Environment sensing device for robot and quadruped robot

Abstract

The utility model provides an environment sensing device for a robot and a quadruped robot, and relates to the technical field of environment sensing robots, the environment sensing device comprises a radar, a depth camera, a shell, a controller and an attitude sensor, the controller and the attitude sensor are arranged in the shell; the radar is arranged above the shell, the depth camera is installed on one side of the shell through a camera support, nut installation holes are formed in the upper side and the lower side of the camera support, the nut installation holes are matched with nuts to support the depth camera, and the rotation angle of the depth camera is adjusted by changing the tightness of the nuts. According to the utility model, the whole device can be modularized and integrated according to each function, and the integration level of the environment sensing device is improved.

Description

Technical Field

[0001] The utility model relates to the technical field of environment perception robots, and in particular to an environment perception device for robots and a quadruped robot. Background Art

[0002] The statements in this section merely provide background technical information related to the present invention and do not necessarily constitute prior art.

[0003] The multi-legged design of quadruped robots allows them to decide the optimal landing point of a leg according to different terrains, so as to maintain stability and smoothness during the movement. This makes quadruped robots have greater advantages than wheeled and tracked robots when performing difficult tasks, such as climbing stairs.

[0004] Quadruped robots can be constructed biomimetically by imitating the movement characteristics of quadrupeds so that they can have similar movement capabilities to quadrupeds. However, if they are to perform a task in the wild, they are required to have certain perception capabilities. The continuous improvement of the quadruped robot's environmental perception ability and intelligent control level can enable it to have unique uses in emergency rescue, industrial inspection, family care and other fields.

[0005] Environmental perception is a modern technology that collects and processes the surrounding environment to achieve information acquisition. The signal acquisition device for situational awareness in complex environments needs to have strong signal acquisition and processing capabilities, high integration, convenient and flexible power supply, easy equipment installation, and high cost performance.

[0006] However, the current complex environmental signal collection devices in quadruped robots use multiple separate devices to achieve signal collection, transmission, and analysis. Each device is connected by cables. The system is relatively complex and large in size, and lacks modular and integrated system design. As a result, signal collection and processing are mostly done in a separate manner, with low integration, which affects the overall structural size and shape of the quadruped robot and the portability of movement. Utility Model Content

[0007] In order to solve the above problems, the utility model proposes an environment sensing device for robots and a quadruped robot. The utility model proposes integrating the environment sensing device into the quadruped robot, optimizing the positions of the depth camera and the radar by reasonably arranging the structures of various components, and better enabling the quadruped robot to realize environment perception.

[0008] According to some embodiments, the first solution of the utility model provides an environment perception device for a robot, which adopts the following technical solution:

[0009] An environment perception device for a robot, comprising a radar, a depth camera, a housing, a controller and a posture sensor, wherein the controller and the posture sensor are arranged inside the housing;

[0010] The radar is arranged above the shell, and the depth camera is installed at the front end of the shell through a camera bracket. Nut mounting holes are arranged on the upper and lower sides of the camera bracket. The nut mounting holes cooperate with nuts to support the depth camera. The rotation angle of the depth camera is adjusted by changing the tightness of the nut.

[0011] Furthermore, the housing includes a base plate, which is fixed to the bottom of the housing by nuts, and a switch and a radar control board are fixedly mounted on the base plate inside the housing.

[0012] Furthermore, the attitude sensor is installed inside the housing via an attitude sensor fixing frame, the attitude sensor fixing frame is fixed above the inside of the housing via a nut, and the controller is also installed above the inside of the housing.

[0013] Furthermore, the housing also includes a back cover, on which a button switch and a DC interface are provided for external power supply.

[0014] Furthermore, an Ethernet port connector is also provided on the rear cover for Ethernet communication with the outside world.

[0015] Furthermore, a protection frame is arranged outside the radar, and the protection frame is fixed to the outer shell by nuts.

