Modular service robot with low energy consumption and high adaptability and walking control method thereof

Abstract

The application discloses a low-energy-consumption and high-adaptability modular service robot and a walking control method thereof, and comprises a fixed base, a rotating disc is rotationally connected to the top end of the fixed base, a supporting seat is fixedly installed at the top end of the rotating disc, and a lifting trunk module is fixedly installed at the top end of a trunk main body. The application is provided with a rigid and liftable trunk module, has no pitching degree of freedom, and realizes height adjustment and zero-power-consumption maintenance through a vertical slide rail and a mechanical locking. The super-long double-arm module has a single-arm length of 100-120 cm, cooperates with the trunk lifting to cover the ground to the ceiling, a short lower limb and a wheel-foot mixed chassis module are adopted, an asymmetric wheel-foot walking mechanism is adopted, double universal wheels are distributed in front of and behind the left foot, the right foot is a non-wheel solid bionic ground-pushing foot, a stable triangle support is formed by the front and rear double wheels of the left foot and the touch point of the right foot, the left wheel is driven to passively slide by inertia through the center of gravity offset and intermittent ground-pushing driving of the right foot, and intelligent switching of the sliding mode and the walking mode is realized.

Description

Technical Field

[0001] This invention relates to the field of service robot technology, specifically to a low-energy, highly adaptable modular service robot and its walking control method. Background Technology

[0002] Humanoid service robots can naturally adapt to human environments, perform generalized operations, and achieve natural interactions, thus "assisting" rather than "replacing" people in service scenarios such as elderly care, home, and commerce. Bipedal walking and hand-like operation mean they do not need to modify human spaces such as stairs, door handles, and home appliances, and can work directly in unstructured scenarios such as homes, hospitals, and hotels. Combining large AI models with dexterous hands, they can complete cross-scenario composite actions such as delivering meals, pressing elevator buttons, serving medicine, and assisting with dressing, far exceeding dedicated wheeled or fixed-arm robots. Humanoid appearance and voice and facial expression interaction lower the barrier to use, especially improving the acceptance and emotional companionship experience for the elderly and children.

[0003] Existing humanoid service robots generally adopt a "highly human-like" biomimetic design approach, which suffers from a series of long-standing structural and energy defects: (1) The waist joint is fragile and consumes a lot of energy. In order to simulate bending over, the robot is equipped with a multi-degree-of-freedom waist pitch joint, which has to bear the entire weight of the upper body and the load torque, resulting in high motor power, high energy consumption and fast wear. Once a fault occurs, the upper body will be completely out of control. (2) The length of the arms and legs is contradictory. In order for the hands to touch the ground, the legs must be long enough, which raises the center of gravity, increases the energy consumption of walking and the difficulty of balance control. (3) The “autonomous completion” mindset leads to excessive computing power and energy consumption. The pursuit of robots to independently complete complex operations such as cutting vegetables requires precise force control, real-time visual feedback and complex trajectory planning, which has extremely high computing power requirements. (4) The movement mode is singular, and pure bipedal walking has high energy consumption and slow speed; the traditional wheel-foot composite structure has complex mechanisms with telescopic wheels on both feet, high failure rate and limited load-bearing capacity. (5) Fixed form cannot adapt to changing tasks and cannot flexibly switch between "slow and stable" and "fast and flexible". Summary of the Invention

[0004] The purpose of this invention is to provide a low-energy, highly adaptable modular service robot and its walking control method to solve the problems mentioned in the background art, such as the fragility and high energy consumption of the lumbar joints, the need for multi-degree-of-freedom lumbar pitch joints to simulate bending movements, the need to bear the entire weight and load torque of the upper body, resulting in high motor power, high energy consumption, and rapid wear, and the complete loss of upper body control in the event of a failure; the contradiction between arm and leg lengths, the need for sufficiently long legs to allow the hands to reach the ground, resulting in a higher center of gravity, increasing walking energy consumption and balance control difficulty; the "autonomous completion" mindset leading to excessive computing power and energy consumption, the pursuit of robots independently completing complex operations such as chopping vegetables, requiring precise force control, real-time visual feedback, and complex trajectory planning, which requires extremely high computing power; the single mode of movement, pure bipedal walking, is energy-intensive and slow; the traditional wheel-leg composite structure, with telescopic wheels on both legs, is complex, has a high failure rate, and limited load-bearing capacity; and the fixed form cannot adapt to changing tasks, and cannot flexibly switch between "slow and stable" and "fast and agile".

