CN112478014A - Robot sole structure and robot - Google Patents
Robot sole structure and robot Download PDFInfo
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- CN112478014A CN112478014A CN202011327020.1A CN202011327020A CN112478014A CN 112478014 A CN112478014 A CN 112478014A CN 202011327020 A CN202011327020 A CN 202011327020A CN 112478014 A CN112478014 A CN 112478014A
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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
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Abstract
The application provides a robot sole structure and robot relates to the technical field of robots. This robot sole structure includes: bottom plate, roof. The first face of bottom plate is used for with ground contact, and the second face that the bottom plate is kept away from ground is connected with the roof through the mounting. The top plate is provided with an ankle joint steering engine and at least one film pressure sensor, the ankle joint steering engine is used for controlling the operation of the robot according to a received control instruction, and the film pressure sensor is used for detecting a pressure signal in the operation process of the robot. The robot foot bottom structure in the scheme can realize the robot foot falling detection by detecting the pressure signal of the robot foot bottom in the running process of the robot through the integrated film pressure sensor. The adopted film pressure sensor has the characteristics of miniaturized structure and easy integration, so that the foot falling detection of the robot is not limited in a large robot any more, and the application of the foot falling detection in a miniaturized robot can be realized.
Description
Technical Field
The application relates to the technical field of robots, in particular to a robot sole structure and a robot.
Background
The foot type robot has good freedom degree, flexible, free and stable action. The foot type robot is a bionic type robot and can realize biped walking and related actions of the robot. Foot robots contain rich dynamics as a dynamic system controlled by machinery. In future production life, the humanoid-type legged robot can help people to solve a series of dangerous or heavy work such as carrying things, emergency rescue and the like. The research on the detection of the foot falling state of the foot-type robot in the walking process can assist the robot to walk more stably to a certain extent.
The existing foot type robot foot-falling state detection mainly adopts the following steps: the six-dimensional force sensor is arranged at the ankle joint, and when the force applied in the vertical (z) direction of the six-dimensional force sensor is larger than a certain threshold value when the foot of the robot falls to the ground, the foot of the robot is considered to be in contact with the ground.
However, the six-dimensional force sensor has a large structure and high production cost, so that the application of the six-dimensional force sensor is limited, and the six-dimensional force sensor is difficult to apply to small and medium-sized robots.
Disclosure of Invention
An object of this application lies in, to the not enough among the above-mentioned prior art, provides a robot sole structure and robot to it is great to solve the robot foot that exists among the prior art and detects sensor structure, and unable miniaturization, thereby can't use the problem in the small-size robot sole structure.
In order to achieve the above purpose, the technical solutions adopted in the embodiments of the present application are as follows:
in a first aspect, an embodiment of the present application provides a robot sole structure, including: a bottom plate and a top plate;
the first surface of the bottom plate is used for contacting with the ground, and the second surface of the bottom plate, which is far away from the ground, is connected with the top plate through a fixing piece;
the top plate is provided with an ankle joint steering engine and at least one film pressure sensor, the ankle joint steering engine is used for controlling the operation of the robot according to a received control instruction, and the film pressure sensor is used for detecting a pressure signal in the operation process of the robot.
Optionally, a data acquisition board is further arranged on the top plate, and one end of each film pressure sensor is connected with the data acquisition board; the bottom plate is also provided with pressure points;
the other end of each film pressure sensor is fixedly arranged at the bottom of the top plate;
the other end of the film pressure sensor contacts the pressure point when being pressed, and transmits the detected pressure signal to the data acquisition board.
Optionally, a first buffer is disposed between the pressure point and the film pressure sensor.
Optionally, the robot sole structure further comprises: the second buffer piece is sleeved on the fixing piece;
the top plate is fixedly connected with the bottom plate through a fixing piece sleeved with the second buffer piece.
Optionally, the robot sole structure further comprises: at least one third buffer;
each third buffer piece is respectively arranged at a preset position between the bottom plate and the top plate.
Optionally, the fixing member comprises: a guide post;
and the guide post is provided with a limiting structure.
Optionally, the robot sole structure further comprises: a mounting member;
the data acquisition board is mounted on the top plate through the mounting piece.
Optionally, a preset number of grooves are formed in the first surface of the bottom plate.
Optionally, the second buffer member is a buffer rubber ring, and the third buffer member is a buffer sponge.
