Quadruped robot capable of detecting environment in all directions

Abstract

The utility model discloses a quadruped robot of omnibearing detection environment, including main part, first probing structure, second probing structure and third probing structure, main part includes trunk member, nose member, landing leg member, first probing structure is installed at the top of nose member, can form first probing area around nose member top, and second probing structure can form second probing area around nose member top. The second detection structure is installed on the neck component or the machine head component and can form a second detection area on the front lower portion of the neck component or the machine head component, the third detection structure is installed on the front portion of the trunk component and can form a third detection area in front of the body, and the first detection area comprises a first detection area and a second detection area. The third detection area comprises a third detection area, a fourth detection area and a fifth detection area arranged between the first detection area and the second detection area. According to the quadruped robot, the surrounding environment of the head component of the quadruped robot can be comprehensively detected, and safe walking of the quadruped robot in a complex environment and a dynamic environment is facilitated.

Description

Technical Field

[0001] This utility model relates to the field of quadruped robots, and more particularly to a quadruped robot capable of omnidirectional environmental exploration. Background Technology

[0002] Quadruped robots, with their strong structural stability, load-bearing capacity, and obstacle-crossing ability, can adapt to various complex terrains and be applied to various work fields such as factory inspection and cargo handling.

[0003] Existing technology discloses a method and system for obstacle avoidance in quadruped robots using a combination of lidar and depth camera (publication number: CN119668267A). This method detects the environment around the quadruped robot's head by placing a lidar on the upper side of the robot's head and a depth camera on the front side of the robot's head. However, in practical use, the limitations of the vertical field of view of both the lidar and the depth camera result in a gap between the lidar's detection area and the depth camera's detection area. This gap creates a blind spot, hindering the quadruped robot's comprehensive detection of the environment around its head and timely obstacle avoidance. Therefore, further optimization and improvement are urgently needed. Summary of the Invention

[0004] This invention addresses the shortcomings of existing technologies by providing a quadruped robot capable of omnidirectional environmental detection. It can comprehensively detect the environment surrounding the quadruped robot's head component, which is beneficial for the quadruped robot to walk safely in complex and dynamic environments.

[0005] The technical solution adopted in this utility model is as follows:

[0006] A quadruped robot capable of omnidirectional environmental exploration includes a main body, a first detection structure, a second detection structure, and a third detection structure. The main body includes a torso component, a head component connected to the upper front of the torso component via a neck component, and leg components for propelling the torso component along a surface. The first detection structure is mounted on top of the head component, forming a first detection area around the top of the head component. The second detection structure is positioned below the first detection structure and mounted on the neck component or head component, tilting downwards towards the front of the main body to form a second angle with the surface, forming a second detection area below the front of the neck component or head component. The third detection structure is positioned below the second detection structure and mounted at the front of the torso component, facing forward of the main body, forming a third detection area in front of the main body. The first detection area includes a detection area one positioned above the second detection area and a detection area two positioned in front of the second detection area. The third detection area includes a detection area three positioned within the second detection area, a detection area four positioned within the first detection area, and a detection area five positioned between the first and second detection areas.

[0007] Preferably, the third detection structure includes at least two detector heads arranged horizontally relative to the medium surface, with a third included angle formed between adjacent detector heads.

[0008] Preferably, the probe is configured as a single-point laser sensor.

[0009] Preferably, the first detection structure is inclined upward toward the front side of the main body to form a first angle with the surface of the medium.

[0010] Preferably, the head component has an inclined platform at the top, and the distance between the inclined platform and the medium surface gradually increases from front to back. The first detection structure forms the first included angle by being mounted on the inclined platform.

[0011] Preferably, the head assembly includes a head connector connected to the upper end of the neck assembly and a head extension extending forward from the head connector. The head extension protrudes from the front of the neck assembly to form an installation area for protecting the second detection structure between the bottom of the head extension and the neck assembly. The head connector has an inclined platform at its top, and the distance between the inclined platform and the medium surface gradually increases from front to back. The first detection structure forms the second included angle by being mounted on the inclined platform. The top of the head extension is set lower than the inclined platform to form a detection channel above the top of the head extension and the inclined platform for the first detection structure to detect the area in front of the main body in the first detection area.

[0012] Preferably, the head component includes a head connector connected to the upper end of the neck component and a head extension extending forward from the head connector. The head extension protrudes from the front side of the neck component to form an installation area for protecting the second detection structure between the bottom of the head extension and the neck component.

