CN111924018A - Robot driver - Google Patents

Robot driver Download PDF

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Publication number
CN111924018A
CN111924018A CN202010501843.5A CN202010501843A CN111924018A CN 111924018 A CN111924018 A CN 111924018A CN 202010501843 A CN202010501843 A CN 202010501843A CN 111924018 A CN111924018 A CN 111924018A
Authority
CN
China
Prior art keywords
assembly
stepping motor
sensor
module
shell
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Pending
Application number
CN202010501843.5A
Other languages
Chinese (zh)
Inventor
林铭
林上奥
刘红连
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Kuzhijia Guangzhou Intelligent Technology Development Co ltd
Original Assignee
Kuzhijia Guangzhou Intelligent Technology Development Co ltd
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Kuzhijia Guangzhou Intelligent Technology Development Co ltd filed Critical Kuzhijia Guangzhou Intelligent Technology Development Co ltd
Priority to CN202010501843.5A priority Critical patent/CN111924018A/en
Publication of CN111924018A publication Critical patent/CN111924018A/en
Pending legal-status Critical Current

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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
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J11/00—Manipulators not otherwise provided for
    • 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
    • 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
    • B25J19/026—Acoustical sensing devices
    • 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
    • B25J19/04—Viewing devices
    • 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
    • B25J9/1602—Programme controls characterised by the control system, structure, architecture
    • B25J9/161—Hardware, e.g. neural networks, fuzzy logic, interfaces, processor
    • 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
    • B25J9/1679—Programme controls characterised by the tasks executed
    • 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
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F21—LIGHTING
    • F21S—NON-PORTABLE LIGHTING DEVICES; SYSTEMS THEREOF; VEHICLE LIGHTING DEVICES SPECIALLY ADAPTED FOR VEHICLE EXTERIORS
    • F21S4/00—Lighting devices or systems using a string or strip of light sources
    • F21S4/20—Lighting devices or systems using a string or strip of light sources with light sources held by or within elongate supports
    • F21S4/22—Lighting devices or systems using a string or strip of light sources with light sources held by or within elongate supports flexible or deformable, e.g. into a curved shape
    • F21S4/24—Lighting devices or systems using a string or strip of light sources with light sources held by or within elongate supports flexible or deformable, e.g. into a curved shape of ribbon or tape form, e.g. LED tapes
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F21—LIGHTING
    • F21V—FUNCTIONAL FEATURES OR DETAILS OF LIGHTING DEVICES OR SYSTEMS THEREOF; STRUCTURAL COMBINATIONS OF LIGHTING DEVICES WITH OTHER ARTICLES, NOT OTHERWISE PROVIDED FOR
    • F21V7/00—Reflectors for light sources
    • G—PHYSICS
    • G10—MUSICAL INSTRUMENTS; ACOUSTICS
    • G10L—SPEECH ANALYSIS OR SYNTHESIS; SPEECH RECOGNITION; SPEECH OR VOICE PROCESSING; SPEECH OR AUDIO CODING OR DECODING
    • G10L15/00—Speech recognition
    • G10L15/22—Procedures used during a speech recognition process, e.g. man-machine dialogue
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04L—TRANSMISSION OF DIGITAL INFORMATION, e.g. TELEGRAPHIC COMMUNICATION
    • H04L67/00—Network arrangements or protocols for supporting network services or applications
    • H04L67/01—Protocols
    • H04L67/12—Protocols specially adapted for proprietary or special-purpose networking environments, e.g. medical networks, sensor networks, networks in vehicles or remote metering networks
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F21—LIGHTING
    • F21Y—INDEXING SCHEME ASSOCIATED WITH SUBCLASSES F21K, F21L, F21S and F21V, RELATING TO THE FORM OR THE KIND OF THE LIGHT SOURCES OR OF THE COLOUR OF THE LIGHT EMITTED
    • F21Y2115/00—Light-generating elements of semiconductor light sources
    • F21Y2115/10—Light-emitting diodes [LED]

Abstract

The invention discloses a robot driver, relates to the application of a robot in the field of traffic life, and particularly relates to the robot driver; the robot driver is a humanoid robot, including: the device comprises a head assembly, a neck upper body assembly, a hand assembly, a buttocks assembly, a leg and foot assembly, a sensor system assembly, a control system assembly and a power supply assembly; the intelligent automatic driving system disclosed by the invention realizes most functions of intelligent automatic driving by applying artificial intelligence and the technology of Internet of things, solves the problems that a driver drives for a long-distance driving fatigue, a family owns a full-time driver without paying salary, a freight yard, a port, an airport, a tourist area and a road patrol vehicle work, and a human driver can not be competent by paying salary, and solves the problems that the fixed line needs to transport the vehicle for 24 hours in a reciprocating way for standby or work, and the human driver can not be competent; therefore, the implementation of the invention can accelerate the coming of intelligent life, bring convenience for enjoying intelligent automatic driving automobiles for families and groups, and solve a plurality of problems of life and travel.

Description

Robot driver
Technical Field
The invention relates to application of a robot in the field of traffic life, in particular to a robot driver.
Background
At present, automobile automatic driving research and practical application in the market are developed, but for most of people and groups who already own automobiles, the existing old automobiles are abandoned to buy full-automatic driving automobiles again, and the method is unrealistic and economical; in life or work, a family hires a full-time driver and is a minority group, for example, the family does not want to pay too much in order to solve long-distance driving fatigue, or temporary driver shortage or hope that the family owns the full-time driver; for another example, when complete intellectualization is not available in goods yards, ports, airports, tourist areas and other places, drivers are also required to be configured for the use of various existing automobiles, but the drivers are difficult to wait for or work for 24 hours; in view of the above, the present invention is particularly proposed.
Disclosure of Invention
The invention provides a robot driver to solve the technical problems.
In order to solve the technical problems, the technical scheme of the invention is as follows:
a robotic driver, the robotic driver being a humanoid robot, comprising: the device comprises a head assembly, a neck upper body assembly, a hand assembly, a buttocks assembly, a leg and foot assembly, a sensor system assembly, a control system assembly and a power supply assembly;
the brain assembly includes: the head and bottom shell comprises a head shell, a bottom shell, a control system assembly arranged in the head shell, a sensor component arranged in the head shell, an illuminating lamp module arranged at the top of the head shell and a battery module A; the center of the bottom shell is rigidly connected with an output shaft of a motor K in the neck upper body assembly;
the illumination lamp module includes: the LED spotlight is arranged in the spotlight reflecting cover, the LED lamp strip is arranged between the lamp strip cover and the top surface of the head shell, the photosensitive sensor and the LED driving electronic board are arranged between the lamp strip cover and the top surface of the head shell; the led driving electronic board is in charged connection with the led spotlight and the led spotlight;
the sensor system assembly includes: a sensor mounted on the head of the robot, a sensor mounted in each muscle;
the power supply assembly includes: battery modules A-G arranged in the head and each muscle of the robot, and a charging input seat arranged in the shell of the hip assembly; the battery modules A-G share a charging input seat;
preferably, the control system assembly of the robot driver includes: the robot control system comprises a robot driver APP arranged on a mobile terminal, a vision control system component, a voice control system component, a color recognition control module, a gateway, a control and drive master board, mechanism control circuit boards A-N arranged in each body of the robot, and wireless relay modules A-I arranged on the mechanism control circuit boards A-N in each body;
the wireless relay modules A to F are respectively provided with signal input ends of paths A to F, N of wireless transmission and reception modules and output ends of paths N of relays;
the control and drive general board is provided with G, N signal input ends and N relay output ends of a wireless transmission and reception module;
the vision control system component is provided with a wireless transmission and reception module H;
the voice control system component is provided with a wireless transmission and reception module I; a wireless relay module A is arranged in the neck upper body assembly;
the hand assembly comprises a left hand assembly and a right hand assembly, wherein a wireless relay module B is installed in the left hand assembly, and a wireless relay module C is installed in the right hand assembly;
a wireless relay module F is arranged in the hip assembly;
the leg assembly comprises a left leg assembly and a right leg assembly, wherein a wireless relay module D is installed in the left leg assembly, and a wireless relay module E is installed in the right leg assembly;
the system architecture of the gateway is compatible with more than 2 wireless communication protocols;
the gateway circuit board is provided with: more than 1 network line port, WiFi network access receiving port and remote control switching module; the gateway network cable port is electrically connected with the network cable input end on the outer surface of the brain shell;
the gateway and wireless relay modules A-F, the control and drive master board wireless transmission and reception module G, the vision control system component provided with a wireless transmission and reception module H, and the voice control system component provided with a wireless transmission and reception module I realize networking through the same wireless communication protocol;
the control and drive general board is electrically connected with the LED drive electronic board;
in addition, the robot driver according to the invention has the following additional features:
according to an example of the present invention, it is preferable that the sensor system assembly of the robot driver includes: a first sensor part installed in the brain case, a second sensor part installed in each muscle;
the first sensor component comprises: the device comprises a distance measuring sensor A, an infrared sensor A, an obstacle avoidance sensor A and a color sensor A which are arranged on the forehead of a skull shell; the distance measuring sensor B, the infrared sensor B and the obstacle avoidance sensor B are arranged on the back of the brain shell; the distance measuring sensor C, the infrared sensor C, the obstacle avoidance sensor C, the sound sensor A and the color sensor B are arranged at the left ear of the head shell; the distance measuring sensor D, the infrared sensor D, the obstacle avoidance sensor D, the sound sensor B and the color sensor C are arranged at the right ear of the head shell; the system comprises a photosensitive sensor, an air quality sensor, a photosensitive sensor and a temperature and humidity sensor module A, wherein the photosensitive sensor is arranged at the front face part, the photosensitive sensor is arranged at the top of a brain shell, and the temperature and humidity sensor module A is arranged at the top of the brain shell;
the signal output ends of the infrared sensors A-D, the obstacle avoidance sensors A-D and the distance measurement sensors A-D are connected with the signal input end of the control and drive general board;
the sensing distance, the triggering distance and the ranging distance can be set with signal output thresholds on the IC software of the sensor, or can be set with thresholds on the hardware of the sensor, such as adjustable capacitance and adjustable resistance value, and the three sensors are set with overlapping reaction distance ranges;
the infrared sensor A-D modules are provided with remote control switching modules;
the signal output ends of the sound sensors A-B are connected with the signal input end of a voice control system component;
the color identification control modules A-C are provided with: the system comprises a special traffic lamp color remote identification IC, a wireless transmission and reception module J, a signal input end and a signal output end;
the signal input ends of the color identification control modules A-C are connected with the signal output end of a mainboard of an analog-to-digital network module in the vision control system component;
signal output ends of the color identification control modules A to C are connected with signal input ends of the control and drive general boards;
the photosensitive sensor is arranged at the top of the head shell, the sensor probe exposes out of the outer surface of the head shell, and the signal output end of the sensor is electrically connected with the triggering end of the illuminating lamp module;
the probe of the air quality sensor module is arranged at the nostril, and the sensor signal output end of the air quality sensor module is connected with the signal input end of the control and drive main board;
the signal output end of the air quality sensor is electrically connected with the wireless relay module A;
the temperature and humidity sensor module A is installed at the top of the brain shell, a sensor signal output end is connected with a signal input end of the control and drive main board, and the sensor signal output end is also electrically connected with the wireless relay module A;
the second sensor component includes: the system comprises a front inclination sensor K, a rear inclination sensor L, a left inclination sensor M, a right inclination sensor N, a pressure sensor B, a pressure sensor C, a vibration sensor B, a vibration sensor C, a temperature and humidity sensor module B, a temperature and humidity sensor module C, an obstacle avoidance sensor E and an obstacle avoidance sensor F;
the front inclination sensor is arranged at the front end of the top of the neck upper body assembly, and the rear inclination sensor is arranged at the rear end of the top of the neck upper body assembly; the signal output end of the tilt sensor is connected with the signal input end of the control and drive main board, and the signal output end of the sensor is also electrically connected with the wireless relay module B and the wireless relay module C;
the left inclination sensor is arranged on the left side of the top of the upper body of the neck upper body assembly, and the right inclination sensor is arranged on the right side of the top of the upper body of the neck upper body assembly; the signal output end of the inclination sensor is connected with the signal input end of the control and drive main board, and the signal output end of the sensor is also electrically connected with the wireless relay module D and the wireless relay module E;
according to an example of the present invention, it is preferable that the vision control system component of the robot driver includes: the system comprises a network camera, an analog-to-digital network module mainboard, a wireless transmission and reception module H, a loudspeaker, an audio power amplifier board, an audio processing board, a microphone and an intercom mainboard; the analog-to-digital conversion network module main board is provided with a battery power supply port, an audio input/output port, a TF (Trans-flash) clamping groove and a chip external storage clamping groove besides being configured with a high-integration SOC (System on chip) processor;
the network camera is provided with 3 at least, includes: the system comprises a zoom network camera A, a network camera B and a network camera C; the network cameras A and B are arranged at the left eye and the right eye of the brain shell, and the network cameras C are arranged at the back brain shell;
the network cameras A-C are electrically connected with the analog-to-digital network module mainboard;
the analog-to-digital conversion network module mainboard is connected with a local area network or the Internet through a wireless transmission receiving module H and a gateway network arranged on the mainboard;
the loudspeaker is arranged at the face and mouth of the head shell and is electrically connected with the output end of the audio power amplification board;
the microphone is arranged at the ear part on the outer surface of the head shell and is electrically connected with the talkback main board;
the audio processing board, the audio power amplifier board, the talkback main board and the analog-to-digital network module main board are all fastened at the bottom of the head casing which is a barrel;
the battery power supply port is electrically connected with a battery module arranged on the neck of the head shell;
an audio input/output port on the audio power amplifier board is electrically connected with the audio processing board;
according to an example of the present invention, it is preferable that the voice control system component of the robot driver includes: the voice recognition module controls the mainboard, the loudspeaker, the audio power amplifier board and the audio processing board, the microphone and the talkback mainboard, the UBS female seat and the wireless transmission receiving module I;
a network port, 2 wireless transmission module ports, N signal input ports, N IO output ports and a singlechip communication port are arranged on the voice recognition module control mainboard;
the wireless transmission receiving module I is arranged at a port of a wireless transmission module of the voice recognition module control mainboard, and is networked with the gateway, so that the voice recognition module control mainboard is accessed to a local area network or the Internet; the method comprises the following steps: a serial port WIFI communication module I1, a Bluetooth communication module I2,
the voice recognition module is arranged on the control main board and comprises: the N signal input ports are electrically connected with the microphone and the signal output ends of the sound sensors A-B;
the voice recognition module control main board is provided with N IO output ends, and the IO ends output high-level or low-level signals; the IO output end is respectively and electrically connected with the trigger end of the voice playing module, the corresponding driving signal input ends A-F on the mechanism control circuit boards A-F and the signal input end of the control and driving main board;
the voice recognition module control mainboard is provided with a singlechip communication port which is electrically connected with a signal input end of the control and drive main board;
