CN111844037A - Quadruped robot with autonomous environment cognitive function - Google Patents
Quadruped robot with autonomous environment cognitive function Download PDFInfo
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- CN111844037A CN111844037A CN202010709979.5A CN202010709979A CN111844037A CN 111844037 A CN111844037 A CN 111844037A CN 202010709979 A CN202010709979 A CN 202010709979A CN 111844037 A CN111844037 A CN 111844037A
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- component
- head
- camera
- sensor
- quadruped robot
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1694—Programme controls characterised by use of sensors other than normal servo-feedback from position, speed or acceleration sensors, perception control, multi-sensor controlled systems, sensor fusion
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J13/00—Controls for manipulators
- B25J13/08—Controls for manipulators by means of sensing devices, e.g. viewing or touching devices
- B25J13/081—Touching devices, e.g. pressure-sensitive
- B25J13/084—Tactile sensors
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J13/00—Controls for manipulators
- B25J13/08—Controls for manipulators by means of sensing devices, e.g. viewing or touching devices
- B25J13/088—Controls for manipulators by means of sensing devices, e.g. viewing or touching devices with position, velocity or acceleration sensors
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
- B25J19/02—Sensing devices
- B25J19/021—Optical sensing devices
- B25J19/023—Optical sensing devices including video camera means
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1694—Programme controls characterised by use of sensors other than normal servo-feedback from position, speed or acceleration sensors, perception control, multi-sensor controlled systems, sensor fusion
- B25J9/1697—Vision controlled systems
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D57/00—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track
- B62D57/02—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track with ground-engaging propulsion means, e.g. walking members
- B62D57/032—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track with ground-engaging propulsion means, e.g. walking members with alternately or sequentially lifted supporting base and legs; with alternately or sequentially lifted feet or skid
Abstract
The invention discloses a quadruped robot with an autonomous environment cognition function, which comprises a body, a head, thighs and shanks, wherein an upper touch sensor is fixedly arranged at the front part of the body, the thighs are rotatably arranged at the four corners of the body, the shanks are rotatably arranged at one ends, far away from the body, of the thighs, the shanks are arranged at the lower ends of the shanks, the head is provided with a touch component, a camera shooting component, a distance measuring component and a detection component, the touch component, the camera shooting component, the distance measuring component and the detection component are all electrically connected with a processor arranged in the head, the touch component is positioned above the camera shooting component, the detection component and the distance measuring component are both positioned at the two sides of the camera shooting component, and the middle part of the front side of the head is provided. The robot can perform multi-directional detection, identification and processing on the surrounding environment, so that the robot can autonomously recognize the environment, and the use flexibility is good.
Description
Technical Field
The invention relates to the field of robots, in particular to a quadruped robot with an environment autonomous cognitive function.
Background
The robot is a machine device which automatically executes work, can receive human commands, can run a pre-arranged program, and can perform actions according to a principle schema established by an artificial intelligence technology. The task of which is to assist or replace human work, such as production, construction, or dangerous work. The quadruped robot is a relatively common walking robot at present, however, the traditional quadruped robot does not have the autonomous environment cognitive function, can not react when meeting some special environments, is not good enough in use effect and not flexible enough, and therefore, the quadruped robot with the autonomous environment cognitive function is needed.
Disclosure of Invention
The invention aims to solve the defects in the prior art and provides a quadruped robot with an environment autonomous cognition function.
In order to achieve the purpose, the invention adopts the following technical scheme:
the utility model provides a four-footed robot with independently cognitive function to environment, includes body, head, thigh, shank, upper portion touch sensor fixed mounting is in the front portion of body, the thigh rotates the four corners of installing in the body, the shank rotates the one end of installing in the thigh and keeping away from the body, the foot sets up in the lower extreme of shank, be provided with touch component, camera module, range finding subassembly and detection subassembly on the head, touch component camera module range finding subassembly with detection subassembly all is connected with the treater electricity that sets up in the head, touch component is located camera module's top, detection subassembly with range finding subassembly all is located camera module's both sides, the front side middle part of head is provided with the display screen.