In a second aspect, an embodiment of the present application further provides a robot, including the robot sole structure of the first aspect and a processor.
The beneficial effect of this application is:
the application provides a robot sole structure and robot, this robot sole structure includes: bottom plate, roof. The first face of bottom plate is used for with ground contact, and the second face that the bottom plate is kept away from ground is connected with the roof through the mounting. The top plate is provided with an ankle joint steering engine and at least one film pressure sensor, the ankle joint steering engine is used for controlling the operation of the robot according to a received control instruction, and the film pressure sensor is used for detecting a pressure signal in the operation process of the robot. The robot foot bottom structure in the scheme can realize the robot foot falling detection by detecting the pressure signal of the robot foot bottom in the running process of the robot through the integrated film pressure sensor. The adopted film pressure sensor has the characteristics of structure miniaturization and easy integration, so that the falling foot detection of the robot is not limited to a large-sized robot any more, and the application of the falling foot detection in the small-sized robot can be realized by installing the film pressure sensor in the foot bottom structure with the small size of the small-sized robot.
Secondly, through set up the bolster between film pressure sensor and pressure point, between bottom plate and roof to and the upper portion of roof sets up the bolster, can play the cushioning effect to the in-process of roof up-and-down motion, thereby effectually prevent that film pressure sensor from receiving the impact, cause the damage, in order to prolong film pressure sensor's life.
In addition, through setting up the guide post, can be so that the roof along the vertical direction motion, avoid the roof to take place the skew in the horizontal direction, on the one hand, can improve the accuracy that pressure signal detected, on the other hand can guarantee the even running of robot.
The robot includes: according to the robot sole structure and the processor, the processor can send a control command to the ankle joint steering engine to control the operation of the robot, and the falling foot detection of the robot is realized according to the pressure signal collected by the film pressure sensor. The adopted film pressure sensor is miniaturized, so that the foot falling detection can be realized in a miniaturized robot.
Drawings
In order to more clearly illustrate the technical solutions of the embodiments of the present application, the drawings that are required to be used in the embodiments will be briefly described below, it should be understood that the following drawings only illustrate some embodiments of the present application and therefore should not be considered as limiting the scope, and for those skilled in the art, other related drawings can be obtained from the drawings without inventive effort.
Fig. 1 is a schematic diagram of a robot sole structure according to an embodiment of the present disclosure;
FIG. 2 is a schematic view of another robot sole structure provided in the embodiments of the present application;
FIG. 3 is a schematic diagram of another robot sole structure provided in the embodiments of the present application;
fig. 4 is a schematic device diagram of a robot according to an embodiment of the present disclosure.
Icon:
100-robot sole structure;
110-a base plate;
111-pressure point;
112-a groove;
113-a mounting member;
120-a top plate;
130-a fixture;
131-a limiting structure;
140-ankle joint steering gear;
150-a membrane pressure sensor;
160-data acquisition board;
170-a first buffer;
180-a second buffer;
190-a third buffer;
200-a processor;
300-robot.
Detailed Description
In order to make the objects, technical solutions and advantages of the embodiments of the present application clearer, the technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the drawings in the embodiments of the present application, and it is obvious that the described embodiments are some embodiments of the present application, but not all embodiments. The components of the embodiments of the present application, generally described and illustrated in the figures herein, can be arranged and designed in a wide variety of different configurations.
Thus, the following detailed description of the embodiments of the present application, presented in the accompanying drawings, is not intended to limit the scope of the claimed application, but is merely representative of selected embodiments of the application. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present application.
It should be noted that: like reference numbers and letters refer to like items in the following figures, and thus, once an item is defined in one figure, it need not be further defined and explained in subsequent figures.
In the description of the present application, it should be noted that the terms "center", "upper", "lower", "left", "right", "vertical", "horizontal", "inner", "outer", and the like indicate orientations or positional relationships based on the orientations or positional relationships shown in the drawings or orientations or positional relationships that the products of the present invention are conventionally placed in use, and are used only for convenience in describing the present application and simplifying the description, but do not indicate or imply that the devices or elements referred to must have a specific orientation, be constructed and operated in a specific orientation, and thus, should not be construed as limiting the present application. Furthermore, the terms "first," "second," "third," and the like are used solely to distinguish one from another and are not to be construed as indicating or implying relative importance.
