CN103373407A - Wheel-legged robot and intelligent wheel-legged switching method - Google Patents
Wheel-legged robot and intelligent wheel-legged switching method Download PDFInfo
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- CN103373407A CN103373407A CN2013102524100A CN201310252410A CN103373407A CN 103373407 A CN103373407 A CN 103373407A CN 2013102524100 A CN2013102524100 A CN 2013102524100A CN 201310252410 A CN201310252410 A CN 201310252410A CN 103373407 A CN103373407 A CN 103373407A
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Abstract
The invention relates to a wheel-legged robot and an intelligent wheel-legged switching method. The robot detects and calculates front, rear, left and right inclination of the condition of a road to be travelled on, and compares with the inclination with a corresponding set inclination range to judge whether travelling modes need to be switched or not. If the travelling modes need to be switched, a steering engine controller is used for controlling steering engines to act and switch over wheels and legs. If the travelling modes do not need to be switched, the robot continues travelling in the previous travelling mode. High-precision hand-eye matching of an operator is omitted, operations can be performed without real-time tracking, the robot can automatically switch over the wheels and the legs and smoothly reach a set target if the road condition is changed in the travelling process, and intelligence of the robot is improved.
Description
Technical field
The invention belongs to the Robotics field, relate to a kind of wheel leg intelligent switch method of taking turns robot leg and wheel robot leg.
Background technology
The advantage of legged mobile robot is can not only be on smooth ground up walks and can walking on rugged ground, can cross over the gully, up/down steps also can be done nonslipping complete sum one-way movement, and provides stable dynamic platform for the sensor on it, therefore has widely applicability, realize that its stable gait planning and stable equilibrium control but legged mobile robot is difficult, the utilization ratio of kinematic velocity and energy is lower, in addition, legged mobile robot is generally heavier, and complex structure.The wheeled robot advantage is that automatic operation is simple, having stable behavior, be particularly suitable in smooth ground motion, larger kinematic velocity and energy utilization efficiency are arranged, and is a now widely used class robot.But wheeled robot is compared with legged mobile robot, and its comformability to landform is relatively poor, seldom can spanning height or stair climbing.
Development along with society, for solving complicated road surface walking problem, Chinese patent ZL201110089738.6 discloses a kind of robot leg of taking turns, this robot comprises micro controller system and the steering engine controller that is connected by its output, four structures of this steering engine controller control linkage are identical has wheel, each road steering wheel on the leg of foot double-purpose functional, this robot leg of taking turns possesses legged mobile robot landform strong adaptability and the high advantage of wheeled robot controllable velocity simultaneously, it is that the operator manually finishes by the judgement to road conditions entirely that but the wheel leg of this robot switches, be operator's control wheeled walking about on smooth road surface, if running into obstacle or road conditions changes, M/C by the operator switches to the legged walking pattern with wheeled sliding-modes, if there is not operator's operation, robot will directly can't be continued to advance by the obstacle obstruct or can not arrive fast set objective so, this switch mode is manually had relatively high expectations to operator's operation precision, and need the operator to know very much the road conditions of robot ambulation, but it is unpractical that the understanding of all walking road conditions is especially carried out pop-up mission to robot, and this just is badly in need of solving in the robot ambulation process problem according to road conditions automatic switchover walking mode.
Summary of the invention
The purpose of this invention is to provide a kind of wheel leg intelligent switch method of taking turns robot leg, in traveling process, must have the operator to participate in real time to solve the wheel robot leg, otherwise robot can't arrive the problem of set objective.
Another object of the present invention provides a kind of robot leg of taking turns, to realize that robot carries out the switching of walking mode automatically according to road conditions.
For realizing goal of the invention, the robot leg of taking turns of the present invention comprises micro controller system and the steering engine controller that is connected by its output, each road steering wheel on the identical leg with wheel, sufficient double-purpose functional of four structures of this steering engine controller control linkage also comprises for detection of the ultrasonic ranging system of robot base plate front, rear, left and right to ground clearance.
