Head and neck structure of humanoid robot and humanoid robot

Abstract

The utility model provides a head and neck structure of a humanoid robot and the humanoid robot, and the head and neck structure of the humanoid robot comprises a head support and a neck support which are connected with each other, and a laser radar module with a transmitting / receiving module. An intra-neck space is formed in the neck support, at least part of a transmitting / receiving module of the laser radar module is located in the intra-neck space, and at least part of the field angle of view of the transmitting / receiving module is not shielded by the head support. At least part of the transmitting / receiving module of the laser radar module is located in the neck space, the neck support is used for containing the transmitting / receiving module, and compared with the mode that the transmitting / receiving module is installed on the upper portion of the head support in the prior art, the anthropomorphism of the head and neck structure is guaranteed. Besides, when the humanoid robot is impacted by external force, the neck support can block most impact for the transmitting / receiving module, so that the transmitting / receiving module is difficult to be directly impacted by the external force, and the possibility of damage is reduced.

Description

Technical Field

[0001] The present application relates to the field of robotics technology, and in particular to a head and neck structure of a humanoid robot and a humanoid robot. Background Art

[0002] With the advancement and development of science and technology, the application of humanoid robots in society is becoming more and more extensive, covering many fields and industries. For example, humanoid robots can serve as waiters in the service industry to receive customers, and can also serve as teaching assistants in the education industry to teach knowledge.

[0003] In order to enable a humanoid robot to realize the functions of environmental perception and navigation, a laser radar module is usually arranged on the head of the humanoid robot. However, the arrangement of the above-mentioned laser radar module will protrude from the surface of the head of the humanoid robot, reducing the degree of anthropomorphism of the humanoid robot.

[0004] Based on this, the present application provides a head and neck structure of a humanoid robot and a humanoid robot to improve the relevant technology. Utility Model Content

[0005] The purpose of the present application is to provide a head and neck structure of a humanoid robot and a humanoid robot, thereby improving the degree of anthropomorphism of the humanoid robot.

[0006] The purpose of this application is achieved by the following technical solutions:

[0007] In a first aspect, the present application provides a head and neck structure of a humanoid robot, the head and neck structure comprising a head support and a neck support connected to each other, and a laser radar module having a transmitting / receiving module;

[0008] The neck support forms an intra-neck space;

[0009] The transmitting / receiving module of the laser radar module is at least partially located in the intra-neck space, and at least part of the field of view of the transmitting / receiving module is not blocked by the head support.

[0010] In some embodiments, the head support forms a top area; the laser radar module includes a module body connected to the transmitting / receiving module, and the module body is closer to the top area than the transmitting / receiving module.

[0011] In some embodiments, the laser radar module further includes a radar fixing component, one end of which is fixedly connected to the module body, and the other end of which is fixedly or rotatably connected to the neck bracket.

[0012] In some embodiments, the head support forms a facial area; a wiring channel is formed between the side of the lidar module facing away from the facial area and the neck support, and the head and neck structure also includes a conductive wire bundle, which enters the interior of the head support through the wiring channel, and the conductive wire bundle is used to transmit power to the head and neck structure.

[0013] In some embodiments, the head and neck structure also includes a neck motor; the neck motor is arranged at the end of the neck support away from the head support, and the neck motor has a neck motor axis extending toward the inside of the head support; the neck motor is used to drive the head and neck structure to rotate around the neck motor axis relative to the body of the humanoid robot.

[0014] In some embodiments, the head support is further formed with a facial region;

[0015] The head and neck structure also includes a head motor, which has a head motor axis that is perpendicular to the neck motor axis, and the head motor axis is also perpendicular to the direction facing the facial area of ​​the head support; the head motor is used to drive the head support to rotate around the head motor axis relative to the neck support.

[0016] In some embodiments, the head support forms a top of the head area; the head support and the neck support also enclose an intra-head space; the head motor is accommodated in the intra-head space, and the laser radar module is located on the side of the head motor away from the top of the head area.

[0017] In some embodiments, the head and neck structure further comprises a display screen disposed in the space within the head, wherein the display screen is located between the facial area and the head motor.

[0018] In some embodiments, the head and neck structure further includes a mask, which is covered on the outer periphery of the head support, and a portion of the mask opposite to the display screen is transparent.

