CN103481965A - Low-power dissipation running gear and control method based on intelligent terminal - Google Patents

Abstract

The invention discloses a walking device with low power consumption and a control method based on an intelligent terminal, which includes a pair of legs; a driving device and a braking device; Encoders are set on the inner side of the hip joint respectively; gyroscopes are respectively set on the left and right sides of the hip joint, and the gyroscope is fixed on the first rotating shaft connecting the leg and the hip joint; pressure sensors are respectively set on the bottom of the two feet ; also includes the upper body, the upper body includes a support frame and an intelligent terminal installed on the support frame, a drive circuit and a data acquisition device; the lower end of the support frame is connected to the hip joint through a second rotating shaft; the data acquisition device is respectively connected to the intelligent terminal, the drive circuit, An inclination sensor, four encoders, two gyroscopes and two pressure sensors are connected; a driving circuit is connected with a driving device and a braking device respectively. The invention has a more reasonable humanoid form, and also has the low energy consumption and natural gait of a passive walker.

Description

A low-power consumption walking device and control method based on an intelligent terminal

technical field

The invention relates to a low-power consumption walking device and a control method based on an intelligent terminal.

Background technique

The current mainstream mechanical walking devices mainly have two walking modes, one is the wheel type, that is, the movement of the walking device is realized by controlling the rotation of the wheel shaft by the motor, and the other is the foot type, and the current mainstream foot type walking devices are mainly divided into two types , one is represented by Asimo produced by Japan's HONDA company, which is called an active walking robot, which can simulate various human walking actions, including stable walking at different speeds, walking slowly, going up and down stairs, and has obstacle avoidance Walking ability, but they all involve the use of high-torque drive system and high-gain feedback control; the other is a lot of passive walking machines studied in recent years, its biggest feature is low energy consumption and natural gait, mainly based on McGeer The research-designed walking device with straight legs and knee joints is the representative. In recent years, a large number of new similar research models have appeared, including pure passive walking devices to semi-passive walking devices, but none of them have an upper body and do not have a real humanoid form. .

Contents of the invention

The purpose of the present invention is to provide a low-power walking device and control method based on an intelligent terminal, so that it has a more reasonable humanoid form, and at the same time has the low energy consumption and natural gait of a passive walking device.

The intelligent terminal-based low-power walking device of the present invention includes:

A pair of legs, each of which is connected to the hip joint through a first rotating shaft, each of which includes a thigh and a calf, the thigh and the calf are connected through a knee joint, and a foot is connected to the lower end of each calf ;

a driving device disposed at the hip joint;

a braking device, located at the knee joints of said two legs, capable of locking said upper and lower legs together;

There is an inclination sensor on the upper end of the hip joint, which is used to detect the initial value of the leg attitude angle and the ground inclination angle;

There are encoders on the inner sides of the two thighs and the two calves respectively. The encoders located on the two thighs are used to detect the angle between the two thighs, and the two encoders located on the same leg are used to detect the angle between the thighs of the leg. the angle between the calf;

Gyroscopes are respectively arranged on the left and right sides of the hip joint, and the gyroscope is fixed on the first rotating shaft connecting the leg and the hip joint to detect the angular velocity of the leg movement;

There are pressure sensors on the bottom of the two feet respectively, which are used to detect the contact force between the feet and the ground;

Also includes the upper body, the upper body includes a support frame and an intelligent terminal installed on the support frame, a drive circuit and a data acquisition device;

The lower end of the support frame is connected with the hip joint through the second rotating shaft;

The data acquisition equipment is respectively electrically connected with the intelligent terminal, the drive circuit, the inclination sensor, four encoders, two gyroscopes and two pressure sensors, and the data acquisition equipment is used to collect the data signals detected by each sensor and transmit them to An intelligent terminal, wherein the intelligent terminal sends a control instruction based on the data signal collected by the data acquisition device, and then enters the drive circuit through the data acquisition device;

The driving circuit is respectively connected with the driving device and the braking device, and the driving circuit controls the driving device to generate a torque for driving the thigh and the upper body to swing and controls the braking device to release/lock the thigh and the lower leg.

