CN103481965A - Low-power dissipation running gear and control method based on intelligent terminal - Google Patents
Low-power dissipation running gear and control method based on intelligent terminal Download PDFInfo
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- CN103481965A CN103481965A CN201310446974.8A CN201310446974A CN103481965A CN 103481965 A CN103481965 A CN 103481965A CN 201310446974 A CN201310446974 A CN 201310446974A CN 103481965 A CN103481965 A CN 103481965A
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Abstract
The invention discloses a low-power dissipation running gear and a control method based on an intelligent terminal. The low-power dissipation running gear comprises a pair of leg portions, a driving device, a braking device, and an upper body. Tilt angle sensors are arranged at the upper ends of hip joints, encoders are respectively arranged on inner sides of upper legs and lower legs, gyroscopes are respectively arranged on the left side and the right side of the hip joints and are fixed on a first revolving shaft connecting the leg portion and the hip joints, pressure sensors are respectively arranged on the bottom of two feet, the upper body comprises a support frame and an intelligent terminal, a driving circuit and a data acquisition device which are arranged on the supporting frame, the lower end of the supporting frame is connected with the hip joints through a second revolving shaft, the data acquisition device is respectively connected with the intelligent terminal, the driving circuit, the tilt angle sensors, four encoders, two gyroscopes and two pressure sensors, and the driving circuit is connected with the driving device and the braking device respectively. The low-power dissipation running gear and the control method based on the intelligent terminal have more reasonable human simulating shape, and are equipped with low energy consumption and natural steps of a driven walking device.
Description
Technical field
The present invention relates to a kind of low-power consumption running gear and control method based on terminal.
Background technology
The mechanical walking device of current main-stream mainly contains two kinds of walking manners, a kind of is wheeled, rotate to realize the motion of running gear by the electric machine control wheel shaft, a kind of is sufficient formula, the sufficient formula running gear of main flow mainly is divided into two classes at present, one class is that to take the Asimo that Japanese HONDA company manufactures be representative, be called as initiatively walking robot, the exercises of its energy simulating human walking, comprise the stable walking of friction speed, slowly walking, stair activity, and keep away the barrier locomotor activity, but they all relate to the drive system of use high-torque and the controlled reset of high gain, another kind of is a lot of passive walking machine of Recent study, its maximum characteristics are low energy consumption and natural gait, main straight bottom bands of trouser legs knee joint running gear of take the McGeer research and design is representative, a large amount of new similar research models have appearred in recent years, comprise from pure passive walking device to semi-passive walking device, but they all do not have upper body, do not possess real apery form.
Summary of the invention
The purpose of this invention is to provide a kind of low-power consumption running gear and control method based on terminal, make it there is more rational apery form, also there is low energy consumption and the gait nature of passive walking device simultaneously.
Low-power consumption running gear based on terminal of the present invention comprises:
A pair of shank, every described shank is connected with hip joint by the first rotating shaft respectively, and every described shank comprises thigh and shank, and described thigh is connected by knee joint with shank, and every shank lower end is connected with foot;
Actuating device, it is located at described hip joint place;
Brake equipment, it is located at the knee joint place of described two shanks, described thigh and shank can be locked together;
Upper end at hip joint is provided with obliquity sensor, for detection of shank attitude angle initial value and terrain slope angle;
Inboard at two thighs and two shanks is respectively equipped with coder, at the coder of two thighs for detection of the angle between two thighs, at two coders of same shank for detection of the thigh of this shank and the angle between shank;
The left and right sides at hip joint is respectively equipped with gyroscope, and gyroscope is fixed in the first rotating shaft that connects shank and hip joint, for detection of the cireular frequency of leg exercise;
Bottom at two foots is respectively equipped with pressure sensor, for detection of the contact force on foot and ground;
Also comprise upper body, described upper body comprises bracing frame and is arranged on terminal, driving circuit and the data acquisition equipment on bracing frame;
The lower end of support frame as described above is connected with hip joint by the second rotating shaft;
Described data acquisition equipment is electrically connected to terminal, driving circuit, obliquity sensor, four coders, two gyroscopes and two pressure sensors respectively, described data acquisition equipment is used for gathering the data-signal of each sensor detection and sending terminal to, and the data-signal of described terminal based on data collecting device collection sends control command input driving circuit after data acquisition equipment;
Described driving circuit is connected with brake equipment with actuating device respectively, and driving circuit is controlled described actuating device and produced the moment that drives thigh and upper body to swing and control brake equipment by unclamp/locking of thigh and shank.