[0019] In some embodiments, the head support further has a chin area; the head and neck structure further includes a camera disposed in the space within the head, and the camera is closer to the chin area than the display screen.

[0020] In some embodiments, the head and neck structure further includes two decorative light panels, and the two decorative light panels are arranged opposite to each other in the head side area of ​​the head support.

[0021] In a second aspect, an embodiment of the present application further provides a humanoid robot, comprising the head and neck structure described in the first aspect above.

[0022] The present application provides a head and neck structure of a humanoid robot and a humanoid robot, wherein the head and neck structure of the humanoid robot includes a head bracket and a neck bracket connected to each other, and a laser radar module with a transmitting / receiving module. An inner neck space is formed in the neck bracket, and the transmitting / receiving module of the laser radar module is at least partially located in the inner neck space, and at least part of the field of view of the transmitting / receiving module is not blocked by the head bracket. The present application locates at least part of the transmitting / receiving module of the laser radar module in the inner neck space, and uses the neck bracket to accommodate the transmitting / receiving module, which ensures the anthropomorphism of the head and neck structure compared to the previous method of installing the transmitting / receiving module on the upper part of the head bracket. In addition, when the humanoid robot is impacted by an external force, the neck bracket can block most of the impact for the transmitting / receiving module, reducing the possibility of damage to the transmitting / receiving module. BRIEF DESCRIPTION OF THE DRAWINGS

[0023] The present application is further described below in conjunction with the accompanying drawings and specific implementation methods.

[0024] Figure 1 It is a structural schematic diagram of the head and neck structure of a humanoid robot provided in an embodiment of the present application.

[0025] Figure 2 It is a schematic diagram of the internal structure of the head and neck structure of a humanoid robot provided in an embodiment of the present application.

[0026] Figure 3 This is a front view of the head and neck structure of a humanoid robot provided in an embodiment of the present application.

[0027] Figure 4 yes Figure 3 AA section view in.

[0028] Figure 5 This is a partial structural diagram of a head and neck structure of a humanoid robot provided in an embodiment of the present application. Figure 1 .

[0029] Figure 6 This is a partial structural diagram of a head and neck structure of a humanoid robot provided in an embodiment of the present application. Figure 2 .

[0030] In the figure: 100, head support; 101, top of the head area; 102, facial area; 103, space inside the head; 104, jaw area; 200, neck support; 201, space inside the neck; 202, wiring channel; 300, lidar module; 301, transmitting / receiving module; 302, module body; 303, radar fixing part; 400, neck motor; 500, head motor; 501, head motor connector; 600, display screen; 700, camera; 800, mask; 900, decorative light board. DETAILED DESCRIPTION

[0031] The following will clearly and completely describe the technical solutions in the implementation modes of the present application in conjunction with the drawings in the present application. Obviously, the described implementation modes are only part of the implementation modes of the present application, rather than all the implementation modes.

[0032] In the description of the embodiments of the present application, it should be understood that the terms "first" and "second" are used for descriptive purposes only and should not be understood as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Thus, features defined as "first" and "second" may explicitly or implicitly include one or more of the features. In the description of the embodiments of the present application, the meaning of "multiple" is two or more, unless otherwise clearly and specifically defined.

[0033] Humanoid robots are increasingly used in society, and they can take on multiple roles such as guiding, service, education, medical treatment, and manufacturing. The emergence of humanoid robots has not only improved efficiency and safety, but also expanded the scope of social services, promoted human-computer interaction and technological development, and made important contributions to building a smart society. Among them, the head of the humanoid robot is the main interface for visual and voice interaction with humans. In order to enable the humanoid robot to further enhance its perception of the environment and positioning navigation, a laser radar module will be installed on the head of the humanoid robot, but this may cause the surface of the humanoid robot's head to bulge, thereby reducing the degree of anthropomorphism of the humanoid robot.

[0034] See also Figure 1 and Figure 2 , Figure 1 is a schematic diagram of the structure of a head and neck structure of a humanoid robot provided in an embodiment of the present application, Figure 2 It is a schematic diagram of the internal structure of the head and neck structure of a humanoid robot provided in an embodiment of the present application.

