CN102288336B - Dual-threshold detecting system and method for ground contact force of polypod robot - Google Patents
Dual-threshold detecting system and method for ground contact force of polypod robot Download PDFInfo
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- CN102288336B CN102288336B CN2011102043987A CN201110204398A CN102288336B CN 102288336 B CN102288336 B CN 102288336B CN 2011102043987 A CN2011102043987 A CN 2011102043987A CN 201110204398 A CN201110204398 A CN 201110204398A CN 102288336 B CN102288336 B CN 102288336B
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- 238000000034 method Methods 0.000 title claims abstract description 14
- 238000001514 detection method Methods 0.000 claims abstract description 23
- 230000009977 dual effect Effects 0.000 claims description 18
- 230000008859 change Effects 0.000 claims description 5
- 238000010586 diagram Methods 0.000 description 5
- 230000033228 biological regulation Effects 0.000 description 2
- 230000005021 gait Effects 0.000 description 2
- 230000007704 transition Effects 0.000 description 2
- 241000272165 Charadriidae Species 0.000 description 1
- 101100013509 Gibberella fujikuroi (strain CBS 195.34 / IMI 58289 / NRRL A-6831) FSR2 gene Proteins 0.000 description 1
- 241000446313 Lamella Species 0.000 description 1
- 101100290377 Saccharomyces cerevisiae (strain ATCC 204508 / S288c) MCD4 gene Proteins 0.000 description 1
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Abstract
The invention discloses a dual-threshold detecting system for the ground contact force of a polypod robot and a method for carrying out dual-threshold detection on the ground contact force of the polypod robot by adopting the detecting system. The detecting system comprises a foot passive yielding device of the polypod robot and a detecting circuit. In the detecting method, a ground-contacting force threshold and a ground-leaving force threshold of the robot are set by the detecting circuit according to different conditions of a ground, so as to meet the ground-contacting judgment and the ground-leaving judgment when the robot walks on different grounds; a bigger allowance can be maintained between the ground-contacting force threshold and the ground-leaving threshold, so that the ground-contacting judgment and the ground-leaving judgment are more reliable; and the condition whether the robot is in contact with the ground or leaves the ground or not cannot be judged in a single-threshold contact force detecting method as the contact force fluctuates momentarily. The system and the method can be used for the detection of the ground contacting and the ground leaving of feet when the polypod robot walks, and the method is an effective method for sensing the ground contacting and the ground leaving of the feet of the polypod robot.
Description
Technical field
The present invention has designed a kind of multi-foot robot foot that detects and has contacted to earth with liftoff dual threshold detection system and adopt this detection system that multi-foot robot ground contact force is carried out the method that dual threshold detects, and whether foot has contacted to earth or liftoff when being used to detect the multi-foot robot walking.
Background technology
Multi-foot robot walking the time how to detect foot whether contacted to earth with liftoff be a very crucial problem, directly have influence on gait control, walking stability and gait conversion.At present; The mode with liftoff many adopts pressure sensors of contacting to earth of foot when detecting the multi-foot robot walking; But not only complex structure, volume are big, weight is heavier for pressure transducer, and for the multi-foot robot of different size significant limitation are arranged in the use; And the pressure transducer price general charged is relatively more expensive.In addition, this cognition shakes during robot ambulation, and particularly foot is very unstable with contacting of ground when coarse uneven road surface is walked; This has just caused foot very unstable in the flashy contact force of contacting to earth with liftoff; And adopts pressure sensor is generally only set a pressure threshold, greater than this value; Be judged to be and contact to earth, then be judged to be liftoff less than this value.Therefore because the instability when contacting to earth, so often cause judge inaccurate.
