CN113232743A

CN113232743A - Humanoid quadruped robot

Info

Publication number: CN113232743A
Application number: CN202110639103.2A
Authority: CN
Inventors: 马保平; 王春雷; 杨亚; 彭长武; 金伟祺; 芮岳峰; 侯晓楠; 李晓强; 李昀佶
Original assignee: China Electronics Technology Robot Co ltd
Current assignee: China Electronics Technology Robot Co ltd
Priority date: 2021-06-08
Filing date: 2021-06-08
Publication date: 2021-08-10

Abstract

The invention provides a humanoid quadruped robot which comprises legs, mechanical arms, a waist, four moving platforms, a head and a body part, wherein the bottom end of the body part is connected with the moving platform through the waist; the two mechanical arms are arranged, two sides of the body part are respectively movably connected with the two mechanical arms, and the top end of the body part is movably connected with the head part; and the humanoid quadruped robot is provided with environment sensing equipment. The humanoid quadruped robot carries the laser radar and the depth camera, can introduce the SLAM technology and the machine vision into the humanoid quadruped robot, and can realize autonomous operation of the humanoid quadruped robot in complex working conditions.

Description

Humanoid quadruped robot

Technical Field

The invention relates to the technical field of robots, in particular to a humanoid quadruped robot.

Background

In recent years, instability of a humanoid robot developed in the field of robots during movement limits rapid development of the humanoid robot, the design of a humanoid robot leg structure with high stability is the research focus and difficulty of the humanoid robot, and moreover, an intelligent sensor is carried on a robot body, so that the application scene of the humanoid robot can be enriched.

Therefore, there is a need for a humanoid quadruped robot applying SLAM (simultaneous localization and mapping) technology and machine vision technology.

Disclosure of Invention

The invention aims to provide a humanoid quadruped robot, which uses the quadruped robot as a moving platform, bears a humanoid mechanical arm to operate, can move and operate in complex environments such as sand, grassland, gravel land and slope, and can autonomously operate in complex working conditions by carrying a laser radar, a depth camera and a somatosensory camera on the whole robot and combining machine vision and SLAM (synchronous positioning and mapping) navigation technology.

In order to achieve the above purpose, the invention provides the following technical scheme:

1. a humanoid quadruped robot comprises legs, mechanical arms, a waist, a moving platform, a head and a body, wherein the bottom end of the body is connected with the moving platform through the waist, the number of the legs is four, the four legs are all connected to the moving platform, each leg is movably connected with the moving platform, and the humanoid quadruped robot can move back and forth or move left and right through the legs; the two mechanical arms are arranged, two sides of the body part are respectively movably connected with the two mechanical arms, and the top end of the body part is movably connected with the head part; and the humanoid quadruped robot is provided with environment sensing equipment.

Further, in the human-shaped four-foot robot, the leg part comprises a hip joint, a knee joint, a thigh and a shank, and the thigh is rotatably connected with the shank; the movable platform comprises four side surfaces, two first motors are respectively installed on two opposite side surfaces of the movable platform, each first motor is connected with the top end of the thigh through one hip joint, and the first motors control one deflection of the legs; a second motor is arranged on the inner side of the other end of each hip joint, the second motor is connected with the top end of the thigh through the hip joint, and the second motor controls the pitching of the leg; and a third motor is arranged on the outer side of the other end of each hip joint, the third motor is connected with the lower leg through the knee joint, and the third motor controls the pitching of the lower leg.

Further, in the above human-shaped four-footed robot, the robot arm includes a shoulder joint, an elbow joint, a large arm and a small arm, the large arm and the trunk are movably connected by the shoulder joint, and the large arm and the small arm are movably connected by the elbow joint.

Further, in the above human-shaped four-footed robot, a fourth motor and a fifth motor are provided at the connection of each shoulder joint; the output end of the fourth motor is movably connected with the mechanical arm through the shoulder joint, and the fourth motor controls deflection of the mechanical arm; the fifth motor is fixedly connected with the mechanical arm, and the fifth motor controls one pitching of the mechanical arm; preferably, a sixth motor and a seventh motor are arranged at each elbow joint; the output end of the sixth motor is movably connected with one end of the small arm through the elbow joint, and the sixth motor controls one deflection of the small arm; the output end of the seventh motor is fixedly connected with one end of the small arm, and the seventh motor controls one pitching of the small arm.