the loudspeaker, the audio power amplifier board and the audio processing board in the voice recognition system, the microphone and the talkback main board are the same as the loudspeaker, the audio power amplifier board and the audio processing board in the visual system component, and the microphone and the talkback main board;
a microphone in the voice recognition system is arranged at the face ear part on the outer surface of the head shell and is electrically connected with the voice recognition module control mainboard;
the UBS female seat is designed at the rear part of the brain shell and is electrically connected with the voice recognition module control main board, and the voice recognition file UBS disk is inserted into the UBS female seat;
according to an example of the present invention, it is preferable that the mechanism control circuit boards a to F of the robot driver include: mechanism control circuit boards A-F arranged in each organism assembly;
wireless transmission and reception modules A1, B1.. F1, power input ends A-F and drive signal input ends A-F, N pulse charging source drive output ends are arranged on the mechanism control circuit boards A-F;
the mechanism control circuit board A is arranged in the neck upper body assembly, and a driving signal input end A of the mechanism control circuit board A is electrically connected with a signal output end on the control and driving general board; an output end of the N-path pulse charging source of the mechanism control circuit board A is driven to be electrically connected with a motor K in the neck shell, and a motor V and a motor W in the neck upper body assembly are electrically connected with the L; the power supply input end A of the mechanism control circuit board A is electrically connected with a battery module B in the upper body assembly;
the mechanism control circuit board B is arranged in the left hand assembly; a driving signal input end B of the mechanism control circuit board B is electrically connected with a signal output end on the control and driving general board; an output end of the N-path pulse charging source drive of the mechanism control circuit board B is electrically connected with a motor in the left hand assembly; the power supply input end B of the mechanism control circuit board B is electrically connected with a battery module C in the left hand assembly;
the mechanism control circuit board C is arranged inside the right-hand assembly; a driving signal input end C of the mechanism control circuit board C is electrically connected with a signal output end on the control and driving general board; an output end of the N-path pulse charging source drive of the mechanism control circuit board C is electrically connected with a neck assembly motor and a motor in the upper body assembly; the power supply input end C of the mechanism control circuit board C is electrically connected with a battery module D in the upper body assembly;
the mechanism control circuit board D is arranged inside the left leg assembly; the mechanism control circuit board D drives a signal input end D to be electrically connected with a signal output end on the control and drive general board; an output end of the N-path pulse charging source drive of the mechanism control circuit board D is electrically connected with a neck assembly motor and a motor in the upper body assembly; the power supply input end D of the mechanism control circuit board D is electrically connected with a battery module E in the upper body assembly;
the mechanism control circuit board E is arranged in the right leg assembly; the driving signal input end E of the mechanism control circuit board E is electrically connected with the signal output end on the control and driving general board; an output end of the N-path pulse charging source drive of the mechanism control circuit board E is electrically connected with a motor in the right leg assembly; the power supply input end E of the mechanism control circuit board E is electrically connected with a battery module F in the upper body assembly;
the mechanism control circuit board F is arranged inside the hip assembly; a driving signal input end F of the mechanism control circuit board F is electrically connected with a signal output end on the control and driving general board; an output end of the N-path pulse charging source drive of the mechanism control circuit board F is electrically connected with the stepping leg motor and the rotating motor; the power supply input end F of the mechanism control circuit board F is electrically connected with a battery module G in the upper body assembly;
according to an example of the present invention, preferably, mobile terminal equipment is installed in the software of a robot driver APP of the robot driver, and the architecture of the robot driver APP is the same as that of the software of a mobile phone APP of the gateway, so as to implement control setting of each function of the robot driver;
driver of robot APP operation interface includes: an auxiliary driving interface, a voice driving interface and a monitoring driving interface; each interface consists of various parameters of the next level, and the set parameters are memorized and stored by the mechanism control circuit boards A-F; inputting the set parameters into a software interface of the intelligent mobile terminal equipment for operation; the robot driver APP operates different interfaces, the same type of sensor outputs information, and program control contents are different on different interfaces;
further details are as follows:
the driving assistance interface includes: a head interface, a neck assembly interface, a body interface, a hand interface, a hip interface, a foot interface;
clicking on the head interface appears: converting x degree parameters, intelligently converting along with vision, intelligently converting along with voice, determining and modifying;
clicking on the neck interface appears: the mansion elevation parameters, the intelligent mansion elevation along with the vision, the intelligent mansion elevation along with the voice, the determination and the modification;
clicking the body interface appears: converting x degree parameters, intelligently converting along with voice, intelligently converting along with hands, determining and modifying;
clicking the hand interface appears: arm elevation x, elbow flexion x degrees, elbow extension/contraction x, wrist rotation x degree parameters, finger pressure/clamp with voice, elbow rotation with voice, elbow extension/contraction with voice, finger pressure/clamp with sensor, up-down rotation with sensor elbow, elbow rotation with sensor, determining, modifying;
click on hip interface appears: the intelligent inclination along with the sensor and the intelligent inclination along with the upper body are determined and modified;
click the foot interface to appear: walking speed X, left crus stretching/contracting X, left foot pitching/bowing X degrees, right crus stretching/contracting X, right foot pitching/bowing X degrees, intelligent pedal distance X along with a sensor, intelligent pedal distance X along with voice, double-leg sliding walking, double-leg stepping walking, determining and modifying;
monitoring driving interface is equipped with among robot driver APP operation interface: the system comprises network cameras A, B and C, voice talkback recording on/off, a transit monitoring report and a TF card;
clicking the camera switch interface appears: the night vision system comprises a rear camera, a front camera, night vision, left inspection and right inspection;
clicking the voice intercom interface appears: voice recording is turned on/off, and prestored content is modified;
the monitoring report interface appears on the way of clicking: images, videos;
clicking on the TF card interface appears: covering parts for 24 hours, one week and one month;
be equipped with in the driver of robot APP pronunciation driving operation interface: operating commands, voice content modification, route memory and navigation talkback;
the click operation command interface appears: the method comprises the following steps of moving forward by X meters slowly, moving backward by X meters slowly, braking by X meters, balancing by X kilometers per hour, turning left/right by X kilometers, stopping/driving by X kilometers of traffic lights, stopping by X kilometers, warehousing by X meters, determining and modifying;
the click route memory interface appears: company of working A, B, C, company of going back to work A, B, C, restaurant A/B/C, parent family, child, tour of weekend, destination A, B, C, determine, modify;
clicking the navigation talkback interface appears: baidu navigation, Teng Xin navigation, God navigation, determination and modification;
clicking on the voice content modification interface occurs: prestoring, modifying, learning mode, temporary mode, determining and modifying;
according to an example of the present invention, preferably, the neck upper body assembly of the robot driver is located longitudinally below the head assembly; the method comprises the following steps: the device comprises a neck shell, a double-shaft stepping motor L support, a stepping motor K support, a motor fastening screw, an upper body shell breast board, a lower body shell breast board, an upper body shell lifting electric push rod K, inclination sensors K-N and fastening upper body shell bolts;
the neck shell is designed into a cylindrical cup shape, the neck shell is transversely arranged at the bottom of the neck shell cup after the double-shaft stepping motor L is fastened with the bracket, the bracket of the stepping motor L is fastened with the neck shell, and the double-head output shaft of the stepping motor L is rigidly connected with a transverse side hole of a raised groove column at the top of the upper body shell to realize the front-back swinging of the neck shell;
after the stepping motor K is fastened with the bracket, the stepping motor K is longitudinally arranged in the neck shell, the bracket of the stepping motor K is fastened with the neck shell at the bottom, and the output shaft of the stepping motor K faces towards the rigid shaft connected with the central part in the head shell, so that the head assembly rotates;
the double-shaft stepping motor L and the stepping motor K are electrically connected with a battery module B in the neck upper body assembly;
the upper part of the body is internally provided with: the system comprises an air purification assembly, a stepping motor L, a stepping motor M, a mechanism control circuit board A and a battery module B;
the battery module B is respectively electrically connected with the stepping motor L, the stepping motor M, the upper body shell lifting electric push rod K, the air purification assembly, the inclination sensor and the mechanism control circuit board A and supplies a working power supply;
a convex circular concave spherical column is longitudinally arranged at the center of the upper part of the upper body shell, and left and right side holes are transversely designed on the convex circular concave column and are rigidly connected with a double-end output shaft of a double-shaft stepping motor L in the neck shell; the lower end of the concave ball column is provided with a round hole which is connected with the tail end of a telescopic rod of an upper body shell lifting electric push rod K;
three through holes A1, A2 and B are formed in the upper portion of the upper body shell around the groove column, the through holes A1 and A2 are air outlet openings, and axial flow fans A1 and A2 are assembled below the air outlet openings; the through hole B is an air inlet, and an axial flow fan B is assembled below the through hole B;
grooves are formed in the front chest edges of the upper top plate and the lower bottom plate of the upper body shell and are slidably mounted with the chest plate of the upper body shell; two symmetrical guide holes are formed in the radial edge of the lower bottom plate of the upper body shell;
the air purification assembly includes: the anion generator, the ultraviolet germicidal lamp, the purification cover and the purification cover are internally provided with filter cotton and activated carbon cotton; the air outlet of the purification cover faces to the through holes A1 and A2 and is hung below the top plate of the upper body shell; the negative ion generator and the ultraviolet germicidal lamp are arranged on the lower bottom plate of the upper body shell;
the air purification assembly is electrically connected with the mechanism control circuit board A;
grooves are formed in the front chest edges of the upper bottom plate and the lower bottom plate of the lower body shell and are installed with the chest plate of the lower body shell in a sliding mode;
a concave column is arranged at the center of the bottom plate of the lower body shell and connected with the fixed end of a lifting electric push rod K of the upper body shell;
two guide posts are arranged at the radial edge of the top of the lower body shell and matched with guide holes arranged at the radial edge of the bottom of the upper body shell;
according to an example of the present invention, it is preferable that the robot driver's hand assembly includes: a left arm bending assembly B and a right arm bending assembly C;
the crooked assembly C of right arm is installed at the robot right shoulder, includes: the device comprises a right large arm, a wireless relay module C, a mechanism control circuit board C, a battery module D, a right small arm assembly and a stepping motor C1, wherein the wireless relay module C, the mechanism control circuit board C and the battery module D are arranged in a cavity on the inner wall of the right large arm;
the outer side of the end head of the right big arm is hinged with an output shaft of a stepping motor C arranged in the upper body assembly;
the right small arm assembly consists of a right small arm, a stepping motor seat C3 axially sleeved in a wall cavity of the right small arm, a stepping motor C3 and a fastening screw;
the right wrist clamp assembly is composed of a right wrist box, a right wrist box cover, a clamp-shaped finger C1, a clamp-shaped finger C2, a tight nail tip, a stepping motor C4, a pressure sensor module C, a signal amplifier module C1, a temperature and humidity sensor module C and a vibration sensor module C, wherein the stepping motor C4, the pressure sensor module C and the signal amplifier module C1 are installed in the right wrist box; the signal output end of the sensor module is connected with a mechanism control circuit board C;
the clamp-shaped finger C1 and the clamp-shaped finger C2 are of the same structure, one end of the clamp-shaped finger is designed to be semicircular and concave, the other end of the clamp-shaped finger is provided with a circular straight tooth, the clamp-shaped finger C1 is arranged on an output shaft of the stepping motor C4 at the end of the circular straight tooth, the end of the circular straight tooth of the clamp-shaped finger C2 is arranged on a screw column in a right wrist box, and the circular straight tooth of the clamp-shaped finger C1 is meshed with the circular straight tooth of the clamp-shaped finger C2;
the detection point of the pressure sensor module C is arranged on the concave surface of the pincer-shaped finger C1;
the detection point of the vibration sensor module C is arranged on the concave surface of the pincer-shaped finger C2;
the detection point of the temperature and humidity sensor C is arranged on the plane of a pincer-shaped finger C1 or C2;
the stepping motor C1 is radially arranged on the inner wall of the upper end of the right small arm assembly, and the output shafts at the two ends of the stepping motor C1 simultaneously penetrate through the hole of the upper end wall of the right small arm assembly and are axially sleeved in the lower end of the right large arm, so that the right large arm and the right small arm assembly are in a hinged relation;
the stepping motor C1, the stepping motor C2, the stepping motor C3 and the stepping motor C4 are respectively connected with pulse charge source driving output ends of different paths of the mechanism control circuit board C;
the left arm bending assembly and the right arm bending assembly are in the same structure, are symmetrically arranged on the left side of the upper body assembly and are hinged with an output shaft of the stepping motor N;
the left-arm bending assembly B comprises: the left large arm, a wireless relay module B, a mechanism control circuit board B, a battery module C, a left small arm assembly, a left wrist clamp assembly, a stepping motor B1 and a stepping motor B2 are hinged, wherein the wireless relay module B, the mechanism control circuit board B and the battery module C are arranged in a cavity in the inner wall of the left large arm;
the left small arm assembly consists of a left small arm, a stepping motor seat B3 axially sleeved in a wall cavity of the left small arm, a stepping motor B3 and a fastening screw;
the left wrist clamp assembly is composed of a left wrist box, a left wrist box cover, a clamp-shaped finger B1, a clamp-shaped finger B2, a fastening nail tip, a stepping motor B4, a pressure sensor module B, a signal amplifier module B1, a temperature and humidity sensor module B and a vibration sensor module B, wherein the stepping motor B4, the pressure sensor module B, the signal amplifier module B1, the temperature and humidity sensor module B and the vibration sensor module B are installed on the left wrist box; the signal output end of the sensor module is connected with a mechanism control circuit board B;
the pincer-shaped fingers B1 and B2 are of the same structure, one ends of the pincer-shaped fingers are semicircular and concave, the other ends of the pincer-shaped fingers are circular straight teeth, B1 of the pincer-shaped fingers are arranged on an output shaft of a stepping motor B4 at the ends of the circular straight teeth, B2 of the pincer-shaped fingers are arranged on screw posts in a left wrist box, and B1 of the pincer-shaped fingers are meshed with B2 of the pincer-shaped fingers;
the detection point of the pressure sensor module B is arranged on the concave surface of a pincer-shaped finger B1;
the detection point of the vibration sensor module B is arranged on the concave surface of a pincer-shaped finger B2;
the detection point of the temperature and humidity sensor B is arranged on the plane of a pincer-shaped finger B1 or B2;
the stepping motor B1 is radially arranged on the inner wall of the upper end of the left small arm assembly, and the output shaft of the two ends of the stepping motor B1 simultaneously passes through the hole of the upper end wall of the left small arm assembly and is axially sleeved into the lower end of the left big arm, so that the left big arm and the left small arm assembly are in a hinged relation;
the stepping motor B1, the stepping motor B2, the stepping motor B3 and the stepping motor B4 are respectively connected with pulse charge source driving output ends of different paths of the mechanism control circuit board B;