Preferably, the tactile assembly comprises an upper tactile sensor, a left tactile sensor and a right tactile sensor, the upper tactile sensor is positioned on the front side of the head, and the left tactile sensor and the right tactile sensor are respectively positioned on the left side and the right side of the body.
Preferably, the camera assembly comprises an infrared camera, a color camera, a fisheye camera and an infrared camera, wherein the infrared camera, the color camera, the fisheye camera and the infrared camera are sequentially arranged on the front side of the head from left to right.
Preferably, the distance measuring assembly comprises an infrared laser emitter and an infrared distance detection sensor, and the infrared distance detection sensor and the infrared laser emitter are respectively positioned on the left side and the right side of the display screen.
Preferably, the detection assembly comprises a right ultrasonic sensor and a left ultrasonic sensor, and the right ultrasonic sensor and the left ultrasonic sensor are respectively positioned on the left side and the right side of the display screen.
Preferably, the upper part of the thigh is provided with a first driving motor, the output end of the first driving motor is fixed with the body, the upper end of the shank is fixed with a second driving motor, the output end of the second driving motor is fixed with the lower end of the thigh, and the first driving motor and the second driving motor are both electrically connected with the processor.
Preferably, the foot head is a spherical foot head made of rubber materials.
According to the invention, through the arrangement of the upper touch sensor, the left touch sensor, the right touch sensor, the infrared camera, the color camera, the fisheye camera, the infrared camera, the right ultrasonic sensor, the left ultrasonic sensor, the infrared laser emitter and the infrared distance detection sensor, the surrounding environment can be detected, identified and processed in multiple directions, so that the robot can autonomously recognize the environment, the use flexibility is good, the whole robot is simple in structure and low in manufacturing cost.
Drawings
FIG. 1 is a schematic structural diagram of the present invention.
Reference numbers in the figures: the device comprises a body 1, a head 2, thighs 3, lower legs 4, feet 5, an upper portion touch sensor 6, a left side touch sensor 7, a right side touch sensor 8, a right side ultrasonic sensor 9, an infrared laser transmitter 10, an infrared distance detection sensor 11, a left ultrasonic sensor 12, a microphone array 13, an infrared camera 14, a color camera 15, a fisheye camera 16, an infrared camera 17 and a display screen 18.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments.
Referring to fig. 1, a four-footed robot with independently cognitive function to environment, including body 1, head 2, thigh 3, shank 4, upper portion touch sensor 6 fixed mounting is in the front portion of body 1, thigh 3 rotates the four corners of installing in body 1, shank 4 rotates and installs the one end of keeping away from body 1 in thigh 3, foot 5 sets up in the lower extreme of shank 4, be provided with touch component on head 2, the subassembly of making a video recording, range finding subassembly and detection subassembly, touch component, the subassembly of making a video recording, range finding subassembly and detection subassembly all are connected with the treater electricity that sets up in head 2, touch component is located the top of subassembly of making a video recording, detection subassembly and range finding subassembly all are located the both sides of subassembly of making a video recording, the front side middle part of head 2 is provided.
In this embodiment, the tactile assembly includes an upper tactile sensor 6, a left tactile sensor 7, and a right tactile sensor 8, the upper tactile sensor 6 is located on the front side of the head 2, the left tactile sensor 7, and the right tactile sensor 8 are respectively located on the left and right sides of the body 1, the camera assembly includes an infrared camera 14, a color camera 15, a fisheye camera 16, and an infrared camera 17, the infrared camera 14, the color camera 15, the fisheye camera 16, and the infrared camera 17 are sequentially disposed on the front side of the head 2 from left to right, the distance measuring assembly includes an infrared laser emitter 10, an infrared distance detecting sensor 11, and an infrared laser emitter 10, which are respectively located on the left and right sides of the display screen 18, the detecting assembly includes a right ultrasonic sensor 9 and a left ultrasonic sensor 12, the right ultrasonic sensor 9, and the left ultrasonic sensor 12 are respectively located on the left and right sides of the display screen 18, On the right side, the upper part of the thigh 3 is provided with a first driving motor, the output end of the first driving motor is fixed with the body 1, the upper end of the shank 4 is fixed with a second driving motor, the output end of the second driving motor is fixed with the lower end of the thigh 3, the first driving motor and the second driving motor are both electrically connected with the processor, and the foot head 5 is a spherical foot head made of rubber materials.
