Multi-angle triggered wireless self-powered robot environment contact sensing device and method

Abstract

The application discloses a multi-angle triggered wireless self-power generation robot environment contact sensing device and method, and relates to the technical field of robot sensing and automatic control. The device comprises a shell, a self-power generation module, a reset spring, a lever switch, a lever switch shaft, a ground contact limiting sensing module and a rubber buffer ball. The device realizes contact / detachment signal triggering, generation and wireless transmission without external power supply, wiring and maintenance requirement, and solves the problems of traditional contact sensors, such as power supply dependence, wiring complexity, poor posture adaptability and high maintenance cost.

Description

Technical Field

[0001] This invention relates to the field of robot perception and automated control technology, and more specifically to a multi-angle triggered wireless self-generating robot environmental contact perception device and method. Background Technology

[0002] Traditional contact sensors in the prior art rely on power supply, have complex wiring, poor posture adaptability, and high maintenance costs. In addition, these sensors require continuous external power supply, have complicated wiring, and require a large amount of work for assembly and subsequent maintenance.

[0003] Therefore, proposing a multi-angle triggered wireless self-generating robot environmental contact sensing device and method to solve the difficulties existing in the prior art is a problem that urgently needs to be solved by those skilled in the art. Summary of the Invention

[0004] In view of this, the present invention provides a multi-angle triggered wireless self-generating robot environmental contact sensing device and method, which realizes contact / disengagement signal triggering, generation and wireless transmission without external power supply, wiring and reduced maintenance requirements, and solves the problems of traditional contact sensors that rely on power supply, have complex wiring, poor posture adaptability and high maintenance costs.

[0005] To achieve the above objectives, the present invention provides the following technical solution: A multi-angle triggered wireless self-generating robot environmental contact sensing device includes: a shell, a self-generating module, a return spring, a lever, a lever shaft, a ground contact limit sensing module, and a rubber buffer ball. The self-generating module, the return spring, and the lever are all housed within the outer shell cavity; The ground contact limit sensing module is slidably assembled at the front opening of the outer shell cavity, and the inner transmission end of the ground contact limit sensing module abuts against the drive end of the lever. The rubber buffer ball is detachably connected to the front end of the ground contact limit sensing module, and the rubber buffer ball is limited between the inner wall of the front end of the outer shell and the ground contact limit sensing module. The lever paddle shaft passes through the lever paddle, and the lever paddle is hinged and installed inside the housing cavity, so that the lever paddle can rotate and swing around the lever paddle shaft. One end of the return spring abuts against the self-generating module, and the other end abuts against the lever paddle, which is used to provide a return preload force for the lever paddle.

[0006] Optionally, when the ground squeezes the rubber buffer ball and pushes the ground contact limit sensing module to slide into the cavity, the ground contact limit sensing module is slidably set along the outer shell axis, and drives the lever paddle to rotate around the lever paddle axis when under pressure, so as to actuate the self-generating module. Once the ground pressure disappears, the reset spring drives the lever to rotate, and the elastic thrust of the rubber buffer ball causes the ground limit sensing module to slide outward and reset, waiting for the next ground trigger.

[0007] Optionally, the housing includes an upper housing and a lower housing, which are interlocked to form a closed cavity.

[0008] Optionally, the self-generating module includes a power generation unit and a wireless transmission unit for generating electrical energy and transmitting wireless signals when the lever is triggered.

[0009] Optionally, the ground contact limit sensing module includes a limit protector, a spring, a bottom contact transmission link, a main body integrated block, and a ground contact assembly; The main integrated block has a through mounting hole in the middle, and the bottom-conducting connecting rod slides through the mounting hole; The ground contact assembly is fixedly assembled to the front end of the main integrated block, and the inner end face of the ground contact assembly abuts against the front end of the bottom contact transmission link. The spring is coaxially sleeved on the outside of the rear end of the bottom-contact transmission link extending from the main integrated block. One end of the spring abuts against the rear end face of the main integrated block, and the other end of the spring abuts against the limit protector. The limit protector is coaxially mounted at the end of the bottom-contact transmission link.

[0010] Optionally, when the external ground presses against the ground contact assembly, the ground contact assembly drives the bottom contact transmission link to slide backward along the through hole and compress the spring; When the external pressure is released, the spring releases its elastic force to push the bottom contact transmission link and the ground contact assembly forward to reset; The limit protector prevents the bottom-out transmission link from moving excessively backward, thus achieving overload limit protection.

