CN111766877A - a robot - Google Patents

Abstract

The invention discloses a robot. The robot includes: a system for crossing obstacles when the robot walks; a robot body, the system for crossing obstacles when the robot walks is at least partially arranged on the robot body, and the robot body is provided with a walking device; a first moving leg, which is installed on the robot body The first detection device and the second detection device in the obstacle system when the robot walks are installed on the first movement leg; the first movement drive assembly is connected with the first movement leg, and the movement drive assembly can drive the first movement outrigger. A moving outrigger moves; a second moving outrigger is installed on the robot body; a second moving driving assembly is connected with the second moving outrigger, and the second moving outrigger can drive the second moving outrigger to move; the overall control The device is respectively connected with the first motion drive assembly, the second motion drive assembly, the motion command module and the detection device position change command module.

Description

a robot

technical field

The present invention relates to the field of robot technology, in particular to a robot. The case is the application number: 201810676646X, and the name of the application is a divisional application of a patent application for a method, a system and a robot for a robot to walk over obstacles.

Background technique

For exploration robots, the accurate identification of obstacles and the realization of obstacle avoidance are the two most critical parts. Robot automatic obstacle avoidance can be regarded as a special case of the robot's route planning function to a certain extent, and it has higher requirements on the real-time performance and success rate (reliability) of the product.

At present, infrared sensors are mostly used to detect obstacles in the surrounding environment of the robot, which realizes two-dimensional detection of a certain height. The obvious defect of this method is that the robot lacks information such as obstacles or ravines below the detection height. And the robot can judge only a few types of obstacles, when encountering more complex obstacle information, the robot cannot make corresponding judgments.

Therefore, a technical solution is desired to overcome or at least alleviate at least one of the above-mentioned deficiencies of the prior art.

SUMMARY OF THE INVENTION

It is an object of the present invention to provide a robot that overcomes or at least alleviates at least one of the aforementioned drawbacks of the prior art.

In order to achieve the above object, the present invention provides a robot, characterized in that, the robot includes:

The robot walks over the obstacle system;

A robot body (1), the robot body (1) is at least partially provided on the robot body (1) when the robot walks over obstacles, a walking device (2) is provided on the robot body (1), and the walking device (2) is provided on the robot body (1). ) enables the robot to walk in the first walking mode;

A first moving leg (3), the first moving leg (3) is mounted on the robot body (1), and the robot walks over the first detection device (4) and the first detection device (4) in the obstacle system. Two detection devices (5) are installed on the first moving legs (3);

a first motion drive assembly, the first motion drive assembly is connected with the first motion leg, and the motion drive assembly can drive the first motion leg to move;

a second moving outrigger (6), the second moving outrigger (6) is mounted on the robot body (1);

a second motion drive assembly, the second motion drive assembly is connected with the second motion leg, and the second motion drive assembly can drive the second motion leg to move;

an overall controller, which is respectively connected with the first motion drive assembly, the second motion drive assembly, the motion command module and the detection device position change command module, wherein,

The detection device position change command module is used to transmit the first detection device position change signal to the general controller;

The action command module is configured to transmit one of the command of the first overrunning action, the command of the first overrunning action or the command of the second overrunning action to the general controller;

The general controller is used to control the first motion drive assembly and/or the second motion drive assembly to work according to the received signal, thereby driving the first motion outrigger and/or the second motion outrigger to move;

The first moving leg moves and/or the second moving leg moves, so that the robot performs a first jumping action, a first jumping action, a second jumping action or changes the position of the second detection device. a kind of.

Optionally, the first motion drive assembly includes a first steering gear, a second steering gear and a third steering gear;

The first movement outrigger includes the first segment of the first movement outrigger, the second segment of the first movement outrigger, and the third segment of the first movement outrigger;

The first steering gear is arranged on the robot body;

The first section of the first moving leg is connected to the output end of the first steering gear, and can rotate around the output end of the first steering gear;

the second steering gear is arranged on the first segment of the first moving leg;

The second segment of the first moving leg is connected to the output end of the second steering gear, and the second segment of the first moving leg can rotate around the output end of the second steering gear;

the third steering gear is arranged on the second segment of the first moving leg;

The third segment of the first moving leg is connected to the output end of the second steering gear, and the third segment of the first moving leg can rotate around the output end of the third steering gear;

The first detection device is installed on the third section of the first moving leg; the second detection device is installed on the robot body;

The second motion drive assembly includes a fourth steering gear and a fifth steering gear;

The second movement outrigger includes a first segment of the second movement outrigger and a second segment of the second movement outrigger;

the fourth steering gear is mounted on the robot body;

The first section of the second moving outrigger is connected with the output end of the fourth steering gear, and the first section of the second moving outrigger can rotate relative to the output end of the fourth steering gear;

the fifth steering gear is mounted on the first section of the second moving outrigger;

The second section of the second moving outrigger is connected to the output end of the fifth steering gear, and the second section of the second moving outrigger can rotate relative to the output end of the fifth steering gear;

a first pulley set, the first pulley set is mounted on the third segment of the first moving leg;

A second pulley set, the second pulley set is mounted on the second segment of the second moving leg; wherein,

The first pulley set and the second pulley set cooperate, so that the robot can walk in the second walking mode.

Compared with the existing robot, the robot of the present application can deal with the situation of flat ground and complex terrain, and at the same time, it can be transformed into a mobile working platform as required. The high rear car body can also move further, using the robot as a mobile work platform, through the coordinated action of the two feet to raise and lower its own height at will for exploration and operation, and after partial transformation, it can also straddle rivers or cliffs. Build a simple bridge; the construction function of the mobile work platform can provide great convenience for the collection of various resource collection facilities installed by the robot and the information collection of exploration sensors in actual exploration, so that the information collected by the robot is more accurate.

The robot of the present application has the function of detecting obstacle information, and can take specific decisions according to the situation of the obstacles it faces. Compared with the traditional obstacle avoidance car and obstacle avoidance robot, it is more intelligent.

At the same time, because a lot of work has been done in the selection of controllers, sensors, and drivers, the invention has stable performance and greatly reduced costs. It realizes various functions such as obstacle information detection, overcoming obstacles, crossing ravine obstacles, autonomous attitude recovery, and mobile working platform.

Description of drawings

FIG. 1 is a schematic flowchart of a method for a robot walking over obstacles according to an embodiment of the present invention.

FIG. 2 is a schematic structural diagram of the robot shown in FIG. 1 .