Further, ultrasonic generator after described ultrasonic ranging system comprises at least two front ultrasonic generators being located at side by side robot base plate the place ahead and is located at least one of robot base plate rear, and in the rear ultrasonic generator at least one is arranged in one dead aft of described front ultrasonic generator.
Further, described ultrasonic ranging system comprises at least one left ultrasonic generator of being located at robot base plate left side and at least one right ultrasonic generator of being located at right side on the robot base plate, and in the right ultrasonic generator at least one is arranged in one front-right of described left ultrasonic generator.
Further, described ultrasonic ranging system comprises at least one left ultrasonic generator of being located at robot base plate left side and at least one right ultrasonic generator of being located at right side on the robot base plate.
Further, also comprise the read-out that micro controller system output connects.
For realizing goal of the invention, wheel leg intelligent switch method technical scheme of taking turns robot leg of the present invention is as follows: robot detects the road conditions all around inclination situation of will walking of also calculating, and compare with corresponding setting slant range, to judge whether to carry out the switching of walking manner, if need to switch, then control each steering wheel action by steering engine controller and take turns the leg switching, if need not to switch, then continue previous walking manner and continue to advance.
Further, described robot detection is to record the base plate front, rear, left and right of robot to the distance on distance ground by ultrasonic ranging system.
Further, described robot according to the base plate front, rear, left and right that record to liftoff distance, carry out respectively front and back to the distance difference calculate, about to the calculating of distance difference, obtain all around inclination situation.
Further, when the current walk of robot or quiescence are the running on wheels mode, slant range is set with the wheeled all around of setting respectively apart from difference in the current all around that calculates to be compared, if current all around is all set in the slant range in the wheeled all around of correspondence apart from difference, then continue to advance in the running on wheels mode; If current all around is not set in the slant range in the wheeled all around of correspondence apart from the difference any, then control each steering wheel action by steering engine controller and switch to the legged walking mode and advance.
Further, when the current walk of robot or quiescence are the legged walking mode, slant range is set with the leg formula all around of setting respectively apart from difference in the current all around that calculates to be compared, if current all around is all set in the slant range in the leg formula all around of correspondence apart from difference, then continue to advance in the legged walking mode; If current all around, is then controlled each steering wheel action by steering engine controller and is switched to the running on wheels mode and advance in slant range is set in the leg formula all around of correspondence apart from the difference any.
The robot leg of taking turns of the present invention utilizes ultrasonic ranging system to record base plate to be uploaded to micro controller system to the distance on ground, micro controller system is processed, is analyzed according to the distance of uploading, if just need to switch and send wheel leg switching command to steering engine controller, steering engine controller is controlled each corresponding steering wheel action according to instruction and is realized switching wheeled, the legged walking mode, thus, robot judges that by voluntarily detection and analysis to road conditions automatically take turns leg and switch, realization intelligence is taken turns the leg handoff functionality.
Wheel leg intelligent switch method of taking turns robot leg of the present invention, robot detects and calculates the road conditions all around inclination situation of will walking automatically, and compare with corresponding setting slant range, to judge whether to carry out the switching of walking manner, if need to switch, then control each steering wheel action by steering engine controller and take turns the leg switching, if need not to switch, then continue previous walking manner and continue to advance.This changing method need not operator's trick height and cooperates accurately, also need not real-time tracking operates, if and robot runs into road conditions in traveling process change can take turns the switching of leg automatically, arrive smoothly set objective, improved the intellectuality of robot.
Description of drawings
Fig. 1 is the control principle drawing of wheel robot leg embodiment;
Fig. 2 is the lateral plan of wheel robot leg embodiment;
Fig. 3 is the block diagram of wheel robot leg embodiment;
Fig. 4 is the birds-eye view of wheel robot leg embodiment;
Fig. 5 is the diagram of circuit of wheel leg changing method.
