Bionic robot dog

Abstract

The utility model discloses a bionic robot dog, and relates to the technical field of robot dogs. The bionic robot dog comprises a robot dog body, a plurality of mechanical legs, a bionic tail and a camera module, and the mechanical legs are connected with the robot dog body and used for driving the bionic robot dog to walk; the bionic tail is connected to the tail of the robot dog body, and at least part of the bionic tail is of a transparent structure; the camera module is arranged in the bionic tail, and a camera lens in the camera module corresponds to the transparent structure. Through the camera module arranged on the bionic tail, view finding of the tail environment of the bionic robot dog is achieved.

Description

Technical Field

[0001] This disclosure relates to the field of robot dog technology, and more specifically, to a bionic robot dog. Background Technology

[0002] With the development of science and technology, robot dogs have been widely used, especially in search and rescue missions in disaster areas. They can quickly search and rescue target areas in disaster areas, greatly improving search and rescue efficiency and reducing the pressure on rescue personnel.

[0003] However, current robot dogs are limited by their performance, and their performance does not meet users' expectations. Therefore, there is a need to provide a robot dog with better performance.

[0004] It should be noted that the information disclosed in the background section above is only used to enhance the understanding of the background of this disclosure, and therefore may include information that does not constitute prior art known to those skilled in the art. Utility Model Content

[0005] The purpose of this disclosure is to provide a bionic robot dog that enables framing of the environment around the tail of the bionic robot dog.

[0006] According to one aspect of this disclosure, a bionic robotic dog is provided, the bionic robotic dog comprising:

[0007] The robot dog's body;

[0008] Multiple mechanical legs, which are connected to the robot dog's body, are used to drive the bionic robot dog to walk;

[0009] A bionic tail, which is connected to the tail of the robot dog's body, and at least a portion of the bionic tail is transparent;

[0010] A camera module is disposed inside the bionic tail, and the camera lens in the camera module is correspondingly disposed with respect to the transparent structure.

[0011] In one exemplary embodiment of this disclosure, the camera module includes a depth camera.

[0012] In one exemplary embodiment of this disclosure, when the bionic robot dog is on a horizontal surface and in a standing position, the angle between the optical axis of the camera lens in the camera module and the horizontal surface facing the front of the robot dog is 45° to 75°.

[0013] In one exemplary embodiment of this disclosure, when the bionic robot dog is on a horizontal surface and in a standing position, the angle between the extension direction of the bionic tail and the horizontal surface toward the tail of the robot dog is 15° to 45°.

[0014] In one exemplary embodiment of this disclosure, the bionic tail has a mounting surface, and the camera module is connected to the mounting surface;

[0015] When the bionic robot dog is on a horizontal surface and standing, the angle between the mounting surface and the horizontal surface toward the tail of the robot dog is 15° to 45°.

[0016] In one exemplary embodiment of this disclosure, the bionic tail includes:

[0017] The main body has an installation space and an opening communicating with the installation space;

[0018] A transparent cover is attached to the opening.

[0019] In one exemplary embodiment of this disclosure, the tail of the robot dog body is provided with a wire hole, and the opening extends on the main body to one end connected to the robot dog body to form a wire groove, and the wire groove communicates with the wire hole;

[0020] The bionic tail also includes a wire protection cover, which is connected to the opening and cooperates with the transparent cover to completely seal the opening.

[0021] In one exemplary embodiment of this disclosure, a first sealing element is provided between the wire protection cover and the main body.

[0022] In one exemplary embodiment of this disclosure, a second seal is provided between the bionic tail and the body of the robot dog to seal the position where the wire groove communicates with the wire hole.

[0023] In one exemplary embodiment of this disclosure, the bionic robot dog further includes: a first drive assembly, the first drive assembly connecting the bionic tail to the robot dog's body, the first drive assembly being configured to adjust the connection angle between the bionic tail and the robot dog's body; and / or,

[0024] The bionic robot dog further includes a second drive component, which connects the bionic tail to the camera module, and is configured to adjust the shooting angle of the camera module within the bionic tail.