FIG. 3 is another schematic structural diagram of the robot shown in FIG. 1 .

reference number

1 Robot body 31 The first leg of the first exercise 2 walking device 32 The second leg of the first exercise leg 3 first exercise leg 33 The third segment of the first exercise leg 4 first detection device 10 Fourth steering gear 5 second detection device 11 Fifth steering gear 6 second exercise leg 61 The first segment of the second movement outrigger 7 first steering gear 62 The second leg of the second exercise 8 second steering gear 12 first pulley 9 The third steering gear 13 Second pulley block

Detailed ways

In order to make the objectives, technical solutions and advantages of the present invention clearer, the technical solutions in the embodiments of the present invention will be described in more detail below with reference to the accompanying drawings in the embodiments of the present invention. Throughout the drawings, the same or similar reference numbers refer to the same or similar elements or elements having the same or similar functions. The described embodiments are some, but not all, of the embodiments of the present invention. The embodiments described below with reference to the accompanying drawings are exemplary, and are intended to explain the present invention and should not be construed as limiting the present invention. Based on the embodiments of the present invention, all other embodiments obtained by those of ordinary skill in the art without creative efforts shall fall within the protection scope of the present invention. The embodiments of the present invention will be described in detail below with reference to the accompanying drawings.

In the description of the present invention, it should be understood that the terms "center", "portrait", "horizontal", "front", "rear", "left", "right", "vertical", "horizontal", The orientation or positional relationship indicated by "top", "bottom", "inner", "outer", etc. is based on the orientation or positional relationship shown in the drawings, and is only for the convenience of describing the present invention and simplifying the description, rather than indicating or implying that The device or element referred to must have a specific orientation, be constructed and operate in a specific orientation, and therefore should not be construed as limiting the scope of protection of the present invention.

FIG. 1 is a schematic flowchart of a method for a robot walking over obstacles according to an embodiment of the present invention. FIG. 2 is a schematic structural diagram of the robot shown in FIG. 1 .

Referring to FIG. 2 , in this embodiment, the detection direction of the first detection device when the robot is walking on the ground is the front direction (the right direction in FIG. 2 ), and the direction opposite to the front direction when the robot is walking on the ground is the rear direction ( FIG. 2 ). center left direction), when the robot walks on the ground, the direction parallel to the ground and perpendicular to the front direction is the left direction (the paper faces inward in Figure 2) or the right direction (the paper faces outward in Figure 2). When walking on the ground, the direction perpendicular to the front direction and the left direction is the upper direction (upward direction in Figure 2) or the downward direction (the lower direction in Figure 2);

The distance between the first detection device of the robot and the suspected obstacle in the forward direction is the first detection distance;

When the robot is walking on the ground, the detection direction of the second detection device is set toward the walking ground, which is the above-mentioned downward direction, and the distance between the second detection device and the suspected obstacle in the downward direction is the second detection distance.

The methods of walking over obstacles as shown in Figure 1 include:

Step 1: Preset the first detection distance value, the first overrunning distance value, the preset first rough surface threshold, the first spanning distance value, the second overrunning distance value, the first distance value, the second detection distance value, the first predetermined motion trajectory;

Step 2: During the walking process of the robot, use the first detection device to detect whether the robot has a first abnormal signal in the forward direction within the first detection distance value and/or detect through the second detection device at the second detection distance. Whether there is a second abnormal signal in the downward direction of the value;

Step 3: When only the first detection device has the first abnormal signal, the robot stops walking, and the robot encounters a suspected obstacle in the forward direction. The obstacle information is compared with the first climbing distance value and/or the first rough surface threshold to determine the obstacle type of the suspected obstacle. If the suspected obstacle type is the first surmountable obstacle and the obstacle needs to be surmounted, the robot will perform the first surmounting. action to overcome the obstacle;

When only the second detection device has the second abnormal signal, the robot stops walking, and the robot encounters a suspected obstacle in the downward direction. The obstacle information is compared with one or more of the first spanning distance value, the second overrunning distance value, the first predetermined motion trajectory and the first distance value to determine the type of the suspected obstacle;

If the type of the suspected obstacle is the first surmountable and the obstacle needs to be traversed, make the robot perform the first surmounting action to traverse the obstacle;

If the type of the suspected obstacle is the second surmountable obstacle and the obstacle needs to be surmounted, the robot is made to perform a second tumbling action to surmount the obstacle.

In this embodiment, both the first detection device and the second detection device are ultrasonic sensors. The advantage of using ultrasonic sensors is that the judgment will not be affected by the influence of the weather. It can be understood that, the first detection device and the second detection device may also adopt different detection devices as required.

For example, in an alternative embodiment, the first detection device adopts an ultrasonic sensor, and the second detection device adopts an infrared sensor. In this way, the advantage is that the first detection device needs to measure the distance and is not expected to be affected by light, temperature, etc. . On the other hand, since the ground detected by the second detection device is closer to itself, and the detection toward the ground is usually not affected by light too much. Combining the two can achieve the benefits of minimizing costs and allowing each sensor to take advantage of its strengths.

The abnormal signal mentioned above refers to information different from the signal obtained by the robot during normal walking. In this embodiment, the signal returned by the first detection device when there is no obstacle within the first detection distance is set as the first normal signal, and the signal different from the first normal signal is set as the first abnormal signal.

The signal returned by the second detection device when there is an obstacle (eg ground) within the second detection distance is set as the second normal signal, and the signal different from the second normal signal is the second abnormal signal.

Taking the first detection device as an example, during the walking process of the robot (taking the robot shown in FIG. 2 as an example), the first detection device continues to detect the front, and when there is no obstacle within the first detection distance in front, the first detection The device will detect a normal signal and transmit the normal signal to the robot. The robot can judge that there is no suspected obstacle ahead, and the robot will continue to walk. Once there is an obstacle ahead, the first detection device will detect an abnormal signal (taking the ultrasonic sensor as an example, the abnormal signal is caused by the return of the wave due to the obstacle ahead, thus forming a signal different from the normal signal), At this time, it can be determined as an abnormal signal.

Taking the second detection device as an example, during the walking process of the robot (take the robot shown in FIG. 2 as an example), the second detection device continues to detect the lower part (that is, the road surface when the robot is walking), and when the detection continues to have a normal signal , it can be shown that there is continuous road for the robot to walk on. When abnormal signals are detected, it can be considered that there is a suspected obstacle below.

It can be seen from the above that an abnormal signal refers to a signal that is different from a normal signal, and does not specifically refer to a certain type or type of signal. It can be considered that as long as the first detection device and the second detection device detect when the robot is walking normally The received normal signal (which can be a value, a range, or the type of signal that is preset by the robot itself to enable the robot to walk normally) is different from the signal, that is, the abnormal signal.

In this embodiment, step 3 further includes:

When only the first detection device has the first abnormal signal, the robot stops walking (when the robot receives the first abnormal signal, so that the robot stops walking), the first detection device detects the suspected obstacle to obtain the first suspected obstacle information, The robot encounters a suspected obstacle in the forward direction, detects the suspected obstacle through the first detection device, and compares the first suspected obstacle information with the first overrunning distance value and/or the first rough surface threshold to determine the obstacle type of the suspected obstacle, If the type of the suspected obstacle is a slope obstacle, make the robot continue to walk through the slope obstacle or change the walking path;

When only the first detection device has the first abnormal signal, the robot stops walking, and the robot encounters a suspected obstacle in the forward direction. The suspected obstacle is detected by the first detection device, and the first suspected obstacle information is obtained by detecting the suspected obstacle through the first detection device. , and compare the first suspected obstacle information with the first overrunning distance value and/or the first rough surface threshold to determine the obstacle type of the suspected obstacle. If the type of the suspected obstacle is an insurmountable obstacle, make the robot change the walking path .