according to an example of the present invention, it is preferred that the hip assembly of the robot driver comprises: the device comprises an upper buttock shell, a lower buttock shell, a stepping motor F1 longitudinally installed below the center of the upper buttock shell, a long output shaft stepping motor F2, a long output shaft stepping motor F3, a battery module G, a mechanism control circuit board F and a battery charging input seat installed on a back shell of the upper buttock shell, wherein the long output shaft stepping motor F2, the long output shaft stepping motor F3, the battery module G, the mechanism control circuit board F and the battery charging input seat are symmetrically installed in the lower butto;
the upper and lower buttocks shells are oval in shape; the concave surface of the upper hip shell faces downwards and the lower hip shell faces upwards and is aligned with the screw to be fastened; 2 bowl-shaped bosses are arranged in the long axis direction of the upward-facing oval shape of the lower buttocks, and the size of each bowl-shaped boss is similar to the shape of the top of the leg and foot assembly;
the stepping motor F1 is arranged below a concave surface of the upper shell of the buttocks, the stepping motor F1 is longitudinally arranged on an elliptic central bottom plane of the upper shell of the buttocks and is fastened by screws, an output shaft of the stepping motor F1 upwards penetrates through a central hole of the upper shell of the buttocks and is fastened and connected with the bottom of the upper body assembly, and the stepping motor F1 is rotated to drive the upper body assembly to rotate;
the long output shaft stepping motor F2 and the long output shaft stepping motor F3 are bilaterally symmetrically and transversely arranged in the direction of the long shaft of the ellipse, the long shaft of the motor penetrates through the bowl-shaped boss to reach the shell wall, the long output shaft of the stepping motor F2 is fixedly connected with the left leg assembly, the long output shaft of the stepping motor F3 is fixedly connected with the right leg assembly, and the stepping motors F2 and F3 rotate to drive the left leg assembly and the right leg assembly to swing forwards or backwards;
the hip assembly is longitudinally and fixedly connected with the bottom of the upper body assembly through an output shaft of a stepping motor F1 and is arranged below the upper body assembly, and the stepping motor F1 rotates to drive the upper body assembly to rotate;
according to an example of the present invention, preferably, the leg and foot assembly includes: the left leg assembly D and the right leg assembly E are oppositely and symmetrically arranged below the buttocks assembly;
the left leg and foot assembly D is arranged in a left bowl-shaped recess at the bottom of the hip assembly and is rigidly connected with a long output shaft of a stepping motor F2; the method comprises the following steps: the left thigh, the left shank assembly, the left foot assembly, the mechanism control circuit board D and the battery module E are arranged on the left thigh;
left thigh lower extreme is emboliaed loosely to left shank assembly upper end includes: the left shank, the left telescopic shank, the electric stay bar D, the double-shaft stepping motor D1, the stepping motor D1 bracket and the stepping motor D2;
a stepping motor D1 bracket is arranged at the top of the left shank, a double-shaft stepping motor D1 is fixedly arranged on the stepping motor D1 bracket, and a double shaft of the stepping motor D1 transversely penetrates through the lower end of the left thigh to be hinged;
the left telescopic shank is loosely sleeved into the left shank, the stepping motor D2 is longitudinally sleeved into the lower end of the left telescopic shank and fastened, and the output shaft of the stepping motor D2 faces downwards and is fastened with the left foot assembly;
the fixed end of the electric stay bar D is longitudinally sleeved at the top end of the inner part of the left telescopic shank, and the movable end of the electric stay bar D is longitudinally arranged at the top end of the left telescopic shank;
the left foot assembly is sleeved into an output shaft of a stepping motor D2 through an upper end socle and fastened, and the rotation of the left foot assembly is realized through the rotation of a stepping motor D3;
the left foot assembly comprises: the walking mechanism comprises an oval foot plate, an oval foot plate cover, a round foot column, a stepping motor D3 for foot plate joint movement, a stepping motor D5 for walking, a universal ball wheel D, a walking caster D, a caster D bearing and a pedal clamp mechanism;
the stepping motor D3 is a motor with double output shafts, is transversely arranged in the stilt, and the output shaft is connected with the foot plate boss;
an output shaft of the stepping motor D5 is transversely connected with the center of the caster D, and the stepping motor D5 is fastened at the rear end of the oval baseboard groove in the direction of the long shaft;
the universal ball wheel D is fastened at the front end in the direction of the long shaft in the groove of the oval foot plate;
the pedal clip mechanism includes: the stepping motor D4 for lifting the pedal clamp, the pedal clamp pedal telescopic stepping motor D6, a pedal clamp motor bracket, a foot assembly lifting screw rod D, a pedal D1, a pedal D2, a pressure sensor D and a pedal telescopic guide optical axis D;
the pedal clamp telescopic stepping motor D6 is a motor with double output shafts, the double output shafts are fixedly connected with a pedal clamp motor bracket and are arranged in the direction of a short shaft in the groove of the oval foot plate;
the pedal clamp motor bracket is U-shaped, a nut is arranged at the center of a lower position of the U shape and is matched and rotationally connected with a lifting screw rod D, and the top end of the lifting screw rod D is fastened with an output shaft of a stepping motor D4;
the pedals D1 and D2 are L-shaped and are symmetrically distributed at the edge of the minor axis direction of the groove of the oval foot plate, the centers of the L-shaped vertical edges are respectively provided with an orthodontic nut hole and an anti-orthodontic nut hole, and 2 guide holes are symmetrically distributed at the horizontal direction of the nut holes of the pedals D1 and D2;
the pedal telescopic guide optical axis D penetrates through the guide hole;
the double output shafts of the pedal telescopic stepping motor D6 are arranged into lead screws which penetrate through nut holes of a pedal D1 and a pedal D2;
the pressure sensor D is arranged on the L-shaped vertical side of the pedal D1 or the pedal D2;
the right leg assembly E is arranged in a right bowl-shaped recess at the bottom of the hip assembly and is rigidly connected with a long output shaft of a stepping motor F1; the method comprises the following steps: the device comprises a right thigh, a right shank assembly, a right foot assembly, a mechanism control circuit board E and a battery module F;
the right thigh lower extreme is emboliaed loosely to right shank assembly upper end, includes: the left shank, the right telescopic shank, the electric stay bar E, a double-shaft stepping motor E1, a stepping motor E1 bracket and a stepping motor E2;
a stepping motor E1 bracket is arranged at the top of the right shank, a double shaft of a stepping motor E1 is used as output and is fixedly arranged on a stepping motor E1 bracket, and the double shaft of the stepping motor E1 transversely passes through the lower end of the right thigh to be hinged;
the right telescopic shank is loosely sleeved into the right shank, a stepping motor E2 is longitudinally sleeved into the lower end of the right telescopic shank and fastened, and an output shaft of a stepping motor E2 is downwards fastened with the right foot assembly;
the fixed end of the electric stay bar E is longitudinally sleeved at the top end of the inner part of the right telescopic shank, and the movable end of the electric stay bar E is longitudinally arranged at the top end of the right telescopic shank;
the right foot assembly is sleeved into an output shaft of a stepping motor E2 through an upper end socle and fastened, and the rotation of the right foot assembly is realized through the rotation of a stepping motor E3;
the right foot assembly comprises: the device comprises an oval foot plate, an oval foot plate cover, a round foot column, a stepping motor E3 for foot plate joint movement, a stepping motor E4 for lifting a pedal, a stepping motor E5 for walking, a pedal telescopic stepping motor E6, a pedal motor E6 support, a walking caster E, a universal ball wheel E, a pressure sensor E, a caster E bearing, a lifting screw rod E, a pedal E1, a pedal E2 and a pedal clamp guide optical axis E;
the stepping motor E3 is a motor with double output shafts, is transversely arranged in the stilt, and the output shaft is connected with the foot plate boss;
an output shaft of the stepping motor E5 is transversely connected with the center of the caster E, and the stepping motor E5 is fastened at the rear end of the groove of the oval foot plate in the direction of the long shaft;
the universal ball wheel E is fastened at the front end in the direction of the long shaft in the groove of the oval foot plate;
the pedal telescopic stepping motor E6 is a motor with double output shafts, the double output shafts are fixedly connected with a pedal motor bracket and are arranged in the direction of a short shaft in the groove of the oval foot plate;
the pedal motor support is U-shaped, a nut is arranged at the center of a lower position of the U-shaped support and is matched and rotatably connected with a lifting screw rod E, and the top end of the lifting screw rod E is fastened with an output shaft of a stepping motor E4;
the pedals E1 and E2 are L-shaped and are symmetrically distributed at the edges of the minor axis direction of the grooves of the oval foot plates, the centers of the L-shaped vertical edges are respectively provided with an orthodontic nut hole and an anti-orthodontic nut hole, and 2 guide holes are symmetrically distributed at the horizontal directions of the nut holes of the pedals E1 and E2;
the pedal guide optical axis E penetrates through the guide hole;
the double output shafts of the pedal telescopic stepping motor E6 are arranged into screw rods and penetrate through nut holes of a pedal E1 and a pedal E2;
the pressure sensor E is mounted on the L-shaped vertical side of the pedal E1 or the pedal E2.
Has the advantages that: by adopting the technical scheme, the robot driver is provided, most of intelligent automatic driving automobile functions are realized by applying artificial intelligence and the technology of Internet of things, long-distance driving fatigue is solved, the problem that a driver drives for a long time, a family owns a full-time driver without paying salaries, the problem that a freight yard, a port, an airport, a tourist area and a road patrol vehicle work without paying salaries, the driver owns the fixed line without paying salaries, and the problem that the fixed line needs to be transported for 24 hours to stand by or work, and a human driver cannot be competent is solved;
therefore, the implementation of the invention can accelerate the coming of intelligent life, bring convenience for enjoying intelligent automatic driving automobiles for families and groups, and solve various problems in life and work.
Drawings
FIG. 1 is a first schematic diagram of a robot driver operating state according to an embodiment of the present invention;
FIG. 2 is a second schematic diagram of the working state of the robot driver according to the embodiment of the invention;
FIG. 3 is a schematic diagram of a walking state of a robot driver according to an embodiment of the present invention;
FIG. 4 is a schematic diagram of a standing state of a driver of the robot according to the embodiment of the invention;
FIG. 5 is a perspective view of a brain assembly according to an embodiment of the present invention;
FIG. 6 is an exploded view of the brain assembly according to the embodiment of the present invention;
FIG. 7 is a perspective view of a neck shell according to an embodiment of the present invention;
FIG. 8 is an exploded view of the components within the neck shell according to an embodiment of the present invention;
FIG. 9 is a perspective view of an upper body assembly according to an embodiment of the present invention;
FIG. 10 is an exploded view of the upper body assembly according to an embodiment of the present invention;
FIG. 11 is a perspective view of an upper body shell according to an embodiment of the present invention;
FIG. 12 is a perspective view of a lower body shell according to an embodiment of the present invention;
FIG. 13 is a perspective view of a right (left) hand assembly of an embodiment of the present invention;
FIG. 14 is an exploded view of the forearm assembly of an embodiment of the invention;
FIG. 15 is an exploded view of a right (left) hand assembly in accordance with an embodiment of the present invention;
FIG. 16 is a perspective view of a right (left) wrist brace in accordance with an embodiment of the present invention;
FIG. 17 is an exploded view of the right (left) wrist clamp of the present embodiment;
FIG. 18 is a perspective view of a buttocks assembly according to an embodiment of the invention;
FIG. 19 is an exploded view of a buttocks assembly according to an embodiment of the invention;
FIG. 20 is a perspective view of a left (right) leg and foot assembly in accordance with an embodiment of the present invention;
FIG. 21 is an exploded view of the left (right) leg and foot assembly of the present invention;
FIG. 22 is a perspective view of a lower leg assembly according to an embodiment of the present invention;
FIG. 23 is an exploded view of a lower leg assembly in accordance with an embodiment of the present invention;
FIG. 24 is a perspective view of a foot assembly according to an embodiment of the present invention;
FIG. 25 is an exploded view of a foot assembly according to an embodiment of the present invention;
FIG. 26 is a schematic view of a released state of the foot pedal according to the embodiment of the present invention;
FIG. 27 is a diagram of a voice control function system according to an embodiment of the present invention
Fig. 28 is a schematic view of a home internet of things control system according to an embodiment of the present invention;
FIG. 29 is a schematic diagram of the connection of the control circuit of the embodiment of the invention
FIG. 30 is a schematic diagram of the operation of an embodiment of the present invention.
In fig. 1-4, 1, upper body assembly, 2, right hand assembly, 3, left hand assembly, 4, 5, leg and foot assembly, 6, buttocks assembly, 7, neck assembly, 8, head assembly, 9, steering wheel, 10, car seat;
in fig. 5-6, 801, a head case, 802, a bottom case, 803, a lighting lamp module, 8031, an LED light strip, 8032, an LED spotlight and LED driving electronic board, 8033, a photosensitive sensor, 804, an analog-to-digital network module motherboard, 805, a control and driving total board, 806, a gateway, 807, a battery module, 8012, a voice recognition module motherboard, 81032, 80133, an obstacle avoidance sensor, 8081 to 8084, a distance measurement sensor, 9, a UBS female seat, 8091 to 8095, a camera, 8010, a speaker and audio power amplifier board, 8016, a color recognition control module, 80141,80142, a microphone, 8015, an infrared sensor, 8017, a TF card slot, 8018, and an air quality sensor probe;
in fig. 7-8, 70, neck shell, 72, two-shaft stepping motor L, 722, 721, two-shaft stepping motor L bracket, 71, stepping motor K, 711, stepping motor K bracket, 723, 724, motor L fastening screw, 712, 713, motor K fastening screw;
in fig. 9-10, 101, an upper body housing, 1011, an upper body housing breast board, 102, a lower body housing, 1021, a lower body housing breast board, 103, an air cleaning assembly, 1030, a cleaning cover, 1031, an ultraviolet germicidal lamp, 1032, a blower a1, a2, 1033, an axial fan B, 1034, filter cotton, 1035, activated carbon cotton, 1036, an anion generator, 104, a stepping motor N, 105, a stepping motor M, 1041, 1051, a fastening housing bolt, 106, a battery module B, 107, an upper body housing lifting electric putter K, 108, 109, a tilt sensor K-N, 1010, and a mechanism control circuit board a;
in fig. 11-12, 101, an upper body shell 1015, a neck shell mounting position 1014, a connection hole of an output shaft of a stepping motor M1012, an assembly axial fan a1, an a2 air outlet hole 1013, an assembly axial fan B air inlet 1016, an upper body shell breast board sliding groove 102, a lower body shell 1022, an upper body shell lifting electric pushing circular through 1023, a guide post 1024 and a lower body shell breast board sliding groove;
in fig. 13-15, the right (left) large arm 312, the wireless relay module C, 313, the mechanism control circuit board C, 314, the hand assembly battery 32, the right (left) small arm assembly 321, the right small arm 322, the stepping motor base C3, 323, the stepping motor C3, 324, and the fastening screws; 333. a right (left) wrist clamp assembly 301, clamp fingers C1, 302, clamp fingers C2, 303, vibration sensor modules C, 304, stepping motors C4, 305, temperature and humidity sensor modules C, 306, pressure sensor modules C, 307, a right wrist box 308, a right wrist box cover 309, fastening screws 310, clinch pins 311, and a signal amplifier module C1;
in fig. 16-17, 301, pincer-shaped fingers C1, 302, pincer-shaped fingers C2, 303, vibration sensor modules C, 304, stepping motors C4, 305, temperature and humidity sensor modules C, 306, pressure sensor modules C, 307, right wrist boxes, 308, right wrist box covers, 309, fastening screws, 310, clincher pins, 311, and a signal amplifier module C1;
in fig. 18-19, 601, stepping motors F1, 602, stepping motors F2, 603, stepping motors F3, 604, upper buttocks housing, 605, lower buttocks housing, 606, charging input seat, 607, battery of buttocks assembly, 609, wireless relay modules F, 610, mechanism control circuit boards F, 611, fastening adjusting bolts;
in fig. 20-27, 31, left (right) thigh assembly, 32, left (right) calf assembly, 33, left (right) foot assembly, 311 left (right) thigh, 314, mechanism control circuit board D, 313, wireless relay module D, 312, battery module E, 326, left (right) electric stay D, 5, stepper motor drive control leg assembly main board, 324, stepper motor D1, 323, stepper motor D1 support, 325, stepper motor D2, 334, stepper motor D3, 3310, stepper motor D4, 3312, stepper motor D6, 3313, stepper motor D5, 321, left calf, 322, left telescoping calf, 333, circular foot post, 331, oval foot plate, 332, oval foot plate cover, 3121, pedal motor support, 337, walking caster D, 338, universal ball wheel D, 339, pressure sensor D, 3314, caster D, 3311, lifting lead screw D, 335, 33, battery module D, 326, left (right) electric stay D, 5, stepper motor drive control leg assembly main board, stepper motor D, 3312, stepper motor, The pedal D1, 336, the pedal D2, 3317, 3318, and the pedal clip guide the optical axis D.
Detailed Description
The following further describes embodiments of the present invention with reference to the drawings. It should be noted that the description of the embodiments is provided to help understanding of the present invention, but the present invention is not limited thereto. In addition, the technical features involved in the embodiments of the present invention described below may be combined with each other as long as they do not conflict with each other.
