CN220007811U - Obstacle avoidance and intelligent control system of quadruped bionic reinforcement binding robot - Google Patents

Abstract

The obstacle avoidance and intelligent control system of the four-foot bionic steel bar binding robot is characterized in that a steel bar binding mechanism is arranged on a rack, four corners of the rack are provided with four-foot crawling assemblies, and the tail ends of the four-foot crawling assemblies are connected with clamping jaws; the steel bar binding mechanism and the four-foot crawling assembly are internally provided with driving motors; the ultrasonic ranging sensor is arranged on the side wall of the frame; the binocular camera is arranged at the bottom of the frame; the infrared laser ranging sensor is arranged at the front end of the clamping jaw; the control unit is connected with the driving motor of the reinforcement binding mechanism, the driving motor of the four-foot crawling assembly, the ultrasonic ranging sensor, the binocular camera and the infrared laser ranging sensor respectively. The four groups of crawling assemblies with the clamping jaws at the tail ends are adopted, so that the four groups of crawling assemblies can work on steel bars more stably and adapt to steel bar binding work with a larger gradient. The infrared laser ranging sensor is arranged at the front end of the clamping jaw, so that the detection of the reinforced bar boundary can be better realized, and the reinforced bar boundary is not easy to fall down compared with a crawler belt or a wheel.

Description

Obstacle avoidance and intelligent control system of quadruped bionic reinforcement binding robot

Technical Field

The utility model relates to the technical field of robot control, in particular to an obstacle avoidance and intelligent control system of a quadruped bionic reinforcement binding robot.

Background

The existing reinforcement robot can basically realize intelligent and large-scale bundling of the reinforcement mesh, and is novel in structure, light and flexible. Its running gear is mostly wheel or track, leads to it to carry out the ligature work on the reinforcing bar net that can only place or the slope is lower horizontally, and its vision system adopts monocular camera more simultaneously, leads to it to carry out the ligature work to the individual layer reinforcing bar net, and nevertheless reinforcing bar ligature job site is complicated changeable, has the slope bilayer reinforcing bar net that the slope is greater than 25 degrees more than many, and the reinforcing bar ligature work under this kind of circumstances can only rely on the manpower to accomplish, has certain security risk.

The patent publication number is CN217902290U, the name is a patent application of a sensing and intelligent control system of a steel bar binding robot, and the steel bar binding robot moves on a steel bar mesh formed by upper-layer steel bars and lower-layer steel bars and carries out binding of steel bar cross nodes; this steel bar binding robot perception and intelligent control system includes: the device comprises a frame, wherein an upper rib travelling mechanism, a lower rib travelling mechanism, a reinforcing steel bar binding mechanism, a direct-current speed reducing motor, a raspberry group monocular camera, an infrared laser ranging sensor and an ultrasonic ranging sensor are arranged on the frame, and a raspberry group, a raspberry group expanding module and a microprocessor are arranged in the frame; the raspberry group is respectively communicated with the raspberry group expansion module and the microprocessor, the raspberry group is connected with the raspberry group monocular camera, and the raspberry group expansion module is connected with the infrared laser ranging sensor and the ultrasonic ranging sensor. Although the automatic intelligent movement of the steel bar binding robot and the binding of the steel bar nodes can be controlled, the steel bar binding robot is not applicable to slope steel bar meshes with the gradient of more than 25 degrees, and the steel bar boundaries cannot be accurately judged.

Disclosure of Invention

In order to overcome the problems in the prior art, the utility model aims to provide the obstacle avoidance and intelligent control system of the four-foot bionic reinforcement robot, which is used for adapting to a large-gradient reinforcement mesh by arranging the four-foot crawling assembly, and meanwhile, an infrared laser ranging sensor is arranged at the front end of the clamping jaw, so that the boundary of the reinforcement mesh is accurately judged, and falling is prevented.

