robot

Abstract

The utility model discloses a kind of robots, comprising: fuselage and environmental perception sensor. Fuselage includes fuselage main body and top shell;Top shell is mechanically coupled with fuselage main body, top shell has oppositely arranged front side portion and rear side portion in front-back direction, the position of front side portion is lower than rear side portion in height direction, to make top shell whole body be inclined downward along the direction from rear to front. Environmental perception sensor is arranged in top shell for detecting the environmental information around robot, and environmental perception sensor has the perception surface for receiving environmental signal;The plane where perception surface is located is inclined to the overall inclined posture of top shell. The robot proposed in the utility model can better perceive the environmental information required around.

Description

Technical Field

[0001] This utility model relates to the field of robotics, and more particularly to robots. Background Technology

[0002] To enhance a robot's ability to perceive its environment while moving, sensors are often installed on the robot.

[0003] In related technologies, the robot's body surface or head is equipped with sensing sensors. When the robot moves smoothly on a level surface, the sensing sensors can perceive the surrounding environment information well. However, when the robot moves on more complex surfaces or in environments such as steps or cliffs, the environmental sensing sensors cannot effectively obtain sufficient information about the surrounding environment, which can easily cause the robot to slip and fall during movement. Utility Model Content

[0004] In view of this, the present invention proposes a robot that aims to enable the robot to better detect environmental information in the direction of travel, improve the robot's perception of the surrounding environment during travel, and enable the robot to travel reliably in various environments.

[0005] This utility model proposes a robot, comprising: a body, including a main body and a top shell, the body having a height direction and a front-to-back direction; the top shell being mechanically coupled to the main body, the top shell having a front portion and a rear portion arranged opposite to each other in the front-to-back direction, the front portion being positioned lower than the rear portion in the height direction, so that the top shell as a whole is tilted downward in a back-to-forward direction; an environmental sensing sensor, disposed on the top shell, for detecting environmental information around the robot, the environmental sensing sensor having a sensing surface for receiving environmental signals; the plane containing the sensing surface is tilted relative to the overall tilt posture of the top shell.

[0006] As can be seen from the above technical solution, the robot proposed in this utility model has a top shell that tilts downwards from back to front. The front part of the top shell is closer to the ground than the rear part, while the rear part is positioned higher than the front part. The environmental sensing sensor is located on the top shell with a certain initial tilt angle. The sensing plane of the environmental sensing sensor is further tilted relative to the top shell, enabling the sensor to perceive a wider range of environmental information and receive more environmental signals. This reduces the blind spot of the sensor and concentrates more effective sensing areas on the part with the highest sensor accuracy. If the environmental sensing sensor is located on the front part of the top shell, it can capture more environmental information in front of the robot, such as the environmental information of the road surface, which is beneficial for the robot's smooth movement and reduces jamming. If the environmental sensor is located on the rear part of the top shell, it can perceive more environmental information behind the robot, providing more environmental information needed for the robot's movement.

[0007] In some embodiments, the robot further includes a head unit located in the top region of the body and adjacent to the top housing, the head unit being movably disposed on the body; the top housing is disposed on the top of the body body and surrounds the periphery of the head unit; the body body has a lateral reference plane perpendicular to the height direction, and the top housing has an opening; the circumferential edge of the opening defines an opening reference plane, the opening reference plane being inclined relative to the lateral reference plane, and the front side of the opening reference plane being lower than its rear side in the height direction.

[0008] In some further embodiments, the main body of the fuselage is provided with a mounting interface for mounting the top housing. The mounting interface defines a mounting reference surface, which is inclined relative to the lateral reference surface, and the front side of the mounting reference surface is lower than its rear side in the height direction, so that the top housing as a whole is inclined downward in the direction from back to front.

[0009] In some further embodiments, the top housing includes an inner peripheral side adjacent to the head unit and an outer peripheral side away from the head unit, and the outer surface of the top housing gradually slopes downward in the direction from the inner peripheral side to the outer peripheral side to form a first inclined surface; the environmental sensing sensor is disposed on the first inclined surface such that the sensing surface forms a specific angle with the lateral reference plane.

[0010] In some embodiments, the angle formed by the intersection of the opening reference plane and the transverse reference plane is a first angle, and the first angle is an acute angle; the angle formed by the intersection of the sensing surface and the transverse reference plane is a second angle, and the second angle is an acute angle.