Referring to fig. 1-4, the robot driver is a humanoid robot consisting of: the device comprises a head assembly 8, a neck shell 7, a neck upper body assembly 1, hand assemblies (2, 3), a buttocks assembly 6, leg and foot assemblies (4, 5), a sensor system assembly, a control system assembly and a power supply assembly;
referring to fig. 5-6, the sensor system assembly includes: sensors installed in the robot brain assembly 8, sensors installed in each muscle body;
the power supply assembly includes: battery modules A-G arranged in the head and each muscle of the robot, a charging input seat 606 arranged at the rear edge of the shell of the hip assembly 6; the battery modules A-G are connected with the charging input seat 606 in parallel and share the charging input seat 606 for charging;
the head assembly 8 comprises a head shell 801, a control system assembly arranged in the head shell 801, a sensor component arranged in the head shell 801, an illuminating lamp module 803 arranged at the top of the head shell 801 and a battery module A807;
the brain housing 801 includes: the neck shell comprises an outer shell and a bottom shell 802, wherein the center of the bottom shell 802 is rigidly connected with an output shaft of a motor K of a neck shell 7, and the motor K rotates to realize integral rotation of the head;
referring to fig. 28-30, the control system assembly comprises: a robot driver APP installed on a mobile terminal, a vision control system component, a voice control system component, a color recognition control module 8016, a gateway 806, a control and drive general board installed inside a head shell 801, mechanism control circuit boards A-N installed inside each body of the robot, and wireless relay modules A-I installed on the mechanism control circuit boards A-N inside each body;
the wireless relay modules A to F are respectively provided with signal input ends of paths A to F, N of wireless transmission and reception modules and output ends of paths N of relays;
the control and drive general board is provided with G, N signal input ends and N relay output ends of a wireless transmission and reception module;
the vision control system component is provided with a wireless transmission and reception module H;
the voice control system component is provided with a wireless transmission and reception module I; a wireless relay module A is arranged in the neck upper body assembly 1;
the hand assembly comprises a left hand assembly 3 and a right hand assembly 2, wherein a wireless relay module B is arranged in the left hand assembly 3, and a wireless relay module C312 is arranged in the right hand assembly 2;
a wireless relay module F609 is arranged in the hip assembly 6;
the leg assembly comprises a left leg assembly 4 and a right leg assembly 5, wherein a wireless relay module D313 is installed in the left leg assembly 4, and a wireless relay module E is installed in the right leg assembly 5;
the system architecture of the gateway 806 is compatible with more than 2 wireless communication protocols, and the wireless communication protocols comprise at least two of WiFi, Zigbee, Z-Wave, EnOcean, Blutooth, FBee, Broadlink, Lipo, 433MHz, infrared, RF, EnOcean, Lora and NB-IOT;
more than 1 network line port and WiFi network access receiving port are arranged on the gateway circuit board; the network cable port of the gateway 806 is electrically connected with the network cable input end on the outer surface of the brain shell 801;
the gateway 806, the wireless relay modules A to F, the control and drive master board wireless transmission and reception module G, the visual control system component provided with the wireless transmission and reception module H, and the voice control system component provided with the wireless transmission and reception module I realize networking through the same wireless communication protocol; therefore, the robot driver APP software installed in the mobile terminal, as an operation interface, includes: the auxiliary driving interface, the voice driving interface, the monitoring driving interface and the next-level parameter setting of each interface can be memorized and stored by the control circuit boards A-F and the control and drive general board of the long-range and short-range input mechanism in a wireless networking mode; local voice instruction input modification is also carried out on the intelligent mobile terminal equipment software interface input operation through the set parameters;
the detailed operation is implemented, for example, as follows:
click on the hand interface, appear: arm elevation x, elbow flexion x degrees, elbow extension/contraction x, wrist rotation x degree parameters, finger pressure/clamp with voice, elbow rotation with voice, elbow extension/contraction with voice, finger pressure/clamp with sensor, up-down rotation with sensor elbow, elbow rotation with sensor, determining, modifying; when the parameter input arm is raised by 150mm, the elbow is bent by 30 degrees, the elbow is extended/contracted by 30mm and the wrist rotates by 60 degrees, the robot driver arm is at the operation position of the automobile steering wheel 9 with the selected model, the point on the APP software is determined, the signal passes through the mobile phone transmission gateway, the gateway 806 is transmitted to the control and drive main board through the wireless transmission receiving module G, is transmitted to the mechanism control circuit board B in the left hand assembly 3 through the wireless transmission receiving module 2 and is transmitted to the mechanism control circuit board C313 in the right hand assembly 2 through the wireless transmission receiving module 3, the circuit board chips memorize and store the signals, and when the robot driver is in a working state, the stepping motors N104 and M105 of the left and right arms 104 and M105 rotate from the position of the arm drop memory point; similarly, the right wrist clamp assembly 333 and the stepping motor C2 for articulation articulated with the right forearm assembly 32, and the left wrist clamp assembly 333 and the stepping motor B2 for articulation articulated with the left forearm assembly, make it possible to vertically rotate the memory point position from the wrist assembly; if no other setting exists, the robot driver operates the steering wheel 9 according to the setting, if the operation is changed to the operation of the steering wheel 9 of another automobile model, the arm may be raised by 150mm, the elbow bend is not suitable for 30 degrees, the arm raising is changed to 145mm, the elbow bend is suitable for 28 degrees, the APP software upper point is determined, and the operation corresponding to the automobile model that the arm grabs the steering wheel 9 is fixed;
detailed operations, example two:
click on the foot interface, appear: walking speed X, left crus stretching/contracting X, left foot pitching/bowing X degrees, right crus stretching/contracting X, right foot pitching/bowing X degrees, intelligent pedal distance X along with a sensor, intelligent pedal distance X along with voice, double-leg sliding walking, double-leg stepping walking, determining and modifying; when the parameters are input into the left shank extension/contraction 20mm, the left foot pitch/depression 15 degrees, the right shank extension/contraction 35mm and the right foot pitch/depression 12 degrees, the pedal plate clamp is just matched with the maximum and minimum travel of the acceleration and deceleration pedal and the brake pedal of the selected type of automobile, the APP software is clicked to determine, signals are transmitted to the control and drive main board through the mobile phone transmission gateway, the gateway 806 is transmitted to the mechanism control circuit board D314 in the left shank assembly 32 through the wireless transmission receiving module D and is transmitted to the mechanism control circuit board E in the right shank assembly 32 through the wireless transmission receiving module E, and all circuit board chips memorize and store the signals; when a robot driver is in a working condition, a stepping motor D63312 arranged in a left pedal clamp rotates, an output shaft lead screw drives a clamping plate 335, a front tooth nut and a back tooth nut in the clamping plate 336 move oppositely, a pedal clamp opens, a left pedal clamp and a right pedal clamp downwards step on a speed reduction pedal and a brake pedal under the action of a stepping motor D43310 arranged in a round left foot post 333, when pressure sensors D and E detect the stepping pressure, signals are fed back to mechanism control circuit boards D314 and E in a left and right shank assembly 32, if the stepping motor D43310 stops working, a program sets the stepping motor D63312 to rotate reversely, and the pedal clamp is clamped; if no other setting exists, the left foot and the right foot of the robot driver are always adopted on the automobile pedal according to the setting, and the robot driver works within the parameter range set on the automobile pedal;
referring to fig. 5-6, 16-17, 20-28, 31, the sensor system assembly comprises: a first sensor component part installed in the brain housing 801, another part of the sensor component installed in each muscle;
the first sensor component comprises: a distance measuring sensor A, an infrared sensor A, an obstacle avoidance sensor A and a color sensor A which are arranged on the forehead of the skull shell 801; a distance measuring sensor B, an infrared sensor B and an obstacle avoidance sensor B which are arranged on the back of the brain shell 801; a distance measuring sensor C, an infrared sensor C, an obstacle avoidance sensor C, a sound sensor A and a color sensor B which are arranged at the left ear of the brain shell 801; a distance measuring sensor D, an infrared sensor D, an obstacle avoidance sensor D, a sound sensor B and a color sensor C which are arranged at the right ear of the head shell 801; a photosensitive sensor and an air quality sensor which are arranged at the front face part, a photosensitive sensor and a temperature and humidity sensor A which are arranged at the top of the brain shell 801; the sensing distance, the triggering distance or the ranging distance of the sensor can be set;
the signal output ends of the infrared sensors A-D and the obstacle avoidance sensors A-D are connected with the signal input end of the control and drive general board; the sensing distance is set according to different vehicle external dimensions, if the sensing distance of the infrared sensors A-D is different, the sensing distance of the infrared sensor A is 1-5 meters, the sensing distance of the infrared sensor B is 3-8 meters, the sensing distance of the infrared sensor C is 0.2-2 meters, and the sensing distance of the infrared sensor D is 2-5 meters; in the induction distance area, if a human body enters the infrared sensor to transmit a signal to a signal input end corresponding to the control and drive main board, the signal input end is matched with a set program to adjust the control and drive main board to correspondingly control the motor to work;
operation implementation, example three:
when an automobile runs at the uniform speed, if an infrared sensor A mounted on the forehead of a head shell 801 of a robot driver is detected to have an infrared object existing within the sensing distance range of 1-5 m right in front of the running of the automobile, a signal is transmitted to a control and drive header board, the header board generates a drive signal to a mechanism control circuit board D314, the mechanism control circuit board D314 outputs a reverse voltage to enable a stepping motor D43310 on a pedal clamp mechanism to rotate reversely at a low speed, a lead screw slowly rises, and an automobile acceleration and deceleration pedal slowly rises to realize the deceleration of the automobile; when an infrared object is generated and exceeds the range of 5 meters, a signal transmitted by the infrared sensor A disappears, the output reverse voltage output of the mechanism control circuit board D314 is zero, the stepping motor D43310 in the pedal clamp mechanism stops working at a timing of s seconds, when the timing of s seconds is over, the mechanism control circuit board D314 does not receive any information of a control and drive main board, the speed is reversed at a low speed, the mechanism control circuit board D314 outputs a forward voltage, the forward voltage of the stepping motor D43310 in the pedal clamp mechanism is driven to rotate, a lead screw is driven to slowly descend by the forward rotation of the stepping motor D43310, and an automobile acceleration and deceleration pedal is driven by the pedal clamp to slowly reach an original set position, so that the automobile can be driven at;
operation is performed, for example four:
when a robot driver is in a working condition, when the automobile runs at a uniform speed or turns left, an infrared object is generated within a range of 0.5-2 m away from the left side of a driving position, and the infrared object is just in a range of 0.5-2 m away from the infrared sensor C, the infrared sensor C transmits a continuous signal to the control and drive main board, the main board transmits a drive signal to the mechanism control circuit board B, and the mechanism control circuit board B outputs a reverse voltage to enable the stepping motor 215 in the left hand assembly 3 and the stepping motor 225 to rotate reversely;
when the automobile runs until the sensing signal of the infrared sensor C disappears, the main board is controlled and driven to emit a reset signal or continue to rotate left to the mechanism control circuit board B, and the mechanism control circuit board B outputs a forward voltage to enable the stepping motor 215 and the stepping motor 225 in the left hand assembly 3 to rotate forward; if the control and drive main board outputs a reset signal, the stepping motor 215 and the stepping motor 225 memorize and return to the program set linear walking position;
if the control and drive main board outputs a signal of continuing to rotate left, the mechanism control circuit board B outputs a forward voltage to enable the stepping motor 215 in the left hand assembly 3, when the stepping motor 225 rotates forward to a left rotation limiting position of the steering wheel 9, a pressure sensor module B205 in the left wrist clamp assembly 333 or a pressure sensor module C306 in the right wrist clamp assembly 333 detects a pressure signal and transmits the pressure signal to the control and drive main board, and the control and drive main board outputs a reverse voltage to the mechanism control circuit board B to enable the stepping motor 215 in the left hand assembly 3 and the stepping motor 225 to rotate reversely, memorize and return to a program-set linear traveling position;
similarly, when the robot driver is in a working condition, when the automobile runs at a uniform speed, if an infrared object exists at the right side of the running position of the automobile within a distance of 2-4 meters, the infrared object is just in a sensing distance of 2-4 meters of the infrared sensor D, the infrared sensor C transmits a continuous signal to the control and drive header board, the header board outputs a drive signal to the mechanism control circuit board C313, the mechanism control circuit board C313 outputs a reverse voltage to enable the stepping motor 315 and the stepping motor 325 in the right-hand assembly 2 to rotate in reverse directions, when the automobile runs in a steering mode until the sensing signal of the infrared sensor D disappears, controlling and driving the bus board to emit a reset signal to the mechanism control circuit board C313, outputting a forward voltage by the mechanism control circuit board C313 to enable the stepping motor 315 and the stepping motor 325 in the left hand assembly 3 to rotate in a forward direction, and memorizing and returning to a program set linear walking position;
operation implementation, example five:
when a robot driver is in a working condition, when an automobile runs at a uniform speed, if an infrared object exists after the automobile runs at a distance of 2-5 meters from a driving position, and the infrared object happens to exist within a sensing distance of 2-5 meters from an infrared sensor D, the infrared sensor D transmits a continuous signal to a control and drive main board, the main board transmits a drive signal to a mechanism control circuit board D314, the mechanism control circuit board D314 outputs an output pulse charging current to accelerate a rail transfer of a stepping motor D43310 on a pedal clamp mechanism, drives a lead screw to slowly descend, and the automobile acceleration and deceleration pedal slowly descends to accelerate the automobile; when the infrared object generated exceeds the range of 5 meters, the transmission signal of the infrared sensor D disappears, the mechanism control circuit board D314 outputs a pulse charge current to return to a set value, the stepping motor D43310 in the pedal clamp mechanism rotates reversely at a low speed, the threaded rod is slowly lifted, the pedal clamps the automobile acceleration and deceleration pedal to be slowly moved to the original set position, and the automobile is driven to recover the original speed;
and (3) implementing the operation, further expressing:
the signal output ends of the obstacle avoidance sensors A to D are connected with the signal input end of the control and drive main board; the obstacle avoidance sensors A-D have different triggering distances which can be set according to different vehicle external dimensions; if the trigger distance of the obstacle avoidance sensor A is set to be in the range of 0.5-2 meters, the trigger distance of the obstacle avoidance sensor B is in the range of 2-3.5 meters, the trigger distance of the red obstacle avoidance sensor C is in the range of 0.2-1 meter, and the trigger distance of the obstacle avoidance sensor D is in the range of 1.5-3 meters; in the distance area, if an object enters the obstacle avoidance sensor to transmit a signal to a signal input end corresponding to the control and drive main board, the signal input end is matched with a set program to adjust the control and drive main board to work in a motor control mode in the body corresponding to the control and drive main board;
specific operations are implemented, for example six:
when the automobile runs at the uniform speed, if an object is detected by an obstacle avoidance sensor A arranged at the forehead of a head shell 801 of a robot driver within a range of 0.5-2 meters right ahead of the running of the automobile, the object comprises a human body blocking signal, the obstacle avoidance sensor A outputs a signal to a control and drive main board, the main board sends a drive signal to a mechanism control circuit board E and a mechanism control circuit board D, the mechanism control circuit board D314 outputs a reverse voltage to enable a stepping motor D43310 on a right pedal clamp mechanism to rotate reversely at a high speed, a screw rod rises rapidly, and an automobile acceleration and deceleration pedal rises rapidly to realize the immediate stop of the automobile; the mechanism control circuit board E outputs reverse voltage to enable a stepping motor E43510 on the left pedal clamp mechanism to rotate reversely at a high speed, a screw rod descends rapidly, an automobile brake pedal descends rapidly, and automobile emergency braking is achieved;
when an object leaves, the obstacle avoidance sensor A does not detect any signal, the signal transmitted by the obstacle avoidance sensor A disappears, the output reverse voltage of the mechanism control circuit board E and the output reverse voltage of the D is zero, the stepping motor D43310 in the pedal clamp mechanism stops working at a timing of s seconds, when the timing of s seconds is over, the mechanism control circuit board E and the D do not receive any information of a control and drive main board, the stepping motor D43310 rotates reversely at a low speed, the stepping motor E43510 rotates reversely at a high speed, the mechanism control circuit board D314 outputs forward voltage, the forward screw rod of the stepping motor D43310 in the right pedal clamp mechanism is driven to slowly descend to an original set position, the forward voltage of the mechanism control circuit board E is output at the same time, the left pedal is driven to clamp the brake pedal of the automobile to quickly ascend to the original set position, and the automobile is driven to recover to the original speed;
the specific operation is implemented as an example seven:
when a robot driver is in a working condition and an automobile turns left, an existing object exists within a range of 0.2-1 m away from the left side of a driving position, an obstacle avoidance sensor C installed at the left ear of a head shell 801 of the robot driver is just within a range of 0.2-1 m of a trigger distance, the obstacle avoidance sensor C transmits a continuous signal to a control and drive header board 805, the control and drive header board 805 transmits a drive signal to a mechanism control circuit board B213, the mechanism control circuit board B213 outputs a reverse voltage to enable a stepping motor 215 in a left hand assembly 3, and the stepping motor 225 rotates reversely; when the vehicle runs until the trigger signal of the obstacle avoidance sensor C disappears, the control and drive bus plate 805 outputs a signal of continuing to rotate left, the mechanism control circuit board B213 outputs a forward voltage, so that the stepping motor 215 and the stepping motor 225 in the left hand assembly 323 rotate forward, the mechanism control circuit board C313 also outputs a forward voltage, so that the stepping motor 315 and the stepping motor 325 in the right hand assembly 2 rotate forward, when the steering wheel 9 rotates left to a limited position, the pressure sensor modules B1 and B205 in the pincer fingers B2 installed in the left wrist clamp assembly 333 and the pressure sensor modules C306 in the pincer fingers C1301 and C2302 in the right wrist clamp assembly 333 both detect pressure signals and transmit the pressure signals to the control and drive bus plate 805, and the control and drive bus plate 805 outputs reverse voltage information to the mechanism control circuit board B213 and the mechanism control circuit board 313, the stepping motors 215, 225 in the left hand assembly 323 and the stepping motors 315, 325 in the right hand assembly 2 are rotated in opposite directions, so that the four stepping motors 215, 225, 315, 325 are returned to the positions memorized by the program setting straight line travel;
similarly, when the robot driver is in a working condition, the control principle and the mode of the automobile right turning are consistent, and only the obstacle avoidance sensor D is arranged at the right ear of the head shell 801 of the robot driver, and the nearest detection distance is increased because the seat of the robot driver is far away from the right edge of the automobile;
the specific operation is implemented as follows:
when a robot driver is in a working condition, when an automobile runs at a uniform speed, if an existing object exists in a range of 2-3.5 meters away from a driving position behind the automobile, and the existing object is just in a range of 2-3.5 meters away from an obstacle avoidance sensor D arranged behind a head shell 801 of the robot driver, the obstacle avoidance sensor D transmits a continuous signal to a control and drive main board, the main board transmits a drive signal to a mechanism control circuit board D314, the mechanism control circuit board D314 outputs an output increased pulse charging current to enable a stepping motor D43310 on a pedal clamp mechanism to accelerate a rail, a screw rod is driven to rapidly descend, and the acceleration and deceleration pedal of the automobile rapidly descends to realize that the advancing speed of the automobile is also accelerated; when the distance from the object exceeds the range of 3.5 meters, the transmission signal of the obstacle avoidance sensor D disappears, the mechanism control circuit board D314 outputs a pulse charging current and returns to the set value of the normal running speed, the stepping motor D43310 in the pedal clamp mechanism rotates reversely at a uniform speed, the threaded rod rises, and the pedal clamps the automobile acceleration and deceleration pedal to return to the original set position, so that the automobile is driven at the original speed;