[0005] To achieve the above objectives, the present invention provides the following technical solution: a low-energy-consumption, highly adaptable modular service robot, including a fixed base. The top of the fixed base is rotatably connected to a turntable, the top of the turntable is fixedly mounted with a support base, the top of the support base is fixedly mounted with a torso body, the top of the torso body is fixedly mounted with a lifting torso module, the top of the lifting torso module is fixedly mounted with a head body, extra-long double arm modules are fixedly mounted on both sides of the torso body, a bionic push-off support foot is fixedly mounted on one side of the bottom of the fixed base, a left leg assembly is fixedly mounted on the other side of the bottom of the fixed base, and a dual-mode gait intelligent controller is fixedly mounted on the surface of the fixed base. Both of the aforementioned ultra-long dual-arm modules include a motor base and a first servo motor. One side of the motor base is fixedly connected to one side of the first servo motor. A first rotating shaft is fixedly installed at the output end of the first servo motor. A first robotic arm is fixedly installed at one end of the first rotating shaft. A second servo motor is fixedly installed at the bottom end of one side of the first robotic arm. A second rotating shaft is fixedly installed through the first robotic arm at the output end of the second servo motor. A second robotic arm is fixedly installed at one end of the second rotating shaft. A robotic hand is fixedly installed at the bottom end of the second robotic arm. The lifting torso module includes a lifting frame and a height bar. One side of the top of the lifting frame is slidably connected to the bottom of the height bar, and the other side of the top of the lifting frame is slidably connected to the bottom of the lifting rack. A stepper motor is fixedly installed in the middle of the lifting frame, and a gear body is fixedly installed at the output end of the stepper motor. The outer side of the gear body is engaged with a locking tooth on the opposite side of the lifting rack. A mechanical locking frame is fixedly installed at one end of the lifting frame, and an electromagnetic locking pin that contacts the lifting rack is fixedly installed on one side of the mechanical locking frame. A connecting rod is fixedly installed between the lifting rack and the height bar. The left leg assembly includes a mounting platform and an angle seat. One side of the bottom end of the mounting platform is rotatably connected to the top end of the angle seat. A movable platform is fixedly mounted on the bottom end of the angle seat, and movable wheels are fixedly mounted on the four corners of the bottom end of the movable platform.

[0006] As a further technical solution of the present invention, a first servo motor drives a first rotating shaft to rotate, thereby adjusting the angle of the first robotic arm relative to the torso body, and a second servo motor drives a second rotating shaft to rotate, thereby adjusting the angle between the first robotic arm and the second robotic arm.

[0007] As a further technical solution of the present invention, the bottom end of the lifting frame is fixedly connected to the torso body, and the top end of the height rod and the top end of the lifting rack are both fixedly connected to the head body. The lifting torso module is installed on the torso body through the lifting frame, and the lifting torso module is installed on the head body through the height rod and the lifting rack. The stepper motor drives the gear body to rotate, and the locking teeth on the gear body contact the locking teeth on the lifting rack. The lifting rack slides along the lifting frame under the action of friction. The lifting rack drives the height rod to slide along the lifting frame through the connecting rod to adjust the overall height. When it is necessary to stop, the electromagnetic locking pin is pushed out and contacts the lifting rack. All the load is borne by the locking pin and the rigid frame, and the drive motor is powered off with zero power consumption. This makes the vertical lifting stroke of the torso continuously adjustable between 120cm and 160cm.

[0008] As a further technical solution of the present invention, an angle cylinder is movably connected to the other side of the bottom end of the mounting platform, and a sliding block is movably connected to the movable end of the angle cylinder. The sliding block is slidably connected to the side of the angle seat opposite to it. The top end of the mounting platform is fixedly connected to the fixed base. The angle cylinder performs telescopic movement and pushes the sliding block along the angle seat from one side, so that the angle seat deflects along the mounting platform, thereby adjusting the angle of the moving platform.