In order to achieve the above purpose, the utility model adopts the following technical scheme:

obstacle avoidance and intelligent control system of four-foot bionic reinforcement bar binding robot, including:

the execution unit comprises a frame, wherein a steel bar binding mechanism is arranged on the frame, four corners of the frame are provided with four-foot crawling assemblies, and the tail ends of the four-foot crawling assemblies are connected with clamping jaws; the steel bar binding mechanism and the four-foot crawling assembly are internally provided with driving motors;

the sensing unit comprises an ultrasonic ranging sensor, a binocular camera and an infrared laser ranging sensor, and the ultrasonic ranging sensor is arranged on the side wall of the rack; the binocular camera is arranged at the bottom of the frame; the infrared laser ranging sensor is arranged at the front end of the clamping jaw;

the control unit is arranged inside the frame and is respectively connected with a driving motor of the steel bar binding mechanism, a driving motor of the four-foot crawling assembly, the ultrasonic ranging sensor, the binocular camera and the infrared laser ranging sensor.

Optionally, the control unit comprises a raspberry group module, a raspberry group expansion module and a microprocessor; the microprocessor is respectively connected with a driving motor of the reinforcement bar binding mechanism and a driving motor of the four-foot crawling assembly; the microprocessor is respectively communicated with the raspberry group expanding module and the raspberry group module, the raspberry group module is connected with the binocular camera, and the raspberry group expanding module is connected with the ultrasonic ranging sensor and the infrared laser ranging sensor.

Optionally, the microprocessor is an Arduino microprocessor.

Optionally, the microprocessor and the raspberry group module communicate through a USB.

Optionally, the frame is right quadrangular prism, four corners of frame roof are provided with the scute, the scute includes two mutually perpendicular's plate, just two plates of scute all with the side of frame is parallel, ultrasonic ranging sensor sets up on the plate of scute.

Optionally, the frame is a right square prism, and two ultrasonic ranging sensors are uniformly distributed on four sides of the frame.

Optionally, the clamping jaw comprises two clamping plates and a sliding rod, and the two clamping plates are both in sliding connection with the sliding rod.

Optionally, the infrared laser ranging sensor is arranged in the middle of the sliding rod.

Optionally, the system further comprises a visual display module which is remotely connected with the raspberry group module.

Optionally, a power module is disposed on the rack.

Compared with the prior art, the utility model has the following beneficial effects:

the sensing unit adopts the binocular camera, accurately positions the reinforcement binding nodes through binocular triangular ranging, and can obtain a first layer of target reinforcement mesh by performing depth filtration on the double-layer reinforcement mesh. The utility model can control the four-foot steel bar binding robot to automatically and intelligently move on the slope double-layer steel bar mesh with higher gradient and complete binding of steel bar nodes, can improve the working efficiency, reduce the use of manpower and reduce the risk of occupational diseases. Compared with wheels and tracks, the four-foot crawling assembly can work on steel bars more stably, is not easy to fall off, and can adapt to steel bar binding work with a larger gradient. The infrared laser ranging sensor is arranged at the front end of the clamping jaw, can detect the distribution condition of the steel bars in the advancing direction through the telescopic clamping jaw, can better detect the boundaries of the steel bars, can detect the boundaries in the walking process, and is less prone to falling compared with a crawler belt or a wheel.

Furthermore, the raspberry group module is used as a main control core, is communicated with the raspberry group expansion module, is provided with the ultrasonic ranging sensor and the infrared laser ranging sensor, and is used for ensuring whether an obstacle exists around a vehicle body and whether a robot moves to the edge or not, so that collision and falling of robots are avoided; the microprocessor is a secondary controller which is also communicated with the raspberry group module, and the rotating steering engine is driven by signals transmitted by the raspberry group module, so that the set track of the quadruped crawling assembly is controlled, the traversal of the quadruped reinforcing steel bar binding robot on the reinforcing steel bar net is realized, and the motor driving module is controlled to drive the rotating stepping motor to accurately drive the reinforcing steel bar binding mechanism so as to realize automatic and accurate binding of reinforcing steel bar nodes. According to the four-foot bar binding robot, the ultrasonic ranging sensor is adopted to detect whether barriers exist around, and the infrared ranging sensor in the middle of the clamping jaw is adopted to detect whether the clamping jaw reaches the edge area of the reinforcing steel bar mesh, so that the boundary of the bar binding operation is determined, and the safety of the four-foot bar binding robot in use is improved.