The left and right sides of support frame as described above is connected with the thigh of homonymy by a spring respectively.
Described brake equipment is keying formula drg.
Described the second rotating shaft and two described the first rotating shafts coaxially arrange.
The control method of the low-power consumption running gear based on terminal of the present invention comprises the following steps:
The data-signal that A, terminal detect according to obliquity sensor, gyroscope and pressure sensor, draw the absolute attitude angle of device, thereby judge that this running gear is on inclined-plane/plane;
B, running gear are walked on inclined-plane:
The data-signal that b1, terminal detect according to obliquity sensor, gyroscope and pressure sensor sends control command D1, and driving circuit is controlled brake equipment respectively by the thigh of leading leg and thigh and the shank locking of shank and supporting leg;
The data-signal that b2, terminal detect according to obliquity sensor, gyroscope and pressure sensor sends control command D2, and the driving circuit accessory drive is given to lead leg and applied the drive torque J swung forward
1, make to lead leg forward and to swing, until the angle α led leg with feet is default α
max, apply the drive torque J swung backward to upper body simultaneously
2, upper body backward swinging direct to the angle β of upper body and vertical curve L be default β
max;
B3, lead leg slowly lands under the traction of spring, upper under the effect of spring slow return, now, former leading leg is converted to supporting leg, former supporting leg is converted to leads leg;
The data-signal that b4, terminal detect according to coder sends control command D3, and the driving circuit accessory drive applies the drive torque J swung forward to upper body
3, upper body forward swinging direct to the angle β of upper body and vertical curve L be default β
max, lead leg forward swinging direct to the angle α led leg with supporting leg be 0;
B5, lead leg slowly lands under the traction of spring, upper under the effect of spring slow return, restart the new cycle;
C, running gear are walked in the plane:
The data-signal that c1, terminal detect according to obliquity sensor, gyroscope and pressure sensor sends control command D4, and driving circuit is controlled brake equipment control and unclamped thigh and the shank of leading leg, simultaneously thigh and the shank of locking supporting leg;
The data-signal that c2, terminal detect according to obliquity sensor, gyroscope and pressure sensor sends control command D5, and the driving circuit accessory drive is given to lead leg and applied the drive torque J swung forward
4, make to lead leg forward and to swing, until the angle α led leg with feet is default α
max, apply the drive torque J swung backward to upper body simultaneously
5, upper body backward swinging direct to the angle β of upper body and vertical curve L be default β
max;
The data-signal that c3, terminal detect according to obliquity sensor, gyroscope and pressure sensor sends control command D6, driving circuit is controlled brake equipment and is controlled thigh and the shank that locking is led leg, lead leg and slowly land under the traction of spring, go up slow return under the effect of spring, now, former leading leg is converted to supporting leg, and former supporting leg is converted to leads leg;
The data-signal that c4, terminal detect according to coder sends control command D7, and the driving circuit accessory drive applies the drive torque J swung forward to upper body
5, upper body forward swinging direct to the angle β of upper body and vertical curve L be default β
maxsimultaneously, the data-signal that terminal detects according to obliquity sensor, pressure sensor and coder sends control command D8, and driving circuit is controlled brake equipment control and unclamped thigh and the shank of leading leg, and accessory drive is given to lead leg and applied the drive torque J swung forward
6, lead leg forward swinging direct to the angle α led leg with supporting leg be 0;
C5, lead leg slowly lands under the traction of spring, upper under the effect of spring slow return, restart the new cycle;
D, running gear are walked on complicated ground:
If exist between the smaller inclined-plane in the larger inclined-plane in inclined-plane and interplanar switching or inclination angle and inclination angle while being switched, the ground signal that the angular velocity data signal that described terminal records according to gyroscope and obliquity sensor record, conduct to terminal through data acquisition equipment, terminal can show whether the absolute attitude angle of device variation has occurred according to these data-signals, thereby controls running gear in inclined-plane and interplanar switching;