[0011] In some exemplary embodiments, the first included angle is 4 to 6 degrees; the second included angle is 28 to 32 degrees.

[0012] In some embodiments, the environmental sensing sensor is located in the front area of ​​the top housing, and the sensing surface of the environmental sensing sensor is at least capable of sensing environmental information on the front of the fuselage.

[0013] In some further embodiments, the robot also includes a sagittal plane, with the sensing surface arranged symmetrically with respect to the sagittal plane; and / or, the outer contour of the projection of the sensing surface onto the lateral reference plane does not exceed the outer contour of the projection of the top housing onto the lateral reference plane; the environmental sensing sensor includes a TOF sensor.

[0014] In some embodiments, the robot further includes a first power mechanism, the fixed end of which is mechanically coupled to the top region of the main body, and the movable end of which is connected to the head unit to drive the head unit to move relative to the main body.

[0015] In some exemplary embodiments, the first power mechanism includes a rotary motor, the axis of which is perpendicular to the transverse reference plane.

[0016] In some embodiments, the robot further includes a leg unit that is mechanically coupled to the body and is movable relative to the body to propel the robot.

[0017] In some exemplary embodiments, the robot has a walking mode. The robot includes a second power mechanism that is mechanically coupled to the main body of the robot. The output end of the second power mechanism is mechanically coupled to the leg units. In the walking mode, the two second power mechanisms drive the two leg units to move alternately, and the lateral reference plane of the main body of the robot is inclined relative to the horizontal reference plane.

[0018] In some exemplary embodiments, the robot has a wheeled locomotion mode, and the robot further includes a wheel-leg assembly and a third power mechanism. The wheel-leg assembly is mechanically coupled to the leg unit. In the wheeled locomotion mode, the third power mechanism can drive the wheel-leg assembly to rotate, and the lateral reference plane of the main body is inclined relative to the horizontal reference plane.

[0019] It should be understood that the above general description and the following detailed description are exemplary and explanatory only, and do not limit the disclosure of the embodiments of this utility model. Attached Figure Description

[0020] To more clearly illustrate the technical solutions of the embodiments of this utility model, the drawings used in the description of the embodiments will be briefly introduced below. Obviously, the drawings described below are some embodiments of this utility model. For those skilled in the art, other drawings can be obtained from these drawings without creative effort.

[0021] Figure 1 This is a three-dimensional structural schematic diagram of the robot proposed in some embodiments of this utility model; Figure 2 This is a three-dimensional schematic diagram of a part of the structure of the robot proposed in some embodiments of this utility model; Figure 3 This is a partial structural side view of the robot proposed in some embodiments of this utility model; Figure 4 This is one of the schematic diagrams showing the partial structure of the robot proposed in some embodiments of this utility model; Figure 5 This is the second of the split schematic diagrams of a part of the robot structure proposed in some embodiments of this utility model; Figure 6 This is a cross-sectional view of a portion of the structure of the robot proposed in some embodiments of this utility model; Figure 7 This is an assembly diagram of a portion of the robot structure proposed in some embodiments of this utility model; Figure 8 This is a schematic diagram of the separate structure of the circuit board support, the middle frame, the power supply frame, and the battery in some embodiments of this utility model; Figure 9 This is a schematic diagram of the robot in walking mode according to some embodiments of this utility model; Figure 10 This is a schematic diagram of the robot in wheeled mode according to some embodiments of this utility model; Figure 11 This is a schematic diagram of the robot structure in some embodiments of this utility model.

[0022] Explanation of reference numerals in the attached figures: 1000, Robot; 1001, Sagittal plane; 100. Fuselage; 110. Mid-frame; 113. Assembly port; 120. Circuit board support; 130. Power supply frame; 131. Battery compartment; 140. Storage space; 160. Main fuselage; 161. Lateral reference plane; 1611. Parallel reference plane; 162. Mounting reference plane; 163. Fuselage shell; 170. Top shell; 171. Front portion; 172. Rear portion; 173. Opening; 1731. Opening reference plane; 1732. First included angle; 174. Inner peripheral side; 175. Outer peripheral side; 202. Leg unit; 211. First power mechanism; 212. Second power mechanism; 215. Wheel and foot assembly; 300. Head unit; 510. Circuit board; 511. Controller; 600. Heat dissipation components; 700, battery; 800. Environmental sensing sensor; 811. Sensing surface; 812. Second included angle; 2000, horizontal reference plane; 4000, driving plane. Detailed Implementation

[0023] The technical solutions of the present utility model will be clearly and completely described below with reference to the accompanying drawings of the embodiments. Obviously, the described embodiments are only some embodiments of the present utility model, not all embodiments. Other embodiments obtained by those skilled in the art based on the embodiments of the present utility model without creative effort are all within the protection scope of the present utility model.