Furthermore, the terms "horizontal", "vertical" and the like do not imply that the components are required to be absolutely horizontal or pendant, but rather may be slightly inclined. For example, "horizontal" merely means that the direction is more horizontal than "vertical" and does not mean that the structure must be perfectly horizontal, but may be slightly inclined.
In the description of the present application, it is further noted that, unless expressly stated or limited otherwise, the terms "disposed," "mounted," "connected," and "connected" are to be construed broadly, e.g., as meaning either a fixed connection, a removable connection, or an integral connection; can be mechanically or electrically connected; they may be connected directly or indirectly through intervening media, or they may be interconnected between two elements. The specific meaning of the above terms in the present application can be understood in a specific case by those of ordinary skill in the art.
First, a brief description will be given of related background art related to the present application:
the existing foot type robot foot-falling state detection mainly has two common technical schemes: firstly, the method comprises the following steps: the six-dimensional force sensor is arranged at the ankle joint, and when the foot of the robot falls to the ground, the force applied in the z direction of the six-dimensional force sensor is larger than a certain threshold value, the foot of the robot is considered to have touched the ground. Secondly, the method comprises the following steps: the multipoint pressure sensors are adopted, the structure of the strain gauge is adopted to detect multipoint pressure values of the soles, and whether the feet fall is comprehensively judged according to the multipoint pressure values.
However, the six-dimensional force sensor cannot be miniaturized, can only be used for large robots, but cannot be used for small and medium robots, and is high in cost and difficult to be applied to production. The deformation structure of the drop foot detection mode based on the strain gauge mode is large in size and needs manual operation for pasting, and mass processing is not facilitated. That is, the mechanism related to the foot falling detection realized according to the above two schemes requires a large structural space, and is difficult to be used in small and medium-sized robots.
In addition, the buffer component adopted in the foot sole structure of the existing robot is a damper, and the structure of the damper is relatively large, so that the damping device cannot be used in small and medium-sized robots.
Based on the technical problems, the application provides an inventive concept that: a pressure sensor with a small structure is used in a robot foot bottom structure to realize the detection of the falling foot of the robot. Based on the characteristics of miniaturization and easy integration of the pressure sensor structure, the application of foot-drop detection in a small robot can be realized. In addition, this application adopts buffering sponge and cushion rubber circle as buffer, has reduced buffer's space to a certain extent and has taken up.
The robot sole structure provided by the present application will be described in detail by way of a number of specific embodiments as follows.
Fig. 1 is a schematic diagram of a robot sole structure according to an embodiment of the present disclosure; as shown in fig. 1, the robot sole structure 100 may include: a bottom plate 110, a top plate 120. The first surface of the bottom plate 110 is for contacting the ground, and the second surface of the bottom plate 110, which is away from the ground, is connected to the top plate 120 by a fixing member 130. The top plate 120 is provided with an ankle joint steering engine 140 and at least one film pressure sensor (FSR) 150, the ankle joint steering engine 140 is used for controlling the operation of the robot according to the received control instruction, and the film pressure sensor 150 is used for detecting a pressure signal in the operation process of the robot.
In general, robots can be divided into a wide variety of categories, such as: a robotic arm, an intelligent robot, or a biped walking robot. The robot sole structure provided by the application is applied to a biped walking robot with walking capability.
The biped walking robot has a structure similar to that of the biped of a human being, and can walk like the human being. Generally, a biped walking robot uses a simulated steering engine to replace human joints, so as to realize the gait design control of the robot. The action of each joint is controlled by using the rudder control chip, so that the control on the size, speed and amplitude of the step is realized.
The structural parts of the robot are made of aluminum alloy or other light high-hardness materials, and are similar to human bones, so that the whole robot is supported. The top plate and the bottom plate of the robot are made of light and strong materials (such as acrylic plates) to simulate the crotch and the sole of a human so as to support the walking and the stability of the robot. Because walking is a multi-joint matched action, the robot can independently complete walking or other tasks.
Optionally, in this embodiment, the bottom plate 110, i.e. the foot plate of the robot, may also be made of plastic to play a role of light shock absorption during the operation of the robot.
The top plate 120 is used to hold a membrane pressure sensor (FSR sensor) 150, and other related devices. The top plate 120 may be made of a metal material to have sufficient stability for carrying other devices.