When only the second detection device detects that there is a second abnormal signal in the downward direction, the robot stops walking, and the robot encounters a suspected obstacle in the downward direction. Compare the second suspected obstacle information with one or more of the first spanning distance value, the second overrunning distance value and the first distance value to determine the type of the suspected obstacle, if the type of the suspected obstacle is a walkable obstacle , the robot continues to walk so as to walk over the walkable obstacle or change the walking path;

When only the second detection device detects that there is a second abnormal signal in the downward direction, the robot stops walking, and the robot encounters a suspected obstacle in the downward direction. Compare the second suspected obstacle information with one or more of the first spanning distance value, the second overrunning distance value and the first distance value to determine the type of the suspected obstacle, if the type of the suspected obstacle is an impassable obstacle , to make the robot change its walking path.

In this embodiment, when only the first detection device has the first abnormal signal, the robot stops walking, and the robot encounters a suspected obstacle in the forward direction. The suspected obstacle is detected by the first detection device, and the suspected obstacle is detected by the first detection device. Obtain the first suspected obstacle information, and compare the first suspected obstacle information with the first overrunning distance value and/or the first rough surface threshold to determine the obstacle type of the suspected obstacle. Specifically:

Make the first detection device move upward in a straight line from the position where the abnormal signal is detected (take FIG. 2 as an example, make the first detection device move upward in a straight line), and during the upward movement, detect once every predetermined distance. Detect in the forward direction to obtain the signal, and judge whether the obtained signal is the first abnormal signal each time, if so, continue to detect until the judgment is no or the maximum movement distance of the first detection device is reached; if not, then The distance moved by the first detection device from the first acquired first abnormal signal to the last acquired first abnormal signal is the measured size of the suspected obstacle in the upward direction and while detecting the measured size, the first A detection device can obtain the distance between the first detection device and the suspected obstacle in the forward direction as the first suspected obstacle information each time a signal is obtained;

When the measured size of the detected suspected obstacle in the upward direction is less than or equal to the first overrunning distance value and the distance value between the first detection device and the suspected obstacle in the forward direction does not change or has discontinuous changes, and the value of each change is less than or equal to When the first rough surface threshold is reached, it is judged that the type of the suspected obstacle can be crossed and the obstacle needs to be crossed;

When the first detection device performs detection in a manner of detecting once every predetermined distance during the movement, the distance between the first detection device and the suspected obstacle in the forward direction detected each time changes, and the change is a continuous change And when the difference between every two adjacent changes is less than the preset first rough surface threshold, it is determined that the type of the suspected obstacle is a slope obstacle;

When the measured size of the detected suspected obstacle is greater than the first overrunning distance value or reaches the maximum movement distance of the first detection device, it is determined that the type of the suspected obstacle is an insurmountable obstacle.

For example, taking the robot shown in FIG. 2 as an example, the above-mentioned method of detecting once every predetermined distance specifically refers to: the highest obstacle-crossing height of the robot measured in advance is Xn (that is, the first jumping height referred to in this application). distance value), then n (n=1, 2, 3...) critical dimensions are set for the first detection device: X1, X2, X3...Xn, and X1<X2<X3<...<Xn. Control the position of the first detection device to detect within the maximum movement distance of the first detection device, when the first detection device detects at two adjacent critical dimension points Xk-1, Xk (2<k<n) , all return the first abnormal signal, indicating that the size of the obstacle is greater than Xk, then continue to control the first detection device to rise, and measure at the next critical dimension Xk+1; if the first detection device returns when measuring at the critical dimension Xk The first normal signal indicates that the size of the obstacle is between Xk-1 and Xk (that is, the measurement size referred to in this application). When k continues to increase until it increases to n, the sensor measures at the critical dimension Xn, and if it can still return the first abnormal signal, it means that the size of the obstacle is higher than Xn. In this embodiment, the smaller the measurement interval is, the more data the first detection device collects, the more accurate the description of the size of the obstacle, and the smoother the action of crossing the obstacle. And the larger the measurement interval is, the first detection device can ignore some gaps.

The maximum obstacle height of the robot is 2m, and the 2m is divided into four sections. The critical dimensions are 0, 0.5m, 1m, 1.5m, and 2m. Assume that the height of an obstacle is 1.2m, the first detector of the robot detects the obstacle, stops the movement, and detects the obstacle information. Detect at 0, return the effective value, the detector moves to the next critical dimension; detect at 0.5m, return the effective value, the detector moves to 1m; detect at 1m, return the effective value, the detector moves to 1.5 At m: Detect at 1.5m and return an invalid value, indicating that the height of the obstacle is between 1m-1.5m, and perform the corresponding obstacle-crossing action.

The height of the obstacle is set to 2.2m, the first detector of the robot detects the obstacle, stops the movement, and detects the obstacle information. Detect at 0, return the effective value, the detector moves to the next critical dimension; detect at 0.5m, return the effective value, the detector moves to 1m; repeat the above process, the detector finally moves to 2m: at 2m Perform detection and return a valid value, indicating that the height of the obstacle is greater than 2m, exceeding the maximum obstacle height of the robot, and perform corresponding obstacle avoidance actions.

The predetermined distance, which is detected every predetermined distance, is the height of the robot body (the dimension in the up-down direction in FIG. 2 ). It can be understood that it can also be smaller than the height of the robot body) (the dimension in the up-down direction in FIG. 2 ). When it is smaller than the height of the robot, it can prevent the robot from entering the interlayer or the gap due to wrong judgment.

For example, when the suspected obstacle ahead is an obstacle that can be crossed and needs to be crossed, more specifically, when the obstacle that can be crossed and needs to be crossed is a step obstacle, the method of detecting once every predetermined distance according to the present application is adopted, which not only can accurately detect the obstacle. After judging the height of the step obstacle (that is, the measurement size referred to in this application), it is also possible to ignore some small gaps that may exist on a face of the step obstacle facing the robot direction by measuring the size of the interval to prevent the gap. Affects the robot's judgment of the step obstacle.

And through the division of the measurement interval, it can also be prevented that there are obstacles above the step obstacle (taking the direction shown in Figure 2 as an example) when the step obstacle is crossed. When the measurement interval is divided relatively large, for example, the measurement interval is larger than the application The height of the robot body (up and down direction shown in FIG. 2 ), even if there is an obstacle above the step obstacle, the method of the present application can still enable the robot to cross the step obstacle.