[0011] Optionally, the limit protector limits the maximum stroke of the bottoming-out transmission link to prevent excessive force from causing structural damage, while ensuring the effective sliding stroke of the bottoming-out transmission link during the trigger stroke.

[0012] Optionally, the front end of the grounding assembly has a tapered structure.

[0013] Optionally, the contact area between the rubber buffer ball and the ground contact limit sensing module is made of thin-walled rubber, and the rubber buffer ball has an internal cavity structure.

[0014] A multi-angle triggered environmental contact sensing method for a wireless self-generating robot, comprising the following steps, using a multi-angle triggered environmental contact sensing device for a wireless self-generating robot as described above: S1. Maintain the device in its initial standby state; S2, the displacement transmission, actuation, and power generation are sequentially completed by the ground contact assembly, bottom contact transmission link, lever, and self-generating module; among them... During the contact process, the rubber buffer ball performs impact buffering, and the ground contact limit sensing module and lever are triggered by the signal. When the contact condition is a large impact stress condition, the impact energy is absorbed by the deformation of the thin wall and cavity structure of the rubber buffer ball, which buffers and protects the internal components, and the displacement after the deformation and buffering of the rubber buffer ball is transmitted to the ground contact assembly, the bottom contact transmission link and the lever. The mechanical transmission mechanism transmits the displacement generated by the contact, and pressing triggers the electromagnetic coil to generate electricity and output a contact wireless sensing signal, which is received by the robot's main controller. S3. When the device is detected to be detached from the ground or released from an object, the mechanical transmission mechanism pops up to reset, the electromagnetic coil generates power in reverse and outputs a detachment and reset wireless signal. S4. After receiving the disconnect reset wireless signal, the device returns to the initial standby state and waits for the next contact trigger cycle.

[0015] As can be seen from the above technical solution, compared with the prior art, the present invention provides a multi-angle triggered wireless self-generating robot environmental contact sensing device and method, which has the following beneficial effects: (1) All functional components of the present invention are encapsulated in a sealed cavity formed by the upper and lower shells, forming an independent functional unit, which facilitates quick installation, disassembly, replacement and troubleshooting; (2) No power supply and wiring: The self-generating design of this invention does not require external batteries and wired transmission, avoiding battery replacement and line maintenance, and is suitable for complex robot operation scenarios; (3) Reliable triggering from multiple angles: This invention is compatible with vertical and inclined contact, ensuring the robot's perception stability on uneven ground or in complex postures; (4) Modular multi-scenario adaptation: The core mechanism of this invention can be adapted to foot contact sensing and hand contact sensing, reducing R&D and manufacturing costs; (5) Buffer protection: The rubber buffer ball structure of the present invention effectively absorbs impact, improves module durability, and extends service life; (6) The present invention only requires replacing the front contact component and replacing the ground contact assembly with a contact sensing head adapted to grasping operations to realize the contact detection function between the robot hand and the target object. Attached Figure Description

[0016] To more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are only embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on the provided drawings without creative effort.

[0017] Figure 1 Exploded view of a multi-angle triggered wireless self-generating robot environmental contact sensing device provided by the present invention; Figure 2 A cross-sectional view of a multi-angle triggered wireless self-generating robot environmental contact sensing device provided by the present invention. Figure 3 A flowchart of a multi-angle triggered wireless self-generating robot environmental contact perception method provided by the present invention; Figure 4 A schematic diagram of the ground contact limit sensing module provided by the present invention; Figure 5 The robot trigger state diagram provided by the present invention includes 5a as the initial state, 5b as contact with a horizontal surface, 5c as contact with an inclined ground, and 5d as contact with an inclined ground. Figure 6 An exploded view of the electromagnetic power generation module structure provided by this invention; Figure 7 The electromagnetic power generation principle diagram provided by the present invention is shown in which 7a represents the untriggered state and 7b represents the triggered state. Figure 8 This is a comparison diagram of the switch-triggered and non-triggered states provided by the present invention, wherein 8a is the non-triggered state, 8b is the triggered state, and 8c is the rebound-triggered state; Figure 9 This is a schematic diagram of an application scenario for robot foot detection provided by the present invention, wherein 9a is a bipedal robot, 9b is a quadrupedal robot, and 9c is a hexapedal robot; Figure 10 This is a schematic diagram of the application scenarios of the robot arm provided by the present invention, wherein 10a is a single-arm application scenario and 10b is a dual-arm application scenario; Among them, 1-upper shell, 2-lower shell, 3-self-generating module, 4-reset spring, 5-lever, 6-lever shaft, 7-ground contact limit sensing module, 8-rubber buffer ball, 9-limit protector, 10-spring, 11-bottom contact transmission link, 12-main body integrated block, 13-ground contact assembly, 14-coil with iron core, 15-magnetic shell, 16-transmit signal circuit board, 17-magnet moving mechanism, 18-shaft, 19-magnetic frame, 20-coil, 21-iron core, 22-magnet, 23-switch, 24-robotic arm, 25-object, 26-contact sensing device. Detailed Implementation