D1, when running gear be during from the high spud angle chamfered transition to the small inclination inclined-plane, the data-signal that terminal detects according to obliquity sensor, gyroscope and pressure sensor sends control command D9, and driving circuit applies the moment J identical with its swaying direction to leading leg
7if running gear continues to walk on inclined-plane, ensuing walking process according to described step b3 to step b5;
D2, when running gear be during from the small inclination chamfered transition to the high spud angle inclined-plane, the data-signal that terminal detects according to obliquity sensor, gyroscope and pressure sensor sends control command D10, and driving circuit applies the moment J contrary with its swaying direction to leading leg
8if running gear continues to walk on inclined-plane, ensuing walking process according to described step b3 to step b5;
D3, when running gear be during from chamfered transition to plane, terminal sending controling instruction D11, driving circuit produces control signal, makes thigh and the shank of leading leg unclamp, ensuing walking process is according to described step C;
D4, when device be while from plane, being transitioned into inclined-plane, terminal sending controling instruction D12, driving circuit produces control signal, makes thigh and the shank locking of leading leg, ensuing walking process is according to described step B.
In the process of walking, described leading leg meets following relational expression: 2 α=β with the angle α of feet and the angle β of upper body and vertical curve L.
The present invention has the following advantages:
(1) not only have knee joint, the upper body that can rotate around hip consisted of bracing frame, terminal, multifunctional data acquiring equipment in addition, therefore have more rational apery form;
(2) the ground environment data based on the sensing device conduction, utilize hand-held intelligent terminal data-handling capacity more and more efficiently, and accessory drive applies shaking moment to leg portion; Control the brake equipment locking and unclamp thigh and shank; Dynamically control the rotative speed of controlling and adjust the bearing of shank descending speed in hip; Control upper body according to the regular swing of setting; Wipe ground by avoiding pin, avoid the collision of shank and knee, optimize the mode of the component working mechanism that respectively consumes energy, carry out the mode such as passive walking and realize energy-conservation on inclined-plane, there are the low energy consumption of passive walking device and the characteristics of gait nature, even can realize zero energy consumption walking step state;
(3) the pendulum angle α of upper body and the angle β between two shanks remain certain angular relationship (that is: 2 α=β) in the process of walking, keep this angular relationship to be conducive at utmost guarantee running gear Minimal energy loss in the process of walking, can also keep balance simultaneously, this angular relationship can reduce the vola collision energy loss of leading leg while landing, and this angular relationship coordinates the friction between foot and bottom surface in swing process of can avoiding leading leg of the knee joint of shank simultaneously;
(4) and intelligent terminal that data-handling capacity become stronger day by day rapid by current development analyzed and processed exercise data and implement and control, thereby can realize market application widely, also can expand application at the enterprising line correlation in running gear basis, as utilize terminal to carry camera or external camera expansion data acquisition scope, or lift-launch is expanded application etc. for the sensor of other non-motion-dependent data collection;
(5) the usb data interface that utilizes intelligent terminal to carry, can provide data transmission interface for device, and the power consumption that also can be running gear is partly powered;
In sum, this running gear not only has the both legs with knee of anthropomorphic form, also have by the terminal bracing frame, terminal, the swingable upper body that data acquisition equipment etc. form, this device swings the cooperation with knee by upper body, take full advantage of the data-handling capacity that terminal constantly strengthens, not only can carry any terminal is avoided rubbing enough and reducing the energy-conservation walking of colliding enough, can also carry out real-time output torque control to the walking process of device, and passive walking characteristic and the self-stable characteristic of in conjunction with biped, walking, thereby make device no matter on level land or can be all the time in the doubling time walking step state on inclined-plane.