[0016] Furthermore, a soft rubber protective cover plate and an inlet protection cover are provided on the rear cover.

[0017] Furthermore, ventilation ducts are arranged on both sides of the controller, a fan is arranged above the controller, an air inlet is arranged above the controller, and the ventilation ducts on both sides serve as air outlets.

[0018] According to some embodiments, the second solution of the utility model provides a quadruped robot, which adopts the following technical solution:

[0019] A quadruped robot comprises an environment sensing device and a robot body.

[0020] Furthermore, the environment sensing device is arranged at the front end top of the robot body.

[0021] Compared with the prior art, the beneficial effects of the utility model are:

[0022] The utility model proposes an environment perception device for robots and a quadruped robot. The positions of various structures are reasonably arranged, the positions of a depth camera and a radar are optimized, and the acquisition angle of the depth camera is adjustable and rotatable through the cooperation of a nut and a nut mounting hole. The external wiring connector is optimized, so that the entire device is neat and compact and is also easy to install.

[0023] The utility model provides an environment sensing device for robots and a quadruped robot, which integrates the environment sensing device into a whole, is installed and fixed on the front end top of the quadruped robot, simplifies the connections of the system, reduces the volume of the entire device, modularizes and integrates the entire device according to various functions, and collects and processes information in an integrated manner, thereby improving the integration of the environment sensing device. BRIEF DESCRIPTION OF THE DRAWINGS

[0024] The drawings in the specification, which constitute a part of the present invention, are used to provide a further understanding of the present invention. The illustrative embodiments of the present invention and their descriptions are used to explain the present invention and do not constitute an improper limitation on the present invention.

[0025] Figure 1 This is an overall schematic diagram of the environment sensing device of the utility model installed on a quadruped robot;

[0026] Figure 2 This is an external composition diagram of the environment sensing device of the utility model;

[0027] Figure 3 is a bottom cross-sectional view of the environment sensing device of the utility model;

[0028] Figure 4 is a side sectional view of the environment sensing device of the utility model;

[0029] Figure 5 This is a rear side composition diagram of the environment sensing device of the utility model;

[0030] Figure 6 This is a heat dissipation channel diagram of a controller of the environment sensing device of the utility model;

[0031] Among them, A1 is an environmental perception device, A2 is a quadruped robot;

[0032] 101 depth camera, 102 screw Ⅰ, 103 housing, 104 protection frame, 105 radar, 106 screw Ⅱ;

[0033] 201 nut A, 202 depth camera bracket, 203 screw III, 204 switch, 205 radar control board;

[0034] 301 controller, 302 attitude sensor, 303 attitude sensor fixing frame, 304 bottom plate, 305 attitude sensor baffle, 306 button switch;

[0035] 401 DC interface, 402 screw VII, 403 soft rubber protective cover, 404 network port connector, 405 inlet protection cover, 406 rear cover;

[0036] J1 air inlet, C1 air outlet, C2 air outlet. DETAILED DESCRIPTION

[0037] The utility model is further described below in conjunction with the accompanying drawings and embodiments.

[0038] It should be noted that the following detailed descriptions are all exemplary and are intended to provide further explanation of the present invention. Unless otherwise specified, all technical and scientific terms used herein have the same meanings as those commonly understood by those skilled in the art to which the present invention belongs.

[0039] It should be noted that the terms used herein are only for describing specific embodiments and are not intended to limit the exemplary embodiments according to the utility model. As used herein, unless the context clearly indicates otherwise, the singular form is also intended to include the plural form. In addition, it should be understood that when the terms "comprise" and / or "include" are used in this specification, it indicates the presence of features, steps, operations, devices, components and / or combinations thereof.