[0024] Robots are equipped with sensing sensors on their bodies or heads. When the robot is moving smoothly on a level surface, these sensors can effectively perceive the surrounding environment. However, when the robot is navigating more complex surfaces or in environments with steps, cliffs, or other obstacles, the sensors cannot effectively acquire information about the surrounding environment, making the robot prone to slipping and tipping over. This is especially true when navigating complex surfaces, such as those with steps, cliffs, or thresholds; if the robot fails to detect these environmental features in time, it will be unable to adapt to these conditions.

[0025] In view of this, this application proposes a robot 1000, which aims to enable the robot 1000 to perceive the surrounding environment during movement, so that the robot can move stably and reliably in various environments.

[0026] The robot 1000 of this application can be in the form of a legged robot, a wheel-legged robot, a wheeled robot, etc. The robot 1000 can also be a robot with an animal-like form. The robot 1000 can be a bipedal, quadrupedal, or other multi-legged robot.

[0027] Provided that the solutions do not contradict each other, the following embodiments can be combined with each other.

[0028] like Figure 1 As shown in the figure, a robot 1000 proposed in this embodiment of the present invention includes: a body 100 and an environmental perception sensor 800.

[0029] Among them, reference Figure 2 and Figure 3 The fuselage 100 includes a main fuselage body 160 and a top shell 170. The fuselage 100 has a height direction and a front-rear direction; the top shell 170 is mechanically coupled to the main fuselage body 160. Figure 4 and Figure 5 The top housing 170 has a front portion 171 and a rear portion 172 disposed opposite each other in the front-to-back direction. The front portion 171 is positioned lower than the rear portion 172 in the height direction, so that the top housing 170 as a whole tilts downward in the rear-to-forward direction. Figure 2 and Figure 4 As shown, the environmental sensing sensor 800 is disposed on the top housing 170 and is used to detect environmental information around the robot 1000. The environmental sensing sensor 800 has a sensing surface 811 for receiving environmental signals; the plane on which the sensing surface 811 is located is tilted relative to the overall tilt attitude of the top housing 170.

[0030] As can be seen from the above, the robot 1000 proposed in this utility model has its top shell 170 located at a relatively high position in the height direction of the body 100. Placing the environmental sensing sensor 800 on the top shell 170 increases the sensing height and detection range of the environmental sensing sensor 800. The plane containing the sensing surface 811 of the environmental sensing sensor 800 is inclined relative to the top shell 170, further expanding the range of environmental information that the environmental sensing sensor 800 can perceive, enabling it to receive more environmental signals and reducing blind spots. Furthermore, the high position of the environmental sensing sensor 800 effectively reduces the contamination level of pollutants from the travel surface 4000 on the environmental sensing sensor 800 during daily movement of the robot 1000.

[0031] The top housing 170 is tilted downwards from back to front. The front part 171 of the top housing 170 is closer to the ground than the rear part 172, while the rear part 172 is higher than the front part 171. The environmental sensing sensor 800 is installed on the top housing 170 with a certain initial tilt. Under the condition that the detection range and tilt degree of the environmental sensing sensor 800 are the same, placing the environmental sensing sensor 800 on the tilted top housing 170 can reduce the installation difficulty of the environmental sensing sensor 800 and reduce the tilt degree that the environmental sensing sensor 800 needs to be set, so that more effective sensing areas can be concentrated on the part of the sensor with the highest accuracy.

[0032] For example, if the environmental perception sensor 800 is located on the front portion 171 of the top housing 170, it can capture more environmental information in front of the robot 1000, such as the environmental information of the driving surface 4000, which is beneficial for the smooth movement of the robot 1000 and reduces jamming. Figure 9 and Figure 10 This also helps the robot 1000 to move flexibly and stably in different driving environments. If the environmental sensor is located on the rear part 172 of the top housing 170, it can perceive more environmental information located behind the robot 1000, providing more of the necessary environmental information for the robot 1000's movement.

[0033] The following describes, by way of example, the head unit 300 and the scheme for tilting the top housing 170 and the environmental sensing sensor 800.