The left and right sides of the support frame are respectively connected to the thighs on the same side through a spring.

The brake device is a keyed brake.

The second rotating shaft is arranged coaxially with the two first rotating shafts.

The control method of the low-power consumption walking device based on the intelligent terminal of the present invention comprises the following steps:

A. According to the data signals detected by the inclination sensor, gyroscope and pressure sensor, the intelligent terminal can obtain the absolute attitude angle of the device, so as to judge whether the walking device is on an inclined plane/plane;

B. The walking device walks on the slope:

b1. The intelligent terminal sends a control command D1 according to the data signals detected by the inclination sensor, gyroscope and pressure sensor, and the drive circuit controls the braking device to lock the thigh and calf of the swinging leg and the thigh and calf of the supporting leg respectively;

b2. The intelligent terminal sends the control command D2 according to the data signals detected by the inclination sensor, the gyroscope and the pressure sensor, and the driving circuit controls the driving device to apply a driving torque J ₁ for swinging forward to the swinging leg, so that the swinging leg swings forward until the swinging leg The angle α between the upper body and the supporting foot is the preset α _Max , and at the same time, a driving moment J ₂ for swinging backward is applied to the upper body, and the upper body swings backward until the angle β between the upper body and the vertical line L is the preset β _Max ;

b3. The swinging leg lands slowly under the traction of the spring, and the upper body returns slowly under the action of the spring. At this time, the original swinging leg is converted into a supporting leg, and the original supporting leg is converted into a swinging leg;

b4. The intelligent terminal sends a control command D3 according to the data signal detected by the encoder, and the driving circuit controls the driving device to apply a driving torque J ₃ for swinging forward to the upper body, and the upper body swings forward until the angle β between the upper body and the vertical line L is predetermined Assuming β _Max , the swing leg swings forward until the angle α between the swing leg and the support leg is 0;

b5. The swinging leg lands slowly under the traction of the spring, and the upper body returns slowly under the action of the spring to start a new cycle;

C. The walking device walks on the plane:

c1. The intelligent terminal sends a control command D4 according to the data signals detected by the inclination sensor, gyroscope and pressure sensor, and the driving circuit controls the braking device to control the loosening of the thigh and calf of the swinging leg, and simultaneously locks the thigh and calf of the supporting leg;

c2. The intelligent terminal sends a control command D5 according to the data signals detected by the inclination sensor, the gyroscope and the pressure sensor, and the driving circuit controls the driving device to apply the driving torque J ₄ for swinging forward to the swinging leg, so that the swinging leg swings forward until the swinging leg The angle α between the upper body and the supporting foot is the preset α _Max , and at the same time, a driving moment J ₅ for swinging backward is applied to the upper body, and the upper body swings backward until the angle β between the upper body and the vertical line L is the preset β _Max ;

c3. The intelligent terminal sends a control command D6 according to the data signals detected by the inclination sensor, gyroscope and pressure sensor. The driving circuit controls the brake device to control and lock the thigh and calf of the swing leg. The swing leg is pulled by the spring to land slowly. Slowly return to the position under the action of the spring, at this time, the original swing leg is converted into a support leg, and the original support leg is converted into a swing leg;

c4. The intelligent terminal sends out the control command D7 according to the data signal detected by the encoder. The driving circuit controls the driving device to apply the driving torque J ₅ for swinging forward to the upper body, and the upper body swings forward until the angle β between the upper body and the vertical line L is predetermined. At the same _time , the intelligent terminal sends out the control command D8 according to the data signals detected by the inclination sensor, the pressure sensor and the encoder, the driving circuit controls the braking device to control the loosening of the thigh and calf of the swinging leg, and controls the driving device to apply force to the swinging leg. Forward swinging driving moment J ₆ , the swinging leg swings forward until the angle α between the swinging leg and the supporting leg is 0;

c5. The swinging leg lands slowly under the traction of the spring, and the upper body slowly returns to its position under the action of the spring, and a new cycle starts again;