[0009] As a further technical solution of the present invention, the robotic arm includes a gripping housing and two clamping plates. The bottom end of the gripping housing is provided with a movable groove. A lead screw is rotatably connected inside the movable groove. Two movable blocks that are slidably connected to the movable groove are threadedly connected to the surface of the lead screw. The bottom ends of the two movable blocks are respectively fixedly connected to the top ends of the two clamping plates. A micro motor that drives the lead screw to rotate is fixedly installed on the surface of the gripping housing. The top end of the gripping housing is fixedly connected to a second robotic arm. The other side of the base of the two motors is fixedly connected to the torso body. The micro motor drives the lead screw to rotate. The lead screw has two threads in opposite directions with its own center line as the dividing line. The threads on the surface of the lead screw match the threads on the inner wall of the movable blocks. The movable blocks are limited by the movable groove that matches its shape and size, so the movable blocks slide along the lead screw. The movable blocks drive the clamping plates to move synchronously. The two clamping plates clamp and fix the product from both sides.

[0010] As a further technical solution of the present invention, a status indicator light is fixedly installed at the top of the front of the main body of the torso, and a warning light is fixedly installed at the bottom of the front of the main body of the torso. The status indicator light displays the operating status of the robot in real time, and the warning light lights up when the robot malfunctions.

[0011] As a further technical solution of the present invention, a camera is fixedly installed in the middle of the front of the head body, a temperature and humidity sensor located on one side of the camera is fixedly installed on the head body, and a locator located on the other side of the camera is fixedly installed on the head body. The camera senses the environment in which the robot walks, the temperature and humidity sensor detects the temperature and humidity in which the robot walks, and the locator locates the position of the robot.

[0012] As a further technical solution of the present invention, a wear-resistant buffer pad is fixedly provided at the bottom of the bionic foot for pushing off the ground, and the wear-resistant buffer pad improves the wear-resistant and buffering performance of the bionic foot for pushing off the ground.

[0013] A walking control method for a low-energy, highly adaptable modular service robot includes the following steps: Step 1: Information Collection: Collect data in real time on the robot's total load capacity, road surface smoothness, slope, walking resistance, distance to obstacles ahead, robot posture, and remaining battery power; Step 2, Walking Information Judgment: Determine whether the following conditions are met simultaneously: load-bearing capacity is within the threshold range, road surface undulation is less than the safety gap, slope is <20°, resistance is <half of the maximum pushing force of the right foot, there are no obstacles in front, posture is safe, and battery power is normal. Step 3: First determination of walking mode: If all conditions are met, automatically switch to gliding mode: The right foot supports the foot and retracts, with only the two omnidirectional wheels touching the ground; the two omnidirectional wheels on the left foot, distributed front and back, form a stable triangular support with the right foot's contact point, and the robot's center of gravity is located inside the triangle; the right foot intermittently pushes off the ground, generating a forward reaction force; simultaneously, the controller shifts the robot's center of gravity to the center area supported by the left foot's two omnidirectional wheels, using inertia to drive the left wheel to roll passively; during gliding, the right leg only lightly touches the ground to assist in pushing off and turning, without bearing the main load. In gliding mode, the correlation between the right foot's pushing frequency and speed, slope, and load is as follows: the pushing frequency is negatively correlated with gliding speed, positively correlated with uphill slope, and positively correlated with load; the pushing force is adjusted by the PID controller based on the error between the actual speed and the target speed. Step 4, Second Determination of Walking Mode: If any condition is not met, the system automatically switches to walking mode: The left foot supports the machine by folding downwards to wrap around the wheel, with the wheel completely suspended in the air and the foot touching the ground to bear weight; the controller returns the center of gravity of the machine to the body's central axis, with the left and right feet evenly distributing the weight, restoring the walking posture. When the left foot folding servo malfunctions, the mechanical limiter keeps the foot in a downward position by default, entering pure walking mode; when the right foot force sensor fails, the controller switches to ground force control based on motor current estimation or locks the walking mode; when the battery remaining power is in a very low warning state, the controller forcibly locks and prioritizes entering gliding mode to extend the battery life. Step 5: Determine mode switching parameters: A soft transition of 0.1 seconds is performed during mode switching, and foot movements are only allowed when the body is stationary.