the above implementation operation further states: for the safety of automobile driving, except for the detection of people and objects around the automobile driving and the brain strain capability of a driver, the safety is ensured by the medium-short distance, the obstacle avoidance sensor is triggered for the short-distance people and objects, and the infrared ray induction with the medium-short distance people and animals can realize the deceleration and obstacle avoidance of the driver, and the two sensors are arranged to have overlapped reaction distances for ensuring the safety;
the invention also installs a distance measuring sensor A at the forehead of the brain shell 801, a distance measuring sensor B at the back of the brain shell 801, a distance measuring sensor C at the left ear of the brain shell 801 and a distance measuring sensor D at the right ear of the brain shell 801 on a driver's head, thus realizing remote prevention and response; the distance measuring sensor in this example takes a laser distance measuring sensor as an example and is detailed as follows:
the detection distance of a distance measurement sensor A is assumed to be 6-20 meters, the detection distance of a distance measurement sensor B is assumed to be 10-30 meters, the detection distance of a distance measurement sensor C is assumed to be 3-8 meters, and the detection distance of a distance measurement sensor D is assumed to be 4-10 meters;
the specific operation is implemented by way of example nine:
when the automobile runs at the uniform speed, if an object is detected by a distance measuring sensor A arranged at the forehead of a head shell 801 of a robot driver in the range of 6-20 meters in front of the automobile, the object comprises a human body vehicle blocking signal, the distance measuring sensor A outputs a signal to a control and drive main board, and the main board outputs and drives the output signal of the distance measuring sensor A and simultaneously outputs: 1, led driving electronic board, 2, mechanism control circuit board D314, mechanism control circuit board B sends program setting information;
when the mechanism control circuit board D314 obtains information of the control and drive main board, the mechanism control circuit board D314 outputs reverse voltage to enable the stepping motor D43310 on the right pedal clamp mechanism to slowly rotate reversely, the screw rod slowly rises, and the automobile acceleration and deceleration pedal slowly rises to realize the deceleration and the advance of the automobile;
when the led driving electronic board obtains the information of the control and driving main board, the led spotlight 8032 arranged on the top of the head shell 801 of the robot driver is driven to be opened, and the strong light column of the led spotlight 8032 flashes an object right ahead when the automobile runs;
when the mechanism control circuit board D314 obtains control and drive board information, that is, a left turn signal, the mechanism control circuit board B213 outputs a forward voltage, so that the stepping motor 215 in the left hand assembly 3 and the stepping motor 225 rotate forward, the mechanism control circuit board C313 also outputs a forward voltage, so that the stepping motor 315 and the stepping motor 325 in the right hand assembly 2 rotate forward, when the steering wheel 9 turns left to a certain position, the automobile runs forward and avoids an advancing object, the output signal of the range finding sensor a disappears, the control and drive board obtains a signal which disappears, the mechanism control circuit board B213 and the mechanism control circuit board 313 are sent an output reverse voltage instruction again, so that the stepping motor 215 and the stepping motor 225 in the left hand assembly 323 rotate in the reverse direction, and the stepping motor 315 and the stepping motor 325 in the right hand assembly 2 also rotate in the reverse direction, so that the four stepping motors 215, 225, 315, 325 returns to the memorized position of the program setting straight line driving;
when the output signal of the distance measuring sensor A disappears, the output signal is output to the led driving electronic board again after the output signal of the distance measuring sensor A is obtained by controlling and driving the general board, and the led driving electronic board disconnects the working power supply of the high-intensity light column of the led spotlight 8032;
the specific operation is implemented by ten examples:
similarly, when the automobile runs at the same speed, the distance on the left side of the automobile is 3-8 meters, the distance sensor C installed on the left side of the head shell 801 of the robot driver detects that an object exists within the range of 3-8 meters and includes a human body vehicle blocking signal, the distance sensor C outputs a signal to the control and drive bus board 805, and the bus board outputs and drives the output signal of the distance sensor C and simultaneously outputs: 1, an led driving electronic board, 2, a mechanism control circuit board A1010;
when the mechanism control circuit board a 1010 obtains control and drive board information, the mechanism control circuit board a 1010 outputs a reverse voltage instruction, so that the stepping motor K71 in the neck assembly 7 works temporarily and rotates in a reverse direction by 90 degrees;
meanwhile, when the led driving electronic board obtains control and driving main board information, the led spotlight 8032 arranged on the top of the head shell 801 of the robot driver is driven to be turned on, and the strong light column of the led spotlight 8032 flashes an object on the left side of the running automobile to remind of paying attention to the distance between the automobiles;
when an output signal of the distance measuring sensor C disappears, a control and drive main board pair mechanism control circuit board A1010 outputs a forward voltage instruction, so that a stepping motor K71 in a neck assembly 7 rotates forwards by 90 degrees, and the head of a driver returns to the front; meanwhile, the control and drive general board outputs a signal to the led drive electronic board again after obtaining the output signal, and the led drive electronic board disconnects the working power supply of the high-intensity light column of the led spotlight 8032;
if the output signal of the distance measuring sensor C continuously reaches more than 15-20 seconds, the main board pair mechanism control circuit board D314 is controlled and driven to output a reverse voltage instruction, when the mechanism control circuit board D314 obtains information and outputs a reverse voltage, a stepping motor D43310 on the right pedal clamp mechanism rotates reversely at a slow speed, a screw rod ascends at a slow speed, an automobile acceleration and deceleration pedal is slowly lifted to realize the deceleration and the forward of the automobile, and the automobile on the left side is staggered and driven in parallel;
the specific operation is implemented as an example eleven:
when the automobile runs at a uniform speed, if the distance measuring sensor B is arranged at the rear part of the head shell 801 of a robot driver and in the range of 10-30 meters behind the automobile, the distance measuring sensor B is arranged to detect that an object comprises a human body and the automobile, the distance measuring sensor B outputs a signal to the control and drive main board, the main board outputs the signal which is obtained by the distance measuring sensor B, and the control and drive main board sequentially outputs: the mechanism control circuit board D314, the mechanism control circuit board A1010 and the led drive electronic board send out program setting information;
when the mechanism control circuit board D314 obtains information of a control and drive main board, the mechanism control circuit board D314 outputs a forward voltage to enable the stepping motor D43310 on the right pedal clamp mechanism to rotate forward slowly, the screw rod descends slowly, and the automobile acceleration and deceleration pedal descends slowly to realize gradual acceleration and forward of the automobile;
when the mechanism control circuit board a 1010 obtains control and drive board information, the mechanism control circuit board a 1010 outputs a reverse voltage instruction, so that the stepping motor K71 in the neck assembly 7 works temporarily and rotates in a reverse direction by 180 degrees;
when the neck shell 7 rotates 180 degrees, the led driving electronic board sends out control and driving general board information, the led spotlight 8032 installed on the top of the head shell 801 of the robot driver is driven to be opened, and the light column of the led spotlight 8032 continuously gives the red and yellow light and human body, vehicle twinkling and red light to the object behind the automobile three times; after that, the stepping motor K71 in the neck assembly 7 rotates back by 180 degrees;
when the output signal of the distance measuring sensor B disappears, the control and drive master board obtains a signal, program setting information is sent to the mechanism control circuit board D314 again, and the running speed of the automobile is recovered to be a set speed;
referring to fig. 29 and 30, the invention also installs a sound sensor A on the left ear of the driver's head shell 801 and installs a sound sensor B on the right ear of the driver's head shell 801 to realize various sound identifications in the uniform speed driving of the automobile; the signal output ends of the sound sensors A-B are connected with the signal input end of a voice control system component;
the sound sensor of the embodiment identifies three types of different decibel data of human voice, horn sound and other sound to generate different output voltages to the signal input end of the voice control system component, different information is output to the control and drive switchboard through a chip setting program of the voice control system component, and when the obtained switchboard information is judged to be human voice, horn sound or other sound, different instruction information is sent to different mechanisms; the following examples are detailed below:
the specific operation is implemented as an example twelve:
when the automobile runs at a uniform speed in a straight line, if sound sensor A mounted at the left ear of a head shell 801 of a robot driver detects human voice at the running left side of the automobile, different output voltages are generated by decibel data and are transmitted to a signal input end of a voice control system component, a chip of the voice control system component sets a program to output information to a control and drive main board, and when the obtained main board information is judged to be the human voice, a driving signal is transmitted to a mechanism control circuit board B213, and the mechanism control circuit board B213 outputs a reverse voltage to enable a stepping motor 215 and a stepping motor 225 in a left hand assembly 3 to rotate in a reverse direction; when the automobile runs until the trigger signal of the sound sensor A disappears, the general board 805 is controlled and driven to output a continuous straight running signal, and the mechanism control circuit board B outputs a forward voltage to enable the stepping motors 215 and 225 in the left hand assembly 3 to rotate in the forward direction, so that the four stepping motors 215 and 225 return to positions memorized by program set straight running;
when the sound sensor A detects horn sound, different output voltages are generated by decibel data and are transmitted to a signal input end of a voice control system component, information is output to a control and drive master board through a chip setting program of the voice control system component, and the obtained master board information is judged to be the horn sound, the control and drive master board outputs information to a mechanism control circuit board D314, the mechanism control circuit board D314 outputs reverse voltage to enable a stepping motor D43310 on a right pedal clamp mechanism to slowly rotate reversely, a lead screw slowly rises, and an automobile acceleration pedal and a deceleration pedal slowly rise to realize gradual speed reduction and advance of an automobile;
when the sound sensor B detects other sounds, different output voltages are generated by decibel data and are transmitted to the signal input end of the voice control system component, a program is set through a chip of the voice control system component, no information instruction is output, and the automobile runs at a uniform speed in a straight line;
similarly, when the automobile runs at a uniform speed in a straight line, if the sound sensor B mounted on the right ear of the head shell 801 of the robot detects human voice on the right side of the running of the automobile, different output voltages are generated by decibel data and are sent to the signal input end of the voice control system component, the program is set by the chip of the voice control system component to output information to the control and drive main board, when the obtained main board information is judged to be human voice, a drive signal is sent to the mechanism control circuit board C313, the mechanism control circuit board C313 outputs a reverse voltage to enable the stepping motor 315 in the right hand assembly 2 and the stepping motor 325 to rotate in a reverse direction; when the automobile runs until the trigger signal of the sound sensor B disappears, the general board 805 is controlled and driven to output a continuous straight running signal, the mechanism control circuit board C313 outputs a forward voltage to enable the stepping motors 315 and 325 in the right-hand assembly 2 to rotate forward, and the four stepping motors 315 and 325 return to positions memorized by program set straight running;
referring to fig. 28 and 30, the working principle of other sensors of the present invention is further described;
the invention also installs a color sensor A on the forehead of the head shell 801, a color sensor B on the left ear of the head shell 801, and a color sensor C on the right ear of the head shell 801, so as to realize various color identification in the uniform speed driving of the automobile; the color sensors A-C are provided with the following components on the color identification control modules A-C: the system comprises a special traffic lamp color remote identification IC, a wireless transmission and reception module J, a signal input end and a signal output end;
the signal input ends of the color identification control modules A-C are connected with the signal output end of an analog-to-digital network module mainboard 804 in the vision control system component;
signal output ends of the color identification control modules A to C are connected with signal input ends of the control and drive general boards;
the color sensor identification control modules A-C are provided with special traffic light color remote identification ICs which are specially used for identifying the change program setting of three special color groups of red, green and yellow and outputting corresponding signals: the traffic light yellow, the traffic light green, the traffic light red and the traffic light are displayed simultaneously: red yellow, red green;
the specific operation is implemented as thirteen examples:
when the traffic light in front is red and yellow, controlling and driving a signal output instruction of the main board, and outputting information forward voltage to a mechanism control circuit board D314; namely, the vehicle is accelerated to run straight;
when the traffic light in front is red, a control and drive bus board signal output instruction is sent to a mechanism control circuit board E, and a mechanism control circuit board D314 outputs information reverse voltage; namely, the running brake of the vehicle;
when the traffic light in front is red and green, controlling and driving the output instruction of the signal of the main board: outputting information forward voltage to a mechanism control circuit board D314 and outputting forward voltage to a mechanism control circuit board B, so that the stepping motor 215 and the stepping motor 225 in the left hand assembly 3 rotate forward, and outputting forward voltage to a mechanism control circuit board C313, so that the stepping motor 315 and the stepping motor 325 in the right hand assembly 2 rotate forward; namely, the vehicle runs in a left turn;
when the traffic light right in front is green, controlling and driving a signal output instruction of the main board: outputting information forward voltage to the mechanism control circuit board D314; a reverse voltage is also output to the mechanism control circuit board C313, so that the stepping motor 315 and the stepping motor 325 in the right-hand assembly 2 rotate in reverse directions; namely, the vehicle runs in a straight way or turns right; how to judge whether the head is rotated right or moved straight is combined with a vision control system component arranged inside the head shell 801 to output signals for a control and drive main board;
further explaining, the specific operation embodiment is as follows:
the robotic driver vision control system component includes: the system comprises a network camera, an analog-to-digital network module mainboard 804, a wireless transmission and reception module H, a loudspeaker and audio processing board 8010, a microphone and an intercom mainboard; the analog-to-digital conversion network module main board 804 is provided with a high-integration SOC processor, and is also provided with a battery power supply port, an audio input/output port, a TF card slot 8017 and a chip external storage card slot;
the network camera is provided with 3 at least, includes: the system comprises a zoom network camera A, a network camera B and a network camera C; the network cameras A, B are arranged at the left and right eyes of the brain shell 801, and C are arranged at the back brain shell; the network cameras A-C are electrically connected with the analog-to-digital network module mainboard 804;
the analog-to-digital conversion network module mainboard 804 is connected with a local area network or the internet through a wireless transmission receiving module H and a gateway 806 which are arranged on the mainboard in a networking way;
the loudspeaker is arranged on the face and mouth part on the outer surface of the head shell 801 and is electrically connected with the output end of the audio processing plate 8010; the microphone (80141,80142) is arranged at the ear on the outer surface of the head shell 801 and is electrically connected with the talkback main board;
the audio processing board, the talkback main board and the analog-to-digital network module main board 804 are all fastened at the bottom of the barrel of the brain shell 801;
the battery power supply port is electrically connected with a battery module arranged at the top of the head shell 801;
the audio input/output port is electrically connected with the audio processing board;
example fourteen:
therefore, when the vehicle runs, the network cameras A and B are arranged at the left eye and the right eye of the brain shell 801, and the network camera C is arranged at the back brain shell; through networking, real-time information of the analog-to-digital network module mainboard 804 is transmitted to the control and drive switchboard through the gateway 806; therefore, the network cameras a and B present traffic light colors such as traffic light yellow, traffic light green, traffic light red and traffic light in front to display simultaneously: traffic laws such as red yellow, red green and the like, which are specified for the vehicle driving instruction about the image, are stored in an analog-to-digital network module mainboard 804IC image library in advance, and after comparison, program set information is sent out and transmitted to a control and drive switchboard through a gateway 806; the analog-to-digital network module mainboard 804IC image library can be a DS card stored in a chip external memory card slot, and can also be an IC memory card preferentially arranged in the chip external memory card slot;
therefore, when the traffic light is green and a right-turn arrow image exists, the network camera A and the network camera B shoot the image in real time, and after comparison of an image library, program setting information is sent out and transmitted to the control and drive switchboard through the gateway 806; the control and drive main board supply mechanism control circuit board C313 also outputs reverse voltage, so that the stepping motors 315 and 325 in the right-hand assembly 2 rotate in reverse directions, and the right-turn running of the vehicle is realized;
similarly, for the advancing direction, the network cameras A to C shoot the display colors of the related traffic lights in the picture information in real time, and after the comparison of the traffic lights in the image library, the information with the set program is sent out and transmitted to the control and drive switchboard through the gateway 806;
example fifteen:
in addition to the color information of the traffic lights, the zebra crossing on the road, various yellow lines on the road, the white line on the lane and the traffic signboard of the advancing road are also stored in the analog-to-digital network module mainboard 804IC image library;
for the automobile running in the forward direction, the camera shooting angles of the network cameras A + B which are arranged at the left eye and the right eye of a head shell 801 of a robot driver reach 120 degrees, the images on the road are shot in real time, after the images are compared by an image library, program setting information is sent out, and the information is transmitted to a control and drive main board through a gateway 806;
for example, when the network camera a or the network camera B shoots that the left and right lanes are white lines but are asymmetric, after comparison in an image library, it is determined that the vehicle needs to be shifted to the left or to the right, and the program information is transmitted to a control and drive bus board through a gateway 806, and the bus board also outputs a reverse voltage to a mechanism control circuit board C313, so that the stepping motor 315 and the stepping motor 325 in the right-hand assembly 2 rotate in the reverse direction, or outputs a reverse voltage to a mechanism control circuit board B213, so that the stepping motor 215 and the stepping motor 225 in the right-hand assembly 2 rotate in the reverse direction; when the white lines on the left lane and the right lane are symmetrical after s is 5 seconds, the program information that the driving does not need to be deviated to the left or the right is judged after comparison of an image library, the program information is transmitted to a control and drive main board through a gateway 806, the main board also outputs a straight line driving information instruction to a mechanism control circuit board C313 and a mechanism control circuit board B213, and the stepping motor 215, the stepping motor 225, the stepping motor 315 and the stepping motor 325 in the left-hand assembly 2 and the right-hand assembly 2 are enabled to set the memory straight line driving positions in a regression mode;
example sixteen:
similarly, in addition to the above information, a vehicle scene, a pedestrian scene, an intersection scene, and an road intersection scene on the road can also be recorded and stored in the analog-to-digital network module motherboard 804IC image library, so as to obtain an image contrast in real time;
the image library storage types are: the front part of the vehicle is provided with a truck vehicle scene, a trolley vehicle scene, a bus vehicle scene, a vehicle scene supported by the vehicle, an electric vehicle scene, a self-propelled vehicle scene, a pedestrian zebra crossing scene, a pedestrian crossroad traveling scene and the like.