D. The walking device walks on complex ground:

If there is a switch between an inclined plane and a plane or between an inclined plane with a relatively large inclination angle and an inclined plane with a relatively small inclination angle, the intelligent terminal is based on the angular velocity data signal measured by the gyroscope and the ground signal measured by the inclination sensor. The equipment is transmitted to the smart terminal, and the smart terminal can determine whether the absolute attitude angle of the device has changed according to these data signals, so as to control the walking device to switch between the inclined plane and the plane;

d1. When the walking device transitions from a slope with a large inclination angle to a slope with a small inclination angle, the intelligent terminal sends a control command D9 according to the data signals detected by the inclination sensor, gyroscope and pressure sensor, and the drive circuit applies the same torque J to the swinging leg as it swings _7. If the walking device continues to walk on the slope, the next walking process follows the steps b3 to b5;

d2. When the walking device transitions from a small inclination to a large inclination, the smart terminal sends a control command D10 according to the data signals detected by the inclination sensor, gyroscope and pressure sensor, and the drive circuit applies a torque J ₈ opposite to the swing direction of the swing leg , if the walking device continues to walk on the slope, the next walking process follows the steps b3 to b5;

d3. When the walking device transitions from an inclined plane to a flat plane, the intelligent terminal sends a control command D11, and the drive circuit generates a control signal, so that the thigh and calf of the swinging leg are released, and the next walking process follows the above step C;

d4. When the device transitions from a plane to an inclined plane, the smart terminal sends a control command D12, and the drive circuit generates a control signal to lock the thigh and calf of the swinging leg, and the next walking process follows step B.

During walking, the angle α between the swing leg and the supporting foot and the angle β between the upper body and the vertical line L satisfy the following relationship: 2α=β.

The present invention has the following advantages:

(1) It not only has knee joints, but also has an upper body that can rotate around the hips, which is composed of support frames, smart terminals, and multi-functional data acquisition equipment, so it has a more reasonable humanoid form;

(2) Based on the ground environment data transmitted by the sensing device, using the increasingly efficient data processing capabilities of handheld smart terminals, control the driving device to apply swing torque to the thigh; control the braking device to lock and release the thigh and calf; dynamic control The rotation speed of the bearings in the hip controls and adjusts the descending speed of the calf; the upper body is controlled to swing back and forth according to the set rules; by avoiding the feet from rubbing the ground, avoiding the collision of the calf and the knee, and optimizing the working mechanism of each energy-consuming component, on the slope Passive walking and other methods to achieve energy saving, has the characteristics of low energy consumption and natural gait of passive walking, and can even achieve zero-energy walking gait;

(3) In the process of walking, the swing angle α of the upper body and the angle β between the two legs always maintain a certain angle relationship (ie: 2α=β), and maintaining this angle relationship is conducive to ensuring the maximum degree of walking of the walking device. The energy loss in the center is the smallest, and at the same time it can maintain balance. This angle relationship can reduce the energy loss of the plantar collision when the swing leg lands. friction between

(4) With the help of intelligent terminal equipment that is developing rapidly and has increasingly powerful data processing capabilities to analyze and process motion data and implement control, a wide range of market applications can be achieved, and related expansion applications can also be carried out on the basis of walking devices, such as using intelligent The terminal has its own camera or an external camera to expand the range of data collection, or it is equipped with sensors for other non-sports-related data collection for extended applications, etc.;

(5) Using the USB data interface that comes with the smart terminal equipment, it can provide a data transmission interface for the device, and can also supply power for the energy-consuming part of the walking device;

To sum up, the walking device not only has anthropomorphic legs with knees, but also a swingable upper body composed of smart terminal support frame, smart terminal, data acquisition equipment, etc. , making full use of the ever-increasing data processing capabilities of intelligent terminals, not only can carry any intelligent terminal to avoid foot-ground friction and reduce foot-ground collision energy-saving walking, but also can control the real-time output torque of the walking process of the device, combined with bipedal walking The passive walking characteristics and self-stabilizing characteristics enable the device to always be in a cycle-doubling walking gait no matter whether it is on a flat ground or on a slope.