The accompanying drawing explanation
Fig. 1 is structural representation of the present invention;
Fig. 2 is structured flowchart of the present invention;
Fig. 3 is the structural representation of bracing frame in the present invention;
Fig. 4 is flow chart of data processing figure of the present invention;
Fig. 5 is the control flow chart that the present invention walks on inclined-plane;
Fig. 6 is the schematic diagram of whole cycle gait when inclined-plane of the low-power consumption running gear based on terminal of the present invention;
Fig. 7 is the control flow chart that the present invention walks on horizontal surface;
Fig. 8 is the schematic diagram of whole cycle gait when plane of the low-power consumption running gear based on terminal of the present invention.
The specific embodiment
Below in conjunction with accompanying drawing, the invention will be further described:
The low-power consumption running gear based on terminal as shown in Figure 1 to Figure 3, a pair of shank, every described shank is connected with hip joint 11 by the first rotating shaft respectively, every described shank comprises thigh 4 and shank 8, described thigh 4 is connected by knee joint 6 with shank 8, and every shank 8 lower ends are connected with foot 9.
Actuating device 2, it is located at described hip joint 11 places.
Be provided with obliquity sensor 13 in the upper end of hip joint 11, for detection of shank attitude angle initial value and terrain slope angle.
Inboard at two thighs 4 and two shanks 8 is respectively equipped with coder 5, at the coder 5 of two thighs 4 for detection of the angle between two thighs 4, at two coders 5 of same shank for detection of the thigh 4 of this shank and the angle between shank 8.
Be respectively equipped with gyroscope 3 in the left and right sides of hip joint 11, and gyroscope 3 is fixed in the first rotating shaft that connects shank and hip joint 11, for detection of the cireular frequency of leg exercise.
Be respectively equipped with pressure sensor 10 in the bottom of two foots 9, the contact force for detection of foot 9 with ground.
Also comprise upper body 1, described upper body 1 comprises bracing frame 14 and is arranged on terminal 15, driving circuit 16 and the data acquisition equipment 17 on bracing frame 14.
The lower end of support frame as described above 14 is connected with hip joint 11 by the second rotating shaft.
Described data acquisition equipment 17 is electrically connected to terminal 15, driving circuit 16, obliquity sensor 13, four coders 5, two gyroscopes 3 and two pressure sensors 10 respectively, described data acquisition equipment 17 is for the data-signal that gathers each sensor and detect and send terminal 15 to, and the data-signal that described terminal 15 based on data collecting devices 17 gather sends control command input driving circuit 16 after data acquisition equipment 17.
Described driving circuit 16 is connected with brake equipment 7 with actuating device 2 respectively, and driving circuit 16 is controlled described actuating device 2 and produced the moment that drives thigh 4 and upper body 1 to swing and control brake equipment 7 by thigh 4 and unclamp/locking of shank 8.
The left and right sides of support frame as described above 14 is connected with the thigh 4 of homonymy by a spring 11 respectively, hit ground pressure when excessive when detecting, adjust spring 11 elasticity moduluss, make the ability of spring 11 harvest energies stronger, thereby can avoid too much vola collision energy loss.
Described brake equipment 7 is keying formula drg.
Described the second rotating shaft and two described the first rotating shafts coaxially arrange.So that each leg leg can, as the swing of leading leg, make upper body change and to adjust the swing angle according to the relative angle between two shanks simultaneously.