In one embodiment of the present application, the present application further includes:

Make the first detection device move upward in a straight line from the position where the abnormal signal is detected, and during the upward movement, detect in the forward direction by detecting once every predetermined distance to obtain the signal, and judge that each time the signal is obtained. Whether the detected signal is the first abnormal signal, if so, continue to detect until the judgment is no or the maximum movement distance of the first detection device is reached; if not, from the first acquired abnormal signal to the last acquired The distance moved by the first detection device between the first abnormal signals is the measured size of the suspected obstacle in the upward direction and at the same time as the measured size is detected, the first detection device can obtain the first detection device and the first detection device each time a signal is obtained. The distance value of the suspected obstacle in the forward direction is the first suspected obstacle information; and, continue to make the first detection device move in a straight line in the upward direction, and perform a detection, when the signal obtained by this detection is the first abnormal signal, Then it is judged that the suspected obstacle is an insurmountable obstacle; when the signal obtained by the detection is the first normal signal, it is judged that the suspected obstacle can be crossed and the obstacle needs to be crossed.

In this way, it can be further avoided that there is an obstacle above the suspected obstacle, and the space between the upper obstacle and the suspected obstacle is not enough for the robot to pass.

In the present application, by setting the first rough surface threshold, the following situations can be prevented:

1. In reality, the detected surface is not always smooth. At this time, there may be bumps on the surface. When the bumps are too large, the robot cannot climb over. At this time, this situation should be avoided. This situation can be prevented by setting the first rough surface threshold. For example, when the first detection device performs detection in a manner of detecting once every predetermined distance during the movement, the first detection device detected each time is related to the suspected obstacle. The distance values in the forward direction all change, and the change is continuous and when the difference between every two adjacent changes is greater than the preset first rough surface threshold, it is determined that the type of the suspected obstacle is an insurmountable obstacle.

2. When the suspected obstacle is a slope, in fact, the robot does not need to perform the first overturning action. At this time, it can be judged whether the suspected obstacle is a slope through the first rough surface threshold. As mentioned above, when the first detection device is in motion, When the detection is carried out in the manner of detecting once every predetermined distance, the distance value between the first detection device and the suspected obstacle in the forward direction detected each time changes, and the change is a continuous change and the difference between every two adjacent changes. When the values are the same and both are smaller than the preset first rough surface threshold, it is determined that the type of the suspected obstacle is a slope obstacle.

In this embodiment, when only the second detection device detects that there is a second abnormal signal in the downward direction, the robot stops walking, and the robot encounters a suspected obstacle in the downward direction (bottom in FIG. 2 ), through the first detection device and the second detection device. The device cooperates with the detection to obtain the second suspected obstacle information, and compares the second suspected obstacle information with one or more combinations of the first spanning distance value, the second climbing distance value, the first predetermined motion trajectory and the first spacing value Determine the type of the suspected obstacle, and if the type of the suspected obstacle is a walkable obstacle, make the robot continue to walk so as to walk over the walkable obstacle or change the walking path of the robot;

When only the second detection device detects that there is a second abnormal signal in the downward direction, the robot stops walking, and the robot encounters a suspected obstacle in the downward direction. Compare the second suspected obstacle information with one or more of the first spanning distance value, the second overrunning distance value and the first distance value to determine the type of the suspected obstacle, if the type of the suspected obstacle is an impassable obstacle , to make the robot change its walking path.

In this embodiment, when the robot stops walking, the position of the first detection device is the first position, and the second suspected obstacle information includes whether there is a first abnormal signal in the downward direction detected by the first detection device at the first position; A detection device moves from the first position to the direction of the second detection device with a first predetermined movement trajectory, and judges whether the first predetermined movement trajectory can be completed; When the movement trajectory is completed, the position is detected in the downward direction, so as to obtain whether the first detection device has a first abnormal signal at this time; the first detection device is moved from the first position to the direction of the second detection device in a second predetermined direction. Track movement; make the first detection device detect in the downward direction in a manner of detecting once every predetermined distance during the movement, so as to acquire one or more of the signals;

When only the second detection device detects that there is a second abnormal signal in the downward direction, the robot stops walking, and the robot encounters a suspected obstacle in the downward direction. The second suspected obstacle information is compared with one or more of the first spanning distance value, the second spanning distance value and the first distance value to determine the type of the suspected obstacle specifically:

Make the first detection device detect whether there is a first abnormal signal in the downward direction at the first position, if not, make the first detection device move from the first position to the direction of the second detection device with a first predetermined movement track , and determine whether the first predetermined movement trajectory can be walked, if not, then the obstacle is judged to be an impassable obstacle; referring to FIG. 2 , in this embodiment, the first predetermined movement trajectory refers to the first movement shown in FIG. 2 . The second segment of the outrigger moves toward the robot body. This movement includes the movement of the first detection device in the backward direction (movement to the left in Figure 2), and the movement in the backward direction while the first detection device is in the downward direction (lower in Figure 2). movement) changes in position.

By setting the first predetermined motion trajectory, it can be determined whether the suspected obstacle is an irregular shape inclined downward. If it is an irregular shape, since the robot body itself has a certain regular volume, it is not suitable to cross the slope, therefore, the obstacle is considered as an impassable obstacle.

When the robot stops walking, the position of the first detection device is the first position, so that the first detection device detects whether there is a first abnormal signal in the downward direction at the first position. A position moves toward the second detection device with a first predetermined motion trajectory, and judges whether the motion trajectory can be completed. Make the first detection device detect in the downward direction of the position when the movement trajectory is completed after walking the movement trajectory, so as to obtain whether the first detection device has the first abnormal signal at this time, and if so, determine that the obstacle is Impossible to pass obstacles. When there is a first abnormal signal, it is considered that the size of the suspected obstacle is larger from the top to the bottom (the top-to-bottom direction described in Figure 2). In this case, it may be a cliff-like existence for the robot. , the robot may fall and cause damage to the robot if it goes further. Therefore, it is set as an impassable obstacle.

If not, it is judged that the obstacle is surmountable and the obstacle needs to be surmounted. When there is no first abnormal signal, that is, the signal is the first normal signal, it means that the size of the suspected obstacle in the top-to-bottom (the top-to-bottom direction described in Figure 2) will not exceed the size that the robot can span, Therefore, this time the robot can cross.

In an alternative embodiment, when the robot stops walking, the position of the first detection device is the first position, so that the first detection device detects whether there is a first abnormal signal in the downward direction at the first position, and if so, Then make the first detection device move from the first position to the direction of the second detection device with a second predetermined motion trajectory, and make the first detection device detect in the downward direction by detecting once every predetermined distance during the movement process. Thereby, a signal is obtained, and it is judged whether the obtained signal is the first normal signal each time. If the obtained signal is the first normal signal, it is judged that the suspected obstacle is a walkable obstacle; if there is only one first abnormal signal in the obtained signal. If the signal is normal, the suspected obstacle is judged to be a walkable obstacle; if there are two or more first abnormal signals in the obtained signal, it is judged that the suspected obstacle can be crossed and the obstacle needs to be crossed.