When the robot is used, the upper tactile sensor 6, the left tactile sensor 7 and the right tactile sensor 8 can sense the head tactile sensation of the robot and transmit the sensing information to the processor, the infrared camera 14, the color camera 15, the fisheye camera 16 and the infrared camera 17 can be used for shooting and identifying the front environmental scene of the robot, the processor can be used for processing the identifying information and automatically comparing the identifying information with the scene stored in the scene system of the robot for determining the surrounding environmental information, and after the comparison is successful, the processor controls the corresponding first driving motor or second driving motor to work, so that the robot makes action response, the right ultrasonic sensor 9 and the left ultrasonic sensor 12 can be used for detecting the front object, and the infrared laser emitter 10 and the infrared distance detection sensor 11 are used for enabling the robot to carry out distance detection on the front object The robot has the advantages of being simple in structure, low in manufacturing cost, capable of automatically recognizing the obstacles and conducting positioning, capable of automatically recognizing the environment and good in use flexibility.
In the description of the present invention, it is to be understood that the terms "center", "longitudinal", "lateral", "length", "width", "thickness", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", "clockwise", "counterclockwise", and the like, indicate orientations and positional relationships based on those shown in the drawings, and are used only for convenience of description and simplicity of description, and do not indicate or imply that the equipment or element being referred to must have a particular orientation, be constructed and operated in a particular orientation, and thus, should not be considered as limiting the present invention.
Furthermore, the terms "first", "second" and "first" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include one or more of that feature. In the description of the present invention, "a plurality" means two or more unless specifically defined otherwise.
The above description is only for the preferred embodiment of the present invention, but the scope of the present invention is not limited thereto, and any person skilled in the art should be considered to be within the technical scope of the present invention, and the technical solutions and the inventive concepts thereof according to the present invention should be equivalent or changed within the scope of the present invention.
Claims (7)
1. The quadruped robot with the autonomous environment cognition function comprises a body (1), a head (2), thighs (3) and calves (4), and is characterized in that an upper portion touch sensor (6) is fixedly installed at the front portion of the body (1), the thighs (3) are rotatably installed at four corners of the body (1), the calves (4) are rotatably installed at one end, away from the body (1), of the thighs (3), the heads (5) are arranged at the lower end of the calves (4), the head (2) is provided with a touch component, a camera shooting component, a distance measuring component and a detecting component, the touch component, the camera shooting component, the distance measuring component and the detecting component are electrically connected with a processor arranged in the head (2), the touch component is located above the camera shooting component, the detecting component and the distance measuring component are located on two sides of the camera shooting component, the middle part of the front side of the head part (2) is provided with a display screen.
2. The quadruped robot with the autonomous cognitive function on the environment according to claim 1, characterized in that the tactile assembly comprises an upper tactile sensor (6), a left tactile sensor (7) and a right tactile sensor (8), wherein the upper tactile sensor (6) is positioned at the front side of the head (2), and the left tactile sensor (7) and the right tactile sensor (8) are respectively positioned at the left side and the right side of the body (1).
3. The quadruped robot with the autonomous environment cognition function is characterized in that the camera shooting component comprises an infrared camera (14), a color camera (15), a fisheye camera (16) and an infrared camera (17), and the infrared camera (14), the color camera (15), the fisheye camera (16) and the infrared camera (17) are sequentially arranged on the front side of the head (2) from left to right.