During work, at first the both legs of running gear are at an angle across standing on horizontal surface, by terminal (such as: the Android smart mobile phone) start, be positioned in bracing frame, then rotate knob d, make terminal fixing on left and right directions, rotate subsequently knob a, b, make intelligent terminal fixing on fore-and-aft direction.Then connect data line, then start, and utilize terminal to power on to installing each assembly by data line, check whether each device is normally opened, if there are parts normally not open, display notification information on the terminal telltale, detect after hand inspection again.Each the device all the normal operation after, accept the primary data (as shank attitude angle initial value and terrain slope angle) that sensor is passed back, the data handler is carried out to initialization, judgment means be on inclined-plane the walking or horizontal surface on walk.Install subsequently integral body and start normal operation, walking process starts, each sensor is passed data on surface pressure back, and two shank relative angles change, leg motion cireular frequency etc., these data reach terminal through data acquisition equipment (DAQ), after data processor is processed, the judgement running gear is in a certain definite cycle gait walking or in the chaos gait, if in a certain cycle gait walking, sending controling instruction not, just continue to monitor the exercise data of running gear; Otherwise utilize control program (as: the OGY control etc.) control of walking, walking step state is revert in the cycle gait.Not only to be controlled the motion of leg in the process of walking, also to be controlled upper body, if device is to walk on horizontal surface, also will be to the thigh shaking moment, braking and the disconnection of the drg in brake equipment are controlled, implementing these control purposes is all can realize energy-conservation walking for this running gear, said noenergy walking in the dynamics research of even walking.
As shown in Fig. 4 to Fig. 8, the control method of the low-power consumption running gear based on terminal of the present invention comprises the following steps:
The data-signal that A, terminal 15 detect according to obliquity sensor 13, gyroscope 3 and pressure sensor 10, draw the absolute attitude angle of device, thereby judge that this running gear is on inclined-plane/plane;
B, running gear are walked on inclined-plane:
The data-signal that b1, terminal 15 detect according to obliquity sensor 13, gyroscope 3 and pressure sensor 10 sends control command D1, and driving circuit 16 is controlled brake equipments 7 thigh 4 and shank 8 lockings with shank 8 and supporting leg by the thigh 4 of leading leg respectively;
The data-signal that b2, terminal 15 detect according to obliquity sensor 13, gyroscope 3 and pressure sensor 10 sends control command D2, and driving circuit 16 accessory drives 2 are given to lead leg and applied the drive torque J swung forward
1, make to lead leg forward and to swing, until the angle α led leg with feet is default α
max, apply the drive torque J swung backward to upper body 1 simultaneously
2, upper body 1 backward swinging direct to the angle β of upper body 1 and vertical curve L be default β
max;
B3, lead leg slowly lands under the traction of spring, upper body 1 slow return under the effect of spring, and now, former leading leg is converted to supporting leg, and former supporting leg is converted to leads leg;
The data-signal that b4, terminal 15 detect according to coder 5 sends control command D3, and driving circuit 16 accessory drives 2 apply the drive torque J swung forward to upper body 1
3, upper body 1 forward swinging direct to the angle β of upper body 1 and vertical curve L be default β
max, lead leg forward swinging direct to the angle α led leg with supporting leg be 0;
B5, lead leg slowly lands under the traction of spring, and upper body 1 slow return under the effect of spring, restart the new cycle;
C, running gear are walked in the plane:
The data-signal that c1, terminal 15 detect according to obliquity sensor 13, gyroscope 3 and pressure sensor 10 sends control command D4, driving circuit 16 is controlled brake equipment 7 controls and is unclamped the thigh 4 and shank 8 of leading leg, simultaneously the thigh 4 and shank 8 of locking supporting leg;