[0014] Compared with the prior art, the beneficial effects of the present invention are: 1. The entire device is equipped with a rigid, liftable torso module with no pitch freedom. Height adjustment and zero power consumption are achieved through vertical slide rails and mechanical locking. The extra-long double arm module, with each arm measuring 100-120cm in length, works in conjunction with the torso lifting mechanism to cover the ground to the ceiling. The short lower limb and wheel-foot hybrid chassis module adopts an asymmetrical wheel-foot walking mechanism. The left foot has fixed double omnidirectional wheels distributed front and rear, while the right foot is a solid bionic foot without wheels. The front and rear wheels of the left foot and the contact point of the right foot form a stable triangular support. The left wheel is driven by the shift of the center of gravity and the intermittent push-off of the right foot to achieve passive inertial gliding, realizing the intelligent switching between gliding mode and walking mode. 2. This invention breaks through two major technical biases: human-like bending and symmetrical wheeled feet. It achieves the following technical effects: gliding power consumption is only 13%-30% of pure walking, battery life is 6.4 times that of pure bipedal walking, and the workspace covers the ground to the ceiling. It is particularly suitable for home services, education and scientific innovation, and community elderly care scenarios. Attached Figure Description

[0015] Figure 1 This is a side view of the present invention; Figure 2This is a perspective view of the ultra-long double-arm module of the present invention; Figure 3 This is a side view of the ultra-long dual-arm module of the present invention; Figure 4 This is a side view of the lifting torso module of the present invention; Figure 5 This is a side view of the left leg assembly of the present invention; Figure 6 This is a flowchart of the present invention.

[0016] In the diagram: 1. Fixed base; 2. Turntable; 3. Support base; 4. Main body; 5. Warning light; 6. Status indicator light; 7. Extra-long dual-arm module; 71. Motor base; 72. First servo motor; 73. First robotic arm; 74. Second servo motor; 75. First rotating shaft; 76. Second rotating shaft; 77. Second robotic arm; 78. Robotic hand; 781. Gripping housing; 782. Micro motor; 783. Clamping plate; 784. Movable block; 785. Lead screw; 786. Movable groove; 8. Lifting torso module; 1. Lifting frame; 82. Height bar; 83. Stepper motor; 84. Gear body; 85. Lifting rack; 86. Mechanical locking frame; 87. Electromagnetic locking pin; 9. Head body; 10. Camera; 11. Temperature and humidity sensor; 12. Positioner; 13. Left leg assembly; 131. Mounting platform; 132. Angle seat; 133. Angle cylinder; 134. Sliding block; 135. Moving platform; 136. Moving wheel; 14. Bionic foot for pushing off the ground; 15. Wear-resistant cushioning pad; 16. Dual-mode gait intelligent controller. Detailed Implementation

[0017] The technical solutions of the present invention will be clearly and completely described below with reference to the embodiments of the present invention. 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 of ordinary skill in the art without creative effort are within the scope of protection of the present invention.

[0018] Please see Figure 1-6 This invention provides a low-energy, highly adaptable modular service robot, including a fixed base 1. A turntable 2 is rotatably connected to the top of the fixed base 1. A support seat 3 is fixedly installed on the top of the turntable 2. A torso body 4 is fixedly installed on the top of the support seat 3. A lifting torso module 8 is fixedly installed on the top of the torso body 4. A head body 9 is fixedly installed on the top of the lifting torso module 8. Extra-long double arm modules 7 are fixedly installed on both sides of the torso body 4. A bionic foot 14 is fixedly installed on one side of the bottom of the fixed base 1. A left leg assembly 13 is fixedly installed on the other side of the bottom of the fixed base 1. A dual-mode gait intelligent controller 16 is fixedly installed on the surface of the fixed base 1. Both ultra-long dual-arm modules 7 include a motor base 71 and a first servo motor 72. One side of the motor base 71 is fixedly connected to one side of the first servo motor 72. A first rotating shaft 75 is fixedly installed at the output end of the first servo motor 72. A first robotic arm 73 is fixedly installed at one end of the first rotating shaft 75. A second servo motor 74 is fixedly installed at the bottom end of one side of the first robotic arm 73. A second rotating shaft 76 is fixedly installed at the output end of the second servo motor 74 through the first robotic arm 73. A second robotic arm 77 is fixedly installed at one end of the second rotating shaft 76. A robotic hand 78 is fixedly installed at the bottom end of the second robotic arm 77. The lifting torso module 8 includes a lifting frame 81 and a height bar 82. One side of the top of the lifting frame 81 is slidably connected to the bottom of the height bar 82, and the other side of the top of the lifting frame 81 is slidably connected to the bottom of the lifting rack 85. A stepper motor 83 is fixedly installed in the middle of the lifting frame 81. A gear body 84 is fixedly installed at the output end of the stepper motor 83. The outer side of the gear body 84 is engaged with the teeth on the opposite side of the lifting rack 85. A mechanical locking frame 86 is fixedly installed at one end of the lifting frame 81. An electromagnetic locking pin 87 that contacts the lifting rack 85 is fixedly installed on one side of the mechanical locking frame 86. A connecting rod is fixedly installed between the lifting rack 85 and the height bar 82. The left leg assembly 13 includes a mounting platform 131 and an angle seat 132. One side of the bottom end of the mounting platform 131 is rotatably connected to the top end of the angle seat 132. A movable platform 135 is fixedly mounted on the bottom end of the angle seat 132. Movable wheels 136 are fixedly mounted on the four corners of the bottom end of the movable platform 135.