Description of drawings

Fig. 1 is a structural representation of the present invention;

Fig. 2 is a structural block diagram of the present invention;

Fig. 3 is the structural representation of support frame among the present invention;

Fig. 4 is the data processing flowchart of the present invention;

Fig. 5 is the control flowchart of the present invention walking on the slope;

Fig. 6 is a schematic diagram of the entire cycle gait of the intelligent terminal-based low-power walking device of the present invention on an inclined plane;

Fig. 7 is the control flowchart of the present invention walking on horizontal plane;

Fig. 8 is a schematic diagram of the whole cycle gait of the intelligent terminal-based low-power walking device of the present invention on a plane.

Detailed ways

The present invention will be further described below in conjunction with accompanying drawing:

As shown in Figures 1 to 3, a low-power walking device based on an intelligent terminal, a pair of legs, each of which is connected to the hip joint 11 through a first rotating shaft, and each of which includes a thigh 4 And the lower leg 8, the thigh 4 and the lower leg 8 are connected through the knee joint 6, and the lower end of each lower leg 8 is connected with a foot 9.

The driving device 2 is arranged at the hip joint 11 .

The braking device 7, which is arranged at the knee joints 6 of the two legs, can lock the thigh 4 and the lower leg 8 together.

An inclination sensor 13 is provided on the upper end of the hip joint 11 for detecting the initial value of the leg attitude angle and the ground inclination angle.

Encoders 5 are respectively arranged on the insides of the two thighs 4 and the two shanks 8, the encoders 5 positioned at the two thighs 4 are used to detect the angle between the two thighs 4, and the two encoders positioned at the same leg 5 is used to detect the angle between the thigh 4 and the calf 8 of the leg.

Gyroscopes 3 are respectively provided on the left and right sides of the hip joint 11, and the gyroscope 3 is fixed on the first rotating shaft connecting the leg and the hip joint 11 for detecting the angular velocity of the leg movement.

The bottoms of the two feet 9 are respectively provided with pressure sensors 10 for detecting the contact force between the feet 9 and the ground.

The upper body 1 is also included, and the upper body 1 includes a support frame 14 and an intelligent terminal 15 installed on the support frame 14 , a drive circuit 16 and a data collection device 17 .

The lower end of the support frame 14 is connected with the hip joint 11 through the second rotating shaft.

The data acquisition device 17 is electrically connected with the intelligent terminal 15, the drive circuit 16, the inclination sensor 13, four encoders 5, two gyroscopes 3 and two pressure sensors 10 respectively, and the data acquisition device 17 is used to collect each The data signal detected by the sensor is sent to the smart terminal 15, and the smart terminal 15 sends a control instruction based on the data signal collected by the data collection device 17 and then enters the drive circuit 16 through the data collection device 17.

The driving circuit 16 is connected with the driving device 2 and the braking device 7 respectively, and the driving circuit 16 controls the driving device 2 to generate a moment to drive the swing of the thigh 4 and the upper body 1 and controls the braking device 7 to loosen the thigh 4 and the lower leg 8. Open/Lock.

The left and right sides of the support frame 14 are respectively connected with the thigh 4 on the same side by a spring 11. When it is detected that the pressure of hitting the ground is too large, the elastic coefficient of the spring 11 is adjusted so that the ability of the spring 11 to collect energy is stronger, so that it can Avoid excessive plantar impact energy losses.

The brake device 7 is a keyed brake.

The second rotating shaft is arranged coaxially with the two first rotating shafts. Each leg can be used as a swing leg to swing, and at the same time, the upper body can adjust the front and rear swing angles according to the relative angle change between the two legs.

