CN219914605U - Four-foot machine dog - Google Patents

Abstract

The utility model discloses a four-foot robot dog, and belongs to the field of robots. The four-foot machine dog comprises a machine dog body, a controller positioned in the machine dog body, a weighing device and a voice module, wherein the weighing device comprises a sensitive element, a conversion element and a conversion circuit; the conversion element is positioned on the sensitive element, the output end of the conversion element is electrically connected with the input end of the conversion circuit, the output end of the conversion circuit is electrically connected with the input end of the controller, and the output end of the controller is electrically connected with the input end of the voice module. The weighing device is used for measuring the weight of the target object, other weighing equipment is not needed, the operation is simple and convenient, and the weighing result measurement is accurate. In addition, the weighing function is added on the four-foot machine dog, so that the weight of a target object can be conveniently measured in an indoor or outdoor scene, and the functionality and application convenience of the four-foot machine dog are improved.

Description

Four-foot machine dog

Technical Field

The utility model relates to the field of robots, in particular to a four-foot robot dog.

Background

A four-legged robot dog is a machine device that automatically performs work. It can accept human command, run pre-programmed program and act according to the principle set by artificial intelligence technology. The function of the four-foot machine dog on the market at present is single, and the practicability of the four-foot machine dog is affected.

Disclosure of Invention

In order to enrich the functions of the four-foot machine dog and improve the practicability of the four-foot machine dog, the embodiment of the utility model provides the four-foot machine dog. The technical scheme is as follows:

in one aspect, a four-foot machine dog is provided, the four-foot machine dog comprises a machine dog body, a controller, a weighing device and a voice module, wherein the controller, the weighing device and the voice module are positioned in the machine dog body, and the weighing device comprises a sensitive element, a conversion element and a conversion circuit;

the conversion element is positioned on the sensitive element, the output end of the conversion element is electrically connected with the input end of the conversion circuit, the output end of the conversion circuit is electrically connected with the input end of the controller, and the output end of the controller is electrically connected with the input end of the voice module;

the sensing element is used for generating deformation due to the weight of an object to be weighed, the conversion element is used for converting the deformation into a resistance value, the conversion circuit is used for converting the resistance value into charge information, the controller is used for determining a weighing result of the object based on the charge information and controlling the machine dog body to execute corresponding actions and/or controlling the voice module to play corresponding voices based on the weighing result; and when the weighing result is in different ranges, the action executed by the robot dog body and/or the voice played by the voice module are different.

Optionally, the weighing device further comprises an auxiliary power supply; the auxiliary power supply is respectively and electrically connected with the power supply end of the conversion element and the power supply end of the conversion circuit; the auxiliary power supply is used for supplying power to the conversion element and the conversion circuit.

Optionally, the sensing element comprises a parallel beam structure, and the conversion element is located on the parallel beam structure.

Optionally, the conversion element comprises a resistance strain gauge; the resistance strain gauge is positioned on the sensitive element, the output end of the resistance strain gauge is electrically connected with the input end of the conversion circuit, and the resistance strain gauge is used for converting the deformation into the resistance value.

Optionally, the conversion circuit includes a voltage detection sub-circuit and an analog-to-digital conversion sub-circuit, and the charge information is a voltage value;

the input end of the voltage detection sub-circuit is electrically connected with the output end of the conversion element, the output end of the voltage detection sub-circuit is electrically connected with the input end of the analog-to-digital conversion sub-circuit, the output end of the analog-to-digital conversion sub-circuit is electrically connected with the input end of the controller, the power supply end of the voltage detection sub-circuit and the power supply end of the analog-to-digital conversion sub-circuit are respectively connected with the auxiliary power supply, the voltage detection sub-circuit is used for converting the resistance value into the voltage value, and the analog-to-digital conversion sub-circuit is used for converting the voltage value of the analog signal into the voltage value of the digital signal.