Further, in the above-described humanoid quadruped robot, the small arm may be mounted with a manipulator.

Further, in the above-described human-shaped four-footed robot, an eighth motor is provided inside the trunk portion, an output end of the eighth motor is connected to the waist portion, and the eighth motor controls one deflection of the waist portion.

Further, in the above human-shaped four-footed robot, a ninth motor is provided inside the trunk portion, an output end of the ninth motor is connected to the head portion, and the ninth motor controls one yaw of the head portion.

Further, in foretell humanoid four-footed robot, environmental perception equipment all is provided with the mounting panel including feeling the camera to the side of moving platform, every all be provided with on the mounting panel feel the camera.

Further, in the above human-shaped four-footed robot, the environment sensing device comprises a depth camera, and the front side and the back side of the head are both provided with a depth camera; preferably, the depth camera is provided in plurality on a front side of the head; preferably, a plurality of the depth cameras are arranged in order from left to right on the front side of the head; preferably, the depth camera is provided in plurality on a rear side of the head; preferably, a plurality of the depth cameras are arranged in order from left to right on the rear side of the head.

Further, in the humanoid quadruped robot, the environment sensing device comprises a laser radar, a base is arranged on the head, the laser radar is arranged in the base, and the laser radar can rotate in the base.

The invention discloses a humanoid quadruped robot, which comprises legs, a mechanical arm, a waist, a moving platform, a head and a trunk, wherein the legs can realize the front-back movement or the left-right movement of the humanoid quadruped robot; each mechanical arm has four degrees of freedom, and the total number of degrees of freedom is eight; the head and the waist each have one degree of freedom. The humanoid quadruped robot carries the laser radar and the depth camera, can introduce the SLAM technology and the machine vision into the humanoid quadruped robot, and can realize autonomous operation of the humanoid quadruped robot in complex working conditions.

Drawings

The accompanying drawings, which are incorporated in and constitute a part of this application, illustrate embodiments of the invention and, together with the description, serve to explain the invention and not to limit the invention. Wherein:

FIG. 1 is a schematic perspective view of an embodiment of the present invention;

FIG. 2 is another schematic perspective view of an embodiment of the present invention;

description of reference numerals: 1, a leg part; 11 left front leg; 12 right front leg; 13 left rear leg; 14 right rear leg; 15 thigh; 16 lower legs; 17 hip joints; 18 knee joint; 2, a mechanical arm; 21 a left arm; 22 right arm; 23 shoulder joints; the elbow joint 24; 25 large arms; 26 small arms; 3, waist part; 4, moving the platform; 41 mounting a plate; a 42 body-sensory camera; 5 a head part; a 51 depth camera; 52 laser radar; 6 trunk parts.

Detailed Description

The present invention will be described in detail below with reference to the embodiments with reference to the attached drawings. The various examples are provided by way of explanation of the invention, and not limitation of the invention. In fact, it will be apparent to those skilled in the art that modifications and variations can be made in the present invention without departing from the scope or spirit thereof. For instance, features illustrated or described as part of one embodiment, can be used with another embodiment to yield a still further embodiment. It is therefore intended that the present invention encompass such modifications and variations as fall within the scope of the appended claims and equivalents thereof.

In the description of the present invention, the terms "longitudinal", "lateral", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", and the like indicate orientations or positional relationships based on the orientations or positional relationships shown in the drawings, which are for convenience of description of the present invention only and do not require that the present invention must be constructed and operated in a specific orientation, and thus, should not be construed as limiting the present invention. The terms "connected," "connected," and "disposed" as used herein are intended to be broadly construed, and may include, for example, fixed and removable connections; can be directly connected or indirectly connected through intermediate components; the connection may be a wired electrical connection, a wireless electrical connection, or a wireless communication signal connection, and a person skilled in the art can understand the specific meaning of the above terms according to specific situations.

