includes: The chassis lidar 14 is located on the upper side of the moving mechanism 1 and behind the first straight line.

[0048] Specifically, the chassis lidar 14 can emit lasers in the surrounding area. After the laser hits an object, it is reflected and received by the chassis lidar 14. The chassis lidar 14 can detect objects around the robot based on the time interval between laser emission and reception.

[0049] In some embodiments, the chassis lidar 14 can be used for mapping. After the mapping is completed, the robot can rely on the existing map for path planning, etc.

[0050] Specifically, the distance between the front side of the mobile chassis and the first straight line is equal to the distance between the rear side of the mobile chassis and the first straight line, and the support mechanism 2 is located in front of the first straight line; that is, the support mechanism 2 is located on the upper side of the mobile mechanism 1 near the front side.

[0051] In this embodiment, the third lower space sensor 13 can detect the space in front of the moving mechanism 1; the support mechanism 2 is located on the upper side of the moving mechanism 1 near the front, which reduces the obstruction range of the chassis lidar 14 by the support mechanism 2 and increases the detection range of the chassis lidar 14.

[0052] In related technologies, chassis-mounted LiDAR is typically located at the front of the chassis. When the robot approaches the platform and performs operations on it, the LiDAR's field of view is limited due to the platform's obstruction. In this embodiment, the chassis-mounted LiDAR is installed at the rear of the chassis, ensuring its field of view is not obstructed by the platform where the robot is working. Furthermore, the support structure is installed at the front of the chassis, further freeing up space for the LiDAR's field of view.

[0053] In one embodiment, such as Figure 1 and Figure 2 As shown, the third lower space sensor 13 is located on the front side of the moving mechanism 1, and the central axis of the sensing range of the third lower space sensor 13 is inclined upward relative to the horizontal direction.

[0054] The mobile mechanism 1 can drive the robot to walk on the ground. The third lower space sensor 13 includes, but is not limited to, a vision sensor and a distance sensor. In order to reduce the obstruction of the perception field of the third lower space sensor 13 by the ground, the perception range of the third lower space sensor 13 is tilted upward, which improves the detection range of the third lower space sensor 13. Moreover, the third lower space sensor 13 can detect the space in front of the mobile mechanism 1, ensuring the safety and stability of the robot's walking.

[0055] In one embodiment, such as Figure 1 and Figure 2 As shown, the third upper space sensor 323 is located on the front side of the head 32. When the pitch angle of the head 32 is 0, the central axis of the sensing range of the third upper space sensor 323 is tilted downward relative to the horizontal direction.

[0056] In this embodiment, during the robot's walking process, the third upper space sensor 323 can detect the object at the front to provide an early warning for the robot's walking, and the third lower space sensor 13 can detect objects next to the moving mechanism 1, so that the robot can avoid obstacles in time during the walking process.

[0057] In one embodiment, such as Figure 1 and Figure 2 As shown, the moving mechanism 1 is a mobile chassis. At least one of the front, rear, left and right sides of the moving mechanism 1 is provided with two chassis ultrasonic sensors 15. The outer boundary of the field of view of the two chassis ultrasonic sensors 15 does not exceed the travel path of the moving mechanism 1.

[0058] In some embodiments, the moving mechanism 1 can travel in the forward, backward, left and rear directions; two chassis ultrasonic sensors 15 spaced apart can be provided on the front side of the moving chassis, two chassis ultrasonic sensors 15 spaced apart can be provided on the rear side of the moving chassis, two chassis ultrasonic sensors 15 spaced apart can be provided on the left side of the moving chassis, two chassis ultrasonic sensors 15 spaced apart can be provided on the right side of the moving chassis, or two chassis ultrasonic sensors 15 spaced apart can be provided on the front, rear, left and right sides of the moving chassis.