Summary of the invention
The present invention proposes the dual threshold detection system of a kind of multi-foot robot ground contact force and adopts this detection system that multi-foot robot ground contact force is carried out the method that dual threshold detects.This detection system comprises multi-foot robot foot passive compliance device and testing circuit, and said multi-foot robot foot passive compliance device comprises force sensing resistance, back-moving spring and rubber cylinder pad; Said force sensing resistance places the top of said multi-foot robot foot passive compliance device; Said back-moving spring is connected with said force sensing resistance; Said rubber cylinder pad is pressed on the surface of said force sensing resistance;
Said testing circuit comprises voltage comparator, divider resistance R
MAnd resistance R
2
Force sensing resistance in the said multi-foot robot foot passive compliance device is connected between the positive input of voltage V+ and voltage comparator of said testing circuit;
Said divider resistance R
MBe connected in and said force sensing resistance between, form a bleeder circuit;
Said resistance R
2Be connected in the positive input and the output terminal of voltage comparator, form the positive-feedback circuit of a homophase input.
This detection method realizes by force sensing resistance, testing circuit and foot passive compliance device, and the force sensing resistance that is wherein adopted is a kind ofly can change resistance and resistance easy-to-install, lamella shape through the variation of surface pressing rapidly; Testing circuit adopts voltage comparator, adopts the positive feedback voltage comparator circuit of homophase input, and the input voltage of the anode of voltage comparator connects force sensing resistance and a divider resistance R
M, come the anode input voltage of regulation voltage comparer through the variation of force sensing resistance resistance; The negative terminal of voltage comparator meets voltage V-, voltage comparator U
1Can adopt LM358 or LM324 etc. to have the electronic component of the big device of two computings, in addition, between the anode of voltage comparator and output terminal, insert a resistance R
2Produce feedback, to produce dual threshold: the power of contacting to earth threshold value and liftoff power threshold value.
Liftoff power threshold value and R
MBe directly proportional, with R
2Be inversely proportional to; The power of contacting to earth threshold value and R
MBe directly proportional, with R
2Also be directly proportional.So just can be through changing divider resistance R
MAnd resistance R
2Size change the size of contact to earth power threshold value and liftoff power threshold value.
The extent of the power of contacting to earth threshold value and liftoff power threshold value and R
2Be inversely proportional to, increase R
2Difference between the threshold value is reduced, reduce R
2Difference between the threshold value is increased.
When the foot of multi-foot robot contacted to earth, the spring in the foot passive compliance device was stressed, and spring shortens; Apply a power for the surface of force sensing resistance through the cylinder pad; The resistance of force sensing resistance is diminished, thereby the voltage of the positive input of voltage comparator is increased, when the voltage of voltage comparator positive input increases to certain value; The output of voltage comparator sports high level by low level, at this moment is judged to be stable the contacting to earth of foot of robot.When the foot of multi-foot robot was liftoff, pressure reduced, and spring recovers; The force sensing resistance pressure reduces; Resistance increases, and the voltage decreases of voltage comparator positive input is when the voltage of voltage comparator positive input is reduced to certain value; The output of voltage comparator sports low level by high level, and the foot that at this moment is judged to be robot is stablized liftoff.Because resistance R
2Existence, make the power threshold value of contacting to earth different with liftoff power threshold value, the power threshold value of contacting to earth is greater than liftoff power threshold value, and the difference between two threshold values is by R
2Decision.
Foot contacted to earth that the pressure sensor structure that adopts usually with liftoff detection is complicated, volume is big when the present invention had overcome the multi-foot robot walking, Heavy Weight, applicability do not reach by force and to judge inaccurate problem.The present invention contacts to earth and liftoff detection at the bottom of adopting a kind of novel simple method to accomplish robot foot, this method accurate and effective of experiment proof.
Description of drawings
Fig. 1 is the scantling plan of multi-foot robot ground contact force detection system.
Fig. 2 is a multi-foot robot foot passive compliance device cut-open view.
Fig. 3 is a force sensing resistance profile synoptic diagram.
Fig. 4 is multi-foot robot ground contact force testing circuit figure.
Fig. 5 is the synoptic diagram that concerns of force sensing resistance resistance and ground contact force size.
Fig. 6 is the synoptic diagram of the power of contacting to earth and liftoff power and detection signal.
