CN105564527B - A kind of the steering-by-wire manoeuvring platform and method of operating of the manned legged type robot of heavy type - Google Patents
A kind of the steering-by-wire manoeuvring platform and method of operating of the manned legged type robot of heavy type Download PDFInfo
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- CN105564527B CN105564527B CN201610004735.0A CN201610004735A CN105564527B CN 105564527 B CN105564527 B CN 105564527B CN 201610004735 A CN201610004735 A CN 201610004735A CN 105564527 B CN105564527 B CN 105564527B
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D57/00—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track
- B62D57/02—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track with ground-engaging propulsion means, e.g. walking members
- B62D57/032—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track with ground-engaging propulsion means, e.g. walking members with alternately or sequentially lifted supporting base and legs; with alternately or sequentially lifted feet or skid
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D5/00—Power-assisted or power-driven steering
- B62D5/001—Mechanical components or aspects of steer-by-wire systems, not otherwise provided for in this maingroup
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D5/00—Power-assisted or power-driven steering
- B62D5/04—Power-assisted or power-driven steering electrical, e.g. using an electric servo-motor connected to, or forming part of, the steering gear
- B62D5/0457—Power-assisted or power-driven steering electrical, e.g. using an electric servo-motor connected to, or forming part of, the steering gear characterised by control features of the drive means as such
- B62D5/0481—Power-assisted or power-driven steering electrical, e.g. using an electric servo-motor connected to, or forming part of, the steering gear characterised by control features of the drive means as such monitoring the steering system, e.g. failures
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- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Transportation (AREA)
- Mechanical Engineering (AREA)
- Manipulator (AREA)
Abstract
A kind of the steering-by-wire manoeuvring platform and method of operating of the manned legged type robot of heavy type, it is to solve robot in steering procedure due to the problems such as quality is big, the operating difficulty caused by attribute such as complicated is big.Manoeuvring platform of the present invention is made up of direction disk module, motion control unit module and steering execution module, and the method for operating realized based on manoeuvring platform can be summarized as：On the one hand direction disk module receives pilot control instruction, on the other hand by road feel feedback of the information to driver；The foot of motion control unit module one side planning robot sits up straight mark, on the other hand controls road feel motor output resistance square；On the one hand target rotation angle that execution module plans each joint in leg is turned to, on the other hand driving leg will gather leg feedback of the information to motion control unit module so as to support body to turn to.The present invention improves manipulation accuracy by incoming direction disk operating pattern while reducing pilot control burden.The present invention is applied to legged type robot and manipulated.
Description
Technical field
The invention belongs to legged type robot manipulation technology field, and in particular to a kind of to manipulate the pattern of steering wheel to drive
Legged type robot completes divertical motion method between advancing, and the manipulation information of steering wheel is passed in a manner of electric signal
It is defeated.
Background technology
Heavy manned legged type robot is because of its adaptability under full working scope landform, big bearing capacity, high stability
The features such as turned into one of study hotspot in robot field.As a kind of manned, multi-joint redundancy sufficient formula machine
Device people, existing intelligent control algorithm can't ensure that robot independently completes driver under extremely complex environment well
Specified task, thus design it is a set of it is reliable, easily steerable system just becomes heavy manned sufficient formula mobile robot
One of urgent problem to be solved before being able to come into operation.
Under towards many complex working conditions to robot by the demand of property and among a variety of operating patterns for designing, for
Legged type robot to turn to the maneuverability pattern developed of link most unique, its reason be legged type robot by foot-
Between ground contact action and each joint the mode of cooperation come support body carry out divertical motion, use the moulds such as control stick or button
Formula is come when controlling the body to be turned to, because the discretization degree in robot steering procedure is higher, it is impossible to accurate, be intuitively
Driver reflects the Mode variation in body steering procedure, so the present invention is practised based on the manipulation that the mankind drive a car for many years
It is used, introduce the handling maneuver pattern of steering wheel.In addition, mode is combined in body steering procedure is supported for robot leg
The reason for work, unusable mechanically operated mode carrys out the control model that design direction disk manipulates legged type robot, so most
Attempt the steering-by-wire technology in automotive field being incorporated among the handling maneuver pattern of legged type robot eventually.There is presently no
The precedent of heavy manned legged type robot is manipulated by way of steering wheel output.