[0019] In use, the first servo motor 72 drives the first rotating shaft 75 to rotate, adjusting the angle of the first robotic arm 73 relative to the torso body 4. The second servo motor 74 drives the second rotating shaft 76 to rotate, adjusting the angle between the first robotic arm 73 and the second robotic arm 77.

[0020] The bottom end of the lifting frame 81 is fixedly connected to the torso body 4, and the top end of the height bar 82 and the top end of the lifting rack 85 are both fixedly connected to the head body 9.

[0021] In use, the lifting torso module 8 is mounted on the torso body 4 via the lifting frame 81. The lifting torso module 8 is mounted on the head body 9 via the height rod 82 and the lifting rack 85. The stepper motor 83 drives the gear body 84 to rotate. The teeth on the gear body 84 contact the teeth on the lifting rack 85. The lifting rack 85 slides along the lifting frame 81 under the action of friction. The lifting rack 85 drives the height rod 82 to slide along the lifting frame 81 via the connecting rod, thus adjusting the overall height. When it is necessary to stop, the electromagnetic locking pin 87 is pushed out and contacts the lifting rack 85. All the load is borne by the locking pin and the rigid frame. The drive motor is powered off with zero power consumption. This allows the vertical lifting stroke of the torso to be continuously adjustable between 120cm and 160cm.

[0022] An angle cylinder 133 is movably connected to the other side of the bottom of the mounting platform 131. A sliding block 134 is movably connected to the movable end of the angle cylinder 133. The sliding block 134 is slidably connected to the side of the angle seat 132 that is directly opposite to it. The top of the mounting platform 131 is fixedly connected to the fixed base 1.

[0023] In use, the angle cylinder 133 extends and retracts. The angle cylinder 133 pushes the sliding block 134 from one side to slide along the angle seat 132, causing the angle seat 132 to deflect at an angle along the mounting platform 131, thereby adjusting the angle of the moving platform 135.

[0024] The robotic arm 78 includes a gripping housing 781 and two clamping plates 783. The bottom end of the gripping housing 781 has a movable groove 786. A lead screw 785 is rotatably connected inside the movable groove 786. Two movable blocks 784 are threadedly connected to the movable groove 786. The bottom ends of the two movable blocks 784 are fixedly connected to the top ends of the two clamping plates 783 respectively. A micro motor 782 for driving the lead screw 785 to rotate is fixedly installed on the surface of the gripping housing 781. The top end of the gripping housing 781 is fixedly connected to the second robotic arm 77. The other side of the bases 71 of the two motors is fixedly connected to the torso body 4.

[0025] In use, the micro motor 782 drives the lead screw 785 to rotate. The lead screw 785 has two threads in opposite directions with its own center line as the dividing line. The threads on the surface of the lead screw 785 match the threads on the inner wall of the movable block 784. The movable block 784 is limited by the movable groove 786, which matches its shape and size. Therefore, the movable block 784 slides along the lead screw 785. The movable block 784 drives the clamping plate 783 to move synchronously. The two clamping plates 783 clamp and fix the product from both sides.

[0026] A status indicator light 6 is fixedly installed at the top of the front of the main body 4, and a warning light 5 is fixedly installed at the bottom of the front of the main body 4.

[0027] During use, the status indicator 6 displays the robot's operating status in real time, and the warning light 5 illuminates when the robot malfunctions.

[0028] A camera 10 is fixedly installed in the center of the front of the head body 9. A temperature and humidity sensor 11 located on one side of the camera 10 is fixedly installed on the head body 9. A locator 12 located on the other side of the camera 10 is fixedly installed on the head body 9.

[0029] In use, camera 10 senses the environment in which the robot walks, temperature and humidity sensor 11 detects the temperature and humidity in which the robot walks, and locator 12 locates the position of the robot.