[0034] In some embodiments, reference Figure 1 , Figure 9 and Figure 10 The robot 1000 also includes a head unit 300, which is located in the top region of the body 100 and adjacent to the top housing 170. The head unit 300 is movably mounted on the body 100. The movement of the head unit 300 increases the flexibility of the robot 1000. The movement of the head unit 300 does not interfere with the environmental perception sensor 800's perception of environmental information, enabling the environmental perception sensor 800 to better and more comprehensively perceive the necessary environmental information.

[0035] In some embodiments, reference Figures 2 to 6 The top housing 170 is located on the top of the main body 160, for reference. Figure 1 , Figure 5 , Figure 9 and Figure 10 The top shell 170 surrounds the periphery of the head unit 300; as Figure 4 , Figure 5As shown, the fuselage body 160 has a lateral reference plane 161, which is perpendicular to the height direction, as... Figure 5 and Figure 7 As shown, the top housing 170 is provided with an opening 173; Reference Figure 4 and Figure 5 The circumferential edge of the opening 173 defines an opening reference surface 1731, which is inclined relative to the transverse reference surface 161. The front side of the opening reference surface 1731 is lower than its rear side in the height direction. Thus, the head unit 300 can pass through the opening 173, and the main body or all of the head unit 300 is higher than the setting height of the top housing 170.

[0036] For example, the lateral reference plane 161 is a plane that passes through the top region of the fuselage body 160 and is perpendicular to the height direction.

[0037] For example, refer to Figure 5 The fuselage body 160 includes a middle frame 110, and the plane containing the upper surface of the middle frame 110 is used as a lateral reference plane 161.

[0038] For example, the surface on which the fuselage body 160 is connected to the head unit 300 is the lateral reference plane 161.

[0039] For ease of identification, please refer to Figure 4 The surface that is parallel to the transverse reference plane 161 and does not pass through the fuselage body 160 is denoted as the parallel reference plane 1611.

[0040] In some embodiments, reference Figure 5 The main body 160 has a mounting interface for mounting the top housing 170. The mounting interface defines a mounting reference surface 162, which is inclined relative to the transverse reference surface 161. The front side of the mounting reference surface 162 is lower than its rear side in the height direction, causing the top housing 170 to tilt downwards from back to front. By designing the mounting reference surface 162, after the top housing 170 is assembled with the main body 160, the top housing 170 can have a certain degree of inclination. Compared to the non-inclined mounting reference surface 162, the inclined mounting reference surface 162 allows for a larger contact area between the top housing 170 and the main body 160. The top housing 170 can also serve as an exterior surface of the robot 1000, for example, by concealing the outer surface of the head unit 300 that is mechanically coupled to the robot 1000, thus improving the aesthetics of the robot 1000. The top housing 170 also provides the necessary mounting support for the environmental sensing sensor 800, and can quickly disperse the force when the environmental sensing sensor 800 is impacted by external forces through the top housing 170, reducing the probability of the environmental sensing sensor 800 being damaged under impact.

[0041] In some embodiments, combined with Figure 1 , Figure 5 and Figure 6 As shown, the top housing 170 includes an inner peripheral side 174 adjacent to the head unit 300 and an outer peripheral side 175 away from the head unit 300. The outer surface of the top housing 170 gradually slopes downward from the inner peripheral side 174 to the outer peripheral side 175 to form a first inclined surface. The environmental sensing sensor 800 is disposed on the first inclined surface so that the sensing surface 811 forms a specific angle with the lateral reference plane 161. By setting the structure of the top housing 170 to have a first inclined surface, it is convenient to install the environmental sensing sensor 800 on the first inclined surface, so that the environmental sensing sensor 800 has an initial installation tilt degree, which is beneficial to adjust the sensing range of the environmental sensing sensor 800 within a preset range.

[0042] Based on the aforementioned embodiment having an open reference plane 1731 and a transverse reference plane 161, exemplarily, referring to... Figure 4 The angle formed by the intersection of the opening reference plane 1731 and the transverse reference plane 161 is the first included angle 1732. The first included angle 1732 is an acute angle. For easy identification and marking, the surface that is parallel to the transverse reference plane 161 and does not pass through the fuselage body 160 is recorded as the parallel reference plane 1611, and the angle between the opening reference plane 1731 and the parallel reference plane 1611 is recorded as the first included angle 1732. For example, in a specific embodiment, the angle of the first included angle 1732 is 4 to 6 degrees. For example, the first included angle 1732 may include values ​​such as 4.0 degrees, 4.2 degrees, 4.5 degrees, 4.7 degrees, 5.0 degrees, 5.2 degrees, 5.5 degrees, 5.7 degrees, 5.9 degrees, and 6.0 degrees, as well as a range of values ​​including any two of the aforementioned specific values ​​as end values. When the top housing 170 is installed on the main body 160, the opening reference surface 1731 of the top housing 170 is naturally inclined to the transverse reference surface 161 and forms the aforementioned angle. The front side of the top housing 170 can have a larger gap space with the head unit 300.