[0059] In some embodiments, the moving mechanism is a mobile chassis, and at least one of the front, rear, left, and right sides of the moving mechanism is provided with two chassis space sensors, the fields of view of the two chassis space sensors at least partially overlapping. Thus, when both chassis space sensors detect the same obstacle, it can be determined that there is an obstacle on the robot's path; if only one chassis space sensor detects an obstacle, the obstacle may not be on the path. The chassis space sensors may include ranging sensors or vision sensors.

[0060] Specifically, the chassis space sensor can be a chassis ultrasonic sensor 15. The chassis ultrasonic sensor 15 can typically detect distances within a range of 2cm-4m, used for obstacle avoidance during robot movement. During robot movement, if one of the two chassis ultrasonic sensors 15 detects an obstacle, or if neither of the two chassis ultrasonic sensors 15 detects an obstacle, it indicates that there are no obstacles on the path of the moving chassis, and the robot can safely move forward. If both chassis ultrasonic sensors 15 detect the same obstacle, it indicates that there is an obstacle on the path of the moving chassis, and the robot needs to stop or detour.

[0061] In some embodiments, the distance between the left side of the mobile chassis and the second straight line is equal to the distance between the right side of the mobile chassis and the second straight line; Two front chassis space sensors are spaced apart on the front side of the moving mechanism. These two sensors are located on opposite sides of the second straight line. When the moving chassis moves forward, the outer boundaries of the field of view of the two front chassis space sensors do not exceed the travel range of the moving mechanism. The chassis space sensors may include distance sensors or vision sensors. The travel range can be determined by the travel direction and the projection of the outer contour of the moving chassis onto the travel direction.

[0062] The two front chassis space sensors are respectively located on the front side of the mobile chassis near the left and near the right.

[0063] Specifically, the front chassis space sensor can be a chassis ultrasonic sensor 15. When the moving mechanism is traveling straight, the outer boundary of the field of view of the chassis ultrasonic sensor 15 does not exceed the travel path of the moving mechanism 1. That is, the field of view of a chassis ultrasonic sensor 15 is defined by two boundary lines in the horizontal plane. These two boundary lines are the inner boundary and the outer boundary, respectively. The two inner boundaries of two chassis ultrasonic sensors 15 on the same side are close to each other, and the two outer boundaries are far apart. The outer boundary of the chassis ultrasonic sensor 15 does not exceed the travel range of the moving mechanism 1. For example, when the moving chassis is a cuboid structure, the outer boundary of the chassis ultrasonic sensor 15 is parallel to the side of the moving chassis (the side of the moving chassis that is parallel to the travel path and adjacent to the chassis ultrasonic sensor 15). Therefore, if the obstacle is not on the travel path of the moving chassis, the chassis ultrasonic sensor closer to the obstacle will not detect the obstacle; if the obstacle is on the travel path of the moving chassis, both chassis ultrasonic sensors can detect the obstacle.

[0064] In some embodiments, the robot further includes a controller electrically connected to the two front chassis space sensors and the mobile mechanism, the controller being configured to: control the mobile mechanism to move forward; control the mobile mechanism to adjust its direction of travel and / or speed in response to both front chassis space sensors detecting an obstacle; and control the mobile mechanism to move forward in response to only one of the two front chassis space sensors detecting an obstacle.

[0065] In this embodiment, two chassis ultrasonic sensors 15 are installed at intervals on the same side of the mobile chassis, which can accurately detect whether there are obstacles on the walking path, further improving the stability and safety of the robot's walking.

[0066] In one embodiment, the first lower space sensor 11, the second lower space sensor 12, the third lower space sensor 13, the first upper space sensor 321, the second upper space sensor 322, and the third upper space sensor 323 each include at least one of the following: a ranging sensor or a vision sensor.