[0030] The bottom of the bionic foot 14 is fixedly provided with a wear-resistant cushioning pad 15, which improves the wear-resistant cushioning performance of the bionic foot 14.

[0031] A walking control method for a low-energy, highly adaptable modular service robot includes the following steps: Step 1: Information Collection: Collect data in real time on the robot's total load capacity, road surface smoothness, slope, walking resistance, distance to obstacles ahead, robot posture, and remaining battery power; Step 2, Walking Information Judgment: Determine whether the following conditions are met simultaneously: load-bearing capacity is within the threshold range, road surface undulation is less than the safety gap, slope is <20°, resistance is <half of the maximum pushing force of the right foot, there are no obstacles in front, posture is safe, and battery power is normal. Step 3: First determination of walking mode: If all conditions are met, automatically switch to gliding mode: The right foot supports the foot and retracts, with only the two omnidirectional wheels touching the ground; the two omnidirectional wheels on the left foot, distributed front and back, form a stable triangular support with the right foot's contact point, and the robot's center of gravity is located inside the triangle; the right foot intermittently pushes off the ground, generating a forward reaction force; simultaneously, the controller shifts the robot's center of gravity to the center area supported by the left foot's two omnidirectional wheels, using inertia to drive the left wheel to roll passively; during gliding, the right leg only lightly touches the ground to assist in pushing off and turning, without bearing the main load. In gliding mode, the correlation between the right foot's pushing frequency and speed, slope, and load is as follows: the pushing frequency is negatively correlated with gliding speed, positively correlated with uphill slope, and positively correlated with load; the pushing force is adjusted by the PID controller based on the error between the actual speed and the target speed. Step 4, Second Determination of Walking Mode: If any condition is not met, the system automatically switches to walking mode: The left foot supports the machine by folding downwards to wrap around the wheel, with the wheel completely suspended in the air and the foot touching the ground to bear weight; the controller returns the center of gravity of the machine to the body's central axis, with the left and right feet evenly distributing the weight, restoring the walking posture. When the left foot folding servo malfunctions, the mechanical limiter keeps the foot in a downward position by default, entering pure walking mode; when the right foot force sensor fails, the controller switches to ground force control based on motor current estimation or locks the walking mode; when the battery remaining power is in a very low warning state, the controller forcibly locks and prioritizes entering gliding mode to extend the battery life. Step 5: Determine mode switching parameters: A soft transition of 0.1 seconds is performed during mode switching, and foot movements are only allowed when the body is stationary.

[0032] In this invention, the robot's torso uses an aluminum profile frame, internally housing a lead screw slide rail and a stepper motor. When the height reaches 120cm, the electromagnetic lock pin inserts into the tooth groove, de-energizing the motor. It features an extra-long carbon fiber arm with two degrees of freedom (shoulder and elbow), a three-finger gripper at the end, and short legs measuring 30cm in length. The left foot has fixed double omnidirectional wheels with a diameter of 45mm arranged forward and backward along the direction of travel, with a wheelbase of 10cm. The right foot has a rubber sole. The initial gliding mode involves the left foot retracting, with only the front and rear wheels touching the ground. The contact points between the left foot's two wheels and the right foot form an equal... The base of the triangle is the line connecting the two wheels, and the vertex is the right foot. The robot's center of gravity projection falls inside the triangle. The controller detects that seven conditions are met, and the right leg motor intermittently pushes off the ground. The sensor provides feedback, and the robot glides at a speed of 1.2 m / s with an average power of 6W. Due to the triangular support, the robot does not tilt at the moment of pushing off the ground. When encountering a 5° uphill slope, the slope condition is not met, and the robot automatically switches to walking mode: the left foot flips down and wraps around the two wheels, the wheels are suspended in the air, the foot touches the ground, the center of gravity returns to the central axis, and bipedal walking is resumed. The robot receives the "cut carrot" command, retrieves the "vegetable cutting" corresponding to "tabletop electric vegetable cutter" from the tool-task mapping library, slides to the tool dock, raises its body to 140cm, picks up the vegetable cutter and places it on the table (fixed by a vacuum suction cup), lowers its body to 120cm, picks up the carrot with its long arm, puts it into the feed inlet, presses the start button, and the vegetable cutter's built-in motor completes the slicing. The robot takes out the finished product tray, cleans the tools and returns them. Throughout the process, the robot body only moves and presses, without consuming high computing power or high torque. When an elderly person at home presses the emergency button, the robot is in walking mode. The control system receives the instruction and automatically triggers the wheel-foot switching: the left foot retracts and the right foot adjusts its posture. The switching takes 2 seconds. The robot glides to the living room at 3m / s and arrives within 10 seconds. Due to the triangular support of the front and rear wheels of the left foot and the right foot, the high-speed gliding is stable and does not wobble. After arriving, it switches back to walking mode and approaches the elderly person. The robot identifies medicine bottles on the ground, its torso slides vertically down to 120cm, the locking pin locks, the motor is powered off, the extra-long arm hangs down directly to touch the ground, the fingers grab the medicine bottle, the torso does not lean forward, and the center of gravity remains stable. In the support triangle formed by the two wheels on the left foot and the right foot, the robot's center of gravity height is ≤50cm, and the horizontal projection falls inside the triangle. Tests show that even under the maximum pushing force of the right foot (15N), the robot's side tilt angle is <2°, which is much smaller than the tipping threshold (12°). In contrast, the side tilt angle of the robot with the two wheels arranged side by side (the wheels are arranged laterally and form a narrow support area with the right foot) is >8° under the same pushing force, and the stability is significantly reduced. The front and rear distribution layout of this invention is the key to achieving the low-energy consumption mode of "right foot pushing off the ground and left wheel passively gliding".