In this alternative embodiment, when the robot stops walking, the position of the first detection device is the first position, and when the first detection device detects a first abnormal signal in the downward direction at the first position, it indicates that the first detection device has a first abnormal signal in the downward direction. A detection device can detect the ground during detection. At this time, the first detection device is moved from the first position to the direction of the second detection device in a second predetermined motion trajectory, and the first detection device is moved every time during the movement process. The signal is acquired by detecting the downward direction by detecting once at a predetermined distance.

The second predetermined movement trajectory in this embodiment is: the first detection device approaches the robot body direction (and also the direction of the second detection device) in a straight line, that is, in addition to moving in the backward direction, in the upward direction, downward direction, left direction and The position in the right direction does not change.

In this way, since the first detection device detects the downward direction in the manner of detecting once every predetermined distance (same as the above-mentioned method of detecting once every predetermined distance) during the movement, the acquisition of The signal, therefore, can detect what is happening on the ground during this moving distance. For example, if the obtained signals are all the first normal signals, it is determined that the suspected obstacle is a walkable obstacle. At this time, it can be considered that the whole movement process may be the ground or even if there are cracks or bulges (maybe the cracks or bulges are just between the two predetermined detection distances and are not detected), the walking of the robot will not be affected. , therefore, the suspected obstacle is a walkable obstacle.

For another example, if there is only one first abnormal signal in the obtained signal, it is determined that the suspected obstacle is a walkable obstacle; at this time, it can be considered that there may be a crack or bulge in addition to the ground during the whole movement process, and The distance of the crack or bulge in the moving direction is not large (the first detection device does not continuously detect it), therefore, it does not affect the walking of the robot. Therefore, the suspected obstacle is a walkable obstacle.

For another example, if there are more than two first abnormal signals in the obtained signals, it is determined that the suspected obstacle can be crossed and the obstacle needs to be crossed. At this time, the possible cracks or protrusions have been large enough to affect the walking of the robot, or may affect the walking of the robot. Therefore, since the first detection device detects the first abnormal signal in the downward direction at the first position (that is, it can detect to the ground or other things that can be supported by the robot), therefore, it is considered that the robot can cross the obstacle. At this time, it is judged that the suspected obstacle can be crossed and the obstacle needs to be crossed.

In a preferred embodiment, there may be two or more first abnormal signals in the obtained signal, then the suspected obstacle is judged to be surmountable and needs to be surmounted, and the suspected obstacle is judged to be surmountable and needs to be surmounted. Further steps prior to the barrier include the following:

After the first detection device walks the second motion trajectory, it moves a predetermined distance away from the robot body (the predetermined distance can make the first detection device at least exceed the first position). At this time, it can be ensured that the size of the suspected obstacle is sufficient for this The applied robot stands, which can make the judgment more accurate.

In this embodiment, an original value is set for the distance between the first detection device and the ground in the downward direction, and the original value is the distance between the first detection device and the downward direction when the robot is walking normally. The distance is set to be smaller than the size of the robot body from the upper direction to the lower direction (that is, the height size). With this setting, obstacles that the robot can walk directly through, such as small protrusions or small stones, can be ignored. .

In this embodiment, the method for the robot to walk over obstacles further includes changing the walking path of the robot when the first detection device has a first abnormal signal and the second detection device has a second abnormal signal. When the first detection device and the second detection device have the first abnormal signal and the second abnormal signal at the same time, the situation in front of the robot is more complicated, and the robot can directly change the walking path.

The present application also provides a system for crossing obstacles when the robot walks, the system for crossing obstacles when the robot walks can provide the above-mentioned method for the robot to cross obstacles when walking, and the system for crossing obstacles when the robot walks includes:

Preset module, the preset module is used to preset the first detection distance value, the first overrunning distance value, the preset first rough surface threshold value, the first spanning distance value, the second overrunning distance value, the first distance value, the second Detection distance value, first motion trajectory;

a first detection device, the first detection device is used to detect a suspected obstacle and generate a first signal, the first signal includes a first normal signal and a first abnormal signal;

a second detection device, the second detection device is configured to detect a second signal, the second signal includes a second normal signal and a second abnormal signal;

a first suspected obstacle information generation module, the first suspected obstacle information generation module is used to generate the first suspected obstacle information;

a second suspected obstacle information generation module, the second suspected obstacle information generation module is used to generate second suspected obstacle information;

a signal receiving module, the signal receiving module is used to obtain the first suspected obstacle information and the second suspected obstacle information;

Judging module, the judging module is used to receive the first suspected obstacle information and the second suspected obstacle information transmitted by the signal receiving module, and compare the first suspected obstacle information with the first overrunning distance value and/or the first rough surface threshold value Judging the obstacle type of the suspected obstacle; and comparing the second suspected obstacle information with one or more of the first spanning distance value, the second climbing distance value, the first predetermined motion trajectory and the first distance value. Determine the type of the suspected disorder;

Action command module, the action command module is used to send an execution command to the robot according to the suspected obstacle type transmitted by the judging module, and the execution command includes the command of the first jumping action, the command of the first jumping action or the command of the second jumping action;

The detection device position change command module, the sensor position change command module is used to send a first detection device position change signal to the robot.

It can be understood that the types of suspected obstacles judged by the judgment module of the present application include the above-mentioned first surmountable and required obstacle, first surmountable and surmountable obstacle, second surmountable and surmountable obstacle, slope obstacle, impossibility to surmount. Obstacles, walkable obstacles, impassable obstacles, etc.

When the robot walks over the obstacle system of the present application, the obstacles can be divided into the first surmountable and the obstacle to be surmounted, the first surmountable and the obstacle to be surmounted, and the second surmountable and the obstacle to be surmounted, and travel according to the type of the obstacle Corresponding actions, compared with the prior art, can identify more types of obstacles, and perform more responses according to the types.

In this embodiment, both the first detection device and the second detection device are ultrasonic sensors. The advantage of using ultrasonic sensors is that the judgment will not be affected by the influence of the weather. It can be understood that, the first detection device and the second detection device may also adopt different detection devices as required.

For example, in an alternative embodiment, the first detection device adopts an ultrasonic sensor, and the second detection device adopts an infrared sensor. In this way, the advantage is that the first detection device needs to measure the distance and is not expected to be affected by light, temperature, etc. . On the other hand, since the ground detected by the second detection device is closer to itself, and the detection toward the ground is usually not affected by light too much. Combining the two can achieve the benefits of minimizing costs and allowing each sensor to take advantage of its strengths.