[0043] Based on the aforementioned embodiment having a sensing surface 811 and a lateral reference surface 161, and exemplarily referring to... Figure 6The angle formed by the intersection of the sensing surface 811 and the transverse reference surface 161 is the second included angle 812, which is an acute angle. For example, in a specific embodiment, the angle of the second included angle 812 is between 28 degrees and 32 degrees. For example, the second included angle 812 may include values ​​such as 28.0 degrees, 28.5 degrees, 29.0 degrees, 29.5 degrees, 30.0 degrees, 30.5 degrees, 31.0 degrees, 31.5 degrees, 31.8 degrees, and 32.0 degrees, as well as a range of values ​​including any two of the aforementioned specific values ​​as endpoints. This allows the sensing surface 811 to sense a wider range of environmental signals and also allows more of the effective sensing area of ​​the environmental sensing sensor 800 to be concentrated in the part of the sensor with the highest accuracy.

[0044] The following example illustrates the location and type of the environmental perception sensor 800.

[0045] In some embodiments, combined with Figure 3 , Figure 4 , Figure 5 and Figure 6 As shown, the environmental perception sensor 800 is located in the front area of ​​the top housing 170, and the sensing surface 811 of the environmental perception sensor 800 can at least sense environmental information on the front side of the robot body 100. For example, the environmental perception sensor 800 can sense information about the front driving surface 4000, and can be used to monitor environmental information such as cliffs and stairs as required by regulations, to prevent the robot 1000 from falling or tipping over during movement. In a specific embodiment, refer to... Figure 2 and Figure 6 The angle formed by the intersection of the sensing surface 811 of the environmental perception sensor 800 and the lateral reference surface 161 is 30 degrees, and the sensing surface 811 is tilted downward in the direction from front to back. At this time, the environmental perception sensor 800 can more easily perceive the environmental information of the driving surface 4000, so as to change the driving strategy of the robot 1000 according to the program preset in the robot 1000, so that the robot 1000 can better adapt to the complex driving environment.

[0046] In an exemplary embodiment, reference is made to Figure 1 Robot 1000 also includes a sagittal plane 1001, combined with Figure 1 and Figure 2 The symmetrical arrangement of the sensing surface 811 relative to the sagittal plane 1001 ensures that the robot 1000 has identical sensing range and capabilities for both the left and right sides of the space. This facilitates the robot 1000's centered passage through doorways, narrow paths, and other challenging environments; it also facilitates alignment with the robot 1000's own coordinate system, enabling convenient positioning and analysis of environmental signals; and / or, reference... Figure 2 and Figure 6The outer contour of the projection of the sensing surface 811 onto the transverse reference plane 161 does not exceed the outer contour of the projection of the top shell 170 onto the transverse reference plane 161. While ensuring a large sensing range for the environmental sensing sensor 800, this effectively reduces the degree of exposure of the environmental sensing sensor 800, making the robot 1000 more aesthetically pleasing. It also reduces the degree of contamination of the environmental sensing sensor 800 and improves its impact protection performance.

[0047] In an exemplary embodiment, the environmental perception sensor 800 includes a Time-of-Flight (TOF) sensor. The TOF sensor can be a 3D TOF sensor, or a combination of a 3D TOF sensor and a 2D TOF sensor. A 3D TOF sensor can acquire the three-dimensional outline and spatial position of objects within the entire three-dimensional space, enabling depth perception of environmental information. A 2D TOF sensor can provide planar distance measurement and environmental outline scanning, offers fast perception, and enables planar positioning and navigation. In other embodiments, the environmental perception sensor 800 may also use components such as LiDAR or visual devices.

[0048] The following example illustrates the scheme for implementing the activities of the head unit 300 of robot 1000.