[0035] Please combine Figure 1 and Figure 2 , an embodiment of the present application provides a head and neck structure of a humanoid robot, the head and neck structure includes a head support 100 and a neck support 200 connected to each other, and a laser radar module 300 having a transmitting / receiving module 301. In order to improve the similarity between the humanoid robot and humans, a head support 100 and a neck support 200 connected to each other are provided for the humanoid robot to simulate the skeletal structure of the human head and neck. In order to improve the humanoid robot's perception of the surrounding environment, a laser radar module 300 is provided in the head and neck structure. The transmitting / receiving module 301 in the laser radar module 300 can emit a laser beam and receive the reflected signal. By analyzing the time delay and intensity of these signals, the humanoid robot can achieve three-dimensional perception and recognition of the surrounding environment, including information such as the location, shape and distance of obstacles.

[0036] The neck support 200 is formed with an inner neck space 201, and the transmitting / receiving module 301 of the laser radar module 300 is at least partially located in the inner neck space 201, and at least part of the field of view of the transmitting / receiving module 301 is not blocked by the head support 100. The present embodiment does not limit the specific setting position of the laser radar module 300. The laser radar module 300 can be connected to the neck support 200, or the laser radar module 300 can be connected to the head support 100, as long as at least part of the transmitting / receiving module 301 is located in the inner neck space 201. In some embodiments, the entire transmitting / receiving module 301 of the laser radar module 300 can be located in the inner neck space 201, and in other embodiments, a part of the transmitting / receiving module 301 of the laser radar module 300 can be located in the inner neck space 201. In the above embodiment, as long as the transmitting / receiving module 301 is able to transmit the laser beam and receive the reflected laser signal, it is necessary to ensure that at least part of the field of view of the transmitting / receiving module 301 is not blocked by the head bracket 100. In the above embodiment, there is no restriction on the orientation of the transmitting / receiving module 301. The transmitting / receiving module 301 can be set to face the direction of the humanoid robot when it is moving forward, so as to perform environmental scanning and perception of the front area in the direction of the humanoid robot; the transmitting / receiving module 301 can also be set to face the body of the humanoid robot or the head bracket 100, so as to perform environmental scanning and perception of the surrounding area where the humanoid robot is located. In order to enable the transmitting / receiving module 301 of the laser radar module 300 to perform environmental scanning and perception without hindrance, the neck bracket 200 within the orientation range of the transmitting / receiving module 301 can be appropriately hollowed out.

[0037] In the past, the laser radar module 300 was set on the head support 100 of the humanoid robot, so that the cover shell (i.e., the mask 800 in this embodiment, similar to human skin) connected to the outside of the head support 100 needs to provide an opening for the laser radar module 300 to leak out the transmitting / receiving module 301 of the laser radar module 300, and the transmitting / receiving module 301 may protrude from the surface of the cover shell, causing the head and neck structure of the humanoid robot to look less anthropomorphic, and when the humanoid robot is impacted by external force, the laser radar module 300 may be damaged. In this embodiment, at least part of the transmitting / receiving module 301 of the laser radar module 300 is located in the neck space 201, so that the transmitting / receiving module 301 is difficult to be directly impacted by external force, reducing the risk of damage, and can better imitate the human neck, and also ensure the consistency of appearance, thereby increasing the human body similarity of the humanoid robot.

[0038] like Figure 2As shown, in some embodiments, the head support 100 is formed with a top area 101; the laser radar module 300 includes a module body 302 connected to the transmitting / receiving module 301, and the module body 302 is closer to the top area 101 relative to the transmitting / receiving module 301. The top area 101 can be the area on the head support 100 that is farthest from the ground when the humanoid robot stands on the ground. In previous designs, the module body 302 of the laser radar module 300 is connected to the head support 100 or arranged in the head support 100, and the transmitting / receiving module 301 generally protrudes from the surface of the head support 100 to scan the front area when the humanoid robot moves forward. This requires that the direction of the transmitting / receiving module 301 and the forward direction of the humanoid robot must be kept roughly the same, but in this case, the humanoid robot can only scan and perceive the environment in the front area when the humanoid robot moves forward, and it is difficult to perceive the environmental information on the side or behind the body, making it difficult for the humanoid robot to detect and avoid danger in time when there is danger on the side or behind the body.