[0040] Example 1

[0041] In one embodiment of the present invention, an environment sensing device for a robot is provided. Figure 1-6 As shown, the environment perception device includes a radar 105, a depth camera 101, a housing 103, a controller 301 and a gesture sensor 302, wherein the controller 301 and the gesture sensor 302 are arranged inside the housing 103;

[0042] like Figure 2 , Figure 3 As shown, the depth camera 101 is installed at the front end of the housing 103 through the camera bracket 202. Nut mounting holes are set on the upper and lower sides of the camera bracket 202. The nut mounting holes cooperate with nuts A and screws I 102 to support the depth camera 101, wherein nut A 201 is used to fix the camera bracket 202. The depth camera 101 and the camera bracket 202 are fixed by screws III 203. By changing the tightness of screws I, the rotation angle of the depth camera 101 is adjusted. The depth camera is connected to the camera bracket through screws III 203.

[0043] The radar 105 is arranged above the housing 103, and a protection frame 104 is installed outside the radar 105 to protect the radar 105 from damage from the outside. The protection frame 104 is fixed above the housing 103 by nuts.

[0044] The entire housing is assembled by screws, and the housing of the environment sensing device is connected to the components by screws II 106.

[0045] Furthermore, the housing 103 includes a bottom plate 304, which is fixed to the bottom of the housing by nuts. A switch 204 and a radar control board 205 are fixedly mounted on the bottom plate inside the housing 103. The switch 204 is used to realize data transmission and communication between network devices. The radar control board 205 is used to further process and analyze the signals collected by the radar 105, extract useful information, and transmit the data to other parts for further processing; amplify the signal to enhance the signal strength and distance detection capability, etc.

[0046] Further, inside the housing 103, as Figure 4 As shown, the attitude sensor 302 is installed inside the housing 103 through the attitude sensor fixing frame 303, the attitude sensor fixing frame 303 is fixed on the upper part of the housing 103 through a nut, the controller is also installed on the upper part of the housing, and the attitude sensor is installed on the fixing frame of the attitude sensor. The attitude sensor is a posture sensor, and the role of the attitude sensor is to collect motion data, measure and calculate speed, tilt, rotation and even motion angle. The role of the controller is to control the operation of the entire system and adjust various parameters so that the whole can operate in the best state.

[0047] like Figure 5 As shown, the housing 103 further includes a back cover 406, which is assembled and connected to the housing by screws VII. The back cover 406 is provided with a button switch 306 and a DC interface 401. The DC interface is a power supply interface, and the device is powered by an external device. The back cover is also provided with an Ethernet port connector 404 for Ethernet communication with the outside world. The button switch is the switch of the device, which is used to start and stop the device.

[0048] Furthermore, a soft rubber protective cover plate 403 and an incoming line protective cover 405 are provided on the rear cover. The incoming line protective cover is used to protect the plug wires, and the soft rubber protective cover plate 403 facilitates plugging and unplugging of the wiring harness interface.

[0049] like Figure 6As shown, ventilation ducts are arranged on both sides of the controller 301, a fan is arranged above the controller 301, and an air inlet J1 is arranged above the controller. The ventilation ducts on both sides are air outlets, namely, air outlet C1 and air outlet C2. The fan air enters from the upper air inlet J1 and exits from the air outlets C1 and C2 on the left and right sides, which can effectively dissipate heat.

[0050] Example 2

[0051] In one embodiment of the present invention, a quadruped robot is provided, comprising the environment sensing device A1 and the robot body A2 described in Embodiment 1. Figure 1 As shown, the environment perception module A1 is installed on the front top of the quadruped robot A2 with a wide field of view. The depth camera is installed at the front end of the quadruped robot for collecting image data in front.

[0052] like Figure 2 and Figure 3 As shown, the depth camera 101 is mounted on the depth camera bracket 202, the depth camera bracket 202 is mounted on the housing 103, a nut mounting hole is provided inside the depth camera bracket 202, and the nut 201 is mounted in the nut mounting hole of the depth camera bracket 202. By adjusting the tightness of the screw 102, the viewing angle of the depth camera can be manually changed. The radar 105 is mounted on the upper part of the housing 103, and a protective frame 104 is installed outside the radar 105 to protect the radar 105.