The data-signal that c2, terminal 15 detect according to obliquity sensor 13, gyroscope 3 and pressure sensor 10 sends control command D5, and driving circuit 16 accessory drives 2 are given to lead leg and applied the drive torque J swung forward
4, make to lead leg forward and to swing, until the angle α led leg with feet is default α
max, apply the drive torque J swung backward to upper body 1 simultaneously
5, upper body 1 backward swinging direct to the angle β of upper body 1 and vertical curve L be default β
max;
The data-signal that c3, terminal 15 detect according to obliquity sensor 13, gyroscope 3 and pressure sensor 10 sends control command D6, driving circuit 16 is controlled brake equipment 7 and is controlled the thigh 4 and shank 8 that locking is led leg, lead leg and slowly land under the traction of spring, upper body 1 is slow return under the effect of spring, now, former leading leg is converted to supporting leg, and former supporting leg is converted to leads leg;
The data-signal that c4, terminal 15 detect according to coder 5 sends control command D7, and driving circuit 16 accessory drives 2 apply the drive torque J swung forward to upper body 1
5, upper body 1 forward swinging direct to the angle β of upper body 1 and vertical curve L be default β
maxsimultaneously, the data-signal that terminal 15 detects according to obliquity sensor 13, pressure sensor 10 and coder 5 sends control command D8, driving circuit 16 is controlled brake equipment 7 controls and is unclamped the thigh 4 and shank 8 of leading leg, and accessory drive 2 is given to lead leg and applied the drive torque J swung forward
6, lead leg forward swinging direct to the angle α led leg with supporting leg be 0;
C5, lead leg slowly lands under the traction of spring, and upper body 1 slow return under the effect of spring, restart the new cycle;
D, running gear are walked on complicated ground:
If exist between the smaller inclined-plane in the larger inclined-plane in inclined-plane and interplanar switching or inclination angle and inclination angle while being switched, the ground signal that the angular velocity data signal that described terminal 15 records according to gyroscope 3 and obliquity sensor 13 record, conduct to terminal 15 through data acquisition equipment 17, terminal 15 can show whether the absolute attitude angle of device variation has occurred according to these data-signals, thereby controls running gear in inclined-plane and interplanar switching;
D1, when running gear be during from the high spud angle chamfered transition to the small inclination inclined-plane, the data-signal that terminal 15 detects according to obliquity sensor 13, gyroscope 3 and pressure sensor 10 sends control command D9, and 16 pairs of driving circuits are led leg and applied the moment J identical with its swaying direction
7if running gear continues to walk on inclined-plane, ensuing walking process according to described step b3 to step b5;
D2, when running gear be during from the small inclination chamfered transition to the high spud angle inclined-plane, the data-signal that terminal 15 detects according to obliquity sensor 13, gyroscope 3 and pressure sensor 10 sends control command D10, and 16 pairs of driving circuits are led leg and applied the moment J contrary with its swaying direction
8if running gear continues to walk on inclined-plane, ensuing walking process according to described step b3 to step b5;
D3, when running gear be during from chamfered transition to plane, terminal 15 sending controling instruction D11, driving circuit 16 produces control signals, makes the thigh 4 of leading leg unclamp with shank 8, ensuing walking process is according to described step C;
D4, when device be while from plane, being transitioned into inclined-plane, terminal 15 sending controling instruction D12, driving circuit 16 produces control signals, makes the thigh 4 and shank 8 lockings of leading leg, ensuing walking process is according to described step B.
In the process of walking, described leading leg meets following relational expression: 2 α=β with angle α and the upper body (1) of feet with the angle β of vertical curve L.