The content of the invention
The present invention is can not easily to manipulate very submissive, very much heavy legged type robot execution steering fortune to solve driver
Dynamic problem, now provides a kind of the steering-by-wire manoeuvring platform and method of operating of the manned legged type robot of heavy type.
A kind of steering-by-wire manoeuvring platform of the manned legged type robot of heavy type is designed based on modular thought, mainly
It is divided into three parts：Direction disk module, motion control unit module and steering execution module.
Direction disk module again include steering wheel, steering spindle, torque sensor, rotary angle transmitter, road feel motor, decelerator and
Motor current sensor：
Steering wheel is used for human organism's left and right turn of operating machine, and the information of road surface that road feel motor is simulated feeds back to
Driver；
Steering spindle is used to other devices in module being concatenated, and by road feel information transmission to steering wheel；
Torque sensor is applied to the size of torque and direction in steering spindle for measuring road feel motor；
Rotary angle transmitter is used for output corner of the measurement direction disk in the case where driver manipulates；
Road feel motor is used to simulate the parsing torque that foot-ground contact force acts on body center of gravity, passes to driver, from
And complete the real simulation of road pavement information；
Decelerator is used to reduce rotating speed in road feel simulation process, increases torque；
Motor current sensor is used for the armature current value for measuring road feel motor.
Motion control unit module includes motion planning unit and motion controller again：
Motion planning unit is responsible for the kinematics model that is turned to by its embedded legged type robot with any radius to solve
Separate out the target foot end track for sitting up straight mark and swing phase enough with the target of the support phase corresponding to steering wheel output corner；
Motion controller is responsible for control function being converted into logical language by analytical expression, finally with the shape of control instruction
Formula, which exports, gives steering execution module, and the robotary information collected is converted into foot-ground contact information and exported with motor
Resistance rectangular feed back to driver.
Turn to execution module includes single leg controller, Three Degree Of Freedom hydraulic-driven leg, rotary transformer, pressure sensor again
And displacement transducer：
On the one hand single leg controller is used to receive the motion control instruction that motion controller is exported towards single leg, the opposing party
The feedback data of each sensor in leg is responsible for gathering in face, and is sent to motion control unit module；
Three Degree Of Freedom hydraulic-driven leg is made up of base pitch, thigh, shank three parts, each one rotation of freedom between them
Joint is connected, for swing find subsequent time fall foot point and support body completes corresponding motion；
Rotary transformer is used for the rotational angle for measuring each joint in legged type robot leg；
Pressure sensor is used for the pressure differential for measuring the intracavitary of hydraulic cylinder two；
Displacement transducer is used for the displacement for measuring piston in hydraulic cylinder bar.
The method of operating realized according to a kind of steering-by-wire manoeuvring platform of heavy legged type robot, this method include following
Step：
Step 1, driver export target rotation angle by manipulating the steering wheel in the disk module of direction, will by rotary angle transmitter
Target rotation angle is sent to motion control unit as electronic signals；
Step 2, motion control unit module receive the target rotation angle value that direction disk module is sent in electrical signal form, its
Internal motion planning unit establishes the mapping relations one by one between steering wheel target rotation angle and turning radius, then passes through this hair
The kinematics model that bright cooked up legged type robot is turned to any radius, derives steering wheel target rotation angle and robot
The target of support phase sits up straight the target foot end track of mark and swing phase enough in steering procedure；
Step 3, the sufficient client information for being calculated step 2 by the motion controller in motion control unit module are to control
The form of instruction be sent to turn to execution module inside single leg controller, the single leg kinematics equation being internally embedded by it,
Each joint on single leg in robot steering procedure corresponding to the target foot client information of support phase and swing phase can be calculated
Target rotation angle；
Three Degree Of Freedom hydraulic-driven leg in step 4, steering execution module is based on the mesh for receiving single leg controller transmission
Corner value is marked, by the arrangement and type of drive of hydraulic cylinder, derives that the target of each piston in hydraulic cylinder bar in leg is stretched
Contracting amount；
Step 5, single leg controller driving respective leg complete required movement, so as to support body to complete divertical motion；
The leg information collected is sent to motion control unit by step 6, each sensor turned in execution module
Module, it can be calculated by the sufficient end position information in the foot in motion planning unit-ground contact mechanics model and steering procedure
Foot-ground contact force acts on the moment information of body center of gravity, finally controls road feel motor by motion controller, this torque is believed
The resistance rectangular of breath road feel motor output feeds back to driver, instructs that driver is more stable, more accurately manipulates sufficient formula machine
People completes to specify go to action.