[0067] Wherein, when the first lower space sensor 11, the second lower space sensor 12, the third lower space sensor 13, the first upper space sensor 321, the second upper space sensor 322, and the third upper space sensor 323 are ranging sensors, the ranging sensors include, but are not limited to, ultrasonic ranging sensors, laser ranging sensors, infrared ranging sensors, ToF (Time-of-Flight) sensors, etc.; when the first lower space sensor 11, the second lower space sensor 12, the third lower space sensor 13, the first upper space sensor 321, the second upper space sensor 322, and the third upper space sensor 323 are visual sensors, the visual sensors include, but are not limited to, fisheye cameras, RGB cameras, RGBD cameras, wide-angle cameras, infrared cameras, etc.

[0068] In this embodiment, the first lower space sensor 11, the second lower space sensor 12, the third lower space sensor 13, the first upper space sensor 321, the second upper space sensor 322, and the third upper space sensor 323 may be just the ranging sensor, or just the visual sensor, or may include both the visual sensor and the ranging sensor.

[0069] In one embodiment, the first lower space sensor 11, the second lower space sensor 12, the third lower space sensor 13, the first upper space sensor 321, the second upper space sensor 322, and the third upper space sensor 323 are vision sensors. The total field of view of the first lower space sensor 11, the second lower space sensor 12, and the third lower space sensor 13 covers 360 degrees in the horizontal direction, and the total field of view of the first upper space sensor 321, the second upper space sensor 322, and the third upper space sensor 323 also covers 360 degrees in the horizontal direction.

[0070] In this embodiment, the first lower space sensor 11, the second lower space sensor 12, and the third lower space sensor 13 can detect objects below within a 360° spatial range; the first upper space sensor 321, the second upper space sensor 322, and the third upper space sensor 323 can detect objects above within a 360° spatial range. Since the detected upper and lower objects may be different, the robot can avoid upper and lower objects in a timely manner during its movement, reducing the robot's blind spots, ensuring the stability of the robot's movement and operation, and extending the robot's service life.

[0071] In one embodiment, the third lower spatial sensor 13 is an RGBD camera, the third upper spatial sensor 323 is a binocular RGB camera, the first lower spatial sensor 11, the second lower spatial sensor 12, the first upper spatial sensor 321 and the second upper spatial sensor 322 are fisheye cameras, and the rear spatial sensor 311 is a wide-angle camera.

[0072] Among them, the RGBD camera has a built-in three-dimensional spatial coordinate system, which can directly acquire information about the distance of objects; the binocular RGB camera consists of two color RGB cameras with completely identical parameters and a fixed horizontal distance, simulating the vision of human left and right eyes. It has no active infrared light source and is not affected by infrared light in sunlight, so it performs well in outdoor applications; the fisheye camera is equipped with a short focal length and a front hemispherical convex lens, which is an extreme wide-angle lens with the advantages of large coverage and no blind spots at close range; the wide-angle camera has a short focal length and a field of view larger than that of ordinary standard cameras, and has the advantages of low cost and low power consumption.

[0073] In this embodiment, the first upper space sensor 321 and the second upper space sensor 322 are fisheye cameras, and the third upper space sensor 323 is a binocular RGB camera, so that the robot's head 32 can achieve detection within a 360° range with high detection accuracy; the third lower space sensor 13 is an RGBD camera, and the first lower space sensor 11 and the second lower space sensor 12 are fisheye cameras, so that the robot's moving chassis can achieve detection within a 360° range with high detection accuracy; the rear space sensor 311 is a wide-angle camera, so that the robot can detect the space behind it.

[0074] In some embodiments, the robot further includes a controller electrically connected to the first lower space sensor, the second lower space sensor, the third lower space sensor, the first upper space sensor, the second upper space sensor, the third upper space sensor, the moving mechanism, and the upper mechanism; when at least one of the first lower space sensor, the second lower space sensor, and the third lower space sensor senses an obstacle, the controller is at least configured to control the moving mechanism to adjust its direction of travel and / or its speed; when at least one of the first upper space sensor, the second upper space sensor, and the third upper space sensor senses an obstacle, the controller is at least configured to control the upper mechanism to adjust its pose.