Optionally, the analog-to-digital conversion sub-circuit comprises an amplifier and an analog-to-digital converter;

the input end of the amplifier is electrically connected with the output end of the voltage detection subcircuit, the output end of the amplifier is connected with the input end of the analog-to-digital converter, the output end of the analog-to-digital converter is connected with the input end of the controller, the amplifier is used for amplifying the voltage value of the analog signal, and the analog-to-digital converter is used for converting the amplified voltage value of the analog signal into the voltage value of the digital signal.

Optionally, the amplifier and the analog-to-digital converter are integrated on the same chip.

Optionally, the quadruped robot dog further comprises a display module; the input end of the display module is electrically connected with the output end of the controller, and the display module is used for displaying the weighing result of the target object.

Optionally, the weighing device is located on the back of the machine dog body.

Optionally, the four-legged machine dog further comprises a timer;

the timer is connected with the output end of the controller, and the controller is used for controlling the timer to time when a weighing instruction is detected and determining the weighing result based on the charge information after the timer is timed.

The technical scheme provided by the utility model has the beneficial effects that:

the quadruped robot dog provided by the embodiment of the utility model can measure the weight of the target object through the weighing device, and further, the weighing result of the target object is displayed by executing different actions through the robot dog body and/or playing the voice through the voice module, other weighing equipment is not required to be additionally arranged, the operation is simple and convenient, and the weighing result metering is accurate. In addition, the weighing function is added on the four-foot machine dog, so that the weight of a target object can be conveniently measured in an indoor or outdoor scene, and the functionality and application convenience of the four-foot machine dog are improved.

Drawings

FIG. 1 is a schematic diagram of a four-legged machine dog according to an embodiment of the present utility model;

FIG. 2 is a schematic diagram of a weighing device according to an embodiment of the present utility model;

fig. 3 is a schematic structural diagram of a conversion circuit according to an embodiment of the present utility model;

fig. 4 is a schematic structural diagram of a voltage detection sub-circuit according to an embodiment of the present utility model;

fig. 5 is a schematic structural diagram of an analog-to-digital conversion sub-circuit according to an embodiment of the present utility model;

FIG. 6 is a schematic diagram of an implementation of an analog-to-digital conversion sub-circuit according to an embodiment of the present utility model;

FIG. 7 is a schematic diagram of an implementation structure of a weighing device according to an embodiment of the present utility model;

FIG. 8 is a schematic diagram of communication between a controller and a weighing device and a result display model, respectively, provided by an embodiment of the present utility model;

FIG. 9 is a schematic diagram of another four-legged machine dog according to an embodiment of the present utility model;

fig. 10 is a weighing schematic diagram of a four-legged machine dog according to an embodiment of the present utility model.

Detailed Description

For the purpose of making the objects, technical solutions and advantages of the present utility model more apparent, the embodiments of the present utility model will be described in further detail with reference to the accompanying drawings.

As robots become popular in the marketplace, more and more people prefer to go to quadruped robot dogs. At present, the four-foot machine dog mainly performs the actions of accompanying running, turning round, rolling, making a logic and the like. The embodiment of the utility model provides a four-foot machine dog with a weighing function, which can measure the weight of a target object when the weight is needed. For example, in the running process of the accompanying owners, the owners temporarily want to buy the fruits and worry about the problem of the street vendor scale, and the purchased fruits can be placed on the quadruped robot dog for weighing, so that whether the weight is accurate or not is checked. The scheme does not need additional equipment, is simple and convenient, and is accurate in metering.

Referring to fig. 1, fig. 1 is a schematic structural diagram of a four-foot robot dog according to an embodiment of the present utility model. The four-foot machine dog comprises a machine dog body 1, a controller 2, a weighing device 3 and a voice module 4, wherein the controller 2, the weighing device 3 and the voice module 4 are positioned in the machine dog body 1; referring to fig. 2, the weighing device 3 includes a sensing element 31, a conversion element 32, and a conversion circuit 33; the conversion element 32 is positioned on the sensitive element 31, the output end of the conversion element 32 is electrically connected with the input end of the conversion circuit 33, the output end of the conversion circuit 33 is electrically connected with the input end of the controller 2, and the output end of the controller 2 is electrically connected with the input end of the voice module 4; the sensing element 31 is used for generating deformation due to the weight of an object to be weighed, the conversion element 32 is used for converting the deformation into a resistance value, the conversion circuit 33 is used for converting the resistance value into charge information, the controller 2 is used for determining the weighing result of the object based on the charge information and controlling the machine dog body 1 to execute corresponding actions and/or controlling the voice module 4 to play corresponding voices based on the weighing result of the object; when the weighing result of the target object is in different ranges, the action executed by the robot dog body 1 and/or the voice played by the voice module 4 are different.