The present invention has following beneficial effect：
The design of the steering-by-wire manipulation device of the manned sufficient formula mobile platform of heavy type, compared to use control stick or press
The hardware such as button realize the maneuverability pattern that robot turns between advancing, and the method designed by the present invention is manipulated by incoming direction disk
Robot is turned to, and so as to improve compliance of the legged type robot in steering procedure, is used for reference the mankind and is manipulated automobile all the year round
And the driving habit formed is turned to manipulate legged type robot, the driver comfort of driver is added；For steering wheel
The transmission demand of component, in the way of substituting mechanical connection in a manner of line traffic control, so as to alleviate the manipulation of driver burden, increase
Legged type robot turns to the flexibility driven.
Brief description of the drawings
Fig. 1 is the structural representation of heavy manned legged type robot wire-controlled steering system；
Fig. 2 is steering wheel module reduction structural representation；
Fig. 3 is legged type robot body, leg coordinate system and simplifies structural representation；
Fig. 4 is that the running divertical motion of legged type robot plans schematic diagram；
Fig. 5 is the control block diagram that legged type robot turns to execution module；
Fig. 6 is heavy manned legged type robot list leg structural representation.
Wherein 1-1, road feel motor, 1-2, motor current sensor, 1-3, steering wheel, 1-4, pass angle transducer, 1-5, torsion
Square sensor, 1-6, decelerator, 1-7, rotary transformer, 1-8, pressure sensor, 1-9, displacement transducer, 2-1, road feel electricity
Machine, 2-2, decelerator, 2-3, torque sensor, 2-4, rotary angle transmitter, 2-5, steering spindle, 2-6, steering wheel, 6-1, coxal fluid
Cylinder pressure, 6-2, thigh hydraulic cylinder, 6-3, knee joint, 6-4, root joint, 6-5, hip joint, 6-6, shank hydraulic cylinder, 6-7, sufficient end.
Embodiment
Embodiment 1：1 illustrate present embodiment, the heavy manned foot described in present embodiment referring to the drawings
The linear handling maneuver platform of formula robot, including direction disk module, motion-control module and steering execution module, described side
To disk module by steering wheel, steering spindle, torque sensor, rotary angle transmitter, road feel motor, decelerator and motor current sensor
Composition；Described motion control unit module is made up of motion planning unit and motion controller；Described steering execution module
It is made up of single leg controller, Three Degree Of Freedom hydraulic-driven leg, rotary transformer, pressure sensor and displacement transducer.
Embodiment 2：Present embodiment is to the heavy manned legged type robot of one kind described in embodiment 1
The method of operating realized of steering-by-wire manoeuvring platform be described further, 2 illustrate the present embodiment, direction referring to the drawings
Steering wheel in disk module is mutually fixed by one end of key connection and steering spindle, is worked and is shown as two aspects, on the one hand will drive
The torque of the person's of sailing input is converted into steering angle and exported；On the other hand by road feel feedback of the information to driver.
Embodiment 3：Present embodiment is to the heavy manned legged type robot of one kind described in embodiment 1
The method of operating realized of steering-by-wire manoeuvring platform be described further, 2 illustrate the present embodiment, direction referring to the drawings
Steering spindle in disk module is as rigid connector, for other devices in module to be concatenated, and by road feel motor institute mould
The information of road surface drawn up is applied on steering wheel.