[0075] In one embodiment, such as Figure 1 and Figure 2 As shown, the head 32 is rotatably mounted on the torso 31 via a pivot; the first upper space sensor 321 and the second upper space sensor 322 are located at opposite ends of the pivot. The distance between the third upper space sensor 323 and the rotating shaft is greater than the distance between the first upper space sensor 321 and the rotating shaft, and the distance between the third upper space sensor 323 and the rotating shaft is greater than the distance between the second upper space sensor 322 and the rotating shaft.

[0076] Furthermore, the distance between the first upper space sensor 321 and the rotating shaft is equal to the distance between the second upper space sensor 322 and the rotating shaft.

[0077] In this embodiment, during the rotation of the head 32 around the pivot, since the first upper space sensor 321 and the second upper space sensor 322 are located on the pivot, their positions will not change significantly with rotation. If the head shakes, the shaking amplitude at the pivot is also minimal. Therefore, the first upper space sensor 321 and the second upper space sensor 322 located on the pivot have a stable detection field of view.

[0078] In this application, "multiple" refers to two or more.

[0079] In this application, unless otherwise expressly defined, the terms "installation," "connection," and "linking" should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral connection; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium; and they can refer to the internal connection between two components. Those skilled in the art can understand the specific meaning of the above terms in this application based on the specific circumstances.

[0080] The terms “first,” “second,” “third,” “fourth,” etc., in this application (if present) are used to distinguish similar objects and are not necessarily used to describe a specific order or sequence.

[0081] In this application, the term "and / or" is merely a description of the relationship between related objects, indicating that three relationships can exist. For example, A and / or B can represent: A existing alone, A and B existing simultaneously, or B existing alone. Additionally, in this application, the character " / " generally indicates that the preceding and following related objects have an "or" relationship.

[0082] The above description is merely a preferred embodiment of this application and is not intended to limit this application. Any modifications, equivalent substitutions, and improvements made within the spirit and principles of this application should be included within the protection scope of this application.

Claims

1. A robot, characterized in that, include: Mobile mechanism; A support mechanism is located on the upper side of the moving mechanism; An upper structure, comprising a torso and a head, wherein the torso is connected to the support structure and the head is located on the upper side of the torso; The system comprises a first lower space sensor, a second lower space sensor, and a third lower space sensor. The first lower space sensor and the second lower space sensor are located on the left and right sides of the moving mechanism, respectively, and the third lower space sensor is located on the front or rear side of the moving mechanism. The upper space sensor comprises a first upper space sensor, a second upper space sensor, and a third upper space sensor. The first upper space sensor and the second upper space sensor are located on the left and right sides of the upper mechanism, respectively, and the third upper space sensor is located on the front or rear side of the upper mechanism.

2. The robot according to claim 1, characterized in that, The third lower space sensor is located on the front side of the moving mechanism, and the third upper space sensor is located on the front side of the upper mechanism. The robot also includes: A back space sensor is located on the rear side of the torso, and the back space sensor is able to sense the space behind the moving mechanism.

3. The robot according to claim 1, characterized in that, The third lower space sensor is located on the front side of the moving mechanism, the first lower space sensor faces the left rear, the second lower space sensor faces the right rear, and the third upper space sensor is located on the rear side of the upper mechanism, the first upper space sensor faces the left front, and the second upper space sensor faces the right front. or The third lower space sensor is located on the rear side of the moving mechanism, the first lower space sensor faces the left front, the second lower space sensor faces the right front, and the third upper space sensor is located on the front side of the upper mechanism, the first upper space sensor faces the left rear, and the second upper space sensor faces the right rear.

4. The robot according to claim 1, characterized in that, Also includes: A robotic arm, which is mounted on the torso; A chest space sensor is installed on the front side of the torso. When the robotic arm moves in front of the torso, the chest space sensor can sense the space below the robotic arm, or the chest space sensor can sense the space below the robotic arm and the space in front of the moving mechanism.