Embodiment
For making the object of the invention, technical scheme and advantage clearer, below in conjunction with specific embodiment, and with reference to accompanying drawing, to further explain of the present invention.
Fig. 1 is the scantling plan of multi-foot robot ground contact force detection system.Wherein, 1 is multi-foot robot foot passive compliance device, and 2 is testing circuit, and 3 is the dual threshold output of testing circuit.Said multi-foot robot foot passive compliance device is as shown in Figure 2, and it mainly comprises force sensing resistance, back-moving spring and rubber cylinder pad; Said testing circuit is as shown in Figure 4, and it comprises voltage comparator, divider resistance R
MAnd resistance R
2Force sensing resistance in the said multi-foot robot foot passive compliance device is connected between the positive input of voltage V+ and voltage comparator of testing circuit.
In multi-foot robot foot passive compliance device shown in Figure 2, be placed in 1 place, position to force sensing resistance, wherein; The profile synoptic diagram of force sensing resistance is as shown in Figure 3; When robot foot section contacted to earth, the back-moving spring 2 of compression the inside was used to prevent that the rubber cylinder pad 6 that damages force sensing resistance by pressure is pressed in the force sensing resistance surface; Make the surperficial stressed of force sensing resistance, thereby the resistance that causes force sensing resistance changes; Pin 3 is used to prevent that back-moving spring from ejecting rubber cylinder pad 6; Fastening nut 5 connects rubber cylinder pad 6 and following rubber footmuff 4, is used for fixing rubber footmuff 4 and rubber cylinder pad 6; Rubber footmuff 4 is used to cushion the impulsive force on ground.
In testing circuit figure shown in Figure 4, testing circuit comprises voltage comparator, divider resistance R
MAnd resistance R
2Wherein, divider resistance R
MBe connected in and force sensing resistance between, form a bleeder circuit, the size of the input voltage of voltage comparator anode just depends on resistance R like this
MSize; Resistance R
2Be connected in the anode and the output terminal of voltage comparator, form the positive-feedback circuit of a homophase input, to produce dual threshold: the power of contacting to earth threshold value F
1With liftoff power threshold value F
2, and make F
1＞F
2The negative terminal of voltage comparator meets voltage V-; Two end pin of force sensing resistance connect the positive input of voltage V+ and voltage comparator respectively; Come the anode input voltage of regulation voltage comparer through the variation of force sensing resistance resistance; Wherein, said voltage V+ is greater than the negative terminal input voltage V-of said voltage comparator.
When the foot of multi-foot robot contacted to earth, the force sensing resistance pressure increased, and the force sensing resistance resistance begins to reduce, and pressure increases to certain value F when the force sensing resistance surface
1The time, the voltage of voltage comparator anode is higher than the input voltage V-of negative terminal, and the output signal of voltage comparator is mutated into high level from low level, is judged to be stable the contacting to earth of foot of robot this moment.
When the foot of robot was liftoff, the force sensing resistance pressure reduced, and the resistance of force sensing resistance begins to increase, as the stressed value of the being reduced to F in force sensing resistance surface
2The time, the voltage of voltage comparator anode is lower than the input voltage of negative terminal, and the output signal of voltage comparator is mutated into low level by high level, and the foot that is judged to be robot this moment is liftoff.
Circuit theory shown in Figure 4 can be characterized by following formula:
Wherein, R
FSRResistance for force sensing resistance; V
OUTOutput voltage values for voltage comparator.