The quadruped robot dog provided by the embodiment of the utility model can measure the weight of the target object through the weighing device, and further, the weighing result of the target object is displayed by executing different actions through the robot dog body and/or playing the voice through the voice module, other weighing equipment is not required to be additionally arranged, the operation is simple and convenient, and the weighing result metering is accurate. In addition, the weighing function is added on the four-foot machine dog, so that the weight of a target object can be conveniently measured in an indoor or outdoor scene, and the functionality and application convenience of the four-foot machine dog are improved.

Since the deformation of the sensor 31 is generated by the weight of the target object, and the deformation of the sensor 31 is different when the weight of the target object is different, the deformation of the sensor 31 is detected by the conversion element 32 and converted into a resistance value, and the resistance value is converted into charge information by the conversion circuit 33, and the charge information can accurately represent the weight of the target object, thereby improving the accuracy of weighing the target object.

Because the actions executed by the machine dog body 1 and/or the voices played by the voice module 4 are different when the weighing result is in different ranges, the weight of the target object can be determined in which range through the actions executed by the machine dog body 1 and/or the voices played by the voice module 4, the machine dog can be prevented from being checked by low head, and the operation is simpler.

The controller 2 is a control center of the four-foot machine dog and is used for controlling the four-foot machine dog to realize various functions. In some embodiments, the controller 2 may also be referred to as a master control unit of a four-legged machine dog.

Because the actions executed by the machine dog body 1 and/or the voices played by the voice module 4 are different when the weighing result is in different ranges, after the controller 2 determines the weighing result of the target object, the machine dog body 1 can be controlled to execute the actions corresponding to the range in which the weighing result is located, and/or the voice module 4 can be controlled to play the voices corresponding to the range in which the weighing result is located.

In some embodiments, the output of the conversion circuit 33 may be used as the output of the weighing device 3, and the input of the controller 2 and the output of the weighing device 3 may communicate via a standard interface. For example, the input end of the controller 2 and the output end of the weighing device 3 communicate through interfaces such as serial ports, I2C (Inter-Integrated Circuit, integrated circuit bus) and the like, which is not limited by the embodiment of the present utility model.

In some embodiments, please continue to refer to fig. 2, the weighing device 3 further comprises an auxiliary power source 34, the auxiliary power source 34 being electrically connected to the power supply terminal of the conversion element 32 and the power supply terminal of the conversion circuit 33, respectively; the auxiliary power supply 34 is used to supply power to the conversion element 32 and the conversion circuit 33.

Based on the above description, the sensing element 31 is configured to deform due to the weight of the object, so the sensing element 31 may be any element that can deform. Illustratively, the sensing element 31 comprises a parallel beam structure, in which case the conversion element 32 may be located on the parallel beam structure. Of course, the sensing element 31 may be other elements capable of being deformed, which is not limited in the embodiment of the present utility model.

In the case where the conversion element 32 includes a parallel beam structure, the parallel beam structure may be made of a metal material, such as a steel body, or may be made of other materials, which is not limited in the embodiment of the present utility model.

In general, the larger the weight of the object, the larger the deformation of the sensor 31, and the smaller the weight of the object, the smaller the deformation of the sensor 31.

The conversion element 32 is used to convert the deformation generated by the sensor 31 into a resistance value, so the conversion element 32 may be any element capable of converting the deformation into a resistance value. The conversion element 32 comprises, for example, a resistive strain gauge on the sensor element 31, the output of which is electrically connected to the input of the transformation circuit 33, the supply of which is connected to the auxiliary power supply 34, the resistive strain gauge being adapted to convert the deformations generated by the sensor element 31 into resistive values.