[0039] In the above embodiment, the module body 302 can be arranged in the head support 100 or the neck support 200, the transmitting / receiving module 301 is connected to the module body 302 and faces the body of the humanoid robot, and the module body 302 is closer to the top area 101 relative to the transmitting / receiving module 301. When the humanoid robot stands on the ground, the relative upper and lower positions of the humanoid robot are explained. The module body 302 is closer to the top area 101 relative to the transmitting / receiving module 301. The module body 302 is located at the upper part of the transmitting / receiving module 301, that is, the laser radar module 300 is installed inverted on the humanoid robot. The laser radar module 300 is installed inverted, which expands the field of view of the transmitting / receiving module 301, enables the humanoid robot to scan and perceive the surrounding environment more comprehensively, and improves the avoidance ability of the humanoid robot to deal with dangers from behind or on the side. In addition, the detection of obstacles on or near the ground by the transmitting / receiving module 301 can be improved, and the perception range of the humanoid robot can be improved.

[0040] See also Figure 2In some embodiments, the laser radar module 300 further includes a radar fixing part 303, one end of which is fixedly connected to the module body 302, and the other end of which is fixedly or rotatably connected to the neck bracket 200. In some embodiments, the neck bracket 200 of the humanoid robot can rotate, and the radar fixing part 303 fixedly connected to the neck bracket 200 will also rotate accordingly, so that the laser radar module 300 will also rotate with the radar fixing part 303, that is, the radar fixing part 303 can enable the laser radar module 300 to have a certain degree of rotational freedom. In other embodiments, the radar fixing part 303 itself can rotate, so that the radar fixing part 303 can rotate relative to the neck bracket 200. When the neck bracket 200 of the humanoid robot rotates, the radar fixing part 303 can rotate with the neck bracket 200. At the same time, the radar fixing part 303 can also rotate relative to the neck bracket 200, so that the transmitting / receiving module 301 of the laser radar module 300 can obtain a larger field of view angle range. In addition, compared with the laser radar module 300 being directly connected to the neck support 200, the radar fixture 303 can improve the relative stability of the laser radar module 300 and the neck support 200 when in motion. In this embodiment, the laser radar module 300 is connected to the neck support 200 through the radar fixture 303. In order to make the field of view of the transmitting / receiving module 301 of the laser radar module 300 larger, the laser radar module 300 is installed inverted, and the module body 302 is connected to the neck support 200 through the radar fixture 303. The existence of the radar fixture 303 can make the connection between the laser radar module 300 and the neck support 200 of the humanoid robot more stable, and can avoid loosening or falling off during movement. Fixing the laser radar module 300 by the radar fixture 303 can also reduce the vibration caused by the movement of the humanoid robot, and improve the accuracy of the laser radar module 300 in collecting data about the surrounding environment. In addition, the provision of the radar fixture 303 can also simplify the maintenance and repair work of the laser radar module 300.

[0041] See also Figure 3 and Figure 4 , Figure 3 is a front view of a head and neck structure of a humanoid robot provided in an embodiment of the present application, Figure 4 yes Figure 3 AA section view in.

[0042] As combined Figures 2 to 4In some embodiments, the head support 100 is formed with a facial region 102; a wiring channel 202 is formed between the side of the laser radar module 300 facing away from the facial region 102 and the neck support 200, and the head and neck structure further includes a conductive wire bundle (not shown in the figure), which enters the head support 100 through the wiring channel 202, and the conductive wire bundle is used to transmit power to the head and neck structure. When the humanoid robot moves forward, the front area on the head support 100 is the facial region 102. The wiring channel 202 is formed between the side of the laser radar module 300 facing away from the facial region 102 and the neck support 200, that is, the wiring channel 202 is arranged in the neck support 200 and close to the rear of the neck support 200. The conductive wire harness can transmit electricity to the head and neck structure of the humanoid robot. The conductive wire harness is housed in the wiring channel 202. While improving cleanliness, it can reduce the risk of damage to the conductive wire harness when the humanoid robot is hit. It can also reduce the possibility of entanglement between the conductive wire harness and other devices in the head and neck structure, thereby reducing potential safety hazards. In addition, it is also convenient to inspect or replace the conductive wire harness.