For example: the network camera A or the network camera B shoots that continuous scenes of front truck vehicles are unchanged, after comparison of an image library, program information that speed reduction is not needed in driving is judged, the program information is transmitted to a control and drive main board through a gateway 806, and the control and drive main board outputs a signal instruction: outputting uniform speed information to a mechanism control circuit board D314, and enabling the vehicle to run at uniform speed in a straight-through manner; if the continuous scenes of the front truck vehicles are gradually increased and compared through the image library, the program information of driving deceleration is judged and transmitted to the control and drive main board through the gateway 806, and the control and drive main board outputs a signal instruction: outputting information reverse voltage to a mechanism control circuit board D314, and decelerating the travelling crane; similarly, when the continuous scene of the front truck is not changed, after the comparison of the image library, the program information that the speed of the truck is not required to be reduced is judged, the traffic gateway 806, the control and drive main board and the mechanism control circuit board D314 are used for controlling, and the truck runs at the same speed in a straight-through manner;
on the contrary, if the continuous scenes of the front truck vehicles are gradually reduced and compared by the image library, the program information of vehicle driving acceleration is judged and transmitted to the control and drive main board through the gateway 806, and the control and drive main board outputs a signal instruction: outputting information forward voltage to a mechanism control circuit board D314, and accelerating the traveling;
for the pedestrian crossing zebra crossing scene and the pedestrian crossing street traffic scene types, after comparison through an image library, program information of vehicle deceleration is judged, the program information is transmitted to a control and drive switchboard through a gateway 806, and the control and drive switchboard outputs a signal instruction: outputting information reverse voltage to a mechanism control circuit board D314, and enabling the traveling crane to decelerate and move straight; if the infrared induction sensor also sends out a signal instruction to the control and drive general board, preferentially executing the information of the infrared induction sensor;
example seventeen:
for an automobile running in the forward direction, if the automobile is installed on a robot driver head shell 801 and a network camera A or a network camera B to shoot images in real time and no storage contrast information exists, the automobile is played through an analog-to-digital network module mainboard 804 audio processing board and a loudspeaker, and the front condition is unclear, a host is requested to give a prompt, and meanwhile, the automobile is transmitted to an intelligent mobile phone through a gateway 806 to transmit continuous images and the front condition is unclear, the host is requested to give a prompt message; if the master is seated on the vehicle, the master answers the contents of 'straight going' or 'speed reducing advancing' or 'brake stopping' or 'accelerating advancing' or 'temporary condition needing no care', and the like, controls the input of a signal input port of the mainboard through a microphone, an audio processing board and a voice recognition module on the mainboard 804 of the analog-to-digital network module, and transmits a signal instruction to a control and drive main board through a communication port of a single chip microcomputer to output the signal instruction to a mechanism control circuit board in a relevant muscle body of a robot driver; meanwhile, the voice recognition module controls the main board to play and answer contents such as 'know, host' and the like through the audio processing board and the loudspeaker;
if the host answers the contents of ' temporary condition don't care ' or ' no matter it ', the image is not preserved, and other answering content instructions are classified and stored into corresponding instruction categories;
further explaining, the specific operation embodiment is as follows:
an eighteen example is given:
the photosensitive sensor 8033 is arranged on the top of the head shell 801, the sensor probe exposes the outer surface of the head shell 801, and the signal output end of the sensor is electrically connected with the trigger end of the illuminating lamp module 803; the illumination lamp module 803 includes: the LED spotlight comprises a lamp belt cover arranged on the top surface of the head shell, a spotlight reflector arranged on the lamp belt cover, an LED spotlight 8032 arranged in the spotlight reflector, an LED lamp belt 8031 arranged between the lamp belt cover and the top surface of the head shell, a photosensitive sensor 8033 and an LED driving electronic board; the led driving electronic board is in charged connection with the led spotlight 8032 and the led spotlight 8032;
when a robot driver walks or stands in an environment with insufficient light, the photosensitive sensor 8033 drives the electronic board through led to start the led lamp strip 8031 between the top surfaces of the outer shells of the head and the brain; however, when a robot driver operates to control and drive the main board to output a signal command, the mechanism control circuit board a 1010 executes a program to send a high level command to the led driving electronic board, and the led light strip 8031 does not work;
example nineteen:
the air quality sensor probe 8018 is arranged at the nostril, the signal output end of the sensor is connected with the signal input end of the control and drive main board, and the signal output end of the sensor is also electrically connected with the wireless relay module A; when a robot driver works or not, the air quality sensor probe 8018 detects that the air quality is lower than a set threshold value, outputs a signal to the control and drive header board, the header board outputs a signal instruction to the mechanism control circuit board A1010 to drive the air purification assembly 103 to work, and the air purification assembly 103 is electrically connected with the mechanism control circuit board A1010;
the setting is in 1 upper part of the body casing 101 of robot driver neck upper part of the body assembly, includes: an anion generator 1036, an ultraviolet germicidal lamp 1031 and a purifying cover 1030, wherein filter cotton 1034 and activated carbon cotton 1035 are installed in the purifying cover 1030; axial fans a1, a 21032, axial fan B1033; the axial flow fans A1 and A21032 are air outlet fans and are hung below the top plate of the upper body shell, and the axial flow fan B1033 is an air inlet fan; the anion generator 1036 and the ultraviolet germicidal lamp 1031 are mounted on the lower bottom plate of the upper body shell;
when the axial flow fan B1033 works to introduce air into the upper body shell 101 of the neck upper body assembly 1, the ultraviolet sterilizing lamp 1031 sterilizes the air in the shell, the negative ion generator 1036 works to neutralize negative ions in the air into a dust precipitation shell, the axial flow fans A1 and A21032 work to treat the air purified in the shell through the filter cotton 1034 and the activated carbon cotton 1035 in the purifying cover 1030 to form high-quality air, the high-quality air is discharged into a cab, the operation is repeated in such a way until the air quality of the air quality sensor probe 8018 is higher than a set threshold value, low-level information of an output end is sent to the mechanism control circuit board A1010, and the power supply of the air purifying assembly 103 is closed to stop working;
the following further details the outdoor driving environment embodiments of the present invention;
when a driving road is uneven or goes up or down, a robot driver senses and actually operates the road mainly by means of various inclination sensors arranged on the body of the robot driver to sense the flatness of the road; the tilt sensor component includes: a front tilt sensor K, a rear tilt sensor L, a left tilt sensor M, a right tilt sensor N;
the front inclination sensor is arranged at the front end of the top of the upper body assembly 1 of the neck part, and the rear inclination sensor is arranged at the rear end of the top of the upper body assembly 1 of the neck part; the signal output end of the inclination sensor is connected with the signal input end of the control and drive main board, and the signal output end of the sensor is also electrically connected with the wireless relay module B and the wireless relay module C312;
the left inclination sensor is arranged on the left side of the top of the upper neck body assembly 1, and the right inclination sensor is arranged on the right side of the top of the upper neck body assembly 1; the signal output end of the inclination sensor is connected with the signal input end of the control and drive main board, and the signal output end of the sensor is also electrically connected with the wireless relay module D313 and the wireless relay module E;
an example twenty is as follows:
when a vehicle goes up a bridge, a front inclination sensor K and a rear inclination sensor L which are arranged on a robot driver neck upper body assembly 1 detect that the vehicle goes up the bridge and goes up the slope, the inclination sensor K outputs positive inclination angle information to a control and drive general plate according to a set program, the inclination sensor L outputs high level information to the control and drive general plate, after the control and drive general plate acquires the information, a mechanism control circuit board D314 in a right leg assembly 5 is output and driven to output positive voltage, a stepping motor D43310 which drives the lifting of a pedal clamp of the right leg assembly drives a lifting lead screw D3311 to slowly descend, the descending distance, namely the descending value, of the lifting lead screw D3311 is proportional to the detected inclination angle, and the ascending accelerator slowing and the ascending speed are set according to the stroke;
similarly, when a vehicle descends an axle and a front inclination sensor K and a rear inclination sensor L which are arranged on an upper body assembly 1 at the neck part of a robot driver detect that the vehicle descends the slope, the inclination sensor K outputs inclination negative angle information to a control and drive general board according to a set program, the inclination sensor L outputs high level information to the control and drive general board, after the control and drive general board obtains the information, a reverse voltage is output to a mechanism control circuit board D314 in a drive right leg assembly 5, a stepping motor D43310 which drives the lifting of a pedal clamp of the right leg assembly drives a lifting lead screw D3311 to slowly lift, the lifting distance, namely the lifting value, of the lifting lead screw D3311 is in direct proportion to the detected inclination angle, and the stroke is set to reduce the descending speed; meanwhile, when the output of a mechanism control circuit board E in the right leg and foot assembly 5 is driven, the output is negative, positive voltage, and a stepping motor E45310 for driving the lifting of a pedal clamp of the right leg and foot assembly drives a lifting screw rod E5311 to lift when the lifting screw rod E5311 rises, the descending distance of the lifting screw rod E5311, namely the descending value, is proportional to the detected inclination angle, and the ascending descending value when the lifting screw rod E rises carries out point brake deceleration according to the set stroke;
an example of twenty one is as follows:
when a vehicle runs on a mountain road and enters a left-right-turn road condition, a left inclination sensor M and a right inclination sensor N which are arranged on a robot driver neck upper body assembly 1 detect the inclination information of the vehicle, the inclination sensor M outputs positive and negative angle information when the control and drive general board outputs inclination according to a set program, the inclination sensor N outputs high level information to the control and drive general board, after the control and drive general board acquires the information, a mechanism control circuit board D314 in a driving right leg assembly 5 outputs positive and negative voltage, a stepping motor D43310 which drives the lifting of a pedal clamp of the right leg assembly drives a lifting screw D3311 to quickly lift and descend, the lifting distance, namely the lifting value, of the lifting screw D3311 is proportional to the detected inclination angle, and the left-turn or right-turn speed is reduced according to the set stroke; meanwhile, when the output of a mechanism control circuit board E in the right leg and foot assembly 5 is driven, the output is negative and positive voltage, a stepping motor E45310 which drives the lifting of a pedal clamp of the right leg and foot assembly drives a lifting screw rod E5311 to quickly lift and descend in a time-rise manner, the descending distance of the lifting screw rod E5311, namely the descending value, is proportional to the detected inclination angle, and the ascending descending value of the lifting screw rod E is subjected to point brake deceleration according to the set stroke;
referring to fig. 12, a schematic diagram of the present invention for remotely monitoring and commanding the operation of a robot driver;
when some occasions such as port logistics transportation, airport logistics transportation and tourist area transportation are carried out, when vehicles can be driven by a robot driver, monitoring personnel such as dispatching personnel can simultaneously supervise the running conditions of a plurality of vehicles; the monitoring personnel open APP software, click and monitor the driving interface and be equipped with: the system comprises network cameras A, B and C, voice talkback recording on/off, a transit monitoring report and a TF card;
clicking the camera switch interface appears: rear camera, front camera, night vision, left inspection, right inspection, on/off
Clicking the voice intercom interface appears: voice recording is turned on/off, and prestored content is modified;
the monitoring report interface appears on the way of clicking: images, videos;
clicking on the TF card interface appears: covering parts for 24 hours, one week and one month;
an example of twenty two is as follows:
monitoring the logistics transportation of a robot driver at a certain port, and the transportation of a vehicle from a point A to a point B;
the implementation method comprises the following steps: the monitoring personnel open APP software, click the monitoring driving interface, and click the on-way monitoring report interface to appear: images, videos; when clicking the 'video', displaying a network camera A, a network camera B, a network camera C on/off and clicking 'on'; the process condition of the robot driver driving the vehicle to transport from the point A to the point B can be monitored, and if the process occurs, the real shooting scene of the network camera B and the network camera C is transmitted to the APP software through the network camera A and the network camera B;
the implementation method II comprises the following steps: monitoring a driving interface by clicking APP software by a monitoring person, and clicking a voice recording on/off point on a voice talkback interface; the whole process that a robot driver drives a vehicle to transport from a point A to a point B can be monitored, when the transportation process is abnormal, conversation can be conducted with the robot driver through a mobile terminal microphone or a computer microphone, conversation information is transmitted to the analog-to-digital network module mainboard 804 through a network, and remote conversation is achieved through the talkback mainboard and the microphone; the content transmission voice recognition module can also control the main board to recognize, and then the module audio processing board and the loudspeaker play and answer the inquiry content of the remote monitoring personnel; such as: the robot driver asks for a call to the remote B-point operator through loudspeaker playing: "when to move the car", when the operator at point B returns: the voice content is transmitted from the microphone at the ear of the robot driver to the mobile terminal through the talkback main board on the analog-to-digital network module main board 804 and the communication network, and a monitoring person can hear the return call of the operator at the point B;
the third implementation method comprises the following steps: monitoring personnel send instructions through APP software and transmit the instructions to a control and drive main board through a head shell gateway 806, and when the control and drive main board obtains information, all functions of the body of a robot driver are driven to work; such as: the mechanism control circuit board D314 in the right leg assembly is driven to output positive and negative voltage, and the lifting stepping motor D43310 of the pedal clamp of the right leg assembly is driven to drive the lifting screw rod 3311 to ascend, so that the running speed is accelerated.
The above 1 to 22 examples are described in detail with reference to the accompanying drawings, and those skilled in the art can directly or indirectly apply to other related technical fields, and make various changes, modifications, substitutions and alterations without departing from the principle and spirit of the invention, and still fall within the scope of the invention.