Embodiment 4：Present embodiment is to the heavy manned legged type robot of one kind described in embodiment 1
The method of operating realized of steering-by-wire manoeuvring platform be described further, 2 illustrate the present embodiment, direction referring to the drawings
Torque sensor in disk module is fixed in steering spindle by shaft coupling, and power in steering spindle is applied to for measuring road feel motor
The size of square and direction.
Embodiment 5：Present embodiment is to the heavy manned legged type robot of one kind described in embodiment 1
The method of operating realized of steering-by-wire manoeuvring platform be described further, 2 illustrate the present embodiment, direction referring to the drawings
Rotary angle transmitter in disk module by shaft coupling fix with steering spindle, it is defeated in the case where driver manipulates for measurement direction disk
Go out corner.
Embodiment 6：Present embodiment is to the heavy manned legged type robot of one kind described in embodiment 1
The method of operating realized of steering-by-wire manoeuvring platform be described further, 2 illustrate the present embodiment, direction referring to the drawings
Main performer of the road feel motor as road feel simulation link in disk module, machine is acted on for simulating foot-ground contact force
The parsing torque of body center of gravity, then institute's output resistance square is passed into driver by decelerator, steering spindle and steering wheel, so as to
Complete road pavement information real simulation, the present invention using permanent magnet DC motor as road feel motor, reason be its well
Mechanical property, detent torque is big, easy to control.
Embodiment 7：Present embodiment is to the heavy manned legged type robot of one kind described in embodiment 1
The method of operating realized of steering-by-wire manoeuvring platform be described further, 2 illustrate the present embodiment, direction referring to the drawings
Decelerator one end in disk module is by shaft coupling and turns to shaft end and is connected, and the other end is by way of gear engagement and road feel
Motor is connected, and for reducing rotating speed in road feel simulation process, increases torque.
Embodiment 8：Present embodiment is to the heavy manned legged type robot of one kind described in embodiment 1
The method of operating realized of steering-by-wire manoeuvring platform be described further, 1 illustrate the present embodiment, direction referring to the drawings
Motor current sensor in disk module is connected by way of pin wiring with road feel motor, for measuring road feel motor internal
Current value caused by armature.
Embodiment 9：Present embodiment is to the heavy manned legged type robot of one kind described in embodiment 1
The method of operating realized of steering-by-wire manoeuvring platform be described further, 3,4 illustrate the present embodiment referring to the drawings, transport
Motion planning module in dynamic control unit module, by appointing between the heavy manned sufficient formula mobile robot traveling cooked up
The kinematics model and sufficient end trajectory planning model that radius of anticipating turns to, its analytical expression is encapsulated in the form of logical language
In motion planning unit, closed by establishing the mapping between the turning radius in steering wheel output corner and body traveling process
System, that finally realizes support phase in steering wheel input corner and robot steering procedure falls foot point coordinate and the sufficient end rail of swing phase
Data interaction between mark.
Embodiment 10：Present embodiment is to the heavy manned sufficient formula machine of one kind described in embodiment 1
The method of operating that the steering-by-wire manoeuvring platform of people is realized is described further, and 5 illustrates the present embodiment referring to the drawings, is transported
Motion controller in dynamic control unit module is using magnificent PC104 industrial computers and data collecting card is ground, on the one hand by steering-by-wire
Control function in system is converted into the recognizable assembler language of computer by analytical expression, finally in the form of control instruction
Output；On the other hand the robotary information for turning to execution module internal feedback and returning is gathered by data collecting card, these are believed
After breath is integrated, the moment of resistance of road feel motor output is converted into, by steering wheel feedback to driver.
Embodiment 11：Present embodiment is to the heavy manned sufficient formula machine of one kind described in embodiment 1
The method of operating that the steering-by-wire manoeuvring platform of people is realized is described further, and 5 illustrates the present embodiment referring to the drawings, is turned
Single leg controller into execution module, which also have selected, grinds magnificent PC104 control cards and data collecting card, and it leads to motion controller
Cross CAN to be communicated, the motion control instruction exported for receiving motion controller towards single leg, pass through what is cooked up
Single leg kinematics solution of equation calculates corresponding joint rotation angle, and each piston in hydraulic cylinder in leg is driven by the joint rotation angle needed for motion
The displacement of bar so as to support body to complete divertical motion between advancing, be responsible for collection leg and respectively sense by the single leg controller of another aspect
The feedback data of device, and by these Data Integrations, it is sent to motion control unit module.