[0043] Please combine Figure 2 and Figure 4 In some embodiments, the head and neck structure further includes a neck motor 400; the neck motor 400 is disposed at the end of the neck support 200 away from the head support 100, and the neck motor 400 has a neck motor axis extending toward the inside of the head support 100; the neck motor 400 is used to drive the head and neck structure to rotate around the neck motor axis relative to the body of the humanoid robot. In the state where the humanoid robot is standing on the ground, the neck motor 400 is connected to the end of the neck support 200 away from the head support 100, that is, the neck motor 400 is connected to the lower end of the neck support 200. The neck motor 400 can be arranged in the vertical direction so that the neck motor axis also extends in the vertical direction. The neck motor 400 can drive the head and neck structure to rotate around the neck motor axis relative to the body of the humanoid robot, that is, the neck motor 400 can control the left and right rotation movement of the head and neck structure, similar to the shaking movement of a human. When working, the neck motor 400 can simultaneously drive the neck support 200 and the head support 100 to rotate relative to the body of the humanoid robot. The neck support 200 will drive the radar fixing plate to rotate, thereby driving the laser radar module 300 to rotate, thereby realizing the rotational freedom of the laser radar module 300.

[0044] In some embodiments, the neck motor 400 can be a servo motor. Compared with ordinary motors, servo motors have sufficient torque and high-precision position control capabilities, and can accurately control the smooth and precise movement of the head and neck structure of the humanoid robot. The servo motor can also maintain stability during long-term operation. In addition, the servo motor is small in size and weight, which can better adapt to the design requirements of the head and neck structure of the humanoid robot and increase the aesthetics of the humanoid robot. In some embodiments, the neck motor 400 can be fastened to the neck bracket 200 by screws.

[0045] Please combine Figure 2 and Figure 4 In some embodiments, the head and neck structure further comprises a head motor 500, the head motor 500 having a head motor axis perpendicular to the neck motor axis, and the head motor axis is also perpendicular to the direction facing the facial region 102 of the head support 100 (i.e. Figure 2 and Figure 4 The head motor 500 is used to drive the head support 100 to rotate around the head motor axis relative to the neck support 200. When the humanoid robot is moving forward, the front area on the head support 100 is the facial area 102. In this embodiment, taking the state of the humanoid robot standing on the ground as an example, the neck motor axis is a straight line on the vertical plane and the direction (i.e., the X direction) facing the facial area 102 of the head support 100 is not on the same plane, so it is considered that there is only one head motor axis perpendicular to both the straight line and the X direction. The head motor 500 can drive the head support 100 to rotate around the head motor axis relative to the neck support 200, that is, the head motor 500 can control the head support 100 to nod up and down. In some embodiments, the neck motor 400 can use a servo motor. Compared with ordinary motors, servo motors have sufficient torque and high-precision position control capabilities, and can accurately control the smooth and precise movement of the head support 100 of the humanoid robot relative to the neck support 200.

[0046] In the above embodiment, the control of the head and neck structure by the neck motor 400 and the control of the head support 100 by the head motor 500 can occur simultaneously or separately. Under the control of the neck motor 400 and the head motor 500, the head and neck structure of the humanoid robot can realize rotation in two degrees of freedom, namely, left and right shaking of the head and up and down nodding of the head relative to the body of the humanoid robot.

[0047] See also Figure 2In some embodiments, the head support 100 and the neck support 200 further enclose an inner head space 103; the head motor 500 is accommodated in the inner head space 103, and the laser radar module 300 is located on the side of the head motor 500 away from the top of the head region 101. The top of the head region 101 is the region on the head support 100 that is farthest from the ground when the humanoid robot stands on the ground. The part of the human body that faces away from the human face includes the back of the head and the back of the neck. In this embodiment, the part of the humanoid robot that faces away from the facial region 102 includes the rear part of the head support 100 and the rear part of the neck support 200, and the rear part is defined by the front and rear orientation state of the humanoid robot standing on the ground. The inner head space 103 is enclosed by the head support 100 and the neck support 200, and the head motor 500 is accommodated in the inner head space 103, and is arranged on the side of the laser radar module 300 close to the top of the head region 101, that is, the laser radar module 300 is located between the head motor 500 and the neck motor 400. The head motor 500 can be arranged at the connection between the rear of the head support 100 and the rear of the neck support 200, so that the head motor 500 can more easily control the up and down rotation of the head support 100 relative to the neck support 200. In some embodiments, a head motor connector 501 can be arranged between the head support 100 and the head motor 500, and the head motor 500 controls the head support 100 by driving the rotation of the head motor connector 501. In some embodiments, the head motor 500 and the neck support 200 are fixedly connected.