[0025] The bionic robot dog disclosed herein has multiple mechanical legs attached to its lower body, allowing it to walk. Due to its biomimetic design, the robot dog's gait is similar to that of a real dog, enhancing its agility. Simultaneously, at least a portion of the bionic tail is transparent, with a camera module housed within it. The camera lens within the camera module corresponds to the transparent structure, enabling the camera module to capture images of the robot dog's rear environment. During walking or movement, the camera module can capture real-time images of the environment behind the robot dog for terrain modeling, achieving dynamic perception of its surroundings. For example, it can detect objects less than half the height of the robot dog's body, thus avoiding interference with the robot dog's judgment of objects behind it when walking backwards. This dynamic perception information is used to plan the robot dog's gait and dynamically avoid obstacles.

[0026] It should be understood that the above general description and the following detailed description are exemplary and explanatory only, and are not intended to limit this disclosure. Attached Figure Description

[0027] The accompanying drawings, which are incorporated in and form part of this specification, illustrate embodiments consistent with this disclosure and, together with the description, serve to explain the principles of this disclosure. It is obvious that the drawings described below are merely some embodiments of this disclosure, and those skilled in the art can obtain other drawings based on these drawings without any inventive effort.

[0028] Figure 1 This is a schematic diagram of a bionic robot dog provided in one embodiment of the present disclosure.

[0029] Figure 2 This is a schematic diagram of a bionic robot dog standing on a horizontal plane, according to one embodiment of the present disclosure.

[0030] Figure 3 An exploded view of a bionic tail and camera module provided in one embodiment of this disclosure.

[0031] Explanation of reference numerals in the attached figures:

[0032] 11. Robot dog body; 12. Mechanical legs; 121. Robot dog front legs; 122. Robot dog hind legs; 13. Bionic tail; 131. Main body; 132. Transparent cover; 133. Cable guide cover; 134. First seal; 135. Second seal; 14. Bionic dog head; 20. Camera module. Detailed Implementation

[0033] Exemplary embodiments will now be described more fully with reference to the accompanying drawings. However, these exemplary embodiments can be implemented in many forms and should not be construed as limited to the embodiments set forth herein; rather, they are provided so that this disclosure will be thorough and complete, and will fully convey the concept of the exemplary embodiments to those skilled in the art. The same reference numerals in the drawings denote the same or similar structures, and therefore their detailed description will be omitted.

[0034] Although relative terms such as "up" and "down" are used in this specification to describe the relative relationship of one component of an icon to another, these terms are used only for convenience, such as according to the orientation of the examples shown in the accompanying drawings. It is understood that if the device of the icon is flipped upside down, the component described as "up" will become the component described as "down." When a structure is "up" of another structure, it may mean that the structure is integrally formed on the other structure, or that the structure is "directly" mounted on the other structure, or that the structure is "indirectly" mounted on the other structure through another structure.

[0035] The terms “a,” “one,” “the,” “the,” and “at least one” are used to indicate the existence of one or more elements / components / etc.; the terms “including” and “having” are used to indicate an open-ended inclusion and to mean that there may be other elements / components / etc. in addition to the listed elements / components / etc.; the terms “first,” “second,” etc. are used only as markers and are not a limitation on the number of objects.

[0036] Traditional robotic dogs typically do not have depth cameras installed. Instead, they rely on cameras on the left, right, and bottom of the robot to determine their surroundings, or the depth camera is mounted directly in front of the robot. However, these traditional robotic dogs cannot accurately perceive the scene directly behind them during walking or movement, such as objects that are less than half the height of the robot itself. This affects the robot's ability to judge objects behind it when walking backward.

[0037] To address the aforementioned technical problems, embodiments of this disclosure provide a bionic robotic dog, such as... Figures 1-3 As shown, the bionic robot dog includes: a robot dog body 11, multiple mechanical legs 12, a bionic tail 13, and a camera module 20. The multiple mechanical legs 12 are connected to the robot dog body 11 and are used to drive the bionic robot dog to walk. The bionic tail 13 is connected to the tail of the robot dog body 11, and at least a part of the bionic tail 13 is a transparent structure. The camera module 20 is disposed in the bionic tail 13, and the camera lens in the camera module 20 is correspondingly set with the transparent structure.