Embodiment 12：Present embodiment is to the heavy manned sufficient formula machine of one kind described in embodiment 1
The method of operating that the steering-by-wire manoeuvring platform of people is realized is described further, and 6 illustrates the present embodiment referring to the drawings, is turned
Three Degree Of Freedom hydraulic-driven leg into execution module is based on bionic biology architectural characteristic, takes the mechanism of three-stage, specifically
Be divided into base pitch, thigh and shank, base pitch is fixedly connected with by two asymmetric servo cylinders with body, between cradle head be defined as
With joint, two hydraulic cylinders are arranged symmetrically in be connected with joint both sides, base pitch by an asymmetric servo cylinder with thigh, between
Cradle head is defined as hip joint, and thigh is connected by an asymmetric servo cylinder with shank, between cradle head be defined as
Ankle-joint, sufficient end are connected with shank end in a manner of ball hinge, fall foot point and branch for swing searching subsequent time
Support body and complete corresponding motion.
Embodiment 13：Present embodiment is to the heavy manned sufficient formula machine of one kind described in embodiment 1
The method of operating that the steering-by-wire manoeuvring platform of people is realized is described further, and 5 illustrates the present embodiment referring to the drawings, is turned
Rotary transformer into execution module is fixed between two shift forks, then two shift forks is respectively fixedly connected at joint both ends, is used for
Measure the rotational angle in the sufficient each joint of formula mobile robot leg.
Embodiment 14：Present embodiment is to the heavy manned sufficient formula machine of one kind described in embodiment 1
The method of operating that the steering-by-wire manoeuvring platform of people is realized is described further, and 5 illustrates the present embodiment referring to the drawings, is turned
Pressure sensor entering on flowline installed in each hydraulic cylinder into execution module, for measuring the intracavitary of hydraulic cylinder two
Pressure differential.
Embodiment 15：Present embodiment is to the heavy manned sufficient formula machine of one kind described in embodiment 1
The method of operating that the steering-by-wire manoeuvring platform of people is realized is described further, and 5 illustrates the present embodiment referring to the drawings, is turned
Displacement transducer into execution module is in parallel with the piston rod in hydraulic cylinder, for measuring the displacement of piston in hydraulic cylinder bar.
Embodiment 16：Present embodiment is to the heavy manned sufficient formula machine of one kind described in embodiment 1
The method of operating that the steering-by-wire manoeuvring platform of people is realized is described further, and 2,5 illustrates the present embodiment referring to the drawings,
By establishing the kinetics equation of direction disk module in wire-controlled steering system, its analytical expression is sealed in the form of logical language
In motion planning unit, then the machine that steering execution module received by the data collecting card in motion controller is sent back
Moment of resistance value of the device people status information through being exported needed for motion planning cell translation into road feel motor, is controlled by motion controller
Road feel motor rotates, and the moment of resistance that it is exported, to driver, enables driver true by steering spindle and steering wheel feedback
The road feel information in robot steering procedure is experienced, so as to improve heavy manned sufficient formula mobile robot on link is manipulated
Stability and accuracy.