[0018] The technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0019] See Figure 1 As shown, the present invention discloses a multi-angle triggered wireless self-generating robot environmental contact sensing device, including: a shell, a self-generating module 3, a reset spring 4, a lever 5, a lever shaft 6, a ground contact limit sensing module 7, and a rubber buffer ball 8. The self-generating module 3, the return spring 4, and the lever 5 are all housed within the outer shell cavity; The ground contact limit sensing module 7 is slidably assembled at the front opening of the outer shell cavity, and the inner transmission end of the ground contact limit sensing module 7 abuts against the driving end of the lever 5. The rubber buffer ball 8 is detachably connected to the front end of the ground contact limit sensing module 7, and the rubber buffer ball 8 is limited between the inner wall of the front end of the outer shell and the ground contact limit sensing module 7. The lever paddle shaft 6 passes through the lever paddle 5, and the lever paddle 5 is hinged and installed inside the housing cavity, so that the lever paddle 5 can rotate and swing around the lever paddle shaft 6. One end of the return spring 4 abuts against the self-generating module 3, and the other end abuts against the lever 5, which is used to provide a return preload force for the lever 5.

[0020] Furthermore, when the ground squeezes the rubber buffer ball 8 and pushes the ground contact limit sensing module 7 to slide into the cavity, the ground contact limit sensing module 7 is slidably set along the outer shell axis, and drives the lever 5 to rotate around the lever 5 shaft 6 when under pressure, so as to actuate the self-generating module 3. Once the ground pressure disappears, the reset spring 4 drives the lever 5 to rotate, and based on the elastic thrust of the rubber buffer ball 8, it drives the ground limit sensing module 7 to slide outward and reset, waiting for the next ground trigger.

[0021] Furthermore, the outer shell includes an upper outer shell 1 and a lower outer shell 2, which are interlocked to form a closed cavity.

[0022] Furthermore, the self-generating module 3 includes a power generation unit and a wireless transmission unit, which are used to generate electrical energy and transmit wireless signals when the lever 5 is triggered.

[0023] Specifically, when the rubber buffer ball 8 contacts the ground, the bottom-contact transmission link 11 pushes the lever 5 to press the magnet moving mechanism 17. The robot trigger state diagram is as follows. Figure 5 As shown, 5a represents the initial state, 5b represents contact with a horizontal surface (only movement, i.e., pure downward pressure), 5c represents contact with an inclined surface (movement + rotation, i.e., downward pressure + flicking), and 5d represents contact with an inclined surface (only rotation, i.e., flicking only). The electromagnetic induction coil 20 inside the contact sensing device 26 cuts magnetic field lines under the relative motion of the permanent magnet, generating instantaneous electrical energy using the principle of electromagnetic induction to power the built-in circuit. This device generates induced electromotive force in both the pressing and rebound stages by causing a change in magnetic flux within the coil through the reciprocating motion of the magnet relative to the coil. 1) Initial state (not pressed) Magnet 22 (N pole) is held in a fixed position relative to coil 20 by magnet moving mechanism 17. At this time, the magnetic flux in coil 20 is constant, and the magnetic field lines are mainly in the external magnetic guide frame.

[0024] 2) Pressing action (magnet 22 quickly approaches coil 20)

[0025] When the lever 5 is triggered forward, the magnet moving mechanism 17 will drive the metal piece with magnet 22 to quickly spring upward into the opening of the magnetic guide frame below the coil 20; At this time, the N-pole magnet 22 is close to the magnetic guide frame 19, and the magnetic field lines will be "drawn into" the closed magnetic circuit composed of the magnetic guide frame and the coil. The magnetic flux in the coil 20 instantly changes from low to high. According to Faraday's law of electromagnetic induction, a drastic change in magnetic flux will generate a positive induced electromotive force at the two ends of coil 20, completing the first "cutting of magnetic field lines" (which is essentially a change in magnetic flux).