When working, firstly, the legs of the walking device straddle the horizontal plane at a certain angle, turn on the smart terminal (such as an Android smart phone), place it in the support frame, and then turn the knob d to fix the smart terminal in the left and right directions. Then rotate the knobs a and b to fix the smart terminal device in the front and back direction. Then connect the data transmission line, then turn it on, and use the smart terminal to power on each component of the device through the data line to check whether each device is turned on normally. If any part is not turned on normally, a notification message will be displayed on the smart terminal display. After manual inspection Check again. After each device is working normally, it receives the initial data sent back by the sensor (such as the initial value of the leg attitude angle and the ground inclination angle), initializes the data processing program, and judges whether the device is walking on an inclined plane or on a horizontal plane. Then the device as a whole starts to work normally, and the walking process starts. Each sensor sends back the data on the ground pressure, the relative angle change of the two legs, the angular velocity of the leg movement, etc. These data are transmitted to the smart terminal through the data acquisition device (DAQ) and processed by the data processing program. Finally, it is judged whether the walking device is in a certain cycle gait or in a chaotic gait, if it is in a certain cycle gait, it will not send control instructions, but continue to monitor the motion data of the walking device; otherwise use The control program (such as: OGY control, etc.) performs walking control, so that the walking gait returns to the periodic gait. In the process of walking, not only the movement of the legs should be controlled, but also the upper body should be controlled. If the device is walking on a horizontal surface, the swinging moment of the thigh and the braking and disconnection of the brake in the braking device should also be controlled. , the purpose of implementing these controls is to enable the walking device to realize energy-saving walking, or even energy-free walking in the study of walking dynamics.

As shown in Fig. 4 to Fig. 8, the control method of the low power consumption walking device based on the intelligent terminal according to the present invention comprises the following steps:

A, the intelligent terminal 15 obtains the absolute attitude angle of the device according to the data signal detected by the inclination sensor 13, the gyroscope 3 and the pressure sensor 10, thereby judging that the walking device is on an inclined plane/plane;

B. The walking device walks on the slope:

b1. The intelligent terminal 15 sends out a control instruction D1 according to the data signals detected by the inclination sensor 13, the gyroscope 3 and the pressure sensor 10, and the drive circuit 16 controls the braking device 7 to separate the thigh 4 and the calf 8 of the swinging leg and the thigh 4 of the supporting leg. Locking with shank 8;

b2. The intelligent terminal 15 issues a control instruction D2 according to the data signals detected by the inclination sensor 13, the gyroscope 3 and the pressure sensor 10, and the drive circuit 16 controls the drive device 2 to apply a driving torque J ₁ for swinging forward to the swing leg, so that the swing leg Swing forward until the angle α between the swinging leg and the supporting foot is the preset α _Max , and at the same time apply a driving moment J ₂ for swinging backwards to the upper body 1, and the upper body 1 swings backward until the angle between the upper body 1 and the vertical line L β is the preset β _Max ;

b3. The swing leg lands slowly under the traction of the spring, and the upper body 1 returns slowly under the action of the spring. At this time, the original swing leg is converted into a support leg, and the original support leg is converted into a swing leg;

b4. The intelligent terminal 15 sends a control command D3 according to the data signal detected by the encoder 5, and the driving circuit 16 controls the driving device 2 to apply a driving torque J ₃ for swinging forward to the upper body 1, and the upper body 1 swings forward until the upper body 1 is in line with the vertical line The included angle β of L is the preset β _Max , and the swing leg swings forward until the included angle α between the swing leg and the support leg is 0;

b5. The swinging leg lands slowly under the traction of the spring, and the upper body 1 slowly returns to its position under the action of the spring, and a new cycle starts again;