In this embodiment, the film pressure sensor 150 may include a plurality of film pressure sensors, and as shown in fig. 1, two film pressure sensors 150 may be disposed at both side edges of the top plate, respectively. Of course, in practical applications, the number of the film pressure sensors 150 is not particularly limited, and may be set reasonably according to the size of the robot or the structure of the sole of the robot.
Optionally, the film pressure sensor 150 adopted in this embodiment has a smaller structure and is easy to integrate, so that it can be applied to a robot foot bottom structure with a smaller size, so that the implementation of the robot foot falling detection is not limited to a large robot, and for a small robot, the film pressure sensor 150 can be arranged in the robot foot bottom structure, so as to implement the foot falling detection of the small robot.
It should be noted that the thin film pressure sensor 150 is a light weight, small volume, high sensing accuracy, ultra-thin resistive pressure sensor. The pressure sensor converts the pressure applied to the film area of the FSR sensor into the change of the resistance value, thereby obtaining the pressure information. The higher the pressure, the lower the resistance. The pressure information of the sole of the robot can be determined according to the detected resistance value, so that the foot-falling state of the robot can be judged.
Alternatively, the ankle joint steering engine 140 may refer to a component used to replace a robot joint, and the quality of the steering engine determines the walking quality of the robot. The robot can be driven to operate by controlling the operation of the ankle joint steering engine 140. Generally, the action of the ankle joint steering engine 140 can be controlled by using a steering engine control chip. The steering engine control chip sends a steering engine control command to the ankle joint steering engine 140, and after the ankle joint steering engine 140 receives the control command, the relevant action of the command can be executed, so that the robot is driven to operate.
During the operation of the robot, the sole of the robot will contact the ground, and the pressure signal generated during the operation of the robot can be detected by the film pressure sensor 150. When the sole of the robot is not in the ground, i.e., in a suspended state, the pressure signal detected by the film pressure sensor 150 is 0 because the film pressure sensor 150 is not pressed, and when the sole of the robot gradually falls to the ground, the film pressure sensor 150 is pressed due to the pressing between the sole of the robot and the ground, so that a certain pressure signal is detected.
Optionally, when the contact area between the sole of the robot and the ground is larger, it can be said to a certain extent that the robot stands more stably, at this time, the pressure signal detected by the film pressure sensor 150 is also larger, and then, whether the sole of the robot falls onto the ground stably can be determined according to the magnitude of the pressure signal detected by the film pressure sensor 150, so as to realize the detection of the falling foot of the robot.
The robot can be assisted to stably run to a certain extent when the feet of the robot are detected by the foot falling detection device, particularly when the robot runs on an uneven road surface, the robot is controlled to execute the next action after the feet of the robot are stably landed according to the pressure signal detected by the film pressure sensor 150, the stable running of the robot can be effectively guaranteed, and the phenomenon that the robot falls down to cause damage and the like due to the fact that the next action is executed immediately when the robot is not stably stood is avoided.
In summary, the robot sole structure provided by the embodiment includes: bottom plate, roof. The first face of bottom plate is used for with ground contact, and the second face that the bottom plate is kept away from ground is connected with the roof through the mounting. The top plate is provided with an ankle joint steering engine and at least one film pressure sensor, the ankle joint steering engine is used for controlling the operation of the robot according to a received control instruction, and the film pressure sensor is used for detecting a pressure signal in the operation process of the robot. The robot foot bottom structure in the scheme can realize the robot foot falling detection by detecting the pressure signal of the robot foot bottom in the running process of the robot through the integrated film pressure sensor. The adopted film pressure sensor has the characteristics of structure miniaturization and easy integration, so that the falling foot detection of the robot is not limited to a large-sized robot any more, and the application of the falling foot detection in the small-sized robot can be realized by installing the film pressure sensor in the foot bottom structure with the small size of the small-sized robot.
Fig. 2 is a schematic view of another robot sole structure according to an embodiment of the present disclosure. Optionally, as shown in fig. 1, a data acquisition board 160 is further disposed on the top plate 120, and one end of each film pressure sensor 150 is connected to the data acquisition board 160; as shown in fig. 2, the bottom plate 110 is further provided with pressure points 111; the other end of each film pressure sensor 150 is fixedly arranged at the bottom of the top plate 120; the other end of the film pressure sensor 150 contacts the pressure point 111 when pressed, and transmits a detected pressure signal to the data collecting board 160.