5. The robot according to claim 1, characterized in that, The moving mechanism is a mobile chassis, the distance between the front side of the mobile chassis and the first straight line is equal to the distance between the rear side of the mobile chassis and the first straight line, the support mechanism is located in front of the first straight line, and the robot further includes: A chassis lidar is located on the upper side of the moving mechanism and behind the first straight line.

6. The robot according to claim 1, characterized in that, The third lower space sensor is located on the front side of the moving mechanism, and the central axis of the sensing range of the third lower space sensor is inclined upward relative to the horizontal direction; and / or The third upper space sensor is located on the front side of the head. When the pitch angle of the head is 0, the central axis of the sensing range of the third upper space sensor is tilted downward relative to the horizontal direction.

7. The robot according to claim 1, characterized in that, The moving mechanism is a mobile chassis, and at least one of the front, rear, left and right sides of the moving mechanism is provided with two chassis space sensors, and the field of view of the two chassis space sensors at least partially overlap.

8. The robot according to claim 7, characterized in that, The distance between the left side of the mobile chassis and the second straight line is equal to the distance between the right side of the mobile chassis and the second straight line; Two front chassis space sensors are provided on the front side of the mobile chassis at intervals. The two front chassis space sensors are located on opposite sides of the second straight line. When the mobile chassis moves forward, the outer boundary of the field of view of the two front chassis space sensors does not exceed the travel range of the mobile mechanism.

9. The robot according to claim 8, characterized in that, It also includes a controller electrically connected to the two front chassis space sensors and the moving mechanism, the controller being configured to: Control the moving mechanism to move forward; In response to both front chassis space sensors detecting obstacles, the moving mechanism is controlled to adjust its direction of travel and / or speed. In response to the fact that only one of the two front chassis space sensors detects an obstacle, the moving mechanism is controlled to move forward.

10. The robot according to any one of claims 1-9, characterized in that, The first lower space sensor, the second lower space sensor, the third lower space sensor, the first upper space sensor, the second upper space sensor, and the third upper space sensor each include at least one of the following: a ranging sensor or a vision sensor.

11. The robot according to claim 10, characterized in that, The first lower space sensor, the second lower space sensor, the third lower space sensor, the first upper space sensor, the second upper space sensor, and the third upper space sensor are vision sensors. The total field of view of the first lower space sensor, the second lower space sensor, and the third lower space sensor covers 360 degrees in the horizontal direction. The total field of view of the first upper space sensor, the second upper space sensor, and the third upper space sensor also covers 360 degrees in the horizontal direction.

12. The robot according to claim 1, characterized in that, The third lower spatial sensor is an RGBD camera, and the third upper spatial sensor is a binocular RGB camera; the first lower spatial sensor, the second lower spatial sensor, the first upper spatial sensor, and the second upper spatial sensor are fisheye cameras.

13. The robot according to claim 1, characterized in that, The system also includes a controller electrically connected to the first lower space sensor, the second lower space sensor, the third lower space sensor, the first upper space sensor, the second upper space sensor, the third upper space sensor, the moving mechanism, and the upper mechanism. When at least one of the first lower space sensor, the second lower space sensor, and the third lower space sensor detects an obstacle, the controller is at least configured to control the moving mechanism to adjust its direction of travel and / or its speed. When at least one of the first upper space sensor, the second upper space sensor, and the third upper space sensor detects an obstacle, the controller is at least configured to control the upper mechanism to adjust its posture.

14. The robot according to claim 1, characterized in that, The first upper space sensor, the second upper space sensor, and the third upper space sensor face downwards at an angle; the first lower space sensor, the second lower space sensor, and the third lower space sensor face upwards at an angle.

15. The robot according to claim 14, characterized in that, The head is rotatably mounted on the torso via a pivot; the first upper space sensor and the second upper space sensor are located at opposite ends of the pivot. The distance between the third upper space sensor and the rotating shaft is greater than the distance between the first upper space sensor and the rotating shaft, and the distance between the third upper space sensor and the rotating shaft is greater than the distance between the second upper space sensor and the rotating shaft.

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