The specific embodiment
Wheel robot leg as shown in Figure 1, this base plate of taking turns robot leg is divided into upper plate and lower shoe, two base plate captive joints, be provided with on the lower shoe four structures identical have a wheel, the leg of leg double-purpose functional, and be provided with the switching that a plurality of steering wheel controls realize the wheel leg on the leg, this takes turns LCD1602 read-out and 32 road steering engine controllers that are provided with the STC89C52 micro controller system on the robot leg and connected by micro controller system output, each road steering wheel on four legs of this steering engine controller control linkage, this is taken turns robot leg and is provided with ultrasonic ranging system, before the robot base plate, after, left, the dextrad ground clearance, this ultrasonic ranging system comprises is located at first of robot base plate the place ahead side by side, the second ultrasonic generator and be located at the 3rd of robot base plate rear, the 4th ultrasonic generator, and first, the 3rd ultrasonic generator is over against arranging, second, the 4th ultrasonic generator is over against arranging, so-called namely is the dead aft that the 3rd ultrasonic generator is positioned at the first ultrasonic generator over against arranging, the 4th ultrasonic generator is positioned at the dead aft of the second ultrasonic generator, but difference first, the ground clearance of the second ultrasonic generator obtains left and right sides range difference, but difference first, the ground clearance of the 3rd ultrasonic generator or difference second, it is poor that the ground clearance of the 4th ultrasonic generator obtains longitudinal separation.Also can be located at the left and right sides of base plate about the setting of ultrasonic generator, if can by difference calculate robot about, longitudinal separation is poor.
This intelligence is switched the wheel robot leg, under reset mode, be in wheeled quiescence, at this moment, ultrasonic ranging system 13 is along with the pulse of STC89C52 Singlechip clock, find range at set intervals circularly, and constantly enter Interruption, before and after trying to achieve respectively, left and right sides range difference, and show at the LCD1602 Liquid Crystal Display, the STC89C52 micro controller system can probably be estimated the situation that ground according to this difference, if difference is in setting slant range, robot is just given 32 road steering engine controllers command by serial communication, controls each road steering wheel again and carries out wheeled sliding; Set slant range if difference exceeds this, then control each road steering wheel by 32 road steering engine controllers again and carry out the leg formula and walk about.Thus, by the voluntarily detection to road conditions, robot brain device people takes turns leg switches, and realizes wheel leg switch transition function.
Various variations are elaborated shown in Fig. 2-4 in the concrete handoff procedure.
When the current walk of robot or quiescence are the legged walking mode, slant range is set with the leg formula all around of setting respectively apart from difference in the current all around that calculates to be compared, if current all around is all set in the slant range in the leg formula all around of correspondence apart from difference, then continue to advance in the legged walking mode; If current all around, is then controlled each steering wheel action by steering engine controller and is switched to the running on wheels mode and advance in slant range is set in the leg formula all around of correspondence apart from the difference any.
The process that the wheeled action of wheel robot leg switches to the leg formula is as follows: micro controller system is passed to 32 road steering engine controllers with the pwm signal of each steering wheel by serial communication, after 32 road steering engine controllers receive pwm signal, the second steering wheel 2 outwards overturns 90 °, so that the first steering wheel 1, the second steering wheel 2 place straight lines and the second steering wheel 2, the 3rd steering wheel 3 place straight lines are mutually vertical, make simultaneously the first steering wheel 1 with certain rotational speed, because the first steering wheel 1 and wheel shaft interference fit, then wheel also can and then rotate, article four, simultaneously in the manner described above control of leg, robot can change into wheeled by the leg formula within very short time, and reach state of equilibrium, then move ahead smoothly.The pwm signal of the first steering wheel 1 of four legs of control can be realized moving forward and backward of robot, adjusts the mutual alignment of tiller room again, the left/right rotation that then can realize robot to.