In general, since the deformation of the sensor 31 has a certain relationship with the resistance value, the corresponding resistance value can be determined by the relationship after the deformation of the sensor 31.

In some embodiments, the charge information corresponding to the weight of the target may be a voltage value or a current value. The conversion circuit 33 is a circuit capable of converting a resistance value into a voltage value when the charge information is a voltage value, and the conversion circuit 33 is a circuit capable of converting a resistance value into a current value when the charge information is a current value. Next, the charge information will be described by taking a voltage value as an example.

For example, referring to fig. 3, the conversion circuit 33 includes a voltage detection sub-circuit 331 and an analog-to-digital conversion sub-circuit 332, and the charge information is a voltage value; the input end of the voltage detection sub-circuit 331 is electrically connected with the output end of the conversion element 32, the output end of the voltage detection sub-circuit 331 is electrically connected with the input end of the analog-to-digital conversion sub-circuit 332, the output end of the analog-to-digital conversion sub-circuit 332 is electrically connected with the input end of the controller 2, the power supply end of the voltage detection sub-circuit 331 and the power supply end of the analog-to-digital conversion sub-circuit 332 are respectively connected with the auxiliary power supply 34, the voltage detection sub-circuit 331 is used for converting the resistance value determined by the conversion element 32 into a voltage value, and the analog-to-digital conversion sub-circuit 332 is used for converting the voltage value of the analog signal into the voltage value of the digital signal.

That is, the voltage detection sub-circuit 331 can convert the resistance value determined by the conversion element 32 into a voltage value, which is an analog signal, and then the analog signal can be converted into a digital signal by the analog-to-digital conversion sub-circuit 332, thereby facilitating the subsequent processing.

The voltage detection sub-circuit 331 may be any circuit capable of converting a resistance value into a voltage value of an analog signal, for example, the voltage detection sub-circuit 331 may be a wheatstone bridge, and may be other circuits. Referring to fig. 4, the voltage detection sub-circuit 331 includes four resistors R1-R4, the voltage detection sub-circuit 331 includes positive and negative power supply terminals electrically connected to the auxiliary power supply 4, the voltage detection sub-circuit 331 further includes two output terminals electrically connected to the analog-to-digital conversion sub-circuit 332, and a voltage between the two output terminals is a voltage determined by the voltage detection sub-circuit 331. At least one of the four resistors is the above-described resistance strain gauge.

In general, since the resistance value determined by the conversion element 32 has a certain relationship with the voltage value determined by the voltage detection sub-circuit 331, the corresponding voltage value can be determined from the relationship after the resistance value is determined by the conversion element 32.

Analog-to-digital conversion subcircuit 332 may be any circuit capable of converting an analog signal to a digital signal. The analog-to-digital conversion subcircuit 332 is an analog-to-digital converter, for example. Of course, in other embodiments, the analog-to-digital conversion sub-circuit 332 is further configured to amplify the voltage value of the analog signal, and in this case, referring to fig. 5, the analog-to-digital conversion sub-circuit 332 includes an amplifier 3321 and an analog-to-digital converter 3322, an input terminal of the amplifier 3321 is electrically connected to an output terminal of the voltage detection sub-circuit 331, an output terminal of the amplifier 3321 is connected to an input terminal of the analog-to-digital converter 3322, an output terminal of the analog-to-digital converter 3322 is connected to an input terminal of the controller 2, the amplifier 3321 is configured to amplify the voltage value of the analog signal, and the analog-to-digital converter 3322 is configured to convert the amplified voltage value of the analog signal into the voltage value of the digital signal.

Since the voltage value determined by the voltage detection sub-circuit 331 is generally small, accuracy is affected when the weighing result is determined by the small voltage value, the voltage value of the analog signal may be amplified by the amplifier 3321 and then converted into the voltage value of the digital signal by the analog-to-digital converter 3322. Thus, the accuracy of the weighing result of the target object determined by the voltage value of the digital signal is high.