As shown in fig. 1 to 2, according to an embodiment of the present invention, there is provided a humanoid quadruped robot, including leg portions 1, a robot arm 2, a waist portion 3, a mobile platform 4, a head portion 5 and a body portion 6, wherein the bottom end of the body portion 6 is connected to the mobile platform 4 through the waist portion 3, the number of the leg portions 1 is four, the four leg portions 1 are all connected to the mobile platform 4, each leg portion 1 is movably connected to the mobile platform 4, and the humanoid quadruped robot can move back and forth or move left and right through the leg portions 1; the two mechanical arms 2 are arranged, two sides of the body part 6 are respectively movably connected with the two mechanical arms 2, and the top end of the body part 6 is movably connected with the head part 5; the humanoid quadruped robot is provided with an environment sensing device. The humanoid quadruped robot can move back and forth or move left and right through the four legs 1 connected with the mobile platform 4, environment sensing equipment arranged on the humanoid quadruped robot can build a map and navigate, SLAM (synchronous positioning and mapping) technology and machine vision technology are introduced into the humanoid quadruped robot, application scenes of the humanoid quadruped robot are enriched, and the humanoid quadruped robot can move and operate in complex environments (such as sand, grassland, gravel and slopes).

Further, the leg part 1 comprises a hip joint, a hip joint 17, a knee joint 18, a thigh 15 and a shank 16, wherein the thigh 15 is rotatably connected with the shank 16; the moving platform 4 comprises a box body structure with four side surfaces, two opposite side surfaces of the moving platform 4 are respectively provided with two first motors, each first motor is connected with the top end of a thigh 15 through a hip joint, and the first motors control the deflection of the legs 1; the inner side of the other end of each hip joint is provided with a second motor, the second motor is connected with the top end of the thigh 15 through a hip joint 17, and the second motor controls the pitching of the leg part 1; the outer side of the other end of each hip joint is provided with a third motor, the third motor is connected with the lower leg 16 through the knee joint 18, and the third motor controls the pitching of the lower leg 16. Each leg 1 has three degrees of freedom, the three degrees of freedom of each leg 1 being respectively the yaw of the leg 1, the pitch of the leg 1 and the pitch of the calf 16, the four legs 1 having twelve degrees of freedom in total. The axial direction of the first motor is parallel to the length direction of the movable platform 4, the axial direction of the second motor and the axial direction of the third motor are vertical to the length direction of the movable platform 4, and the axial line of the second motor is collinear with the axial line of the third motor; the first motor can drive the four legs 1 to swing towards two sides through hip joints, the second motor can drive the four legs 1 to tilt through hip joints 17, and the third motor can drive the calves 16 to tilt by taking one end of the thighs 15 as an axis through the knee joints 18.

The four leg portions 1 are respectively a left front leg 11, a right front leg 12, a left rear leg 13 and a right rear leg 14, the left front leg 11 and the right front leg 12 are connected with one side face of the mobile platform 4, the left front leg 11 and the right front leg 12 are symmetrically arranged relative to the length direction of the mobile platform 4, the left rear leg 13 and the right rear leg 14 are connected with the other side face of the mobile platform 4, the left rear leg 13 and the right rear leg 14 are symmetrically arranged relative to the length direction of the mobile platform 4, the left front leg 11 and the left rear leg 13 are oppositely arranged relative to the width direction of the mobile platform 4, and the right front leg 12 and the right rear leg 14 are oppositely arranged relative to the width direction of the mobile platform 4.

Further, the two mechanical arms 2 are respectively a left arm 21 and a right arm 22, the left arm 21 and the right arm 22 are respectively movably connected with the left side and the right side of the trunk part 6, the mechanical arms 2 comprise shoulder joints 23, elbow joints 24, a large arm 25 and a small arm 26, each mechanical arm 2 has four degrees of freedom which are respectively the deflection and the pitching of the mechanical arm 2 and the deflection and the pitching of the small arm 26, and the left arm 21 and the right arm 22 have eight degrees of freedom in total; the top end of the big arm 25 is movably connected with the trunk part 6 through a shoulder joint 23, and the bottom end of the big arm 25 is movably connected with one end of the small arm 26 through an elbow joint 24; preferably, a fourth motor and a fifth motor are arranged at the joint of each shoulder joint 23; the output end of the fourth motor is movably connected with the mechanical arm 2 (the top end of the large arm 25) through a shoulder joint 23, and the fourth motor controls the deflection of the mechanical arm 2 by taking the shoulder joint 23 as an axis; the output end of the fifth motor is fixedly connected with the mechanical arm 2 (the top end of the large arm 25), and the fifth motor controls the pitching of the mechanical arm 2; preferably, a sixth motor and a seventh motor are arranged at each elbow joint 24; the output end of the sixth motor is movably connected with one end of the small arm 26 through the elbow joint 24, and the sixth motor controls the small arm 26 to swing; the output end of the seventh motor is fixedly connected with the elbow joint 24 at one end of the small arm 26, and the seventh motor controls the pitching of the small arm 26.