Referring to FIG. 2, the present application also provides a robot for performing the above-mentioned method for walking over obstacles when the robot walks, the robot comprising:

The robot walks over the obstacle system, and the robot walks over the obstacle system is the above-mentioned robot walk over the obstacle system;

The robot body 1, when the robot walks over obstacles, the system is at least partially arranged on the robot body 1, and the robot body 1 is provided with a walking device 2, and the walking device 2 can make the robot walk in the first walking mode;

The first moving outrigger 3, the first moving outrigger 3 is installed on the robot body 1, and the first detecting device 4 and the second detecting device 5 in the obstacle system when the robot walks are installed on the first moving outrigger 3;

The first motion drive assembly, the first motion drive assembly is connected with the first motion leg 3, and the motion drive assembly can drive the first motion leg 3 to move;

The second moving outrigger 6, the second moving outrigger 6 is installed on the robot body 1;

The second motion drive assembly, the second motion drive assembly, the second motion drive assembly is connected with the second motion leg 6, and the second motion drive assembly can drive the second motion leg 6 to move;

an overall controller, which is respectively connected with the first motion drive assembly, the second motion drive assembly, the motion command module and the detection device position change command module, wherein,

The detection device position change command module is used to transmit the first detection device position change signal to the general controller;

The action command module is used to transmit one of the command of the first overrunning action, the command of the first overrunning action or the command of the second overrunning action to the general controller;

The overall controller is used to control the first motion drive assembly and/or the second motion drive assembly to work according to the received signal, thereby driving the first motion outrigger and/or the second motion outrigger to move;

The movement of the first moving leg and/or the movement of the second moving leg causes the robot to perform one of a first jumping action, a first jumping action, a second jumping action or changing the position of the second detection device.

Using the robot of the present application, it is possible to perform a variety of motions, including one of a first jumping action, a first jumping action, a second jumping action, or changing the position of the second detection device. And can perform a variety of obstacle detection, such as the above-mentioned first surmountable and need to surmount obstacles, first surmountable and surmountable obstacles, and second surmountable and surmountable obstacles, and take corresponding actions according to the type of obstacles, relatively Compared with the existing technology, more types of obstacles can be identified, and more responses can be made according to the types.

In this embodiment, referring to FIG. 2 and FIG. 3 , the first motion leg 5 is located at one end of the robot body, and the second motion leg 6 is located opposite to the end of the robot body where the first motion leg 5 is provided. At the other end of the robot, the walking direction of the robot is the direction from the first motion leg 5 to the second motion leg 6 (the left-to-right direction in FIG. 2 ) or the direction from the second motion leg 6 to the first motion leg 5 (right-to-left direction in Figure 2).

Referring to FIG. 2 , in this embodiment, the first motion drive assembly includes a first steering gear 7 , a second steering gear 8 and a third steering gear 9 ;

The first motion leg 3 includes a first segment 31 of the first motion leg, a second segment 32 of the first motion leg, and a third segment 33 of the first motion leg;

The first steering gear 7 is arranged on the robot body 1;

The first section 31 of the first moving leg is connected to the output end of the first steering gear 7, and can rotate around the output end of the first steering gear 7;

The second steering gear 9 is arranged on the first segment 31 of the first moving leg;

The second segment 32 of the first moving leg is connected to the output end of the second steering gear 8 , and the second segment 32 of the first moving leg can rotate around the output end of the second steering gear 8 ;

The third steering gear 9 is arranged on the second section 32 of the first moving leg;

The third segment 33 of the first moving leg is connected to the output end of the second steering gear 9 , and the third segment 33 of the first moving leg can rotate around the output end of the third steering gear 9 ;

The first detection device 4 is installed on the third section 33 of the first moving leg; the second detection device 5 is installed on the robot body 1;

The second motion drive assembly includes a fourth steering gear 10 and a fifth steering gear 11;

The second movement outrigger 6 includes a first segment 61 of the second movement outrigger and a second segment 62 of the second movement outrigger;

The fourth steering gear 10 is installed on the robot body 1;

The first segment 61 of the second moving leg is connected to the output end of the fourth steering gear 10 , and the first segment 61 of the second moving leg can rotate relative to the output end of the fourth steering gear 10 ;

The fifth steering gear 11 is installed on the first section 61 of the second moving outrigger;

The second segment 62 of the second moving leg is connected to the output end of the fifth steering gear 11 , and the second segment 62 of the second moving leg can rotate relative to the output end of the fourth steering gear 10 ;

The first pulley group 12, the first pulley group 12 is installed on the third section 33 of the first moving leg;

The second pulley group 13, the second pulley group 13 is installed on the second segment 62 of the second moving leg; wherein,

The cooperation of the first pulley set and the second pulley set enables the robot to walk in a second walking manner.

In this embodiment, the first walking mode is a crawler-type walking mode. Specifically, in this embodiment, the robot body includes a chassis system, and the chassis system includes a crawler belt, a synchronous pulley, a chassis support frame, and a crawler-type chassis drive motor, The synchronous pulley includes a driving wheel and a driven wheel. The crawler chassis drive motor is installed on the chassis support frame. The driving wheel of the synchronous pulley is connected with the output shaft of the crawler chassis drive motor. The crawler meshes with the synchronous pulley to drive the crawler. sports.

The second walking mode is a wheeled walking mode. Using two different ways, the robot can switch between the two different ways to choose the most suitable walking way according to the road surface. In addition, when performing tasks such as spanning and jumping, the cooperation of the two walking modes is required to form a perfect spanning action or jumping action.

Compared with the existing robot, the robot of the present application can deal with the situation of flat ground and complex terrain, and at the same time, it can be transformed into a mobile working platform as required. The high rear car body can also move further, using the robot as a mobile work platform, through the coordinated action of the two feet to raise and lower its own height at will for exploration and operation, and after partial transformation, it can also straddle rivers or cliffs. Build a simple bridge; the construction function of the mobile work platform can provide great convenience for the collection of various resource collection facilities installed by the robot and the information collection of exploration sensors in actual exploration, so that the information collected by the robot is more accurate.

The robot of the present application has the function of detecting obstacle information, and can take specific decisions according to the situation of the obstacles it faces. Compared with the traditional obstacle avoidance car and obstacle avoidance robot, it is more intelligent.

At the same time, because a lot of work has been done in the selection of controllers, sensors, and drivers, the invention has stable performance and greatly reduced costs. It realizes various functions such as obstacle information detection, overcoming obstacles, crossing ravine obstacles, autonomous attitude recovery, and mobile working platform.

In this embodiment, the robot of the present application further includes an angle sensor, which is arranged on the robot body and connected to the general controller. The angle sensor can detect the state of the robot at any time, and transmit the detected state signal to the general controller. The controller, the general controller can send work commands to each steering gear (the first steering gear, the second steering gear, the third steering gear, the fourth steering gear and the fifth steering gear) according to the signal transmitted by the angle sensor, so as to The shape and position of the robot need to be adjusted.