Furthermore, the raspberry group module is communicated with the microprocessor through the USB, has a simple structure and good control performance, and is more stable when controlling the quadruped steel bar binding robot.

Furthermore, the utility model also comprises a visual display module which is remotely connected with the raspberry group module, and remote control can be realized.

Furthermore, the ultrasonic ranging sensor is arranged on the angle plate of the frame, so that the detection range can be increased.

Drawings

The drawings described herein are for illustration purposes only and are not intended to limit the scope of the present disclosure in any way. In addition, the shapes, proportional sizes, and the like of the respective components in the drawings are merely illustrative for aiding in understanding the present utility model, and are not particularly limited. In the drawings:

FIG. 1 is a block diagram of the system components of the present utility model;

FIG. 2 is a schematic diagram of the overall structure of the present utility model;

FIG. 3 is a schematic view of a mobile base structure according to the present utility model;

FIG. 4 is a schematic view of a clamping jaw structure according to the present utility model;

FIG. 5 is a logic diagram of a control system according to the present utility model;

in the figure, 1-frame, 2-rotating stepper motor, 3-reinforcement binding mechanism, 4-quadruped crawling assembly, 5-rotating steering engine, 6-clamping jaw, 7-ultrasonic ranging sensor, 8-binocular camera, 9-infrared laser ranging sensor.

Detailed Description

In order to make the technical solution of the present utility model better understood by those skilled in the art, the technical solution of the present utility model will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present utility model, and it is apparent that the described embodiments are only some embodiments of the present utility model, not all embodiments. All other embodiments, which can be made by those skilled in the art based on the embodiments of the utility model without making any inventive effort, shall fall within the scope of the utility model.

It will be understood that when an element is referred to as being "disposed on" another element, it can be directly on the other element or intervening elements may also be present. When an element is referred to as being "connected" to another element, it can be directly connected to the other element or intervening elements may also be present. The terms "vertical," "horizontal," "left," "right," and the like are used herein for illustrative purposes only and are not meant to be the only embodiment.

Unless defined otherwise, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this utility model belongs. The terminology used herein in the description of the utility model is for the purpose of describing particular embodiments only and is not intended to be limiting of the utility model. The term "and/or" as used herein includes any and all combinations of one or more of the associated listed items.

The present utility model will be described in detail with reference to the accompanying drawings.

As shown in fig. 2 to 4, the obstacle avoidance and intelligent control system of the quadruped bionic reinforcement bar binding robot of the utility model comprises: the device comprises an execution unit, a sensing unit and a control unit.

The execution unit comprises a frame 1, a mounting hole is formed in the center of the bottom of the frame 1, and a reinforcing steel bar binding mechanism 3 is mounted in the mounting hole. Four corners of frame 1 all install a four-legged crawling assembly 4, the end-to-end connection of four-legged crawling assembly 4 has clamping jaw 6, clamping jaw 6 includes two splint and slide bar, two splint all with slide bar sliding connection. The steel bar binding mechanism 3 can bind steel bars. The steel bar binding mechanism 3 internally mounted has rotatory step motor 2 for control steel bar binding mechanism 3 up-and-down motion, transmission steel bar binding mechanism 3 accomplish the steel bar binding action.