[0048] See also Figure 5 and Figure 6 , Figure 5 This is a partial structural diagram of the head and neck structure of a humanoid robot provided in an embodiment of the present application. Figure 1 , Figure 6 This is a partial structural diagram of the head and neck structure of a humanoid robot provided in an embodiment of the present application. Figure 2 .

[0049] Please combine Figure 2 , Figure 4 and Figure 5 In some embodiments, the head and neck structure further includes a display screen 600 disposed in the head space 103, and the display screen 600 is located between the facial area 102 and the head motor 500. When humans interact with the humanoid robot, a variety of expressions can be displayed on the display screen 600, which enhances the emotional expression and interactive experience of the humanoid robot, and also allows the humanoid robot to more naturally integrate into human social activities and provide more friendly and emotional responses. On the display screen 600, a variety of expressions such as smiles and winks can be displayed. In some embodiments, the display screen 600 is connected to the head bracket 100 by fasteners.

[0050] In some embodiments, the head and neck structure further includes a mask 800, which is covered on the outer periphery of the head support 100, and the portion of the mask 800 that is opposite to the display screen 600 is transparent. Figure 1 , Figure 5 and Figure 6 As shown, in order to make the head of the humanoid robot closer to humans, on the basis of setting the head support 100 (similar to the skeletal structure of the human head), a mask 800 is provided on the outer periphery of the head support 100, which can also protect the display screen 600 and reduce the possibility of damage to the display screen 600. The part of the mask 800 opposite to the display screen 600 can be set to a transparent state so that humans can see the display state of the display screen 600 through the mask 800. The mask 800 can be connected to the head support 100 by a buckle to improve assembly efficiency. In a possible implementation, the display screen 600 can use a flexible screen.

[0051] like Figure 1 , Figure 3 and Figure 5 As shown, in some embodiments, the head and neck structure also includes two decorative light panels 900, and the two decorative light panels 900 are relatively arranged in the head side area of ​​the head support 100. The decorative light panel 900 can be set in the head side area of ​​the head support 100 (i.e., the area similar to the ear of the human body) for light interaction. In order to improve the consistency of the appearance of the humanoid robot and humans, a decorative light panel 900 can be set in the head side area on both sides of the head support 100. The decorative light panel 900 can be symmetrically arranged or asymmetrically arranged, which can be determined according to the specific use scenario of the humanoid robot, and this embodiment does not limit this. The color and flashing mode of the light can be changed according to the state of the humanoid robot or the command received, for example, flashing when hearing a sound to provide visual feedback to humans. In a possible implementation, the decorative light panel 900 and the head support 100 are connected by a buckle.

[0052] like Figure 2As shown, in some embodiments, the head support 100 also has a jaw region 104; the head and neck structure also includes a camera 700 arranged in the head space 103, and the camera 700 is closer to the jaw region 104 relative to the display screen 600. In this embodiment, the camera 700 can be arranged in the head support 100 at a position closer to the jaw region 104 relative to the display screen 600, ensuring that the display screen 600 and the camera 700 are both in a better position, and the visual effect and sensing efficiency are improved as much as possible. In some embodiments, the camera 700 can be arranged in the mask 800 to reduce the possibility of damage to the camera 700, and the mask 800 can be set to a transparent state so that the camera 700 can recognize the human face through the mask 800, so that the humanoid robot can perform visual interaction at the human eye level, thereby communicating with humans more naturally. In a possible implementation, the camera 700 is connected to the head support 100 by a fastener.

[0053] An embodiment of the present application also provides a humanoid robot comprising any of the above-mentioned head and neck structures.