[0033] Although the present invention has been described in detail with reference to the foregoing embodiments, those skilled in the art can still modify the technical solutions described in the foregoing embodiments or make equivalent substitutions for some of the technical features. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of the present invention should be included within the protection scope of the present invention.

Claims

1. A modular service robot with low energy consumption and high adaptability, including a fixed base (1). Its features are: The top of the fixed base (1) is rotatably connected to a turntable (2), the top of the turntable (2) is fixedly installed with a support seat (3), the top of the support seat (3) is fixedly installed with a torso body (4), the top of the torso body (4) is fixedly installed with a lifting torso module (8), the top of the lifting torso module (8) is fixedly installed with a head body (9), both sides of the torso body (4) are fixedly installed with extra-long double arm modules (7), one side of the bottom of the fixed base (1) is fixedly installed with a bionic ground-pushing support foot (14), the other side of the bottom of the fixed base (1) is fixedly installed with a left leg assembly (13), and the surface of the fixed base (1) is fixedly installed with a dual-mode gait intelligent controller (16). Both of the aforementioned ultra-long dual-arm modules (7) include a motor base (71) and a first servo motor (72). One side of the motor base (71) is fixedly connected to one side of the first servo motor (72). A first rotating shaft (75) is fixedly installed at the output end of the first servo motor (72). A first robotic arm (73) is fixedly installed at one end of the first rotating shaft (75). A second servo motor (74) is fixedly installed at the bottom end of one side of the first robotic arm (73). A second rotating shaft (76) is fixedly installed through the first robotic arm (73) at the output end of the second servo motor (74). A second robotic arm (77) is fixedly installed at one end of the second rotating shaft (76). A robotic hand (78) is fixedly installed at the bottom end of the second robotic arm (77). The lifting torso module (8) includes a lifting frame (81) and a height bar (82). One side of the top of the lifting frame (81) is slidably connected to the bottom of the height bar (82), and the other side of the top of the lifting frame (81) is slidably connected to the bottom of the lifting rack (85). A stepper motor (83) is fixedly installed in the middle of the lifting frame (81), and a gear body (84) is fixedly installed at the output end of the stepper motor (83). The outer side of the gear body (84) is meshed with the teeth on the opposite side of the lifting rack (85). A mechanical locking frame (86) is fixedly installed at one end of the lifting frame (81), and an electromagnetic locking pin (87) that contacts the lifting rack (85) is fixedly installed on one side of the mechanical locking frame (86). A connecting rod is fixedly installed between the lifting rack (85) and the height bar (82). The left leg assembly (13) includes a mounting platform (131) and an angle seat (132). One side of the bottom end of the mounting platform (131) is rotatably connected to the top end of the angle seat (132). A movable platform (135) is fixedly installed at the bottom end of the angle seat (132). Movable wheels (136) are fixedly installed at the four corners of the bottom end of the movable platform (135).

2. The low-energy-consumption, highly adaptable modular service robot according to claim 1, characterized in that: The bottom end of the lifting frame (81) is fixedly connected to the torso body (4), and the top end of the height rod (82) and the top end of the lifting rack (85) are both fixedly connected to the head body (9).