Claims (11)

1. A robot driver is characterized by comprising a head assembly, a neck upper body assembly, a hand assembly, a buttocks assembly, leg and foot assemblies, a sensor system assembly, a control system assembly and a power supply assembly;
the brain assembly includes: the device comprises a head shell, a bottom shell, a control system assembly arranged in the head shell, a sensor component arranged in the head shell, an illuminating lamp module arranged at the top of the head shell and a battery module A;
the center of the bottom shell is rigidly connected with an output shaft of a motor K of the neck upper body assembly;
the illumination lamp module includes: the LED spotlight is arranged in the spotlight reflecting cover, the LED lamp strip is arranged between the lamp strip cover and the top surface of the head shell, the photosensitive sensor and the LED driving electronic board are arranged between the lamp strip cover and the top surface of the head shell; the led driving electronic board is in charged connection with the led spotlight and the led spotlight;
the sensor system assembly includes: a sensor mounted on the head of the robot, a sensor mounted in each muscle;
the power supply assembly includes: battery modules A-G arranged in the head and each muscle of the robot, and a charging input seat arranged in the shell of the hip assembly; the battery modules A to G share a charging input seat.
2. The robotic driver as set forth in claim 1, wherein said control system assembly comprises: the robot control system comprises a robot driver APP arranged on a mobile terminal, a vision control system component, a voice control system component, a color recognition control module, a gateway, a control and drive master board, mechanism control circuit boards A-N arranged in each body of the robot, and wireless relay modules A-I arranged on the mechanism control circuit boards A-N in each body;
the wireless relay modules A to F are respectively provided with signal input ends of paths A to F, N of wireless transmission and reception modules and output ends of paths N of relays;
the control and drive general board is provided with G, N signal input ends and N relay output ends of a wireless transmission and reception module;
the vision control system component is provided with a wireless transmission and reception module H;
the voice control system component is provided with a wireless transmission and reception module I;
a wireless relay module A is arranged in the neck upper body assembly;
the hand assembly comprises a left hand assembly and a right hand assembly, wherein a wireless relay module B is installed in the left hand assembly, and a wireless relay module C is installed in the right hand assembly;
a wireless relay module F is arranged in the hip assembly;
the leg assembly comprises a left leg assembly and a right leg assembly, wherein a wireless relay module D is installed in the left leg assembly, and a wireless relay module E is installed in the right leg assembly;
the system architecture of the gateway is compatible with more than 2 wireless communication protocols;
the gateway circuit board is provided with more than 1 network line port, a WiFi network access receiving port and an infrared remote control switching module; the gateway network cable port is electrically connected with the network cable input end on the outer surface of the brain shell;
the gateway and wireless relay modules A-F, the control and drive master board wireless transmission and reception module G, the vision control system component provided with a wireless transmission and reception module H, and the voice control system component provided with a wireless transmission and reception module I realize networking through the same wireless communication protocol;
the control and drive general board is electrically connected with the LED drive electronic board.
3. The robotic driver as set forth in claim 1 wherein said sensor system assembly includes: a first sensor part installed in the brain case, a second sensor part installed in each muscle;
the first sensor component comprises: the device comprises a distance measuring sensor A, an infrared sensor A, an obstacle avoidance sensor A and a color sensor A which are arranged on the forehead of a skull shell; the distance measuring sensor B, the infrared sensor B and the obstacle avoidance sensor B are arranged on the back of the brain shell; the distance measuring sensor C, the infrared sensor C, the obstacle avoidance sensor C, the sound sensor A and the color sensor B are arranged at the left ear of the head shell; the distance measuring sensor D, the infrared sensor D, the obstacle avoidance sensor D, the sound sensor B and the color sensor C are arranged at the right ear of the head shell; the system comprises a photosensitive sensor, an air quality sensor, a photosensitive sensor arranged on the top of a brain shell and a temperature and humidity sensor module A, wherein the photosensitive sensor and the air quality sensor are arranged on the front face;
the signal output ends of the infrared sensors A-D, the obstacle avoidance sensors A-D and the distance measurement sensors A-D are connected with the signal input end of the control and drive general board;
the sensing distance, the triggering distance and the distance measuring distance can be set with signal output thresholds on the IC software of the sensor, or can be set with thresholds on sensor hardware such as adjustable capacitance and adjustable resistance value, and the three sensors are set with overlapping reaction distance ranges;
the infrared sensor A-D modules are provided with remote control switching modules;
the signal output ends of the sound sensors A-B are connected with the signal input end of a voice control system component;
the color sensors A-C are arranged on the color identification control modules A-C: the system comprises a special traffic lamp color remote identification IC, a wireless transmission and reception module J, a signal input end and a signal output end;
the signal input ends of the color identification control modules A-C are connected with the signal output end of a mainboard of an analog-to-digital network module in the vision control system component;
signal output ends of the color identification control modules A to C are connected with signal input ends of the control and drive general boards;
the photosensitive sensor is arranged at the top of the head shell, the sensor probe exposes out of the outer surface of the head shell, and the signal output end of the sensor is electrically connected with the triggering end of the illuminating lamp module;
the probe of the air quality sensor module is arranged at the nostril, and the sensor signal output end of the air quality sensor module is connected with the signal input end of the control and drive main board;
the signal output end of the air quality sensor is electrically connected with the wireless relay module A;
the temperature and humidity sensor module A is installed at the top of the brain shell, and a sensor signal output end is electrically connected with the control and drive main board and the wireless relay module A;
the second sensor component includes: the system comprises a front inclination sensor K, a rear inclination sensor L, a left inclination sensor M, a right inclination sensor N, a pressure sensor B, a pressure sensor C, a vibration sensor B, a vibration sensor C, a temperature and humidity sensor module B, a temperature and humidity sensor module C, an obstacle avoidance sensor E and an obstacle avoidance sensor F;
the front inclination sensor is arranged at the front end of the top of the upper body of the neck upper body assembly, and the rear inclination sensor is arranged at the rear end of the top of the upper body of the neck upper body assembly; the signal output end of the tilt sensor is connected with the signal input end of the control and drive main board, and the signal output end of the sensor is also electrically connected with the wireless relay module B and the wireless relay module C;
the left inclination sensor is arranged on the left side of the top of the upper neck body assembly, and the right inclination sensor is arranged on the right side of the top of the upper neck body assembly; the signal output end of the inclination sensor is connected with the signal input end of the control and drive main board, and the signal output end of the sensor is also electrically connected with the wireless relay module D and the wireless relay module E;
the vibration sensor B, the pressure sensor B and the temperature and humidity sensor module B are arranged on the left wrist clamp assembly; and the temperature and humidity sensor module C, the vibration sensor C and the pressure sensor C are arranged on the right wrist clamp assembly.
4. The robot driver as claimed in claim 2, wherein the network camera, the analog-to-digital network module motherboard, the wireless transmission and reception module H, the speaker, the audio power amplifier board and the audio processing board, the microphone and the intercom motherboard; the analog-to-digital conversion network module main board is provided with a battery power supply port, an audio input/output port, a TF (Trans-flash) clamping groove and a chip external storage clamping groove besides being configured with a high-integration SOC (System on chip) processor;
the network camera is provided with 3 at least, includes: the system comprises a zoom network camera A, a network camera B and a network camera C;
the network cameras A and B are arranged at the left eye and the right eye of the brain shell, and the network cameras C are arranged at the back brain shell; the network cameras A-C are electrically connected with the analog-to-digital network module mainboard;
the analog-to-digital conversion network module mainboard is connected with a local area network or the Internet through a wireless transmission receiving module H and a gateway network arranged on the mainboard;
the loudspeaker is arranged at the face and mouth of the head shell and is electrically connected with the output end of the audio power amplification board;
the microphone is arranged at the ear part on the outer surface of the head shell and is electrically connected with the talkback main board;
the audio processing board, the audio power amplifier board, the talkback main board and the analog-to-digital network module main board are all fastened at the bottom of the head casing which is a barrel;
the battery power supply port is electrically connected with a battery module arranged on the neck of the head shell;
the audio input/output port on the audio power amplifier board is electrically connected with the audio processing board.
5. The robotic driver of claim 2, wherein the voice control system component comprises: the voice recognition module controls the mainboard, the loudspeaker, the audio power amplifier board and the audio processing board, the microphone and the talkback mainboard, the UBS female seat and the wireless transmission receiving module I;
the voice recognition module is provided with on the control mainboard: a network port, 2 wireless transmission module ports, N signal input ports, N IO output ports and a singlechip communication port;
the wireless transmission receiving module I is networked with the gateway to realize that the voice recognition module controls the mainboard to be accessed to a local area network or the Internet; comprises the following steps: the system comprises a serial port WIFI communication module I1 and a Bluetooth communication module I2, wherein the wireless transmission receiving module I is arranged on a port of a wireless transmission module of a voice recognition module control mainboard;
the voice recognition module is arranged on the control main board: the N signal input ports are electrically connected with the microphone and the signal output ends of the sound sensors A-B;
the voice recognition module is arranged on the control main board and comprises: the IO terminals output high-level or low-level signals; the IO output end is respectively and electrically connected with the trigger end of the voice playing module, the corresponding driving signal input ends A-F on the mechanism control circuit boards A-F and the signal input end of the control and driving main board;
the voice recognition module is arranged on the control main board and comprises: the communication port of the single chip microcomputer is electrically connected with the signal input end of the control and drive master board;
the loudspeaker, the audio power amplifier board, the audio processing board, the microphone and the talkback main board in the voice recognition system are the same as those in the visual system component;
a microphone in the voice recognition system is arranged at the face ear on the outer surface of the head shell and is electrically connected with a signal input port of a control mainboard of the voice recognition module;
the UBS female seat is designed at the rear part of the brain shell and is electrically connected with the voice recognition module control main board, and the UBS disk for the voice recognition file is inserted into the UBS female seat.
6. The robot driver as set forth in claim 2, wherein the mechanism control circuit boards a to F include: mechanism control circuit boards A-F arranged in each organism assembly;
wireless transmission and reception modules A1, B1.. F1, power input ends A-F and drive signal input ends A-F, N pulse charging source drive output ends are arranged on the mechanism control circuit boards A-F;
the mechanism control circuit board A is arranged in the neck upper body assembly, and a driving signal input end A of the mechanism control circuit board A is electrically connected with a signal output end on the control and driving general board; an output end of the N-path pulse charging source of the mechanism control circuit board A is electrically connected with a motor K in the neck shell, a motor V in the neck upper body assembly and a motor W in the L-path pulse charging source; the power supply input end A of the mechanism control circuit board A is electrically connected with a battery module B in the upper body assembly;
the mechanism control circuit board B is arranged in the left hand assembly; a driving signal input end B of the mechanism control circuit board B is electrically connected with a signal output end on the control and driving general board; an output end of the N-path pulse charging source drive of the mechanism control circuit board B is electrically connected with a motor in the left hand assembly; the power supply input end B of the mechanism control circuit board B is electrically connected with a battery module C in the left hand assembly;
the mechanism control circuit board C is arranged inside the right-hand assembly; a driving signal input end C of the mechanism control circuit board C is electrically connected with a signal output end on the control and driving general board; an output end of the N-path pulse charging source drive of the mechanism control circuit board C is electrically connected with a neck assembly motor and a motor in the upper body assembly; the power supply input end C of the mechanism control circuit board C is electrically connected with a battery module D in the upper body assembly;
the mechanism control circuit board D is arranged inside the left leg assembly; the mechanism control circuit board D drives a signal input end D to be electrically connected with a signal output end on the control and drive general board; an output end of the N-path pulse charging source drive of the mechanism control circuit board D is electrically connected with a neck assembly motor and a motor in the upper body assembly; the power supply input end D of the mechanism control circuit board D is electrically connected with a battery module E in the upper body assembly;
the mechanism control circuit board E is arranged in the right leg assembly; the driving signal input end E of the mechanism control circuit board E is electrically connected with the signal output end on the control and driving general board; an output end of the N-path pulse charging source drive of the mechanism control circuit board E is electrically connected with a neck assembly motor and a motor in the upper body assembly; the power supply input end E of the mechanism control circuit board E is electrically connected with a battery module F in the upper body assembly;
the mechanism control circuit board F is arranged inside the hip assembly; a driving signal input end F of the mechanism control circuit board F is electrically connected with a signal output end on the control and driving general board; an output end of the N-path pulse charging source driving drive of the mechanism control circuit board F is electrically connected with a leg stepping motor and a rotating motor in the hip assembly; the power input end F of the mechanism control circuit board F is electrically connected with the battery module G in the upper body assembly.
7. The robot driver according to claim 2, wherein the mobile terminal device is installed in the software of the robot driver APP, and the architecture of the software of the robot driver APP is the same as that of the software of the mobile phone APP of the gateway, so that the control setting of each function of the robot driver is realized;
driver of robot APP operation interface includes: an auxiliary driving interface, a voice driving interface and a monitoring driving interface; each interface consists of various parameters of the next level, and the set parameters are memorized and stored by the mechanism control circuit boards A-F; inputting the set parameters into a software interface of the intelligent mobile terminal equipment for operation;
the robot driver APP operates different interfaces, the same type of sensor outputs information, and program control contents are different on different interfaces;
the driving assistance interface includes: a head interface, a neck interface, a body interface, a hand interface, a hip interface, a foot interface;
the head interface click occurs: converting x degree parameters, converting vision intelligence, converting voice intelligence, determining and modifying;
the neck interface click occurs: the mansion parameter, the visual intelligent mansion, the voice intelligent mansion, the determination and the modification;
the body interface click occurs: converting x degree parameters, intelligently converting along with voice, intelligently converting along with hands, determining and modifying;
the hand interface click occurs: arm elevation x, elbow flexion x degrees, elbow extension/contraction x, wrist rotation x degree parameters, finger pressure/clamp with voice, elbow rotation with voice, elbow extension/contraction with voice, finger pressure/clamp with sensor, up-down rotation with sensor elbow, elbow rotation with sensor, determining, modifying;
the hip interface click occurs: the intelligent inclination along with the sensor and the intelligent inclination along with the upper body are determined and modified;
the foot interface click occurs: walking speed X, left crus stretching/contracting X, left foot pitching/bowing X degrees, right crus stretching/contracting X, right foot pitching/bowing X degrees, intelligent pedal distance X along with a sensor, intelligent pedal distance X along with voice, double-leg sliding walking, double-leg stepping walking, determining and modifying;
monitoring driving interface is equipped with among robot driver APP operation interface: the system comprises network cameras A, B and C, voice talkback recording on/off, a transit monitoring report and a TF card;
the camera switch interface clicks appear: the night vision system comprises a rear camera, a front camera, night vision, left inspection and right inspection;
and clicking the voice talkback interface to appear: voice recording is turned on/off, and prestored content is modified;
the en-route monitoring report interface clicks present: images, videos;
the TF card interface click occurs: covering parts for 24 hours, one week and one month;
be equipped with in the driver of robot APP pronunciation driving operation interface: operating commands, voice content modification, route memory and navigation talkback;
the operation command interface clicks appear: the method comprises the following steps of moving forward by X meters slowly, moving backward by X meters slowly, braking by X meters, balancing by X kilometers per hour, turning left/right by X kilometers, stopping/driving by X kilometers of traffic lights, stopping by X kilometers, warehousing by X meters, determining and modifying;
the route memory interface click occurs: company of working A, B, C, company of going back to work A, B, C, restaurant A/B/C, parent family, child, tour of weekend, destination A, B, C, determine, modify;
the navigation intercom interface click occurs: baidu navigation, Teng Xin navigation, God navigation, determination and modification;
the voice content modification interface click occurs: pre-storing, modifying, learning mode, temporary mode, determining and modifying.