In some embodiments, one end of each of the film pressure sensors 150 is connected to the data acquisition board 160, so that the data acquisition board 160 can collect the pressure signal detected by each of the film pressure sensors 150 and send the pressure signal to a controller or a processor of the robot, so as to analyze and process the detected pressure signal.
And the other end of each film pressure sensor 150 is connected to the bottom of the top plate 120, wherein the other end of the film pressure sensor 150 can be adhered to the bottom of the top plate 120 by means of adhesion.
Optionally, pressure points 111 are further respectively disposed on the bottom plate 110 at positions opposite to the other end of each film pressure sensor 150, wherein the pressure points 111 are of an upward protruding structure, and the pressure points 111 are used for controlling the sole of the robot to detect pressure at the pressure points 111, that is, when the other end of the film pressure sensor 150 is pressed to contact the pressure points 111 on the bottom plate 110, a pressure signal can be detected. When the other parts of the film pressure sensor 150 except the part contacting the pressure point 111 are pressed, the pressure signal is not detected. Therefore, unnecessary false detection can be effectively avoided, and accurate detection of the pressure signal can be realized only according to the detection of the set effective pressure point.
Optionally, as shown in fig. 2, a first buffer member 170 is disposed between the pressure point 111 and the film pressure sensor 150. A first buffer member 170 is disposed between any one of the film pressure sensors 150 and the corresponding pressure point 111. Optionally, the first buffer member 170 may be a buffer rocky sponge, which can be used to play a role in buffering when the film pressure sensor 150 is impacted, prevent the film pressure sensor 150 from being damaged, prolong the service life of the film pressure sensor 150, and play a role in physical low-pass filtering.
It should be noted that the rogers sponge can be installed and used between metal pieces, plastic pieces or metal pieces, and is made of various neoprene, foam and silica gel materials to reduce noise, shock and impact.
Of course, the first buffer material 170 may be not limited to the illustrated film pressure sensor 150, and may be another buffer material such as a rubber buffer.
Optionally, as further shown in fig. 2, the robot sole structure 100 may further comprise: the second buffer piece 180, the second buffer piece 180 is sleeved on the fixing piece 130; the top plate 120 is fixedly connected with the bottom plate 110 by a fixing member 130 sleeved with the second cushion member 180.
Alternatively, the second cushion 180 may be a cushion rubber ring, which is sleeved on the fixing member 130, and the fixing member 130 penetrates through the top plate 120 to fixedly connect the top plate 120 to the bottom plate 110. In the process of robot operation, when the robot sole falls to the ground, roof 120 can receive pressure to give film pressure sensor 150 with pressure transmission, in order to carry out pressure signal's detection, and when the robot sole breaks away from the in-process on ground once more, roof 120 can the upward movement, and sets up second bolster 180, can play certain cushioning effect to roof 120 when roof 120 upward movement, thereby plays certain guard action to film pressure sensor 150.
It should be noted that each fixing member 130 is provided with a second buffer member 180 to buffer the upper portions of the four corners of the top plate 120.
Optionally, the robot sole structure 100 may further include: at least one third dampener 190; each of the third buffers 190 is disposed at a predetermined position between the bottom plate 110 and the top plate 120.
In some embodiments, a plurality of third buffering members 190 may be further disposed between the bottom plate 110 and the top plate 120, and the plurality of third buffering members 190 may be uniformly distributed around the bottom plate and near the thin film pressure sensor 150. The third buffer member 190 may be similar to the first buffer member 170, and both adopt buffering rogues sponge. The third buffer member 190 is used for playing a certain buffer role in the process that the top plate 120 moves downwards under pressure, so that the phenomenon that the film pressure sensor 150 is damaged due to the fact that the top plate 120 is too large under pressure is avoided.
Therefore, the top and the bottom of the top plate 120 are respectively buffered by the movement of the second buffer member 180 and the third buffer member 190, so that the film pressure sensor 150 is buffered when moving up and down, the film pressure sensor 150 is effectively prevented from being damaged, and the service life of the film pressure sensor 150 is prolonged.
Optionally, the fixing member 130 includes: a guide post; the guide post is provided with a limiting structure 131.