[0026] 3) Rebound action (magnet 22 quickly leaves coil 20)

[0027] Upon release, spring 10 quickly pulls magnet moving mechanism 17 and magnet 22 back to their original positions. The magnetic flux in coil 20 instantly changes from high to low, generating a reverse induced electromotive force, completing the second energy harvest. This press-and-release action generates an alternating positive and negative pulse signal, sufficient to power the transmitting signal circuit board 16 and transmit a Bluetooth broadcast signal. The coil with iron cores 14 and 21 is a necessary component for electromagnetic power generation, used to increase power output. The magnetically conductive outer shell 15 also increases power output and ensures magnetic penetration. The transmitting signal circuit board 16 is used to transmit signals. An exploded view of the electromagnetic power generation module structure is shown below. Figure 6 As shown in the diagram, the electromagnetic power generation principle is as follows: Figure 7 As shown, 7a is the untriggered state and 7b is the triggered state; the overall triggered and untriggered states of switch 23 are as follows. Figure 8As shown, 8a is the untriggered state, 8b is the triggered state, and 8c is the rebound triggered state.

[0028] When the ground contact assembly 13 leaves the ground, the reset spring 4 pushes the magnet moving mechanism 17 to reset, and the permanent magnet moves in the opposite direction to cut the magnetic field lines again, generating electrical energy and triggering a second signal, thus realizing the state perception of the entire "contact-disengagement" cycle.

[0029] The built-in circuitry converts electrical energy into wireless radio frequency signals (such as wireless radio frequency signals or Bluetooth), eliminating the need for external batteries and wiring to send the grounding / lifting status to the robot control system, thus meeting the requirements for low power consumption and reduced maintenance.

[0030] Furthermore, the ground contact limit sensing module 7 includes a limit protector 9, a spring 10, a bottom contact transmission link 11, a main body integrated block 12, and a ground contact assembly 13; The main integrated block 12 has a through mounting hole in the middle, and the bottom-conducting connecting rod 11 slides through the mounting hole; The ground contact assembly 13 is fixedly assembled to the front end of the main integrated block 12, and the inner end face of the ground contact assembly 13 abuts against the front end of the bottom contact transmission link 11. Spring 10 is coaxially 18 sleeved on the outside of the rear end of the bottom-contact transmission link 11 extending out of the main integrated block 12. One end of spring 10 abuts against the rear end face of the main integrated block 12, and the other end of spring 10 abuts against the limit protector 9. The limit protector 9 is coaxially mounted on the end of the bottom-contact transmission link 11.

[0031] Furthermore, when the external ground presses against the ground contact assembly 13, the ground contact assembly 13 drives the bottom contact transmission link 11 to slide backward along the through hole and compress the spring 10; When the external pressure is released, the spring 10 releases its elastic force to push the bottom contact transmission link 11 and the ground contact assembly 13 to slide forward and reset. The limit protector 9 prevents the bottom-out conduction link 11 from excessively moving backward, thus achieving overload limit protection.

[0032] Furthermore, the limit protector 9 limits the maximum stroke of the bottom-contact transmission link 11 to prevent excessive force from causing structural damage, while ensuring the effective sliding stroke of the bottom-contact transmission link 11 during the trigger stroke.

[0033] Specifically, the ground contact limiting sensing module 7, through the mechanical structure design of the ground contact assembly 13 and the bottom contact transmission link 11, realizes signal triggering for vertical contact and multi-angle inclined contact. The structure of the electromagnetic power generation module inside the contact sensing device 26 is as follows: Figure 6 .

[0034] The front end of the ground contact assembly 13 has a tapered structure, such as Figure 4As shown, the rubber buffer ball 8 can make contact with the ground. When the ground contact limit sensing module 7 and the robot end sensing unit contact the ground in a vertical direction or at an inclined angle, the ground contact assembly 13 will convert the force into axial displacement.

[0035] When the rubber buffer ball 8 contacts the ground, it will generate displacement in the corresponding direction regardless of whether it is subjected to vertical force or inclined force at a certain angle. This displacement is directly transmitted to the bottom-conducting linkage 11. The upper end of the bottom-conducting linkage 11 is connected to the lever 5 with a movable fit. The linkage can swing freely within a certain range and adjust its angle adaptively, thereby converting the oblique or axial displacement into a downward driving force, which pushes the lever 5 to rotate around a fixed fulcrum. The lever 5 always presses the magnet moving mechanism 17 with a stable stroke, and there will be no empty stroke, jamming or incomplete pressing due to changes in the ground contact angle. This reduces the risk of empty stroke, jamming or incomplete pressing caused by changes in the contact angle, and achieves reliable triggering at multiple angles.