[0049] In some embodiments, reference Figures 2 to 7 The robot 1000 also includes a first power mechanism 211. The fixed end of the first power mechanism 211 is mechanically coupled to the top area of ​​the main body 160, and the movable end of the first power mechanism 211 is connected to the head unit 300 to drive the head unit 300 to move relative to the main body 100. The first power mechanism 211 can drive the head unit 300 to move, making the head unit 300 more flexible. For example, the first power mechanism 211 includes a rotary motor, and the axis of the output shaft of the rotary motor is perpendicular to the transverse reference plane 161, so that the first power mechanism 211 can drive the head unit 300 to rotate relative to the main body 100, making it easier for the robot 1000 to interact with the user. Alternatively, a visual component is usually set in the head unit 300, which can make it easier for the visual component in the head unit 300 to perceive the surrounding information, thereby further improving the robot 1000's ability to perceive environmental information. In a specific embodiment, the rotary motor can drive the head unit 300 to rotate a full revolution, and the rotary motor can rotate forward or backward; or, the rotary motor can drive the head unit 300 to rotate at a preset yaw angle.

[0050] The following example illustrates the leg unit 202 of robot 1000 and the posture of robot 1000 in different walking modes.

[0051] In some embodiments, reference Figure 1 , Figure 9and Figure 10 The robot 1000 also includes a leg unit 202, which is mechanically coupled to the body 100 and can move relative to the body 100 to propel the robot 1000. The leg unit 202 can increase the flexibility of the robot 1000's movements and enable the robot 1000 to move.

[0052] In an exemplary embodiment, combined with Figure 6 , Figure 7 and Figure 9 The robot 1000 has a walking mode. The robot 1000 includes a second power mechanism 212, which is mechanically coupled to the main body 160. The output end of the second power mechanism 212 is mechanically coupled to the leg units 202. In the walking mode, the two second power mechanisms 212 drive the two leg units 202 to move alternately, and the lateral reference plane 161 of the main body 160 is tilted relative to the horizontal reference plane 2000. When the second power mechanism 212 drives the leg units 202 to move alternately, the robot 1000 is better suited to traversing obstacles and can also adapt to going up and down stairs. The further tilting of the main body 160 allows the environmental perception sensor 800 to detect more environmental signals near the driving surface 4000, which is beneficial for smoothly traversing complex driving surfaces 4000. For example, in a specific embodiment, referencing... Figure 9 The driving surface 4000 is a surface composed of steps. When the robot 1000 descends a step, the lateral reference plane 161 of the main body 160 is tilted downwards from back to front relative to the horizontal reference plane 2000, so that the environmental perception sensor 800 can sense the environmental signals of the step to be traversed. By continuously collecting the environmental signals of the step in front, the robot 1000 can control the stride and height of the leg unit 202, enabling the robot 1000 to move on the constantly changing steps, avoiding falling off the steps or even falling off a cliff. For example, the second power mechanism 212 is at least one type. When there are multiple second power mechanisms 212, different types of second power mechanisms 212 are mechanically coupled sequentially, and multiple second power mechanisms 212 can respectively drive the leg unit 202 to perform activities with different degrees of freedom.

[0053] In an exemplary embodiment, combined with Figure 1 and Figure 10The robot 1000 has a wheeled locomotion mode. It also includes a wheel-foot assembly 215 and a third power mechanism (not shown). The wheel-foot assembly 215 is mechanically coupled to the leg unit 202. In wheeled locomotion mode, the third power mechanism drives the wheel-foot assembly 215 to rotate. The lateral reference plane 161 of the main body 160 is inclined relative to the horizontal reference plane 2000. When the third power mechanism drives the wheel-foot assembly 215 to rotate continuously, the robot 1000 is better suited to travel on a relatively flat travel surface 4000, enabling it to move quickly. The inclined orientation of the lateral reference plane 161 of the main body 160 relative to the horizontal reference plane 2000 allows the robot's environmental perception sensor 800 to accurately detect whether there are obstacles within its forward travel range, thus enabling it to avoid obstacles in time and prevent collisions. Alternatively, the environmental perception sensor 800 can accurately detect whether there are sudden changes in the driving surface 4000 such as cliffs ahead, enabling the robot 1000 to adjust its driving path in time, stop in time to prevent falling, or switch to other driving modes to continue moving.

[0054] The other components in robot 1000 are described below as examples.