In some embodiments, the fixing member 130 for fixing the bottom plate 110 and the top plate 120 may be a guide post, the top plate 120 may be arranged on the guide post, and the bottom of the guide post and the bottom plate 110 may be fixed, for example: welding, etc., thereby fixing the bottom plate 110 and the top plate 120.
Optionally, the guide posts are used as fixing members, on one hand, the bottom plate 110 and the top plate 120 can be fixed, and on the other hand, the guide posts can also be used for guiding the top plate 120 to move along the vertical direction, so that the top plate 120 is prevented from shaking in the horizontal direction, and the stability of the running of the robot sole structure is ensured.
Optionally, the side wall of the guide post may further be provided with a limiting structure 131, wherein the limiting structure 131 may be a protruding structure to block the top plate 120 when the top plate 120 moves downward along the guide post. The height of the limiting structure 131 may be determined according to the maximum position of the top plate 120 required to move downwards, so as to limit the limit position of the top plate 120 moving downwards.
Alternatively, in the above embodiment, the limiting structure 131 is a structure integrated with the guide post and formed by chiseling on the guide post, while in another form, the limiting structure 131 may be a separate structure and fixed on the side wall of the guide post by welding or pasting. The structure of the position-limiting structure 131 is not particularly limited as long as it can provide a certain resisting function for the top plate 120.
Of course, the fixing member 130 may not be limited to the guiding post, and in some embodiments, the fixing member 130 may also include: a screw and a thread to fixedly connect the bottom plate 110 and the top plate 120 by means of a screw. This is not specifically limited by the present application.
Optionally, the robot sole structure 100 further comprises: a mounting member 113; the data acquisition board 160 is mounted to the top plate 120 by mounts 113.
In some embodiments, the mounting member 113 may be a mounting plastic column, and one end of the mounting member 113 is fixedly connected to the top plate 120, and the other end thereof is fixedly connected to the data acquisition board 160, so as to mount the data acquisition board 160 on the top plate 120.
Fig. 3 is a schematic view of another robot sole structure according to an embodiment of the present disclosure. Optionally, as shown in fig. 3, a predetermined number of grooves 112 are formed on the first surface of the bottom plate 110.
In an implementation, as shown in fig. 3, a groove 112 is formed at each of four corners of the first surface of the bottom plate 110. By arranging the groove 112, the anti-slip piece can be stuck in the groove 112, so that the anti-slip function is achieved in the running process of the robot.
Alternatively, a groove may be formed in the middle of the first surface of the bottom plate 110, or the entire first surface may be formed with a groove, so as to provide the anti-slip member. The anti-slip piece can be anti-slip rubber or other materials with anti-slip function.
Of course, other anti-slip measures may be adopted, for example, when the material of the bottom plate 110 is selected, a material having a good anti-slip function may be selected.
In summary, the robot sole structure provided by the embodiment includes: bottom plate, roof. The first face of bottom plate is used for with ground contact, and the second face that the bottom plate is kept away from ground is connected with the roof through the mounting. The top plate is provided with an ankle joint steering engine and at least one film pressure sensor, the ankle joint steering engine is used for controlling the operation of the robot according to a received control instruction, and the film pressure sensor is used for detecting a pressure signal in the operation process of the robot. The robot foot bottom structure in the scheme can realize the robot foot falling detection by detecting the pressure signal of the robot foot bottom in the running process of the robot through the integrated film pressure sensor. The adopted film pressure sensor has the characteristics of structure miniaturization and easy integration, so that the falling foot detection of the robot is not limited to a large-sized robot any more, and the application of the falling foot detection in the small-sized robot can be realized by installing the film pressure sensor in the foot bottom structure with the small size of the small-sized robot.
Secondly, through set up the bolster between film pressure sensor and pressure point, between bottom plate and roof to and the upper portion of roof sets up the bolster, can play the cushioning effect to the in-process of roof up-and-down motion, thereby effectually prevent that film pressure sensor from receiving the impact, cause the damage, in order to prolong film pressure sensor's life.
In addition, through setting up the guide post, can be so that the roof along the vertical direction motion, avoid the roof to take place the skew in the horizontal direction, on the one hand, can improve the accuracy that pressure signal detected, on the other hand can guarantee the even running of robot.
Fig. 4 is a schematic diagram of an apparatus of a robot according to an embodiment of the present disclosure, and as shown in fig. 4, a robot 300 according to the embodiment may include the robot sole structure 100 and the processor 200.