A plurality of rotary steering engines 5 are arranged in the four-foot crawling assembly 4; for controlling the extension, retraction and rotation of the four-foot creeper assembly 4. The rotary steering engine 5 comprises a first rotary steering engine, the first rotary steering engine is installed on the frame 1, the first rotary steering engine is connected with a rotary supporting module through a first flange plate, and the rotary supporting module can rotate around the first rotary steering engine. Install the rotatory steering wheel of second in the rotatory support module, the rotatory steering wheel of second can be connected with the joint module through the second ring flange, the joint module can wind the rotatory steering wheel of second, just the direction of rotation of joint module with the direction of rotation of rotatory support module is perpendicular. And a third rotary steering engine is arranged on the shutdown module and is connected with the clamping jaw 6 through a third flange plate. The axial direction of the rotating shaft of the rotating support module is parallel to the movement direction of the reinforcement bar binding mechanism 3.

The sensing unit includes: an ultrasonic ranging sensor 7, a binocular camera 8 and an infrared laser ranging sensor 9. The ultrasonic ranging sensor 7 is mounted on a side wall of the frame 1. The binocular camera 8 is mounted at the bottom of the frame 1. The infrared laser ranging sensor 9 is mounted at the front end of the clamping jaw 6.

Specifically, frame 1 is the right prism, four corners of frame 1 roof are provided with the scute, the scute includes two mutually perpendicular's plate, just two plates of scute all with the side of frame 1 is parallel, ultrasonic ranging sensor 7 sets up on the plate of scute. Optionally, the frame 1 is a rectangular prism, and two ultrasonic ranging sensors 7 are disposed on four sides of the frame 1.

The control unit is arranged inside the frame 1. The control unit comprises a raspberry group module, a raspberry group expansion module and a microprocessor, wherein the raspberry group module is remotely connected with a visual display module and used for remote control. The microprocessor is respectively communicated with the raspberry group expansion module and the raspberry group module, the raspberry group module is connected with the binocular camera 8, the raspberry group expansion module is connected with the ultrasonic ranging sensor 7, and the raspberry group expansion module is connected with the infrared laser ranging sensor 9; the microprocessor is respectively connected with a driving motor of the reinforcement bar binding mechanism 3 and a driving motor of the four-foot crawling assembly 4 through motor driving plates. The infrared laser ranging sensor 9 is arranged in the middle of the sliding rod.

The ultrasonic ranging sensor 7 can send a distance value signal to the raspberry group module, the raspberry group module sends an obstacle avoidance signal to the microprocessor according to the distance value signal, and the microprocessor performs obstacle avoidance by driving the rotating steering engines 5 on the quadruped crawling assembly 4.

The infrared laser ranging sensor 9 sends a steel bar distance numerical value signal to the raspberry group module before the clamping jaw 6 clamps the steel bars, so that the steel bars are located in the middle of the clamping jaw 6, and the boundaries of the steel bar net are judged.

The binocular camera 8 sends a steel bar image signal to the raspberry group module, the raspberry group module performs steel bar binding node positioning according to the image signal and sends a telescopic signal to the microprocessor, and the microprocessor drives the rotary stepping motor 2 in the steel bar binding mechanism 3 to rotate, so that the steel bar nodes are bound.

The raspberry pie module is a main controller, the microprocessor is a secondary controller and is mainly responsible for receiving the information processed by the raspberry pie module, and the rotating stepping motor 2 of the reinforcing steel bar binding mechanism 3 and the rotating steering engines 5 of the four-foot crawling assembly 4 are controlled through the information to perform autonomous navigation, so that the normal work of the four-foot robot is ensured.

The raspberry group module can carry an embedded operating system and can run protocol services, manage files and store data; the raspberry pie module can process the steel bar image data transmitted back by the binocular camera 8, read out the data of the ultrasonic ranging sensor 7 and the infrared laser ranging sensor 9, and send the obtained results to the microprocessor.

Optionally, the microprocessor is an Arduino microprocessor.

Optionally, the microprocessor and the raspberry group module communicate through a USB.

Example 1

Embodiments of the present utility model are further described below with reference to fig. 1 and 5.