[0055] In some embodiments, reference Figure 6 The main body 160 includes a housing 163, a mid-frame 110, a circuit board support 120, and a circuit board 510. The mid-frame 110 and the circuit board support 120 are mechanically coupled, forming an accommodating space 140. The circuit board support 120 and the mid-frame 110 are located within the housing 163. The second power mechanism 212 is mechanically coupled to the mid-frame 110 and is used to drive... Figure 1 The leg unit 202 of the robot 1000 shown moves. A circuit board 510 is mounted on the side of the circuit board bracket 120 facing the body housing 163. The circuit board 510 is used to output electrical control signals to the second power mechanism 212 to control its movement. The body housing 163 integrates components such as the mid-frame 110, circuit board bracket 120, circuit board 510, and second power mechanism 212. These components are compactly arranged within a limited space, resulting in a high assembly density for the robot 1000. This allows for a more compact overall structure. The mid-frame 110 and circuit board bracket 120 form a rigid frame, preventing the robot 1000 from deforming under impact.

[0056] In an exemplary embodiment, the connection between the body shell 163 and the top shell 170 is fitted together, so that the top shell 170 and the body shell 163 together serve as the outer shell of the robot 1000, which not only enhances the aesthetics and overall appearance of the robot 1000, but also provides a certain degree of protection for the various components arranged inside.

[0057] In some embodiments, reference Figure 6 and Figure 7 The heat dissipation component 600 and the circuit board 510 are arranged opposite each other. When the cooling fan of the heat dissipation component 600 rotates, it can generate circulating air and continuously remove the heat generated by the circuit board 510, so that the operating temperature of the circuit board 510 will not be too high.

[0058] In some embodiments, combined with Figure 6 and Figure 8 The main body 160 also includes a power supply frame 130, and the robot 1000 also includes a battery 700. The middle frame 110 has an assembly port 113. The power supply frame 130 passes through the assembly port 113 and is detachably connected to the circuit board support 120. The space enclosed between the circuit board support 120, the middle frame 110, and the power supply frame 130 is an accommodating space 140. (Reference) Figure 6 A battery compartment 131 is formed within the power supply frame 130, and a battery 700 can be installed in the battery compartment 131. The middle frame 110 is sleeved with the power supply frame 130 through the mounting port 113. After the power supply frame 130 is connected to the circuit board support 120, the power supply frame 130, the middle frame 110, and the circuit board support 120 can work together as a rigid frame with a tight connection, further enhancing the structural strength and force distribution performance of the entire rigid frame. The battery 700 can also be arranged through the power supply frame 130, so that the battery 700 can be protected by the rigid frame from damage caused by external impact. For example, in an embodiment where the heat dissipation component 600 is located in the accommodating space 140, when the cooling fan of the heat dissipation component 600 rotates, it can drive the airflow in the accommodating space 140. The heat generated by the battery 700 is continuously dispersed during the airflow, reducing heat accumulation.

[0059] In some exemplary embodiments, the detachable connection between the power supply frame 130 and the circuit board bracket 120 can be at least one of plug-in, snap-in, or fastener connection, which can be flexibly selected according to actual needs.

[0060] In some embodiments, combined with Figure 6 , Figure 7 and Figure 11The circuit board 510 includes a controller 511 electrically connected to the second power mechanism 212. The controller 511 is configured to send a control signal to the second power mechanism 212 in response to user input or triggering of a built-in walking mode, causing the second power mechanism 212 to rotate. For example, the controller 511 controls different second power mechanisms 212 to rotate at different angles and at different intervals, enabling the second power mechanism 212 to drive the leg unit 202 to achieve walking.

[0061] In some exemplary embodiments, reference continues to be made to... Figure 11 The controller 511 is not only electrically connected to the second power mechanism 212, but also electrically connected to the environmental sensing sensor 800 and the third power mechanism (not shown). The environmental signals sensed by the environmental sensing sensor 800 can be transmitted to the controller 511. The controller 511 further generates control commands and transmits them to the second power mechanism 212 and / or the third power mechanism, causing the second power mechanism 212 and / or the third power mechanism to rotate, thereby enabling the robot 1000 to switch to the desired walking mode or the desired wheeled mode.

[0062] In this utility model, the terms "first," "second," and "third" are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of indicated technical features. Therefore, a feature defined with "first," "second," and "third" may explicitly or implicitly include one or more of the stated features.

[0063] In the description of this application, "multiple" means two or more, unless otherwise expressly and specifically defined.