Claims (6)
1. the low-power consumption running gear based on terminal comprises:
A pair of shank, every described shank is connected with hip joint (11) by the first rotating shaft respectively, every described shank comprises thigh (4) and shank (8), and described thigh (4) is connected by knee joint (6) with shank (8), and every shank (8) lower end is connected with foot (9);
Actuating device (2), it is located at described hip joint (11) and locates;
Brake equipment (7), its knee joint (6) that is located at described two shanks is located, and described thigh (4) and shank (8) can be locked together;
It is characterized in that:
Be provided with obliquity sensor (13) in the upper end of hip joint (11), for detection of shank attitude angle initial value and terrain slope angle;
Inboard at two thighs (4) and two shanks (8) is respectively equipped with coder (5), be positioned at the coder (5) of two thighs (4) for detection of the angle between two thighs (4), be positioned at two coders (5) of same shank for detection of the thigh (4) of this shank and the angle between shank (8);
Be respectively equipped with gyroscope (3) in the left and right sides of hip joint (11), and gyroscope (3) is fixed in the first rotating shaft that connects shank and hip joint (11), for detection of the cireular frequency of leg exercise;
Be respectively equipped with pressure sensor (10) in the bottom of two foots (9), the contact force for detection of foot (9) with ground;
Also comprise upper body (1), described upper body (1) comprises bracing frame (14) and is arranged on terminal (15), driving circuit (16) and the data acquisition equipment (17) on bracing frame (14);
The lower end of support frame as described above (14) is connected with hip joint (11) by the second rotating shaft;
Described data acquisition equipment (17) is electrically connected to terminal (15), driving circuit (16), obliquity sensor (13), four coders (5), two gyroscopes (3) and two pressure sensors (10) respectively, described data acquisition equipment (17) is for the data-signal that gathers each sensor and detect and send terminal (15) to, and the data-signal that described terminal (15) based on data collecting device (17) gathers sends control command input driving circuit (16) after data acquisition equipment (17);
Described driving circuit (16) is connected with brake equipment (7) with actuating device (2) respectively, and driving circuit (16) is controlled described actuating device (2) and produced the moment that drives thigh (4) and upper body (1) to swing and control brake equipment (7) by thigh (4) and unclamp/locking of shank (8).
2. the low-power consumption running gear based on terminal according to claim 1 is characterized in that: the left and right sides of support frame as described above (14) is connected with the thigh (4) of homonymy by a spring respectively.
3. the low-power consumption running gear based on terminal according to claim 1 and 2, it is characterized in that: described brake equipment (7) is keying formula drg.
4. the low-power consumption running gear based on terminal according to claim 1 and 2, it is characterized in that: described the second rotating shaft and two described the first rotating shafts coaxially arrange.
5. the control method of the described low-power consumption running gear based on terminal as arbitrary as claim 1 to 4, is characterized in that, comprises the following steps:
The data-signal that A, terminal (15) detect according to obliquity sensor (13), gyroscope (3) and pressure sensor (10), draw the absolute attitude angle of device, thereby judge that this running gear is on inclined-plane/plane;
B, running gear are walked on inclined-plane:
The data-signal that b1, terminal (15) detect according to obliquity sensor (13), gyroscope (3) and pressure sensor (10) sends control command D1, and driving circuit (16) is controlled brake equipment (7) thigh (4) and shank (8) locking with shank (8) and supporting leg by the thigh (4) of leading leg respectively;
The data-signal that b2, terminal (15) detect according to obliquity sensor (13), gyroscope (3) and pressure sensor (10) sends control command D2, and driving circuit (16) accessory drive (2) is given to lead leg and applied the drive torque J swung forward
1, make to lead leg forward and to swing, until the angle α led leg with feet is default α
max, apply the drive torque J swung backward to upper body (1) simultaneously
2, upper body (1) backward swinging direct to the angle β of upper body (1) and vertical curve L be default β
max;
B3, lead leg slowly lands under the traction of spring, upper body (1) slow return under the effect of spring, and now, former leading leg is converted to supporting leg, and former supporting leg is converted to leads leg;
The data-signal that b4, terminal (15) detect according to coder (5) sends control command D3, and driving circuit (16) accessory drive (2) applies the drive torque J swung forward to upper body (1)
3, upper body (1) forward swinging direct to the angle β of upper body (1) and vertical curve L be default β