4. The quadruped robot with the autonomous environment cognition function is characterized in that the distance measuring component comprises an infrared laser emitter (10) and an infrared distance detection sensor (11), wherein the infrared distance detection sensor (11) and the infrared laser emitter (10) are respectively positioned on the left side and the right side of a display screen (18).
5. The quadruped robot with the autonomous cognitive function on the environment as claimed in claim 4, wherein the detection assembly comprises a right ultrasonic sensor (9) and a left ultrasonic sensor (12), and the right ultrasonic sensor (9) and the left ultrasonic sensor (12) are respectively positioned on the left side and the right side of the display screen (18).
6. The quadruped robot with the autonomous environment cognition function is characterized in that a first driving motor is arranged at the upper part of the thigh (3), the output end of the first driving motor is fixed with the body (1), a second driving motor is fixed at the upper end of the shank (4), the output end of the second driving motor is fixed with the lower end of the thigh (3), and the first driving motor and the second driving motor are both electrically connected with a processor.
7. The quadruped robot with the autonomous cognitive function on the environment as claimed in claim 6, wherein the foot head (5) is a spherical foot head made of rubber material.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010709979.5A CN111844037A (en) | 2020-07-22 | 2020-07-22 | Quadruped robot with autonomous environment cognitive function |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010709979.5A CN111844037A (en) | 2020-07-22 | 2020-07-22 | Quadruped robot with autonomous environment cognitive function |
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| Publication Number | Publication Date |
|---|---|
| CN111844037A true CN111844037A (en) | 2020-10-30 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN202010709979.5A Pending CN111844037A (en) | 2020-07-22 | 2020-07-22 | Quadruped robot with autonomous environment cognitive function |
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| CN (1) | CN111844037A (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114851227A (en) * | 2022-06-22 | 2022-08-05 | 上海大学 | Device based on machine vision and sense of touch fuse perception |
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| CN110065552A (en) * | 2019-05-22 | 2019-07-30 | 贵州大学 | A kind of voice control quadruped robot |
| CN209852459U (en) * | 2019-03-04 | 2019-12-27 | 深圳市智擎新创科技有限公司 | Multi-legged robot |
| CN210090942U (en) * | 2019-07-30 | 2020-02-18 | 上海工程技术大学 | Human-computer interaction intelligent robot dog |
| CN111301553A (en) * | 2020-02-26 | 2020-06-19 | 安徽延达智能科技有限公司 | Multi-foot robot |
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2020
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Patent Citations (8)
| Publication number | Priority date | Publication date | Assignee | Title |
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| US9594377B1 (en) * | 2015-05-12 | 2017-03-14 | Google Inc. | Auto-height swing adjustment |
| CN105383587A (en) * | 2015-11-25 | 2016-03-09 | 济南大学 | Four-leg robot for detecting mine tunnel |
| CN108214497A (en) * | 2016-12-12 | 2018-06-29 | 深圳正谱教育技术有限公司 | A kind of family assiatant intelligent robot system |
| CN107364506A (en) * | 2017-07-12 | 2017-11-21 | 清华大学 | A kind of track combined quadruped robot of foot |
| CN209852459U (en) * | 2019-03-04 | 2019-12-27 | 深圳市智擎新创科技有限公司 | Multi-legged robot |
| CN110065552A (en) * | 2019-05-22 | 2019-07-30 | 贵州大学 | A kind of voice control quadruped robot |
| CN210090942U (en) * | 2019-07-30 | 2020-02-18 | 上海工程技术大学 | Human-computer interaction intelligent robot dog |
| CN111301553A (en) * | 2020-02-26 | 2020-06-19 | 安徽延达智能科技有限公司 | Multi-foot robot |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN114851227A (en) * | 2022-06-22 | 2022-08-05 | 上海大学 | Device based on machine vision and sense of touch fuse perception |
| CN114851227B (en) * | 2022-06-22 | 2024-02-27 | 上海大学 | Device based on machine vision and touch sense fusion perception |
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Application publication date: 20201030 |
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