[0038] The bionic robot dog disclosed herein has multiple mechanical legs 12 connected to the lower part of its body 11. The robot dog can walk using these mechanical legs. Due to its biomimetic design, its walking style is similar to that of a real dog, enhancing its agility. Simultaneously, at least a portion of the bionic tail 13 is transparent, and a camera module 20 is housed within it. The camera lens in the camera module 20 corresponds to the transparent structure, allowing it to capture images of the robot dog's rear environment. During walking or movement, the camera module 20 can capture real-time images of the environment behind the robot dog for terrain modeling, enabling dynamic perception of its surroundings. For example, it can perceive objects lower than half the height of the robot dog's body 11, thus avoiding interference with the robot dog's judgment of objects behind it when walking backwards. This dynamic perception information is used to plan the robot dog's gait and dynamically avoid obstacles.

[0039] Among them, such as Figure 1 As shown, the multiple mechanical legs 12 include front legs 121 and hind legs 122 of the robot dog. Two front legs 121 and two hind legs 122 can be provided respectively, meaning the bionic robot dog can also be understood as a quadruped robot. These, along with the bionic tail 13 located at the rear of the robot dog's body 11 and the bionic head 14 located at the front of the body 11, achieve a high degree of realism in the bionic robot dog, making its appearance more similar to a real dog. Therefore, the bionic robot dog's design has a certain degree of concealment, and the camera module 20 mounted on the bionic tail 13 further enhances this concealment. This makes the bionic robot dog harder to detect when performing tasks, facilitating covert observation and recording. For example, in situations requiring security monitoring, the bionic robot dog can use the camera module 20 on its bionic tail 13 for covert monitoring and reconnaissance, reducing the probability of detection and capturing detailed information about key areas or targets, providing important real-time intelligence for security personnel.

[0040] In one embodiment, the camera module 20 includes a depth camera, which can perceive the depth of field behind the robot dog's body 11. Since the bionic tail 13 is typically located high or far from the robot dog's body 11, the depth camera mounted here can capture different perspectives of the environment surrounding the bionic robot dog, especially low obstacles or ground details, which is difficult to achieve with cameras traditionally mounted on the head or torso of the robot dog's body 11. Using the depth camera, for example, when the bionic robot dog is laying golf ball-sized stones on a rugged mountain path, it can perceive the current environment using the depth camera in the bionic tail 13 and transmit this information back to the control system so that the bionic robot dog can adjust its walking pace accordingly.

[0041] As is understood, the camera module 20 may consist of only a depth camera, only a visible light camera, only an infrared camera, or at least two of a depth camera, a visible light camera, and an infrared camera, and may also include other types of cameras to obtain environmental information behind the robot dog body 11. This disclosure does not limit this.

[0042] In one embodiment, such as Figure 2 As shown, when the bionic robot dog is on a horizontal surface and standing, the angle ∠A between the optical axis of the camera lens in the camera module 20 and the horizontal surface facing the front of the robot dog's body 11 is 45° to 75°, such as 45°, 50°, 55°, 60°, 65°, 70°, 75°, etc., which will not be listed here. It can perceive objects about one meter away from the ground behind the robot dog's body 11, allowing the bionic robot dog to see its surroundings clearly while walking quickly, stepping in place, or taking small steps. It should be noted that the horizontal surface can be the ground. When the ground where the bionic robot dog stands is a slope, the inclined slope can be used as a reference, meaning that the bionic robot dog can also see objects about one meter away from the ground behind the robot dog's body 11 through the camera module 20 even on a slope.