The analog-to-digital conversion sub-circuit 332 includes an amplifier 3321 and an analog-to-digital converter 3322. In practical applications, the amplifier 3321 and the analog-to-digital converter 3322 may be integrated on the same chip, and the analog-to-digital conversion sub-circuit 332 may be an analog-to-digital converter chip with amplifying function, for example.

The above description is presented taking the analog-to-digital conversion sub-circuit 332 as an example to determine the voltage value of the digital signal. Of course, in other embodiments, the weight of the object may also exceed the maximum weighing value of the weighing device 3, and the analog-to-digital conversion sub-circuit 332 may also determine whether the weight of the object exceeds the maximum weighing value of the weighing device 3. That is, after receiving the voltage value of the analog signal transmitted by the voltage detection sub-circuit 331, the analog-to-digital conversion sub-circuit 332 determines whether the target object is overweight based on the voltage value, if the target object is not overweight, converts the voltage value of the analog signal into the voltage value of the digital signal, and if the target object is overweight, generates the indication information of the digital signal, which indicates that the target object is overweight.

The implementation principle of the analog-to-digital conversion sub-circuit 332 will be described next by way of fig. 6. Referring to fig. 6, the analog-to-digital conversion sub-circuit generates an interrupt signal, receives a voltage value of an analog signal transmitted by the voltage detection sub-circuit, determines whether the target object is overweight based on the voltage value, converts the voltage value of the analog signal into a voltage value of a digital signal if the target object is not overweight, and generates alarm indication information of the digital signal if the target object is overweight, wherein the alarm indication information indicates that the target object is overweight.

In some embodiments, the analog-to-digital conversion sub-circuit may store the voltage value of the analog signal corresponding to the maximum weighing value of the weighing device 3, i.e. the analog-to-digital conversion sub-circuit stores the voltage value corresponding to the maximum weighing value. Thus, after the analog-to-digital conversion sub-circuit receives the voltage value of the analog signal transmitted by the voltage detection sub-circuit, whether the voltage value is smaller than the voltage value corresponding to the maximum weighing value or not can be determined, if the voltage value is smaller than or equal to the voltage value corresponding to the maximum weighing value, the target object is determined not to be overweight, and if the voltage value is larger than the voltage value corresponding to the maximum weighing value, the target object is determined to be overweight.

A possible implementation of the weighing device 3 is described next by means of fig. 7. Referring to fig. 7, the weighing device 3 includes a parallel beam structure, a resistance strain gauge, a wheatstone bridge, and an analog-to-digital conversion chip. The parallel beam structure is used for determining deformation generated by the weight of a target object, the resistance strain gauge is used for converting the deformation generated by the parallel beam structure into a resistance value, the Wheatstone bridge is used for converting the resistance value determined by the resistance strain gauge into a voltage value, and the analog-to-digital conversion chip is used for converting the voltage value of an analog signal determined by the Wheatstone bridge into a voltage value of a digital signal.

In some embodiments, the quadruped robot further includes a display module; the input of display module is connected with the output electricity of controller 2, and the display module is used for showing the weighing result of target object. That is, the display module can display the weighing result of the target object.

The voice module 4 and the controller 2 can also communicate through a standard interface. For example, the voice module 4 communicates with the controller 2 through serial ports, I2C interfaces, and the like, which is not limited in the embodiment of the present utility model. In the case that the four-legged robot further includes a display module, the display module and the controller 2 may also communicate through a standard interface. For example, the display module and the controller 2 communicate through interfaces such as parallel port, MIPI (Mobile Industry Processor Interface ), and the like, which is not limited in the embodiment of the present utility model.

The voice module can comprise a loudspeaker and the like, the display module can comprise a display screen and the like, and the structure of the voice module and the structure of the display module are not limited in the embodiment of the utility model, so long as the corresponding functions can be realized.

Referring to fig. 8, the controller and the voice module communicate through a serial port or an I2C interface, the controller and the display module communicate through an MIPI or a parallel port, and the controller and the weighing device communicate through a serial port.