[0036] Limit protector 9, such as Figure 4 As shown, the maximum stroke of the bottom-contact transmission link 11 is limited to prevent excessive force from causing structural damage, while ensuring that the bottom-contact transmission link 11 smoothly transmits displacement during the trigger stroke.

[0037] Furthermore, the front end of the ground contact assembly 13 has a tapered structure.

[0038] Furthermore, the contact area between the rubber buffer ball 8 and the ground contact limit sensing module 7 is made of thin-walled rubber material, and the rubber buffer ball 8 has an internal cavity structure.

[0039] Specifically, the contact area between the rubber buffer ball 8 and the ground contact assembly 13 in the ground contact limit sensing module 7 is made of thin-walled rubber material, such as... Figure 2 As shown, the internal cavity structure of the rubber buffer ball 8 is designed to ensure the sensitivity of contact sensing. When the ground contact assembly 13 is subjected to a large impact force, the rubber buffer ball 8 deforms and buffers, effectively improving the maximum load through structural load bearing. The rubber buffer ball 8 and the ground contact limit sensing module 7 are detachably connected, which makes it easy to replace worn rubber parts individually and reduce maintenance costs.

[0040] In one specific embodiment, the following is included: Foot contact detection for mobile robots can be used in bipedal, quadrupedal, and hexapedal robots, respectively, and corresponds to... Figure 9 As shown in 9a, 9b, and 9c.

[0041] The end effector 25 of the robotic arm 24 senses contact with the object 25 via a contact sensing device 26, providing status feedback for operations such as grasping and assembly. This can be used in single-arm and dual-arm robotic arms, such as... Figure 10As shown, 10a represents a single-arm application scenario and 10b represents a dual-arm application scenario.

[0042] A multi-angle triggered environmental contact perception method for wireless self-generating robots, such as... Figure 3 As shown, a multi-angle triggered wireless self-generating robot environmental contact sensing device that performs any of the above-mentioned functions includes the following steps: S1. Maintain the device in its initial standby state; S2. After detecting that the device makes vertical or multi-angle contact with the ground or object 25, the ground contact assembly 13, the bottom contact transmission link 11, the lever 5, and the self-generating module 3 sequentially complete the displacement transmission, actuation, and power generation; during the contact process, the rubber buffer ball 8 performs impact buffering, and the ground contact limit sensing module 7 and the lever 5 perform signal triggering; wherein... When the contact condition is a large impact stress condition, the impact energy is absorbed by the deformation of the thin wall and cavity structure of the rubber buffer ball 8, which buffers and protects the internal components, and the displacement after being buffered by the deformation of the rubber buffer ball 8 is transmitted to the ground contact assembly 13, the bottom contact transmission link 11 and the lever 5. The mechanical transmission mechanism transmits the displacement generated by the contact, and pressing triggers the electromagnetic coil to generate electricity and output a contact wireless sensing signal, which is received by the robot's main controller. S3. When the device is detected to be off the ground or the object 25 is released, the mechanical transmission mechanism pops up and resets, the electromagnetic coil generates power in reverse and outputs a release and reset wireless signal. S4. After receiving the disconnect reset wireless signal, the device returns to the initial standby state and waits for the next contact trigger cycle.

[0043] The various embodiments in this specification are described in a progressive manner, with each embodiment focusing on the differences from other embodiments. The same or similar parts between the various embodiments can be referred to each other.

[0044] The above description of the disclosed embodiments enables those skilled in the art to make or use the invention. Various modifications to these embodiments will be readily apparent to those skilled in the art, and the general principles defined herein may be implemented in other embodiments without departing from the spirit or scope of the invention. Therefore, the invention is not to be limited to the embodiments shown herein, but is to be accorded the widest scope consistent with the principles and novel features disclosed herein.

Claims

1. A multi-angle triggered wireless self-generating robot environmental contact sensing device, characterized in that, include: Housing, self-generating module, return spring, lever, lever shaft, ground contact limit sensing module, rubber buffer ball; The self-generating module, the return spring, and the lever are all housed within the outer shell cavity; The ground contact limit sensing module is slidably assembled at the front opening of the outer shell cavity, and the inner transmission end of the ground contact limit sensing module abuts against the drive end of the lever. The rubber buffer ball is detachably connected to the front end of the ground contact limit sensing module, and the rubber buffer ball is limited between the inner wall of the front end of the outer shell and the ground contact limit sensing module. The lever paddle shaft passes through the lever paddle, and the lever paddle is hinged and installed inside the housing cavity, so that the lever paddle can rotate and swing around the lever paddle shaft. One end of the return spring abuts against the self-generating module, and the other end abuts against the lever paddle, which is used to provide a return preload force for the lever paddle.