Preferably, V
+=12V, V
-=5V (2)
By formula (1) and (2), can obtain:
Wherein, V
OUTTwo values are generally arranged, high level or low level, when supply voltage was 12V, the high level of voltage comparator output was 10.5V, low level is 0V, can certainly select other supply voltages, but supply voltage is chosen as 12V usually, promptly
V
OUT=0 or 10.5V (4)
By formula (3) and (4), the force sensing resistance resistance R in the time of can obtaining voltage comparator output and become low level by high level
FSR1Force sensing resistance resistance R when output becomes high level by low level with voltage comparator
FSR2:
Wherein, R
FSR1Corresponding liftoff power threshold value F
2, R
FSR2The correspondence power threshold value F that contacts to earth
1, the corresponding power value of above-mentioned two resistances can be read by Fig. 5 substantially.This shows liftoff power threshold value F
2With R
MBe directly proportional, with R
2Be inversely proportional to; The power of contacting to earth threshold value F
1With R
MBe directly proportional, with R
2Also be directly proportional.So just can be through changing divider resistance R
MAnd resistance R
2Size change the size of contact to earth power threshold value and liftoff power threshold value.And the extent and the R of contact to earth power threshold value and liftoff power threshold value
2Be inversely proportional to, increase R
2Threshold difference is reduced, reduce R
2Threshold difference is increased, that is to say, through changing resistance R
MAnd R
2Size, just can regulate liftoff power threshold value the size and the power threshold value of contacting to earth the size and the difference between them.
Said voltage comparator can adopt LM358 or LM324 etc. to have the electronic component of the big device of two computings; Said divider resistance R
MLess than 100 kilohms, preferably, value is between 0.1 kilo-ohm to 30 kilo-ohms.
Fig. 6 is the synoptic diagram that output level and contact force change; Wherein, liftoff or when rigidly connecting tread surface, this moment, output level was the low level for 0V at robot foot; When the power of robot foot section is increased to when contacting to earth the power threshold value, this moment, output level transition was the high level of 10.5V.When robot foot section begins built on stilts; When the power of robot foot section is reduced to liftoff power threshold value; This moment, output level transition was the 0V low level; Liftoff power threshold value is not a value with the power threshold value of contacting to earth, and liftoff power threshold value is greater than the power threshold value of contacting to earth, and this has just guaranteed the accuracy of robot when judging that foot is liftoff and still contact to earth.
Above-described specific embodiment; The object of the invention, technical scheme and beneficial effect have been carried out further explain, and institute it should be understood that the above is merely specific embodiment of the present invention; Be not limited to the present invention; All within spirit of the present invention and principle, any modification of being made, be equal to replacement, improvement etc., all should be included within protection scope of the present invention.
Claims (9)
1. the dual threshold detection system of a multi-foot robot ground contact force is characterized in that, this system comprises multi-foot robot foot passive compliance device and testing circuit, wherein:
Said multi-foot robot foot passive compliance device comprises force sensing resistance, back-moving spring and rubber cylinder pad; Said force sensing resistance places the top of said multi-foot robot foot passive compliance device; Said back-moving spring is connected with said force sensing resistance; Said rubber cylinder pad is pressed on the surface of said force sensing resistance;
Said testing circuit comprises voltage comparator, divider resistance R
MAnd resistance R
2
Force sensing resistance in the said multi-foot robot foot passive compliance device is connected between the positive input of voltage V+ and voltage comparator of said testing circuit;
The negative terminal of said voltage comparator meets voltage V-, and said voltage V+ is greater than the negative terminal input voltage V-of said voltage comparator;
Said divider resistance R
MBe connected in and said force sensing resistance between, form a bleeder circuit;
Said resistance R
2Be connected in the positive input and the output terminal of voltage comparator, form the positive-feedback circuit of a homophase input.
2. the dual threshold detection system of multi-foot robot as claimed in claim 1 ground contact force; It is characterized in that; Said multi-foot robot foot passive compliance device also comprises pin, fastening nut and rubber footmuff, and wherein said pin is used to prevent that said back-moving spring from ejecting said rubber cylinder pad; Said fastening nut connects said rubber cylinder pad and said rubber footmuff, is used for fixing said rubber footmuff and said rubber cylinder pad; Said Rubber foot is placed on the bottom of said multi-foot robot foot passive compliance device, is used to cushion the impulsive force on ground.
3. the dual threshold detection system of multi-foot robot as claimed in claim 1 ground contact force is characterized in that, said voltage comparator adopts the positive feedback voltage comparator circuit of homophase input.