In some embodiments, the weighing device 3 is located on the back of the machine dog body 1, so as to facilitate the weighing operation of the target object, and also can maintain the stability of the four-foot machine dog, so as not to cause the four-foot machine dog to lose balance in the weighing process.

In some embodiments, referring to fig. 9, the four-legged machine dog further includes a timer 5; the timer 5 is connected with an output end of the controller 2, and the controller 2 is used for controlling the timer 5 to time when a weighing instruction is detected and determining a weighing result of the target object based on charge information determined by the weighing device 3 after the timer 5 finishes timing.

The timing length of the timer 5 may be set in advance, for example, the timing length is 0.5 seconds. Of course, in practical application, the timing duration of the timer 5 may also be adjusted according to different requirements, which is not limited in the embodiment of the present utility model. In some embodiments, the timing duration of the timer 5 may be referred to as a preset duration.

In the case where the four-legged robot dog includes a voice module, the weighing instruction may be triggered by the user in a voice manner. In the case where the four-legged robot dog includes a display module, the weighing instruction may be triggered by a touch operation of the display module by a user. Of course, the weighing instruction may also be triggered in other manners, for example, by triggering a physical key on a four-foot robot dog, etc., and the triggering manner of the weighing instruction in the embodiment of the present utility model is not limited.

The weighing principle of the four-legged machine dog will be described next by way of fig. 10. The triggering of the weighing command in a voice manner is illustrated in fig. 10. Referring to fig. 10, in the case of standby of the four-legged robot dog, the controller detects whether a voice weighing instruction is issued, if no voice weighing instruction is issued, the controller continues to wait for the four-legged robot dog, if a voice weighing instruction is issued, a timer is started, timing is performed through the timer, and then the four-legged robot dog enters a waiting state. In the waiting process, whether the timing time length of the timer reaches the preset time length can be determined, if the timing time length of the timer does not reach the preset time length, the waiting is continued, and if the timing time length of the timer reaches the preset time length, the corresponding information is read from the weighing device. If the voltage value of the corresponding digital signal is read from the weighing device, the voltage value of the digital signal is converted into weight, so that the corresponding action is executed through the machine dog body and/or the voice module is controlled to play the corresponding voice. If the alarm indication information of the digital signal is read from the weighing device, the alarm indication information is played through the voice module.

In some embodiments, there is a relationship between the voltage value of the digital signal and the weight, which may be converted into the weight in embodiments of the present utility model. Of course, in practical application, the correspondence between the voltage value and the weight of the digital signal may also be stored in the controller. Thus, after the controller reads the voltage value of the corresponding digital signal from the weighing device, the corresponding weight can be acquired from the correspondence between the stored voltage value of the digital signal and the weight based on the read voltage value, and the acquired weight can be determined as the weight of the target object.

The analog-digital conversion sub-circuit is used for determining whether the object is overweight, in practical application, the controller can also be used for determining whether the object is overweight, and the controller stores the maximum weighing value of the weighing device. That is, the analog-to-digital conversion sub-circuit outputs a voltage value of the digital signal regardless of whether the target object is overweight or not. In this way, the controller can read the voltage value of the digital signal from the weighing device and convert the voltage value of the digital signal into weight. The weight is compared with the maximum weighing value of the weighing device. If the weight is larger than the maximum weighing value of the weighing device, the overweight of the target object is determined, and at the moment, the alarm indication information can be directly played through the voice module. If the weight is smaller than or equal to the maximum weighing value of the weighing device, determining that the target object is not overweight, and at the moment, executing corresponding actions through the robot dog body and/or playing the weight of the target object through the voice module.

It should be understood that references herein to "at least one" mean one or more, and "a plurality" means two or more. In the description of the present utility model, "/" means or, unless otherwise indicated, for example, A/B may represent A or B; "and/or" herein is merely an association relationship describing an association object, and means that three relationships may exist, for example, a and/or B may mean: a exists alone, A and B exist together, and B exists alone. In addition, in order to facilitate the clear description of the technical solution of the embodiments of the present utility model, in the embodiments of the present utility model, the words "first", "second", etc. are used to distinguish the same item or similar items having substantially the same function and effect. It will be appreciated by those of skill in the art that the words "first," "second," and the like do not limit the amount and order of execution, and that the words "first," "second," and the like do not necessarily differ.