[0053] like Figure 3 and Figure 4 As shown, the switch 204 and the radar control board 205 are installed on the base plate 304, the base plate 304 is fixed on the shell 103, the controller 301 is fixed inside the shell 103, the attitude sensor fixing frame 303 is fixed inside the shell 103, the attitude sensor 302 is fixed on the attitude sensor fixing frame 303, and is shielded and protected by the attitude sensor baffle 305, and the above fixing methods are all screw fixing.

[0054] like Figure 5 As shown, a DC interface 401 , a soft rubber protective cover plate 403 , a button switch 306 , a network port connector 404 and an incoming line protective cover 405 are installed on the back cover 406 , and the back cover 406 is fixed to the housing 103 by screws 402 .

[0055] like Figure 6 As shown, the fan on the controller 301 takes in air from the top and exits from the left and right sides, which can effectively dissipate heat.

[0056] As an embodiment, the working method of the utility model is: by adjusting the angle of the depth camera 101, different depth image information is collected, the radar and radar control collect and process the distance, direction, height, speed, shape and other information, and the posture sensor collects motion data, which are all transmitted to the controller through the switch, and the controller analyzes and processes it and sends it to the controller of the robot body A2 to issue the next step of instructions.

[0057] The above description is only the preferred embodiment of the utility model, and is not intended to limit the utility model. For those skilled in the art, the utility model can have various modifications and changes. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the utility model shall be included in the protection scope of the utility model.

[0058] Although the above describes the specific implementation methods of the utility model in combination with the accompanying drawings, it is not intended to limit the scope of protection of the utility model. Technical personnel in the relevant field should understand that on the basis of the technical solution of the utility model, various modifications or deformations that can be made by technical personnel in this field without creative work are still within the scope of protection of the utility model.

Claims

1. An environmental perception device for a robot, characterized in that: It includes a radar, a depth camera, a housing, a controller and a gesture sensor, wherein the controller and the gesture sensor are arranged inside the housing; The radar is arranged above the shell, and the depth camera is installed at the front end of the shell through a camera bracket. Nut mounting holes are arranged on the upper and lower sides of the camera bracket. The nut mounting holes cooperate with nuts to support the depth camera. The rotation angle of the depth camera is adjusted by changing the tightness of the nut.

2. An environment perception device for a robot as claimed in claim 1, characterized in that: The housing comprises a bottom plate, the bottom plate is fixed to the bottom of the housing through nuts, and a switch and a radar control panel are fixedly mounted on the bottom plate inside the housing.

3. The environment perception device for a robot according to claim 1, characterized in that: The attitude sensor is installed inside the shell through an attitude sensor fixing frame, and the attitude sensor fixing frame is fixed on the upper part of the shell through a nut. The controller is also installed on the upper part of the shell.

4. The environment perception device for a robot according to claim 1, characterized in that: The housing also includes a back cover, on which a button switch and a DC interface are arranged, and power is supplied from the outside.

5. The environment perception device for a robot according to claim 4, characterized in that: The rear cover is also provided with an Ethernet port connector for Ethernet communication with the outside world.

6. The environment perception device for a robot according to claim 1, characterized in that: A protection frame is arranged outside the radar, and the protection frame is fixed on the shell through nuts.

7. An environment perception device for a robot as claimed in claim 4, characterized in that: A soft rubber protective cover plate and an inlet protection cover are arranged on the rear cover.

8. The environment perception device for a robot according to claim 1, characterized in that: Ventilation ducts are arranged on both sides of the controller, a fan is arranged above the controller, an air inlet is arranged above the controller, and the ventilation ducts on both sides serve as air outlets.

9. A quadruped robot, characterized in that: It comprises an environment sensing device and a robot body as described in any one of claims 1 to 8.

10. A quadruped robot as claimed in claim 9, characterized in that: The environment sensing device is arranged on the front end top of the robot body.

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