Claims (3)
1. a kind of steering-by-wire manoeuvring platform of the manned legged type robot of heavy type, including direction disk module, motion control unit mould
Block and steering execution module, it is characterised in that：The direction disk module include steering wheel, rotary angle transmitter, torque sensor,
Motor current sensor, road feel motor and decelerator, driver are referred to by manipulating the output steering of the steering wheel in the disk module of direction
Order, one end of wherein steering wheel and steering spindle is connected, and the steering force of driver is applied on steering wheel, the other end of steering spindle with
Decelerator is connected, and decelerator is meshed with road feel motor by gear, and road feel motor is responsible for simulating sufficient formula mobile robot steering
During foot-ground contact information, and in the form of the moment of resistance by steering spindle and steering wheel feedback to driver, steering wheel mould
Rotary angle transmitter and torque sensor in block are arranged in steering spindle by shaft coupling, are each responsible for gathering what steering wheel turned over
The moment of torsion that angle and steering bearing are received, the motor current sensor in the disk module of direction are responsible for gathering the current value of road feel motor；
Control command is sent to motion control unit module by direction disk module in the form of corner again, and motion control unit module includes
Corner value is converted into the target foot of robot support phase by motion planning unit and motion controller, motion control unit module
The target foot end track for sitting up straight mark and swing phase re-sends to steering execution module；Turn to execution module and include single leg control
Device, Three Degree Of Freedom hydraulic-driven leg, rotary transformer, pressure sensor and displacement transducer, execution module is turned to by robot
Sufficient client information is converted into the target rotation angle value in each joint in respective leg, and drive each piston in hydraulic cylinder bar in leg it is flexible from
And body is supported to complete the divertical motion specified.
2. the manipulation side that a kind of steering-by-wire manoeuvring platform of manned legged type robot of heavy type according to claim 1 is realized
Method, it is characterised in that：Motion control unit module in the manoeuvring platform includes motion planning unit and motion controller,
The transmission of control instruction and feedback information between driver and robot, motion control are realized by motion control unit module
Motion planning unit in unit module embeds robot steering kinematics equation, by the way that steering wheel output corner is parsed into phase
Answer the sufficient end track for falling foot point coordinate and corresponding swing phase of support phase；Motion controller in motion control unit is responsible for foot
Client information is transferred to steering execution module, and the robotary information that steering execution module is fed back to is compiled into motor control
System instruction, so as to control road feel motor to export corresponding moment of resistance feedback of the information to driver.
3. the manipulation side that a kind of steering-by-wire manoeuvring platform of manned legged type robot of heavy type according to claim 1 is realized
Method, it is characterised in that：Steering execution module in the manoeuvring platform includes single leg controller, Three Degree Of Freedom hydraulic-driven
Leg, rotary transformer, pressure sensor and displacement transducer, wire-controlled steering system realize driver by turning to execution module
The action to be completed of designated robot, the single leg controller turned in execution module are responsible for receiving motion control unit module
The joint rotation angle information of transmission, the displacement of leg hydraulic cylinder is derived by embedded single leg kinematics equation and geometrical relationship
So as to drive leg exercise；Turn to the Three Degree Of Freedom hydraulic-driven leg in execution module and receive the hydraulic cylinder that single leg controller is sent
The displacement commands of inner piston rod, it is responsible for support robot and completes corresponding divertical motion；Turn to the rotation transformation in execution module
Device is responsible for gathering its rotational angle installed in each joint in leg；The pressure sensor turned in execution module is arranged on each liquid
Cylinder pressure enters on flowline, is responsible for the pressure differential of two intracavitary of measurement；The displacement transducer turned in execution module is arranged on respectively
It is responsible for the displacement of collection piston rod in individual hydraulic cylinder.
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| CN201610004735.0A CN105564527B (en) | 2016-01-07 | 2016-01-07 | A kind of the steering-by-wire manoeuvring platform and method of operating of the manned legged type robot of heavy type |
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| CN201610004735.0A CN105564527B (en) | 2016-01-07 | 2016-01-07 | A kind of the steering-by-wire manoeuvring platform and method of operating of the manned legged type robot of heavy type |
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| CN105564527B true CN105564527B (en) | 2018-04-10 |
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| US11834116B2 (en) | 2021-12-02 | 2023-12-05 | Volvo Car Corporation | Vehicle steering non-uniformity compensation |
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| US11377140B2 (en) * | 2017-12-07 | 2022-07-05 | Steering Solutions Ip Holding Corporation | Notification for rack limiting conditions for steer by wire steering systems |
| CN109987135B (en) * | 2017-12-29 | 2022-05-06 | 陕西重型汽车有限公司 | Steering system for heavy vehicle |
| CN110406611A (en) * | 2019-08-09 | 2019-11-05 | 桂林航天工业学院 | A kind of polypody movable type engineer equipment chassis |
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