Referring to Fig. 2, for example, through the detection of the angle sensor, it is found that the robot body is in a rollover state, then the first steering gear and/or the fourth steering gear can be operated, so that the first segment of the first moving leg is turned over and/or Or the first segment of the second moving leg is turned over, so that the robot can turn over to restore the normal posture of the robot (the posture of the robot when it is walking normally is the normal posture).

In this embodiment, the first steering gear, the second steering gear, the third steering gear, the fourth steering gear and the fifth steering gear are servo motors, which can achieve more precise control.

The principles of the present application will be described in detail below by way of examples, and it should be understood that the examples do not constitute any limitation to the present application.

Referring to Figure 2, the robot walking method includes:

When the obstacle is the first to be crossed and the obstacle needs to be crossed, obtain the first cross action command;

When the obstacle is the first surmountable and the obstacle needs to be surmounted, acquiring the first surmounting action command; and,

When the obstacle is the second surmountable and the obstacle needs to be surmounted, obtain the second surmounting action command;

Perform a first spanning action according to the obtained first spanning action command;

Perform the first overrunning action according to the obtained first overrunning action command;

The second jumping action is performed according to the acquired second jumping action command.

Specifically, the first overturning action specifically includes the following steps:

Step 101: make the second steering gear work, thereby driving the second segment of the first moving leg to move the first predetermined distance in the upward direction;

Step 102: make the robot move a second preset distance in the forward direction;

Step 103: make the second steering gear work, thereby driving the third section of the first moving leg to move in the downward direction until the third section of the first moving leg contacts the ground;

Step 104: make the second steering gear and the fifth steering gear work at the same time, and make the robot body move to the third preset distance in the upward direction through the cooperation of the second segment of the second moving outrigger and the second segment of the first moving outrigger;

Step 105: move the robot forward to a fourth predetermined distance;

Step 106: Make the second steering gear and the fifth steering gear work at the same time, and make the robot body move in the downward direction until it contacts the ground through the cooperation of the second segment of the second moving leg and the first segment of the first moving leg.

The first spanning action is as follows:

Step 201: make the second steering gear work, thereby driving the second segment of the first moving leg to move in the downward direction until the third segment of the first moving leg contacts the ground;

Step 202: make the second steering gear and the fifth steering gear work at the same time, and move the robot body upward to the fifth preset distance through the cooperation of the second segment of the second moving leg and the third segment of the first moving leg;

Step 203: move the robot forward to a sixth predetermined distance;

Step 204: Make the second steering gear and the fifth steering gear work at the same time, so that the second segment of the second moving leg and the first segment of the first moving leg cooperate to move, so that the robot body moves downward until it touches the ground .

The second jumping action specifically includes the following steps:

Step 301: make the second steering gear work, thereby driving the second segment of the first moving leg to move in the downward direction until the third segment of the first moving leg contacts the ground;

Step 302 : make the fifth steering gear work, thereby driving the second segment of the second moving outrigger to move in the downward direction until the second segment of the second moving outrigger contacts the ground;

Step 303: make the second steering gear and the fifth steering gear work at the same time, make the second segment of the first moving leg cooperate with the second segment of the second moving leg, and make the robot body move upwards by a seventh preset distance;

Step 304: make the robot walk a predetermined distance in the forward direction;

Step 305: Make the second steering gear and the fifth steering gear work at the same time, make the second segment of the first moving leg cooperate with the second segment of the second moving leg, and make the robot body move downward until it touches the ground.

The present application also provides a method for detecting obstacles when a robot is walking. The direction parallel to the ground and perpendicular to the front direction when walking is the left direction or the right direction, and the direction perpendicular to the front direction and the left direction when the robot walks on the ground is the up or down direction;

The distance between the first detection device of the robot and the suspected obstacle in the forward direction is the first detection distance;

Presetting a first detection distance value, a first overrunning distance value, and a preset first rough surface threshold;

During the walking process of the robot, the first detection device detects whether the robot has a first abnormal signal in the forward direction within the first detection distance value;

When the first detection device has an abnormal signal, the robot stops walking, so that the first detection device moves in a straight line upward from the position where the first abnormal signal is detected, and during the upward movement, the robot detects at every predetermined distance. One-time detection is carried out in the forward direction to obtain the signal, and it is judged whether the obtained signal is the first abnormal signal each time. Then, the distance moved by the first detection device from the acquired first abnormal signal to the last acquired first abnormal signal is the measured size of the suspected obstacle in the upward direction, and while detecting the measured size , the first detection device can obtain the distance value between the first detection device and the suspected obstacle in the forward direction each time a signal is obtained;

When the measured size of the detected suspected obstacle in the upward direction is less than or equal to the first overrunning distance value and the distance value between the first detection device and the suspected obstacle in the forward direction does not change or has discontinuous changes, and the value of each change is less than or equal to When the first rough surface threshold is reached, it is judged that the type of the suspected obstacle can be crossed and the obstacle needs to be crossed;

When the first detection device performs detection in a manner of detecting once every predetermined distance during the movement, the distance between the first detection device and the suspected obstacle in the forward direction detected each time changes, and the change is a continuous change And when the difference between every two adjacent changes is less than the preset first rough surface threshold, it is determined that the type of the suspected obstacle is a slope obstacle;

When the measured size of the detected suspected obstacle is greater than the first overrunning distance value, it is determined that the type of the suspected obstacle is an insurmountable obstacle.

The present application also provides a system for detecting obstacles when a robot walks, which is used for the above-mentioned method for detecting obstacles when a robot walks. The system for detecting obstacles when the robot walks includes:

a preset module, the preset module is used to preset a first detection distance value, a first climbing distance value, and a preset first rough surface threshold;

a first detection device, the first detection device is used to detect a signal;

a logic control module, the logic control module is used to control the working logic of the first detection device, the working logic of the first detection device at least includes: detecting whether there is an abnormal signal in the forward direction within the first detection distance value; and , to detect the forward direction in a manner of detecting once every predetermined distance to obtain a signal; and the first detection device can obtain the distance value of the first detection device and the suspected obstacle in the forward direction each time a signal is obtained;

an action logic control module, the action logic control module is used to transmit the motion logic of the first detection device to the robot, and the motion logic at least includes: making the first detection device perform a straight upward motion from the position where the abnormal signal is detected ;

a signal acquisition module, which is used to acquire the first normal signal or the first abnormal signal transmitted by the second detection device, and generate a judgment signal;

Judging module, the judging module is used to receive the judgment signal transmitted by the signal acquisition module, and judge that the obstacle type of the suspected obstacle is crossable by comparing the judgment signal with the first overrunning distance value and/or the first rough surface threshold value And it needs to cross one of the obstacles, slope obstacles or insurmountable obstacles.