In this embodiment, the microprocessor selects the Arduino microprocessor, the microprocessor communicates with the raspberry group module through the USB, where the raspberry group module is a main controller, and plays a role in carrying on an embedded operating system, running various protocol services, managing files, and storing data, and can process the rebar image data returned by the binocular camera 8, read out the data of the ultrasonic ranging sensor 7 and the infrared laser ranging sensor 9, and send the obtained result to the Arduino microprocessor, where the Arduino microprocessor is a secondary controller, and is mainly responsible for receiving the information processed by the raspberry group module, and controlling the rotating stepper motor 2 and the plurality of rotating steering engines 5 to drive the rebar binding mechanism 3 and the quadruped crawling assembly 4 through the information, so that the rebar binding robot performs autonomous navigation. The raspberry group module is wirelessly connected through a remote control tool VNC, and the connection between the raspberry group module and the VNC is realized through a remote login tool PUTTY based on an SSH protocol. In this embodiment, a power module for supplying power is disposed on the rack 1.

The utility model relates to a four-foot bionic reinforcement bar binding robot obstacle avoidance and intelligent control system, which comprises the following steps:

step one: the four-foot bionic steel bar binding robot is started, and is in a braking state at the moment, the clamping jaw 6 clamps steel bars, and the position is positioned at the lower left side of the steel bar net.

Step two: the preparation work is completed, the Arduino microprocessor drives the rotating steering engine 5 to enable the quadruped crawling assembly 4 to crawl along the upward direction according to a set track, the distance information fed back by the infrared laser ranging sensor 9 before the clamping jaw 6 clamps the steel bars determines whether the steel bars are positioned in the middle of the clamping jaw 6, if the distance is too large, the clamping jaw 6 is positioned at the edge, the quadruped crawling assembly 4 is retracted at the moment, the reasonable planning is carried out on the path, and conversely, the clamping jaw 6 drives the machine body to continuously advance; simultaneously, whether an obstacle exists around the vehicle body or not is detected in real time through the ultrasonic ranging sensor 7; the binocular camera 8 detects whether the steel bar binding intersection points exist in real time, and the three processes are performed in parallel.

Step three: if obstacles are detected around, obstacle avoidance operation is carried out, and the Arduino microprocessor drives the rotary steering engine 5 to rotate forwards and reversely to realize the movement of the four-foot crawling assembly 4, so that the obstacles are avoided; if no obstacle is detected, no obstacle avoidance operation is performed, and the bar binding robot continues to advance along the upper bar.

Step four: if the binocular camera 8 detects that a steel bar binding cross node exists in real time, the raspberry group module transmits the accurate three-dimensional coordinates of the steel bar binding node to the Arduino microprocessor, the raspberry group module controls the rotary steering engine 5 to stop rotating so as to stop the steel bar binding robot, the rotary stepping motor 2 drives the steel bar binding mechanism 3 to accurately drive at the moment, binding of the binding node is achieved, the binding is finished, the rotary stepping motor 2 returns to the original position in a reverse way, the rotary steering engine 5 continues to move, and the steel bar binding robot advances along the upper bar; if no bar binding intersection node is detected, the bar binding robot continues to advance along the upper bar.

Step five: if the infrared laser ranging sensor 9 positioned in the clamping jaw 6 fails to detect the steel bar before clamping, the situation that the steel bar binding robot moves to the edge is indicated, the rotating steering engine 5 reverses according to a set track to retract the four-foot crawling assembly 4, and the steering of the binding robot is completed by controlling the rotating steering engine 5 to rotate; if the infrared laser ranging sensor 9 located inside the clamping jaw 6 does not detect the arrival edge, the bar binding robot continues to move along the upper bar.

Step six: repeating the second, third, fourth and fifth steps until the binding of the reinforcing steel bars is finished.