[0013] Preferably, the second detection area includes a first detection position on the medium surface directly in front of the main body, and the distance between the first detection position and the reference position is greater than or equal to 2m; the second detection area includes a second detection position on the medium surface directly in front of the main body, and the distance between the second detection position and the reference position is less than or equal to 2m; the reference position is the orthographic projection position of the head component on the medium surface; preferably, the third detection area includes a third detection position directly in front of the torso component, and the distance between the third detection position and the third detection structure is 0-3m.

[0014] Preferably, the first included angle is 50° to 75°, the second included angle is -40° to -60°, and the third included angle is 10° to 40°.

[0015] Preferably, the first detection structure is a lidar, and the second detection structure is a depth camera.

[0016] The beneficial effects achieved by this utility model are as follows:

[0017] The quadruped robot provided by this utility model has a first detection structure, a second detection structure, and a third detection structure. The first detection structure is installed on top of the head member, forming a first detection area around the top of the head member. The second detection structure is arranged below the first detection structure and installed on the neck member or head member. The second detection structure is inclined downwards towards the front of the main body to form a second angle with the surface of the medium, forming a second detection area below the front of the neck member or head member. The third detection structure is arranged below the second detection structure and installed at the front of the torso member. The third detection structure is arranged towards the front of the main body, forming a third detection area in front of the main body. The first detection area includes the detection structure arranged below the second detection structure. The detection area consists of a first detection area on the upper side of the detection area, a second detection area in front of the second detection area, and a third detection area including a third detection area within the second detection area, a fourth detection area within the first detection area, and a fifth detection area between the first and second detection areas. Therefore, the second detection area can supplement the detection blind area below the first detection area, and the third detection area can supplement the detection blind area in the gap space between the first and second detection areas. By combining the first, second, and third detection structures, the surrounding environment of the quadruped robot's head component can be comprehensively detected, which is beneficial for the quadruped robot to walk safely in complex environments.

[0018] Additional aspects and advantages of this invention will be set forth in part in the description which follows, and in part will be obvious from the description, or may be learned by practice of the invention. Attached Figure Description

[0019] The accompanying drawings, which are included to provide a further understanding of the present invention and form part of this application, illustrate exemplary embodiments of the present invention and, together with the description thereof, serve to explain the present invention and do not constitute an undue limitation thereof. In the drawings:

[0020] Figure 1 This is a schematic diagram of the structure of a quadruped robot according to an embodiment of the present invention.

[0021] Figure 2 This is a side view of a quadruped robot according to an embodiment of the present invention.

[0022] Figure 3 This is a partial structural schematic diagram of a quadruped robot according to an embodiment of the present invention.

[0023] Figure 4 This is a schematic diagram of the detection area structure of a quadruped robot according to an embodiment of the present invention.

[0024] Reference numerals: Main body 10, torso component 11, neck component 12, head component 13, head connector 131, tilting platform 1311, head extension 132, leg component 14, roller component 15, first detection structure 20, second detection structure 30, third detection structure 40, detection head 41, first detection area A, detection area one a1, detection area two a2, second detection area B, third detection area C, detection area three c1, detection area four c2, detection area five c3, installation area D, reference position w0, first detection position w1, second detection position w2, third detection position w3, first included angle α, second included angle β, third included angle γ. Detailed Implementation

[0025] To make the objectives, technical solutions, and advantages of the embodiments of this utility model clearer, the technical solutions of the embodiments of this utility model will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some, not all, of the embodiments of this utility model. All other embodiments obtained by those skilled in the art based on the described embodiments of this utility model without creative effort are within the scope of protection of this utility model.

[0026] In the description of this utility model, it should be understood that the terms "upper", "lower", "front", "rear", "left", "right", "top", "bottom", "inner", "outer", etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. They are only for the convenience of describing this utility model and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limitations on this utility model.

[0027] In this utility model, unless otherwise explicitly specified and limited, the terms "installation," "connection," "linking," and "fixing," etc., should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral connection; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium; and they can refer to the internal connection of two components. Those skilled in the art can understand the specific meaning of the above terms in this utility model according to the specific circumstances.

[0028] In this invention, unless otherwise explicitly specified and limited, "above" or "below" the second feature can include direct contact between the first and second features, or contact between the first and second features through another feature between them. Furthermore, "above," "over," and "on top" of the second feature includes the first feature directly above or diagonally above the second feature, or simply indicates that the first feature is at a higher horizontal level than the second feature. "Below," "below," and "under" the second feature includes the first feature directly below or diagonally below the second feature, or simply indicates that the first feature is at a lower horizontal level than the second feature.