The present application also provides a method for detecting obstacles when a robot is walking. When walking, the direction parallel to the ground and perpendicular to the front direction is the left direction or the right direction, and the direction perpendicular to the front direction and the left direction when the robot walks on the ground is the upward direction or the downward direction; when the robot walks Ways to get over obstacles include:

Presetting the second detection distance, the first spanning distance value, the second overrunning distance value, the first distance value, and the second detection distance value;

During the walking process of the robot, whether there is a second abnormal signal in the downward direction within the second detection distance value is detected by the second detection device;

When only the second detection device has a second abnormal signal, the robot stops walking, the robot encounters a suspected obstacle in the downward direction, and the position of the first detection device when the robot stops walking is the first position, so that the first detection device is in the Detect whether there is a first abnormal signal in the downward direction at the first position, if not, make the first detection device move from the first position to the direction of the second detection device with a first predetermined motion trajectory, and determine whether it can complete the walking. Movement trajectory, if not, judge the obstacle as an impassable obstacle;

When the robot stops walking, the position of the first detection device is the first position, so that the first detection device detects whether there is a first abnormal signal in the downward direction at the first position. A position moves toward the second detection device with a first predetermined movement trajectory, and judges whether the movement trajectory can be completed. The position is detected in the downward direction, so as to obtain whether the first detection device has a first abnormal signal at this time, and if so, it is determined that the obstacle is an impassable obstacle;

When the robot stops walking, the position of the first detection device is the first position, so that the first detection device detects whether there is a first abnormal signal in the downward direction at the first position. A position moves in the direction of the second detection device with a second predetermined movement track, and the second detection device detects the downward direction in a manner of detecting once every predetermined distance during the movement process to obtain a signal, and judges that each time Whether the obtained signal is the first normal signal, if all the obtained signals are the first normal signal, the suspected obstacle is judged to be a walkable obstacle; if there is only one first abnormal signal in the obtained signal, the suspected obstacle is judged It is a walkable obstacle; if there are more than two first abnormal signals in the obtained signals, it is determined that the suspected obstacle can be crossed and the obstacle needs to be crossed.

The application also provides a system for detecting obstacles when a robot is walking, which is used for the above-mentioned features. The system for detecting obstacles when the robot is walking includes:

a preset module, the preset module is used to preset a second detection distance, a first spanning distance value, a second overrunning distance value, a first spacing value, and a second detection distance value;

a second detection device, the second detection device is used to detect a signal;

a first detection device, the first detection device is used to detect the signal;

The first detection device logic control module, the first detection device logic control module is used to provide the first detection device with a first working logic, and the first working logic at least includes making the second detection device detect at every predetermined distance during the movement process. The way to detect in the downward direction to obtain the signal;

a signal acquisition module, which is used for acquiring the first signal transmitted by the first detection device and the second signal transmitted by the second detection device; the first signal includes a first normal signal and a second abnormal signal; the The second signal includes a second normal signal and a second abnormal signal;

Judging module, the judging module is used to receive the first signal and the second signal transmitted by the signal acquisition module, and according to the first signal and the first overrunning distance value and/or the first rough surface threshold value, judge that the obstacle type of the suspected obstacle is crossable And it needs to cross one of the obstacles, slope obstacles or insurmountable obstacles.

Finally, it should be pointed out that the above embodiments are only used to illustrate the technical solutions of the present invention, but not to limit them. Although the present invention has been described in detail with reference to the foregoing embodiments, those of ordinary skill in the art should understand that: it is still possible to modify the technical solutions described in the foregoing embodiments, or perform equivalent replacements to some of the technical features; and these Modifications or substitutions do not make the essence of the corresponding technical solutions deviate from the spirit and scope of the technical solutions of the embodiments of the present invention.

Claims (2)

1. A robot, characterized in that the robot comprises:

the robot crosses the barrier system when walking;

the robot comprises a robot body (1), wherein the robot body (1) is at least partially arranged on the robot body (1) across an obstacle system when the robot walks, a walking device (2) is arranged on the robot body (1), and the walking device (2) can enable the robot to walk in a first walking mode;

a first moving leg (3), wherein the first moving leg (3) is installed on the robot body (1), and a first detection device (4) and a second detection device (5) in an obstacle crossing system are installed on the first moving leg (3) when the robot walks;

a first motion drive assembly connected to the first motion leg, the motion drive assembly capable of driving the first motion leg in motion;

a second moving leg (6), the second moving leg (6) being mounted on the robot body (1);

a second motion drive assembly connected to the second motion leg, the second motion drive assembly capable of driving the second motion leg in motion;

a master controller, which is respectively connected with the first motion driving component, the second motion driving component, the action command module and the detection device position change command module, wherein,

the detecting device position change command module is used for transmitting a first detecting device position change signal to the master controller;

the action command module is used for transmitting one of a first turning action command, a first cross action command or a second turning action command to the master controller;

the master controller is used for controlling the first motion driving assembly and/or the second motion driving assembly to work according to the received signals so as to drive the first motion leg and/or the second motion leg to move;

the first moving leg movement and/or the second moving leg movement to cause the robot to perform one of a first flipping motion, a first crossing motion, a second flipping motion, or change the position of the second detection device.

2. The robot of claim 1,

the first motion driving assembly comprises a first steering engine (7), a second steering engine (8) and a third steering engine (9);

the first moving leg (3) comprises a first moving leg first section (31), a first moving leg second section (32) and a first moving leg third section (33);

the first steering engine (7) is arranged on the robot body (1);

the first section (31) of the first moving support leg is connected with the output end of the first steering engine (7) and can rotate around the output end of the first steering engine (7);

the second steering engine (8) is arranged on the first section (31) of the first moving leg;

the second section (32) of the first moving support leg is connected with the output end of the second steering engine (8), and the second section (32) of the first moving support leg can rotate around the output end of the second steering engine (8);

the third steering engine (9) is arranged on the second section (32) of the first moving leg;

the third section (33) of the first moving leg is connected with the output end of the second steering engine (8), and the third section (33) of the first moving leg can rotate around the output end of the third steering engine (9);

the first detection device (4) is mounted on the third section (33) of the first motion leg; the second detection device (5) is arranged on the robot body (1);

the second motion driving assembly comprises a fourth steering engine (10) and a fifth steering engine (11);

the second moving leg (6) comprises a second moving leg first section (61), a second moving leg second section (62);

the fourth steering engine (10) is installed on the robot body;

the first section (61) of the second moving leg is connected with the output end of the fourth steering engine (10), and the first section (61) of the second moving leg can rotate relative to the output end of the fourth steering engine (10);

the fifth steering engine (11) is arranged on the first section of the second moving leg;

the second section (62) of the second moving leg is connected with the output end of the fifth steering engine (11), and the second section (62) of the second moving leg can rotate relative to the output end of the fifth steering engine (11);

a first pulley block (12) mounted on the first motion leg third section (33);

a second pulley block (13) mounted on the second motion leg second section (62); wherein,

the first pulley block (12) and the second pulley block (13) are matched, so that the robot can walk in a second walking mode.

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