When the current walk of robot or quiescence are the running on wheels mode, slant range is set with the wheeled all around of setting respectively apart from difference in the current all around that calculates to be compared, if current all around is all set in the slant range in the wheeled all around of correspondence apart from difference, then continue to advance in the running on wheels mode; If current all around is not set in the slant range in the wheeled all around of correspondence apart from the difference any, then control each steering wheel action by steering engine controller and switch to the legged walking mode and advance.
Wheel robot leg leg formula course of action is as follows: each steering wheel state is shown in Fig. 2-4, robot is in reset mode, carry out the leg formula when moving ahead, micro controller system is passed to 32 road steering engine controllers with the pwm signal of each steering wheel by serial communication, after 32 road steering engine controllers receive pwm signal, at first, instruction one control the 6th steering wheel 6 rotates counterclockwise certain angle, control simultaneously the 5th steering wheel 5, the 9th steering wheel 9, the tenth steering wheel 10 also rotates a small amount of angle, this moment, article one leg of robot was lifted, the roughly distribution triangular in shape of other three legs, the whole body of stable support is heavy, keeps whole machine balancing; Instruction two controls the 7th steering wheel 7 clockwise rotates certain angle, thereby makes article one leg of robot step forward a step; Instruction three controls the 8th steering wheel 8 rotates counterclockwise certain angle, control simultaneously the 5th steering wheel 5, the 7th steering wheel 7, the tenth steering wheel 10 and also rotate a small amount of angle, this moment, the second leg of robot was lifted other three leg distributions triangular in shape, the whole body of stable support is heavy, keeps whole machine balancing; Instruction four controls the 9th steering wheel 9 clockwise rotates certain angle, thereby makes the second leg of robot step forward a step; Instruction five controls the 4th steering wheel 4 clockwise rotates certain angle, while the 7th steering wheel 7, the 9th steering wheel 9, the tenth steering wheel 10 be a small amount of angle of a little rotation also, and this moment, the third leg of robot was lifted other three leg distributions triangular in shape, the whole body of stable support is heavy, keeps whole machine balancing; Instruction six controls the 5th steering wheel 5 rotates counterclockwise certain angle, thereby makes the third leg of robot step forward a step; Instruction seven controls the 11 steering wheel 11 clockwise rotates certain angle, while the 5th steering wheel 5, the 7th steering wheel 7, the 9th steering wheel 9 be a small amount of angle of a little rotation also, and this moment, the 4th leg of robot was lifted other three leg distributions triangular in shape, the whole body of stable support is heavy, keeps whole machine balancing; Instruction eight controls the tenth steering wheel 10 rotates counterclockwise certain angle, thereby makes the 4th leg of robot step forward a step; The angle that the 7th steering wheel 7, the 9th steering wheel 9 rotate counterclockwise reset mode is controlled in instruction nine simultaneously, and the 5th steering wheel 5, the tenth steering wheel 10 clockwise rotate the angle of reset mode, and then base plate 12 is along with whole body moves forward and finish homing action.At last, nine instructions consist of the circulation that this robot leg formula is moved more than.
Claims (10)
1. wheel robot leg, comprise micro controller system and the steering engine controller that is connected by its output, each road steering wheel on the identical leg with wheel, sufficient double-purpose functional of four structures of this steering engine controller control linkage is characterized in that: also comprise for detection of the ultrasonic ranging system of robot base plate front, rear, left and right to ground clearance.
2. the robot leg of taking turns according to claim 1, it is characterized in that, ultrasonic generator after described ultrasonic ranging system comprises at least two front ultrasonic generators being located at side by side robot base plate the place ahead and is located at least one of robot base plate rear, and in the rear ultrasonic generator at least one is arranged in one dead aft of described front ultrasonic generator.
3. the robot leg of taking turns according to claim 1, it is characterized in that, described ultrasonic ranging system comprises at least one left ultrasonic generator of being located at robot base plate left side and at least one right ultrasonic generator of being located at right side on the robot base plate, and in the right ultrasonic generator at least one is arranged in one front-right of described left ultrasonic generator.