[0064] The above description is merely a specific embodiment of this utility model, but the protection scope of this utility model is not limited thereto. Any person skilled in the art can easily conceive of various equivalent modifications or substitutions within the technical scope disclosed in this utility model, and these modifications or substitutions should all be covered within the protection scope of this utility model. Therefore, the protection scope of this utility model should be determined by the scope of the claims.

Claims

1. A robot, characterized in that, include: The fuselage includes a main body and a top shell, the fuselage having a height direction and a front-to-back direction; The top shell is mechanically coupled to the fuselage body. The top shell has a front part and a rear part that are arranged opposite to each other in the front-rear direction. The position of the front part in the height direction is lower than that of the rear part, so that the top shell as a whole is inclined downward in the direction from back to front. An environmental sensing sensor is disposed on the top housing and is used to detect environmental information around the robot. The environmental sensing sensor has a sensing surface for receiving environmental signals. The plane on which the sensing surface is located is tilted relative to the overall tilt of the top housing.

2. The robot as described in claim 1, characterized in that, The robot also includes a head unit, which is located in the top region of the body and adjacent to the top shell. The head unit is movably disposed on the body. The top shell is disposed on the top of the main body and surrounds the head unit. The main body of the fuselage has a lateral reference plane, which is perpendicular to the height direction. The top shell is provided with an opening. The circumferential edge of the opening defines an opening reference plane, which is inclined relative to the lateral reference plane, and the front side of the opening reference plane is lower than its rear side in the height direction.

3. The robot as described in claim 2, characterized in that, The main body of the fuselage is provided with an installation interface for installing the top housing. The installation interface defines an installation reference surface. The installation reference surface is inclined relative to the lateral reference surface, and the front side of the installation reference surface is lower than its rear side in the height direction, so that the top housing as a whole is inclined downward in the direction from back to front.

4. The robot as described in claim 2, characterized in that, The top housing includes an inner peripheral side adjacent to the head unit and an outer peripheral side away from the head unit. The outer surface of the top housing gradually slopes downward in the direction from the inner peripheral side to the outer peripheral side, forming a first inclined surface. The environmental sensing sensor is disposed on the first inclined surface such that the sensing surface forms a specific angle with the lateral reference surface.

5. The robot as described in claim 4, characterized in that, The angle formed by the intersection of the opening reference plane and the transverse reference plane is the first included angle, which is an acute angle; the angle formed by the intersection of the sensing surface and the transverse reference plane is the second included angle, which is an acute angle.

6. The robot as described in claim 5, characterized in that, The first included angle is 4 to 6 degrees; the second included angle is 28 to 32 degrees.

7. The robot as described in any one of claims 1 to 6, characterized in that, The environmental sensing sensor is located in the front area of ​​the top housing, and the sensing surface of the environmental sensing sensor is capable of sensing environmental information at least on the front side of the fuselage.

8. The robot as described in claim 7, characterized in that, The robot also includes a sagittal plane, with the sensing surface arranged symmetrically with respect to the sagittal plane; and / or, the outer contour of the projection of the sensing surface onto the lateral reference plane does not exceed the outer contour of the projection of the top housing onto the lateral reference plane; the environmental sensing sensor includes a TOF sensor.

9. The robot as described in any one of claims 2 to 6, characterized in that, The robot also includes a first power mechanism, the fixed end of which is mechanically coupled to the top area of ​​the main body, and the movable end of which is connected to the head unit to drive the head unit to move relative to the main body.

10. The robot as described in claim 9, characterized in that, The first power mechanism includes a rotary motor, and the axis of the output shaft of the rotary motor is perpendicular to the transverse reference plane.

11. The robot as claimed in any one of claims 1 to 6, characterized in that, The robot also includes a leg unit that is mechanically coupled to the body and is movable relative to the body to propel the robot forward.

12. The robot as claimed in claim 11, characterized in that, The robot has a walking mode. The robot includes a second power mechanism, which is mechanically coupled to the main body of the robot. The output end of the second power mechanism is mechanically coupled to the leg unit. In the walking mode, the two second power mechanisms drive the two leg units to move alternately, and the lateral reference plane of the main body of the robot is inclined relative to the horizontal reference plane.

13. The robot as claimed in claim 11, characterized in that, The robot has a wheeled movement mode. The robot also includes a wheel and leg assembly and a third power mechanism. The wheel and leg assembly is mechanically coupled to the leg unit. In the wheeled movement mode, the third power mechanism can drive the wheel and leg assembly to rotate. The lateral reference plane of the main body is inclined relative to the horizontal reference plane.

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