Further, the other end of the small arm 26 can be mounted with a robot. The manipulator is installed on the humanoid quadruped robot, so that the humanoid quadruped robot can complete relatively complex operation, and application scenes are enriched.

Further, an eighth motor is provided inside the trunk portion 6, an output end of the eighth motor is connected to the waist portion 3, and the eighth motor controls one deflection of the waist portion 3.

Furthermore, a ninth motor is arranged inside the body part 6, the output end of the ninth motor is connected with the head part 5, and the ninth motor controls one deflection of the head part 5.

The human-shaped four-foot robot complete machine has twenty-two degrees of freedom, which are respectively as follows: each leg 1 has three degrees of freedom, and the four legs 1 have twelve degrees of freedom; each mechanical arm 2 has four degrees of freedom, and the two mechanical arms 2 have eight degrees of freedom in total; the head 5 and the waist 3 have one degree of freedom respectively, the hip joint 17, the knee joint 18, the shoulder joint 23 and the elbow joint 24 of the human-shaped quadruped robot with twenty-two degrees of freedom are active joints, the active joints are all in an electric driving mode, a control scheme is simple and reliable, and the robustness is high.

Further, the environment sensing device comprises a body sensing camera 42, each side face of the mobile platform 4 is provided with a mounting plate 41, and each mounting plate 41 is provided with the body sensing camera 42. This arrangement enables the motion sensing camera 42 to be easily detached and attached. The motion sensing camera 42 can realize an omnidirectional machine vision technology, and the motion sensing camera 42 can collect gesture images of an operator, analyze the gesture images of the operator, and then control the motion of the robot through the control system.

Further, the environment sensing apparatus includes a depth camera 51, and the front side and the rear side of the head 5 are provided with the depth camera 51; preferably, the depth camera 51 is provided in plurality on the front side of the head 5; preferably, the plurality of depth cameras 51 are arranged in order from left to right on the front side of the head 5; preferably, the depth camera 51 is provided in plurality on the rear side of the head 5; preferably, the plurality of depth cameras 51 are arranged in order from left to right on the rear side of the head 5. The plurality of depth cameras 51 are arranged in order from left to right on the front side of the head 5, and the plurality of depth cameras 51 are arranged in order from left to right on the rear side of the head 5. The depth camera 51 is used for shooting an environment image around the robot and acquiring environment color information and depth information, so that the control system can conveniently position and construct a map according to the information acquired by the depth camera 51, route planning is realized, and the blind guiding function of the robot is further realized.

Further, the environment sensing device comprises a laser radar 52, a base is arranged on the head 5, the laser radar 52 is arranged in the base, and the laser radar 52 can rotate in the base. In the process of advancing, the intelligent quadruped robot acquires point cloud data formed by the laser radar 52 and performs SLAM operation to obtain an environment map and pose information of the robot, and can also obtain obstacle information in the environment.

From the above description, it can be seen that the above-described embodiments of the present invention achieve the following technical effects:

a humanoid quadruped robot comprises a leg part 1, a mechanical arm 2, a waist part 3, a moving platform 4, a head part 5 and a body part 6, wherein the leg part 1 can realize the front-back movement or the left-right movement of the humanoid quadruped robot, the humanoid quadruped robot has twenty-two degrees of freedom, each leg part 1 has three degrees of freedom, and the four leg parts 1 have twelve degrees of freedom; each mechanical arm 2 has four degrees of freedom, and the two mechanical arms 2 have eight degrees of freedom in total; the head 5 and the waist 3 each have one degree of freedom. The humanoid quadruped robot carries the laser radar 52 and the depth camera 51, can introduce the SLAM technology and the machine vision into the humanoid quadruped robot, and can realize the autonomous movement and operation of the humanoid quadruped robot in complex working conditions (such as sand, grassland, gravel and slope).