4. the robot leg of taking turns according to claim 2 is characterized in that, described ultrasonic ranging system comprises at least one left ultrasonic generator of being located at robot base plate left side and at least one right ultrasonic generator of being located at right side on the robot base plate.
5. each described robot leg of taking turns according to claim 1-4 is characterized in that: also comprise the read-out that micro controller system output connects.
6. take turns the wheel leg intelligent switch method of robot leg, it is characterized in that, robot detects and calculates the road conditions all around inclination situation of will walking, and compare with corresponding setting slant range, to judge whether to carry out the switching of walking manner, if need to switch, then control each steering wheel action by steering engine controller and take turns the leg switching, if need not to switch, then continue previous walking manner and continue to advance.
7. method according to claim 6 is characterized in that, it is to record the base plate front, rear, left and right of robot to the distance on distance ground by ultrasonic ranging system that described robot detects.
8. method according to claim 7, it is characterized in that: the base plate front, rear, left and right that described robot basis records are to liftoff distance, carry out respectively front and back to the distance difference calculate, about calculate to the distance difference, obtain all around inclination situation.
9. each described method according to claim 6-8, it is characterized in that: when the current walk of robot or quiescence are the running on wheels mode, slant range is set with the wheeled all around of setting respectively apart from difference in the current all around that calculates to be compared, if current all around is all set in the slant range in the wheeled all around of correspondence apart from difference, then continue to advance in the running on wheels mode; If current all around is not set in the slant range in the wheeled all around of correspondence apart from the difference any, then control each steering wheel action by steering engine controller and switch to the legged walking mode and advance.
10. each described method according to claim 6-8, it is characterized in that: when the current walk of robot or quiescence are the legged walking mode, slant range is set with the leg formula all around of setting respectively apart from difference in the current all around that calculates to be compared, if current all around is all set in the slant range in the leg formula all around of correspondence apart from difference, then continue to advance in the legged walking mode; If current all around, is then controlled each steering wheel action by steering engine controller and is switched to the running on wheels mode and advance in slant range is set in the leg formula all around of correspondence apart from the difference any.
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| CN201310252410.0A CN103373407B (en) | 2013-06-24 | 2013-06-24 | The intelligent switch method of wheel robot leg and wheel leg |
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| CN201310252410.0A CN103373407B (en) | 2013-06-24 | 2013-06-24 | The intelligent switch method of wheel robot leg and wheel leg |
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| CN103373407A true CN103373407A (en) | 2013-10-30 |
| CN103373407B CN103373407B (en) | 2015-11-18 |
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Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN105109572A (en) * | 2015-08-26 | 2015-12-02 | 北京航空航天大学 | Single-leg structure for wheel-legged type robot in leg-arm mixing operation |
| CN107933733A (en) * | 2018-01-03 | 2018-04-20 | 河南科技大学 | A kind of imitative tortoise returns item pendulum shin coupling turning robot |
| CN114735102A (en) * | 2022-04-15 | 2022-07-12 | 太原理工大学 | Split multi-mode wheel-leg quadruped robot |
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Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105109572A (en) * | 2015-08-26 | 2015-12-02 | 北京航空航天大学 | Single-leg structure for wheel-legged type robot in leg-arm mixing operation |
| CN107933733A (en) * | 2018-01-03 | 2018-04-20 | 河南科技大学 | A kind of imitative tortoise returns item pendulum shin coupling turning robot |
| CN107933733B (en) * | 2018-01-03 | 2023-09-01 | 河南科技大学 | Turtle-return-imitating swing-shank coupling overturning robot |
| CN114735102A (en) * | 2022-04-15 | 2022-07-12 | 太原理工大学 | Split multi-mode wheel-leg quadruped robot |
| CN114735102B (en) * | 2022-04-15 | 2023-02-21 | 太原理工大学 | Split multi-mode wheel-leg quadruped robot |
| CN114735102B8 (en) * | 2022-04-15 | 2023-04-11 | 太原理工大学 | Split multi-mode wheel-leg quadruped robot |
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