4. the dual threshold detection system of multi-foot robot as claimed in claim 1 ground contact force is characterized in that said resistance R
2Be connected in the positive input and the output terminal of voltage comparator, form the positive-feedback circuit of a homophase input, to form dual threshold, the power of promptly contacting to earth threshold value and liftoff power threshold value.
5. the dual threshold detection system of multi-foot robot as claimed in claim 4 ground contact force is characterized in that, through changing divider resistance R
MAnd resistance R
2Size change contact to earth power threshold value and liftoff power threshold value.
6. the dual threshold detection system of multi-foot robot as claimed in claim 4 ground contact force is characterized in that, the difference and the resistance R of the power of contacting to earth threshold value and liftoff power threshold value
2Be inversely proportional to.
7. the dual threshold detection system of multi-foot robot as claimed in claim 1 ground contact force is characterized in that, said divider resistance R
MLess than 100 kilo-ohms.
8. the dual threshold detection system of multi-foot robot as claimed in claim 1 ground contact force is characterized in that, said divider resistance R
MValue is 0.1 kilo-ohm to 30 kilo-ohms.
9. one kind is adopted the detection system in the claim 1 that multi-foot robot ground contact force is carried out the method that dual threshold detects, and it is characterized in that this method comprises:
Through changing divider resistance R
MAnd resistance R
2The size setting power threshold value F that contacts to earth
1With liftoff power threshold value F
2, wherein, F
1＞F
2
The stressed threshold value F that increases in force sensing resistance surface in multi-foot robot foot passive compliance device
1The time, the output of voltage comparator sports high level by low level, at this moment is judged to be stable the contacting to earth of foot of robot;
As the stressed threshold value F that reduces in force sensing resistance surface
2The time, the output of voltage comparator sports low level by high level, and the foot that at this moment is judged to be robot is liftoff.
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN102717847A (en) * | 2012-06-28 | 2012-10-10 | 中国科学院自动化研究所 | Leg-foot mechanism with low rotational inertia configuration for four-footed robot |
| CN103264734B (en) * | 2013-04-22 | 2015-06-17 | 浙江大学 | Sole ground touch sensing mechanism of legged robot |
| CN107611512A (en) * | 2016-07-12 | 2018-01-19 | 太普电子(常熟)有限公司 | Cell apparatus and its external force detection method |
| CN106726203B (en) * | 2016-12-12 | 2018-03-30 | 王昱霖 | It is a kind of suitable for disabled students can speeling stairway wheelchair |
| CN108519115B (en) * | 2018-03-14 | 2020-09-15 | 无锡思泰迪半导体有限公司 | Offset voltage correction method applied to Hall device |
| CN115553757B (en) * | 2022-12-06 | 2023-04-07 | 深圳市第二人民医院(深圳市转化医学研究院) | Method and equipment for intelligently screening effective ground reaction force in gait process |
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|---|---|---|---|---|
| EP1462784A1 (en) * | 2003-02-27 | 2004-09-29 | Samsung Electronics Co., Ltd. | Ground reaction force measuring module for walking robot and robot foot structure adopting the same |
| US7266424B2 (en) * | 2003-08-29 | 2007-09-04 | Samsung Electronics Co., Ltd. | Walking robot using simple ground reaction force sensors and a method of controlling the same |
| CN101038223A (en) * | 2007-04-25 | 2007-09-19 | 北京理工大学 | Foot end pressure sensor of multi-foot robot |
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Patent Citations (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| EP1462784A1 (en) * | 2003-02-27 | 2004-09-29 | Samsung Electronics Co., Ltd. | Ground reaction force measuring module for walking robot and robot foot structure adopting the same |
| US7266424B2 (en) * | 2003-08-29 | 2007-09-04 | Samsung Electronics Co., Ltd. | Walking robot using simple ground reaction force sensors and a method of controlling the same |
| CN101038223A (en) * | 2007-04-25 | 2007-09-19 | 北京理工大学 | Foot end pressure sensor of multi-foot robot |
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