The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention, and various modifications and changes may be made by those skilled in the art. Any modification, equivalent replacement, or improvement made within the spirit and principle of the present invention should be included in the protection scope of the present invention.

Claims

1. A humanoid quadruped robot is characterized by comprising legs, mechanical arms, a waist, a mobile platform, a head and a trunk,

the bottom end of the body part is connected with the mobile platform through the waist part, the number of the legs is four, the four legs are all connected to the mobile platform, each leg is movably connected with the mobile platform, and the humanoid quadruped robot can move back and forth or move left and right through the legs;

the two mechanical arms are arranged, two sides of the body part are respectively movably connected with the two mechanical arms, and the top end of the body part is movably connected with the head part;

and the humanoid quadruped robot is provided with environment sensing equipment.

2. The humanoid quadruped robot as set forth in claim 1,

the leg part comprises a hip joint, a knee joint, a thigh and a shank, and the thigh is rotatably connected with the shank;

the movable platform comprises four side surfaces, two first motors are respectively installed on two opposite side surfaces of the movable platform, each first motor is connected with the top end of the thigh through one hip joint, and the first motors control one deflection of the legs;

a second motor is arranged on the inner side of the other end of each hip joint, the second motor is connected with the top end of the thigh through the hip joint, and the second motor controls the pitching of the leg;

and a third motor is arranged on the outer side of the other end of each hip joint, the third motor is connected with the lower leg through the knee joint, and the third motor controls the pitching of the lower leg.

3. The humanoid quadruped robot as set forth in claim 1,

the mechanical arm comprises a shoulder joint, an elbow joint, a big arm and a small arm, the big arm is movably connected with the trunk part through the shoulder joint, and the big arm is movably connected with the small arm through the elbow joint.

4. The humanoid quadruped robot as set forth in claim 3,

a fourth motor and a fifth motor are arranged at the joint of each shoulder joint; the output end of the fourth motor is movably connected with the mechanical arm through the shoulder joint, and the fourth motor controls deflection of the mechanical arm; the fifth motor is fixedly connected with the mechanical arm, and the fifth motor controls one pitching of the mechanical arm;

preferably, a sixth motor and a seventh motor are arranged at each elbow joint; the output end of the sixth motor is movably connected with one end of the small arm through the elbow joint, and the sixth motor controls one deflection of the small arm; the output end of the seventh motor is fixedly connected with one end of the small arm, and the seventh motor controls one pitching of the small arm.

5. The humanoid quadruped robot as set forth in claim 3,

the small arm can be provided with a manipulator.

6. The humanoid quadruped robot as set forth in claim 1,

an eighth motor is arranged inside the trunk part, the output end of the eighth motor is connected with the waist part, and the eighth motor controls one deflection of the waist part.

7. The humanoid quadruped robot as set forth in claim 1,

a ninth motor is arranged inside the trunk part, the output end of the ninth motor is connected with the head part, and the ninth motor controls one deflection of the head part.

8. The humanoid quadruped robot as set forth in claim 2,

the environment perception device comprises a body sensing camera, each side face of the mobile platform is provided with a mounting plate, and each mounting plate is provided with the body sensing camera.

9. The humanoid quadruped robot as set forth in claim 1,

the environment sensing equipment comprises a depth camera, and the front side and the back side of the head are both provided with the depth camera;

preferably, the depth camera is provided in plurality on a front side of the head;

preferably, a plurality of the depth cameras are arranged in order from left to right on the front side of the head;

preferably, the depth camera is provided in plurality on a rear side of the head;

preferably, a plurality of the depth cameras are arranged in order from left to right on the rear side of the head.

10. The humanoid quadruped robot as set forth in claim 1,

the environment perception equipment comprises a laser radar, a base is arranged on the head, the laser radar is arranged in the base, and the laser radar can rotate in the base.