2. The multi-angle triggered wireless self-generating robot environmental contact sensing device according to claim 1, characterized in that, When the ground compresses the rubber buffer ball and pushes the ground contact limit sensing module to slide into the cavity, the ground contact limit sensing module is slidably set along the outer shell axis, and drives the lever paddle to rotate around the lever paddle axis when under pressure, so as to actuate the self-generating module. Once the ground pressure disappears, the reset spring drives the lever to rotate, and the elastic thrust of the rubber buffer ball causes the ground limit sensing module to slide outward and reset, waiting for the next ground trigger.

3. The multi-angle triggered wireless self-generating robot environmental contact sensing device according to claim 1, characterized in that, The outer shell consists of an upper outer shell and a lower outer shell, which are interlocked to form a closed cavity.

4. The multi-angle triggered wireless self-generating robot environmental contact sensing device according to claim 1, characterized in that, The self-generating module includes a power generation unit and a wireless transmission unit, which are used to generate electrical energy and transmit wireless signals when the lever is triggered.

5. The multi-angle triggered wireless self-generating robot environmental contact sensing device according to claim 1, characterized in that, The ground contact limit sensing module includes a limit protector, a spring, a bottom contact transmission link, a main integrated block, and a ground contact assembly; The main integrated block has a through mounting hole in the middle, and the bottom-conducting connecting rod slides through the mounting hole; The ground contact assembly is fixedly assembled to the front end of the main integrated block, and the inner end face of the ground contact assembly abuts against the front end of the bottom contact transmission link. The spring is coaxially sleeved on the outside of the rear end of the bottom-contact transmission link extending from the main integrated block. One end of the spring abuts against the rear end face of the main integrated block, and the other end of the spring abuts against the limit protector. The limit protector is coaxially mounted at the end of the bottom-contact transmission link.

6. The multi-angle triggered wireless self-generating robot environmental contact sensing device according to claim 5, characterized in that, When the external ground presses against the ground contact assembly, the ground contact assembly drives the bottom contact transmission link to slide backward along the through hole and compress the spring; When the external pressure is released, the spring releases its elastic force to push the bottom contact transmission link and the ground contact assembly forward to reset; The limit protector prevents the bottom-out transmission link from moving excessively backward, thus achieving overload limit protection.

7. The multi-angle triggered wireless self-generating robot environmental contact sensing device according to claim 5, characterized in that, The limit protector limits the maximum stroke of the bottom-contact transmission link to prevent excessive force from causing structural damage, while ensuring the effective sliding stroke of the bottom-contact transmission link during the trigger stroke.

8. The multi-angle triggered wireless self-generating robot environmental contact sensing device according to claim 5, characterized in that, The front end of the ground contact assembly has a tapered structure.

9. The multi-angle triggered wireless self-generating robot environmental contact sensing device according to claim 1, characterized in that, The contact area between the rubber buffer ball and the ground contact limit sensing module is made of thin-walled rubber, and the rubber buffer ball has a hollow internal structure.

10. A multi-angle triggered environmental contact perception method for a wireless self-generating robot, characterized in that, The multi-angle triggered wireless self-generating robot environmental contact sensing device according to any one of claims 1-9 includes the following steps: S1. Maintain the device in its initial standby state; S2, the displacement transmission, actuation, and power generation are sequentially completed by the ground contact assembly, bottom contact transmission link, lever, and self-generating module; among them... During the contact process, the rubber buffer ball performs impact buffering, and the ground contact limit sensing module and lever are triggered by the signal. When the contact condition is a large impact stress condition, the impact energy is absorbed by the deformation of the thin wall and cavity structure of the rubber buffer ball, which buffers and protects the internal components, and the displacement after the deformation and buffering of the rubber buffer ball is transmitted to the ground contact assembly, the bottom contact transmission link and the lever. The mechanical transmission mechanism transmits the displacement generated by the contact, and pressing triggers the electromagnetic coil to generate electricity and output a contact wireless sensing signal, which is received by the robot's main controller. S3. When the device is detected to be detached from the ground or released from an object, the mechanical transmission mechanism pops up to reset, the electromagnetic coil generates power in reverse and outputs a detachment and reset wireless signal. S4. After receiving the disconnect reset wireless signal, the device returns to the initial standby state and waits for the next contact trigger cycle.

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