[0043] Among them, such as Figure 2 As shown, when the bionic robot dog is on a horizontal surface and standing, the angle ∠B between the extension direction of the bionic tail 13 and the horizontal surface towards the tail of the robot dog's body 11 is 15° to 45°, such as 15°, 20°, 25°, 30°, 35°, 40°, 45°, etc., which will not be listed here. The raised bionic tail 13 allows the camera module 20 mounted on it to sense objects about one meter away from the ground behind the robot dog's body 11, enabling the bionic robot dog to see its surroundings clearly while walking quickly, stepping in place, or taking small steps. It should be noted that the horizontal surface can be the ground. When the ground on which the bionic robot dog stands is a slope, the inclined slope can be used as a reference, meaning that the bionic robot dog can also see objects about one meter away from the ground behind the robot dog's body 11 through the camera module 20 even on a slope.

[0044] The bionic tail 13 has a mounting surface, to which the camera module 20 is connected. When the bionic robot dog is on a horizontal plane and standing, the angle between the mounting surface and the horizontal plane toward the tail of the robot dog body 11 is 15° to 45°. By setting the mounting surface and making the angle between the mounting surface and the horizontal plane toward the tail of the robot dog body 11 between 15° and 45°, when assembling the camera module 20, the optical axis of the camera lens in the camera module 20 is made perpendicular to the mounting surface, thus achieving precise control of the shooting angle after the camera module 20 is assembled, thereby improving assembly accuracy and efficiency.

[0045] The mounting surface can be a structural surface formed by the shell of the bionic tail 13, or it can be a structural surface formed by a separately installed mounting plate. Utilizing the shell of the bionic tail 13 can reduce the number of parts, lower the assembly difficulty, reduce assembly errors, and improve assembly accuracy.

[0046] In one embodiment, such as Figure 3 As shown, the bionic tail 13 includes a main body 131 and a transparent cover 132. The main body 131 has an installation space and an opening communicating with the installation space. The transparent cover 132 is connected to the opening, and the camera module 20 takes pictures through the transparent cover 132. The transparent cover 132 can be made of, for example, a fully transparent engineering material, allowing the camera module 20's camera field of view to be completely transparent. Because the transparent cover 132 has a flat structure, the camera module 20 can have a 180° wide-angle shooting capability.

[0047] It is understood that the bionic tail 13 can be a transparent structure, that is, the main body 131 can also be a transparent structure, so that the camera module 20 can shoot from any angle within the bionic tail 13, thereby improving the field of view.

[0048] In one embodiment, the tail of the robot dog body 11 is provided with a wire hole, and the opening on the main body 131 extends to one end connected to the robot dog body 11 to form a wire groove, which communicates with the wire hole. The wire groove allows the cable connecting the camera module 20 and the target device inside the robot dog body 11 to pass directly through the wire hole from the opening formed by the wire groove, which facilitates the assembly of the cable.

[0049] Among them, such as Figure 3 As shown, the bionic tail 13 also includes a wire protection cover 133, which is connected to the opening and cooperates with the transparent cover 132 to completely seal the opening. When the cable connecting the camera module 20 and the target device inside the robot dog body 11 is assembled, the wire protection cover 133 forms a seal on the opening, thereby limiting the cable in the wire hole.

[0050] The cable protection cover 133 and the main body 131 can be detachably connected via threaded parts to improve the economy of later maintenance. Of course, the cable protection cover and the main body 131 can also be connected by snap-fit, adhesive or other methods, and this disclosure does not limit this.

[0051] In one embodiment, such as Figure 3 As shown, a first sealing element 134 is provided between the wire protection cover 133 and the main body 131. The first sealing element 134 can improve the sealing performance between the wire protection cover 133 and the main body 131, enabling the bionic robot dog to work reliably and continuously in harsh weather conditions such as rain, humidity, and sandstorms.

[0052] Among them, such as Figure 3As shown, the size and shape of the first sealing element 134 can be the same as the size of the wire protection cover 133. When the wire protection cover 133 has a raised threaded column structure, the first sealing element 134 can be provided with a corresponding through hole, thereby forming a positioning assembly between the first sealing element 134 and the wire protection cover 133, improving assembly accuracy and assembly efficiency, and also preventing the first sealing element 134 from being misaligned relative to the wire protection cover 133 after long-term use, thus improving the reliability of the first sealing element 134.