[0029] Unless otherwise defined, the technical or scientific terms used herein shall have the ordinary meaning as understood by one of ordinary skill in the art to which this invention pertains. The terms “first,” “second,” and similar terms used in this patent application specification and claims do not indicate any order, quantity, or importance, but are merely used to distinguish different components. Similarly, the terms “an” or “a” and similar terms do not indicate a limitation of quantity, but rather indicate the presence of at least one.

[0030] like Figures 1-4As shown, as an embodiment of this utility model, a quadruped robot for omnidirectional environmental detection is provided, including a main body 10, a first detection structure 20, a second detection structure 30, and a third detection structure 40. The main body 10 includes a torso member 11, a head member 13 connected to the upper front of the torso member 11 via a neck member 12, and leg members 14 for driving the torso member 11 to walk along a surface such as the ground. The first detection structure 20 is mounted on top of the head member 13, forming a first detection area A around the top of the head member 13. The second detection structure 30 is arranged below the first detection structure 20 and mounted on the neck member 12. The second detection structure 30 is inclined downward toward the front of the main body 10 to form a second angle β with the surface such as the ground, i.e., between the parallel plane of the surface such as the ground, forming a second detection area B below the front of the neck member 12. In other embodiments, the second detection structure 30 may also be mounted on the head member 13 to form a second detection area below the front of the head member 13. The third detection structure 40 is arranged below the second detection structure 30 and installed at the front of the torso member 11. The third detection structure 40 is arranged facing the front of the main body 10, and can form a third detection area C in front of the main body 10. The first detection area A includes a detection area a1 arranged above the second detection area B and a detection area a2 arranged in front of the second detection area B. The third detection area C includes a detection area c1 arranged in the second detection area B, a detection area c2 arranged in the first detection area A, and a detection area c3 arranged between the first detection area A and the second detection area B. Thus, the second detection area B can supplement the detection blind spot below the first detection area A, and the third detection area C can supplement the detection blind spot in the gap space between the first detection area A and the second detection area B. Therefore, by using the combination of the first detection structure 20, the second detection structure 30 and the third detection structure 40, the surrounding environment of the quadruped robot's head member can be comprehensively detected, which is beneficial for the quadruped robot to walk safely in complex environments.

[0031] like Figure 1 As shown, in some specific embodiments, the third detection structure 40 includes two detector heads 41 arranged horizontally relative to a medium surface such as the ground, forming a third angle γ between the two detector heads 41, thereby enabling the detection of obstacle information in the left and right front directions with the front part of the torso member 11 as the center. Of course, in other embodiments, the third detection structure 40 may also include three or more detector heads 41, with adjacent detector heads 41 arranged at a third angle, thereby enabling the detection of obstacle information in more directions with the front part of the torso member 11 as the center.

[0032] In some specific embodiments, the probe head 41 is set as a single-point laser sensor, which can not only supplement the detection blind zone between the first detection area A and the second detection area B, i.e., detection area c3, but also perform virtual edge detection and emergency obstacle stopping function when the first detection structure 20 or the second detection structure 30 fails. This makes it more suitable for accurate detection in dynamic environments and helps the quadruped robot walk safely in dynamic environments.

[0033] like Figure 3 As shown, in some specific embodiments, the first detection structure 20 is inclined upward toward the front side of the main body 10 to form a first angle α with the surface of the ground or other medium, that is, with the parallel plane of the surface of the ground or other medium. This allows the first detection area A of the first detection structure 20 to be inclined downward relative to the surface of the ground or other medium, so that the first detection area A can be arranged closer to the front side of the main body 10. This reduces the detection blind zone range below the first detection area A and is more conducive to comprehensively detecting the environmental information in front of and below the quadruped robot head component 13.

[0034] like Figure 3 As shown, in some specific embodiments, the top of the head component 13 has an inclined platform 1311, and the distance between the inclined platform 1311 and the ground or other medium surface gradually increases from front to back. The first detection structure 20 forms the first included angle α by being installed on the inclined platform 1311, and can be stably supported by the inclined platform 1311 to be arranged at the first included angle α between the first detection structure 20 and the ground or other medium surface.