3. The low-energy-consumption, highly adaptable modular service robot according to claim 1, characterized in that: An angle cylinder (133) is movably connected to the other side of the bottom of the mounting platform (131). A sliding block (134) is movably connected to the movable end of the angle cylinder (133). The sliding block (134) is slidably connected to the side opposite to the angle seat (132). The top of the mounting platform (131) is fixedly connected to the fixed base (1).

4. The low-energy-consumption, highly adaptable modular service robot according to claim 1, characterized in that: The robotic arm (78) includes a clamping housing (781) and two clamping plates (783). The bottom end of the clamping housing (781) is provided with a movable groove (786). A lead screw (785) is rotatably connected inside the movable groove (786). The surface of the lead screw (785) is threaded with two movable blocks (784) that are slidably connected to the movable groove (786). The bottom ends of the two movable blocks (784) are respectively fixedly connected to the top ends of the two clamping plates (783). A micro motor (782) for driving the lead screw (785) to rotate is fixedly installed on the surface of the clamping housing (781). The top end of the clamping housing (781) is fixedly connected to the second robotic arm (77). The other side of the bases (71) of the two motors is fixedly connected to the torso body (4).

5. The low-energy-consumption, highly adaptable modular service robot according to claim 1, characterized in that: A status indicator light (6) is fixedly installed on the top of the front of the main body (4), and a warning light (5) is fixedly installed on the bottom of the front of the main body (4).

6. The low-energy-consumption, highly adaptable modular service robot according to claim 1, characterized in that: A camera (10) is fixedly installed in the middle of the front of the head body (9), and a temperature and humidity sensor (11) located on one side of the camera (10) is fixedly installed on the head body (9).

7. The low-energy-consumption, highly adaptable modular service robot according to claim 6, characterized in that: A locator (12) is fixedly installed on the head body (9) on the other side of the camera (10).

8. The low-energy-consumption, highly adaptable modular service robot according to claim 1, characterized in that: The bottom of the bionic foot support (14) is fixedly provided with a wear-resistant cushioning pad (15).

9. The walking control method for a low-energy-consumption, highly adaptable modular service robot according to any one of claims 1-8, characterized in that, Includes the following steps: Step 1: Information Collection: Collect data in real time on the robot's total load capacity, road surface smoothness, slope, walking resistance, distance to obstacles ahead, robot posture, and remaining battery power; Step 2, Walking Information Judgment: Determine whether the following conditions are met simultaneously: load-bearing capacity is within the threshold range, road surface undulation is less than the safety gap, slope is <20°, resistance is <half of the maximum pushing force of the right foot, there are no obstacles in front, posture is safe, and battery power is normal. Step 3: First determination of walking mode: If all conditions are met, automatically switch to gliding mode: The right foot supports the foot and retracts, with only the two omnidirectional wheels touching the ground; the two omnidirectional wheels on the left foot, distributed front and back, form a stable triangular support with the right foot's contact point, and the robot's center of gravity is located inside the triangle; the right foot intermittently pushes off the ground, generating a forward reaction force; simultaneously, the controller shifts the robot's center of gravity to the center area supported by the left foot's two omnidirectional wheels, using inertia to drive the left wheel to roll passively; during gliding, the right leg only lightly touches the ground to assist in pushing off and turning, without bearing the main load. In gliding mode, the correlation between the right foot's pushing frequency and speed, slope, and load is as follows: the pushing frequency is negatively correlated with gliding speed, positively correlated with uphill slope, and positively correlated with load; the pushing force is adjusted by the PID controller based on the error between the actual speed and the target speed. Step 4, Second Determination of Walking Mode: If any condition is not met, the system automatically switches to walking mode: The left foot supports the machine by folding downwards to wrap around the wheel, with the wheel completely suspended in the air and the foot touching the ground to bear weight; the controller returns the center of gravity of the machine to the body's central axis, with the left and right feet evenly distributing the weight, restoring the walking posture. When the left foot folding servo malfunctions, the mechanical limiter keeps the foot in a downward position by default, entering pure walking mode; when the right foot force sensor fails, the controller switches to ground force control based on motor current estimation or locks the walking mode; when the battery remaining power is in a very low warning state, the controller forcibly locks and prioritizes entering gliding mode to extend the battery life. Step 5: Determine mode switching parameters: A soft transition of 0.1 seconds is performed during mode switching, and foot movements are only allowed when the body is stationary.

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