[0054] It should be understood that the specific examples in this specification are only intended to help those skilled in the art to better understand the implementation methods of the present application, rather than to limit the scope of protection of the present application.

[0055] It can be understood that the various implementation modes described in this specification can be implemented individually or in combination, and this application is not limited to this.

[0056] Unless otherwise specified, all technical and scientific terms used in this specification have the same meaning as those generally understood by those skilled in the art of the technical field of this specification. The terms used in this specification are only for the purpose of describing specific embodiments and are not intended to limit the scope of this specification. The term "and / or" used in this specification includes any and all combinations of one or more related listed items. The singular forms of "a", "above", and "the" used in this specification and the appended claims are also intended to include plural forms, unless the context clearly indicates other meanings.

[0057] Those skilled in the art can clearly understand that, for the convenience and brevity of description, the specific working process of each embodiment described above can refer to the corresponding process in other embodiments and will not be repeated here.

[0058] In the several embodiments provided in this specification, it should be understood that the disclosed systems, devices and methods can be implemented in other ways.

[0059] The above are only specific implementations of this specification, but the protection scope of this application is not limited thereto. Any technician familiar with the technical field can easily think of changes or substitutions within the technical scope disclosed in this specification, which should be included in the protection scope of this specification. Therefore, the protection scope of this application should be based on the protection scope of the claims.

Claims

1. A head and neck structure of a humanoid robot, characterized in that: The head and neck structure includes a head support and a neck support connected to each other, and a laser radar module with a transmitting / receiving module; The neck support forms an intra-neck space; The transmitting / receiving module of the laser radar module is at least partially located in the intra-neck space, and at least part of the field of view of the transmitting / receiving module is not blocked by the head support.

2. The head and neck structure according to claim 1, characterized in that: The head support forms a top area; the laser radar module includes a module body connected to the transmitting / receiving module, and the module body is closer to the top area than the transmitting / receiving module.

3. The head and neck structure according to claim 2, characterized in that: The laser radar module also includes a radar fixing component, one end of which is fixedly connected to the module body, and the other end of which is fixedly or rotatably connected to the neck bracket.

4. The head and neck structure according to claim 1, characterized in that: The head bracket forms a facial area; a wiring channel is formed between the side of the laser radar module facing away from the facial area and the neck bracket, and the head and neck structure also includes a conductive wire bundle, which enters the interior of the head bracket through the wiring channel, and the conductive wire bundle is used to transmit power to the head and neck structure.

5. The head and neck structure according to claim 1, characterized in that: The head and neck structure further comprises a neck motor; the neck motor is arranged at the end of the neck support away from the head support, and the neck motor has a neck motor axis extending toward the inside of the head support; The neck motor is used to drive the head and neck structure to rotate around the neck motor axis relative to the body of the humanoid robot.

6. The head and neck structure according to claim 5, characterized in that: The head support is also formed with a facial area; The head and neck structure also includes a head motor, which has a head motor axis that is perpendicular to the neck motor axis, and the head motor axis is also perpendicular to the direction facing the facial area of ​​the head support; the head motor is used to drive the head support to rotate around the head motor axis relative to the neck support.

7. The head and neck structure according to claim 6, characterized in that: The head support forms a top area; the head support and the neck support also enclose an inner head space; the head motor is accommodated in the inner head space, and the laser radar module is located on the side of the head motor away from the top area.

8. The head and neck structure according to claim 7, characterized in that: The head and neck structure further comprises a display screen arranged in the space inside the head, wherein the display screen is located between the facial area and the head motor.

9. The head and neck structure according to claim 8, characterized in that: The head and neck structure also includes a mask, which is covered on the outer periphery of the head support, and a portion of the mask opposite to the display screen is in a transparent state.

10. The head and neck structure according to claim 8, characterized in that: The head support also has a jaw area; the head and neck structure also includes a camera arranged in the space inside the head, and the camera is closer to the jaw area than the display screen.

11. The head and neck structure according to claim 9, characterized in that: The head and neck structure also includes two decorative light panels, which are arranged opposite to each other in the head side area of ​​the head support.

12. A humanoid robot, characterized in that: Comprising the head and neck structure according to any one of claims 1-11.

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