And placing the four-foot bionic steel bar binding robot on the double-layer steel bar net. Image information of the reinforcement bar binding nodes is acquired through the binocular camera 8 and transmitted to the control unit. Obstacle information is acquired by the ultrasonic ranging sensor 7 and transmitted to the control unit. The edge information of the reinforcing mesh is acquired by an infrared laser ranging sensor 9 and transmitted to a control unit. The control unit controls the execution unit of the robot to execute different actions on the multi-layer reinforcing steel bar net according to the reinforcing steel bar binding point image information, the barrier information and the reinforcing steel bar net edge information. The method adopts a mode of combining the binocular camera 8, the ultrasonic ranging sensor 7 and the infrared laser ranging sensor 9, reduces the range of a visual field blind area of the robot, improves the accuracy of the robot for acquiring obstacle information, and improves the robot work efficiency.

Example 2

Referring to fig. 5, in this embodiment, the control unit controls the robot to perform an accurate binding action when working on the multi-layer reinforcing mesh according to the image information of the reinforcing binding points, and specifically includes the following steps: in the forward working process of the robot, the control unit judges whether the information of the steel bar binding points exists according to the image information of the steel bar binding points; judging whether the steel bar binding point is an unbuckled node or not under the condition that the steel bar binding point information appears; if the joint is not bound, the robot stops the advancing action, and the steel bar binding mechanism 3 is driven to carry out binding operation according to the three-dimensional coordinate information of the steel bar binding point; otherwise, the robot continues to advance according to the established track. Specifically, the robot may perform more accurate banding behavior according to three-dimensional information of the reinforcing bar banding nodes in a reinforcing bar mesh advancing mode.

Example 3

Referring to fig. 5, in this embodiment, the robot performs reasonable planning on a walking route of the robot according to the obstacle information, and specifically includes the following steps: in the working process of the robot, the control unit controls the quadruped crawling assembly 4 to drive the frame 1 to move forward, and if the ultrasonic ranging sensor 7 does not detect the distance information or the detected distance information is larger than a preset value, the control unit controls the robot to move forward according to a set track; conversely, the control unit controls the robot to perform obstacle avoidance, and if the initial position of the robot is in a right side edge state, the robot turns left; if the initial position of the robot is in a left side edge state, the robot turns right; in the rotation process of the robot, the ultrasonic ranging sensor 7 detects the distance information of surrounding objects and transmits the distance information to the control unit; if the ultrasonic ranging sensor 7 does not detect the distance information or the detected distance information is larger than or equal to a preset value, the control unit controls the execution unit to complete obstacle avoidance; if the distance information detected by the ultrasonic ranging sensor 7 is smaller than the preset value, the control unit controls the execution unit to go backward until the steering can be completed. The method utilizes the ultrasonic ranging sensor 7 to define the distance between the obstacle and the frame 1, and according to whether the distance between the obstacle is smaller than a preset threshold value, different obstacle avoidance actions are executed, so that the robot work efficiency can be improved.

Example 4

Referring to fig. 5, in this embodiment, the robot performs auxiliary planning on a walking path of the robot according to edge information of the reinforcing mesh, and specifically includes the following steps: in the working process of the robot, when the clamping jaw 6 clamps the steel bar, if the infrared laser ranging sensor 9 detects that the distance information is smaller than or equal to a preset value, the clamping jaw 6 is proved to be positioned above the steel bar, namely the robot does not move to the edge of the steel bar net; on the contrary, it is proved that the clamping jaw 6 does not contain the steel bars, namely, the robot moves to the boundary of the steel bar net at the moment, and the control unit controls the robot to perform steering action. According to the method, whether the clamping jaw 6 is positioned at the boundary of the reinforcing mesh or not is defined by the infrared laser ranging sensor 9, and the steering action is executed according to whether the distance detected by the infrared laser ranging sensor 9 is larger than a preset threshold value, so that the working safety of the robot is ensured.

The device elements in the above embodiments are conventional device elements unless otherwise specified, and the structural arrangement, operation or control modes in the embodiments are conventional arrangement, operation or control modes in the art unless otherwise specified.