The foregoing description of the preferred embodiments of the utility model is not intended to limit the utility model to the precise form disclosed, and any such modifications, equivalents, and alternatives falling within the spirit and scope of the utility model are intended to be included within the scope of the utility model.

Claims (10)

1. The four-foot machine dog is characterized by comprising a machine dog body, a controller, a weighing device and a voice module, wherein the controller, the weighing device and the voice module are positioned in the machine dog body, and the weighing device comprises a sensitive element, a conversion element and a conversion circuit;

the conversion element is positioned on the sensitive element, the output end of the conversion element is electrically connected with the input end of the conversion circuit, the output end of the conversion circuit is electrically connected with the input end of the controller, and the output end of the controller is electrically connected with the input end of the voice module;

the sensing element is used for generating deformation due to the weight of an object to be weighed, the conversion element is used for converting the deformation into a resistance value, the conversion circuit is used for converting the resistance value into charge information, the controller is used for determining a weighing result of the object based on the charge information and controlling the machine dog body to execute corresponding actions and/or controlling the voice module to play corresponding voices based on the weighing result; and when the weighing result is in different ranges, the action executed by the robot dog body and/or the voice played by the voice module are different.

2. The quadruped robot dog of claim 1, wherein the weighing device further comprises an auxiliary power source; the auxiliary power supply is respectively and electrically connected with the power supply end of the conversion element and the power supply end of the conversion circuit; the auxiliary power supply is used for supplying power to the conversion element and the conversion circuit.

3. The quadruped robot of claim 1, wherein the sensing element comprises a parallel beam structure, the conversion element being located on the parallel beam structure.

4. The quadruped robot dog of claim 1, wherein the transition element comprises a resistive strain gauge; the resistance strain gauge is positioned on the sensitive element, the output end of the resistance strain gauge is electrically connected with the input end of the conversion circuit, and the resistance strain gauge is used for converting the deformation into the resistance value.

5. The quadruped machine dog of claim 2, wherein the conversion circuit comprises a voltage detection sub-circuit and an analog-to-digital conversion sub-circuit, the charge information being a voltage value;

the input end of the voltage detection sub-circuit is electrically connected with the output end of the conversion element, the output end of the voltage detection sub-circuit is electrically connected with the input end of the analog-to-digital conversion sub-circuit, the output end of the analog-to-digital conversion sub-circuit is electrically connected with the input end of the controller, the power supply end of the voltage detection sub-circuit and the power supply end of the analog-to-digital conversion sub-circuit are respectively connected with the auxiliary power supply, the voltage detection sub-circuit is used for converting the resistance value into the voltage value, and the analog-to-digital conversion sub-circuit is used for converting the voltage value of the analog signal into the voltage value of the digital signal.

6. The quadruped machine dog of claim 5, wherein the analog-to-digital conversion sub-circuit comprises an amplifier and an analog-to-digital converter;

the input end of the amplifier is electrically connected with the output end of the voltage detection subcircuit, the output end of the amplifier is connected with the input end of the analog-to-digital converter, the output end of the analog-to-digital converter is connected with the input end of the controller, the amplifier is used for amplifying the voltage value of the analog signal, and the analog-to-digital converter is used for converting the amplified voltage value of the analog signal into the voltage value of the digital signal.

7. The quadruped robot of claim 6, wherein the amplifier and the analog-to-digital converter are integrated on the same chip.

8. The quadruped robot dog of claim 1, wherein the quadruped robot dog further comprises a display module; the input end of the display module is electrically connected with the output end of the controller, and the display module is used for displaying the weighing result of the target object.

9. The quadruped robot dog of claim 1, wherein the weighing device is located on a back of the robot dog body.

10. The four-legged machine dog according to claim 1, wherein said four-legged machine dog further comprises a timer;

the timer is connected with the output end of the controller, and the controller is used for controlling the timer to time when a weighing instruction is detected and determining the weighing result based on the charge information after the timer is timed.