[0035] In some specific embodiments, the head member 13 includes a head connector 131 connected to the upper end of the neck member 12 and a head extension 132 extending forward from the head connector 131. The head extension 132 protrudes from the front side of the neck member 12 to form an installation area D for protecting the second detection structure 30 between the bottom of the head extension 132 and the neck member 12. The installation of the second detection structure 30 in the installation area D reduces the risk of damage to the second detection structure 30 from external friction or collision, thereby ensuring the accuracy or clarity of the detection performance of the second detection structure 30 and extending the service life of the second detection structure 30.

[0036] In some specific embodiments, the tilting platform 1311 is disposed on top of the head connector 131, and the top of the head extension 132 is disposed below the tilting platform 1311, so as to form a detection channel on the top of the head extension 132 and above the tilting platform 1311 for the first detection structure 20 to detect the part of the first detection area A located in front of the main body 10, thereby avoiding interference from the head extension 132 to the detection of the first detection structure 20.

[0037] like Figure 4 As shown, in some specific embodiments, detection area a2 includes a first detection position w1 located on a medium surface such as the ground directly in front of the main body 10, with a distance greater than or equal to 2m between the first detection position w1 and the reference position w0. Detection area B includes a second detection position w2 located on a medium surface such as the ground directly in front of the main body, with a distance less than or equal to 2m between the second detection position w2 and the reference position w0. The reference position w0 is defined as the orthographic projection position of the nose component 13 onto the medium surface such as the ground. Detection area C includes a third detection position w3 located directly in front of the torso component 11, with a distance of 0-3m between the third detection position w3 and the third detection structure 40. In other words, the third detection structure 40 can be used to detect obstacle information within 3m horizontally outward from the detection head 41 as the base point, the second detection structure 30 can be used to detect environmental information within 2m forward of the reference position w0, and the first detection structure 20 can be used to detect environmental information beyond 2m forward of the reference position w0. In this embodiment, the first detection structure 20 is set to detect environmental information beyond 2m forward of the reference position w0, and the first detection area A and the second detection area B do not overlap, or overlap at a position 2m forward of the reference position w0. In other embodiments, the first detection structure 20 can also be set to detect environmental information beyond 1m forward of the reference position w0 or other areas less than 2m away, so that the first detection area A and the second detection area B overlap, thereby further reducing the detection blind zone between the first detection area A and the second detection area B, which is more conducive to comprehensively detecting the environmental information in front of and below the quadruped robot head component 13. In addition, the accuracy of detecting the overlapping area can be improved by the mutual verification of the first detection structure 20 and the second detection structure 30.

[0038] In some specific embodiments, the first included angle is 50° to 75°, especially 55° to 70°; the second included angle is -40° to -60°, especially -45° to -55°; and the third included angle is 10° to 40°, especially 15° to 35°. This is more conducive to the first detection area A, the second detection area B, and the third detection area C complementing each other, thereby making it more conducive to the comprehensive detection of environmental information around the quadruped robot head component 13.

[0039] like Figure 1 As shown, in some specific embodiments, the leg component 14 is provided with four, and the main body 10 also includes rollers 15 disposed at the lower end of each leg component 14, which can be used to drive the torso component 11 to roll and walk, thereby increasing the movement speed.

[0040] In some specific embodiments, the first detection structure 20 is configured as a lidar. Lidar performs well in long-range detection, but its close-range detection has blind spots and cannot provide detailed ground information. Optionally, the horizontal field of view of its first detection area A is set to 360° and the vertical field of view to 57°, for detecting distant environmental information. The second detection structure 30 is configured as a depth camera. Depth cameras have high perception accuracy in close-range environments, especially in obstacle detection and ground detail recognition, but their detection range is limited and they are difficult to effectively detect distant obstacles. Optionally, the horizontal field of view of its second detection area B is set to 86° and the vertical field of view to 55°, for detecting nearby ground. This allows for precise detection of distant obstacles via the first detection structure 20, effective detection of nearby environmental information via the second detection structure 30, and supplementary exploration of the blind spot between the first detection area A and the second detection area B via the third detection structure 40. This achieves comprehensive coverage of the quadruped robot's front and lateral areas. Furthermore, since the third detection structure 40 is a single-point laser sensor, it also enables virtual edge detection and emergency obstacle avoidance, facilitating effective obstacle avoidance and collision prevention in dynamic environments, thus enhancing the robot's safety and stability in complex and dynamic environments. In addition, this embodiment achieves comprehensive detection of the environment surrounding the quadruped robot's head components simply by using the first detection structure 20, the second detection structure 30, and the third detection structure 40, reducing hardware quantity and cost while ensuring high performance and high reliability, adapting to various complex application scenarios. Moreover, it can meet both long-range and short-range detection requirements, making it suitable for various dynamic and complex environments, beneficial for quadruped robots to perform navigation, mapping, obstacle avoidance, and other tasks, demonstrating its high practicality.