8. The robot driver as claimed in claim 1 or 5, wherein the neck upper body assembly is located longitudinally below the head assembly and is connected with a double-head output shaft of a stepping motor K installed in the neck shell; the method comprises the following steps: the device comprises a neck shell, a double-shaft stepping motor L support, a stepping motor K support, a motor fastening screw, an upper body shell breast board, a lower body shell breast board, an upper body shell lifting electric push rod K, inclination sensors K-N and a fastening shell bolt;
the neck shell is designed into a cylindrical cup shape, a double-shaft stepping motor L is transversely arranged at the bottom of the neck shell cup after being fastened with a support, the support of the stepping motor L is fastened with the neck shell, and a double-head output shaft of the stepping motor L is rigidly connected with a transverse side hole of a raised groove column at the top of an upper body in the neck upper body assembly to realize front-back swinging of the neck shell;
after the stepping motor K is fastened with the bracket, the stepping motor K is longitudinally arranged in the neck shell, the bracket of the stepping motor K is fastened with the neck shell at the bottom, and the output shaft of the stepping motor K faces towards the rigid shaft connected with the central part in the head shell, so that the head assembly rotates;
the double-shaft stepping motor L and the stepping motor K are electrically connected with the battery module B in the neck upper body assembly
The upper part of the body is internally provided with: the system comprises an air purification assembly, a stepping motor N, a stepping motor M, a mechanism control circuit board A and a battery module B;
the battery module B is respectively electrically connected with the stepping motor N, the stepping motor M, the upper body shell lifting electric push rod K, the air purification assembly, the inclination sensor and the mechanism control circuit board A and supplies a working power supply;
a convex circular concave spherical column is longitudinally arranged at the center of the upper part of the upper body shell, and left and right side holes are transversely designed on the convex circular concave column and are rigidly connected with an output shaft of a neck assembly stepping motor K; the lower end of the concave ball column is provided with a round hole which is connected with the tail end of a telescopic rod of an upper body shell lifting electric push rod K;
three through holes A1, A2 and B are formed in the upper portion of the upper body shell around the groove column, the through holes A1 and A2 are air outlet openings, and axial flow fans A1 and A2 are assembled below the air outlet openings; the through hole B is an air inlet, and an axial flow fan B is assembled below the through hole B;
grooves are formed in the front chest edges of the upper top plate and the lower bottom plate of the upper body shell and are slidably mounted with the chest plate of the upper body shell; two symmetrical guide holes are formed in the radial edge of the lower bottom plate of the upper body shell;
the air purification assembly includes: the anion generator, the ultraviolet germicidal lamp, the purification cover and the purification cover are internally provided with filter cotton and activated carbon cotton; the air outlet of the purification cover faces to the through holes A1 and A2 and is hung below the top plate of the upper body shell; the negative ion generator and the ultraviolet germicidal lamp are arranged on the lower bottom plate of the upper body shell;
the air purification assembly is electrically connected with the mechanism control circuit board A;
grooves are formed in the front chest edges of the upper bottom plate and the lower bottom plate of the lower body shell and are installed with the chest plate of the lower body shell in a sliding mode;
a concave column is arranged at the center of the bottom plate of the lower body shell and connected with the fixed end of a lifting electric push rod K of the upper body shell;
the radial edge of lower part of the body casing top sets up two guide posts and sets up the guiding hole cooperation with upper part of the body casing bottom radial edge.
9. The robotic driver as set forth in claim 1 or 5 wherein said hand assembly comprises: a left arm bending assembly B and a right arm bending assembly C;
the crooked assembly C of right arm is installed at the robot right shoulder, includes: the device comprises a right large arm, a wireless relay module C, a mechanism control circuit board C, a battery module D, a right small arm assembly and a stepping motor C1, wherein the wireless relay module C, the mechanism control circuit board C and the battery module D are arranged in a cavity on the inner wall of the right large arm;
the outer side of the end head of the right big arm is hinged with an output shaft of a stepping motor C arranged in the upper body assembly;
the right small arm assembly consists of a right small arm, a stepping motor seat C3 axially sleeved in a wall cavity of the right small arm, a stepping motor C3 and a fastening screw;
the right wrist clamp assembly is composed of a right wrist box, a right wrist box cover, a clamp-shaped finger C1, a clamp-shaped finger C2, a tight nail tip, a stepping motor C4, a pressure sensor module C, a signal amplifier module C1, a temperature and humidity sensor module C and a vibration sensor module C, wherein the stepping motor C4, the pressure sensor module C and the signal amplifier module C1 are installed in the right wrist box; the signal output end of the sensor module is connected with a mechanism control circuit board C;
the clamp-shaped finger C1 and the clamp-shaped finger C2 are of the same structure, one end of the clamp-shaped finger is designed to be semicircular and concave, the other end of the clamp-shaped finger is provided with a circular straight tooth, the clamp-shaped finger C1 is arranged on an output shaft of the stepping motor C4 at the end of the circular straight tooth, the end of the circular straight tooth of the clamp-shaped finger C2 is arranged on a screw column in a right wrist box, and the circular straight tooth of the clamp-shaped finger C1 is meshed with the circular straight tooth of the clamp-shaped finger C2;
the detection point of the pressure sensor module C is arranged on the concave surface of the pincer-shaped finger C1;
the detection point of the vibration sensor module C is arranged on the concave surface of the pincer-shaped finger C2;
the detection point of the temperature and humidity sensor C is arranged on the plane of a pincer-shaped finger C1 or C2;
the stepping motor C1 is radially arranged on the inner wall of the upper end of the right small arm assembly, and the output shafts at the two ends of the stepping motor C1 simultaneously penetrate through the hole of the upper end wall of the right small arm assembly and are axially sleeved in the lower end of the right large arm, so that the right large arm and the right small arm assembly are in a hinged relation;
the stepping motor C1, the stepping motor C2, the stepping motor C3 and the stepping motor C4 are respectively connected with pulse charge source driving output ends of different paths of the mechanism control circuit board C;
the left arm bending assembly and the right arm bending assembly are in the same structure, are symmetrically arranged on the left side of the upper body assembly and are hinged with an output shaft of the stepping motor N;
the left-arm bending assembly B comprises: the device comprises a left big arm, a wireless relay module B, a mechanism control circuit board B, a battery module C, a left small arm assembly and a stepping motor B1, wherein the wireless relay module B, the mechanism control circuit board B and the battery module C are arranged in a cavity on the inner wall of the left big arm;
the left small arm assembly consists of a left small arm, a stepping motor seat B3 axially sleeved in a wall cavity of the left small arm, a stepping motor B3 and a fastening screw;
the left wrist clamp assembly is composed of a left wrist box, a left wrist box cover, a clamp-shaped finger B1, a clamp-shaped finger B2, a fastening nail tip, a stepping motor B4, a pressure sensor module B, a signal amplifier module B1, a temperature and humidity sensor module B and a vibration sensor module B, wherein the stepping motor B4, the pressure sensor module B, the signal amplifier module B1, the temperature and humidity sensor module B and the vibration sensor module B are installed on the left wrist box; the signal output end of the sensor module is connected with a mechanism control circuit board B;
the pincer-shaped fingers B1 and B2 are of the same structure, one ends of the pincer-shaped fingers are semicircular and concave, the other ends of the pincer-shaped fingers are circular straight teeth, B1 of the pincer-shaped fingers are arranged on an output shaft of a stepping motor B4 at the ends of the circular straight teeth, B2 of the pincer-shaped fingers are arranged on screw posts in a left wrist box, and B1 of the pincer-shaped fingers are meshed with B2 of the pincer-shaped fingers;
the detection point of the pressure sensor module B is arranged on the concave surface of a pincer-shaped finger B1;
the detection point of the vibration sensor module B is arranged on the concave surface of a pincer-shaped finger B2;
the detection point of the temperature and humidity sensor B is arranged on the plane of a pincer-shaped finger B1 or B2;
the stepping motor B1 is radially arranged on the inner wall of the upper end of the left small arm assembly, and the output shaft of the two ends of the stepping motor B1 simultaneously passes through the hole of the upper end wall of the left small arm assembly and is axially sleeved into the lower end of the left big arm, so that the left big arm and the left small arm assembly are in a hinged relation;
the stepping motor B1, the stepping motor B2, the stepping motor B3 and the stepping motor B4 are respectively connected with pulse charging source driving output ends of different paths of the mechanism control circuit board B.
10. The robotic driver as claimed in claim 1 or 5, wherein the hip assembly comprises: the device comprises an upper buttock shell, a lower buttock shell, a stepping motor F1 longitudinally installed below the center of the upper buttock shell, a long output shaft stepping motor F2, a long output shaft stepping motor F3, a battery module G, a mechanism control circuit board F and a battery charging input seat installed on a back shell of the upper buttock shell, wherein the long output shaft stepping motor F2, the long output shaft stepping motor F3, the battery module G, the mechanism control circuit board F and the battery charging input seat are symmetrically installed in the lower butto;
the upper and lower buttocks shells are oval in shape; the concave surface of the upper hip shell faces downwards and the lower hip shell faces upwards and is aligned with the screw to be fastened; 2 bowl-shaped bosses are arranged in the long axis direction of the upward-facing oval shape of the lower buttocks, and the size of each bowl-shaped boss is similar to the shape of the top of the leg and foot assembly;
the stepping motor F1 is arranged below a concave surface of the upper shell of the buttocks, the stepping motor F1 is longitudinally arranged on an elliptic central bottom plane of the upper shell of the buttocks and is fastened by screws, an output shaft of the stepping motor F1 upwards penetrates through a central hole of the upper shell of the buttocks and is fastened and connected with the bottom of the upper body assembly, and the stepping motor F1 is rotated to drive the upper body assembly to rotate;
the long output shaft stepping motor F2 and the long output shaft stepping motor F3 are bilaterally symmetrically and transversely arranged in the direction of the long shaft of the ellipse, the long shaft of the motor penetrates through the bowl-shaped boss to reach the shell wall, the long output shaft of the stepping motor F2 is fixedly connected with the left leg assembly, the long output shaft of the stepping motor F3 is fixedly connected with the right leg assembly, and the stepping motors F2 and F3 rotate to drive the left leg assembly and the right leg assembly to swing forwards or backwards;
the hip assembly is longitudinally and fixedly connected with the bottom of the upper body assembly through an output shaft of a stepping motor F1 and is installed below the upper body assembly, and the stepping motor F1 rotates to drive the upper body assembly to rotate.
11. The robotic driver as set forth in claim 1 or 5 wherein said leg and foot assembly comprises: the left leg assembly D and the right leg assembly E are oppositely and symmetrically arranged below the buttocks assembly;
the left leg and foot assembly D is arranged in a left bowl-shaped recess at the bottom of the hip assembly and is rigidly connected with a long output shaft of a stepping motor F2; the method comprises the following steps: the device comprises a left thigh, a left shank assembly, a left foot assembly, a mechanism control circuit board D, a wireless transmission and reception module D and a battery module E;
left thigh lower extreme is emboliaed loosely to left shank assembly upper end includes: the left shank, the left telescopic shank, the electric stay bar D, the double-shaft stepping motor D1, the stepping motor D1 bracket and the stepping motor D2;
a stepping motor D1 bracket is arranged at the top of the left shank, a double-shaft stepping motor D1 is fixedly arranged on the stepping motor D1 bracket, and a double shaft of the stepping motor D1 transversely penetrates through the lower end of the left thigh to be hinged;
the left telescopic shank is loosely sleeved into the left shank, the stepping motor D2 is longitudinally sleeved into the lower end of the left telescopic shank and fastened, and the output shaft of the stepping motor D2 faces downwards and is fastened with the left foot assembly;
the fixed end of the electric stay bar D is longitudinally sleeved at the top end of the inner part of the left telescopic shank, and the movable end of the electric stay bar D is longitudinally arranged at the top end of the left telescopic shank;
the left foot assembly is sleeved into an output shaft of a stepping motor D2 through an upper end socle and fastened, and the rotation of the left foot assembly is realized through the rotation of a stepping motor D3;
the left foot assembly comprises: the walking mechanism comprises an oval foot plate, an oval foot plate cover, a round foot column, a stepping motor D3 for foot plate joint movement, a stepping motor D5 for walking, a universal ball wheel D, a walking caster D, a caster D bearing and a pedal clamp mechanism;
the stepping motor D3 is a motor with double output shafts, is transversely arranged in the stilt, and the output shaft is connected with the foot plate boss;
an output shaft of the stepping motor D5 is transversely connected with the center of the caster D, and the stepping motor D5 is fastened at the rear end of the oval baseboard groove in the direction of the long shaft;
the universal ball wheel D is fastened at the front end in the direction of the long shaft in the groove of the oval foot plate;
the pedal clip mechanism includes: the stepping motor D4 for lifting the pedal clamp, the pedal clamp pedal telescopic stepping motor D6, a pedal clamp motor bracket, a foot assembly lifting screw rod D, a pedal D1, a pedal D2, a pressure sensor D and a pedal telescopic guide optical axis D;
the pedal clamp telescopic stepping motor D6 is a motor with double output shafts, the double output shafts are fixedly connected with a pedal clamp motor bracket and are arranged in the direction of a short shaft in the groove of the oval foot plate;
the pedal clamp motor bracket is U-shaped, a nut is arranged at the center of a lower position of the U shape and is matched and rotationally connected with a lifting screw rod D, and the top end of the lifting screw rod D is fastened with an output shaft of a stepping motor D4;
the pedals D1 and D2 are L-shaped and are symmetrically distributed at the edge of the minor axis direction of the groove of the oval foot plate, the centers of the L-shaped vertical edges are respectively provided with an orthodontic nut hole and an anti-orthodontic nut hole, and 2 guide holes are symmetrically distributed at the horizontal direction of the nut holes of the pedals D1 and D2;
the pedal telescopic guide optical axis D penetrates through the guide hole;
the double output shafts of the pedal telescopic stepping motor D6 are arranged into lead screws which penetrate through nut holes of a pedal D1 and a pedal D2;
the pressure sensor D is arranged on the L-shaped vertical side of the pedal D1 or the pedal D2;
the right leg assembly E is arranged in a right bowl-shaped recess at the bottom of the hip assembly and is rigidly connected with a long output shaft of a stepping motor F1; the method comprises the following steps: the device comprises a right thigh, a right shank assembly, a right foot assembly, a mechanism control circuit board E and a battery module F;
the right thigh lower extreme is emboliaed loosely to right shank assembly upper end, includes: the left shank, the right telescopic shank, the electric stay bar E, a double-shaft stepping motor E1, a stepping motor E1 bracket and a stepping motor E2;
a stepping motor E1 bracket is arranged at the top of the right shank, a double shaft of a stepping motor E1 is used as output and is fixedly arranged on a stepping motor E1 bracket, and the double shaft of the stepping motor E1 transversely passes through the lower end of the right thigh to be hinged;
the right telescopic shank is loosely sleeved into the right shank, a stepping motor E2 is longitudinally sleeved into the lower end of the right telescopic shank and fastened, and an output shaft of a stepping motor E2 is downwards fastened with the right foot assembly;
the fixed end of the electric stay bar E is longitudinally sleeved at the top end of the inner part of the right telescopic shank, and the movable end of the electric stay bar E is longitudinally arranged at the top end of the right telescopic shank;
the right foot assembly is sleeved into an output shaft of a stepping motor E2 through an upper end socle and fastened, and the rotation of the right foot assembly is realized through the rotation of a stepping motor E3;
the right foot assembly comprises: the device comprises an oval foot plate, an oval foot plate cover, a round foot column, a stepping motor E3 for foot plate joint movement, a stepping motor E4 for lifting a pedal, a stepping motor E5 for walking, a pedal telescopic stepping motor E6, a pedal motor E6 support, a walking caster E, a universal ball wheel E, a pressure sensor E, a caster E bearing, a lifting screw rod E, a pedal E1, a pedal E2 and a pedal guide optical axis E;
the stepping motor E3 is a motor with double output shafts, is transversely arranged in the stilt, and the output shaft is connected with the foot plate boss;
an output shaft of the stepping motor E5 is transversely connected with the center of the caster E, and the stepping motor E5 is fastened at the rear end of the groove of the oval foot plate in the direction of the long shaft;
the universal ball wheel E is fastened at the front end in the direction of the long shaft in the groove of the oval foot plate;
the pedal telescopic stepping motor E6 is a motor with double output shafts, the double output shafts are fixedly connected with a pedal motor bracket and are arranged in the direction of a short shaft in the groove of the oval foot plate;
the pedal motor support is U-shaped, a nut is arranged at the center of a lower position of the U-shaped support and is matched and rotatably connected with a lifting screw rod E, and the top end of the lifting screw rod E is fastened with an output shaft of a stepping motor E4;
the pedals E1 and E2 are L-shaped and are symmetrically distributed at the edges of the minor axis direction of the grooves of the oval foot plates, the centers of the L-shaped vertical edges are respectively provided with an orthodontic nut hole and an anti-orthodontic nut hole, and 2 guide holes are symmetrically distributed at the horizontal directions of the nut holes of the pedals E1 and E2;
the pedal guide optical axis E penetrates through the guide hole;
the double output shafts of the pedal telescopic stepping motor E6 are arranged into screw rods and penetrate through nut holes of a pedal E1 and a pedal E2;
the pressure sensor E is mounted on the L-shaped vertical side of the pedal E1 or the pedal E2.
CN202010501843.5A 2020-06-04 2020-06-04 Robot driver Pending CN111924018A (en)

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Application Number Priority Date Filing Date Title
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Application publication date: 20201113