max, lead leg forward swinging direct to the angle α led leg with supporting leg be 0;
B5, lead leg slowly lands under the traction of spring, and upper body (1) slow return under the effect of spring, restart the new cycle;
C, running gear are walked in the plane:
The data-signal that c1, terminal (15) detect according to obliquity sensor (13), gyroscope (3) and pressure sensor (10) sends control command D4, driving circuit (16) is controlled brake equipment (7) control and is unclamped the thigh (4) and shank (8) of leading leg, the thigh (4) of locking supporting leg and shank (8) simultaneously;
The data-signal that c2, terminal (15) detect according to obliquity sensor (13), gyroscope (3) and pressure sensor (10) sends control command D5, and driving circuit (16) accessory drive (2) is given to lead leg and applied the drive torque J swung forward
4, make to lead leg forward and to swing, until the angle α led leg with feet is default α
max, apply the drive torque J swung backward to upper body (1) simultaneously
5, upper body (1) backward swinging direct to the angle β of upper body (1) and vertical curve L be default β
max;
The data-signal that c3, terminal (15) detect according to obliquity sensor (13), gyroscope (3) and pressure sensor (10) sends control command D6, driving circuit (16) is controlled brake equipment (7) and is controlled the thigh (4) and shank (8) that locking is led leg, lead leg and slowly land under the traction of spring, upper body (1) is slow return under the effect of spring, now, former leading leg is converted to supporting leg, and former supporting leg is converted to leads leg;
The data-signal that c4, terminal (15) detect according to coder (5) sends control command D7, and driving circuit (16) accessory drive (2) applies the drive torque J swung forward to upper body (1)
5, upper body (1) forward swinging direct to the angle β of upper body (1) and vertical curve L be default β
maxsimultaneously, the data-signal that terminal (15) detects according to obliquity sensor (13), pressure sensor (10) and coder (5) sends control command D8, driving circuit (16) is controlled brake equipment (7) control and is unclamped the thigh (4) and shank (8) of leading leg, and accessory drive (2) is given to lead leg and applied the drive torque J swung forward
6, lead leg forward swinging direct to the angle α led leg with supporting leg be 0;
C5, lead leg slowly lands under the traction of spring, and upper body (1) slow return under the effect of spring, restart the new cycle;
D, running gear are walked on complicated ground:
If exist between the smaller inclined-plane in the larger inclined-plane in inclined-plane and interplanar switching or inclination angle and inclination angle while being switched, the ground signal that the angular velocity data signal that described terminal (15) records according to gyroscope (3) and obliquity sensor (13) record, conduct to terminal (15) through data acquisition equipment (17), terminal (15) can show whether the absolute attitude angle of device variation has occurred according to these data-signals, thereby controls running gear in inclined-plane and interplanar switching;
D1, when running gear be during from the high spud angle chamfered transition to the small inclination inclined-plane, the data-signal that terminal (15) detects according to obliquity sensor (13), gyroscope (3) and pressure sensor (10) sends control command D9, and driving circuit (16) applies the moment J identical with its swaying direction to leading leg
7if running gear continues to walk on inclined-plane, ensuing walking process according to described step b3 to step b5;
D2, when running gear be during from the small inclination chamfered transition to the high spud angle inclined-plane, the data-signal that terminal (15) detects according to obliquity sensor (13), gyroscope (3) and pressure sensor (10) sends control command D10, and driving circuit (16) applies the moment J contrary with its swaying direction to leading leg
8if running gear continues to walk on inclined-plane, ensuing walking process according to described step b3 to step b5;
D3, when running gear be during from chamfered transition to plane, terminal (15) sending controling instruction D11, driving circuit (16) produces control signal, makes the thigh (4) of leading leg unclamp with shank (8), and ensuing walking process is according to described step C;
D4, when device be while from plane, being transitioned into inclined-plane, terminal (15) sending controling instruction D12, driving circuit (16) produces control signal, makes the thigh (4) and shank (8) locking of leading leg, ensuing walking process is according to described step B.
6. the control method of the low-power consumption running gear based on terminal according to claim 5, it is characterized in that: in the process of walking, described leading leg meets following relational expression: 2 α=β with angle α and the upper body (1) of feet with the angle β of vertical curve L.
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