[0053] The first sealing element 134 can be, for example, a rubber element. Rubber elements have good deformation properties, a long service life, and high reliability.

[0054] In one embodiment, such as Figure 3 As shown, a second sealing element 135 is provided between the bionic tail 13 and the robot dog body 11, at the position where the sealing wire hole communicates with the wire groove. The second sealing element 135 can improve the sealing performance at the connection position between the bionic tail 13 and the robot dog body 11, preventing rainwater, dust, etc. from entering the bionic tail 13 and the robot dog body 11, so that the bionic robot dog can work reliably and continuously in harsh weather conditions such as rain, humidity, and sandstorms.

[0055] Among them, such as Figure 3 As shown, the second sealing element 135 can be a rubber ring. The rubber ring has good deformation properties, which can improve the sealing performance between the bionic tail 13 and the robot dog body 11; at the same time, it also has a long service life and high reliability. When assembling the rubber ring, positioning grooves can be provided on the bionic tail 13 and / or the robot dog body 11 to form a positioning assembly for the rubber ring, avoiding misalignment of the rubber ring during assembly, so as to ensure the sealing effect of the sealing ring and improve assembly efficiency and assembly accuracy.

[0056] In one embodiment, the bionic robot dog further includes: a first drive component and / or a second drive component, wherein the first drive component connects the bionic tail 13 to the robot dog body 11 and is configured to adjust the connection angle between the bionic tail 13 and the robot dog body 11; and the second drive component connects the bionic tail 13 to a camera module 20 and is configured to adjust the shooting angle of the camera module 20 within the bionic tail 13.

[0057] By setting the first driving component, the connection angle between the bionic tail 13 and the robot dog body 11 can be adjusted, thereby driving the camera module 20 to adjust the shooting angle, enabling the camera module 20 to capture environmental images of a larger area behind the robot dog body 11. By setting the second driving component, the shooting angle of the camera module 20 can be directly adjusted, enabling the camera module 20 to capture environmental images of a larger area behind the robot dog body 11.

[0058] The first drive assembly may include a first drive motor, the stator of which can be connected to the robot dog body 11, and the rotor of which can be connected to the bionic tail 13. The second drive assembly may include a second drive motor, the stator of which can be connected to the bionic tail 13, and the rotor of which can be connected to the camera module 20.

[0059] In one embodiment, a camera module may also be provided inside the bionic dog head 14. At least a portion of the mouth and nose of the bionic dog head 14 is a transparent structure. The camera module is located at the mouth and nose of the bionic dog head 14, and the lens of the camera module is correspondingly arranged with the transparent structure so that the lens of the camera module can take pictures through the transparent structure at the mouth and nose 1.

[0060] By mounting the camera module inside the muzzle of the bionic dog head 14, which is made of transparent material, the bionic dog head 14 achieves a high degree of realism. Not only does it more closely resemble a real dog in appearance, but it can also simulate the observation methods of a real dog to a certain extent, providing a more realistic perspective and experience. Furthermore, the bionic robot dog's design itself has a certain degree of concealment, and mounting the camera module inside the muzzle of the bionic dog head 14 further enhances this concealment, making the bionic robot dog harder to detect when performing tasks, which is beneficial for covert observation and recording. In addition, by cooperating with the camera module inside the bionic tail 13 and the camera module inside the bionic dog head 14, it is possible to judge the environment around the bionic robot dog in front, behind, left, and right.

[0061] The internal camera module of the bionic dog head 14 includes a visible light camera and / or an infrared camera. The visible light camera can capture images of the bionic robot dog walking, while the infrared camera can detect infrared light that is invisible to the human eye. Therefore, it can clearly capture target images in the dark or in adverse weather conditions.

[0062] Among them, the visible light camera can be a gimbal-stabilized camera. When the visible light camera is mounted on the gimbal, the shaking generated by the bionic robot dog during walking or movement is calculated by the gimbal camera's built-in stabilization unit and sent to the upper motor of the gimbal for position correction, thereby ensuring that the captured image is not affected by shaking.