Wherein, the data acquisition board 160 and the ankle joint steering engine 140 in the robot sole structure 100 can be respectively connected with the processor 200.
The processor 200 may send a robot operation control command to the ankle joint steering engine 140 to control the operation of the robot by controlling the ankle joint steering engine 140, and in the robot operation process, for example, when the robot falls to the ground, because the robot sole and the ground are squeezed each other, the top plate 120 of the robot sole structure is stressed by the downward vertical pressure, and the top plate 120 further exerts pressure on the film pressure sensor 150, after the film pressure sensor 150 is stressed, the end of the film pressure sensor 150 opposite to the pressure point 111 may be in contact with the pressure point 111 due to the squeezing, so as to obtain a pressure signal, and transmit the pressure signal to the data acquisition board 160.
Optionally, the data collecting board 160 collects pressure signals detected by the membrane pressure sensors 150 and uploads the collected pressure signals to the processor 200, so that the processor 200 analyzes the pressure signals detected by the membrane pressure sensors 150 to determine the foot-falling state of the robot.
In an implementation manner, the processor 200 may determine whether the pressure signal detected by each of the film pressure sensors 150 satisfies a preset pressure threshold, and when the pressure signal of each of the film pressure sensors 150 satisfies the pressure threshold, it may be determined that the sole of the robot is completely in contact with the ground, that is, a stable foot drop of the robot is detected. Therefore, the control instruction can be sent to the ankle joint steering engine 140 again according to the next operation of the robot so as to control the robot to execute the next operation, and meanwhile, the pressure signal is continuously detected in the operation process.
The core point of the solution of the present application is to describe the robot foot sole structure 100 integrated with the thin film pressure sensor 150, but how to analyze the foot falling state by the pressure signal collected by the thin film pressure sensor 150 is not described in detail.
The above description is only a preferred embodiment of the present application and is not intended to limit the present application, and various modifications and changes may be made by those skilled in the art. Any modification, equivalent replacement, improvement and the like made within the spirit and principle of the present application shall be included in the protection scope of the present application.
Claims (10)
1. A robot sole structure, comprising: a bottom plate and a top plate;
the first surface of the bottom plate is used for contacting with the ground, and the second surface of the bottom plate, which is far away from the ground, is connected with the top plate through a fixing piece;
the top plate is provided with an ankle joint steering engine and at least one film pressure sensor, the ankle joint steering engine is used for controlling the operation of the robot according to a received control instruction, and the film pressure sensor is used for detecting a pressure signal in the operation process of the robot.
2. The robot sole structure according to claim 1, wherein a data acquisition board is further provided on the top plate, and one end of each of the thin film pressure sensors is connected to the data acquisition board; the bottom plate is also provided with pressure points;
the other end of each film pressure sensor is fixedly arranged at the bottom of the top plate;
the other end of the film pressure sensor contacts the pressure point when being pressed, and transmits the detected pressure signal to the data acquisition board.
3. A robot sole structure according to claim 2, characterized in that a first buffer is arranged between the pressure point and the membrane pressure sensor.
4. The robot sole structure of claim 1, further comprising: the second buffer piece is sleeved on the fixing piece;
the top plate is fixedly connected with the bottom plate through a fixing piece sleeved with the second buffer piece.
5. The robot sole structure of claim 1, further comprising: at least one third buffer;
each third buffer piece is respectively arranged at a preset position between the bottom plate and the top plate.
6. The robot sole structure according to claim 1, wherein the fixture comprises: a guide post;
and the guide post is provided with a limiting structure.
7. The robot sole structure of claim 2, further comprising: a mounting member;
the data acquisition board is mounted on the top plate through the mounting piece.
8. The robot sole structure according to claim 1, wherein a predetermined number of grooves are defined in the first surface of the base plate.
9. A robot sole structure according to claim 4 or 5, wherein the second cushion is a cushion rubber ring and the third cushion is a cushion sponge.
10. A robot comprising the robot sole structure of any one of claims 1 to 9 and a processor.
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| CN202011327020.1A CN112478014A (en) | 2020-11-23 | 2020-11-23 | Robot sole structure and robot |
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| CN202011327020.1A CN112478014A (en) | 2020-11-23 | 2020-11-23 | Robot sole structure and robot |
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