Finally, it is noted that the above-mentioned embodiments are merely for illustrating the technical solution of the present utility model, and that other modifications and equivalents thereof by those skilled in the art should be included in the scope of the claims of the present utility model without departing from the spirit and scope of the technical solution of the present utility model.

Claims (10)

1. Obstacle avoidance and intelligent control system of quadruped bionic reinforcement robot, which is characterized by comprising:

the device comprises an execution unit, wherein the execution unit comprises a frame (1), a steel bar binding mechanism (3) is installed on the frame (1), four corners of the frame (1) are provided with four-foot crawling assemblies (4), and the tail ends of the four-foot crawling assemblies (4) are connected with clamping jaws (6); the driving motors are arranged in the reinforcing steel bar binding mechanism (3) and the four-foot crawling assembly (4);

the sensing unit comprises an ultrasonic ranging sensor (7), a binocular camera (8) and an infrared laser ranging sensor (9), wherein the ultrasonic ranging sensor (7) is arranged on the side wall of the frame (1); the binocular camera (8) is arranged at the bottom of the frame (1); the infrared laser ranging sensor (9) is arranged at the front end of the clamping jaw (6);

the control unit is arranged inside the frame (1), and is respectively connected with a driving motor of the steel bar binding mechanism (3), a driving motor of the four-foot crawling assembly (4), the ultrasonic ranging sensor (7), the binocular camera (8) and the infrared laser ranging sensor (9).

2. The obstacle avoidance and intelligent control system of the quadruped bionic reinforcement bar binding robot according to claim 1, wherein the control unit comprises a raspberry group module, a raspberry group expansion module and a microprocessor; the microprocessor is respectively connected with a driving motor of the reinforcement bar binding mechanism (3) and a driving motor of the four-foot crawling assembly (4); the microprocessor is respectively communicated with the raspberry group expansion module and the raspberry group module, the raspberry group module is connected with the binocular camera (8), and the raspberry group expansion module is connected with the ultrasonic ranging sensor (7) and the infrared laser ranging sensor (9).

3. The obstacle avoidance and intelligent control system of the quadruped bionic reinforcement bar binding robot according to claim 2, wherein the microprocessor is an Arduino microprocessor.

4. The obstacle avoidance and intelligent control system of the quadruped bionic reinforcement bar binding robot according to claim 2, wherein the microprocessor and the raspberry group module are in communication through a USB.

5. The obstacle avoidance and intelligent control system of the quadruped bionic reinforcement bar binding robot according to claim 1, wherein the frame (1) is a straight quadrangular prism, corner plates are arranged at four corners of a top plate of the frame (1), each corner plate comprises two plates which are perpendicular to each other, the two plates of each corner plate are parallel to the side face of the frame (1), and the ultrasonic ranging sensor (7) is arranged on the plate of each corner plate.

6. The obstacle avoidance and intelligent control system of the quadruped bionic reinforcement bar binding robot according to claim 1 is characterized in that the frame (1) is a right square prism, and two ultrasonic ranging sensors (7) are uniformly distributed on four sides of the frame (1).

7. The obstacle avoidance and intelligent control system of the quadruped bionic reinforcement bar binding robot according to claim 1, wherein the clamping jaw (6) comprises two clamping plates and a sliding rod, and the two clamping plates are both in sliding connection with the sliding rod.

8. The obstacle avoidance and intelligent control system of the quadruped bionic reinforcement bar binding robot according to claim 7, wherein the infrared laser ranging sensor (9) is arranged in the middle of the sliding rod.

9. The obstacle avoidance and intelligent control system of the quadruped bionic reinforcement bar binding robot according to claim 1, further comprising a visual display module remotely connected with the raspberry group module.

10. The obstacle avoidance and intelligent control system of the quadruped bionic reinforcement bar binding robot according to claim 1 is characterized in that a power module is arranged on the frame (1).