[0063] In one embodiment, the bionic robot dog further includes a communication module housed within the bionic dog head 14. By providing the communication module, the bionic robot dog can transmit information to a terminal. For example, if the bionic robot dog is deployed to an earthquake-stricken area for search and rescue, upon discovering a trapped person, it can immediately lock onto the target location and capture a clear image using the camera module 20 within the bionic tail 13 and / or the bionic dog head 14. The acquired image is then transmitted to the terminal via the communication module for rescue personnel to reference, enabling timely discovery and rescue of the trapped person.

[0064] The communication module may be, for example, at least one of a 4G communication module, a 5G communication module, a WIFI module, and a Bluetooth module.

[0065] The communication module can be installed inside the bionic dog head 14 or inside the robot dog body 11 to form a sealed assembly.

[0066] Other embodiments of this disclosure will readily occur to those skilled in the art upon consideration of the specification and practice of the invention disclosed herein. This application is intended to cover any variations, uses, or adaptations of this disclosure that follow the general principles of this disclosure and include common knowledge or customary techniques in the art not disclosed herein. The specification and examples are to be considered exemplary only, and the true scope and spirit of this disclosure are indicated by the appended claims.

Claims

1. A bionic robotic dog, characterized in that, include: Robot dog body (11); Multiple mechanical legs (12) are connected to the robot dog body (11) and are used to drive the bionic robot dog to walk; A bionic tail (13) is attached to the tail of the robot dog body (11), and at least a portion of the bionic tail (13) is transparent. A camera module (20) is disposed inside the bionic tail (13), and the camera lens in the camera module (20) is correspondingly disposed with the transparent structure.

2. The bionic robot dog according to claim 1, characterized in that, The camera module (20) includes a depth camera.

3. The bionic robot dog according to claim 1, characterized in that, When the bionic robot dog is on a horizontal surface and standing, the angle between the optical axis of the camera lens in the camera module (20) and the horizontal surface facing the front of the robot dog body (11) is 45° to 75°.

4. The bionic robot dog according to claim 1, characterized in that, When the bionic robot dog is on a horizontal surface and standing, the angle between the extension direction of the bionic tail (13) and the horizontal surface facing the tail of the robot dog body (11) is 15° to 45°.

5. The bionic robotic dog according to claim 1, characterized in that, The bionic tail (13) has a mounting surface inside, and the camera module (20) is connected to the mounting surface; When the bionic robot dog is on a horizontal surface and in a standing position, the angle between the mounting surface and the horizontal surface toward the tail of the robot dog body (11) is 15° to 45°.

6. The bionic robot dog according to claim 1, characterized in that, The bionic tail (13) includes: The main body (131) has an installation space and an opening communicating with the installation space; A transparent cover (132) is attached to the opening.

7. The bionic robot dog according to claim 6, characterized in that, The tail of the robot dog body (11) is provided with a wire hole, and the opening extends on the main body (131) to one end connected to the robot dog body (11) to form a wire groove, and the wire groove communicates with the wire hole; The bionic tail (13) further includes a wire protection cover (133), which is connected to the opening and cooperates with the transparent cover (132) to completely seal the opening.

8. The bionic robot dog according to claim 7, characterized in that, A first sealing element (134) is provided between the wire protection cover (133) and the main body (131).

9. The bionic robot dog according to claim 7, characterized in that, A second sealing element (135) is provided between the bionic tail (13) and the robot dog body (11) to seal the position where the wire groove and the wire hole communicate.

10. The bionic robot dog according to claim 1, characterized in that, The bionic robot dog further includes: a first drive assembly, the first drive assembly connecting the bionic tail (13) and the robot dog body (11), the first drive assembly being configured to adjust the connection angle between the bionic tail (13) and the robot dog body (11); and / or, The bionic robot dog further includes a second drive component, which connects the bionic tail (13) to the camera module (20), and is configured to adjust the shooting angle of the camera module (20) within the bionic tail (13).

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