[0041] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of this utility model, and are not intended to limit it. Although this utility model has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that modifications can still be made to the technical solutions described in the foregoing embodiments, or equivalent substitutions can be made to some of the technical features. Such modifications or substitutions do not cause the essence of the corresponding technical solutions to deviate from the scope of the technical solutions of the embodiments of this utility model.

[0042] In summary, the above description is only a preferred embodiment of the present utility model. All equivalent changes and modifications made within the scope of the patent application of the present utility model shall fall within the scope of the patent of the present utility model.

Claims

1. A quadruped robot for omnidirectional exploration of an environment, characterized in that, The utility model relates to a kind of robot, including: Main body, including torso member, head member connected on the upper side of the front of the torso member by neck member, and supporting leg member for driving the torso member along the medium surface walking; First detection structure, installed on the top of the head member, can form first detection area around the top of head member; Second detection structure, arranged below the first detection structure, and installed on the neck member or head member, second detection structure is arranged to form second included angle between the medium surface downwards to the front side of main body, can form second detection area below the front of neck member or head member; Third detection structure, arranged below the second detection structure, and installed on the front of the torso member, third detection structure is arranged to the front side of main body, can form third detection area in front of main body; The first detection area includes detection area one arranged on the upper side of second detection area, and detection area two arranged on the front side of second detection area, and the third detection area includes detection area three arranged in second detection area, detection area four arranged in first detection area, and detection area five arranged between first detection area and second detection area.

2. The quadruped robot of claim 1, wherein: The third detection structure includes at least two detection heads horizontally arranged relative to the medium surface, and third included angle is formed between adjacent two detection heads.

3. The quadruped robot of claim 2, wherein: The detection head is provided as a single-point laser sensor.

4. The quadruped robot according to any one of claims 2-3, characterized in that: The first detection structure is arranged to form first included angle between the medium surface upwards to the front side of main body.

5. The quadruped robot of claim 4, wherein: The top of the head member has inclined platform, and the distance between the inclined platform and the medium surface gradually increases from front to back, and the first detection structure forms the first included angle by being installed on the inclined platform.

6. The quadruped robot of claim 4, wherein: The head member includes head connector connected on the upper end of neck member, and head extension member extending forwards from head connector, and the head extension member is arranged protruding on the front side of neck member to form installation area for protecting second detection structure around between the bottom of head extension member and neck member; The top of the head connector has inclined platform, and the distance between the inclined platform and the medium surface gradually increases from front to back, and the first detection structure forms the second included angle by being installed on the inclined platform; The top of the head extension member is arranged lower than the inclined platform to form detection channel for first detection structure to detect part area in first detection area in front of main body above the head extension member top and the inclined platform.

7. The quadruped robot according to any one of claims 1-3, characterized in that: The head member includes head connector connected on the upper end of neck member, and head extension member extending forwards from head connector, and the head extension member is arranged protruding on the front side of neck member to form installation area for protecting second detection structure around between the bottom of head extension member and neck member.

8. The quadruped robot according to any one of claims 1-3, characterized in that: The second detection area comprises a first detection position on the medium surface in front of the main body, and the distance between the first detection position and the reference position is greater than or equal to 2m; the second detection area comprises a second detection position on the medium surface in front of the main body, and the distance between the second detection position and the reference position is less than or equal to 2m; the reference position is the orthographic projection position of the head component on the medium surface; and the third detection area comprises a third detection position in front of the trunk component, and the distance between the third detection position and the third detection structure is 0-3m.

9. The quadruped robot of claim 4, wherein: The first included angle is 50°-75°, the second included angle is -40°--60°, and the third included angle is 10°-40°.

10. The quadruped robot according to any one of claims 1-3, 5-6, 9, characterized in that: The first detection structure is a laser radar, and the second detection structure is a depth camera.

11. The quadruped robot of claim 4, wherein: The first detection structure is a laser radar, and the second detection structure is a depth camera.

12. The quadruped robot of claim 7, wherein: The first detection structure is a laser radar, and the second detection structure is a depth camera.

13. The quadruped robot of claim 8, wherein: The first detection structure is a laser radar, and the second detection structure is a depth camera. The first detection structure is a laser radar, and the second detection structure is a depth camera.

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