C. The walking device walks on the plane:

c1. The intelligent terminal 15 issues a control command D4 according to the data signals detected by the inclination sensor 13, the gyroscope 3 and the pressure sensor 10, and the drive circuit 16 controls the brake device 7 to control the loosening of the thigh 4 and the calf 8 of the swinging leg, and locks the support at the same time Thigh 4 and calf 8 of the leg;

c2. The intelligent terminal 15 issues a control instruction D5 according to the data signals detected by the inclination sensor 13, the gyroscope 3 and the pressure sensor 10, and the driving circuit 16 controls the driving device 2 to apply a driving torque J ₄ for swinging forward to the swinging leg, so that the swinging leg Swing forward until the angle α between the swing leg and the supporting foot is the preset α _Max , and at the same time apply a driving moment J ₅ for swinging backward to the upper body 1 , and swing the upper body 1 backward until the angle between the upper body 1 and the vertical line L β is the preset β _Max ;

c3, the intelligent terminal 15 sends out the control instruction D6 according to the data signals detected by the inclination sensor 13, the gyroscope 3 and the pressure sensor 10, and the driving circuit 16 controls the braking device 7 to control the locking of the thigh 4 and the calf 8 of the swing leg, and the swing leg is in the spring The upper body 1 slowly returns to its position under the traction of the spring. At this time, the original swing leg is converted into a support leg, and the original support leg is converted into a swing leg;

c4. The intelligent terminal 15 sends a control command D7 according to the data signal detected by the encoder 5, and the driving circuit 16 controls the driving device 2 to apply a forward swinging driving torque _J5 to the upper body 1, and the upper body 1 swings forward until the upper body 1 is in line with the vertical line The included angle β of L is the preset β _Max . At the same time, the intelligent terminal 15 sends a control command D8 according to the data signals detected by the inclination sensor 13, the pressure sensor 10 and the encoder 5, and the drive circuit 16 controls the braking device 7 to control the loosening swing. For the thigh 4 and the lower leg 8 of the leg, control the driving device 2 to apply a driving moment J ₆ for swinging forward to the swinging leg, and the swinging leg swings forward until the angle α between the swinging leg and the supporting leg is 0;

c5. The swinging leg lands slowly under the traction of the spring, and the upper body 1 slowly returns to its position under the action of the spring, and starts a new cycle;

D. The walking device walks on complex ground:

If there is a switch between an inclined plane and a plane or between an inclined plane with a relatively large inclination angle and an inclined plane with a relatively small inclination angle, the intelligent terminal 15 is based on the angular velocity data signal measured by the gyroscope 3 and the ground signal measured by the inclination sensor 13, Conducted to the smart terminal 15 through the data acquisition device 17, the smart terminal 15 can obtain whether the absolute attitude angle of the device has changed according to these data signals, thereby controlling the walking device to switch between the inclined plane and the plane;

d1. When the walking device transitions from a large slope to a small slope, the intelligent terminal 15 sends a control command D9 according to the data signals detected by the slope sensor 13, the gyroscope 3 and the pressure sensor 10, and the drive circuit 16 applies a swing to the swing leg. Moment J ₇ in the same direction, if the walking device continues to walk on the slope, the next walking process will follow the steps b3 to b5;

d2. When the walking device transitions from a small inclination to a large inclination, the intelligent terminal 15 sends a control command D10 according to the data signals detected by the inclination sensor 13, the gyroscope 3 and the pressure sensor 10, and the driving circuit 16 applies the swing direction to the swing leg. For the opposite moment J ₈ , if the walking device continues to walk on the slope, the next walking process will follow the steps b3 to b5;

d3. When the walking device transitions from an inclined plane to a flat plane, the intelligent terminal 15 sends a control command D11, and the driving circuit 16 generates a control signal, so that the thigh 4 and the calf 8 of the swinging leg are released, and the following walking process follows the step C ;

d4. When the device transitions from a plane to an inclined plane, the smart terminal 15 sends a control command D12, and the drive circuit 16 generates a control signal, so that the thigh 4 and the calf 8 of the swinging leg are locked, and the next walking process follows step B.

During walking, the angle α between the swing leg and the supporting foot and the angle β between the upper body (1) and the vertical line L satisfy the following relationship: 2α=β.

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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